pcl::fromROSMsg slow after Update

asked 2015-05-22 01:39:55 -0600

frankb gravatar image

Hi, after a recent Ubuntu software update, pcl::fromROSMsg is now really slow when converting from a ros pointcloud to a PCL pointcloud. Using ros::Time::now() before and after the function call, I determined that it's taking on average 0.1 seconds to complete. Hence I am only able to process point clouds at around 5Hz while last night I was able to process them at around 20 to 30Hz.

I am using ROS Indigo on Ubuntu 14.04. The update was entirely updating ros packages and ros-indigo-pcl-ros 1.2.6-0Trusty was updated.

Has anyone recently experienced a slow down since the update? If not, does anyone have any suggestions for fixing this?

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Hello, I'm having the same problem and both toROSMsg and fromPCLPointCloud2 functions reduce my program running frequency from 29Hz to 15 Hz, even though my processing is parallelized among 16 cores. This kind of renders ros-pcl library useless as I can't operate in real time. Did u find a solution

Amar gravatar imageAmar ( 2016-01-20 16:29:47 -0600 )edit

I have this same problem, have you figured out a solution?

Thanks, Vincent

vkee gravatar imagevkee ( 2016-10-17 12:41:07 -0600 )edit

I had the same problem. The slowdown seems to be from displaying the pointcloud using the PCLVisualizer. Once I comment out the visualization process, the application does not loose speed.

rosnovice12 gravatar imagerosnovice12 ( 2017-02-23 16:57:13 -0600 )edit