stereo_image_proc pointcloud extremely low frequency

asked 2016-02-03 02:14:33 -0500

Ariel
65 ●23 ●31 ●36

Hello,

I have a stereo vision system. Therefore, I'm using stereo_image_proc to get the rectified images as well as the pointcloud. As far as the rectified images, I get them at the same frequency as I get the raw images from the cameras (30 Hz), but the pointcloud is only 2 Hz, which makes it hard to do something with that. I only have the node to obtain the images from the cameras and stereo_image_proc. Is there anything else that I should be doing? Could stereo_Image_proc take that long to process the point cloud?

ariel@ariel-GT70:~$ rostopic hz /stereo/left/image_raw
subscribed to [/stereo/left/image_raw]
average rate: 30.038
    min: 0.019s max: 0.042s std dev: 0.00508s window: 25
average rate: 30.111
    min: 0.019s max: 0.042s std dev: 0.00496s window: 55
average rate: 29.964
    min: 0.019s max: 0.042s std dev: 0.00490s window: 85
average rate: 30.007
    min: 0.019s max: 0.042s std dev: 0.00502s window: 115
average rate: 30.039
    min: 0.019s max: 0.043s std dev: 0.00500s window: 145

ariel@ariel-GT70:~$ rostopic hz /stereo/left/image_rect_color 
subscribed to [/stereo/left/image_rect_color]
average rate: 31.532
    min: 0.017s max: 0.042s std dev: 0.00653s window: 19
average rate: 30.272
    min: 0.017s max: 0.049s std dev: 0.00610s window: 49
average rate: 30.328
    min: 0.017s max: 0.049s std dev: 0.00607s window: 79
average rate: 30.168
    min: 0.017s max: 0.049s std dev: 0.00615s window: 109
^Caverage rate: 30.208
    min: 0.017s max: 0.049s std dev: 0.00615s window: 123

ariel@ariel-GT70:~$ rostopic hz /stereo/points2 
subscribed to [/stereo/points2]
average rate: 1.827
    min: 0.547s max: 0.547s std dev: 0.00000s window: 2
average rate: 2.222
    min: 0.296s max: 0.547s std dev: 0.11000s window: 4
average rate: 2.050
    min: 0.296s max: 0.635s std dev: 0.11259s window: 6
average rate: 2.053
    min: 0.296s max: 0.635s std dev: 0.10111s window: 8
average rate: 2.099
    min: 0.245s max: 0.635s std dev: 0.11812s window: 11

Thanks for the help.

edit retag flag offensive close merge delete

add a comment

Comments

I have followed the tutorial and when I increase the disparity_range I see that my camera node (ueye_cam) starts dropping frames. Could is be that stereo_image_proc requests 'too much' from the cameras and they cannot keep up?

Ariel ( 2016-02-04 07:05:43 -0500 )edit

I think this could only be the case if you run everything in a single nodelet manager and use low number of threads for it. If you run cameras and stereo image proc in separate processes, the only explanation I see is high CPU consumption leading to the driver starving for CPU (?).

Stefan Kohlbrecher ( 2016-02-05 05:39:56 -0500 )edit

add a comment

stereo_image_proc pointcloud extremely low frequency

1 Answer

Comments

Question Tools

Stats

Related questions

stereo_image_proc pointcloud extremely low frequency edit

1 Answer

Comments

Question Tools

Stats

Related questions

stereo_image_proc pointcloud extremely low frequency