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Tuning computational costs

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bloesch edited this page Dec 17, 2015 · 1 revision

The following parameters can be adapted to reduce computation costs (some of these parameters must be set before compilation):

  • Reduce feature count to 15, minimum 10
  • Reduce the number of processed image levels by getting startLevel and endLevel closer to each other, e.g. 2 and 1.
  • Eventually disable patch warping if your application does not involve too fast motions
  • Reduce the patch size to 6x6 or even 4x4
  • Set alignMaxUniSample to 0 such that only 1 sample is evaluated when searching patches
  • If no external pose measurements are used nPose should definetely be set to 0
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