Performance update humble - Githubissues

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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Performance update humble #359

Closed Serafadam closed 10 months ago

Serafadam commented 11 months ago

Overview

Author: @Serafadam

Issue

Issue link (if present): N/A Issue description: Updating code to perform faster Related PRs: N/A

Changes

ROS distro: Humble List of changes:

Removed unnecessary vector creations/allocations/resizes
Added a separate function that returns single sensors_msgs::Image message
Removed usage of deques for image publishing in depthai_ros_driver

Testing

Hardware used: OAK-D-PRO Depthai library version: 2.22.0

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.

Screenshots from analysis from perf tool.

perf_unopt perf_opt

Serafadam commented 11 months ago

Added intra-process communication + lazy publishing in depthai_ros_driver