How can I efficiently align depth to RGB using OAK4?

rohan

Hello,

I'm using an OAK4-D PRO W device to build a pipeline that aligns stereo depth map to the color frame. I was following this example for ImageAlign node and I noticed a significant lag in the color display even when I'm using 1200p resolution for color camera. The display is normal when I lower the resolution, but I want to use 1200p for color camera and 800p for mono cameras. How can I improve the performance of alignment? Could you please share any guide or documentation if available? The StereoDepth node has a method- setPostProcessingHardwareResources(). This would not work for RVC4 devices, would it?

P.S. I've also noticed a lag in the display when I add an ImageManip node to the pipeline. This lag is only seen on the RVC4 device. It works fine on RVC2 devices.

Any insights are appreciated. Thank you.

jakaskerl

rohan

rohan The StereoDepth node has a method. This would not work for RVC4 devices, would it?

This should still work afaik. And it is more performant generally, unless the alignment has to upscale the resolution. Likely not the case anymore.

Thanks,
Jaka

rohan

jakaskerl

Hey Jaka, I edited my question. I was referring to the setPostProcessingHardwareResources method. Sorry for the confusion. This would not work on RVC4 devices, right?

Moreover, I observed the following-

The StereoDepth class has setDepthAlign method, but it doesn't seem to set the camera for alignment. The depthAlign attribute from StereoDepthConfig does not change when this method is used.
When I directly set the alignment using algorithmControl from the StereoDepthConfig, it is not producing a depth map that is the same size of the color image. I'm using a color size of 1920x1200, and mono size of 1280x800. The depth map I'm getting is of 320x200 size. There is no lag, but the sizes do not match. Is this the default output size of the StereoDepth node?
The setOutputSize method on StereoDepth class is not available for RVC4 devices. So I must use an ImageManip node is resize the depth map. But this node is also causing a lag.

rohan

Hi @jakaskerl,

Did you get a chance to look into this? I appreciate any insights you can share.

Thank you.

jakaskerl

rohan
The most efficient way currently is to use the imageAlign - https://docs.luxonis.com/software-v3/depthai/examples/image_align/depth_align/. And run it on device (setRunOnHost = False). If you are experiencing lag, make sure all nodes are running on the device.

You can also post some minimal repro code and we can take a quick look.

Thanks,
Jaka

rohan

import depthai as dai
import numpy as np
import cv2
from datetime import timedelta

ALIGN_NODE = True

DEFAULT_FPS = 15
COLOR_WIDTH = 1280
COLOR_HEIGHT = 800
MONO_WIDTH = 1280
MONO_HEIGHT = 800

pipeline = dai.Pipeline()

colorNode = pipeline.create(dai.node.Camera).build(boardSocket=dai.CameraBoardSocket.CAM_A)
colorOut = colorNode.requestOutput((COLOR_WIDTH, COLOR_HEIGHT), fps=DEFAULT_FPS)

monoLeft = pipeline.create(dai.node.Camera).build(boardSocket=dai.CameraBoardSocket.CAM_B)
monoLeftOut = monoLeft.requestOutput((MONO_WIDTH, MONO_HEIGHT), fps=DEFAULT_FPS)

monoRight = pipeline.create(dai.node.Camera).build(boardSocket=dai.CameraBoardSocket.CAM_C)
monoRightOut = monoRight.requestOutput((MONO_WIDTH, MONO_HEIGHT), fps=DEFAULT_FPS)

stereoNode = pipeline.create(dai.node.StereoDepth)
monoLeftOut.link(stereoNode.left)
monoRightOut.link(stereoNode.right)

sync = pipeline.create(dai.node.Sync)
sync.setSyncThreshold(timedelta(milliseconds=80))
colorOut.link(sync.inputs["color"])
if ALIGN_NODE is True:
    alignNode = pipeline.create(dai.node.ImageAlign)
    alignNode.setRunOnHost(False)
    stereoNode.depth.link(alignNode.input)
    colorOut.link(alignNode.inputAlignTo)
    alignNode.outputAligned.link(sync.inputs["depth"])
else:
    stereoNode.depth.link(sync.inputs["depth"])
syncQueue = sync.out.createOutputQueue()


