Re: Threads in RTAB-Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Threads-in-RTAB-Map-tp790p792.html

Hi,

The count is good! The three main threads (without the GUI thread) that are always running are (a), (b or f), and (c).

More info:
d. PreUpdateThread is an optional thread used when creating a signature. The dictionary is updated at the same time we extract features (e.g., SURF) from the new image. When the features are extracted and the dictionary is updated, we can do the quantization of the extracted features to the dictionary to create visual words for the new image.
e. CompressionThread is used to compress all data in parallel (instead of one after the other) when creating a signature.
f. DBReader is like a CameraThread for database input, but it can also publish OdometryEvent.
g. UCvMat2QImageThread is used only in the GUI to convert at the same time RGB and depth images to show in Qt.

cheers