KITTI dataset - Very slow speed

JakobEngel / dso

Direct Sparse Odometry

GNU General Public License v3.0

2.27k stars 906 forks source link

KITTI dataset - Very slow speed #245

Open Karlo28 opened 2 years ago

Karlo28 commented 2 years ago

Hi, I was working on KITTI dataset and recently I managed to get good resulting trajectory, but it works very slow after initialization. How can I manage to run it at real time speed?

NikolausDemmel commented 2 years ago

Things to check:

Make sure you have compiled everything in Release mode (not Debug).
Is it slow only for Kitti, or also other datasets.

Karlo28 commented 2 years ago

I am compiling in Release mode. I tried to run it on the TUM dataset, it's slow for that dataset as well.

NikolausDemmel commented 2 years ago

Other reasons could be reading images from a slow drive or the speed of the CPU you are using... Not sure.