IOS: Data loading time problem

[th00tames1]

Hi, I'm developing an iOS app using rtabmap 0.21.6.

I'm experiencing an issue where loading saved data takes excessively long. When I open the data, a "Loading" popup appears on the screen (Loading "file_name.db". Please wait while point clouds and/or meshes are created...), and it takes several minutes to load. The loading time doesn't seem to depend on the data size. Even with small data files under 5 MB, it takes 2-3 minutes.

In comparison to the rtabmap app downloaded from the App Store, which loads data within seconds, the code I'm working on takes several minutes. I haven’t changed any default parameters.

All I can observe is that after several minutes of loading, the following log appears in Xcode once the saved data finishes loading:
[1;33mFailed to find match for field 'rgb'.
[0;mState: STATE_VISUALIZING

Do you have any suggestions? Thank you.

[matlabbe]

Even if it was recreating the individual meshes, for 5 MB database, it should take seconds. It is hard to tell what is happening in your case. I would add some logs under that function

rtabmap/app/android/jni/RTABMapApp.cpp

Line 308 in e4955ee

int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource)

to see which part is hanging.