Re: KITTI 00 sequence & rtabmap.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7657.html

Hi Mikor,

Here my stats:

Info:

Path:               /home/mathieu/.ros/rtabmap.db
Version:            0.20.9
Sessions:           1
Total odometry length:3710.642822 m
Total time:         470.581516s
LTM:                909 nodes and 0 words (dim=0 type=8U)
WM:                 907 nodes and 0 words
Global graph:       909 poses and 1818 links
Optimized graph:    907 poses
Maps in graph:      1/1 [0(907)]
Ground truth:       0 poses
GPS:                0 poses
Links:
  Neighbor:         1812
  GlobalClosure:    0
  LocalSpaceClosure:6
  LocalTimeClosure: 0
  UserClosure:      0
  VirtualClosure:   0
  NeighborMerged:   0
  PosePrior:        0
  Landmark:         0
  Gravity:          0

Database size:      863 MB
Nodes size:         145 KB	(0.02%)
Links size:         623 KB	(0.07%)
RGB Images size:    0 Bytes	(0.00%)
Depth Images size:  0 Bytes	(0.00%)
Calibrations size:  0 Bytes	(0.00%)
Grids size:         10 KB	(0.00%)
Scans size:         858 MB	(99.49%)
User data size:     0 Bytes	(0.00%)
Dictionary size:    0 Bytes	(0.00%)
Features size:      0 Bytes	(0.00%)
Statistics size:    1 MB	(0.15%)
Other (indexing, unused):2 MB	(0.27%)

I would expect 900-940 nodes in your map (for 2 Hz during 470 sec). Can you show processing time for odometry?

rtabmap-report Odometry/TimeEstimation/ms ~/.ros/rtabmap.db

On my laptop it is able to process all velodyne point clouds (< 100 ms processing time).