Poor framerate

[arennuit]

Hello,

I am using InfiniTAM with a Asus Xtion Pro (using OpenNI2) and currently no calibration file on Ubuntu 14.04. I have a serious laptop (i7 latest generation) with a serious GPU (GTX 970M - high end for notebooks).

When testing InfiniTAM I am a bit surprised of the framerate I obtain (I would say about 0.5 to 5 frames/s most of the time + freezes every now and then + smooth every now and them). Obviously with such a framerate the tracking and SLAM is very bad.

I am a bit surprised to get this behaviour and low framerate. Any idea of where it could come from?

Also I have checked the framerate I obtain when I run a plain OpenNI2 sample (NiViewer) and it runs very smooth.

Any idea of how to investigate this issue? I am not even sure where to start...

Regards,

Antoine.

[sgolodetz]

Two thoughts:

• Try updating the firmware on your Asus. (Probably less necessary in your situation since NiViewer is working fine for you.)
• Decrease the resolution of your RGB input to 320x240.

I encountered similar issues with the Asus (particularly on Windows) and those two steps helped a lot.

[arennuit]

Thanks a lot @sgolodetz, it does the trick ;) I only modifyed the constructor in file InfiniTAM/InfiniTAM/Engine/OpenNIEngine.h and replaced _imageSizergb = Vector2i(640, 480) by _imageSizergb = Vector2i(320, 240). Note that this post helped in changing the RGB resolution.

Though I am not sure I understand why it works, as I thought RGB data was not used in the default ITMLibSettings (see issue #33).

Also, because of this, can you confirm the calib files only contain the registration between the RGB and D sensors and nothing else? (check here and here for a calibration tool for OpenNI sensors).

Regards,

Antoine

[sgolodetz]

I didn't write the calib file bit - best ask @olafkaehler.

[arennuit]

Understood! Thanks for your relevant help ;)

[olafkaehler]

Our OpenNI interfacing class still opens both RGB and depth streams by default. The RGB images are not used in the default configuration, and we should probably not request RGB images unless we actually do use colour. The USB-bandwidth problems only appears to occur with certain system configurations, though, I've encountered them on Linux so far.

The calibration files also contain the intrinsic calibration parameters of the depth and RGB cameras. You'll probably get marginally better results if you calibrate your own camera, but in practice it doesn't make a big difference.

[arennuit]

Hello @olafkaehler, I see your point for the RGB stream access. My problem did occur on Ubuntu 14.04 and was solved using @sgolodetz's trick.

For the calibration do you mean that:

1. because I only use the D sensor, the extrinsinc parameters won't be very useful?
2. because the intrinsic parameters don't vary much, the calibration will be of limited impact?

[olafkaehler]

You are exactly right about the calibration in both points.

[arennuit]

Got it, thanks!

[root29]

Hi, I also want to run this code in Xtion. But I got some problem: 1.Did you use "roslaunch openni_launch openni.launch" to start Xition ? 2.after that use "./InfiniTAM calibration.txt" ? @arennuit