with pipeline:
    pipeline.start()

    cv2.namedWindow("color", cv2.WINDOW_NORMAL)
    cv2.resizeWindow("color", 640, 400)
    cv2.namedWindow("depth", cv2.WINDOW_NORMAL)
    cv2.resizeWindow("depth", 640, 400)

    while pipeline.isRunning():
        syncGroup = syncQueue.tryGet()
        if syncGroup is None:
            continue
        
        assert isinstance(syncGroup, dai.MessageGroup)
        if syncGroup.getNumMessages() == 0:
            continue

        print(f"MSG Group timestamp: {syncGroup.getTimestamp()}")
        for name, payload in syncGroup:
            assert isinstance(payload, dai.ImgFrame)
            print(f"\t[{name}] size: [{payload.getWidth()} x {payload.getHeight()}]")

            if name == "color":
                cv2.imshow(name, payload.getCvFrame())
            elif name == "depth":
                depthMap = payload.getFrame()
                normalizedMap = (depthMap * (255 / stereoNode.initialConfig.getMaxDisparity())).astype(np.uint8)
                colorizedDepth = cv2.applyColorMap(normalizedMap, cv2.COLORMAP_JET)
                cv2.imshow(name, colorizedDepth)

        key = cv2.waitKey(1)
        if key == ord('q'):
            pipeline.stop()
            break

Hey @jakaskerl,

Here's an MRE for the problem. You can toggle the ALIGN_NODE flag to compare the effect of ImageAlign node on the pipeline. You can lower the resolution of the color output and see that the lag is eliminated. Please let me know if you need anything else.

I tested this code on OAK-4-PRO-AF and OAK-4-PRO-W devices.

Thank you.

jakaskerl

Hey rohan
Just letting you know I've reproed the issue last week and passed it to the development team to take a look. Likely related to how long you are waiting on pools.. But it needs further inspection.

Thanks,
Jaka

rohan

Hey jakaskerl ,

Could you please let me know if there is any update on understanding/resolving this issue?

Thank you

AlexHendren

@jakaskerl Have you received respnose from the engineering team regarding this latency issue?

MatevzMorato

Hi @AlexHendren!

Sorry for the wait.

We are trying to reproduce this locally and the latency on DepthAI 3.3.0 is around 75ms which is expected.

mre.bin

import depthai as dai
import numpy as np
import cv2
from datetime import timedelta
ALIGN_NODE = True

Error previewing file. It may have been deleted, or the provided file ID is invalid.

Can you still reproduce on your side?

Kind regrads,
Matevz Morato

rohan

Hi @MatevzMorato,

I used a Gigabit PoE+ switch, and ran an OAK4 with Luxonis OS 1.11.0 and DepthaAI 3.3.0. I observed the following:

Color image size: 1280x800 | Latency: 300ms

Color image size: 1920x1200 | Latency: 800ms

Color image size: 4000x3000 | Latency: 2200ms

I noticed similar latencies on an OAK4 with Luxonis OS 1.23.1. On both the devices, when the image size is 1280x800, the latency was around 75ms for first 2-3 seconds of starting the pipeline. After that, it increased to 300ms.

We are also trying to achieve lower latency even when there is no StereoDepth node. I ran the above pipeline without StereoDepth node and synced the color, mono-left and mono-right nodes. I used color size of 4000x3000 and mono size of 1280x800, and noticed a latency of 1250ms on both the OAK4 devices.

I appreciate any suggestions or comments. Thank you!

MatevzMorato

Hi @rohan !

First thing to verify is that you have a 1 gigabit connection to the camera.
Could you verify that with by running iperf and between your host and the camera and verify the connection speed.

If the connection is indeed gigabit, we can debug further, I suspect there's some bottleneck somewhere though (either the host network is 100MBit/s, or the cable is bad, etc).

Thanks,
Matevz

rohan

Hey, @MatevzMorato!

