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-tp3061p3158.html

Hi Mathieu,

I think iai_kinect 2 doesn't start the streams if nobody is subscribed to its topics, so maybe why there is no CPU usage when not launching rtabmap.
=> You are right.


I follow steps to enable cuda as depth_method for libfreenect2.

process[kinect2_bridge-3]: started with pid [3009]
[ INFO] [1495106888.817408848]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
[ INFO] [1495106888.933679200]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/ubuntu/catkin_ws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: cuda
     depth_device: -1
       reg_method: default
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 5
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: true
     base_name_tf: kinect2
   worker_threads: 4
[Info] [CudaDepthPacketProcessorImpl] device 0: NVIDIA Tegra X1 @ 72MHz Memory 3994MB
[Info] [CudaDepthPacketProcessorImpl] selected device 0

The performance has no significant improvement. The value of "rostopic hz /rtabmap/mapData" is only about 0.6 as before. I find the "kinect2/qhd/image_depth_rect" is usually slow(0.88) and I still try to find out the reason.

Regard.