ArgusCsiCamera limited to 2fps

I have an IMX219 camera connected to a Xavier NX through CSI. I am trying to use the argus_camera sample. I am able to view the images in Sight, but it appears that the ArgusCsiCamera node is always publishing video at only 2fps regardless of the frame rate that I specified in the config.

The camera config in argus_camera is as follows (the rest of the argus_camera.app.json file is not modified):

"argus": {
  "camera": {
    "mode": 3,
    "camera_id": 0,
    "framerate": 30,
    "focal_length": [
      700.0,
      700.0
    ],
    "optical_center": [
      360.0,
      640.0
    ]
  }
}

The reported supported camera modes are

Mode 0 - 3264 x 2464
Mode 1 - 3264 x 1848
Mode 2 - 1920 x 1080
Mode 3 - 1280 x 720
Mode 4 - 1280 x 720

Can somebody point me to what might be the problem?

Hi,
does argus node run at 30 fps in the sight statistic ?
This maybe help :

"color_camera_viewer": {
  "isaac.viewers.ColorCameraViewer": {
    "target_fps": 100
  }
},

Adding this config did not help. Strangely, the tick frequency of the argus node is zero.

In the meantime I duplicated the opencv_edge_detection sample and swapped the default camera node with argus_camera. I am getting the same behavior. I simply added a debug print into EdgeDetector::tick() and the timestamps show that it’s getting one frame every 500ms. It is the same even when I comment out all the edge detection code, leaving the tick() method empty with just the print statement.

This is the modified app.json file:

{
  "name": "argus_opencv_edge_detection",
  "modules": [
      "//apps/argus_opencv_edge_detection:argus_edge_detector",
      "sensors:argus_camera",
      "viewers"
  ],
  "graph": {
       "nodes": [
         {
           "name": "argus",
           "components": [
             {
               "name": "MessageLedger",
               "type": "isaac::alice::MessageLedger"
             },
             {
               "name": "camera",
               "type": "isaac::ArgusCsiCamera"
             }
           ]
         },
         {
           "name": "edge_detector",
           "components": [
             {
               "name": "MessageLedger",
               "type": "isaac::alice::MessageLedger"
             },
             {
               "name": "EdgeDetector",
               "type": "isaac::opencv::EdgeDetector"
             }
           ]
         },
         {
           "name": "viewer",
           "components": [
             {
               "name": "MessageLedger",
               "type": "isaac::alice::MessageLedger"
             },
             {
               "name": "ColorCameraViewer",
               "type": "isaac::viewers::ColorCameraViewer"
             },
             {
              "name": "OrigCameraViewer",
              "type": "isaac::viewers::ColorCameraViewer"
            }
           ]
         }
       ],
       "edges": [
         {
           "source": "argus/camera/image",
           "target": "edge_detector/EdgeDetector/input_image"
         },
         {
           "source": "edge_detector/EdgeDetector/output_image",
           "target": "viewer/ColorCameraViewer/color_listener"
         },
         {
          "source": "argus/camera/image",
          "target": "viewer/OrigCameraViewer/color_listener"
         }
       ]
  },
  "config": {
    "argus": {
      "camera": {
        "mode": 4,
        "camera_id": 0,
        "framerate": 30,
        "focal_length": [
          700.0,
          700.0
        ],
        "optical_center": [
          360.0,
          640.0
        ]
      }
    },
    "websight": {
      "WebsightServer": {
        "port": 3000,
        "ui_config": {
          "windows": {
            "Edge Detection": {
              "renderer": "2d",
              "dims": {
                "width": 640,
                "height": 480
              },
              "channels": [
                {
                  "name": "argus_opencv_edge_detection/viewer/ColorCameraViewer/Color"
                }
              ]
            },
            "Camera": {
              "renderer": "2d",
              "dims": {
                "width": 640,
                "height": 480
              },
              "channels": [
                {
                  "name": "argus_opencv_edge_detection/viewer/OrigCameraViewer/Color"
                }
              ]
            }
          }
        }
      }
    },
    "viewer": {
      "isaac.viewers.ColorCameraViewer": {
        "target_fps": 100
      }
    }
  }
}

I can confirm I’m also seeing the same thing after putting in the ArgusCsiCamera in the edge detection example.