CPU Usage (>80%) with sample_camera on DRIVE AGX Orin using Dual GMSL Cameras

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

DRIVE OS Version: 6.0.10

Hi All!

I am experiencing high CPU utilization when running the DriveWorks 5.20 sample_camera on a DRIVE AGX Orin Developer Kit. After cross-compiling the sample without modifications and monitoring the CPU load with top, I get that it exceeds 80% when capturing from two GMSL cameras (SONY IMX728EVB-MSH-SMM17 FOV=120°).

Is this CPU load considered “normal” for the standard sample_camera implementation?

Any insights on typical CPU benchmarks for this sample or general advices and best practices on GMSL camera usage would be greatly appreciated.

Thanks.

4

Dear @m.angeletti ,
Could you check tegrastats on CPU core utilization before and after running sample_camera.
Also, could you please share the used sample_camera command. Note that sample_camera uses NVSIPL APIs to capture camera frames. You can verify the behaviour with nvsipl_camera to confirm.

7

Thank you for the quick response.

As requested, I have monitored the system with tegrastats to isolate the impact of the application. Below are the CPU utilization metrics for both the idle state and during the execution of the sample, followed by the exact command line used for the test.

This is the tegrastats output before running the sample:

05-05-2026 12:20:16 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.656C CPU@40.281C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.375C EXT0-remote@28.5C SOC0@39.062C CV1@39.375C GPU@39.281C tj@41.093C EXT1-local@33.5C SOC1@41.093C CV2@36.625C
05-05-2026 12:20:17 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.593C CPU@40.281C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.406C EXT0-remote@28.75C SOC0@39C CV1@39.531C GPU@39.437C tj@41.062C EXT1-local@33.5C SOC1@41.062C CV2@36.5C
05-05-2026 12:20:19 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.593C CPU@40.625C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.437C EXT0-remote@28.75C SOC0@38.875C CV1@39.437C GPU@39.437C tj@41.125C EXT1-local@33.5C SOC1@41.125C CV2@36.593C
05-05-2026 12:20:20 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,1%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.625C CPU@40.5C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.5C EXT0-remote@28.75C SOC0@38.906C CV1@39.437C GPU@39.375C tj@41C EXT1-local@33.5C SOC1@41C CV2@36.593C
05-05-2026 12:20:21 RAM 1792/28954MB (lfb 5x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.562C CPU@40.468C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.406C EXT0-remote@28.5C SOC0@38.906C CV1@39.437C GPU@39.281C tj@41.156C EXT1-local@33.5C SOC1@41.156C CV2@36.656C
05-05-2026 12:20:22 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.718C CPU@40.343C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.437C EXT0-remote@28.5C SOC0@38.875C CV1@39.375C GPU@39.437C tj@41.25C EXT1-local@33.5C SOC1@41.25C CV2@36.718C
05-05-2026 12:20:23 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.656C CPU@40.375C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.406C EXT0-remote@28.75C SOC0@38.937C CV1@39.406C GPU@39.437C tj@41.187C EXT1-local@33.5C SOC1@41.187C CV2@36.625C
05-05-2026 12:20:24 RAM 1792/28954MB (lfb 5x4MB) CPU [1%@2009,0%@2009,0%@2009,1%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.687C CPU@40.25C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.406C EXT0-remote@28.5C SOC0@39.093C CV1@39.562C GPU@39.25C tj@41.187C EXT1-local@33.5C SOC1@41.187C CV2@36.656C
05-05-2026 12:20:25 RAM 1792/28954MB (lfb 5x4MB) CPU [0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.593C CPU@40.312C EXT0-local@27.75C EXT1-remote@29.5C SOC2@36.531C EXT0-remote@28.5C SOC0@39C CV1@39.531C GPU@39.218C tj@41.187C EXT1-local@33.5C SOC1@41.187C CV2@36.531C

Then, I run this command to launch the DriveWorks camera sample:

/usr/local/driveworks/bin/sample_camera --rig=/usr/local/driveworks-5.20/data/samples/sensors/camera/camera/rig_imx728.json -v 4

while this is the parameters I placed in the rig_imx728.json:

"parameter": "camera-name=IMX728_RGGB,interface=csi-a,CPHY-mode=1,link=3,output-format=processed,async-record=1,file-buffer-size=16777216",

And these are the tegrastats output:

