{"action":"created","issue":{"url":"https://api.github.com/repos/stereolabs/zed-python/issues/16","repository_url":"https://api.github.com/repos/stereolabs/zed-python","labels_url":"https://api.github.com/repos/stereolabs/zed-python/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/stereolabs/zed-python/issues/16/comments","events_url":"https://api.github.com/repos/stereolabs/zed-python/issues/16/events","html_url":"https://github.com/stereolabs/zed-python/issues/16","id":275635659,"node_id":"MDU6SXNzdWUyNzU2MzU2NTk=","number":16,"title":"The speed of depth sensing (zed.retrieve_measure)","user":{"login":"lihp6207","id":33860643,"node_id":"MDQ6VXNlcjMzODYwNjQz","avatar_url":"https://avatars3.githubusercontent.com/u/33860643?v=4","gravatar_id":"","url":"https://api.github.com/users/lihp6207","html_url":"https://github.com/lihp6207","followers_url":"https://api.github.com/users/lihp6207/followers","following_url":"https://api.github.com/users/lihp6207/following{/other_user}","gists_url":"https://api.github.com/users/lihp6207/gists{/gist_id}","starred_url":"https://api.github.com/users/lihp6207/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lihp6207/subscriptions","organizations_url":"https://api.github.com/users/lihp6207/orgs","repos_url":"https://api.github.com/users/lihp6207/repos","events_url":"https://api.github.com/users/lihp6207/events{/privacy}","received_events_url":"https://api.github.com/users/lihp6207/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2017-11-21T09:12:03Z","updated_at":"2018-09-13T09:28:15Z","closed_at":"2018-09-13T09:28:15Z","author_association":"NONE","body":"I have a problem about processing speed of function(zed.retrieve_measure)\r\nThe FPS is unstable and so low , from 4 to 20.\r\nThe following is my setting:\r\n\r\ninit_params.depth_mode = sl.PyDEPTH_MODE.PyDEPTH_MODE_PERFORMANCE\r\ninit_params.coordinate_units = sl.PyUNIT.PyUNIT_METER  \r\ninit_params.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720   \r\nruntime_parameters.sensing_mode = sl.PySENSING_MODE.PySENSING_MODE_STANDARD  \r\n\r\nThen, I measure the time of the following functions cost is unstable and so long(0.05 to 0.3 second):\r\n            # Retrieve left image\r\n            zed.retrieve_image(image, sl.PyVIEW.PyVIEW_LEFT)\r\n            # Retrieve depth map. Depth is aligned on the left image\r\n            zed.retrieve_measure(depth, sl.PyMEASURE.PyMEASURE_DEPTH)\r\n            # Retrieve colored point cloud. Point cloud is aligned on the left image.\r\n            zed.retrieve_measure(point_cloud, sl.PyMEASURE.PyMEASURE_XYZRGBA)\r\n\r\nThird, I open the ZED Depth Viewer using the same device. It runs smoothly and the FPS is above 30.\r\n\r\n\r\nWould someone answer the questions, thank you very much.\r\nBTW, the environment is based on TX2 ubuntu16.04 and python3.5.\r\n"},"comment":{"url":"https://api.github.com/repos/stereolabs/zed-python/issues/comments/420943634","html_url":"https://github.com/stereolabs/zed-python/issues/16#issuecomment-420943634","issue_url":"https://api.github.com/repos/stereolabs/zed-python/issues/16","id":420943634,"node_id":"MDEyOklzc3VlQ29tbWVudDQyMDk0MzYzNA==","user":{"login":"adujardin","id":12609780,"node_id":"MDQ6VXNlcjEyNjA5Nzgw","avatar_url":"https://avatars1.githubusercontent.com/u/12609780?v=4","gravatar_id":"","url":"https://api.github.com/users/adujardin","html_url":"https://github.com/adujardin","followers_url":"https://api.github.com/users/adujardin/followers","following_url":"https://api.github.com/users/adujardin/following{/other_user}","gists_url":"https://api.github.com/users/adujardin/gists{/gist_id}","starred_url":"https://api.github.com/users/adujardin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adujardin/subscriptions","organizations_url":"https://api.github.com/users/adujardin/orgs","repos_url":"https://api.github.com/users/adujardin/repos","events_url":"https://api.github.com/users/adujardin/events{/privacy}","received_events_url":"https://api.github.com/users/adujardin/received_events","type":"User","site_admin":false},"created_at":"2018-09-13T09:28:15Z","updated_at":"2018-09-13T09:28:15Z","author_association":"MEMBER","body":"Hi,\r\nThe python wrapper adds a layer of computation/conversion that can significantly reduce the performance and add latency compared to the native C++ SDK, especially when compared to a GPU implementation such as Depth Viewer.\r\n\r\nThe performances are an important consideration of the wrapper implementation but that's the cost of using python, unfortunately there's not much else we can do.\r\n\r\nFor critical real-time applications, the C++/CUDA SDK should be considered instead."}}
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