Running multiple fisheye rectify nodes

[osholsonel20]

This is a great tool for us, however when trying to run on 4 different fisheye cameras it seems to take a huge performance hit.

I created the launch file and made 4 of these, one for each of our cameras. I notice huge latency issues on the cameras when doing so.

 <node pkg="nodelet" type="nodelet" name="image_proc_fisheye" args="load image_proc_fisheye/RectifyNodelet camera_nodelet_manager" output="screen">
    <remap from="camera_info" to="/camera/color/camera_info" />
    <remap from="image_raw" to="/camera/color/image_raw" />
    <remap from="image_rect" to="/camera/color/image_rect" />
  </node>

[osholsonel20]

Looks like I needed multiple managers one for each image_proc_fisheye. Runs smooth, however my computer does start to get noisy... Is this meant to be ran on multiple cameras? Is there a specialized solution for that?

[DavidTorresOcana]

You can run as many rectification nodes (one for each camera) as needed with image_proc_fisheye, of course within the HW limits.

This functionality (the one of image_proc_fisheye) is pending to be adopted in noetic with ros-perception/vision_opencv#358. That might be a more efficient manner to implement this functionality and you could rectify as explain here. You may want to wait for the PR to be merged or compile the PR branch yourself to check for performance.

Also, note there exist a tool to calibrate fisheye cameras.