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How to stream RGB and Depth at 30Hz simultaneously?

asked 2016-05-23 20:13:50 -0600

somebodyus gravatar image

updated 2016-05-23 20:15:22 -0600

How to stream RGB and Depth at 30Hz simultaneously?

I wrote two nodes which subscribe rgb and depth images. They can work at 30Hz when I run only one of the nodes. However, the performance reduces to 20Hz when I launched the two nodes together.

How to solve the problem? Note that the openni_launch publishes the rgb and depth images at 30Hz all the time.

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answered 2016-05-23 20:25:23 -0600


Transferring two heavy raw streams of data (such as RGB and Depth) at 30Hz can be a big task for your CPU and that is probably why the performance drops to 20Hz. You can confirm this by launching your nodes and checking how much CPU is being consumed, it will likely be close to 100%.

If performance is an issue for you, implement your nodes as nodelets and register them into openni's nodelet manager to avoid the costly memory transfer between processes.

I hope this helps.

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Thank you for answer. But I have a 16-core i7 CPU, it is so powerful that the CPU load is far from 100%. The subscribed images are written to SSD. Do you have any nodelets sample code? I am new to this area.

somebodyus gravatar image somebodyus  ( 2016-05-23 20:55:26 -0600 )edit

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Asked: 2016-05-23 20:13:50 -0600

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Last updated: May 23 '16