Huge delay (>=170ms) on B0331 Arducam Quad OV9782 camarray

Nvidia Jetson Nano/NX Cameras
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  1. Where did you get the camera module(s)?
    From Arducam 1MP*4 Quadrascopic Camera Bundle Kit for Raspberry Pi, Nvidia Jetson Nano/Xavier NX, Four OV9782 Global Shutter Color Camera Modules and Camarray Camera HAT

  2. Model number of the product(s)?
    B0331

  3. What hardware/platform were you working on?
    Xaiver NX

  4. Problems you were having?
    I found huge latency from image. I use OpenCV to capture the image and show on the screen and also use visual-inertial odometry to estimate the delay.
    I found the image has >150ms (near 170ms) time delay from it captures.
    I use the code here to view
    MIPI_Camera/arducam_displayer.py at master · ArduCAM/MIPI_Camera · GitHub
    Also my own ros node for capturing
    GitHub - HKUST-Swarm/arducam_ros: arducam driver for ros.

I test the time delay by capture image, as shown below:

image
image1920×2560 335 KB

I also use VIO (GitHub - HKUST-Aerial-Robotics/VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator) to test the delay, and it’s shown to be near 170ms also

  1. What help do you need?
    Time delay of image is critical for our UAV platform. Is this possible to reduce the delay?
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Any reply to this?
Please help XD