Stereo resolution cannot be set above 15FPS [Multisense SL, 3.2.1 firmware, ROS Indigo]

Issue #15 resolved
Dimitrios Kanoulas created an issue

I am running ROS Indigo on Ubuntu 14.04LTS and I am using the Multisense SL, Firmware 2.3.1. I noticed that dynamic reconfiguration (rosrun rqt_reconfigure rqt_reconfigure) does not allow me setting the fps param to more than 15fps no matter the resolution I am setting up for the stereo camera (even setting them from the command line).

Comments (12)

  1. Matt Alvarado

    Hi Dimitrios,

    I suspect your issue is due to the fact your MultiSense has 4 Megapixel imagers. Units with CMOSIS CMV4000 4 Megapixel imagers have a maximum framerate of 15fps on the lowest 1024x1024 resolution setting. A detailed description of the trade-offs between the two MultiSense resolution configurations can be found on our support website (

    If your MultiSense does not have 4 Megapixel imagers could you please attach the output from the DeviceInfoUtility located in the multisense_lib package. Example usage would be:

    rosrun multisense_lib DeviceInfoUtility -a -q

    Please don’t hesitate to let us know if you have any additional questions.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  2. Dimitrios Kanoulas reporter

    Matt --

    thanks a lot for your quick reply. Yes indeed it seems that I have the 4 Megapixel imagers, but also in the dynamic configuration it looks like I am able to drop the resolution to 1024x512x64, which is the lowest one, not 1024x1024 as you mentioned. That's why I got confused about the FPS. I thought that with 1024x512 the framerate should go up to 30FPS. Thanks a lot for the help!

  3. Matt Alvarado

    Hi Dimitrios,

    Sorry about the confusion regarding the frame rates. Even though you are requesting a lower resolution from the sensor the FPGA is still retrieving full resolution 2048x2048 images from the imager, resulting in a maximum framerate of 15fps. We are working on a bitstream upgrade which improves the FPGA imager interface by requesting specific image regions at a higher framerates, but that logic is still in development. We will be sure to let you know when the improvement is released.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  4. Dimitrios Kanoulas reporter

    Oh great! Thanks a lot! It would be great to have at least a 30Hz option, mainly because lots of SLAM techniques require such a framerate. Please let me know when you have such a release! Thanks a lot!

  5. Matt Alvarado

    Hi Dimitrios,

    This is still an active area of development here at CRL. I will be sure to let you know as soon as anything which solves this issue is released.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  6. Maurice Fallon

    I'd also like to motivate this feature. Completing it was first suggested back in about spring 2015.

  7. Chris Osterwood

    Maurice & Dimitrios,

    I am happy to announce that a MultiSense firmware has been released which adds the ability for a CMV4000 imager to have a ROI of a CMV2000 image, arbitrarily positioned vertically anywhere in the CMV4000 FOV.

    The new firmware version is on our support site here :

    And you'll also need a new version of libMultiSense to use it, as there are some new massages in the wire protocol to enable the crop mode and to position the ROI.

    There is a new CLI utility which shows how to use this new messages :

    We are still working on a few aspect of a new ROS driver release which will allow control of these parameter via ROS, but I figured you'd be interested in evaluating this new feature even without ROS support.

    Please let us know if you run into any issues with the new firmware. Thanks, and I'm sorry this feature request has taken us so long to implement.

    • Chris
  8. Chris Osterwood

    Maurice & Dimitrios,

    A new ROS driver (version 4.0) was released today with full support for the new firmware.

    • Chris
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