Performance improvements to the gripper and head cameras - #41

Merged

hello-robot-shehab merged 15 commits into

mainfrom

feature/gripper_camera_performance_enhancements

Aug 19, 2026

Commits on Aug 19, 2026

Updated gripper camera's pipeline to match stretch4_gripper_modeling_and_control's settings
hello-robot-shehab
authored
fa43244
Changed to using non-blocking queue's
hello-robot-shehab
authored
f217a40
Added a sync node to the luxonis camera pipeline
hello-robot-shehab
authored
665919d
Fixed bug with setNumFramesPool not being available
hello-robot-shehab
authored
233850c
Added an asynchronous logger for Rerun that offloads CPU-intensive tasks to a background thread to maintain high frame rates.
hello-robot-shehab
authored
6fa2eaa
Updated luxonis camera adapters to use the robot params
hello-robot-shehab
authored
a6833c0
Left/right maintain 30fps while center camera is 10fps when all three are used
hello-robot-shehab
authored
c8e1457
Ensures when a center frame is available, it's synced with left/right frames too
hello-robot-shehab
authored
65fb702
Fixed gripper camera params wrong data type crashing the pipeline
hello-robot-shehab
authored
cb5f79f
Updated rerun blueprints for gripper camera
hello-robot-shehab
authored
10197ed
Changed left/right gripper camera to use compressed, made compressed imagery work with synced pipelines
hello-robot-shehab
authored
dbca06e
Removed the setNumFramesPools calls because they were causing the pipeline to choke
hello-robot-shehab
authored
f6d1059
Fixed gripper point cloud not working
hello-robot-shehab
authored
7ec1e00
Updated emulated_rgbd's stream_gripper_rgbd to do the point cloud calculation on the NUC instead of the luxonis device to bring FPS back to 30
hello-robot-shehab
authored
52a7c94
Added a benchmark test for cameras
hello-robot-shehab
authored
86301c5

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Performance improvements to the gripper and head cameras - #41

Performance improvements to the gripper and head cameras#41
hello-robot-shehab merged 15 commits into
mainfrom
feature/gripper_camera_performance_enhancements

Commits on Aug 19, 2026

Updated gripper camera's pipeline to match stretch4_gripper_modeling_and_control's settings

Changed to using non-blocking queue's

Added a sync node to the luxonis camera pipeline

Fixed bug with setNumFramesPool not being available

Added an asynchronous logger for Rerun that offloads CPU-intensive tasks to a background thread to maintain high frame rates.

Updated luxonis camera adapters to use the robot params

Left/right maintain 30fps while center camera is 10fps when all three are used

Ensures when a center frame is available, it's synced with left/right frames too

Fixed gripper camera params wrong data type crashing the pipeline

Updated rerun blueprints for gripper camera

Changed left/right gripper camera to use compressed, made compressed imagery work with synced pipelines

Removed the setNumFramesPools calls because they were causing the pipeline to choke

Fixed gripper point cloud not working

Updated emulated_rgbd's stream_gripper_rgbd to do the point cloud calculation on the NUC instead of the luxonis device to bring FPS back to 30

Added a benchmark test for cameras