jakaskerl
I don't think it's a throughput issue. I noticed that your test was not on the same camera model as the one I reported, so I tested three camera models under the same environment.
As you can see in the attached output log,
- OAK-D Pro Wide POE (OV9782) has frame sync issue
- OAK-D Pro POE (IMX378) sync frames properly
- OAK-D Pro USB3 (IMX378) sync frames properly
It seems that the global shutter OV9782 vs rolling shutter IMX378 is the key factor affecting the frame sync behavior, instead of POE / USB or carrier board. I wonder if you can test it with an OV9782 camera on your side and see if the same behavior can be observed.
Thanks!
OAK-D Pro Wide POE (OV9782)
OAK-D-PRO-W-POE-97 18443010310D630F00 NG9097 {<CameraBoardSocket.LEFT: 1>: 'OV9282', <CameraBoardSocket.RGB: 0>: 'OV9782', <CameraBoardSocket.RIGHT: 2>: 'OV9282'}
color: seq_num=0, timestamp=0:00:05.177332, size=640x400
disp : seq_num=0, timestamp=0:00:05.262904, size=1280x800
color: seq_num=1, timestamp=0:00:05.277318, size=640x400
disp : seq_num=1, timestamp=0:00:05.362892, size=1280x800
color: seq_num=2, timestamp=0:00:05.377298, size=640x400
disp : seq_num=2, timestamp=0:00:05.462874, size=1280x800
color: seq_num=3, timestamp=0:00:05.477282, size=640x400
disp : seq_num=3, timestamp=0:00:05.562856, size=1280x800
color: seq_num=4, timestamp=0:00:05.577266, size=640x400
disp : seq_num=4, timestamp=0:00:05.662839, size=1280x800
color: seq_num=5, timestamp=0:00:05.677249, size=640x400
disp : seq_num=5, timestamp=0:00:05.762824, size=1280x800
color: seq_num=6, timestamp=0:00:05.777234, size=640x400
disp : seq_num=6, timestamp=0:00:05.862807, size=1280x800
color: seq_num=7, timestamp=0:00:05.877216, size=640x400
disp : seq_num=7, timestamp=0:00:05.962793, size=1280x800
color: seq_num=8, timestamp=0:00:05.977200, size=640x400
disp : seq_num=8, timestamp=0:00:06.062775, size=1280x800
color: seq_num=9, timestamp=0:00:06.077184, size=640x400
disp : seq_num=9, timestamp=0:00:06.162758, size=1280x800
color: seq_num=10, timestamp=0:00:06.177168, size=640x400
disp : seq_num=10, timestamp=0:00:06.262742, size=1280x800
OAK-D Pro POE (IMX378)
OAK-D-PRO-POE-AF 18443010C174630F00 NG9097 {<CameraBoardSocket.LEFT: 1>: 'OV9282', <CameraBoardSocket.RGB: 0>: 'IMX378', <CameraBoardSocket.RIGHT: 2>: 'OV9282'}
color: seq_num=0, timestamp=0:00:05.300246, size=960x540
disp : seq_num=0, timestamp=0:00:05.301054, size=1280x720
color: seq_num=1, timestamp=0:00:05.400233, size=960x540
disp : seq_num=1, timestamp=0:00:05.401031, size=1280x720
color: seq_num=2, timestamp=0:00:05.500218, size=960x540
disp : seq_num=2, timestamp=0:00:05.501015, size=1280x720
color: seq_num=3, timestamp=0:00:05.600204, size=960x540
disp : seq_num=3, timestamp=0:00:05.600997, size=1280x720
color: seq_num=4, timestamp=0:00:05.700581, size=960x540
disp : seq_num=4, timestamp=0:00:05.700980, size=1280x720
color: seq_num=5, timestamp=0:00:05.800566, size=960x540
disp : seq_num=5, timestamp=0:00:05.800963, size=1280x720
color: seq_num=6, timestamp=0:00:05.900950, size=960x540
disp : seq_num=6, timestamp=0:00:05.900960, size=1280x720
color: seq_num=7, timestamp=0:00:06.000934, size=960x540
disp : seq_num=7, timestamp=0:00:06.000945, size=1280x720
color: seq_num=8, timestamp=0:00:06.101103, size=960x540
disp : seq_num=8, timestamp=0:00:06.100918, size=1280x720
color: seq_num=9, timestamp=0:00:06.201089, size=960x540
disp : seq_num=9, timestamp=0:00:06.200900, size=1280x720
color: seq_num=10, timestamp=0:00:06.301075, size=960x540
disp : seq_num=10, timestamp=0:00:06.300885, size=1280x720
OAK-D Pro USB3 (IMX378)
OAK-D Pro AF 1844301031BD381300 DM9098 {<CameraBoardSocket.LEFT: 1>: 'OV9282', <CameraBoardSocket.RGB: 0>: 'IMX378', <CameraBoardSocket.RIGHT: 2>: 'OV9282'}
color: seq_num=0, timestamp=0:00:01.175108, size=960x540
disp : seq_num=0, timestamp=0:00:01.175935, size=1280x720
color: seq_num=1, timestamp=0:00:01.275095, size=960x540
disp : seq_num=1, timestamp=0:00:01.275920, size=1280x720
color: seq_num=2, timestamp=0:00:01.375080, size=960x540
disp : seq_num=2, timestamp=0:00:01.375904, size=1280x720
color: seq_num=3, timestamp=0:00:01.475066, size=960x540
disp : seq_num=3, timestamp=0:00:01.475887, size=1280x720
color: seq_num=4, timestamp=0:00:01.575458, size=960x540
disp : seq_num=4, timestamp=0:00:01.575871, size=1280x720
color: seq_num=5, timestamp=0:00:01.675444, size=960x540
disp : seq_num=5, timestamp=0:00:01.675854, size=1280x720
color: seq_num=6, timestamp=0:00:01.775842, size=960x540
disp : seq_num=6, timestamp=0:00:01.775852, size=1280x720
color: seq_num=7, timestamp=0:00:01.875825, size=960x540
disp : seq_num=7, timestamp=0:00:01.875835, size=1280x720
color: seq_num=8, timestamp=0:00:01.975995, size=960x540
disp : seq_num=8, timestamp=0:00:01.975808, size=1280x720
color: seq_num=9, timestamp=0:00:02.075981, size=960x540
disp : seq_num=9, timestamp=0:00:02.075792, size=1280x720
color: seq_num=10, timestamp=0:00:02.175967, size=960x540
disp : seq_num=10, timestamp=0:00:02.175775, size=1280x720