Set framerate for 1mp stereo OV9281 board on NX

Nvidia Jetson Nano/NX Cameras
1

Hi, i have 1mp stereo OV9281 board, Jetson NX, JP4.4, ROS Melodic.
All works, but very slow 9 fps only when running rostopic hz /camerainfo, rosbag record or rviz:

roslaunch arducam_stereo_camera arducam_stereo_camera.launch
rosrun topic_tools throttle messages /arducam/left/image_raw 4.0 /left
rosrun topic_tools throttle messages /arducam/right/image_raw 4.0 /right

How to increase fps?

Best regards, Viktor.

2

Also it takes all cores with 100% usage for 2560x800 ~ 2mp MONO.
How to obtain >=30fps for bag record?

I tried

roslaunch arducam_stereo_camera arducam_stereo_camera.launch

only and set 40fps in launch file, but fps still too low.

May be Ros1 has bugs? Ros2 will faster?

3

Hi,
It may have something to do with the rostopic application. We have tested the stereo OV9281 board many times on Nx with arducam_displayer. Have you tested it with the arducam_displayer?

4

Yes, tried displayer and there is 51fps and <20% cpu usage.

So where is the bottle neck?
I can’t record bags or publich topics more than 10fps?
Please help.

5

It seems arducam_stereo_camera.py bug.
From git it converts GREY to bgr then 10fps and 100% cpu usage

I removed conversion and got 40fps and 50% usage.

Please confirm it.

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6

OK, got it. we will test it. In fact the color convert just use the openCV’s API.