Depth image acquisition hangs when setting Isp3aFps

I am trying to acquire depth images at 200fps using the following FW.

luxonis/depthai-core926

When I tried it with the source code below, depth image acquisition hangs when Ips3aFps is set low.

The camera uses OAK-D.

Please tell me how to solve the problem.

#include <iostream>

// Includes common necessary includes for development using depthai library

#include "depthai/depthai.hpp"

double get_sec()

{

struct timespec ts;

timespec_get(&ts, TIME_UTC);

return ((double)(ts.tv_sec));

}

// Closer-in minimum depth, disparity range is doubled (from 95 to 190):

static std::atomic<bool> extended_disparity{false};

// Better accuracy for longer distance, fractional disparity 32-levels:

static std::atomic<bool> subpixel{false};

// Better handling for occlusions:

static std::atomic<bool> lr_check{true};

int main() {

// Create pipeline

dai::Pipeline pipeline;

// Define sources and outputs

auto monoLeft = pipeline.create<dai::node::MonoCamera>();

auto monoRight = pipeline.create<dai::node::MonoCamera>();

auto depth = pipeline.create<dai::node::StereoDepth>();

auto xout = pipeline.create<dai::node::XLinkOut>();

xout->setStreamName("disparity");

std::shared_ptr<dai::node::XLinkIn> controlIn_mono;

std::shared_ptr<dai::DataInputQueue> controlQueue_mono;

controlIn_mono = pipeline.create<dai::node::XLinkIn>();

dai::CameraControl ctrl_mono;

// Properties

monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);

monoLeft->setCamera("left");

monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);

monoRight->setCamera("right");

monoLeft->setIsp3aFps(10);

monoRight->setIsp3aFps(10);

monoLeft->setFps(200);

monoRight->setFps(200);

controlIn_mono->setStreamName("control_mono");

// Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)

depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);

// Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)

depth->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);

depth->setLeftRightCheck(lr_check);

depth->setExtendedDisparity(extended_disparity);

depth->setSubpixel(subpixel);

// Linking

monoLeft->out.link(depth->left);

monoRight->out.link(depth->right);

depth->disparity.link(xout->input);

controlIn_mono->out.link(monoRight->inputControl);

controlIn_mono->out.link(monoLeft->inputControl);

// Connect to device and start pipeline

dai::Device device(pipeline);

controlQueue_mono = device.getInputQueue(controlIn_mono->getStreamName());

ctrl_mono.setAutoExposureLock(true);

controlQueue_mono->send(ctrl_mono);

// Output queue will be used to get the disparity frames from the outputs defined above

auto q = device.getOutputQueue("disparity", 4, false);

double cnt_t;

int fps_cnt = 0, fps_cnt_fix = 0;

double time_cnt = get_sec();

while(true) {

    auto inDepth = q->get<dai::ImgFrame>();

    auto frame = inDepth->getFrame();

    // Normalization for better visualization

    frame.convertTo(frame, CV_8UC1, 255 / depth->initialConfig.getMaxDisparity());

    cnt_t = get_sec();

    if(time_cnt != cnt_t)

    {

        fps_cnt_fix = (float)fps_cnt / (int)(cnt_t - time_cnt);

        printf("fps:%d\\n", fps_cnt_fix);

        time_cnt = cnt_t;

        fps_cnt = 0;

    }

    fps_cnt++;

    cv::imshow("disparity", frame);

    // Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html

    // cv::applyColorMap(frame, frame, cv::COLORMAP_JET);

    // cv::imshow("disparity_color", frame);

    

    int key = cv::waitKey(1);

    if(key == 'q' || key == 'Q') {

        return 0;

    }

    

}

return 0;

}