Closed ZOUJIASHUAI closed 1 year ago
@ZOUJIASHUAI I don't now. I don't own this repo and I don't use this software either. I only evaluated it a while ago.
Either way, if you want someone to look into that, you should provide a way to reproduce and share the performance results before the new version and after, so ppl can see the actual degradation in performance you've experienced.
Hi @ZOUJIASHUAI,
Can you be more specific with:
l2_max
A 50x50m with 0.02m of resolution can take a while depending on the value of l2_max
.
hello @eupedrosa my cpu is i5 8365u 8G memory l2_max is 0.06
the old version of iris start very fast on beginning,but the new one cost about 30s on startup,but after startup it seems normal,it also seems cost a lot of cpu on inital_pose. 1.zip this is the map I used
Hi @ZOUJIASHUAI.
You should use a higher l2_max
. I recommend the use of 0.5
.
Your build must be in debug mode. Go to your catkin workspace and run
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
.
Then recompile the code.
hello @efernandez , does the new version of iris increased the localization perfomance?seems it cost a lot of time on startup if I use a 50x50m 0.02res map and on initpose.