Python zed sdk , grab to slow

Software Python
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1

I am using a ZED X Mini with a Jetson development board, and I am using the Python ZED SDK.

I use zed.grab() to acquire RGB images, depth visualization (depth_vis), and raw floating-point depth data.

I found that at SVGA resolution, a single retrieve_measure() call takes about 20–25 ms. Is this normal?

At HD1080 resolution, it takes even longer, making it difficult to achieve a 30 FPS capture rate.

Is this expected behavior?

Strictly speaking, it is retrieve_measure to slow

2

Hello @timsaya,

As the majority of ZED SDK algorithms are computed in the grab() method, the latency of the grab() call depends on the following:

  • resolution / frame rate selected
  • which depth mode is enabled (NEURAL, NEURAL_PLUS, etc)
  • if there are other algorithms (positional tracking, object detection, etc) enabled
  • the compute unit used (embedded Jetson computer or x86 PC with a big GPU)
  • the power mode used for Jetson devices (recommended is MAXN for the fastest compute)

Which jetson platform are you using?

3

Jetson Orin NX 8GB

Is 20–30 ms expected? Is it possible to get it down to 10 ms on C++ SDK ?