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tum-vision / dvo_slam

Dense Visual Odometry and SLAM
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Problems about running speed #55

Open sta105 opened 7 years ago

sta105 commented 7 years ago

Dear author,

I have tired to run dvoslam on the sequence captured by myself. I build and run dvoslam by following your instruction. However, when I observe the mapping process by rviz I find the updating rate is intolerably slow, and the program seems to be extremely lagging behind. Moreover, after processes about a hundred frames, my computer will crash because of running out of memory (I have a nice new laptop). It seems that mapping all the raw point clouds might cause this problem, but I'm not sure.

Could you tell me how can I fix this running speed problem? Thanks a lot：）

songuke commented 7 years ago

I had the speed issue before. In my case it is simply due to the compilation in debug mode. Switching to compile in release mode and it is fast.

sta105 notifications@github.com于2016年12月16日星期五 10:08写道：

Dear author,

I have tired to run dvoslam on the sequence captured by myself. I build and run dvoslam by following your instruction. However, when I observe the mapping process by rviz I find the updating rate is intolerably slow, and the program seems to be extremely lagging behind. Moreover, after processes about a hundred frames, my computer will crash because of running out of memory (I have a nice new laptop). It seems that mapping all the raw point clouds might cause this problem, but I'm not sure.

Could you tell me how can I fix this running speed problem? Thanks a lot：）

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/55, or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXsks_65BDQ026Tq8p2Gq_iU7prid5ks5rIfK1gaJpZM4LOxya .

sta105 commented 7 years ago

@songuke

Thank you for your suggestion, but the running speed is still very slow. Btw, could you tell me how long it will take to process a one minute sequence on your pc?

songuke commented 7 years ago

I don't remember exactly, but it is at interactive rate on a consumer PC, i.e., at least a few to 10+ frames per second. This can be roughly estimated by probing the trajectory.txt file after a few seconds.

Another thing to check is input images. Are they png or jpg or some other formats (which could be time consuming to read and decode -- however this is not likely the case as far as I know).

2016-12-18 12:36 GMT+08:00 sta105 notifications@github.com:

@songuke https://github.com/songuke

Thank you for your suggestion, but the running speed is still very slow. Btw, could you tell me how long it will take to process a one minute sequence on your pc?

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gaobo9109 commented 7 years ago

Hi, I am also having the same issue with speed. I ran the camera_tracker node in dvoros package on live kinect stream. I measured the time taken for execution of function tracker->match(reference, current, transform)_ in camera_dense_tracking.cpp. Sometimes the execution time can go up to 30s.

And I did not compile in debug mode

han-kyung-min commented 5 years ago

I have a similar issue here. I tried dvo_benchmark.launch with TUM benchmark datasets. It completes the sequences with very slow speed. I tried kinetic-devel branch on ROS-Kinetic Ubuntu 16.04. Could you please tell me what could be the reason ?

zhaozhongch commented 4 years ago

In my case, if I don't visualize the pointcloud the speed is fast but if I visualize the pointcloud, it will be slow