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Have you done an accuracy comparison between original and your version? #1

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juliangaal opened this issue Jan 21, 2024 · 1 comment
Open

Have you done an accuracy comparison between original and your version? #1

juliangaal opened this issue Jan 21, 2024 · 1 comment

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@juliangaal
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juliangaal commented Jan 21, 2024 •
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In any case, nice work.

I personally optimized LIO-SAM with nanoflann_pcl and replaces all instances of radius search with knn search to reach a 2x speedup. GPU based knn search would have been my next step.
@arjunskumar
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@juliangaal where i can find your implementation? does moving to nanoflann_pcl reduce the CPU usage?

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@juliangaal @arjunskumar