EuRoC Forum

[mhorst]

Hello,

I was wondering what the hardware specifications of the host machine(s) will be, where our VMs will be run on.
Our group needs this information to benchmark the software and check, whether it will finish in time, which is extremely dependent on the hardware.

Greetings,
Moritz

[lrubio]

Hello,

We are using the VMs without modifying it, as we downloaded it. And we have too many problems because the system is not able to process PCL on time. Is it possible to increase the capabilities of the VM?

Thanks,
Luis

[Peter Lehner]

Hello,

Please excuse the late reply.

I was wondering what the hardware specifications of the host machine(s) will be, where our VMs will be run on.

One example setup we are testing the evaluation on right now is an
Intel Xeon CPU 3.40GHz, 8 Cores, 16Gb RAM
we can supply more information about the hardware specification once the final setup is clear. We will also limit the simulation real time factor as outlined below.

We are using the VMs without modifying it, as we downloaded it. And we have too many problems because the system is not able to process PCL on time. Is it possible to increase the capabilities of the VM?

We are currently investigating this issue. At a simulation real time factor of 0.15 we are able to generate point clouds from the depth images in time when the camera rates are set to 1 Hz using the depth_image_proc/point_cloud_xyz node (http://wiki.ros.org/depth_image_proc). We are not sure which other pcl algorithms are crucial for the challenge.

Note if you use the native version of the simulator your simulation real time factor will be considerably higher. For fair conditions during the final evaluation we will ensure the real time factor of the simulation remains constant at 0.2. This means you should have overall more computation time than during a native simulation. If you are interested we can provide a set of scene files which limit the simulation real time factor to this value.

Best,
Peter

[lrubio]

Note if you use the native version of the simulator your simulation real time factor will be considerably higher. For fair conditions during the final evaluation we will ensure the real time factor of the simulation remains constant at 0.2. This means you should have overall more computation time than during a native simulation. If you are interested we can provide a set of scene files which limit the simulation real time factor to this value.

Yes, we would be very grateful if you can provide us something like that.

Thanks,
Luis

[mhorst]

One example setup we are testing the evaluation on right now is an
Intel Xeon CPU 3.40GHz, 8 Cores, 16Gb RAM
we can supply more information about the hardware specification once the final setup is clear. We will also limit the simulation real time factor as outlined below.

Thanks for the information!
One last question: How many cores of that machine will be assigned to the simclient vm?

Greetings,
Moritz

[fschmidt]

...For fair conditions during the final evaluation we will ensure the real time factor of the simulation remains constant at 0.2. ... If you are interested we can provide a set of scene files which limit the simulation real time factor to this value.

Yes, we would be very grateful if you can provide us something like that.

as an example to test the performance of your solution we will release a new euroc-c2s1-scenes_1.0.12_i386.deb package today that includes a copy of the v2 scens files (named task*_v3*) where the real time factor of the simulator is limited to 0.2.

[Peter Lehner]

One last question: How many cores of that machine will be assigned to the simclient vm?

We currently expect that 4 cores of the machine will be assigned to the simclient vm.