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NudtCalculus / LVI-SAM-modified

LVI-SAM with teaser++, multi-threads gicp and scan context
BSD 3-Clause "New" or "Revised" License
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GetTeaserInitialAlignment()函数的速度太慢 #3

Open 504115681 opened 1 month ago

504115681 commented 1 month ago

感谢大佬的分享，很棒！！！但是我运行时发现，GetTeaserInitialAlignment()特别慢，我开了8线程，大概得5分钟，运行这的时候电脑都会特别卡，鼠标都不好移动，ICP还挺快的。

NudtCalculus commented 1 month ago

@504115681 抱歉回复不及时。可能与HarrisParams、NormalComputeParams、teaser::RobustRegistrationSolver::Params等参数设置有关。可以参考原始仓库 https://github.com/NeBula-Autonomy/LAMP/blob/6caea1b69f95b3288c6cdb2279cc96ac2f461bd3/loop_closure/src/IcpLoopComputation.cc#L949 。

504115681 commented 1 month ago

好的，非常感谢！我去瞅瞅原始仓库。

---原始邮件--- 发件人: @.> 发送时间: 2024年7月10日(周三) 晚上8:33 收件人: @.>; 抄送: "Big @.**@.>; 主题: Re: [NudtCalculus/LVI-SAM-modified] GetTeaserInitialAlignment()函数的速度太慢 (Issue #3)

@504115681 抱歉回复不及时。可能与HarrisParams、NormalComputeParams、teaser::RobustRegistrationSolver::Params等参数设置有关。可以参考原始仓库 https://github.com/NeBula-Autonomy/LAMP/blob/6caea1b69f95b3288c6cdb2279cc96ac2f461bd3/loop_closure/src/IcpLoopComputation.cc#L910 。

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