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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
700 stars 151 forks source link

Frame rate is low #11

Closed huangsiyuan0717 closed 1 year ago

huangsiyuan0717 commented 3 years ago

When I run the balm_velo16.launch(I use the rs_lidar16,change the topic name),the frame rate is very low,even my computer is very lagging.I use the same bag in the lego_loam have not this problem.Is the problem with the algothrim?

huangsiyuan0717 commented 3 years ago

When I run the balm_velo16.launch(I use the rs_lidar16,change the topic name),the frame rate is very low,even my computer is very lagging.I use the same bag in the lego_loam have not this problem.Is the problem with the algothrim?

And even I can operate the rviz hardly when the bag is play over.

huangsiyuan0717 commented 3 years ago

When I run the balm_velo16.launch(I use the rs_lidar16,change the topic name),the frame rate is very low,even my computer is very lagging.I use the same bag in the lego_loam have not this problem.Is the problem with the algothrim?

And even I can operate the rviz hardly when the bag is play over.

The map meet the problem with z drift BAslam