Realsense D455 cannot get 90FPS video frames on the Xaiver AGX

I can use the Intel realsense D455 camera to capture vide frames at a 90FPS rate on a Intel 75500U CPU,but I only got 54 FPS at the Xaiver. Very ridiculocus! What should I do?

Hi,
Please run sudo nvpmodel -m 0 and sudo jetson_clocks, and try again. This is max performance mode of Xavier. If it still does not achieve the performance, probably the CPU capability is not enough for running 90fps(comparing to PC with Intel CPU).

Some users have tried D435/D435i and it has occupied almost all USB3 bandwidth and consumes heavy CPU usage.

“Some users have tried D435/D435i and it has occupied almost all USB3 bandwidth and consumes heavy CPU usage.”—— Could youe explain more specifically? Which issue does that causes?

1 Like

@frankcreen1019
what is the fps rate after you execute
sudo nvpmodel -m 0
and
sudo jetson_clocks
?

Hi,

D435i supports simultaneous 3 streams. It take most USB3 bandwidth when the three are launched. Also the format of depth camera stream is unique and not supported by hardware engines, and takes certain CPU usage.

55FPS at the beginning, but with the program running 5 mintutes, 70FPS maxmimum.

I run the command ‘tegrastats’ to monitor the CPU and GPU preformance. The usages of eight CPU are all under 20% and the GPU is under the 20% samely. Dose something else I have to set?

Hi,
Since we don’t have D455, please share the information for reference:

$ v4l2-ctl -d /dev/video0 --list-formats-ext

And try to run v4l2-ctl command:

$ v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=UYVY --stream-count=1000 --stream-mmap

See if it can achieve desired fps. Please modify width, height, pixelformat according to capability of D455.

we have d455,However right now it is connected remotely to Host PC.
it seems reflected as
ls /dev/video*
/dev/video4 /dev/video5

v4l2-ctl -d /dev/video4 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'YUYV'
	Name        : YUYV 4:2:2
		Size: Discrete 424x240
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 480x270
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 640x360
			Interval: Discrete 0.011s (90.000 fps)
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 640x480
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 848x480
			Interval: Discrete 0.017s (60.000 fps)
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1280x720
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.200s (5.000 fps)
		Size: Discrete 1280x800
			Interval: Discrete 0.033s (30.000 fps)
			Interval: Discrete 0.067s (15.000 fps)
			Interval: Discrete 0.100s (10.000 fps)
			Interval: Discrete 0.200s (5.000 fps)

	Index       : 1
	Type        : Video Capture
	Pixel Format: ''
	Name        : ------
		Size: Discrete 1280x800
			Interval: Discrete 0.033s (30.000 fps)
 v4l2-ctl -d /dev/video4 --set-fmt-video=width=1280,height=720,pixelformat=UYVY --stream-count=1000 --stream-mmap
<<<<<<<<<<<<<<< 13.72 fps
<<<<<<<<< 10.95 fps
<<<<<<<< 10.19 fps
<<<<<<<<< 9.75 fps
<<<<<<<< 9.50 fps
<<<<<<<< 9.22 fps
<<<<<<<< 8.98 fps
<<<<<<< 8.83 fps
<<<<<<<< 8.68 fps
<<<<<<< 8.58 fps
<<<<<<<< 8.49 fps
<<<<<<<< 8.41 fps
<<<<<<< 8.36 fps
<<<<<<<< 8.30 fps
<<<<<<< 8.26 fps
<<<<<<<< 8.22 fps
<<<<<<<< 8.19 fps
<<<<<<< 8.16 fps
<<<<<<<< 8.13 fps
<<<<<<<< 8.10 fps
<<<<<<< 8.08 fps
<<<<<<<< 8.06 fps
<<<<<<<< 8.04 fps
<<<<<<< 8.03 fps
<<<<<<<< 8.01 fps
<<<<<<<< 8.00 fps
<<<<<<< 7.98 fps
<<<<<<<< 7.97 fps
<<<<<<< 7.96 fps
<<<<<<<< 7.95 fps
<<<<<<<< 7.94 fps

