How to allow SVO pipeline to spend more time on processing each frame?

[yrq0208]

Hi all,

I was wondering what can I do to allow SVO to spent more time on processing one frame? I was told to change the value of timestamp, which is currently equals to 0.01img_id, but it doesn't seem to work as there is no significant difference in the FPS of each frame and the overall pipeline, even after I change the value of timestamp (from 0.01img_id to 0.033*img_id).

Another issue is I think SVO is by default running under fixed rate, which means only a certain amount of time will be spent on processing each frame (I was also wondering what will happen if the system fail to processing one frame within the given time? Simply discard the frame?). Is there anything I can do to make SVO to spend as much time as possible when processing one frame?

Thank you in advance.