Re: KITTI 00 sequence & rtabmap.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7661.html

Hi Mikor,

It is indeed morning here. What are the specifications of your computer? To get similar results than in the paper, it is assumed that the computer can process all the velodyne point clouds (at 10Hz) in real-time.

A workaround would be play slower the bag:

rosbag play -r 0.5 --clock ...

If you are using rtabmapviz to visualize, remove the 3D map rendering to save computation time (Preferences->3D Rendering-> under Map column scroll down to disable scan). On my computer I disable it so that rendering doesn't take much processing power, keeping only odom scan visualization.

EDIT: the warning "Odometry: Ignored parameter "Rtabmap/DetectionRate"="2" from arguments" is fine, that parameter is not used in odometry.

cheers,
Mathieu