the performance of raycast model

Question

the performance of raycast model

Opened this issue 8 years ago · 2 comments

My robot has a 3d laser. When It localizes using the raycast model with 500 particles, It nearly costs 2 second to update the partilces with one laser measurment, The main cost is at the "castRay" method.
Is there any solution to accelerate the method?

Answer 1 · 2017-06-15T14:20:10.000Z

Hi,
Is there any chance you have the same problem reported in upstream project from which I have based my fork for re-releasing on ROS build farm?
ahornung#18

Answer 2 · 2017-06-18T15:57:21.000Z

@hzcipher @AravindaDP

I find the same problem in my project, as a result of the castRay (Based on the beam model) which consumed a lot of time when performed the localization for the robot with 3D lidar.

Have you get some other method to perform the localization in existing octomap?

Thanks
Best regards