High resolution postpone about voxblox HOT 2 CLOSED

Honestly getting down to below 1 cm with Voxblox in realtime is going to be difficult.

First one small point. If you don't set the integration_threads parameter voxblox will automatically use the same number of threads as you have CPU cores, which should be optimal for processing speed.

There are two main issues limiting Voxblox's performance on very small voxels:

1. Voxblox integrates rays all the way from the detected point to the sensor. This means whereas other TSDF libraries scale with the square of the voxel size, Voxblox scales with the cube. Because of this we have only run the system in realtime down to about 3cm. Going from 3cm to 1cm will use around 27 times the CPU and RAM. You can disable full ray integration and just use the area around the truncation distance by setting voxel_carving_enabled to false, which will improve the scaling. However, this will prevent Voxblox from removing noise and outliers that occur in freespace.

2. Voxblox accesses memory in a fairly random order. This means it makes terrible use of the cache and the CPU is continually stuck waiting for data. You have probably noticed on quite powerful CPUs Voxblox doesn't get anywhere near 100% CPU usage even when falling behind. This means while a more powerful computer will always help, you will hit diminishing returns fairly quickly.

from voxblox.

Thnxx a lot!

from voxblox.