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KumarRobotics / kr_autonomous_flight

KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
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VoxelMap rviz visualization is extremely slow/resource heavy #71

Closed ljarin closed 2 years ago

ljarin commented 3 years ago

but maybe the maps i generated are too heavy and nothing can be improved?

ljarin commented 3 years ago

example map that eats up the computer trees_long0.01_2.png.zip

XuRobotics commented 2 years ago

The dimension and resolution of the maps will determine how much memory it uses. But in general it should not be too memory demanding. Assuming you're using a 2km 2km 10m map with 0.25m discretization, the memory required will be 320Mb, and you probably won't go higher than that.

The RVIZ will indeed be slower with the increase of number of occupied voxels. But for most cases if you are just visualizing the small local voxel map, and a large coarsely discretized (1m resolution) global map, it should be pretty smooth.