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personalrobotics / apriltags

ROS wrapper for the Apriltags visual fiducial tracker
BSD 2-Clause "Simplified" License
39 stars 37 forks source link

Lack of Nodelet Support #20

Open davelkan-zz opened 8 years ago

davelkan-zz commented 8 years ago

Image processing uses a significant amount of cpu, which is highly limited resource in particular in mobile robotics situations. ROS provides nodelets to allow zero-copy transfer of images in order to reduce cpu requirements for image manipulation. Since apriltags subscribes to an image topic it's cpu usage could be reduced by writing it as a nodelet.

fabrizioschiano commented 8 years ago

Did you do something in this direction ?

Thanks.