Jetson ori argus camera accquire_frame need 66ms delay with imu calibrated, how to reduce this delay?

[mediumcore1018]

jetson ori nx argus camera accquire_frame need 66ms delay with imu calibrated, how to reduce this delay?
jetson nx argus need 33ms delay for accquire_frame, why ori nx accquire_frame gets double more delay time?
how to reduce delay for accquire_frame on ori nx?

[ShaneCCC]

How do you profile it.
Are the BSP version the same for Orin NX and Xavier NX?

[mediumcore1018]

Same software,both use kalibr to calibrate fisheye and imu,it can estimate time offset. Because imu is 200hz, we can think imu as quasi real-time, the result time offset calibrated as: nx’s fisheye is about 33ms delay, and ori nx’s fisheye is about 66ms delay, although with different camera sensor. I think this calibration flow can be verified validly.
BSP versions seems different.

[ShaneCCC]

Could you verify on the same version.

Thanks