felixendres
commented
6 years ago rgbdslam will process every frame of a bagfile, when reading it directly from file. With live data, frames are dropped if they cannot be processed in time.
The performance depends on a variety of things, most notably keypoint and descriptor count and type. SIFTGPU and ORB are fast, SIFT and SURF aren't.
To say more I would need to know your configuration (e.g., the launch file)
If I'm using RGBDSLAMv2 and I use a rosbag from the TUM dataset the system is really slow. If the dataset is about 30 seconds, RGBDSLAMv2 needs about 4 minutes to play this rosbag. Why is this so slow?
If I use RGBDSLAMv2 with a rgbdcamera there are no issues and it just plays real time.