Comments (4)
Hi, I think this might be bandwidth related, by default in RGBD mode Stereo is scaled up for better alignment with RGB frame (and its FPS is based on left/right streams). This can be overridden with i_height/i_width params, or you can shrink down rgb frames using ISP scaling. If that does not improve things, you can also try using low_bandwidth mode for the sensor streams. More information on latency can be found here.
from depthai-ros.
I have modified my yaml to the following:
/oak:
ros__parameters:
camera:
i_calibration_dump: true
i_enable_imu: true
i_enable_ir: true
i_pipeline_type: RGBD
i_publish_tf_from_calibration: true
i_tf_imu_from_descr: 'true'
i_usb_speed: SUPER_PLUS
stereo:
i_publish_topic: true
i_reverse_stereo_socket_order: true
i_publish_synced_rect_pair: true
i_publish_left_rect: true
i_publish_right_rect: true
i_update_ros_base_time_on_ros_msg: false
i_align_depth: true
i_resolution: '400P'
i_low_bandwidth: true
i_low_bandwidth_quality: 1
imu:
i_acc_cov: 0.0
i_acc_freq: 250
i_batch_report_threshold: 5
i_enable_rotation: true
i_get_base_device_timestamp: false
i_gyro_cov: 0.0
i_gyro_freq: 200
i_mag_cov: 0.0
i_max_batch_reports: 10
i_message_type: IMU
i_rot_cov: 0.0
i_rot_freq: 200
i_sync_method: LINEAR_INTERPOLATE_ACCEL
i_update_ros_base_time_on_ros_msg: false
left:
i_height: 400
i_width: 640
i_fps: 117.0
i_low_bandwidth: true
i_low_bandwidth_quality: 1
right:
i_height: 400
i_width: 640
i_fps: 117.0
i_low_bandwidth: true
i_low_bandwidth_quality: 1
rgb:
i_resolution: '1080P'
i_isp_den: 3
i_isp_num: 2
i_output_isp: true
i_fps: 30.0
i_low_bandwidth: true
i_low_bandwidth_quality: 1
i_publish_topic: true
use_sim_time: false
And I am still only able to get max 30hz from my left and right images and about 30hz on my IMU.
I am at least getting the 30hz on the rgb image though.
Is there any other way to get the full 90hz out of the images and 200hz from the IMU?
from depthai-ros.
Hi, sorry for the delay, as mentioned this is probably related to bandwidth, for rectified stereo streams you need to set those parameters separately, for example i_right_rect_low_bandwidth_quality: 50
(full yaml file can be found here)
from depthai-ros.
Okay, I'll try that now. Are the IMU noise values on your Isaac PR what I should be using for the BMI270?
I was also able to achieve better results (60fps on the rect streams) by turning the nn off. Still only 60hz on the IMU data though. I'm wondering if it's a processing bottleneck, not just a pure bandwidth problem.
Thanks!
~Matt
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Related Issues (20)
- 'camera.yaml' parameters not being used when launch 'camera.launch.py' HOT 2
- [BUG] ROS Documentation link goes to 404 Error page HOT 4
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- [BUG] {camera.launch.py not working} HOT 7
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- [BUG] {Max 250hz IMU publish rate with rotation vector rate active} HOT 5
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