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[Viso2] Performance on a Jetson TX1

asked 2016-04-11 05:00:43 -0600

Tymolc gravatar image


I need to track the driving line of a car in real time. I decided to use libviso2 as it provides fairly accurate results, however so far I didn't have a setup that allowed realtime in-car calculations. The Jetson TK1 is too slow (taking >1s per Visual Odometry calculation). Does anyone have experience with the speed of the Jetson TX1? Would it be able to have ~10 fps using the libviso2 library?

Thanks in advance Tim

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If you are building packages from source, make sure to enable optimisations (ie: build with -DCMAKE_BUILD_TYPE=Release or RelWithDebInfo).

gvdhoorn gravatar image gvdhoorn  ( 2016-04-11 05:39:38 -0600 )edit

Thanks for your answer. The library is build in Release Mode, so that's not the problem.

Tymolc gravatar image Tymolc  ( 2016-04-11 05:58:34 -0600 )edit

hi mr. @Tymolc . I have same problem. Could you please help me?

Mekateng gravatar image Mekateng  ( 2018-04-22 15:33:38 -0600 )edit

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answered 2017-10-27 06:17:19 -0600

OxDave gravatar image

A bit late - but I have had a similar problem. If you profile it, it only uses one of the four cores, and no gpu's. I would suggest extending the library to use these and you'll get a much higher frame rate.

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I ended up using the ZED 3D cameras VO capabilities, which delivered pretty good and fast results.

Tymolc gravatar image Tymolc  ( 2017-10-27 07:19:35 -0600 )edit

Ah - ok. Good to know - thanks. I'm going to stick with it a bit for now as we have bought a Bumblebee XB3.

OxDave gravatar image OxDave  ( 2017-10-27 07:26:41 -0600 )edit

Oh - forgot to add. I have tried it on the TK1 and TX1 and not much improvement....

OxDave gravatar image OxDave  ( 2017-10-27 07:27:36 -0600 )edit

I mean between the two boards - so multithreading and gpu seems the way to go.

OxDave gravatar image OxDave  ( 2017-10-27 07:28:40 -0600 )edit

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Asked: 2016-04-11 05:00:43 -0600

Seen: 314 times

Last updated: Apr 11 '16