Re: How to reduce the resolution of RTABMAP?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-reduce-the-resolution-of-RTABMAP-tp1718p1734.html

Hi,

you can look at this RaspberryPi example. In particular, look for "Decimation" related parameters:

$ rosrun rtabmap_ros rtabmap --params | grep Decimation
Param: Mem/ImagePostDecimation = "1"                       [Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.]
Param: Mem/ImagePreDecimation = "1"                        [Image decimation (>=1) before features extraction.]

$ rosrun rtabmap_ros rgbd_odometry --params | grep Decimation
Param: Odom/ImageDecimation = "1"                          [Decimation of the images before registration.]

Setting decimation to 2, 640x480 -> 320x240. Setting to 4, 640x480 -> 160x120.

You can also use the rtabmap_ros/data_throttle nodelet to decimate the images at the source.

cheers