Open HeadReaper-hc opened 4 years ago
Hi, @HeadReaper-hc
Thank you for your questions.
I would like to know if you have finished testing on ORB_SLAM2?
I have not tested enough, but show an example.
I tested stereo_kitti with sequences/00, where global bundle adjustment is called 4 times in total. Each BA time is shorten by cuda-bundle-adjustment. Note that the first BA of GPU(cuba) contains overhead time caused by memory allocations.
BA | CPU(g2o) | GPU(cuba) |
---|---|---|
1 | 3.96[sec] | 1.11[sec] |
2 | 6.78[sec] | 0.75[sec] |
3 | 9.16[sec] | 1.04[sec] |
4 | 11.84[sec] | 1.46[sec] |
If latencies (the delay between when an optimization is requested and when it finishes) matter, such as realtime online execution, I believe cuda-bundle-adjustment is efficient.
Regards,
Hi, @atakagi-fixstars Thank you for your result and the result is really amazing. Best regards.
Hi: Outstanding work. I would like to know if you have finished testing on ORB_SLAM2? Can it improve the efficiency of bundle adjustment or local bundle adjustment on ORB_SLAM2? Thanks!