high cpu usage

[zhengzh]

tf2_->transform(*cloud_msg, *cloud, target_frame_, ros::Duration(tolerance_));
high cpu usage -_-

[jonbinney]

How many points are in the point cloud you are transforming? How often are you transforming it? What CPU are you on? What ROS distro are you on?

[zhengzh]

@jonbinney 640*480 points, ubuntu 16.04, kinect v1 (30fps), thinkpad t440p (i7 cpu)
the fps drop down to about 0.6 fps When executing this line of code
30(fps) when i comment it out.
I don't know why tf2_->transform is so slow

[paulbovbel]

Tf2 will transform every single point in the cloud. I've found it helpful to run the point cloud through a PCL voxel filter first.

Transforming the point cloud is an expensive operation. If you don't need the transform, don't provide a target frame, or better yet, use depthimage_to_laserscan.

[zhengzh]

@paulbovbel thanks! I need to transform the point cloud from kinect_link to base_link, i will try pcl library,