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openni_camera slow publish rate - how to configure?

asked 2011-06-05 14:15:20 -0500

scribbleink gravatar image

updated 2016-10-24 09:03:04 -0500

ngrennan gravatar image

Good evening,

I'm aware of a previous claim similar to this one, but with a multi-post: answers::frame-rate-low-and-depth-wrong. I'd like to make a single claim since my depth values are alright, but the frame rate is low. I would like to know whether this is expected behavior, or I haven't configured something correctly, e.g. the publish rate.

I followed instructions on the page wiki::openni_camera. Here are the details.

[/opt/ros/diamondback/stacks/openni_kinect/openni_camera]$ hg tip
changeset: 255:790164436991
tag: tip
user: Tully Foote [email removed]
date: Mon Mar 07 19:23:19 2011 -0800
summary: releasing 0.1.2 ←←←← openni_kinect stack version

$ rostopic hz /camera/rgb/image_mono
average rate: 7.881 ←←←← not close to 30hz for VGA mode
min: 0.032s max: 0.968s std dev: 0.12043s window: 202

$ rostopic hz /camera/rgb/points
average rate: 1.663 ←←←← less than 2hz after 1200 samples
min: 0.017s max: 4.500s std dev: 0.55721s window: 1200

My configuration is: x86_64 GNU/Linux (ubuntu SMP), and I'm running the core and node on the same machine (single launch file).

I looked into OpenNINodelet, but it was difficult to figure out the rate since (i) imageCallback() is registered though the OpenNI driver, and, (ii) I'm inexperienced beyond this (I have not tried any other OpenNI-based drivers).

Thanks in advance for your help.

Nikhil

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answered 2011-06-08 10:32:43 -0500

scribbleink gravatar image

The issue was that I plugged the Kinect into a laptop eSATA/USB 2-in-1 port, which dropped the frame rates, for some reason that I'm not willing to investigate further.

On the normal USB port on the same laptop, I get ~30hz for the images and ~22hz for the RGB PCL points.

Sorry for the trouble, I should have checked this before posting.

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Asked: 2011-06-05 14:15:20 -0500

Seen: 1,281 times

Last updated: Aug 02 '11