Get the number of points from a depth frame

[louis-etne]

Required Info
Camera Model	D435
Operating System & Version	Linux
Language	C++

Issue Description

I need to get the number of points from a depth frame after being processed by each filters. So for the moment I use this:

rs_points = rs_pointcloud.calculate(f);
output << rs_points.size() << ";";

But it is extremely slow, without I can process approx 40 frames per second and with it I drop to only 13 frames per second. My question is, is there a way to get the number of points from a depth frame directly ?

Thanks for your help.

[MartyG-RealSense]

Hi @louis-etne Do you have different results if you use std::cout instead of display?

std::cout << rs_points.size() << ";";

Would it also be practical to put the value printing code within a keypress check so that it only updates the value when a particular key is pressed? For example, the C++ script in the link below has a mechanism for checking if 'q' is pressed and take an action if the key is pressed.

#6337

[louis-etne]

Thanks for your answer.

Unfortunately, my code doesn't take any user input, it runs by itself on a headless raspberry pi. I need to get the number of points from the depth frame within an infinite loop where all the processing appends and write the result to a csv file to analyse the timing after. And i need to get the number of points after each filter, so I need it to be quick.

[MartyG-RealSense]

Writing to csv in librealsense is slow. The most efficient recording method is a bag file, though it requires a large storage drive because the file sizes can be tens of gigabytes for a prolonged recording duration..

#1485 (comment)

[MartyG-RealSense]

Hi @louis-etne Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.