I tested the connection suing iperf, and here are the results:

Command used: iperf3 -c <server_ip>

On camera (sender):

[ ID] Interval           Transfer     Bitrate
[  5]   0.00-1.00   sec   102 MBytes   856 Mbits/sec                  
[  5]   1.00-2.00   sec   102 MBytes   856 Mbits/sec                  
[  5]   2.00-3.00   sec   102 MBytes   854 Mbits/sec                  
[  5]   3.00-4.00   sec   102 MBytes   856 Mbits/sec                  
[  5]   4.00-5.00   sec   103 MBytes   867 Mbits/sec                  
[  5]   5.00-6.00   sec   103 MBytes   862 Mbits/sec                  
[  5]   6.00-7.00   sec   102 MBytes   856 Mbits/sec                  
[  5]   7.00-8.00   sec   104 MBytes   871 Mbits/sec                  
[  5]   8.00-9.00   sec   102 MBytes   859 Mbits/sec                  
[  5]   9.00-10.00  sec   103 MBytes   863 Mbits/sec                  
[  5]  10.00-10.01  sec   389 KBytes   646 Mbits/sec                  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate
[  5]   0.00-10.01  sec  1.00 GBytes   860 Mbits/sec                  receiver

On host (receiver):

[ ID] Interval           Transfer     Bitrate         Retr  Cwnd
[  5]   0.00-1.00   sec   105 MBytes   879 Mbits/sec    0    518 KBytes       
[  5]   1.00-2.00   sec   102 MBytes   854 Mbits/sec    0    518 KBytes       
[  5]   2.00-3.00   sec   102 MBytes   852 Mbits/sec    0    518 KBytes       
[  5]   3.00-4.00   sec   102 MBytes   854 Mbits/sec    0    518 KBytes       
[  5]   4.00-5.00   sec   103 MBytes   867 Mbits/sec    0    518 KBytes       
[  5]   5.00-6.00   sec   103 MBytes   864 Mbits/sec    0    518 KBytes       
[  5]   6.00-7.00   sec   102 MBytes   858 Mbits/sec    0    518 KBytes       
[  5]   7.00-8.00   sec   104 MBytes   872 Mbits/sec    0    518 KBytes       
[  5]   8.00-9.00   sec   102 MBytes   857 Mbits/sec    0    518 KBytes       
[  5]   9.00-10.00  sec   103 MBytes   863 Mbits/sec    0    518 KBytes       
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Retr
[  5]   0.00-10.00  sec  1.00 GBytes   862 Mbits/sec    0             sender
[  5]   0.00-10.01  sec  1.00 GBytes   860 Mbits/sec                  receiver

Command used: iperf3 -b 0 -u -c <server_ip>

On camera (sender):

[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-1.00   sec   110 MBytes   927 Mbits/sec  0.013 ms  2038/82028 (2.5%)  
[  5]   1.00-2.00   sec   114 MBytes   956 Mbits/sec  0.018 ms  0/82565 (0%)  
[  5]   2.00-3.00   sec   114 MBytes   956 Mbits/sec  0.017 ms  0/82570 (0%)  
[  5]   3.00-4.00   sec   114 MBytes   956 Mbits/sec  0.019 ms  0/82561 (0%)  
[  5]   4.00-5.00   sec   114 MBytes   956 Mbits/sec  0.025 ms  0/82570 (0%)  
[  5]   5.00-6.00   sec   114 MBytes   957 Mbits/sec  0.016 ms  0/82564 (0%)  
[  5]   6.00-7.00   sec   114 MBytes   956 Mbits/sec  0.021 ms  0/82561 (0%)  
[  5]   7.00-8.00   sec   114 MBytes   956 Mbits/sec  0.019 ms  0/82557 (0%)  
[  5]   8.00-9.00   sec   114 MBytes   956 Mbits/sec  0.019 ms  0/82559 (0%)  
[  5]   9.00-10.00  sec   114 MBytes   956 Mbits/sec  0.014 ms  0/82556 (0%)  
[  5]  10.00-10.00  sec   136 KBytes   938 Mbits/sec  0.012 ms  0/96 (0%)  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.00  sec  1.11 GBytes   953 Mbits/sec  0.012 ms  2038/825187 (0.25%)  receiver

