Closed QuantumY-CHN closed 1 year ago
Hi. Thank you for your fantastic work.
I got some problems when I was trying the scenenn_dataset.launch demo. The labelmap segmentation seems correct, but the integration in building the tsdf map seems much slower than the labelmap. Can anyone tell me where my problem is? Thank you.
I0322 05:30:42.187974 240305 controller.cpp:482] Integrating frame n.343, timestamp of frame: 163.223 I0322 05:30:50.697257 240305 controller.cpp:496] Decided labels for 21 pointclouds in 8.50924 seconds. I0322 05:30:53.593883 240305 controller.cpp:537] Integrated 21 pointclouds in 2.89658 secs. I0322 05:30:53.593910 240305 controller.cpp:540] The map contains 22909 tsdf and 22909 label blocks. I0322 05:30:53.593976 240305 controller.cpp:552] Merged segments in 6.0451e-05 seconds. I0322 05:30:53.596936 240305 controller.cpp:563] Cleared candidates and memory in 0.00291844 seconds. I0322 05:30:53.596976 240305 controller.cpp:566] Timings: SM Timing ----------- compute_label_candidates 5092 1023.321840 (00.200967 +- 00.184317)[00.004394,04.391097] inserting_missed_blocks 10184 00.140564 (00.000014 +- 00.000052)[00.000002,00.004030] integrate_frame_pointclouds 343 973.255254 (02.837479 +- 00.285572)[01.716146,06.465885] label_propagation 343 1374.695156 (04.007858 +- 01.477100)[00.000043,11.158966] merge_segments 43 20.463102 (00.475886 +- 00.157219)[00.143778,00.862554] mesh/publish 1250 203.729091 (00.162983 +- 00.282379)[00.000031,01.070560] mesh/update 1250 947.145139 (00.757716 +- 01.372084)[00.000011,04.378457] ptcloud_preprocess 5092 18.566203 (00.003646 +- 00.003024)[00.000132,00.218038]
Hi. Thank you for your fantastic work.
I got some problems when I was trying the scenenn_dataset.launch demo. The labelmap segmentation seems correct, but the integration in building the tsdf map seems much slower than the labelmap. Can anyone tell me where my problem is? Thank you.