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levenberg / 2D-3D-pose-tracking

Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
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Is GPU Mandatory to run this project #1

Open sunstarchan opened 4 years ago

sunstarchan commented 4 years ago

As I see afm using cuda, so is GPU mandatory to run this project. Is there a way to run it on CPU?

Thanks

levenberg commented 4 years ago

Hi @sunstarchan,

Thank you for your interest.

GPU is only for the 2D line detection from the video stream. Currently, the state-of-the-art 2D line detection methods are based on deep learning, which can guarantee the best performance in both accuracy and speed. For the 2D-3D pose tracking, GPU is not necessary. You can try other non-learning 2D line detection method to replace the afm package (such as LSD, TPAMI 2008), it can run in realtime but add outlier 2D-3D correspondences.

sunstarchan commented 4 years ago

@levenberg Thanks for your quick answering. I'll try to use other 2D line detection method to run the project on CPU. I'll get back for your reference when meeting some issue.

Thanks