On host (receiver):

[ ID] Interval           Transfer     Bitrate         Total Datagrams
[  5]   0.00-1.00   sec   113 MBytes   952 Mbits/sec  82170  
[  5]   1.00-2.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   2.00-3.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   3.00-4.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   4.00-5.00   sec   114 MBytes   957 Mbits/sec  82570  
[  5]   5.00-6.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   6.00-7.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   7.00-8.00   sec   114 MBytes   956 Mbits/sec  82570  
[  5]   8.00-9.00   sec   114 MBytes   956 Mbits/sec  82560  
[  5]   9.00-10.00  sec   114 MBytes   956 Mbits/sec  82560  
- - - - - - - - - - - - - - - - - - - - - - - - -
[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.00  sec  1.11 GBytes   956 Mbits/sec  0.000 ms  0/825230 (0%)  sender
[  5]   0.00-10.00  sec  1.11 GBytes   953 Mbits/sec  0.012 ms  2038/825187 (0.25%)  receiver

Let me know if I need to any specific test.

Regards,
Rohan

MatevzMorato

This looks good on conectivity.

Would you mind testing my exect snippet from above and report what latency do you measure with it?

Thanks,
Matevz

rohan

Hi, @MatevzMorato

Here's the output of the above code:

MSG Group timestamp: 6 days, 11:05:12.766187
Latency: 0:00:00.148611
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.832857
Latency: 0:00:00.116115
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.866192
Latency: 0:00:00.128891
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.899526
Latency: 0:00:00.127146
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.932861
Latency: 0:00:00.125443
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.966195
Latency: 0:00:00.127236
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:12.999530
Latency: 0:00:00.126990
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.032865
Latency: 0:00:00.125651
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.066199
Latency: 0:00:00.125489
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.099534
Latency: 0:00:00.125170
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.132868
Latency: 0:00:00.123352
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.166203
Latency: 0:00:00.108998
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.199538
Latency: 0:00:00.122660
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.232872
Latency: 0:00:00.121531
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.266207
Latency: 0:00:00.120269
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.299542
Latency: 0:00:00.120032
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.332876
Latency: 0:00:00.105281
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.366211
Latency: 0:00:00.103863
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.399545
Latency: 0:00:00.116150
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.432880
Latency: 0:00:00.115335
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.466215
Latency: 0:00:00.114225
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.499549
Latency: 0:00:00.113990
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.532884
Latency: 0:00:00.113063
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.566219
Latency: 0:00:00.111209
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.599553
Latency: 0:00:00.109974
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.632888
Latency: 0:00:00.109528
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.666222
Latency: 0:00:00.107804
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.699557
Latency: 0:00:00.107862
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.732892
Latency: 0:00:00.107427
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.766226
Latency: 0:00:00.106300
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.799561
Latency: 0:00:00.105076
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.832896
Latency: 0:00:00.104754
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.866230
Latency: 0:00:00.090058
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.899565
Latency: 0:00:00.089199
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.932900
Latency: 0:00:00.088053
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.966234
Latency: 0:00:00.101205
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:13.999569
Latency: 0:00:00.101967
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.032904
Latency: 0:00:00.100803
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.066238
Latency: 0:00:00.100293
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.099573
Latency: 0:00:00.099989
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.132907
Latency: 0:00:00.099116
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.166242
Latency: 0:00:00.097995
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.199577
Latency: 0:00:00.096808
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.232911
Latency: 0:00:00.095319
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.266246
Latency: 0:00:00.094531
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.299580
Latency: 0:00:00.093337
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.332915
Latency: 0:00:00.091634
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.366250
Latency: 0:00:00.090694
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.399584
Latency: 0:00:00.077774
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.432919
Latency: 0:00:00.077339
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.466254
Latency: 0:00:00.075906
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.499588
Latency: 0:00:00.075954
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.532923
Latency: 0:00:00.075172
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.566257
Latency: 0:00:00.075445
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.599592
Latency: 0:00:00.075823
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.632927
Latency: 0:00:00.080769
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.666261
Latency: 0:00:00.079955
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.699596
Latency: 0:00:00.079008
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.732930
Latency: 0:00:00.077604
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.766265
Latency: 0:00:00.092115
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.799600
Latency: 0:00:00.091897
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.832934
Latency: 0:00:00.092238
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.866269
Latency: 0:00:00.092496
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.899592
Latency: 0:00:00.092263
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:14.932926
Latency: 0:00:00.091830
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
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	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:24.502854
Latency: 0:00:00.323789
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.536189
