cartographer-project / point_cloud_viewer

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Apache License 2.0
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Code to find bounding boxes is very slow #395

Open lukehutch opened 4 years ago

lukehutch commented 4 years ago

While running build_octree, during the initial Determining bounding box stage I get a processing speed on a fast laptop CPU and SSD of 75,083.64/s, which for a .ply file consisting of 19.1B points, takes 7 hours to process. This is not even remotely saturating the SSD's IO bus or the CPU's processing capabilities, so something is very inefficient in the bounding box calculation code.