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lagadic / vision_visp

ViSP stack for ROS
http://wiki.ros.org/vision_visp
GNU General Public License v2.0
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tracker run slow #71

Open marine0131 opened 6 years ago

marine0131 commented 6 years ago

Hi i have successfully run the auto tracker, but it seems like run much slower than your example videos shown in ros_wiki. I uploaded my video so you can see that: https://youtu.be/8PRvELsXeYI

the frequency of /image_raw is 20 Hz, image_height x image_width is 640x480, when i run the

rostopic hz /visp_auto_tracker/code_messgae

i got about 8Hz, when i increase the height and width od image, the code_message's publish frequency decreased. Is my CPU not enough (I7 CPU but run ubuntu 14.04 in VMware)? I thought 640x480 is very small image witch can process very fast.

and when I echo the /visp_auto_tracker/code_messgae I got (dose it strange?): image

much thanks if you can give some suggestions!

fspindle commented 6 years ago

Are you sure you build the tracker in Release:

catkin_make -DCMAKE_BUILD_TYPE=Release
marine0131 commented 6 years ago

Hi I just tried build the tracker in Release

but it behaved exactly the same as before

fspindle commented 6 years ago

The VM could explain the slow down.

marine0131 commented 6 years ago

I think so, when i decrease the image size to 320x240, the /code_message's publish frequency get 20 Hz,

but main issue now is the empty message in the /code_message, it still exist no matter how i change the image size image

fspindle commented 6 years ago

Are you sure that a message is encoded in the QRcode

marine0131 commented 6 years ago

I download the QRcode you provided in https://github.com/lagadic/visp_auto_tracker-deprecated/downloads

fspindle commented 6 years ago

The code from https://github.com/lagadic/visp_auto_tracker-deprecated is deprecated. You should rather get https://github.com/lagadic/vision_visp that is a meta package that contains visp_auto_tracker.

marine0131 commented 6 years ago

sorry about the QRcode link, I cloned the right git stack, the https://github.com/lagadic/vision_visp, and checkout indigo-0.10.0 branch, that is the newest version of indigo right? image

marine0131 commented 6 years ago

I have resolve the problem @fspindle , I change the ad-hoc-recovery from 1 to 0, then it works!

now I am a liitle confused about the function of this ad-hoc-recovery. is there any detailed explain of these parameters?

ad-hoc-recovery, ad-hoc-recovery-display, ad-hoc-recovery-ratio, ad-hoc-recovery-threshold, ad-hoc-recovery-size