05-05-2026 12:22:08 RAM 4557/28954MB (lfb 5x4MB) CPU [14%@2009,7%@2009,0%@2009,4%@2009,3%@2009,3%@2009,3%@2009,4%@2009,28%@2009,44%@2009,6%@2009,2%@2009] EMC_FREQ @3199 GR3D_FREQ 46%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.968C CPU@41.875C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.781C EXT0-remote@29.75C SOC0@40.062C CV1@40.593C GPU@40.593C tj@42.343C EXT1-local@33.75C SOC1@42.343C CV2@37.687C
05-05-2026 12:22:09 RAM 4557/28954MB (lfb 5x4MB) CPU [8%@2009,8%@2009,0%@2009,8%@2009,2%@2009,3%@2009,3%@2009,2%@2009,55%@2009,22%@2009,0%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 32%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@40.031C CPU@41.906C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.781C EXT0-remote@30C SOC0@40C CV1@40.656C GPU@40.562C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.781C
05-05-2026 12:22:10 RAM 4557/28954MB (lfb 5x4MB) CPU [13%@2009,7%@2009,0%@2009,5%@2009,2%@2009,3%@2009,3%@2009,3%@2009,60%@2009,4%@2009,2%@2009,13%@2009] EMC_FREQ @3199 GR3D_FREQ 46%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.812C CPU@42.093C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.812C EXT0-remote@30C SOC0@40.031C CV1@40.593C GPU@40.562C tj@42.437C EXT1-local@33.75C SOC1@42.437C CV2@37.875C
05-05-2026 12:22:11 RAM 4558/28954MB (lfb 5x4MB) CPU [12%@2009,7%@2009,0%@2009,7%@2009,4%@2009,5%@2009,4%@2009,1%@2009,67%@2009,3%@2009,1%@2009,3%@2009] EMC_FREQ @3199 GR3D_FREQ 54%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.937C CPU@42.125C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.781C EXT0-remote@29.75C SOC0@40.062C CV1@40.968C GPU@40.968C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.781C
05-05-2026 12:22:12 RAM 4558/28954MB (lfb 5x4MB) CPU [14%@2009,3%@2009,0%@2009,6%@2009,3%@2009,9%@2009,61%@2009,0%@2009,4%@2009,5%@2009,7%@2009,5%@2009] EMC_FREQ @3199 GR3D_FREQ 28%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.937C CPU@42.281C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.718C EXT0-remote@29.75C SOC0@40C CV1@40.843C GPU@40.781C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.906C
05-05-2026 12:22:13 RAM 4558/28954MB (lfb 5x4MB) CPU [16%@2009,2%@2009,1%@2009,8%@2009,0%@2009,60%@2009,0%@2009,11%@2009,6%@2009,3%@2009,4%@2009,3%@2009] EMC_FREQ @3199 GR3D_FREQ 45%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.75C CPU@42.187C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.75C EXT0-remote@29.75C SOC0@40C CV1@40.593C GPU@40.656C tj@42.437C EXT1-local@33.75C SOC1@42.437C CV2@37.843C
05-05-2026 12:22:14 RAM 4557/28954MB (lfb 5x4MB) CPU [14%@2009,8%@2009,1%@2009,8%@2009,0%@2009,0%@2009,2%@2009,71%@2009,8%@2009,5%@2009,6%@2009,10%@2009] EMC_FREQ @3199 GR3D_FREQ 33%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.812C CPU@42.187C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.781C EXT0-remote@29.75C SOC0@40C CV1@40.687C GPU@40.75C tj@42.468C EXT1-local@33.75C SOC1@42.468C CV2@37.75C
05-05-2026 12:22:15 RAM 4558/28954MB (lfb 5x4MB) CPU [18%@2009,7%@2009,1%@2009,4%@2009,0%@2009,0%@2009,0%@2009,74%@2009,7%@2009,10%@2009,8%@2009,5%@2009] EMC_FREQ @3199 GR3D_FREQ 44%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.812C CPU@42.375C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.75C EXT0-remote@29.75C SOC0@40.062C CV1@40.593C GPU@40.718C tj@42.593C EXT1-local@33.75C SOC1@42.593C CV2@37.906C
05-05-2026 12:22:17 RAM 4557/28954MB (lfb 5x4MB) CPU [21%@2009,6%@2009,0%@2009,4%@2009,0%@2009,68%@2009,0%@2009,3%@2009,8%@2009,7%@2009,6%@2009,10%@2009] EMC_FREQ @3199 GR3D_FREQ 45%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.937C CPU@42.031C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.812C EXT0-remote@30C SOC0@40.25C CV1@41C GPU@40.906C tj@42.437C EXT1-local@33.75C SOC1@42.437C CV2@37.843C
05-05-2026 12:22:18 RAM 4557/28954MB (lfb 5x4MB) CPU [8%@2009,0%@2009,0%@2009,1%@2009,0%@2009,35%@2009,0%@2009,38%@2009,7%@2009,4%@2009,5%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 22%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.843C CPU@42.281C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.843C EXT0-remote@30C SOC0@40.125C CV1@40.687C GPU@40.937C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.875C
