How to create a config for highest performance?

Posted by Frippen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-create-a-config-for-highest-performance-tp9944.html

I'm using the Orbbec Astra camera on Ros 2 Humble. The ROS 2 wrapper for the camera driver is here: https://github.com/rafal-gorecki/ros2_astra_camera

I'm reading through these to get an idea of how to increase rtabmap performance.

Advanced Parameter Tuning
https://wiki.ros.org/rtabmap_ros/Tutorials/Advanced%20Parameter%20Tuning

Issue 358
https://github.com/introlab/rtabmap_ros/issues/358#issuecomment-544731357

Issue 449
https://github.com/introlab/rtabmap/issues/449

What is the best way for me to go about messing with the variables and measuring how each one affects performance so I can make the perfect config?