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Specs To Run RGBD-6D-SLAM?

asked 2011-03-09 20:04:04 -0500

Shark gravatar image

updated 2014-01-28 17:09:19 -0500

ngrennan gravatar image

I've successfully installed the packages, but when I try executing it, my computer lags/freezes when trying to run the code. The computer I've ran it on has a 2.4ghz dual core processor and 2gb of memory.

For those who have had success running the tool smoothly, what were the specs of the computer that you ran it on? Specifically the amount of memory and CPU speed?

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answered 2011-03-12 06:54:49 -0500

updated 2011-03-14 21:16:51 -0500

2 GB is a bit short, I guess. 10 minutes sounds extreme though. There's a debug message (actually a WARN-level message) in the publish-method, so before sending the whole model, start up rxconsole and check whether you get messages like "Sending out a cloud with id X on topic XXX" during sending of the model. Do you get these?

Memory-wise, the best you can do is to restart rviz before sending the whole model, so the memory assigned to the individually sent point clouds is definitely freed. You could also try to record the whole with "rosbag record /rgbdslam/batch_clouds /tf", so you need no rviz in memory, and when you play it back later on you don't need rgbdslam to be running.

I will soon (April?) release an improved version that, among other improvements, uses less memory.

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answered 2011-03-09 20:59:59 -0500

The spec you state should suffice. I ran it on a quad-core 2Ghz with 4GB. The memory consumption is about linear with the runtime, but you should be fine for several minutes.

Do you get any results, or does it freeze/lag (which one?) directly?

Felix

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Same experience as Felix: quad-core 2Ghz with 4GB seemed to work quite ok.
raphael favier gravatar image raphael favier  ( 2011-03-09 22:06:44 -0500 )edit
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answered 2011-03-11 10:14:26 -0500

MlabKinect gravatar image

Have the same problem, (2.4ghz dual core2 processor and 2gb of memory), get to see the stitched 3D in rviz, but cannot send whole model... never finishes. How can I extract the information? where does it get saved?

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answered 2011-03-09 22:43:30 -0500

Shark gravatar image

updated 2011-03-09 23:29:43 -0500

rgbdslam never freezes (lags very little). However, when I start recording data, rviz lags to the point where I can't navigate through it and rviz essentially freezes.

After I try to save the world model in rgbdslam, it seems to take a very long time to save the data. I've ever seen it complete the save, and I've waited for upwards to 10+ minutes.

Am I not waiting long enough for it to save? I purposely pause within a few seconds after starting the recording in hopes to collect a small bit of data which should save in a reasonable amount of time.

Edit: I apologize, but the computer I'm using actually has 2gb of memory (not 4 like originally stated).

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@Shark, please edit your question to update it instead of answering it. There's an edit button just below the tags.
tfoote gravatar image tfoote  ( 2011-03-11 07:06:27 -0500 )edit
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answered 2013-01-26 06:39:14 -0500

updated 2013-01-27 04:47:17 -0500

Kevin gravatar image

There is now also the Multiresolution Surfel Map library available, which performs dense RGB-D-SLAM on a CPU. This paper provides the details.

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Asked: 2011-03-09 20:04:04 -0500

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Last updated: Jan 27 '13