strasdat/ScaViSLAM — Issue #9: Improve speed of DenseTracker
Author: strasdat
Created: 2011-12-06 14:21:58+00:00
State: open
Labels: ToDo

At the moment, we compute the error for each single pixel. This seems to be a waste of computation.
- GPU: A good heuristic seems to be to only use every n-th pixel (especially for high pyramid levels).
- CPU: Select good pixels for tracker. (Either use Andrew Comport's approach or simply calculate error for FAST points.)