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sunghoon031 / LCSD_SLAM

GNU General Public License v3.0
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About skip frame #13

Closed hellovuong closed 3 years ago

hellovuong commented 3 years ago

Hello, Thank you for the repo. I have a question about nSkippedframe. What is it? And what are the criteria to decide that gonna skip that frame? I run the repo with euroc (V101) dataset in the SLAM mode and playback x1 (normal speed) and get the nSkippedFrames=2773. Is that result is normal or terrible? Thank you once again, and looking for the answers.

hellovuong commented 3 years ago

Oops, my skipped frame number is an (average) 17. It is reasonable now. Still, wondering why to skip it?

sunghoon031 commented 3 years ago

Hi, thanks for your interest.

When the DSO tracker takes too long to process the incoming frame in real-time, it misses the frame. When this happens, I increment nSkippedFrames. So nSkippedFrames can be seen as a performance metric, not a parameter we tune. If you run the code in a slower machine, then this number will be larger, and vice versa.

If you want, you can process all frames one after another without skipping. However, this would introduce time delays when accumulated, and then it is no longer a real-time system.

hellovuong commented 3 years ago

Great, Thank you for the answer. My laptop is too old for this thing I guess :)) need to upgrade it soo :))