OAK-D Pro PoE with OV9782 High FPS

vdimitrov_rai

I'm looking for some advice on how to get high FPS (120 ideally) from the OV9782 in color near full resolution and with low latency on the OAK-D Pro POE. I've got the pipeline running at 1280x600 at 100FPS with the MJPEG encoder relatively stable without dropping frames, but the pipeline starts dropping frames when the resolution is pushed higher or FPS. Any ideas on what knobs can be tuned to get more performance out?

Steps to Recreate:

My MTU is set to 9000. Camera is directly connected to a 1Gbps NIC w/ a POE+ injector.

Run in terminal, replace main.cpp with stub further down:

git clone https://github.com/luxonis/depthai-core-example.git
cd depthai-core-example/
git submodule init
git submodule update
cd depthai-core
git checkout d6a37a5ba8ba2ee187fabc9208b813db5f75d4a7
git submodule update --init --recursive
cd ..
mkdir build
cp <attached main.cpp> src/main.cpp
cd build
cmake ..
make
./myapp

main.cpp stub

#include <iostream>

// include depthai library
#include <depthai/depthai.hpp>

// include opencv library (Optional, used only for the following example)
#include <opencv2/opencv.hpp>

#include <unistd.h>

int main(){
    using namespace std;

    // Create pipeline
    dai::Pipeline pipeline;

    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto videoEnc = pipeline.create<dai::node::VideoEncoder>();

    auto controlIn = pipeline.create<dai::node::XLinkIn>();
    auto xoutJpeg = pipeline.create<dai::node::XLinkOut>();

    // Stream Names
    controlIn->setStreamName("control");
    xoutJpeg->setStreamName("jpeg");

    // Properties
    camRgb->setFps(100.0);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_800_P);
    camRgb->setVideoSize(1280,600);
    camRgb->sensorCenterCrop();
    camRgb->setNumFramesPool(2,2,2,2,0); //Reduces RAM consumption and reduces latency 

    videoEnc->setDefaultProfilePreset(camRgb->getFps(), dai::VideoEncoderProperties::Profile::MJPEG);
    videoEnc->setNumFramesPool(2); //Reduces RAM consumption and reduces latency 
    videoEnc->setQuality(90);

    // Device Config
    auto deviceConfig = dai::BoardConfig();
    deviceConfig.network.mtu = 9000;
    deviceConfig.network.xlinkTcpNoDelay = true;

    pipeline.setBoardConfig(deviceConfig);
    pipeline.setXLinkChunkSize(8000);

    //Linking
    controlIn->out.link(camRgb->inputControl);
    camRgb->video.link(videoEnc->input);
    videoEnc->bitstream.link(xoutJpeg->input);


    try {
        dai::DeviceInfo devInfo( "10.0.10.100" );

        // Try connecting to device and start the pipeline
        dai::Device device(pipeline, devInfo);
        std::cout << "Made device!" << std::endl;
        
        // Queues
        auto qJpeg = device.getOutputQueue("jpeg", 2, false);
        auto controlQ = device.getInputQueue("control");

        // Set manual focus, exposure and WB
        dai::CameraControl ctrl;

        ctrl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::OFF);
        ctrl.setManualFocus(150);
        ctrl.setManualExposure(2000, 400);
        ctrl.setManualWhiteBalance(3000);
        controlQ->send(ctrl);

        std::cout << "Getting Queue!" << std::endl;

        cv::Mat frame;
        while (true) {

            // Receive 'rgb' frame from device
            auto imgFrame = qJpeg->get<dai::ImgFrame>();

            std::cout << "image! " << ((imgFrame != nullptr) ? "true" : "false") << "---  " << std::setprecision( 10 ) << (chrono::duration_cast< std::chrono::microseconds >( imgFrame->getTimestamp().time_since_epoch() ).count()/1000000.0) << ": " << imgFrame->getSequenceNum() << std::endl;
            
            // Uncomment if you want to see the images
            // cv::imshow("qJpeg",cv::imdecode(imgFrame->getCvFrame(), cv::IMREAD_ANYCOLOR));

            // int key = cv::waitKey(1);
            // if(key == 'q' || key == 'Q') {
            //     return 0;
            // }   

            usleep(100);
        }
    } catch (const std::runtime_error& err) {
        std::cout << err.what() << std::endl;
    }

    return 0;
}

GergelySzabolcs

Hello vdimitrov_rai

You can try setting: pipeline.setXLinkChunkSize(0);
and
camRgb->setIsp3aFps(60)