05-05-2026 12:22:19 RAM 4557/28954MB (lfb 5x4MB) CPU [15%@2009,1%@2009,1%@2009,1%@2009,2%@2009,0%@2009,37%@2009,34%@2009,4%@2009,5%@2009,4%@2009,3%@2009] EMC_FREQ @3199 GR3D_FREQ 20%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.781C CPU@42.218C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.812C EXT0-remote@29.75C SOC0@40.062C CV1@40.625C GPU@40.75C tj@42.468C EXT1-local@33.75C SOC1@42.468C CV2@37.843C
05-05-2026 12:22:20 RAM 4565/28954MB (lfb 4x4MB) CPU [16%@2009,14%@2009,6%@2009,10%@2009,2%@2009,7%@2009,53%@2009,2%@2009,13%@2009,10%@2009,8%@2009,11%@2009] EMC_FREQ @3199 GR3D_FREQ 31%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.937C CPU@42.156C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.906C EXT0-remote@30C SOC0@40.125C CV1@40.843C GPU@41.031C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.843C
05-05-2026 12:22:21 RAM 4565/28954MB (lfb 4x4MB) CPU [9%@2009,0%@2009,15%@2009,0%@2009,3%@2009,54%@2009,0%@2009,0%@2009,5%@2009,5%@2009,2%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 33%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.906C CPU@42.156C EXT0-local@28.5C EXT1-remote@29.5C SOC2@37.843C EXT0-remote@30C SOC0@40.187C CV1@40.906C GPU@41.062C tj@42.593C EXT1-local@33.75C SOC1@42.593C CV2@37.875C
05-05-2026 12:22:22 RAM 4567/28954MB (lfb 5x4MB) CPU [9%@2009,0%@2009,0%@2009,0%@2009,0%@2009,73%@2009,0%@2009,0%@2009,5%@2009,8%@2009,3%@2009,3%@2009] EMC_FREQ @3199 GR3D_FREQ 39%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.968C CPU@42.156C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.812C EXT0-remote@30C SOC0@40.156C CV1@41C GPU@40.937C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.843C
05-05-2026 12:22:23 RAM 4567/28954MB (lfb 5x4MB) CPU [10%@2009,0%@2009,1%@2009,1%@2009,2%@2009,64%@2009,0%@2009,5%@2009,5%@2009,4%@2009,4%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 32%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.875C CPU@41.968C EXT0-local@28.5C EXT1-remote@29.75C SOC2@37.843C EXT0-remote@30C SOC0@40.156C CV1@40.937C GPU@40.687C tj@42.593C EXT1-local@33.75C SOC1@42.531C CV2@37.968C
05-05-2026 12:22:24 RAM 4559/28954MB (lfb 5x4MB) CPU [12%@2009,3%@2009,2%@2009,2%@2009,1%@2009,61%@2009,0%@2009,0%@2009,7%@2009,9%@2009,1%@2009,8%@2009] EMC_FREQ @3199 GR3D_FREQ 25%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.843C CPU@42.125C EXT0-local@28.75C EXT1-remote@29.5C SOC2@37.781C EXT0-remote@30C SOC0@40.281C CV1@40.875C GPU@40.843C tj@42.406C EXT1-local@33.75C SOC1@42.406C CV2@37.875C
05-05-2026 12:22:25 RAM 4559/28954MB (lfb 5x4MB) CPU [6%@2009,0%@2009,0%@2009,0%@2009,0%@2009,28%@2009,0%@2009,1%@2009,14%@2009,36%@2009,4%@2009,6%@2009] EMC_FREQ @3199 GR3D_FREQ 25%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.906C CPU@42.062C EXT0-local@28.75C EXT1-remote@29.5C SOC2@37.937C EXT0-remote@30C SOC0@40.156C CV1@40.687C GPU@40.75C tj@42.531C EXT1-local@33.75C SOC1@42.531C CV2@37.906C
05-05-2026 12:22:26 RAM 4559/28954MB (lfb 5x4MB) CPU [8%@2009,0%@2009,2%@2009,2%@2009,1%@2009,54%@2009,0%@2009,2%@2009,3%@2009,18%@2009,2%@2009,5%@2009] EMC_FREQ @3199 GR3D_FREQ 36%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.875C CPU@42.343C EXT0-local@28.75C EXT1-remote@29.5C SOC2@37.812C EXT0-remote@30C SOC0@40.156C CV1@40.906C GPU@40.906C tj@42.593C EXT1-local@33.75C SOC1@42.593C CV2@37.906C
05-05-2026 12:22:27 RAM 4559/28954MB (lfb 5x4MB) CPU [14%@2009,5%@2009,0%@2009,3%@2009,5%@2009,53%@2009,9%@2009,10%@2009,2%@2009,3%@2009,5%@2009,3%@2009] EMC_FREQ @3199 GR3D_FREQ 48%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@40.062C CPU@42.281C EXT0-local@28.75C EXT1-remote@29.5C SOC2@37.843C EXT0-remote@30C SOC0@40.312C CV1@40.843C GPU@40.937C tj@42.468C EXT1-local@33.75C SOC1@42.468C CV2@37.906C
05-05-2026 12:22:28 RAM 4559/28954MB (lfb 5x4MB) CPU [14%@2009,0%@2009,0%@2009,0%@2009,0%@2009,28%@2009,45%@2009,5%@2009,3%@2009,3%@2009,7%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 27%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.968C CPU@42.062C EXT0-local@28.75C EXT1-remote@29.75C SOC2@37.843C EXT0-remote@30C SOC0@40.156C CV1@40.968C GPU@40.906C tj@42.468C EXT1-local@33.75C SOC1@42.468C CV2@38C

