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Body tracking latency #109

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pengy8 opened this issue Jan 17, 2020 · 3 comments · Fixed by #161
Closed

Body tracking latency #109

pengy8 opened this issue Jan 17, 2020 · 3 comments · Fixed by #161
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@ooeygui
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enhancement New feature or request investigate Used when investigation needed ROS1 SDK_Issue This is an issue in the Azure Kinect SDK, not the ROS Node triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team

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@pengy8
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pengy8 commented Jan 17, 2020

Is your feature request related to a problem? Please describe.
The body tracking data in the ROS driver is very useful to my application, but somehow there's about 1-second latency in the reported data. However, the data seen in the body tracking SDK is faster (about 0.25 second).

Describe the solution you'd like
Is there any way to improve the body tracking data latency in the ROS driver to be close to the SDK's speed?

Describe alternatives you've considered
NA

Additional context
NA
@pengy8 pengy8 added enhancement New feature or request triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team labels Jan 17, 2020
@ooeygui ooeygui self-assigned this Jan 20, 2020
@ooeygui ooeygui added investigate Used when investigation needed ROS1 triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team and removed triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team labels Jun 28, 2020
@ooeygui
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ooeygui commented Jun 28, 2020

It may be due to the double hop though pub/sub.

@RoseFlunder
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RoseFlunder commented Jun 29, 2020 •
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There is also a huge discussion when it comes to the latency about the body tracking sdk in the sdk repository:
microsoft/Azure-Kinect-Sensor-SDK#514

I am on mobile at the moment but I remember that one person wrote that there is like 1 buffered frame in the body tracker after creation. He got less latency when he pulled that from the body tracker instance before queing new frames. Maybe you can test this.

@ooeygui
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ooeygui commented Jun 29, 2020

@RoseFlunder Thank you for linking this in.

@ooeygui ooeygui added the SDK_Issue This is an issue in the Azure Kinect SDK, not the ROS Node label Jun 29, 2020
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 16, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
b1c1811
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 16, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
d8633af
@zchenpds zchenpds mentioned this issue Nov 16, 2020
Merged
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zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 17, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
4b0fe11
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 17, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
889feb2
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 17, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
9ce4c52
@zchenpds zchenpds mentioned this issue Nov 17, 2020
Merged
8 tasks
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 18, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
593a8ca
zchenpds added a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Nov 29, 2020
@zchenpds
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
8f5e9a5
amelhassan pushed a commit to zchenpds/Azure_Kinect_ROS_Driver that referenced this issue Oct 29, 2021
@zchenpds @amelhassan
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
7724e59
amelhassan added a commit that referenced this issue Oct 30, 2021
@amelhassan
Merge pull request #161 from zchenpds/body_tracking_delay
3912711 
Use a separate thread to pop k4abt_tracker result. Fix #109.
amelhassan added a commit that referenced this issue Oct 30, 2021
@amelhassan
Merge pull request #162 from zchenpds/body_tracking_delay_foxy
5886d77 
Use a separate thread to pop k4abt_tracker result. Fix #109.
ooeygui pushed a commit to ooeygui/Azure_Kinect_ROS_Driver that referenced this issue Apr 18, 2022
@zchenpds @ooeygui
Use a separate thread to pop k4abt_tracker result. Fix microsoft#109.
9e8f275
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@ooeygui ooeygui

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enhancement New feature or request investigate Used when investigation needed ROS1 SDK_Issue This is an issue in the Azure Kinect SDK, not the ROS Node triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team
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Use a separate thread to pop k4abt_tracker result. Fix #109. zchenpds/Azure_Kinect_ROS_Driver
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@ooeygui @RoseFlunder @pengy8