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Low frequency processing on fovis_ros

Hi there,

I'm trying monodepthodometer with a changed topic: /camera/rgb/imagerectcolor instead of /camera/rgb/imagerectmono, since I'm using an Asus Xtion Pro Live with OpenNI2 and can't get any mono topic.

The thing is I have a Haswell i7 3.4Ghz computer running Ubuntu 12.04 with ROS Hydro and still getting a 2/3 hz tf published! :S when echoing the pose I also see that the command line echo log seems very slow.

Here's the tf tree:

image description

Is there a possible explanation to this? Supposedly this is a "fast" odometry framework, and it's revealing to be slower than the other packages I have here. I'll be using this in a MAV with and Embedded ARM, but first want it to test it in my laptop. If I get this results on my laptop I will probably get even worse in a ARM platform.

Thanks in advance!

Asked by TSC on 2014-08-01 09:45:33 UTC

Comments

Hello TSC. Did you solve this problem? I have a similar one.

Asked by BenediktHeck on 2015-01-21 12:22:36 UTC

Hi @BenediktHeck, not at all! I presented the problem in the github repo of fovis and the dev team didn't apply the enough effort to solve the problem. So, I've left this framework and advanced to another. I advise to do the same

Asked by TSC on 2015-01-21 13:39:34 UTC

OK. Thank you.

Asked by BenediktHeck on 2015-01-21 13:56:04 UTC

same problem, with asus xtion the frequency update is too slow to do any SLAM

Asked by AlexR on 2015-04-19 21:28:28 UTC

@AlexR the problem was never solved!

Asked by TSC on 2015-04-20 11:45:08 UTC

I face the same problem too. Here is my solution

Asked by wsAndy on 2015-08-11 01:59:58 UTC

Hi @TSC, this post is quite old, but I'm facing the same problem now with fovis. Which framework did you use intead of fovis?

Asked by sykatch on 2017-08-30 09:23:29 UTC

Answers