Runtime improvements for CostmapToPolygonsDBSMCCH #12
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Contributor
RainerKuemmerle
commented
Sep 16, 2019
RainerKuemmerle
commented
- introduce a grid look up structure for speeding up regionQuery
- replace brute for regionQuery
- add a mutexed parameter struct to avoid parameter updates while computing
- on my PC / enviroment: 350ms (before) -> 50ms (after)
- add test cases for regionQuery and dbScan in CostmapToPolygonsDBSMCCH
* use a grid structure for looking up nearest neighbors * parameters in a struct * guard the parameters by drawing a copy from dynamic reconfigure
Melodic polygon performance grid
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Thanks a lot @RainerKuemmerle! Looks very good to me! To be honest, there are many things that can be further improved in costmap_converter, including computational efficiency and class design. |
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