How to get MIPI-CSI camera delay under the 100ms?

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin NX
1

Hi,
I refer to this link to verify the lantency of the imx219 camera.
after trying ,I use following command:

v4l2-ctl --list-formats-ext --device=0

[0]: 'RG10' (10-bit Bayer RGRG/GBGB)
	Size: Discrete 3280x2464
		Interval: Discrete 0.048s (21.000 fps)
	Size: Discrete 3280x1848
		Interval: Discrete 0.036s (28.000 fps)
	Size: Discrete 1920x1080
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 1640x1232
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 1280x720
		Interval: Discrete 0.017s (60.000 fps)

gst-launch-1.0 nvarguscamerasrc sensor-id =0 ! ‘video/x-raw(memory:NVMM),width=1280,height=720,framerate=30/1,format=NV12’ ! nv3dsink
gst-launch-1.0 nvarguscamerasrc sensor-id =0 ! ‘video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1,format=NV12’ ! nv3dsink

I find change framerate seems not work, the lantency cost about: 180ms-220ms
And I change the plugin from nv3dsink to xvimagesink by using following command:

gst-launch-1.0 nvarguscamerasrc sensor-id =1 ! ‘video/x-raw(memory:NVMM),width=1280,height=720,framerate=30/1,format=NV12’ ! nvvidconv ! xvimagesink

In this command, the lantency cost about: 120ms-160ms

How I test the delay is shoot with the csi camera at the screen time and observe the time difference.
I wonder if this delay can be reduced, or this is already basically the best.

2

Here is a example:

test_delay
test_delay1286×1090 111 KB

4

Suppose the latency 4 - 5 frames are reasonable.
You can confirm the frame rate by below command.

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=1280,height=720 framerate=(fraction)30/1' ! nvvidconv ! fpsdisplaysink video-sink=xvimagesink sync=false
5

thanks, this command can display ‘rendered, dropped,current,average’ info.
but it seems have no effect on reducing the delay. In fact, after using this command, the lantency is approximately 180ms.

6

Does the frame rate reach 60fps?

7

Yes, it displays two refreshes per second; After two refreshes, it’s about 60 frames per second

8

What’s the display flash rate?

9

fps
fps1920×835 152 KB

10

I mean the monitor reflash rate.
How do you check the latency?

11

by this way:

test_delay
test_delay1286×1090 111 KB

you can see the last line: 09:24:12.409->09:24:12.562
that’s the latency.

12

What’s the version?

cat /etc/nv_tegra_release
14

R36 (release), REVISION: 4.3, GCID: 38968081, BOARD: generic, EABI: aarch64, DATE: Wed Jan 8 01:49:37 UTC 2025

KERNEL_VARIANT: oot

TARGET_USERSPACE_LIB_DIR=nvidia
TARGET_USERSPACE_LIB_DIR_PATH=usr/lib/aarch64-linux-gnu/nvidia

17

We got below result on AGX Orin.

Framerate30 → G2G latency delay about 128ms
Framerate60 → G2G latency delay about 96ms

18

Okay, I see. Thank you for your patient answer.

20

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