whats the difference between cpu version and gpu version? how to choose from them?

engcang / vins-application

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards

BSD 3-Clause "New" or "Revised" License

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whats the difference between cpu version and gpu version? how to choose from them? #10

Closed PeixuanGao closed 2 years ago

engcang commented 2 years ago

Hi. sorry for late. CPU version only consumes CPU to solve optimization with Ceres solver. It also utilizes CPU to process image things with OpenCV.

GPU version also consumes only CPU to solve optimization with Ceres. But it utilizes GPU to process image things with OpenCV with CUDA enabled.

Thanks.