The first frame with long processing time

[Hou-J-J]

Hi!
When testing the VINS-Fusion-gpu on TX2 nx, I encountered a problem that extracting features on the first frame with the function named goodFeaturesToTrack takes a long time on TX2, which was about 20 to 30 seconds, I wonder how to solve this problem? Thanks.

[Dellaldd]

Hi! When testing the VINS-Fusion-gpu on TX2 nx, I encountered a problem that extracting features on the first frame with the function named goodFeaturesToTrack takes a long time on TX2, which was about 20 to 30 seconds, I wonder how to solve this problem? Thanks.

Have you solved the issue? I met the same problem. Thank you for your help!

[yongyuan2023]

When the parameter "infra_fps" in rs_camera.launch is 15Hz, the problem is solved.