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Yu Yan edited this page Oct 19, 2017 · 1 revision

Octomap construction time estimation

Test 1

The point cloud is got by Ensenso camera, the resolution is 1024×1280
  1. The following table shows the time for constructing the Octomap in different resolutions.
Octomap
Resolution (m) 0.05 0.04 0.03 0.02 0.01 0.005
Time (s) 8.420 9.621 13.648 20.067 33.285 67.901
Octree size (nodes) 1522 2356 4153 9339 41661 218654
  1. The input point cloud:
  1. The following images show the resulted Octomap in rviz:
resolution=0.05 resolution=0.04
resolution=0.03 resolution=0.02
resolution=0.01 resolution=0.005

Test 2

The point cloud is got by Ensenso camera, the resolution is 256×320
  1. The following table shows the time for constructing the Octomap in different resolutions.
Octomap
Resolution (m) 0.05 0.04 0.03 0.02 0.01 0.005
Time (s) 0.634 0.650 1.004 1.194 2.293 6.376
Octree size (nodes) 1810 3030 5421 11415 48904 209285
  1. The input point cloud:
  1. The following images show the resulted Octomap in rviz:
resolution=0.05 resolution=0.04
resolution=0.03 resolution=0.02
resolution=0.01 resolution=0.005
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