I have setup static IP for OAK-D SR PoE. Configured 30 FPS and and 720p for CAMB and CAMC.
ToF is CAMA at 480p @ 30FPS.
Boot loader: 0.0.28
Depthai verson: 2.28.0.0
Refresh rate quite slow. Almost a second. I am not using any AI model.
I checked switch to PC cable and that is CAT 6A. Also NIC recognizes it as 1Gbps.
Queries:
1. How to improve speed
2. ToF is not aligned. How to align depth to RGB
3. I see "Cpu usage - Leon CSS: 100.00 %, Leon MSS: 6.81 %" # can you explain what does this mean?
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Logs
[2024-10-08T23:34:20Z INFO winit::platform_impl::platform::x11::window] Guessed window scale factor: 1
Backend started successfully.
[2024-10-08T23:34:22Z INFO ewebsock::native_tungstenite] WebSocket handshake has been successfully completed
[2024-10-08T23:34:22Z INFO re_viewer::depthai::ws] Websocket opened
Selecting device: 14442C10B1D0ADCF00
Connecting to viewer at 127.0.0.1:9876
Oak cam: <depthai_sdk.oak_camera.OakCamera object at 0x7ff3e8097fa0>
Default stereo pair: (<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)
Pipeline config: auto=True cameras=[CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_1280X3848: 'THE_1280X3848'>, kind=<CameraSensorType.TOF: 2>, board_socket=<CameraBoardSocket.CAM_A: 0>, stream_enabled=True, name='Tof', tof_align=None, is_used_as_stereo_align=False), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_B: 1>, stream_enabled=True, name='Left', tof_align=None, is_used_as_stereo_align=False), CameraConfiguration(fps=30, resolution=<CameraSensorResolution.THE_400_P: 'THE_400_P'>, kind=<CameraSensorType.COLOR: 0>, board_socket=<CameraBoardSocket.CAM_C: 2>, stream_enabled=True, name='Right', tof_align=None, is_used_as_stereo_align=False)] stereo=StereoDepthConfiguration(median=<MedianFilter.KERNEL_7x7: 7>, lr_check=True, lrc_threshold=5, extended_disparity=False, subpixel_disparity=True, align=<CameraBoardSocket.CAM_B: 1>, sigma=0, confidence=230, stereo_pair=(<CameraBoardSocket.CAM_B: 1>, <CameraBoardSocket.CAM_C: 2>)) ai_model=None imu=ImuConfiguration(report_rate=100, batch_report_threshold=5)
Updating pipeline...
Usb speed: UsbSpeed.UNKNOWN
Connected to a PoE device, camera streams will be JPEG encoded...
Creating camera: fps=15 resolution=<CameraSensorResolution.THE_480_P: 'THE_480_P'> kind=<CameraSensorType.TOF: 2> board_socket=<CameraBoardSocket.CAM_A: 0> stream_enabled=True name='ToF' tof_align=None is_used_as_stereo_align=False
Creating camera: fps=15 resolution=<CameraSensorResolution.THE_720_P: 'THE_720_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_B: 1> stream_enabled=True name='Left' tof_align=None is_used_as_stereo_align=False
Creating camera: fps=15 resolution=<CameraSensorResolution.THE_720_P: 'THE_720_P'> kind=<CameraSensorType.COLOR: 0> board_socket=<CameraBoardSocket.CAM_C: 2> stream_enabled=True name='Right' tof_align=None is_used_as_stereo_align=False
Creating IMU, connected IMU: BNO086
Starting pipeline
Got message to send: <depthai_viewer._backend.messages.WarningMessage object at 0x7ff3d8eafe50>
Sending message: <depthai_viewer._backend.messages.WarningMessage object at 0x7ff3d8eafe50>
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[0s] System information
----------------------------------------
Ddr used / total - 164.46 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 35.27 / 81.76 MiB
LeonMss heap used / total - 4.91 / 39.90 MiB
Chip temperature - average: 51.08, css: 53.33, mss: 50.25, upa: 50.03, dss: 50.70
Cpu usage - Leon CSS: 0.57 %, Leon MSS: 0.04 %
[2024-10-08T23:34:42Z WARN re_viewer::depthai::depthai] Device is connected via PoE. This may cause performance issues.
----------------------------------------
[10s] System information
----------------------------------------
Ddr used / total - 187.81 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 69.52 / 81.76 MiB
LeonMss heap used / total - 10.29 / 39.90 MiB
Chip temperature - average: 53.33, css: 55.07, mss: 52.46, upa: 53.33, dss: 52.46
Cpu usage - Leon CSS: 100.00 %, Leon MSS: 6.81 %
----------------------------------------
[20s] System information
----------------------------------------
Ddr used / total - 187.81 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 69.52 / 81.76 MiB
LeonMss heap used / total - 10.29 / 39.90 MiB
Chip temperature - average: 53.39, css: 54.86, mss: 53.12, upa: 52.90, dss: 52.68
Cpu usage - Leon CSS: 100.00 %, Leon MSS: 8.34 %
----------------------------------------
[30s] System information
----------------------------------------
Ddr used / total - 187.81 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 69.52 / 81.76 MiB
LeonMss heap used / total - 10.29 / 39.90 MiB
Chip temperature - average: 53.44, css: 55.72, mss: 52.24, upa: 52.90, dss: 52.90
Cpu usage - Leon CSS: 100.00 %, Leon MSS: 7.15 %
----------------------------------------
[40s] System information
----------------------------------------
Ddr used / total - 187.81 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 69.52 / 81.76 MiB
LeonMss heap used / total - 10.29 / 39.90 MiB
Chip temperature - average: 53.38, css: 55.94, mss: 52.46, upa: 52.68, dss: 52.46
Cpu usage - Leon CSS: 100.00 %, Leon MSS: 8.05 %
----------------------------------------
[50s] System information
----------------------------------------
Ddr used / total - 187.81 / 333.28 MiB
Cmx used / total - 2.50 / 2.50 MiB
LeonCss heap used / total - 69.52 / 81.76 MiB
LeonMss heap used / total - 10.29 / 39.90 MiB
Chip temperature - average: 53.66, css: 55.72, mss: 52.68, upa: 52.68, dss: 53.55
Cpu usage - Leon CSS: 100.00 %, Leon MSS: 6.49 %
