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Processing time is too long #20
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slamesher: variance_register: 0.60 test_param: 0 |
In this setup, the process will be much faster, sacrificing some pose robustness. SLAMesh is a pure-lidar odometry, the robustness is an issue if the movement is aggressive, and a tightly coupled IMU will be very helpful. |
Thank you. |
===STEP 578===Time used: 79.19370 ms===
Pose Odom:x: 241.04177 y: 13.40081 z: -2.28776
[ INFO] [1723014374.617594517]: PointCloud seq: [0]
after filter:27973 points. time: 26.56799
t_get_pcl:26.60267ms
t_gp:6.24446ms
t_gp:6.17847ms
t_gp:5.73657ms
t_gp:5.60209ms
t_gp:5.66493ms
t_gp:6.18845ms
num_cells: now:0 new:168 glb:45240
mesh_msg: point 81216 faces: 11771
t_visualize: 2.10524ms
t_overlap_region: 6.23964ms
t_match_points : 14.72014ms
t_gp : 35.69519ms
t_rt : 11.83215ms
t_update : 1.98488ms
t_draw_map : 2.11401ms
===STEP 579===Time used: 76.85505 ms===
Pose Odom:x: 241.20769 y: 13.71667 z: -2.31015
[ INFO] [1723014374.721056856]: PointCloud seq: [0]
after filter:28019 points. time: 27.95666
t_get_pcl:27.98500ms
t_gp:6.58582ms
t_gp:6.03398ms
t_gp:5.62858ms
t_gp:5.67413ms
t_gp:5.80328ms
t_gp:5.86475ms
num_cells: now:0 new:76 glb:45316
mesh_msg: point 81216 faces: 11986
t_visualize: 1.83716ms
t_overlap_region: 6.04469ms
t_match_points : 15.45551ms
t_gp : 35.64439ms
t_rt : 11.36213ms
t_update : 2.68575ms
t_draw_map : 1.84110ms
How to improve running speed?
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