ethz-asl/dynablox

Detections are stucking on rviz

lidiaxp opened this issue · 6 comments

lidiaxp commented

Thank you for open source this great framework.

I am running the package in the docker environment. My computer is an Intel® Core™ i9-10900X CPU @ 3.70GHz × 20I, with a NVIDIA Corporation TU102 [GeForce RTX 2080 Ti], and 128.0 GiB of RAM.

I have downloaded hauptgebaeude_sequence_1 in DOASL for testing. The simulations on Rviz are slow and stuck.

dynablox_stucking_docker.mp4

I would be grateful for any help!

Schmluk commented

Hi @lidiaxp

Have you tried running without RVIZ (and e.g. print the frame rate)? Your machine should definitively be able to run Dynablox at a high rate, sometimes RVIZ itself is not very quick (e.g. if there's some graphics drivers issues in some cases).

lidiaxp commented

Hello @Schmluk, I've just tested it. Even when I don't open RVIZ, the frame rate remains at 0.16 Hz.

I've also examined the point cloud frame rate, and it fluctuates between 8 and 14 Hz. So, I'm not sure why Dynablox is experiencing performance issues.

Kin-Zhang commented

I think maybe it's similar what I met before: #7 (comment)

Try to make it with Release Type:

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
lidiaxp commented

It worked, thank you very much. Do you know why we need it?

  • ❤️1
Kin-Zhang commented

Great, it helps you!

Mainly because of the cmake type, release will have o2 optimization.

lidiaxp commented

Oh, I got it, I haven't known it was possible to change this in ROS. I am going to read more about it. Thank you very much for your help.