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SubMishMar / cam_lidar_calib

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint
BSD 2-Clause "Simplified" License
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Performance Constraints / Hardware Specs #7

Open osholsonel20 opened 2 years ago

osholsonel20 commented 2 years ago

Do you have a hardware specs used for this pipeline?

It looks like this process is entirely CPU based.

Did you downscale the camera images? The camera you provided seems to output at a high resolution.

I ask because i'm testing this on an OS1-64 and a camera at 1920x1080, and it seems the application just freezes up on me. I'm also running the pipeline on a jetson xavier, but I could switch over to a better computer if need be.

osholsonel20 commented 2 years ago

Looks like the biggest hang-up is during the Statistical Outlier Removal step.

pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
sor.setInputCloud(plane);
sor.setMeanK (50);
sor.setStddevMulThresh (1);
sor.filter (*plane_filtered);