toooooo slow test on the Freiburg RGBD dataset

[ayumizll]

hi:
i test chisel on my desktop equipped with Intel® Xeon(R) CPU E3-1231 v3 @ 3.40GHz × 8, and i run the launch_freiburg_dataset.launch with fault parameters . every update frame i can get nice reconstruction result, but too slow( Almost 3 seconds). i have no idea if there are some important parameters need to be set, or some significant things to be all attention. thanks!

[mklingen]

If you run the bag file without running chisel, how fast does it play back? Also, are you compiling in Release mode?

[ayumizll]

hi mklingen，Thank you for your answer. I'm sure on the release model, and I think this is independent of
ROS bag time. I test the chisel, find the most time-consuming is the function int Chisel.h named IntegrateDepthScanColor,

[mklingen]

I made some changes recently which should make IntegrateDepthScan a bit faster. I will push these sometime this week, and I'll let you know. At the time when I was running this on the Freiburg dataset I was getting ~10Hz out of it in Release mode. (-DCMAKE_BUILD_TYPE=Release).

The parameters which will affect the performance the most are voxel resolution (voxel_resolution_m) and the frustum cutoff (far_plane_dist) use_voxel_carving and to a lesser extent use_color will also make it slower.

[ayumizll]

hi mklingen, i am looking forward to your updated version. I will try to change the parameters and test the time again.

[HubertYang]

In my test, Chunk's size is also important. When resolution is 5cm, it is the fastest that chunk's size is 4x4x4.
Each resolution, you should find the best chunk's size.