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When I run the camera1394_nodelet and camera_nodelet_manager without the image_proc_debayer nodelet, it only takes up approximately 37% of CPU time. The manager nodelet takes up less than 1%. I'm using this launch file:

<launch>

  <!-- nodelet manager process -->
  <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager"
        args="manager" />

  <!-- camera driver nodelet -->
  <node pkg="nodelet" type="nodelet" name="camera1394_nodelet"
        args="load camera1394/driver camera_nodelet_manager">
        <rosparam file="$(find omnisensor)/params/ffmv.yaml" />
  </node>
</launch>

Unfortunately, this is a raw image. I would like to have a debayerized mono image, which I imagine doesn't take up too much CPU time. Let me know what you think.

When I run the camera1394_nodelet and camera_nodelet_manager without the image_proc_debayer nodelet, it only takes up approximately 37% 1% of CPU time. The manager nodelet takes up less ,pre than 1%. 37%. I'm using this launch file:

<launch>

  <!-- nodelet manager process -->
  <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager"
        args="manager" />

  <!-- camera driver nodelet -->
  <node pkg="nodelet" type="nodelet" name="camera1394_nodelet"
        args="load camera1394/driver camera_nodelet_manager">
        <rosparam file="$(find omnisensor)/params/ffmv.yaml" />
  </node>
</launch>

Unfortunately, this What gives here? Why is the manager taking so long? Should I switch to running everything within the node? If so, is it possible to get image debayering happening within the node, or do I need to rely on running a raw image. I would like to have a debayerized mono image, which I imagine doesn't take up too much CPU time. Let me know what you think.seperate image_proc?