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kevin-george / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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main_on_images is almost 300x slower than main_live_odometry #18

Closed vyi closed 5 years ago

vyi commented 5 years ago

When I run live_slam the odometry pose updates at a fast rate (~30Hz). The input is my laptop's webcam (Calibrated) with input configured to be 640_480 (no cropping).

Afterwards, I compiled main_on_images and fed it with sequence_30 images. The calibration file uses crop setting and same image size 640_480 (cropped). The frequency of pose update (from Output3DWrapper) is about 0.1 Hz (about 10 seconds or more for one pose output).

I have used the same CMake settings to build the executable as used by catkin. I want to speed up the processing (as fast as the main_live_odometry version. Any help is appreciated.

vyi commented 5 years ago

I rebuild the package and it works better now (able to get pose updates at 15 Hz)