Low FPS on a pointcloud (stereo_image_proc)

asked 2016-03-10 09:46:36 -0500

Ariel gravatar image

updated 2016-03-10 09:46:57 -0500


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.

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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.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-10 10:34:56 -0500 )edit

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)

Ariel gravatar image Ariel  ( 2016-03-10 12:32:47 -0500 )edit

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 rostopic to measure the rate.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-10 14:27:51 -0500 )edit

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?

Ariel gravatar image Ariel  ( 2016-03-11 02:03:34 -0500 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-11 02:59:29 -0500 )edit

All values that I've been saying have been checked with rostopic hz

Ariel gravatar image Ariel  ( 2016-03-11 03:57:20 -0500 )edit

And what are the results when you run everything, except rviz.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-11 05:04:54 -0500 )edit

Rectified images and disparity 15Hz. Pointcloud ~5Hz

Ariel gravatar image Ariel  ( 2016-03-11 05:21:24 -0500 )edit