Re: TimeThr

Posted by cjsurjadi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TimeThr-tp9908p9955.html

The snippet of my launch file to launch the localization node is as the following:

Node(
            condition=IfCondition(localization),
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[config,
                        {'database_path':map_db_path,
                        'Mem/IncrementalMemory':'False',
                        'Mem/InitWMWithAllNodes':'True',
                        'Mem/LocalizationDataSaved':'True',
                        'RGBD/OptimizeFromGraphEnd':'False',
                        'RGBD/SavedLocalizationIgnored':'True',
                        'Rtabmap/TimeThr':'0'}],
            remappings=remappings),

The messages I see in the terminal is:

[rtabmap-5] [INFO] [1706492242.466291423] [rtabmap]: Update RTAB-Map parameter "Rtabmap/TimeThr"="700" from database
...
[rtabmap-5] [INFO] [1706493270.514693455] [rtabmap]: rtabmap (760): Rate=1.00s, Limit=0.700s, Conversion=0.0035s, RTAB-Map=0.2667s, Maps update=0.0027s pub=0.0129s (local map=525, WM=546)

When I checked RTAB-Map Viz Statistics, I see this: