Cached RTABMAP

This is a fork of RTABMAP that caches datafiles for fast initialization on startup. The code assumes that you have built a map using RTABMAP already and would like to use the map just for localization.

Notes

• The code currently supports only ORB features (256-bit binary descriptors)
• Benchmarking
  • Without the cache, startup times were about 25 seconds (on an Intel Xeon E5-1620). With the cache, startup times are about 3 seconds.

Usage

• Once you have built a map, build the cache files using:

rtabmap  --Mem/IncrementalMemory false --Mem/InitWMWithAllNodes true --Rtabmap/BuildCache true database.db

When this command is run, is will load the database file and build the cached data files. You should see the new files: vwdictionary.dat and flann.dat created in your directory. You can close RTABMAP once the database has loaded.

• To start RTABMAP with the cache files:

rtabmap  --Mem/IncrementalMemory false --Mem/InitWMWithAllNodes true --Rtabmap/UseCache true database.db

rtabmap

Linux: Windows:

RTAB-Map library and standalone application.

For more information, visit the RTAB-Map's home page or the RTAB-Map's wiki.

To use RTAB-Map under ROS, visit the rtabmap page on the ROS wiki.

Acknowledgements

This project is supported by IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab, Sherbrooke, Québec, Canada.