I am facing an issue the the positional tracking retrieve rate with the ZED X mini with sl.POSITIONAL_TRACKING_MODE.GEN_2 on a Jetson AGX Orin , when I shake the camera a bit, the rate drops to 30Hz (normal behavior should be 60Hz).
Please note that this does no happen when I use sl.POSITIONAL_TRACKING_MODE.GEN_1.
I calculate the rate using the timestamps. Find attached the script that I am using to produce this issue. pos_rate.py (1.5 KB)
platform: Jetson AGX Orin
ZED SDK: 4.1.4
Python: 3.8.10
Hi @Myzhar
Thank you for the prompt response.
I might as well point that I am using the HD1200 resolution.
Unfortunately I upgraded the SDK to 4.2.5 but still facing the same issue. I am still facing an oscillating rate of pose between 30-60Hz periodically. This occur much less with DEPTH_MODE.PERFORAMCE than DEPTH_MODE.ULTRA. Also when shaking the camera while using sl.POSITIONAL_TRACKING_MODE.GEN_2 will cause the pose rate to drop permanently to 20-30Hz.
Let me know if I need to provide more information required for troubleshooting. Thank you.
Hello @Dhiaeddine-Oussayed,
What is the version of the AGX JetPack are you using? It appears that this might be related to a performance issue. Are you using the AGX for any other tasks? Additionally, do you see any warning messages in the console while running your code?
If you’re aiming for a more stable FPS with GEN_2, consider disabling the depth module by setting DEPTH_MODE::NONE. You can also disable the loop closure module by setting enable_area_memory to false when initiating tracking.