Fix camera limitation due to jpg encoding #171
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
alexandrefch
changed the title
Autumn60
requested changes
Sep 28, 2024
There was a problem hiding this comment.
Thanks for the great PR.
Can you please change the topic name for the camera prefab in Assets/UnitySensorsROS/Runtime/Prefabs/Camera?
Rviz will crash if ImageMsg topic have /compressed in topic name.
|
@alexandrefch |
alexandrefch
force-pushed
the
fix/camera_image_jpg_limitation
branch
from
b4343f8 to
d1da2d0
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
I noticed that the camera sensor was limited in resolution and frequency, by default is set to
640x480 10fps, when trying to increase that the frame rate was falling down to6/7fpson a Quadro RTX 5000.After looking in the code and searching for a performance bottleneck with unity profiling tool, I find out that the image where send in
CompressedImageformat made fromTexture2D.EncodeToJPG().This method was intended for screenshots purpose and not real-time encoding.
Following ZeroSimROSUnity camera sensor implementation, a good way is to simply send raw buffer without any encoding, allowing high quality.
Now running the simulation at
140fpsin the demo scene, using camera sensor of1920x1080 at 20fps(Running on Ubuntu 22.04 with Quadro RTX 5000).Warning
The depth camera may be broken I didn't check.