generate_mesh service slow?

[martinakos]

I came across this package after having played a bit with Open3D TSDFs. It's nice it has a ros package as for Open3D I have to make my own ROS wrapper.

I can launch the bunny demo and get a mesh out of it and visualize it in rviz. But one thing that surprises me is that the generate_mesh service takes about 20s to finish and publish the reconstructed pointcloud. Is this the expected speed?
Equivalent size TSDF in Open3D takes just a couple of second to extract a mesh or pointcloud with the CPU interface and with the CUDA interface VoxelBlockGrid is almost instantaneous. So I'm surprised it takes so long in yak. Maybe I setup something incorrectly?

I'm running this demo in ubuntu 20.04/ROS Noetic and cuda is 11.6. I have also installed libomp-dev to parallelise the marching cubes algorithm.