For debugging purposes please enable info logging and share CPU usage.

vdimitrov_rai

Debug output from the original code (XLinkChunkSize 8000, manual exposure/focus/WB, 1280x600, 100FPS)
Shut off the sequence ID print for brevity, not skipping frames

vdimitrov@TS-P360-ws02:~/Luxonis/depthai-core-example/build$ DEPTHAI_LEVEL=debug ./myapp 
[2025-02-11 11:03:56.987] [depthai] [debug] Library information - version: 2.29.0, commit: d6a37a5ba8ba2ee187fabc9208b813db5f75d4a7 from 2024-11-22 15:48:55 +0100, build: 2025-01-30 15:33:35 +0000, libusb enabled: true
[2025-02-11 11:03:56.990] [depthai] [debug] Initialize - finished
[2025-02-11 11:03:56.994] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2025-02-11 11:03:56.994] [host] [debug] Device - OpenVINO version: universal
[14442C1061E9F3D600] [10.0.10.100] [1739289836.994] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":9000,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 81 28 23 01 ba 00 be be bb
0020: 00 bb 00 be be be be be be be 00 bb 00 be be
[2025-02-11 11:03:57.046] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 56ms
[2025-02-11 11:03:57.334] [depthai] [debug] Resources - Archive 'depthai-device-fwp-4d360b5c56225f23e9a3d3a3999ce46c90cfdeaf.tar.xz' open: 1ms, archive read: 344ms
[2025-02-11 11:03:57.351] [depthai] [debug] Searching for booted device: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2025-02-11 11:03:57.530] [depthai] [debug] Connected bootloader version 0.0.28
[14442C1061E9F3D600] [10.0.10.100] [1739289838.586] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 1056ms
[2025-02-11 11:03:58.586] [depthai] [debug] DeviceBootloader about to be closed...
[2025-02-11 11:03:58.587] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2025-02-11 11:03:59.476] [depthai] [debug] DeviceBootloader closed, 890
[2025-02-11 11:03:59.478] [depthai] [debug] Searching for booted device: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C1061E9F3D600] [10.0.10.100] [5.501] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 29.69 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 0 MB/s
[14442C1061E9F3D600] [10.0.10.100] [5.501] [system] [info] Temperatures - Average: 35.05C, CSS: 36.77C, MSS 34.64C, UPA: 34.88C, DSS: 33.93C
[14442C1061E9F3D600] [10.0.10.100] [5.501] [system] [info] Cpu Usage - LeonOS 51.46%, LeonRT: 0.54%
[14442C1061E9F3D600] [10.0.10.100] [1739289844.662] [host] [debug] Schema dump: {"connections":[{"node1Id":1,"node1Output":"bitstream","node1OutputGroup":"","node2Id":3,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"video","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":8000},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":13,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":11,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":10,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":12,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":9,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":8,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":7,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":6,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,255,189,0,255,0,1,0,129,44,1,129,44,1,133,0,5,133,88,2,255,255,5,136,0,0,200,66,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,2,2,2,2,0,190]}],[1,{"id":1,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":4,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","bitstream"],{"blocking":false,"group":"","id":5,"name":"bitstream","queueSize":8,"type":0,"waitForMessage":false}],[["","in"],{"blocking":true,"group":"","id":3,"name":"in","queueSize":2,"type":3,"waitForMessage":true}]],"name":"VideoEncoder","properties":[185,11,0,30,0,0,2,0,4,90,0,0,136,0,0,200,66]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":2,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,7,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,4,106,112,101,103,0]}]]}
[14442C1061E9F3D600] [10.0.10.100] [1739289844.662] [host] [debug] Asset map dump: {"map":{}}
[2025-02-11 11:04:04.686] [depthai] [info] Logging disabled
[14442C1061E9F3D600] [10.0.10.100] [5.550] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
Made device!
Getting Queue!
[14442C1061E9F3D600] [10.0.10.100] [5.585] [system] [info] ImageManip internal buffer size '258560'B, shave buffer size '34816'B
[14442C1061E9F3D600] [10.0.10.100] [5.585] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 

