rtabmap and SURF GPU

Posted by dschnabel on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-and-SURF-GPU-tp6699.html

I'm running rtabmap on a Raspberry Pi 4 and it seems to be working reasonably well. But every now and then I'm hitting 100% CPU usage and things start to get a bit slow.

Now the Raspberry Pi 4 comes with a reasonably powerful GPU (VideoCore VI) and I was wondering if it would be possible to offload some of the workload of rtabmap from the CPU to the GPU?

I've come across the SURF parameters in rtabmap which can be configured to use the GPU version of SURF. I understand that I need to compile OpenCV with CUDA in order for rtabmap to be able to make use of the GPU.

Unfortunately I don't know much about SURF: Is it a feature that's only supported on NVIDIA graphics adapter?