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                                            YuxiHuang

speed issue

I think maybe you subscribe the "/blam/blam_slam/octree_map" topic， it publishes all the map,so the map will become larger and larger ,and the system will be more and more slowly.

The number of output labels are different from the number of points in the testset when using my own dataset(输出的标签数量和点数不相同）

Same problems with you,could you share how to solve this problem?