According to the performance page in docs,
Voxblox intergration times for KITTI dataset with a few pairs of voxel_size and max_ray_length are around up to 100ms per scan on an Intel i7-4810MQ CPU.
I am testing the performance of voxblox for KITTI dataset using your launch file and verbose prints like
[ INFO] [1654352850.108500366]: Finished integrating in 0.343494 seconds, have 3275 blocks.
which means integrating takes around 300ms per scan. I am running it on the even faster CPU, i9-10900K.
For worse, If I set voxel_size 0.1m and max_ray_length 50m within launch file, it takes longer than one second.
But your performance table says it should take 100ms.
How can I achieve such fast map update speed?
Hi. Thanks for sharing your great work.
According to the
performancepage in docs, Voxblox intergration times forKITTIdataset with a few pairs ofvoxel_sizeandmax_ray_lengthare around up to 100ms per scan on an Intel i7-4810MQ CPU.I am testing the performance of voxblox for
KITTIdataset using your launch file and verbose prints likewhich means integrating takes around 300ms per scan. I am running it on the even faster CPU, i9-10900K.
For worse, If I set
voxel_size0.1m andmax_ray_length50m within launch file, it takes longer than one second. But your performance table says it should take 100ms. How can I achieve such fast map update speed?