Re: How to process RGBD-SLAM datasets with RTAB-Map?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p947.html

Hi Leo,

The x-axis is the ID of each node added to map's graph. If nodes are added at 1 Hz ("Detection Rate" under RTAB-Map settings panel in Preferences or "Rtabmap/DetectionRate", which is 1 Hz by default), the x-axis would be in seconds (timeSec = ID/DetectionRate). The y-axis units are shown in the Legend item of the curve (after the second '/'), which is in "ms" here: 0.33 ms for hypothesis creation, 268 ms for features detection and 130 ms for graph optimization.

Note that you can add more than one curve to the same figure.

For the x-axis, you make me think that I could also put an option to use node stamps instead of node IDs. Added an issue here :P

cheers,
Mathieu