Re: databaseViewer and RAM management

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/databaseViewer-and-RAM-management-tp8699p8731.html

Hi,

The option --scan is missing, so no clouds were created because there are no depth images. I added a log in the console to remember to use --scan with laser scans.

I also optimized the RAM usage for camera projection. With your database, rtabmap-export should now use around 2GB instead of more than 10 GB.

Commit: https://github.com/introlab/rtabmap/commit/67710ef94ce0bfcd1478cd1490ad3c7690cfe6da

EDIT: for TF between base link and camera links, there is no easy way to do this by modifying the database's Data->calibration field. For example, the calibration field is deserialized like this from the sql BLOB. Serializing function of a single camera model is here. What you would want to do is to modify the local_transform part of the BLOB for each camera.

To debug scan/camera registration, you may use rtabmap_ros/pointcloud_to_depthimage node, then recreate the RGB-D cloud with point_cloud_xyzrgb node and visualize it in RVIZ.

cheers,
Mathieu