D435 High CPU Usage
I am using D435 camera in Ubuntu 14.04 with ROS.
For only Color Camera and Depth Camera enabled I get a high CPU usage on my i7-6700HQ laptop consistently 50% on single thread .After compiling with OpenMP=OFF and only grabbing color and depth frames with pointcloud enabled without visualization, I am still seeing CPU usage of 70% on one thread.At present, CPU utilization is a key issue in our evaluation.
Is there a solution to reduce CPU utilization？
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Hi Lihonghong9 Are you building the librealsense SDK from source code with CMake, please? If you are then I would recommend including the build flag -DCMAKE_BUILD_TYPE=Release if you are not doing so already. This will build librealsense in Release mode instead of Debug mode so that it can benefit from optimizations.
Your application may also benefit from using the SDK's GLSL processing blocks feature to offload some of the processing from the CPU onto the graphics GPU, similar to the acceleration that the SDK provides to devices equipped with an NVidia GPU via CUDA support. GLSL is 'vendor-neutral', meaning that it should work with any brand of GPU, though performance benefits may not be noticable on low-end devices.
The SDK example program rs-gl demonstrates point cloud generation that utilizes GLSL.
https://github.com/IntelRealSense/librealsense/tree/master/examples/gl
The link below also has a very good discussion of the pros and cons of GLSL and when to use it.
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