this is also the top command output:

 top - 12:22:45 up 4 min,  1 user,  load average: 16.78, 8.28, 3.37
Tasks: 835 total,   2 running, 833 sleeping,   0 stopped,   0 zombie
%Cpu(s):  8.5 us,  1.9 sy,  0.0 ni, 89.5 id,  0.0 wa,  0.1 hi,  0.0 si,  0.0 st
MiB Mem :  28953.8 total,  23866.2 free,   4477.2 used,    610.4 buff/cache
MiB Swap:      0.0 total,      0.0 free,      0.0 used.  24095.5 avail Mem

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND                                          
   3041 acuser    20   0   31.4g 440716 179600 R  83.8   1.5   1:08.54 sample_camera

I proceeded also with the nvsipl_camera verification as suggested, with the following command:

sudo ./nvsipl_camera -c "IMX728_RGGB_CPHY_x4" -m "0x1100 0x0000 0x0000 0x0000" -d 1

And this is the tegrastats output:

05-05-2026 11:34:09 RAM 4308/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,8%@2009,0%@2009,0%@2009,0%@2009,0%@2009,1%@2009,0%@2009,4%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.937C CPU@40.656C EXT0-local@28C EXT1-remote@29.5C SOC2@36.781C EXT0-remote@29C SOC0@39.437C CV1@39.781C GPU@39.593C tj@41.593C EXT1-local@33.75C SOC1@41.593C CV2@37.125C
05-05-2026 11:34:10 RAM 4308/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,8%@2009,0%@2009,0%@2009,0%@2009,1%@2009,0%@2009,1%@2009,5%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.843C CPU@40.906C EXT0-local@28C EXT1-remote@29.5C SOC2@36.843C EXT0-remote@29C SOC0@39.312C CV1@39.843C GPU@39.593C tj@41.625C EXT1-local@33.75C SOC1@41.625C CV2@37.093C
05-05-2026 11:34:11 RAM 4309/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,7%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,1%@2009,7%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.937C CPU@40.687C EXT0-local@28C EXT1-remote@29.5C SOC2@36.718C EXT0-remote@29C SOC0@39.281C CV1@39.687C GPU@39.656C tj@41.75C EXT1-local@33.75C SOC1@41.75C CV2@37C
05-05-2026 11:34:12 RAM 4308/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,8%@2009,0%@2009,0%@2009,0%@2009,0%@2009,1%@2009,0%@2009,6%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.937C CPU@40.968C EXT0-local@28C EXT1-remote@29.5C SOC2@36.718C EXT0-remote@28.75C SOC0@39.343C CV1@39.812C GPU@39.625C tj@41.718C EXT1-local@33.75C SOC1@41.718C CV2@37.218C
05-05-2026 11:34:13 RAM 4307/28954MB (lfb 25x4MB) CPU [3%@2009,0%@2009,0%@2009,0%@2009,7%@2009,1%@2009,0%@2009,0%@2009,0%@2009,0%@2009,1%@2009,8%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.875C CPU@40.875C EXT0-local@28C EXT1-remote@29.5C SOC2@36.812C EXT0-remote@29C SOC0@39.343C CV1@39.781C GPU@39.531C tj@41.718C EXT1-local@33.75C SOC1@41.718C CV2@37.093C
