Low FPS on Raspberry Pi 3

[DxsGeorge]

I am running SVO on ROS, with live camera. On 1280x720 resolution I get about 6-10 FPS when I have enough features, then on fast movements features are not relocated and it gets lost. If I lower the resolution I get more FPS but lower features so I get lost easily again. Are there any settings I can mess with so that I get better perfomrance?

[AlexisTM]

6-10 fps for vision odometry on a Pi3 is already a good score!

I would change the board (Odroid XU4 should/could go up to 60FPS) or Intel Compute board (Intel aero).

[AlexisTM]

Also, do you run the bundle adjustment? If you do, you can try to disable it to get more fps.

[AlexisTM]

@DxsGeorge You can as well disable TRACE in the CMakeLists.txt of the svo folder and compile with the following:

rm -rf devel/ build/
export ARM_ARCHITECTURE=True
catkin_make -DCMAKE_BUILD_TYPE=Release

[DxsGeorge]

@AlexisTM thanks for the tips! I am currently running another vo algorithm, if I get down to svo again, I will report any differences with these changes!

[zanazakaryaie]

@DxsGeorge I compiled and tested it in Rpi2 which gave me 20FPS on its own dataset (sin2_tex2_h1_v8_d.tar.gz). The reason is for enabling ARM_ARCHITECTURE and lower image resolution of the dataset. The bundle adjustment was also disabled.

The main problem of SVO is for forward motions. What package do you use now?

[AlexisTM]

@zanazakaryaie I am investigating Rovio and SVO 2.0.

[zanazakaryaie]

@AlexisTM Could you please explain about performance of SVO 2.0? Does it support forward motions? What is your platform and how many FPS you got?

[AlexisTM]

SVO 2.0 add the IMU input and any number of cameras.

Advertised at 100fps on Odroid XU4, so maybe 30 fps on RPi3. Note: The ARMv7h binaries should arrive in a month.

http://rpg.ifi.uzh.ch/svo2.html

I prefer ROVIO as it is free.

[zanazakaryaie]

@AlexisTM Thanks for explanations. What OS you use on Odroid XU4? The SVO 2 binaries are only available for ubuntu 14.04 and 16.04.

One more question. Does ROVIO requires inter sensor calibration? How about synchronization?

[AlexisTM]

SVO2 binaries are for intel x64 for now.

On the Odroid XU4 I am running Ubuntu server 16.04.

[AlexisTM]

ROVIO needs IMU/Camera calibration, done via Kalibr.

[zanazakaryaie]

So many thanks for your explanations.

Just a matter of confusion. If binaries are for intel x64, then how could you run it on Odroid XU4? I couldn't understand what you mean by server.

[DxsGeorge]

@zanazakaryaie I am using DSO with ROS now.

@AlexisTM Does Odroid come with intel/amd architecture?

[mdne]

has someone tried ROVIO on Raspberry Pi3 ?

[AlexisTM]

I did not, yet, I'm not optimistic about the performances. When I checked it last year, it was much more computationally expensive. Yet, it integrates the IMU directly so it is more robust (if your camera is not blurry of course)

[0xfaded]

Im currently working with orb slam so I don't know where svo's bottlenecks lie, but if you're interested my FAST detector is tuned for the raspberry pi 3 and will extract features from your 1240x720 image in ~5ms.

https://github.com/0xfaded/pislam

[loseyourself-gan]

@AlexisTM Hello, I encountered such a problem when compiling svo2.0 on raspberry pie. Do you know how to solve it？ error: ‘plus’ is not a member of ‘pcl::traits’ 566 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFSignature,

[AlexisTM]

Sadly, I didn't use it for 2y. You should seek official documentation and support.

[eremteknoloji]

Hi Alexis, What camera did you use with xu4 at 60fps?

[AlexisTM]

This was some uEye global shutter camera, over 3 years ago ;)