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关于运行kitti数据集的问题 #11

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zszz3 opened this issue Jul 11, 2024 · 2 comments
Open

关于运行kitti数据集的问题 #11

zszz3 opened this issue Jul 11, 2024 · 2 comments

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@zszz3
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zszz3 commented Jul 11, 2024

您好，这里我在尝试用模型跑kitti的数据集，但是跑出来的轨迹和groud truth的轨迹差距非常大，我应该修改什么参数么
@zszz3
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zszz3 commented Jul 13, 2024 •
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您好，在运行kitti数据集2011_09_30_drive_0018_sync时
由于数据集过大，运行到一小半时，轨迹输出的速度就变得特别慢，此后没过一到两分钟才更新一个轨迹点，但rosbag包已经跑完，最后两三个小时程序也没运行结束，想问问这个问题该怎么解决呢

@zszz3
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zszz3 commented Jul 16, 2024

image
目前发现在addPointstoMap函数中，point_frame的大小为2e4左右，造成了较慢的计算速度

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