Lag issues after 10 minutes using monocular orbslam.

[GuillermoBarVillar]

Hello,

I am testing the monocular version on a Surface Go 2,
and I have noticed that after 10 minutes of normal operation orbslam starts to slow down.

I have tried to correct it by lowering the number of frames per second,
but I haven't been able to solve it.

If you can give me any idea of what could be happening,
or how I can solve this problem I would greatly appreciate it.

Best regards.
Guillermo Barreiro Villar

[GuillermoBarVillar]

Hello,

I have observed that a large part of the problem lies in the display of all points in pangolin,
By removing this part of the code, the performance of the application has improved significantly.

    mpMapDrawer->DrawCurrentCamera(Twc);
    mpMapDrawer->DrawKeyFrames(menuShowKeyFrames,menuShowGraph);

    //mpMapDrawer->DrawMapPoints();

    pangolin::FinishFrame();

If this is the problem,
How can I show only the last points?

Best regards.
Guillermo Barreiro Villar