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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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super real-time possible? #169

Open nrhinehart opened 8 years ago

nrhinehart commented 8 years ago

Could straightforward modifications be made to speed the algorithm up to run faster than real time (from a pre-recorded video)? I've removed the cv::waitKey in Viewer.cc (doing my own event processing), reduced the number of ORB features per frame, and have been tracking down dependencies on the input framerate, but haven't achieved faster than real-time performance yet (using non-ROS version)

thanks

AlejandroSilvestri commented 8 years ago

Yes, it is possible with enough processor speed. Removing waitKey is the right thing to do. It is also very dependent on your video resolution an fps: 120 fps is 4 times time consuming than 30 fps :)

aivijay commented 8 years ago

How are you reducing the features per frame? Is it possible that setting Camera.width and Camera.height in the calibration file control the frame size?