Re: Mapping/Localization Workflow

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-Localization-Workflow-tp772p774.html

Hi,

Nice to know that RTAB-Map is working on your robot!

Downloading the map can be long, particularly on WIFI. This message tells that rtabmapviz is actually downloading the data from rtabmap node. You can open the "System Monitor" of Ubuntu to see the Network usage, then you will see if rtabmapviz is really downloading something and not just stuck for some reasons (you can check on the terminal for possible errors too). The bigger the map is, the longer will be to download the map.

Ideas:
- While the database doesn't change in Localization mode, it could be more efficient to copy the database on the client computer and update the cache of rtabmapviz with this local database. I opened an issue for this new feature.

- When creating the database in mapping mode, you can set parameter "Mem/ImageDecimation" to 2 or 4 for example to reduce the size of the images saved in the database, thus reducing also the downloading time. Note that I would not use "LccReextract/Activated" if the images are decimated. Also in rtabmapviz Preferences->3D Rendering, I would change the decimation parameter under Map column accordingly (setting to 1 instead of 4 if we have already decimated the images at 4).

cheers,
Mathieu