kevin2431
Can Traj-LO run in real-time?
I printed the time taken for each iteration of the while (true) loop on line 67 in the odometry.cpp file. Below is a part of the output: dometry computation took 70.6064 milliseconds. odometry computation took 108.871 milliseconds. odometry computation took 87.9254 milliseconds. odometry computation took 99.0804 milliseconds. odometry computation took 85.6526 milliseconds. odometry computation took 84.4505 milliseconds. odometry computation took 111.856 milliseconds. odometry computation took 106.236 milliseconds. odometry computation took 79.5079 milliseconds. odometry computation took 70.2243 milliseconds. odometry computation took 101.104 milliseconds. odometry computation took 102.121 milliseconds. odometry computation took 80.6436 milliseconds. odometry computation took 71.5117 milliseconds. odometry computation took 104.166 milliseconds. odometry computation took 75.5676 milliseconds. odometry computation took 126.864 milliseconds. odometry computation took 119.489 milliseconds. odometry computation took 88.3249 milliseconds. odometry computation took 69.8241 milliseconds.
@vincenzo0603 Sorry for the late reply. Traj-LO should run in real-time on most consumer devices, such as the Mac Mini M2 or our laptop with an i7-9750H processor. It would be helpful to list your PC configuration for further assistance. Although Traj-LO uses the CPU for computation, it still requires a GPU for GUI rendering. Thus the point cloud map rendering can decrease performance in each iteration. For better performance, you can disable this visualization module by commenting out the following code:
https://github.com/kevin2431/Traj-LO/blob/ba273d36d4b69a557eedd19ba80e1c90ab30039d/src/core/odometry.cpp#L131-L143