[14442C1061E9F3D600] [10.0.10.100] [5.702] [VideoEncoder(1)] [debug] Bitstream frame size: 1250304, num frames in pool: 2
[14442C1061E9F3D600] [10.0.10.100] [6.502] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.12 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 5 MB/s
[14442C1061E9F3D600] [10.0.10.100] [6.502] [system] [info] Temperatures - Average: 36.47C, CSS: 38.88C, MSS 35.35C, UPA: 35.35C, DSS: 36.30C
[14442C1061E9F3D600] [10.0.10.100] [6.502] [system] [info] Cpu Usage - LeonOS 83.09%, LeonRT: 19.28%
[14442C1061E9F3D600] [10.0.10.100] [7.503] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.12 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 892 MB/s
[14442C1061E9F3D600] [10.0.10.100] [7.503] [system] [info] Temperatures - Average: 36.41C, CSS: 38.18C, MSS 35.83C, UPA: 35.35C, DSS: 36.30C
[14442C1061E9F3D600] [10.0.10.100] [7.503] [system] [info] Cpu Usage - LeonOS 91.76%, LeonRT: 16.41%
[14442C1061E9F3D600] [10.0.10.100] [8.504] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1029 MB/s
[14442C1061E9F3D600] [10.0.10.100] [8.504] [system] [info] Temperatures - Average: 37.00C, CSS: 38.88C, MSS 36.30C, UPA: 36.53C, DSS: 36.30C
[14442C1061E9F3D600] [10.0.10.100] [8.504] [system] [info] Cpu Usage - LeonOS 91.61%, LeonRT: 16.58%
[14442C1061E9F3D600] [10.0.10.100] [9.508] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1020 MB/s
[14442C1061E9F3D600] [10.0.10.100] [9.508] [system] [info] Temperatures - Average: 37.18C, CSS: 39.11C, MSS 36.53C, UPA: 36.53C, DSS: 36.53C
[14442C1061E9F3D600] [10.0.10.100] [9.508] [system] [info] Cpu Usage - LeonOS 90.61%, LeonRT: 15.95%
[14442C1061E9F3D600] [10.0.10.100] [10.509] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1019 MB/s
[14442C1061E9F3D600] [10.0.10.100] [10.509] [system] [info] Temperatures - Average: 37.30C, CSS: 39.11C, MSS 36.77C, UPA: 36.53C, DSS: 36.77C
[14442C1061E9F3D600] [10.0.10.100] [10.509] [system] [info] Cpu Usage - LeonOS 87.92%, LeonRT: 15.56%
[14442C1061E9F3D600] [10.0.10.100] [11.510] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1008 MB/s
[14442C1061E9F3D600] [10.0.10.100] [11.510] [system] [info] Temperatures - Average: 37.24C, CSS: 38.41C, MSS 36.53C, UPA: 36.53C, DSS: 37.48C
[14442C1061E9F3D600] [10.0.10.100] [11.510] [system] [info] Cpu Usage - LeonOS 89.96%, LeonRT: 16.04%
[14442C1061E9F3D600] [10.0.10.100] [12.511] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1009 MB/s
[14442C1061E9F3D600] [10.0.10.100] [12.511] [system] [info] Temperatures - Average: 37.47C, CSS: 39.35C, MSS 36.77C, UPA: 36.53C, DSS: 37.24C
[14442C1061E9F3D600] [10.0.10.100] [12.511] [system] [info] Cpu Usage - LeonOS 91.92%, LeonRT: 16.20%
[14442C1061E9F3D600] [10.0.10.100] [13.512] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1029 MB/s
[14442C1061E9F3D600] [10.0.10.100] [13.512] [system] [info] Temperatures - Average: 37.59C, CSS: 39.35C, MSS 36.77C, UPA: 37.01C, DSS: 37.24C
[14442C1061E9F3D600] [10.0.10.100] [13.512] [system] [info] Cpu Usage - LeonOS 91.74%, LeonRT: 16.51%
[14442C1061E9F3D600] [10.0.10.100] [14.513] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1029 MB/s
[14442C1061E9F3D600] [10.0.10.100] [14.513] [system] [info] Temperatures - Average: 37.36C, CSS: 39.11C, MSS 36.77C, UPA: 37.01C, DSS: 36.53C
[14442C1061E9F3D600] [10.0.10.100] [14.513] [system] [info] Cpu Usage - LeonOS 91.08%, LeonRT: 16.47%
[14442C1061E9F3D600] [10.0.10.100] [15.514] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1027 MB/s
[14442C1061E9F3D600] [10.0.10.100] [15.514] [system] [info] Temperatures - Average: 37.47C, CSS: 39.35C, MSS 37.01C, UPA: 36.30C, DSS: 37.24C
[14442C1061E9F3D600] [10.0.10.100] [15.514] [system] [info] Cpu Usage - LeonOS 90.61%, LeonRT: 15.65%
[14442C1061E9F3D600] [10.0.10.100] [16.517] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 1018 MB/s
[14442C1061E9F3D600] [10.0.10.100] [16.517] [system] [info] Temperatures - Average: 37.71C, CSS: 39.81C, MSS 36.30C, UPA: 37.24C, DSS: 37.48C
[14442C1061E9F3D600] [10.0.10.100] [16.517] [system] [info] Cpu Usage - LeonOS 91.48%, LeonRT: 16.69%

