PCL performance

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PCL performance

Fulin
Hello,

I'm going to try PCL for  MESA TOF camera which has a resolution of 176x144. My main concern is the PCL performance.  It seems that many PCL's operations on one frame xyz data may take a fraction of second  or even seconds on a normal Laptop (say dual core 2.0GHz). Am I right?

I just wonder if there is any possibility that I can finish a sequential operations, including filtering, features extraction and object recognition ect within 100 ms on such a Laptop PC?

What is your experience?

Thanks

/Fulin
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Re: PCL performance

Radu B. Rusu
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Fulin,


On Aug 20, 2013, at 6:10 AM, Fulin <[hidden email]> wrote:

> Hello,
>
> I'm going to try PCL for  MESA TOF camera which has a resolution of 176x144.
> My main concern is the PCL performance.  It seems that many PCL's operations
> on one frame xyz data may take a fraction of second  or even seconds on a
> normal Laptop (say dual core 2.0GHz). Am I right?

Unlikely, unless the code is compiled in debug mode. We run several algorithms at framerate for Kinect-like cameras which have a higher resolution than the MESA TOF (640x480 > 176x144).

>
> I just wonder if there is any possibility that I can finish a sequential
> operations, including filtering, features extraction and object recognition
> ect within 100 ms on such a Laptop PC?

You "could", but there's no silver bullet. PCL is a collection of algorithmic building blocks, and it's up to you to create that computational graph that solves the problem you want but also runs within your time constraints.

Best,
Radu.


>
> What is your experience?
>
> Thanks
>
> /Fulin
>
>
>
> --
> View this message in context: http://www.pcl-users.org/PCL-performance-tp4029189.html
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> _______________________________________________
> [hidden email] / http://pointclouds.org
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Re: PCL performance

Fulin
Hi,

it really looks promising for me, if as what you said that you can run several algorithms at framer-ate (30Hz) for Kinect-like cameras (640x480 xyz+rgb).

Perhaps PCL developer can add some guidelines/discussions/tutorials in PCL document on how to get high performance PCL application in the case of limited hardware.

/Fulin
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Re: PCL performance

andersgb1



On 21 August 2013 09:56, Fulin <[hidden email]> wrote:
Hi,

it really looks promising for me, if as what you said that you can run
several algorithms at framer-ate (30Hz) for Kinect-like cameras (640x480
xyz+rgb).

There's no better way of confirming this than you going ahead and trying it out :)
 

Perhaps PCL developer can add some guidelines/discussions/tutorials in PCL
document on how to get high performance PCL application in the case of
limited hardware.

As far as I see it, PCL is not explicitly targeting small platforms atm. Most of the algorithms are already highly optimized, but probably for desktop computers (I'm here thinking of e.g. features and search). Your suggestion is only relevant once someone decides that PCL should move towards the "tablet domain". PCL devs, please correct me if I'm wrong...
 

/Fulin



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Re: PCL performance

Fulin
Really interesting to hear PCL application on those devices such as tablet, net/web PC or even mobile phone (e.g Ubuntu mobile).

Fulin