If the source is 30fps, you will see 33ms interval in two continuous cam3.grab() or cam4.grab() calls. This could be the reason.
Any updates on the issue with the nvv4l2decoder?
It should be fixed in next r32.4.3.
For anyone that comes onto this page, this is my current solution:
MIPI CSI pipeline =
nvarguscamerasrc sensor_id=ID ! video/x-raw(memory:NVMM), width=X, height=Y, format=(string)NV12 ! nvvidconv flip-method=M ! video/x-raw, format=I420, appsink max-buffers=1 drop=true
and UVC pipeline =
v4l2src device=dev ! image/jpeg, width=X, height=Y ! jpegparse ! jpegdec ! nvvidconv flip-method=M ! video/x-raw, format=I420 ! appsink max-buffers=1 drop=true
One optimization is the appsink options:
drop=true. These remove an application queuing delay to a good amount.
One other optimization is using
format=I420, rather than using BGRx and converting to BGR in vidconv. In my application I would only process the frames after I had grabbed them from all cameras.
vidconv is slow because it runs on the CPU. This delay ended up delaying the pipeline. So I use I420 which is supported in nvvidconv and OpenCV. I only use cv::VideoCapture’s grab() function. I use retrieve() later when processing the last frame and I will use
cv::cvtColor(image, _image, cv::COLOR_YUV2BGR_I420) so that I can use the frames in BGR as OpenCV needs.
Later on, I am hoping to add
nvv4l2decoder, once r32.4.3 is released. @DaneLLL, do you know when r32.4.3 will be released? I noticed r32.4.2b was recently added but I’m guessing that doesn’t have the nvv4l2decoder fix.
In order to get the appropriate image I need, I am using 4 grab() calls to these pipelines. Originally, I was using 7-12 grabs() and it was a mess. This method is much faster and I will update this thread if I find more optimized pipelines for this use case that uses two MIPI CSI and two UVC cameras for instant captures.