[Fix] Reduce the calculation load of points2image #1286
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kfunaoka
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kfunaoka
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May 22, 2018
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Nice improvement!
Because the contents seem not to have new feature, I renamed this title from Feature to Fix.
Please use "Squash and merge" and delete the following comments in the second text box not to appear on CHANGELOG.
* Make matrix initialization only once
* Change cvmat calculation to local
* Change to latched-publisher
* Clang-format
k0suke-murakami
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anubhavashok
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Status
DEVELOPMENT
Description
Fixed /points2image and /calibration_publisher. autowarefoundation/autoware_ai#162
In order to reduce processing load, we changed the following two points.
(1) Improve the part calculated using OpenCV.
(2) We stopped wasteful memory allocation processing and optimized it.
Also, the /camera_info and /projection_matrix topics are useless because they are designed to keep publishing the same value. Changed calibration_publisher to publish in latch.
Todos
Steps to Test or Reproduce
Prepare a rosbag file containing / points_raw and / image_raw and a camera calibration file in advance.
After calibration publisher and points image are started up, compare the CPU load before and after change.
Before : 50% to 110% CPU(When HDL32e LiDAR is used)
After : 20% or less CPU(When HDL32e LiDAR is used)
