ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

XnSensorServer CPU consumption

asked 2011-06-03 00:15:51 -0500

updated 2016-10-24 09:04:36 -0500

ngrennan gravatar image

I notice that XnSensorServer is consistently consuming 43% of the CPU resource. Is there any way of reducing this, and what code is associated with it?

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2011-06-03 01:19:35 -0500

updated 2011-06-03 01:20:13 -0500

I notice that if I set depth_registration to false within openni_camera then CPU usage drops by 30% to a much more reasonable value. Is depth_registration just registering the RGB image with the depth image?

edit flag offensive delete link more

answered 2011-06-03 03:25:24 -0500

As far as I know, registration is done only for rgb point clouds. This might have changed since my last peek at the source code

edit flag offensive delete link more


So since I'm only using the depth data - the point cloud throttling strips out the RGB values - this won't be a problem.
JediHamster gravatar image JediHamster  ( 2011-06-03 03:36:37 -0500 )edit

Question Tools


Asked: 2011-06-03 00:15:51 -0500

Seen: 607 times

Last updated: Jun 03 '11