efficiency on orb-slam2

[HeadReaper-hc]

Hi:
Outstanding work. I would like to know if you have finished testing on ORB_SLAM2? Can it improve the efficiency of bundle adjustment or local bundle adjustment on ORB_SLAM2? Thanks!

[atakagi-fixstars]

Hi, @HeadReaper-hc

Thank you for your questions.

I would like to know if you have finished testing on ORB_SLAM2?

I have not tested enough, but show an example.

I tested stereo_kitti with sequences/00, where global bundle adjustment is called 4 times in total.
Each BA time is shorten by cuda-bundle-adjustment.
Note that the first BA of GPU(cuba) contains overhead time caused by memory allocations.

BA	CPU(g2o)	GPU(cuba)
1	3.96[sec]	1.11[sec]
2	6.78[sec]	0.75[sec]
3	9.16[sec]	1.04[sec]
4	11.84[sec]	1.46[sec]

If latencies (the delay between when an optimization is requested and when it finishes) matter,
such as realtime online execution, I believe cuda-bundle-adjustment is efficient.

Regards,

[HeadReaper-hc]

Hi, @atakagi-fixstars
Thank you for your result and the result is really amazing.
Best regards.