Sensor: imx219
Board: Jetson Xavier NX
For my application I need raw images so I’m following jetson_multimedia_api/argus/sameple/cudaBayerDemosiac example.
Here’s how my camera is configured:
nvargus_nvraw --lps
nvargus_nvraw version 1.15.0
Number of supported sensor entries 5
Entry Source Mode Uniquename Resolution FR BitDepth Mode
Index Index Index CSI Dyn Type
0 0 0 jakku_rear_RBP194 3280x2464 20 10 10 Bayer
1 0 1 jakku_rear_RBP194 3280x1848 28 10 10 Bayer
2 0 2 jakku_rear_RBP194 1920x1080 29 10 10 Bayer
3 0 3 jakku_rear_RBP194 1640x1232 29 10 10 Bayer
4 0 4 jakku_rear_RBP194 1280x 720 59 10 10 Bayer
But inside the jetson multimedia API argus samples, I’m having less FPS throughput with different examples. E.g.,
- For CudaBayerDemosaic example (
jetson_multimedia_api/argus/samples/cudaBayerDemosaic), On mode 2 I’m recieving 30 FPS and on mode 4 it’s the same i.e., recieving 30 FPS on mode 4 as well and the issue is not with the processing time as it’s taking only 1ms to process and I’m measuring the image capture loop time (jetson_multimedia_api/argus/samples/cudaBayerDemosaic/main.cpp/line no: 127):
auto start = std::chrono::high_resolution_clock::now();
for (unsigned int frame = 0; frame < options.frameCount(); ++frame) {
Argus::Status status;
uint32_t result = iCaptureSession->capture(request.get(), TIMEOUT_INFINITE, &status);
…
}
auto end = std::chrono::high_resolution_clock::now();
auto milliseconds = std::chrono::duration_caststd::chrono::milliseconds(end - start);
std::cout << "Average FPS achieved: " << 1000.0/(milliseconds.count()/options.frameCount()) << " FPS" << std::endl;
I’m only achieving 30 FPS with mode 4 (I can see it visually as well that it’s 30 FPS). It’s the same with other argus sample examples. While with gstreamer I am able to achieve 60 FPS with 720p image (so there’s no issue with the sensor)
gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1' ! nvvidconv ! 'video/x-raw,format=I420' ! xvimagesink -e
I haven’t measured the exact time with gstreamer but I can see it visually that I’m achiving 60 FPS.