05-05-2026 11:34:14 RAM 4308/28954MB (lfb 25x4MB) CPU [2%@2009,0%@2009,0%@2009,0%@2009,7%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,6%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.937C CPU@40.75C EXT0-local@28C EXT1-remote@29.5C SOC2@36.781C EXT0-remote@29C SOC0@39.375C CV1@39.718C GPU@39.562C tj@41.656C EXT1-local@33.75C SOC1@41.656C CV2@36.968C
05-05-2026 11:34:15 RAM 4308/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,7%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,7%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.906C CPU@40.843C EXT0-local@28C EXT1-remote@29.5C SOC2@36.781C EXT0-remote@29C SOC0@39.375C CV1@39.75C GPU@39.875C tj@41.625C EXT1-local@33.75C SOC1@41.625C CV2@37.062C
05-05-2026 11:34:16 RAM 4305/28954MB (lfb 25x4MB) CPU [3%@2009,0%@2009,1%@2009,0%@2009,8%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,0%@2009,8%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@39.031C CPU@40.718C EXT0-local@28C EXT1-remote@29.5C SOC2@36.75C EXT0-remote@29C SOC0@39.312C CV1@39.718C GPU@39.593C tj@41.781C EXT1-local@33.75C SOC1@41.718C CV2@37.062C
05-05-2026 11:34:17 RAM 4306/28954MB (lfb 25x4MB) CPU [2%@2009,0%@2009,0%@2009,0%@2009,9%@2009,0%@2009,0%@2009,0%@2009,0%@2009,7%@2009,1%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.875C CPU@40.875C EXT0-local@28C EXT1-remote@29.5C SOC2@36.812C EXT0-remote@29C SOC0@39.406C CV1@39.625C GPU@39.625C tj@41.593C EXT1-local@33.75C SOC1@41.593C CV2@37.125C
05-05-2026 11:34:18 RAM 4307/28954MB (lfb 25x4MB) CPU [1%@2009,0%@2009,0%@2009,0%@2009,7%@2009,0%@2009,0%@2009,0%@2009,0%@2009,7%@2009,0%@2009,0%@2009] EMC_FREQ @3199 GR3D_FREQ 0%@[1274,1274] NVENC off NVDEC off NVJPG off NVJPG1 off VIC off NVDLA0 0%@1331 NVDLA1 0%@1331 PVA0_FREQ @1011 PVA0_VPU0_LOAD off PVA0_VPU1_LOAD off APE 81 CV0@38.968C CPU@40.812C EXT0-local@28C EXT1-remote@29.5C SOC2@36.75C EXT0-remote@29C SOC0@39.343C CV1@39.75C GPU@39.687C tj@41.843C EXT1-local@33.75C SOC1@41.531C CV2@37.062C

And the top output:

top - 11:35:16 up  2:04,  3 users,  load average: 13.78, 11.89, 11.61
Tasks: 749 total,   1 running, 748 sleeping,   0 stopped,   0 zombie
%Cpu(s):  0.4 us,  0.4 sy,  0.0 ni, 99.2 id,  0.0 wa,  0.1 hi,  0.0 si,  0.0 st
MiB Mem :  28953.8 total,  23711.9 free,   4109.9 used,   1132.0 buff/cache
MiB Swap:      0.0 total,      0.0 free,      0.0 used.  24416.8 avail Mem

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND
  10404 root      20   0 1196472  53748  26880 S  13.9   0.2   0:12.40 Main

Since I would like to use the DriveWorks SDK, I wanted to find out if this is the normal performances I get using the SDK or is it just normal for this specific sample or again if the results I get are not what is expected from this sample.