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Pointcloud to laserscan dev

Open jasonjabbour opened this issue 2 years ago • 1 comments

@vmayoral Hi! This benchmark is now complete and ready to be ran on your hardware. Please take a look and let me know if any improvements should be made. This benchmark evaluates the performance of the PointCloudToLaserScanNode within the pointcloud_to_laserscan package which converts a point cloud to a 2D laserscan. An example is illustrated here using the r2b data:

image

A view of the computational graphs can be found within the /imgs directory or here

This pull request also incorporates the changes that I needed to make to the tracetools_benchmark package in order to create custom tracepoints (i.e. robotperf_pointcloud_input_cb_init and robotperf_pointcloud_input_cb_fini)

jasonjabbour avatar Aug 12 '23 09:08 jasonjabbour

Thanks a lot @jasonjabbour! Thanks for the contribution. Looking good on a first look. Let us book some time to try and reproduce it.

We'll take a look at this ASAP.

vmayoral avatar Aug 13 '23 06:08 vmayoral