Lag issues after 10 minutes using monocular orbslam.

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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Lag issues after 10 minutes using monocular orbslam. #1046

Open GuillermoBarVillar opened 2 years ago

GuillermoBarVillar commented 2 years ago

Hello,

I am testing the monocular version on a Surface Go 2, and I have noticed that after 10 minutes of normal operation orbslam starts to slow down.

I have tried to correct it by lowering the number of frames per second, but I haven't been able to solve it.

If you can give me any idea of what could be happening, or how I can solve this problem I would greatly appreciate it.

Best regards. Guillermo Barreiro Villar

GuillermoBarVillar commented 2 years ago

Hello,

I have observed that a large part of the problem lies in the display of all points in pangolin, By removing this part of the code, the performance of the application has improved significantly.

    mpMapDrawer->DrawCurrentCamera(Twc);
    mpMapDrawer->DrawKeyFrames(menuShowKeyFrames,menuShowGraph);

    //mpMapDrawer->DrawMapPoints();

    pangolin::FinishFrame();

If this is the problem, How can I show only the last points?

Best regards. Guillermo Barreiro Villar