Re: Lenovo Phab 2 Pro Google Project Tango

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lenovo-Phab-2-Pro-Google-Project-Tango-tp2355p2401.html

Hi,

Yes, normally when setting to false "use database stamps as input rate" in Source panel, the Source Input rate can be used to increase the speed. For example, I tried with your 3 databases, setting Input rate to 5 Hz instead of 1 Hz as in the database, so that databases are processed 5x real-time. Depending on your computer, you may increase it even more. For the crash, not sure why (I am on Mac with latest code).

For the record, g2o with CSparse solver + Gaus Newton optimizer may give similar results than GTSAM.

cheers,
Mathieu