Albert Holguin wrote: Member 11703498 wrote: I can't afford to drop any frames from the Kinect I don't know how you can say this and also say that you're producing data faster than you can process it. You HAVE to decimate if you're not keeping up. You'll be dropping data even if you don't want to once your queue is full. Best to deal with that some way or another so the results are predictable. Not necessarily. Dropping frames is not a good idea when they are used by the Kinect Fusion algoritm. This algorithm simply fails if the consecutive frames supply data that differs too much from frame to frame. This typically happens when frames are dropped or the Color stream causes Kinect's frame rate to drop to approx 30fps/2 (it's just a feature, or downside one should say, of this particular sensor). The queue won't fill up. The system is required to have enough RAM available to the program. Also, the task should complete with a certain amount of frames stored in the queue. The nature of the application is to do a one off job, not a continuous one heavy lifting. If the task fails for whatever reason, say the amount of acquired frames was insufficient, or something along those lines, then the task can be repeated. I am not that proficient at parallelizing stuff on GPUs :). Fom what I've seen, the Fusion algorithm utilizes the GPUs resources to the max. A good GPU would actually make the Queue and high RAM requirement redundant. For the time being though, the best approach I can see is to stick to the use of the Queue and large RAM.