April Tags Runs Constantly, Using Much CPU about apriltags

[davelkan-zz]

That's a good point. I was actually considering looking into setting up apriltags with shared pointers to eliminate the need for subscription, but that's a little ways off.

#UPDATE#
After looking into this a little I've confirmed that disabling the subscription has a dramatic reduction in cpu usage vs intercepting a flag in the callback, so i'll be doing that. Thanks for the tip.

[psigen]

Thanks @davelkan. The Apriltags node will actually stop running detections if there are no subscribers, so another option is to simply unsubscribe from the topic when you are not scanning for fiducials.

It might be a little bit slower, if that matters for your use case, but doing it this way also unsubscribes the node from the upstream image topic, which can free up lot of network bandwidth by not transporting the camera images.

https://github.com/personalrobotics/apriltags/blob/master/src/apriltags.cpp#L244

[davelkan-zz]

I do have the changes I made working locally, though i have decided not to use them as your suggestion is better. If you would like me to push upstream anyways let me know.

[psigen]

Glad to hear it's working for you!