Re: TimeThr

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/TimeThr-tp9908p9917.html

Hi,

For that map size, normally you would get similar results (memory management would not even trigger). Here the timing summary (left= not threshold, right=threshold):


For some reason the map update at the beginning took longer on the "with threshold" run, triggering the memory management that is adding afterwards some overhead (reactivation time).

Looking at the memory update details:


The occupancy grid creation is slower on the second run than on the first run (normally they should be similar with or without memory management). Is there something else running on the computer during the second run? Grid/RayTracing with Grid/3D are also enabled at the same time, which is the worst case scenario for long local occupancy grid creation. The memory management approach was benchmarked against loop closure detection computation time increasing over time, while assuming low local computation grid time. You may try again with Grid/3D to false unless you really need an OctoMap.

cheers,
Mathieu