Re: 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-tp3061p3144.html

Hi Mathieu,

Please reference my video. There are some delays from robot finishing rotating to rtabmapviz finishing updating 3D map. The delay is above 3 seconds and it seem not smoothly.

[Video]

https://drive.google.com/file/d/0BzOfb393F8TvSmUtcU40aVB2d3c/view?usp=sharing



I add logs to check the the depthOdomCallback dealing time. It can be done in 0.7 seconds. I think it shouldn't be the bottleneck of performance.

[Log]

rtabmap_log_20170516.log


I find sometimes it took about 1 second from depthOdomCallback done to next depthOdomCallback be called. Therefore I check rostopic hz [topic] for odom, image_color_rect, image_depth_rect, camera_info and find the rate of image_color_rect, image_depth_rect, camera_info would drop to about 0.9. Does it might be the root cause for the delay?


Regards.