Non real-time performance with Jetson AGX Xavier

[pallavbhalla]

I've been working on setting up VINS-Fusion-GPU on Jetson platform and used this docker image for the ease of setup. While testing in real-environments I noticed that it gives non-realtime performance with the following parameters to VINS-fusion-GPU(stereo-inertial):

• max_cnt: 350
• min_dist: 30
• Image rate: 30Hz
• IMU rate: 400Hz

This paper suggests real-time performance with VINS-GPU by using the above mentioned params. What am I possibly doing wrong? Will running it on docker have an effect on its performance? Also to mention, I've my docker image on SD card since I didn't had enough on-board storage for the same and I've already enabled the power mode by using:

sudo nvpmodel -m0
Enabling jetson clocks

I've tried reducing the input camera data rate to 15Hz, which shows some improvement towards real-time performance but compromises the robustness(more usual failures/drifts).

[ynma-hanvo]

what frame rate do you expect, can try with max_cnt as around 200 and min_dist as 3, it may improve speed;

[pallavbhalla]

@ynma-hanvo, thanks for the suggestion. I've tried and seen improvement towards real-time performance. Since this mentioned the use of higher max_cnt and still achieve real-time performance, therefore I am still a bit sceptical.