Latency: 0:00:00.325219
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.569524
Latency: 0:00:00.326956
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.636193
Latency: 0:00:00.295225
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.669528
Latency: 0:00:00.298735
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.702862
Latency: 0:00:00.299533
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.736197
Latency: 0:00:00.307308
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.769531
Latency: 0:00:00.312941
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:24.802866
Latency: 0:00:00.315536
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.836201
Latency: 0:00:00.317437
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.869535
Latency: 0:00:00.318209
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.902870
Latency: 0:00:00.319107
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.936205
Latency: 0:00:00.321082
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:24.969539
Latency: 0:00:00.326876
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.002852
Latency: 0:00:00.328106
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.036187
Latency: 0:00:00.328661
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.069521
Latency: 0:00:00.328674
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.136191
Latency: 0:00:00.296151
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.169525
Latency: 0:00:00.297622
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.202860
Latency: 0:00:00.302834
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.236195
Latency: 0:00:00.304640
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.269529
Latency: 0:00:00.305886
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.302864
Latency: 0:00:00.305982
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.336199
Latency: 0:00:00.305484
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.369533
Latency: 0:00:00.306952
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.402868
Latency: 0:00:00.308494
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.436202
Latency: 0:00:00.308964
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.469537
Latency: 0:00:00.311109
	[color] size: [1280 x 800]
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MSG Group timestamp: 6 days, 11:05:25.502872
Latency: 0:00:00.314338
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.536206
Latency: 0:00:00.329150
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.569541
Latency: 0:00:00.329211
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.636210
Latency: 0:00:00.296150
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.669545
Latency: 0:00:00.297014
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.702879
Latency: 0:00:00.297563
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.736214
Latency: 0:00:00.285520
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.769549
Latency: 0:00:00.298707
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.802883
Latency: 0:00:00.286608
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.836218
Latency: 0:00:00.299983
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.869552
Latency: 0:00:00.302154
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.902887
Latency: 0:00:00.302831
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.936222
Latency: 0:00:00.291795
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:25.969556
Latency: 0:00:00.305743
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.002891
Latency: 0:00:00.306908
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.036226
Latency: 0:00:00.307349
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.069560
Latency: 0:00:00.308735
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.102895
Latency: 0:00:00.309710
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.136230
Latency: 0:00:00.311381
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.169564
Latency: 0:00:00.312215
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.202899
Latency: 0:00:00.313669
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.236233
Latency: 0:00:00.314863
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.269568
Latency: 0:00:00.319729
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.302903
Latency: 0:00:00.309317
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.336237
Latency: 0:00:00.313956
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.369572
Latency: 0:00:00.315061
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.402907
Latency: 0:00:00.316732
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.436241
Latency: 0:00:00.320264
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.469576
Latency: 0:00:00.322708
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.536245
Latency: 0:00:00.289418
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.569580
Latency: 0:00:00.289088
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.602914
Latency: 0:00:00.292920
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.636249
Latency: 0:00:00.296296
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.669584
Latency: 0:00:00.298904
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.702918
Latency: 0:00:00.300782
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.736253
Latency: 0:00:00.300737
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.769587
Latency: 0:00:00.303808
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.802922
Latency: 0:00:00.304613
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.836257
Latency: 0:00:00.305386
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.869591
Latency: 0:00:00.307233
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.902926
Latency: 0:00:00.309587
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.936261
Latency: 0:00:00.311905
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:26.969595
Latency: 0:00:00.311628
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.002930
Latency: 0:00:00.312634
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.036264
Latency: 0:00:00.313633
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.069599
Latency: 0:00:00.315083
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.102934
Latency: 0:00:00.316336
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.136268
Latency: 0:00:00.318488
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.202938
Latency: 0:00:00.286224
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.236272
Latency: 0:00:00.286656
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.269607
Latency: 0:00:00.286909
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.302941
Latency: 0:00:00.289910
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.336276
Latency: 0:00:00.290777
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.369611
Latency: 0:00:00.291151
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:05:27.402945
Latency: 0:00:00.292589
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]

