Feat threading #244
Feat threading #244
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* publishing on its own thread * PCL dependency removed * Elaboration time reduced from 70msec to about 10 msec Added sl_tools to easily measure time
adujardin
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adujardin
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Looks good to me (although the complete code reformatting didn't make that particularly easy ;) )
Check out the comments, there are a few things to correct.
Also, you should check a potential issue I found when messing around with unsub/sub to DepthCloud or PointCloud2 in Rviz the cloud would freeze or disappear for some time (like 5-10 sec with everything but the cloud)
CMakeLists.txt
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| set(TOOLS_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp) | ||
| set(TOOLS_SRC | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/stopwatch.cpp ) |
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I think you forgot to push this file. However, arguably I'd put it in sl_tools.cpp, also do we actually need a custom stopwatch? There is already a macro in the ZED SDK (INIT_TIMER, STOP_TIMER(str))
| <arg name="serial_number" default="0" /> | ||
| <arg name="verbose" default="true" /> | ||
| <arg name="resolution" default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA --> | ||
| <arg name="frame_rate" default="30" /> |
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I think 30 fps is a better default value, 60 is just too much data to process
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