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Concatenating pointclouds gets very slow

asked 2013-09-19 19:17:49 -0500

updated 2014-01-28 17:18:01 -0500

ngrennan gravatar image

Hi guys, I have implemented an algorithm that uses ransac to align pointclouds obtained by consecutive scenes and add them to a pointcloud representing the map called total_cloud using the pcl concatenate function. So total_cloud starts empty and then gradually grows as more pointclouds are aligned and added.

My question is why does it get slower and slower as the map gets bigger? I am not using total_cloud in any other computation so it is not part of my computation, only adding the new aligned pointcloud to it. Is this normal or am I doing something wrong? From my understanding, total_cloud is a just a chunk of memory that is growing dynamically, and is not part of any computation.

Any help or advice would be much appreciated.

Best regards, Khalid

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answered 2013-11-18 19:04:35 -0500

tfoote gravatar image

Dynamically growing memory is very expensive as it will require reallocating and copying data. It's usually more expensive than operating on the data.

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answered 2013-11-18 21:10:05 -0500

I would like also to remind you that the more you add points, the more you have points. Which means that the heavier will your total_cloud will become.

You should add two steps : 1) remove outliers (like described in pcl here or here ) 2) downsample the total_cloud (like described in pcl here

Have a good day ! Keep us updated :-)


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Asked: 2013-09-19 19:17:49 -0500

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Last updated: Nov 18 '13