Comments (4)
Hi,I have the same problem as you. But my problem is VGICPcuda and ndtcuda not work on my PC. I tired VGICP without cuda and it works well. Cloud you give me some advice on how to use VGICPCUDA properly.
#116
And I tried other project which has NDT CUDA. And the Nvidia NX board works well but the ndt registration takes only 40ms, and the whole time is 100ms on average. So it looks like some gap between CPU and GPU makes the whole time more.
from fast_gicp.
Hi Jack! Apologies for the delay in response.
I am unsure what is going wrong here as well, and have not found a solution. I reviewed a comparison between VGICP and VGICPCuda using the Kitti dataset, and found that the VGICP is performing roughly 2x as fast as the VGICPCuda method while having about the same accuracy. The NDTCuda method is performing poorly, both in terms of accuracy and speed.
I'm hoping the fast_gicp author @koide3 can take a look at this issue!
from fast_gicp.
Hi guys, sorry for the late response.
Generally, the GPU-based algorithms should be much faster than the CPU-based ones.
It may take a few seconds for the first time to wait for the GPU to be initialized, but then it should work quickly.
Can you do some profiling to see which part of the code is taking a long processing time?
from fast_gicp.
Sure thing! I'll post something in the next few days
from fast_gicp.
Related Issues (20)
- NDTCuda "lm not converged!!" HOT 1
- [question] How would I go about optimizing < 6 pose parameters? HOT 3
- cuda stream HOT 8
- Compiling error HOT 2
- make in debug, eigen error HOT 1
- Crash while using VGICP
- how to take fast_gicp in my own code? HOT 3
- About NeighborSearchMethod HOT 1
- got "for_each: failed to synchronize" in every position using "thrust::for_each" HOT 2
- doc request: aligned output point cloud must be different from source and target HOT 1
- Registration score gradually diverges. HOT 3
- cudaErrorIllegalAddress: an illegal memory access was encountered HOT 1
- I want getTransformationProbability() function in ndt_cuda HOT 1
- Unexpected Performance: Single-Threaded Faster than Multi-Threaded in Point Cloud Alignment HOT 2
- Why is the **weight** the square root of the number of points? HOT 4
- the calculation of **rho** in step_lm() seems wrong HOT 2
- set step size on ndt_cuda
- Optimization Problem for Fast GICP (OpenMP)
- any bug in ndt_cuda? HOT 1
- core dumped HOT 1
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