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subscribing rgb and depth simutaneously very slow

asked 2016-05-25 10:26:29 -0500

somebodyus gravatar image

I am subscribing the rgb and depth images published by openni_launch at the same time. However, my problem becomes very slow and can only run at 15Hz.

How to solve the problem?

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Please add more detail. What camera are you using, which node is the subscriber, etc...

Felix Endres gravatar image Felix Endres  ( 2016-05-25 11:33:31 -0500 )edit

I am using the tum rgbd_demo code. I am using Asus Xtion.

somebodyus gravatar image somebodyus  ( 2016-05-25 21:26:23 -0500 )edit

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answered 2016-05-27 08:49:05 -0500

updated 2016-05-31 09:00:25 -0500

Assuming you launch the openn_launch without throttling parameters on the same machine as rgbd_demo, my best guess would be that your computer is too slow to reproject the point clouds with more than 15 hz.

In that case, one of your cpus should be near 100% while running rgbd_demo.

Since you have exactly 15Hz (i.e. exactly half of the maximum), you might also have enabled some throttling parameter. Maybe you can configure them differently in the openni_launch launch-file or use dynamic_reconfigure to set it.

Edit: Try increasing the subscriber queue size for each message_filters::Subscriber (in lines 90 to 93). 2 should be sufficient, but 5 won't hurt either.

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I test the code on a powerful PC. When subscribing only RGB or depth, it can achieves 30Hz. However, when subscribing the two topics simultaneously, the rate drops to about 25Hz.

somebodyus gravatar image somebodyus  ( 2016-05-31 06:32:49 -0500 )edit

The subscription is not computationally expensive, it's the reprojection that's done by rgbd_demo.

Felix Endres gravatar image Felix Endres  ( 2016-05-31 09:01:36 -0500 )edit

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Asked: 2016-05-25 10:26:29 -0500

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Last updated: May 31 '16