Low FPS on a pointcloud (stereo_image_proc)
Hello,
I have a stereo vision system already calibrated where I can check that the frequency of the rectified images are 15hz as well as the disparity image, which looks quite acceptable. When I check the FPS of the pointcloud (rostopic hz /topic) I see that if I have rviz closed it is around 5Hz and when I open it, it drops to less than 1 Hz. Are there any parameters, besides "ChoosingGoodStereoParameters" tutorial to tune to improve this?
Should the pointcloud frequency be equal to the rectified images?
Thanks for the help.
Can you check the rate at which the point cloud topic is published? Use
rostopic hz /point_cloud_topic(replace that with what it is really called). RViz may be suffering from poor 3D performance. It's FPS is not representative of the topic publication rate.With RVIZ closed is 5Hz and with RVIZ opened it's less than 1 Hz. Shouldn't it be the same frequency as the rectified images or the disparity map? (All of them 15 Hz)
No, not necessarily: rendering a point cloud can be a lot of work. So much that your videocard might not be up to the task. That's why I asked to see what the publication rate is if you don't have RViz started at all, and just use
rostopicto measure the rate.I switched from the integrated gpu (intel) to the dedicated one (NVIDIA) and it went up to ~8Hz with RVIZ closed and ~2 with RVIZ opened. So this would be the best I can get then?
It could be. But have you checked with
rostopic hz ..already? There is no point in speculating. Please run the command, then we have at least some idea of where the bottleneck might be.All values that I've been saying have been checked with rostopic hz
And what are the results when you run everything, except rviz.
Rectified images and disparity 15Hz. Pointcloud ~5Hz