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stella-cv / stella_vslam

This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)
https://stella-cv.rtfd.io/en/latest/
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CPU Usage using stella_vslam system #532

Closed albertarla closed 9 months ago

albertarla commented 9 months ago

Discussed in https://github.com/stella-cv/stella_vslam/discussions/530

Originally posted by **albertarla** September 5, 2023 Hi all, I'm working in a project using stella_vslam with ros2. For that project I have a node that is publishing a camera_image topic, then I have a Component Manager that executes multiple components running stella_vslam (in multiple threads). The feed_image of stella_vslam is called inside the image callback. If running 3 or 4 components the cpus usage is around the 60% of average and I'm receiving the images at 30fps as expected. After this point, if I start increasing the number of component being executed the fps received starts dropping. The thing is that the CPU is not at it's limit. I have done some tests to verify this is not an issue of ROS2 or it has something to do with the dds. Currently the publisher is using intra_process_comms with No copy of the image being done. This way I can ensure that the image published is getting to the subscribers as fast as posible. Moreover, running the ros2 topic hz i got 29fps so the issue is in the subscriber node. #### Actual behaviour As an example the results I'm getting are the following: - 1 Component being run -> 30fps -> CPU 55% - 2 Components being run -> 30fps -> CPU 55.5% - ... - 6 Components being run -> 20fps -> CPU 60% - ... - 8 Components being run -> 15fps -> CPU 70% - ... - 15 Components being run -> 4fps -> CPU 80% #### Expected behaviour I would expect that before decreasing the fps received in the components the CPU usage would increase, As an example the results I would expect are the following: - 1 Component being run -> 30fps -> CPU 55% - 2 Components being run -> 30fps -> CPU 55.5% - ... - 6 Components being run -> 30fps -> CPU 75% - ... - 8 Components being run -> 30fps -> CPU 90% - ... - 15 Components being run -> 10fps -> CPU 95% #### Issue So, the issue is that I think there is something in stella_vslam that limits the use of the CPU making the fps decrease before using all the capabilities available. Any idea of what can be causing this?
albertarla commented 9 months ago

Before opening this issue, i have investigated if it could be caused by ros2 or the dds in here: https://github.com/ros2/rclcpp/issues/2295

ymd-stella commented 9 months ago

Insufficient explanation.

ymd-stella commented 9 months ago

Close this issue because it does not follow the template.