Hello, I am able to run the slam and it works really good, but especially at the beginning of the motion I am facing a possible computation time problem.
I am using an Ouster OS0-64, and for what concern the motion on Y an Z I did not notice any problem, but when I walk with my sensor for 10m X remain around the initial value until I reach ~7m. After the output value start to change really fast and reach the correct value (and mantain it for almost all the test).
To be more clear:
Now my PC CPUs are not in saturation, and them speed is 4.8Ghz so I do not think is an hardware problem, the ram occupation is also low (7Gb/16Gb)
There is a portion of code to modify in order to speed up the computation of the output pose? I have try to change some parameters in ct_icp/include/ct_icp/odometry.h but nothing has changed.
Hello, I am able to run the slam and it works really good, but especially at the beginning of the motion I am facing a possible computation time problem. I am using an Ouster OS0-64, and for what concern the motion on Y an Z I did not notice any problem, but when I walk with my sensor for 10m X remain around the initial value until I reach ~7m. After the output value start to change really fast and reach the correct value (and mantain it for almost all the test). To be more clear:
Now my PC CPUs are not in saturation, and them speed is 4.8Ghz so I do not think is an hardware problem, the ram occupation is also low (7Gb/16Gb)
There is a portion of code to modify in order to speed up the computation of the output pose? I have try to change some parameters in ct_icp/include/ct_icp/odometry.h but nothing has changed.