Hi,
I am working with a Syslogic RPC RS A4NA (that has a Jetson Orin Nano and a Apacer NVMe SSD of sequential write speed 1115 Mb/s) with L4T R35.4.1, a single ZED X camera connected by a 50cm GMSL2 cable, and ZED SDK 5.0.0. My power mode is the maximum one (0, with 10W) and I am running jetson_clocks.
I can visualize the video and depth of the camera using the ZED tools properly with a frame rate of up to 60fps for the video (whatever the resolution) and 8-10Hz for the depth data, as displayed on ZED_Explorer/ZED_Depth_Viewer.
However, when I try to record the data, the frame rate drops drastically. I have tried using ROS2 and native ZED tools or samples. My end goal is to record ROS2 bags with RGB images (video), depth map, point cloud and IMU at least.
Apparently, the Jetson Orin Nano does not allow software H264 encoding in real-time, so I cannot record svo files with compression.
With ZED_Explorer or with the recording/recording/mono/cpp sample (after having modified the code to change the compression mode to “losseless”), whenever I record a svo file, it is then seen as corrupted or invalid by all ZED tools, and I have to use the ZED_SVO_Editor tool to repair it. (Any idea why?) When I read it, the ZED_Explorer tool, for example, gives me a frame rate of ~14fps at most.
Using a ROS2 docker with the proper Cyclone DDS tuning (following your guide), I get an even lower frame rate. ros2 topic hz
or rqt topic monitoring tool give me ~4.5Hz with the default parameters. When there is no subscriber, ros2 topic hz
gives me 30Hz, but as soon as there is a subscriber, whatever the type (ros2 topic echo
/ ros2 bag record
/ rqt_bag / rqt topic monitoring tool / Foxglove), it lowers directly to ~4.5Hz. (rqt topic monitoring tool always shows this value, even if there is no other subscriber.) If I reduce the resolution to 1080, I get 5.5Hz, and if I set the depth mode to ‘NONE’ I get 5.7Hz, not higher.
I have tried monitoring topic rates from a remote PC or on the host Syslogic PC, with no impact.
Why can’t I get better performances with the ZED X camera?
Attached are the results from the ZED_Diagnostic tool:
dmesg.log (46.9 KB)
ZED_Diagnostic_Results.json (62.4 KB)