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rvp-group / srrg2_proslam

SRRG 3D RGB-D/Stereo SLAM suite. Specialization of srrg2_slam_interfaces
BSD 3-Clause "New" or "Revised" License
18 stars 2 forks source link

srrg2_proslam vs srrg_proslam speed #2

Closed zwn closed 3 years ago

zwn commented 4 years ago

I see big difference in speed comparing srrg2_proslam and srrg_proslam - 40fps vs 60fps. Is that expected? Both were compiled without -march=native.

istinj commented 3 years ago

Hello! Yes this is expected. The first version of srrg_proslam was designed in a end-to-end fashion and, hence, the implementation was overfitted to the VO problem. In this case, instead, the huge gain in flexibility requires is paid with a code overhead, which impacts on the fps (still above real-time).