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mikeferguson / ar_kinect

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callback delays in pcl_conversions::toPCL(*msg, pcl_cloud); #2

Open MPJansen opened 10 years ago

MPJansen commented 10 years ago

Hi!

For a humanoid robotics related internship I was playing around with the ar_kinect package. I found that at the beginning of the callback function, the pcl_conversions functions actually take a lot of time to execute, which increases the delay in detection quite significantly.

I tried getting around this by directly subscribing to a pcl::PointCloudpcl::PointXYZRGB. This seems to decrease the delay in detection quite a lot.

If you are interested I can forward the source (new to the whole githubs)

Sincerely

mikeferguson commented 10 years ago

@MPJansen if you point me at a fork or open a pull request we can certainly look at this.

MPJansen commented 10 years ago

I'll get started on a fork.