Debug Output (XLinkChunkSize 0, Isp3aFps 50, 1280x600, FPS 100)
Cropped for brevity, pipeline is skipping every other frame

[14442C1061E9F3D600] [10.0.10.100] [6.998] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 643 MB/s
[14442C1061E9F3D600] [10.0.10.100] [6.998] [system] [info] Temperatures - Average: 39.17C, CSS: 40.74C, MSS 38.88C, UPA: 38.41C, DSS: 38.65C
[14442C1061E9F3D600] [10.0.10.100] [6.998] [system] [info] Cpu Usage - LeonOS 53.33%, LeonRT: 7.55%
image! true---  3002799.335: 183
image! true---  3002799.355: 185
image! true---  3002799.375: 187
image! true---  3002799.395: 189
image! true---  3002799.415: 191
image! true---  3002799.435: 193

Debug Output (XLinkChunkSize 0, Isp3aFps 60, 1280x600, FPS 120)
Pipeline crashes

vdimitrov@TS-P360-ws02:~/Luxonis/depthai-core-example/build$ DEPTHAI_LEVEL=debug ./myapp 
[2025-02-11 11:13:13.722] [depthai] [debug] Library information - version: 2.29.0, commit: d6a37a5ba8ba2ee187fabc9208b813db5f75d4a7 from 2024-11-22 15:48:55 +0100, build: 2025-01-30 15:33:35 +0000, libusb enabled: true
[2025-02-11 11:13:13.724] [depthai] [debug] Initialize - finished
[2025-02-11 11:13:13.727] [host] [debug] Found an actual device by given DeviceInfo: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS)
[2025-02-11 11:13:13.727] [host] [debug] Device - OpenVINO version: universal
[14442C1061E9F3D600] [10.0.10.100] [1739290393.727] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":9000,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null} 
libnop:
0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 81 28 23 01 ba 00 be be bb
0020: 00 bb 00 be be be be be be be 00 bb 00 be be
[2025-02-11 11:13:13.784] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 1ms, archive read: 59ms
[2025-02-11 11:13:14.069] [depthai] [debug] Resources - Archive 'depthai-device-fwp-4d360b5c56225f23e9a3d3a3999ce46c90cfdeaf.tar.xz' open: 1ms, archive read: 345ms
[2025-02-11 11:13:14.086] [depthai] [debug] Searching for booted device: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2025-02-11 11:13:14.267] [depthai] [debug] Connected bootloader version 0.0.28
[14442C1061E9F3D600] [10.0.10.100] [1739290395.332] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 1064ms
[2025-02-11 11:13:15.332] [depthai] [debug] DeviceBootloader about to be closed...
[2025-02-11 11:13:15.332] [depthai] [debug] XLinkResetRemote of linkId: (0)
[2025-02-11 11:13:16.135] [depthai] [debug] DeviceBootloader closed, 803
[2025-02-11 11:13:16.138] [depthai] [debug] Searching for booted device: DeviceInfo(name=10.0.10.100, mxid=14442C1061E9F3D600, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C1061E9F3D600] [10.0.10.100] [5.426] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 29.69 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 0 MB/s
[14442C1061E9F3D600] [10.0.10.100] [5.426] [system] [info] Temperatures - Average: 38.64C, CSS: 40.74C, MSS 37.94C, UPA: 37.71C, DSS: 38.18C
[14442C1061E9F3D600] [10.0.10.100] [5.426] [system] [info] Cpu Usage - LeonOS 52.09%, LeonRT: 0.56%
[14442C1061E9F3D600] [10.0.10.100] [1739290401.328] [host] [debug] Schema dump: {"connections":[{"node1Id":1,"node1Output":"bitstream","node1OutputGroup":"","node2Id":3,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"video","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""},{"node1Id":2,"node1Output":"out","node1OutputGroup":"","node2Id":0,"node2Input":"inputControl","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":0},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":13,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":11,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":10,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":12,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":9,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":8,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":7,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":6,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,255,189,0,255,0,1,0,129,44,1,129,44,1,133,0,5,133,88,2,255,255,5,136,0,0,240,66,60,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,2,2,2,2,0,190]}],[1,{"id":1,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":4,"name":"out","queueSize":8,"type":0,"waitForMessage":false}],[["","bitstream"],{"blocking":false,"group":"","id":5,"name":"bitstream","queueSize":8,"type":0,"waitForMessage":false}],[["","in"],{"blocking":true,"group":"","id":3,"name":"in","queueSize":2,"type":3,"waitForMessage":true}]],"name":"VideoEncoder","properties":[185,11,0,30,0,0,2,0,4,90,0,0,136,0,0,240,66]}],[2,{"id":2,"ioInfo":[[["","out"],{"blocking":false,"group":"","id":2,"name":"out","queueSize":8,"type":0,"waitForMessage":false}]],"name":"XLinkIn","properties":[185,3,189,7,99,111,110,116,114,111,108,130,0,0,80,0,8]}],[3,{"id":3,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,4,106,112,101,103,0]}]]}
[14442C1061E9F3D600] [10.0.10.100] [1739290401.328] [host] [debug] Asset map dump: {"map":{}}
[2025-02-11 11:13:21.351] [depthai] [info] Logging disabled
[14442C1061E9F3D600] [10.0.10.100] [5.470] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
Made device!
Getting Queue!
[14442C1061E9F3D600] [10.0.10.100] [5.505] [system] [info] ImageManip internal buffer size '258560'B, shave buffer size '34816'B
[14442C1061E9F3D600] [10.0.10.100] [5.505] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15] 
ImageManip allocated resources: shaves: [15-15] no cmx slices. 

