I’m currently working with the Astra SDK 0.4 for Mac OS X (with Astra sensor).
I found that the frame rate sometimes dips below 27 fps with the SimpleDepthViewer example.
After profiling I found that a call XnDepthProcessor::SoftFilter in liborbbec.dylil takes a big chunk of processing power (24% of runtime; another big chunk is visualisation but that is not relevant to this topic).
Since I work on a software project in which every CPU cycle available is needed for registration/SLAM and other processes, I have the following questions:
Is there a way to enable/disable the XnDepthProcessor::SoftFilter process or put it on GPU?
Is there a documentation on the parameters and their values ?( It seems there is astra_stream_set_parameter but there seems to be no doc/list of parameters and their possible values)
Does the sensor work in push or pull (or both) mode(s) ? …
… and consequently does the driver have its own thread for polling the sensor in callback/stream mode?
If I poll a frame, is this frame from a buffer (on sensor) or does the astra_frame_get_xxxxx function wait on the next available frame?
Does the conversion from depth values to PointFrame happen on sensor or client side?
Thanks in advance to anyone who may help answer any of theses questions.