From f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7 Mon Sep 17 00:00:00 2001 From: Lucas Walter Date: Fri, 18 Feb 2022 12:06:34 -0800 Subject: [PATCH] Make the default compressed depth png_level 1 instead of 9 to save cpu (#85) The default 9 is so cpu intensive to be frequently unusable and results in many dropped frames, and there is still plenty of bandwidth savings from the compression at level 1. --- .../cfg/CompressedDepthPublisher.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/compressed_depth_image_transport/cfg/CompressedDepthPublisher.cfg b/compressed_depth_image_transport/cfg/CompressedDepthPublisher.cfg index 834a2c5..0df1d2b 100755 --- a/compressed_depth_image_transport/cfg/CompressedDepthPublisher.cfg +++ b/compressed_depth_image_transport/cfg/CompressedDepthPublisher.cfg @@ -13,7 +13,7 @@ format_enum = gen.enum( [gen.const("png", str_t, "png", "PNG lossless compressio gen.add("format", str_t, 0, "Compression format", "png", edit_method = format_enum) gen.add("depth_max", double_t, 0, "Maximum depth value (meter) ", 10 , 1, 100) gen.add("depth_quantization", double_t, 0, "Depth value at which the sensor accuracy is 1 m (Kinect: >75)", 100, 1, 150) -gen.add("png_level", int_t, 0, "PNG compression level", 9, 1, 9) +gen.add("png_level", int_t, 0, "PNG compression level", 1, 1, 9) exit(gen.generate(PACKAGE, "CompressedDepthPublisher", "CompressedDepthPublisher"))