OpenCV/CUDA might slow down the application

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

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OpenCV/CUDA might slow down the application #52

Closed geoeo closed 4 years ago

geoeo commented 4 years ago

Hey,

I was running into issues with the (local) estimator node not achieving the performance it has on docker. The culprit seems to be opencv/cuda. When reading in the yaml file you use opecv to convert to Eigen. This uses CUDA behind the scenes, which somehow impacts performance negatively.

This seems like a setup problem but I wanted to let you know this is an issue

hyye commented 4 years ago

Thanks, @geoeo.