Re: MultiSession - Recording without Processing
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MultiSession-Recording-without-Processing-tp344p345.html
Hi,
It could be interesting to map an underground mine, that makes me think about this movie scene :P. RTAB-Map needs some lighting to work though.
The first option is possible through rtabmap-dataRecorder (run it from a command window). However you can't have a feedback if RTAB-Map would be able to compute odometry from these images.
The second option would be better to have a feedback to know if at least odometry can be computed. You can reduce the detection rate (default 1 Hz, you could set 0.5 or 0.2) to save some CPU to create the live map. Open RTAB-Map, select Tools->"Data recorder..." and then start mapping as usual. The Data recorder will record at the frame rate set in Source tab of the Preferences dialog.
Be aware that at 30Hz, the database generated by the Data recorder will grow very fast. For example, here for about
8 seconds of recording, 57 MB is used for 243 frames.
If you are using the latest binaries 0.8.3 (not the latest from source), the data recorder tool is in the Edit menu and the mapping should be already started/paused to enable it. You can open the recorded database with rtabmap-databaseViewer to see if all frames you want were recorded.
Cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/MultiSession-Recording-without-Processing-tp344p345.html
Hi,
It could be interesting to map an underground mine, that makes me think about this movie scene :P. RTAB-Map needs some lighting to work though.
The first option is possible through rtabmap-dataRecorder (run it from a command window). However you can't have a feedback if RTAB-Map would be able to compute odometry from these images.
The second option would be better to have a feedback to know if at least odometry can be computed. You can reduce the detection rate (default 1 Hz, you could set 0.5 or 0.2) to save some CPU to create the live map. Open RTAB-Map, select Tools->"Data recorder..." and then start mapping as usual. The Data recorder will record at the frame rate set in Source tab of the Preferences dialog.
Be aware that at 30Hz, the database generated by the Data recorder will grow very fast. For example, here for about
8 seconds of recording, 57 MB is used for 243 frames.
If you are using the latest binaries 0.8.3 (not the latest from source), the data recorder tool is in the Edit menu and the mapping should be already started/paused to enable it. You can open the recorded database with rtabmap-databaseViewer to see if all frames you want were recorded.
Cheers,
Mathieu
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