Threads in RTAB-Map

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Threads-in-RTAB-Map-tp790.html

Hi Mathieu,

Could you give me some introductions about how many thread are used in your program and what their functions are?

I give out a list threads in your program (standalone, non-ros, not UI related, for stereo slam) based on my reading:

a. rtabmapthread: the main thread of the algorithm
b. camerathread: to capture images
c. odometrythread: for visual odometry
d. PreUpdateThread: to update the word dictionary
e. CompressionThread (ctImage ctDepth ctLaserScan ctUserData) to compress sensor data
f. DBReader: to process database

And there are UCvMat2QImageThread threads. But I think they are used for UI only.

Do I lost anything? Or is there something wrong in the list? Thanks a lot

Best regards
Yanming