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pjrambo / VINS-Fusion-gpu

This repository is a version of VINS-Fusion with gpu acceleration. It can run on the Nvidia TX2 in realtime
GNU General Public License v3.0
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The first frame with long processing time #31

Open Hou-J-J opened 2 years ago

Hou-J-J commented 2 years ago

Hi! When testing the VINS-Fusion-gpu on TX2 nx, I encountered a problem that extracting features on the first frame with the function named goodFeaturesToTrack takes a long time on TX2, which was about 20 to 30 seconds, I wonder how to solve this problem? Thanks.

Dellaldd commented 2 years ago

Hi! When testing the VINS-Fusion-gpu on TX2 nx, I encountered a problem that extracting features on the first frame with the function named goodFeaturesToTrack takes a long time on TX2, which was about 20 to 30 seconds, I wonder how to solve this problem? Thanks.

Have you solved the issue? I met the same problem. Thank you for your help!

yongyuan2023 commented 1 year ago

When the parameter "infra_fps" in rs_camera.launch is 15Hz, the problem is solved.