[BUG] {Unable to get stable 30FPS for RGBD pipeline}

[mjunsen123]

Startup log:

[component_container-1] [INFO] [1716546970.844394918] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so [component_container-1] [INFO] [1716546970.864534402] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1716546970.864617096] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1716546970.881334717] [oak_state_publisher]: got segment oak [component_container-1] [INFO] [1716546970.881431924] [oak_state_publisher]: got segment oak-d-base-frame [component_container-1] [INFO] [1716546970.881441799] [oak_state_publisher]: got segment oak_imu_frame [component_container-1] [INFO] [1716546970.881445986] [oak_state_publisher]: got segment oak_left_camera_frame [component_container-1] [INFO] [1716546970.881450072] [oak_state_publisher]: got segment oak_left_camera_optical_frame [component_container-1] [INFO] [1716546970.881453733] [oak_state_publisher]: got segment oak_model_origin [component_container-1] [INFO] [1716546970.881457480] [oak_state_publisher]: got segment oak_rgb_camera_frame [component_container-1] [INFO] [1716546970.881461585] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [component_container-1] [INFO] [1716546970.881465270] [oak_state_publisher]: got segment oak_right_camera_frame [component_container-1] [INFO] [1716546970.881468778] [oak_state_publisher]: got segment oak_right_camera_optical_frame [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container 'oak_container' [component_container-1] [INFO] [1716546970.884759779] [oak_container]: Load Library: /home/jyee/ros2_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so [component_container-1] [INFO] [1716546970.995873919] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1716546970.996002067] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1716546971.010616371] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-1] [INFO] [1716546977.508486087] [oak]: Camera with MXID: 184430101152870E00 and Name: 1.1 connected! [component_container-1] [INFO] [1716546977.512837047] [oak]: USB SPEED: SUPER [component_container-1] [INFO] [1716546977.570541824] [oak]: Device type: OAK-D-PRO [component_container-1] [INFO] [1716546977.580574291] [oak]: Pipeline type: RGBD [component_container-1] [INFO] [1716546978.102017908] [oak]: Finished setting up pipeline. [component_container-1] [INFO] [1716546978.861238018] [oak]: Camera ready! [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'

Config

/oak: ros__parameters: camera: i_enable_imu: true i_enable_ir: false i_pipeline_type: RGBD i_nn_type: none imu: i_acc_freq: 500 i_batch_report_threshold: 5 i_gyro_freq: 400 i_max_batch_reports: 20 i_sync_method: LINEAR_INTERPOLATE_GYRO i_message_type: IMU rgb: i_fps: 30.0 i_publish_topic: true i_resolution: 1080P i_low_bandwidth: true i_low_bandwidth_quality: 50 i_output_isp: false #change this accordingly i_width: 1280 i_height: 720

i_isp_den: 3

i_isp_num: 2

stereo: i_align_depth: true i_publish_topic: true i_output_disparity: false i_fps: 30.0 i_low_bandwidth: true i_low_bandwidth_quality: 50

i_reverse_stereo_socket_order: true

FPS

average rate: 14.050 min: 0.022s max: 0.367s std dev: 0.05225s window: 348 average rate: 14.223 min: 0.022s max: 0.367s std dev: 0.05150s window: 367 average rate: 14.219 min: 0.022s max: 0.367s std dev: 0.05126s window: 382 average rate: 14.051 min: 0.022s max: 0.367s std dev: 0.05192s window: 393 average rate: 13.895 min: 0.022s max: 0.367s std dev: 0.05304s window: 403 average rate: 14.017 min: 0.022s max: 0.367s std dev: 0.05251s window: 421 average rate: 14.032 min: 0.022s max: 0.367s std dev: 0.05195s window: 436

Further Information

I also found that RVIZ:=true keep crashing in RGBD pipeline but working on Depth pipeline. In addtion, the FPS get even worse in ISP mode.

[Serafadam]

Hi, what topic are you checking for FPS? Usually in ROS2 it's better to check hz of camera info topic rather than image due to serialization overhead in ros2 topic. Additionally, what hardware are you running on? Could you provide some more information as presented in bug report template?

[mjunsen123]

Hi @Serafadam Sorry for late reply. I can confirm that camera info topic achieve stable 30 fps. Thanks