increase camera frame rates

[Sebastien-Rob]

Hi, When i run camera node, i have just 8 frame per second and code below 4 frame per second for rgb topic and others images topics. How i can up this ? Thanks.

void FlightPilot::mainLoopCallback(const ros::TimerEvent &event) {

    quad_ptr_->setState(quad_state_);
    //std::cout << quad_state_.x[QS::POSX] << std::endl; //debug

    unity_bridge_ptr_->getRender(frame_id);
    unity_bridge_ptr_->handleOutput();

    cv::Mat img;

    ros::Time timestamp = ros::Time::now();

    rgb_camera_->getRGBImage(img);
    sensor_msgs::ImagePtr rgb_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", img).toImageMsg();
    rgb_msg->header.stamp = timestamp;
    rgb_msg->header.frame_id = "camera";
    rgb_pub.publish(rgb_msg);

    rgb_camera_->getDepthMap(img);
    sensor_msgs::ImagePtr depth_msg = cv_bridge::CvImage(std_msgs::Header(), "32FC1", img).toImageMsg();
    depth_msg->header.stamp = timestamp;
    depth_msg->header.frame_id = "camera";
    depth_pub.publish(depth_msg);

    // Publishing camera calibration information
    camera_info_msg.header.stamp = ros::Time::now();
    cinfo_pub.publish(camera_info_msg);

    frame_id += 1;

}

[yun-long]

Hi, Sebastien, this is very odd. We have tested it on our PC and the frame rate is much higher than the number you report. What you can do is

• reduce the image size
• disable depth and segmentation is you don't need them
• run unity in a batch mode by launching Unity standalone via ./RPG_Flightmare.x86 -batchmode

[Sebastien-Rob]

Hi yun-long,

I want to keep a resolution of 480p and just get RGB and depth images. I had a frame rate of 7Hz. When i disable depth and optical flow, i up to 13Hz (if i disable all post processing i up to 27Hz) Finally, enable depth post processing + publish RGB + publish depth + run unity in a batch mode, i up to 17Hz.

It's much better thanks, You think it's possible to increase up to 30Hz for both ? (maybe others post processing for depth)

Thank you for help, nice work !

[1216621137]

@Sebastien-Rob
Hello I have the same question. But I have changed mode into batchmode, it doesn't work. I have run these in three terminal:

1. rosrun flightros camera
2. ./RPG_Flightmare.x86 -batchmode(on the right folder)
3. rosrun rviz rviz

Then, I run "rostopic hz /rgb" on another terminal. It shows the frame rate is still 8Hz. I don't know which step is wrong. Could you help me ? Thanks!!

[Nunzio03]

Hi, Sebastien, this is very odd. We have tested it on our PC and the frame rate is much higher than the number you report. What you can do is

Hi @yun-long, I would like to ask:

• what publish rate you were able to achieve on the topic /rgb ?
• what hardware are you using ?

I've tested on multiple computers with nvidia GPU enabled on Docker and by disabling depth, segmentation and optical flow i can barely reach 20 FPS (i'm checking with rostopic hz /rgb)