Different FPS of Replica office0

[jinmaodaomaye2021]

Hi,

Thanks for your great work. Not sure if the algorithm was tested with large view movements.

Since the Replica office0 video has high FPS, I tested the algorithm at different FPS settings.

The algorithm works fine when the FPS was reduced to 1/2, 1/3, 1/5, 1/10 and 1/20 with modifications of parameters. But the algorithm failed to estimate poses at 1/30.

There is still a large view overlapping between frames by visually inspecting the 1/30 FPS data. However, the results are very bad (wrong poses).

In my experiment, I modified the following parameters at 1/30:

• mapping_iters = 500
• mapping_keyframe_every = 1
• mapping-map_every = 1
• mapping_n_pixels = 0.1
• mapping_first_iters = 500
• tracking_iters = 500

Any idea why the algorithm doesn't work for low FPS videos ? What I observed is that if the pose is incorrect from tracking, it is hard to correct in mapping.