[14442C1061E9F3D600] [10.0.10.100] [5.600] [VideoEncoder(1)] [debug] Bitstream frame size: 1250304, num frames in pool: 2
image! true---  3002971.447: 0
image! true---  3002971.455: 1
image! true---  3002971.464: 2
image! true---  3002971.472: 3
image! true---  3002971.48: 4
image! true---  3002971.497: 6
image! true---  3002971.505: 7
image! true---  3002971.514: 8
image! true---  3002971.522: 9
image! true---  3002971.53: 10
image! true---  3002971.547: 12
[14442C1061E9F3D600] [10.0.10.100] [6.427] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.12 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 21 MB/s
[14442C1061E9F3D600] [10.0.10.100] [6.427] [system] [info] Temperatures - Average: 39.11C, CSS: 40.97C, MSS 38.41C, UPA: 39.11C, DSS: 37.94C
[14442C1061E9F3D600] [10.0.10.100] [6.427] [system] [info] Cpu Usage - LeonOS 19.25%, LeonRT: 8.95%
[14442C1061E9F3D600] [10.0.10.100] [7.428] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 257 MB/s
[14442C1061E9F3D600] [10.0.10.100] [7.428] [system] [info] Temperatures - Average: 39.23C, CSS: 40.51C, MSS 38.88C, UPA: 38.65C, DSS: 38.88C
[14442C1061E9F3D600] [10.0.10.100] [7.428] [system] [info] Cpu Usage - LeonOS 1.58%, LeonRT: 0.64%
[14442C1061E9F3D600] [10.0.10.100] [8.429] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 149 MB/s
[14442C1061E9F3D600] [10.0.10.100] [8.429] [system] [info] Temperatures - Average: 38.99C, CSS: 40.97C, MSS 39.11C, UPA: 38.18C, DSS: 37.71C
[14442C1061E9F3D600] [10.0.10.100] [8.429] [system] [info] Cpu Usage - LeonOS 1.57%, LeonRT: 0.65%
[14442C1061E9F3D600] [10.0.10.100] [9.430] [system] [info] Memory Usage - DDR: 50.70 / 333.26 MiB, CMX: 2.36 / 2.50 MiB, LeonOS Heap: 44.37 / 81.70 MiB, LeonRT Heap: 3.74 / 39.87 MiB / NOC ddr: 149 MB/s
[14442C1061E9F3D600] [10.0.10.100] [9.430] [system] [info] Temperatures - Average: 39.05C, CSS: 40.97C, MSS 38.41C, UPA: 38.41C, DSS: 38.41C
[14442C1061E9F3D600] [10.0.10.100] [9.430] [system] [info] Cpu Usage - LeonOS 1.02%, LeonRT: 0.63%