RTABMap ICP odometry CPU usage is too high
I am using RTABMap ICP odometry with the default parameters. I am using Intel Core i5 8th generation and sometimes the node consumes almost 100%! Why is that? And is there something I can do?
EDIT:
Not default parameters but these (I think scan_normal_k
is not used anyway as PointToPlane
is false):
<param name="scan_normal_k" type="int" value="10"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>