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Reduce frame rate FPS kinect openni_launch

asked 2013-02-05 03:10:25 -0600

anto1389 gravatar image

updated 2016-10-24 08:34:39 -0600

ngrennan gravatar image

Hello everybody,

I am running two programs at the same time so the computational cost is too high. Hence, i thought in reducing the frame rate of the kinect. I am using openni_launch and fuerte. Does anyone know how to reduce the FPS or whether it is possible?

Thank you very much!

Antonio

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answered 2013-03-14 18:19:36 -0600

usman gravatar image

updated 2013-03-15 20:32:19 -0600

You can skip frames to reduce frame rate.

Write this line in the terminal

set param name="camera/driver/data_skip" value="10"

and then run

roslaunch openni_launch openni.launch

This will drop 10 frames and output 2-3Hz data, whereas default value is 0 (which output 30 frames/sec without any dropping)

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I tried this and didn't work. Instead I used dynamic_reconfigure with the openni running. Here is the command I used: "$ rosrun dynamic_reconfigure dynparam set /camera/driver data_skip 9"

FBernuy gravatar imageFBernuy ( 2013-04-11 11:46:44 -0600 )edit
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answered 2014-10-24 04:29:16 -0600

Dave Coleman gravatar image

Using the previous answer from @usman, I made it better by using a custom roslaunch file for openni and including the parameter:

<launch>
  <param name="/camera/driver/data_skip" value="2" />

  <include file="$(find openni_launch)/launch/openni.launch" >
    <arg name="depth_registration" value="true"/>
  </include>
</launch>
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How would you do this in a launch file for a generic topic name?

lakehanne gravatar imagelakehanne ( 2016-10-31 20:55:04 -0600 )edit

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Asked: 2013-02-05 03:10:25 -0600

Seen: 3,427 times

Last updated: Oct 24 '14