Hi,
We have D435 and can reach 848x480p90

[1821622.143114] usb 2-4: new SuperSpeed USB device number 2 using tegra-xusb
[1821622.163633] usb 2-4: New USB device found, idVendor=8086, idProduct=0b07
[1821622.163654] usb 2-4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[1821622.163658] usb 2-4: Product: Intel(R) RealSense(TM) Depth Camera 435
[1821622.163661] usb 2-4: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435
[1821622.163664] usb 2-4: SerialNumber: 824613020664
[1821622.189817] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435  (8086:0b07)
nvidia@nvidia-desktop:~$ v4l2-ctl -d /dev/video2 --list-formats-ext             ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'GREY'
        Name        : 8-bit Greyscale
                Size: Discrete 256x144
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.011s (90.000 fps)
                Size: Discrete 424x240
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 480x270
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 848x100
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.010s (100.000 fps)
                Size: Discrete 848x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)

        Index       : 1
        Type        : Video Capture
        Pixel Format: 'UYVY'
        Name        : UYVY 4:2:2
                Size: Discrete 256x144
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.011s (90.000 fps)
                Size: Discrete 424x240
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 480x270
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 848x100
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.010s (100.000 fps)
                Size: Discrete 848x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)

        Index       : 2
        Type        : Video Capture
        Pixel Format: 'GREY'
        Name        : 8-bit Greyscale
                Size: Discrete 256x144
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.011s (90.000 fps)
                Size: Discrete 424x240
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 480x270
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 848x100
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.010s (100.000 fps)
                Size: Discrete 848x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)

        Index       : 3
        Type        : Video Capture
        Pixel Format: 'Y8I '
        Name        : Interleaved 8-bit Greyscale
                Size: Discrete 256x144
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.011s (90.000 fps)
                Size: Discrete 424x240
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 480x270
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 848x100
                        Interval: Discrete 0.003s (300.000 fps)
                        Interval: Discrete 0.010s (100.000 fps)
                Size: Discrete 848x480
                        Interval: Discrete 0.011s (90.000 fps)
                        Interval: Discrete 0.017s (60.000 fps)
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.167s (6.000 fps)
                Size: Discrete 1280x800
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)

        Index       : 4
        Type        : Video Capture
        Pixel Format: 'Y12I'
        Name        : Interleaved 12-bit Greyscale
                Size: Discrete 640x400
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 1280x800
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)

nvidia@nvidia-desktop:~$ v4l2-ctl -d /dev/video2 --set-fmt-video=width=848,height=480,pixelformat=UYVY --stream-count=1000 --stream-mmap
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 90.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 89.87 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 89.87 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 89.88 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 89.90 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 89.90 fps
<<<<<<<<<<

Probably it is specific to D455? Not sure but updating firmware probably helps:

nvidia@nvidia-desktop:~$ rs-fw-update -l

What are you attempting to stream? Depth should be able to run 848 x 480 at 90 fps. Are you using librealsense viewer? Multiple cameras?

@frankcreen1019 does the issue persist after updating sdk/firmware?
do you need any further assistance with the issue?
folks pointed out that @90fps is achievable on Jetson also here https://github.com/IntelRealSense/librealsense/issues/7793#issuecomment-729438925

@DaneLLL @Andrey1984
I update the librealsense to 2.39.0 and the camera fireware to 5.12.8.200. Testing the camera on the USB port A and port C,but the results remains 54FPS. Furthermore ,I try to run the command ‘v4l2-ctl -d /dev/video4 --list-formats-ext’,but no that device. The command ‘ls /dev/video*’ print ‘No such file or dir…’. So I wonder may be the issue caused by the jetson system? My system is Jetson 4.4.2.

Testing Code

the identifier of the camera you might know with executing

ls /dev/video*

if there is nothing reflected you may try the same with sudo, as it might be a matter of udev rules.

I use the code to capture video frame and do some measurement.

what are the camera identifiers? what are the outputs of executing the ls comanbd with sudo?

Same with sudo,I have no idea. But i have run the command ‘sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/’ in the librealsense directory. Does this matter?

‘ls cannot access ‘/dev/video*’: No such file or directory’

did you try powering off the device then powering it on?

Please try Andrey1984’s suggestion. See if device node is present after rebooting the device. For D435, three device nodes are present.