Re: Clarification about the input synchronization step

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-about-the-input-synchronization-step-tp5841p5849.html

Hi,

If you are using rgbd_odometry, you can indeed use approx_sync to false and not use rgbd_sync, as odometry topic has exactly the same stamp than the input images. rtabmap will synchronize exactly RGB+depth+odom, which is correct in your case. rgbd_sync would be used when we want to synchronize with external odometry that is not synchronized with the cameras.

The detection rate of rtabmap is set to 1 Hz by default (Rtabmap/DetectionRate). In your case, it should be able to synchronize exactly the input topics (they have all the same stamps), so rtabmap should update at 1 Hz.

cheers,
Mathieu