The map building speed is too slow

ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

BSD 3-Clause "New" or "Revised" License

1.25k stars 436 forks source link

The map building speed is too slow #179

Closed renjiahao0928 closed 2 years ago

renjiahao0928 commented 2 years ago

We want to use elevation_mapping to build maps.However,We found that the speed of mapping is very slow.I don’t know if this is related to my hardware or other aspects. hardware:UP Board ROS: melodic CPU: i7-8661 Tags:0.6.0

wangmh1116 commented 2 years ago

use release not debug

maximilianwulf commented 2 years ago

Hey @renjiahao0928, as @wangmh1116 mentioned make sure to have the package built in release.

Additionally, update rate depends on different factors:

are you using fusing
size and resolution of the map
amount of points in the point cloud.

It is recommended to tune those parameters for each use case to find the perfect balance between speed and accuracy. I hope this helps. Feel free to re-open if you think you need more support.