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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Add very low RAM mode for iOS App large-scale scanning #1320

Closed matlabbe closed 1 month ago

matlabbe commented 3 months ago

Like android app's "Trajectory Mode", we could do something similar for iOS. This could save battery and make it able to scan in order of a hour or more. See this thread for more info: http://official-rtab-map-forum.206.s1.nabble.com/iOS-best-practices-for-only-tracking-long-recordings-td10300.html

zeeyang commented 1 month ago

Is it possible to post process the recorded data on device to generate optimized poses? And what's the equivalent in CLI? Is it rtab-reprocess?

matlabbe commented 1 month ago

I didn't implement a way to reprocess on device.

The GUI way to reprocess is to open RTAB-Map Desktop, open Preferences->Source, then select Database as input source. Scroll down to select the path of the recorded database. Say yes to use odometry from the database, but no for setting rtabmap detection rate to 0 (if images were recorded faster than 1 Hz). Check database stamps for framerate (or uncheck and set manually the rate at the top of the dialog for faster than real-time processing). Go back on main UI and press play.

To use the CLI tool (with these parameters, it should be equivalent than default parameters on device):

rtabmap-reprocess \
   --Rtabmap/DetectionRate 1 \
   --Mem/RehearsalSimilarity 0.3 \
   --Kp/MaxFeatures 400 \
   --Rtabmap/MaxRetrieved 2\
   --RGBD/MaxLocalRetrieved  2\
   --Mem/MapLabelsAdded true \
   --Rtabmap/MemoryThr 0 \
   --Mem/STMSize 10 \
   --RGBD/ProximityBySpace true \
   --RGBD/LinearUpdate 0.05 \
   --RGBD/AngularUpdate 0.05 \
    recording.db output.db

If you recorded at 1 Hz (default) on device, you can set Rtabmap/DetectionRate=0 here to process all frames.

matlabbe commented 1 month ago

Closing as now already available on iOS app under Menu -> Advanced -> New Data Recording.