the performance of raycast model

[hzcipher]

My robot has a 3d laser. When It localizes using the raycast model with 500 particles, It nearly costs 2 second to update the partilces with one laser measurment, The main cost is at the "castRay" method.
Is there any solution to accelerate the method?

[AravindaDP]

Hi,
Is there any chance you have the same problem reported in upstream project from which I have based my fork for re-releasing on ROS build farm?
ahornung#18

[weisongwen]

@hzcipher @AravindaDP

I find the same problem in my project, as a result of the castRay (Based on the beam model) which consumed a lot of time when performed the localization for the robot with 3D lidar.

Have you get some other method to perform the localization in existing octomap?

Thanks
Best regards