Optimizing Grayscale Image Acquisition for VSLAM on Jetson AGX Orin

Software ROS2
2

Hello,

Thanks for your message.

Grayscale Image Generation : The wrapper gets the grayscale image directly from the SDK. It doesn’t perform the conversion from color to grayscale. The Grayscale calculation is performed on the GPU.
Performance Considerations: We do not have direct benchmarks comparing both methods.

As general best practices to use our ROS2 wrapper with the best performances, follow these guidelines : https://www.stereolabs.com/docs/ros2/150_dds_and_network_tuning.

In addition to the DDS tuning, ensure you are using MAXN mode on your Orin AGX. Pay attention to the use of the compressed topics with image_transport as described in the tutorial.

Best,
Rodolphe Perrin

Stereolabs Support

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