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Preprocessing time about overlapnet HOT 2 CLOSED

prbonn avatar prbonn commented on June 14, 2024
Preprocessing time

from overlapnet.

Comments (2)

Chen-Xieyuanli avatar Chen-Xieyuanli commented on June 14, 2024

Hey @cattaneod,

Thanks for using our code.

As mentioned in the readme, for the fast LiDAR scan preprocessing you could use our SuMa++ which exploits OpenGL shaders to fast rendering the range and normal images.
We use that for the online SLAM and loop closing, where the preprocessing of the scan takes around 10 ms.

For generating range and normal training data without using GPU and OpenGL, we also provide a fast C++ implementation here, which is faster than the python implementation.

I hope this helps.

from overlapnet.

cattaneod avatar cattaneod commented on June 14, 2024

Thank you @Chen-Xieyuanli,

I tried the C++ implementation, and it's much faster than the python version, it takes around 9ms for the normal computation, so similar to the time reported in the paper.

from overlapnet.

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