On Fri, Jun 18, 2010 at 12:17 PM, Bill Morris <morris@ee.ccny.cuny.edu> wrote:
> On Fri, 2010-06-18 at 09:53 -0700, Vijay Pradeep wrote:
>> Hi Bill,
>>
>> What is the encoding of the images that you're viewing?
>> > rostopic echo [image_topic]/encoding
>
> rgb8
>
>> The following is based on image_view/src/image_view.cpp:
>> It looks like image view converts all incoming messages into a "bgr8"
>> encoding.  Thus, if the incoming format is anything other than bgr8,
>> cv_bridge will convert every pixel to bgr8, possibly resulting in the
>> high CPU load:
>>
>>     if (img_bridge_.fromImage(*msg, "bgr8"))
>>       cvShowImage(window_name_.c_str(), img_bridge_.toIpl());
>>     else
>>       ROS_ERROR("Unable to convert %s image to bgr8",
>> msg->encoding.c_str());
>>
>> I'm guessing this could be optimized a bit.
>
> I'll try getting the camera driver to output bgr8 and see how that goes.
> I wanted to check if someone else had done the work before I started
> profiling the code.

At least for 1394 cameras, bgr8 is not one of the hardware options
available. So, if that's a requirement, some software is going to have
to re-format somewhere.
-- 
 joq