low rate of stereo prosilica cameras for face_detector

edit

as far as I know, there is nothing as a hardware synchronisation, the launch files just start running prosilica cameras node.

thank you for reply,

bag file just produces /image_raw and /camera_info, not the /disparity so same load of calculation is in real camera and bag file. even I downgraded the bag playing rate to 2 hz to simulate real camera rate, but no ouput. the synchronization problem could be a matter.

the package that I'm using is a standard form as below:

  <!-- The camera node -->
  <node ns="stereo/left" name="color_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
    <param name="ip_address" type="str" value="169.254.236.139"/>
    <param name="trigger_mode" type="str" value="streaming"/>
    <remap from="camera/image_raw" to="image_raw"/>
    <remap from="camera/camera_info" to="camera_info" />
    <rosparam command="load" file="$(find uh_study)/common/camera_setting.yaml" />
  </node>
  <!-- The camera node -->
  <node ns="stereo/right" name="color_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
    <param name="ip_address" type="str" value="169.254.47.10"/>
    <param name="trigger_mode" type="str" value="streaming"/>
    <remap from="camera/image_raw" to="image_raw"/>
    <remap from="camera/camera_info" to="camera_info" />
    <rosparam command="load" file="$(find uh_study)/common/camera_setting.yaml" />
  </node>
  <include file="$(find uh_study)/launch/face_detector.launch" />

and face_detector is

  <node ns="stereo" pkg="stereo_image_proc" type="stereo_image_proc" respawn="false" name="stereo_image_proc" args="_approximate_sync:=True _queue_size:=15"/>
  <node pkg="face_detector" type="face_detector" name="face_detector" args="stereo:=/stereo image:=image_rect _approximate_sync:=True _queue_size:=15" output="screen">
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(find opencv2)/opencv/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>
     <param name="do_continuous" type="bool" value="true" />
     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" /> 
     <param name="do_display" type="string" value="local" />
   </node>

the camera setting is

{auto_exposure: true, auto_gain: true, auto_whitebalance: true, binning_x: 1, binning_y: 1,
  exposure: 2.5e-05, frame_id: camera, gain: 0, height: 480, trig_rate: 15.0, trig_timestamp_topic: '',
  trigger_mode: streaming, whitebalance_blue: 100, whitebalance_red: 100, width: 640,
  x_offset: 500, y_offset: 500}

I can't remember the CPU on care-o-bot, but it might be good enough, and these stuff are all things running on it. roscore is running in another pc.

old topic of my question was for stereo_proc, and I should delete the last part, which will do it.

Regards, Reza,