Speed up image publishing
Hi,
I tried to create a pull request, but I don't seem to have the correct permissions to do so, so I'm creating an issue instead
I noticed that when publishing the ROS image messages the message and publisher are copied rather than accessed by reference. Changing to access by reference has a significant affect on performance. These are some rough numbers from testing on my VOXL Flight (times are per frame in microseconds)
HROTH-UB2:IF1200$ cat before.txt | ./stats.py
min max mean std
2536.0 16712.0 4586.8 1921.4
HROTH-UB2:IF1200$ cat after.txt | ./stats.py
min max mean std
392.0 2579.0 553.9 233.8
Let me know if you have any questions.
speed-up-image-publishing.patch
Henry Roth
Edited by Henry Roth