I'm trying to visualise pointclouds from two kinect simultaneously.
I'm using the following structure:
- nodelet manager
- kinect1 -> openni_camera nodelet
- kinect2 -> openni_camera nodelet
- my nodelet to re-advertise the flow of kinect2 roto-translated
Now, my problem is the frame rate: if I launch only one openni_camera
nodelet, the frame rate is about 15fps. If I launch my structure, and
visualise (ie with rviz) the two pointclouds, the frame rate is about
3-5fps with a substantial delay.
Is it possible that the publishing of the two pointclouds conflicts,
despite remapping on different topics for the two openni_camera nodelets?
If so, what can I do to solve my problem?
are the nodelet and rviz running on the same machine? If not then the
network is almost certainly causing the issues with the delay and
I can check on Tuesday what are we getting for the same setup on my lab.
> - my nodelet to re-advertise the flow of kinect2 roto-translated
What exactly is this?
thank you for your reply!
> are the nodelet and rviz running on the same machine? If not then the
yes, the nodelets and rviz are running on the same machine!
>> - my nodelet to re-advertise the flow of kinect2 roto-translated
> What exactly is this?
I want to register the flows coming from the two kinects, so I need to
roto-translate one kinect pointcloud respect to the other, in order to
be in the same reference system.
I use the method pcl::getTransformedPointCloud in a nodelet callback to
roto-translate the pointcloud.
My nodelet subscribes the kinect/rgb/points topic and publishes in
another topic the modified pointcloud.