{"action":"opened","issue":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/11","repository_url":"https://api.github.com/repos/raulmur/ORB_SLAM2","labels_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/11/labels{/name}","comments_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/11/comments","events_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/11/events","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/11","id":130851358,"number":11,"title":"Benchmarking ORB_SLAM vs ORB_SLAM2","user":{"login":"MarcGyongyosi","id":7433584,"avatar_url":"https://avatars.githubusercontent.com/u/7433584?v=3","gravatar_id":"","url":"https://api.github.com/users/MarcGyongyosi","html_url":"https://github.com/MarcGyongyosi","followers_url":"https://api.github.com/users/MarcGyongyosi/followers","following_url":"https://api.github.com/users/MarcGyongyosi/following{/other_user}","gists_url":"https://api.github.com/users/MarcGyongyosi/gists{/gist_id}","starred_url":"https://api.github.com/users/MarcGyongyosi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MarcGyongyosi/subscriptions","organizations_url":"https://api.github.com/users/MarcGyongyosi/orgs","repos_url":"https://api.github.com/users/MarcGyongyosi/repos","events_url":"https://api.github.com/users/MarcGyongyosi/events{/privacy}","received_events_url":"https://api.github.com/users/MarcGyongyosi/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-02-02T23:21:48Z","updated_at":"2016-02-02T23:21:48Z","closed_at":null,"body":"Hi @raulmur ,\r\n\r\nI ran a few quick comparisons with your ROS example for ORB_SLAM2 in monocular mode and I can see a significant difference in performance between the previous version and this one. More specifically, the rate at which ORB_SLAM2 is able to process incoming frames on the same platform is significantly lower. Also, ORB_SLAM2 refuses to initialize on the same dataset that ORB_SLAM is perfectly happy to initialize on.\r\n\r\nWhat are your thoughts on this? What do you think are the major causes of this change? \r\n\r\nThanks a lot!\r\n\r\nMarc"}}