Docker image on SD card (Jetson TX2)

[pallavbhalla]

Thanks for the docker image @mzahana.

I followed the procedure mentioned in the README but due to large image size and storage constraints on Jetson TX2, I added the built docker image on external SD card.
While testing Vins_fusion_gpu I faced latency issues.
I suspect that, having the docker image on the SD card is leading to this latency. What are your views on the same?

What is the size of built docker image for you? Have you used an external storage for your setup?

[mzahana]

@Pallav1299 unfortunately I don't have TX2 to test with. This image was successfully tested on Xavier NX with SSD drive. The image size is large ~14GB, but I think it can be reduced significantly if the source file of OpenCV is removed after installation inside the image.

[pallavbhalla]

@mzahana, unfortunately I could't make enough space for the docker image on device's flash memory. I am still sceptical if having the VINS-GPU docker image on SD card can have any viable impact on VINS performance. What are your views on the same?

[mzahana]

@Pallav1299 I would suggest to get good quality high speed SD card and test.

[pallavbhalla]

@mzahana, I've tested with SSD as well. Doesn't seem to be an issue with having docker image on SD card.
What sensor rates did you use for Camera and IMU data? Also, what values did you use for max_cnt(max number of features to track) and min_dist(minimum distance between two features) in VINS?