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Low FPS when remotely mapping with RTABmap

asked 2019-04-02 02:53:46 -0600

EdwardNur

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I am using ZED M camera and followed this tutorial: http://wiki.ros.org/rtabmap_ros/Tutor...

So I have launched my camera node and using nodelet launched rtabmap_sync and got the /rgbd_image topic at the end. Its frequency came up at 15 Hz when my regular depth image gets around 30 hz.

Then on a remote PC, I launched rtabmap and it subscribed to rgbd_image topic and I could not get a map as the frequency dropped to 0.8 Hz.

How can I fix it?

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answered 2019-04-03 18:03:33 -0600

matlabbe

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Did you try to compare on local computer when subscribing to RGB and depth images at the same time?

$ rostopic hz /camera/rgb/image_rect_color /camera/depth/depth_registered

On remote computer, without starting rtabmap, can you compare the frame rate between:

$ rostopic hz /rgbd_image/compressed

and

$ rostopic hz /camera/rgb/image_rect_color/theora /camera/depth/depth_registered/compressedDepth

ZED cameras use large images, which increases the bandwidth usage and also compression time on the local computer having the camera, thus affecting frame rate. Between the two approaches above, use the one having the highest frame rate. For more help, add info about how rtabmap is launched on the remote computer.

cheers,
Mathieu

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Asked: 2019-04-02 02:53:46 -0600

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Last updated: Apr 03 '19

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Low FPS when remotely mapping with RTABmap