Performance drop in ROS node vs. standalone execution of detectnet mobilenet-ssd-v2 about ros_deep_learning HOT 1 OPEN

Hi @ashishbhatti, sorry about that, I no longer have a setup for running it on the versions you specify, however my initial guess is that is related to inefficient image transport of video stream topics in Noetic. I think the primary difference with detectnet/detectnet.py examples is that the images are captured with zero-copy and into CUDA memory.

I remember exploring the use of ROS nodelets (for the imageNet classification models in that case) to work around this, where it all resides inside one process then. If you don't need the camera imagery in other nodes, you could explore just creating a wrapper node that both captures the camera and does detectNet inferencing inside the same node, alleviating the issue.

from ros_deep_learning.