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jeffdelmerico / cyphy-elas-ros

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The low rate of publishing depth image #8

Open Gaochao-hit opened 4 years ago

Gaochao-hit commented 4 years ago

Thank you for your reply. I firstly transformed the KITTI dataset into rosbag using kitti_to_rosbag. And then compiling the repo in a catkin workspace. After that I run the launch file using roslaunch elas_ros elas.launch and play bag usingrosbag play /home/gc2/Desktop/kittidata/2011_09_26/2011_09_26_drive_0005_sync/0005.bag cam00/camera_info:=/stereo/left/camera_info cam00/image_raw:=/stereo/left/image_raw cam01/camera_info:=/stereo/right/camera_info cam01/image_raw:=/stereo/right/image_raw . Howerer, I could only get 1 frame of depth image using rviz. The rate of the image topic is about 10Hz. I could only get 1 frame of depth image too if I play the bag using -r 0.1 Screenshot from 2020-09-16 17-20-50

Seba-san commented 3 years ago

if you download libelas from this link: http://www.cvlibs.net/download.php?file=libelas.zip (that link was found in: http://www.cvlibs.net/software/libelas/) and you get to obtain a disparity image, the time of it takes is around 1s... If you need more Hz, would need to implement another code like SMB or similar. Please check: http://wiki.ros.org/stereo_image_proc. I don't know if there is a GPU implementation of LIBELAS.