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erik-nelson / blam

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Real time speed? #24

Open antithing opened 7 years ago

antithing commented 7 years ago

Hi! Thanks for making this code available. Has anyone had it running as fast as in the demo video? I have it at 200ms per sample, much much slower. If anyone has any tips for speeding it up, it would be much appreciated. Thanks!

Torchmm commented 3 years ago

hello,do you fix this problem?i have it at 5000ms every scan registation。。。。

antithing commented 3 years ago

Hi! I did manage to speed this up a bit by using a CUDA ICP for the scan matching and swapping it out. I am not able to share the code unfortunately. Downsampling the point clouds will also help.

Good luck!

Torchmm commented 3 years ago

thank you very much,so how long time do you spend per sample now?