Data Recording for High resolution

Posted by gkouros on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Data-Recording-for-High-resolution-tp5454.html

Hi Mathieu,

I am using the data recording launcher (rtabmap_ros/launch/data_recorder.launch) and the rtabmap data_player to record and playback data from a ZED Stereo Camera and although it's working perfectly for VGA resolution at 30fps, I face high fps drops for higher resolutions (~15fps@720p, ~5fps@1080p). You can see the two launchers below. Is there any way I can increase the fps at higher resolutions (720p,1080p)?

Thank you in advance!

George

<launch>  
  <!-- data recording launcher -->
  <arg name="database"   default="output.db"/>
  <arg name="resolution" default="3" />
  <arg name="frame_rate" default="30" />
  <arg name="stereo"     default="false" />

  <include file="$(find rtabmap_ros)/launch/data_recorder.launch">
    <arg name="frame_id"           value="zed_camera_center" />
    <arg name="approx_sync"        value="false" />
    <arg name="output_path"        value="$(arg database)" />

    <arg name="subscribe_odometry" value="true" unless="$(arg stereo)" />
    <arg name="subscribe_stereo"   value="$(arg stereo)"/>

    <arg name="odom_topic"         value="/camera/odom" />
    <arg name="depth_topic"        value="/camera/depth/depth_registered" />
    <arg name="rgb_topic"          value="/camera/rgb/image_rect_color"/>
    <arg name="rgb_info_topic"     value="/camera/rgb/camera_info"/>
    <arg name="left_topic"         value="/camera/left/image_rect_color"/>
    <arg name="left_info_topic"    value="/camera/left/camera_info"/>
    <arg name="right_topic"        value="/camera/right/image_rect_color"/>
    <arg name="right_info_topic"   value="/camera/right/camera_info"/>
  </include>


<launch>

<launch>
  <!-- data playback launcher -->
  <arg name="database" default="~/.ros/output.db" />
  <param name="/use_sim_time" value="true" />

  <!-- playback recorded database -->
  <node name="rtabmap_db_player" pkg="rtabmap_ros" type="data_player"
        output="screen" ns="camera" 
        args="_database:=$(arg database) --clock"/>
</launch>