Also, I got a 2.5G PoE+ Injector for comparison. I tested connectivity with iperf and ran the code from above. Here are the outputs:

[ ID] Interval           Transfer     Bitrate         Jitter    Lost/Total Datagrams
[  5]   0.00-10.00  sec  1.68 GBytes  1.45 Gbits/sec  0.000 ms  0/1249150 (0%)  sender
[  5]   0.00-10.00  sec  1.68 GBytes  1.44 Gbits/sec  0.004 ms  5131/1249106 (0.41%)  receiver

MSG Group timestamp: 6 days, 11:15:28.462370
Latency: 0:00:00.061968
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.495704
Latency: 0:00:00.064528
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.529039
Latency: 0:00:00.069964
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.562373
Latency: 0:00:00.062848
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.595708
Latency: 0:00:00.062602
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.629043
Latency: 0:00:00.065037
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.662378
Latency: 0:00:00.063580
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.695712
Latency: 0:00:00.062575
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.729047
Latency: 0:00:00.067088
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.762381
Latency: 0:00:00.068925
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.795716
Latency: 0:00:00.066597
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.829051
Latency: 0:00:00.069023
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.862385
Latency: 0:00:00.065268
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.895720
Latency: 0:00:00.066564
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.929054
Latency: 0:00:00.061136
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.962389
Latency: 0:00:00.064749
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:28.995724
Latency: 0:00:00.064729
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.029058
Latency: 0:00:00.062500
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.062393
Latency: 0:00:00.064682
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.095728
Latency: 0:00:00.064049
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.129062
Latency: 0:00:00.059282
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.162397
Latency: 0:00:00.061787
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.195732
Latency: 0:00:00.065936
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.229066
Latency: 0:00:00.066221
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.262401
Latency: 0:00:00.065350
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.295735
Latency: 0:00:00.066181
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.329070
Latency: 0:00:00.059512
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.362405
Latency: 0:00:00.065040
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.395739
Latency: 0:00:00.058919
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.429074
Latency: 0:00:00.065705
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.462409
Latency: 0:00:00.063869
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.495743
Latency: 0:00:00.066893
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.529078
Latency: 0:00:00.065927
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.562412
Latency: 0:00:00.070330
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.595747
Latency: 0:00:00.074466
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.629082
Latency: 0:00:00.070635
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.662416
Latency: 0:00:00.059600
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.695751
Latency: 0:00:00.064233
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.729086
Latency: 0:00:00.061850
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.762420
Latency: 0:00:00.067752
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.795733
Latency: 0:00:00.057548
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.829068
Latency: 0:00:00.072216
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.862402
Latency: 0:00:00.071301
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.895737
Latency: 0:00:00.063038
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.929072
Latency: 0:00:00.065325
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.962406
Latency: 0:00:00.063900
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:29.995741
Latency: 0:00:00.075098
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:30.029076
Latency: 0:00:00.061031
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]
MSG Group timestamp: 6 days, 11:15:30.062410
Latency: 0:00:00.060563
	[color] size: [1280 x 800]
	[depth] size: [1280 x 800]

Regards,
Rohan

MatevzMorato

Hey @rohan,

this looks good, the latency is 65 milliseconds, which we can marinally improve in the future but a big chunk of that is just transfer time & ISP processing which we can't improve significantly.

You can debug how your script one is different to the one I posted to see what's the difference.

Thanks,
Matevz

rohan

@MatevzMorato, I'm afraid you've misread my response. The latency is 65 ms when I use a 2.5G PoE+ injector. When I use the 1G PoE+ switch, I see 300 ms latency. I've shared the logs for both cases in the previous message.