Mapping performance funing in rtabmapviz

Posted by simon.xm.lee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-funing-in-rtabmapviz-tp3061.html

Hi Mathieu,

    I encounter the performance problem while mapping. It is lag(about 2 seconds) in rtabmapviz. I follow this suggestion. I reduce the decimation of map and odometry from 4 to 1 in rtabmapviz, but the frame showing in rtabmapviz is still lag(about 2 seconds).


My hardware information is as below.
(1) Nvidia Jetson TX1 developer board
(2) Robot(Pioneer-P3DX)
(3) KinectV2.  


My launch file for mapping: (Kinect + Odometry)
simon_rgbd_mapping_kinect2.launch


The nvidia board has good GPUs, so I think the performance in rtabmapviz should be smooth. Do you have other suggestions?

Regards.