Stereo images from multisense_driver is slower than expected and we want to know how to speed up them.
We use stereo images like /multisense/left/image_rect_color with following parameters and expect them to be published in around 30Hz, but actually they are published in about 5Hz.
$ rostopic hz /multisense_local/left/image_rect_color -w 10 subscribed to [/multisense_local/left/image_rect_color] average rate: 2.283 min: 0.376s max: 0.499s std dev: 0.06150s window: 3 average rate: 2.126 min: 0.376s max: 0.628s std dev: 0.10366s window: 5 average rate: 2.758 min: 0.131s max: 0.628s std dev: 0.14541s window: 9 average rate: 4.778 min: 0.122s max: 0.388s std dev: 0.10306s window: 10 average rate: 4.791 min: 0.122s max: 0.629s std dev: 0.16649s window: 10 average rate: 4.772 min: 0.122s max: 0.629s std dev: 0.15685s window: 10 average rate: 5.968 min: 0.119s max: 0.507s std dev: 0.12012s window: 10
cpu: Intel(R) Core(TM) i7-4770R CPU @ 3.20GHz
distribution: Ubuntu 12.04.5
multisense_ros from source (parent: 99:fc521418febe, branch: default)
auto_exposure, auto_white_balance and network_time_sync are enabled
Dependency with subscribed topics
multisense_driver seems to select publishing topics whether they are subscribed or not. Which topic puts more loads?
Dependency with resolution of images
When we changed the resolution from 1024x544_256_disparities to 1024x272_64_disparities, publish rate was improved to about 15Hz, but we want to use better resolution. Would you tell us the theoretical execution rate in each resolution?
Issue #55 resolved