Changing setting_desiredPointDensity has no effect on CPU usage.

[bot-lin]

I have played around the setting_desiredPointDensity variable and seen that changing the value of setting_desiredPointDensity has no effect on CPU usage.
I did it by adding the point density option into the function MainSettings::parseArgument in the MainSetting.cpp file .

    if(1 == sscanf(arg, "pointdensity=%d", &option))
    {
        
        setting_desiredPointDensity = option;
        printf("POINT DENSITY: %d.\n", option);
        
        return;
    }

When set setting_desiredPointDensity to 1000 (GUI has been disabled)

When set setting_desiredPointDensity to 100

[lukasvst]

Are you sure that the variable is not overwritten when you set the prefix (argument prefix=0), see https://github.com/lukasvst/dm-vio/blob/master/src/util/MainSettings.cpp#L221 ? This might depend on the the order of the commandline arguments.
You can also set the point density in the Pangolin GUI with the slider during runtime.

Otherwise, are you using realtime execution (preset=1) or non-realtime (preset=0)?
In the latter case DM-VIO will process the sequence as quickly as possible so you should see a difference in execution time, not in CPU usage.