Low frequency processing on fovis_ros

asked 2014-08-01 09:45:33 -0600

TSC gravatar image

Hi there,

I'm trying mono_depth_odometer with a changed topic: /camera/rgb/image_rect_color instead of /camera/rgb/image_rect_mono, 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!

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

BenediktHeck gravatar image BenediktHeck  ( 2015-01-21 11:22:36 -0600 )edit

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

TSC gravatar image TSC  ( 2015-01-21 12:39:34 -0600 )edit

OK. Thank you.

BenediktHeck gravatar image BenediktHeck  ( 2015-01-21 12:56:04 -0600 )edit

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

AlexR gravatar image AlexR  ( 2015-04-19 21:28:28 -0600 )edit

@AlexR the problem was never solved!

TSC gravatar image TSC  ( 2015-04-20 11:45:08 -0600 )edit

I face the same problem too. Here is my solution

wsAndy gravatar image wsAndy  ( 2015-08-11 01:59:58 -0600 )edit

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?

sykatch gravatar image sykatch  ( 2017-08-30 09:23:29 -0600 )edit