hello xianchao.zhang,
there’re some camera software changes to update deskew algorithm, and also stability fixes.
is it possible for moving forward to latest JetPack 5.1.5, or even JP-6 to include all the changes for verification?
for instance,
Topic 268833: JP-5.1.2 camera firmware to update deskew algorithm, and also stability fixes
Topic 268519: fix memory corruption within libnvargus.
Topic 309780: RCE: General error queue is out of sync with frame queue.
..etc.