Hello, I am using an **OAK-D Pro (Fixed Focus)** camera. I’m encountering an issue where the output FPS is lower than expected. Although I have set the FPS to **20 or 25, 30** in my code, the actual performance I’m receiving is only around **14-15 FPS**. Please find [my code (link google driver) ](https://drive.google.com/file/d/1uK6Ch6zUJ4AGWtsac_qyIgF8pibtOoRA/view)and logs below: * MxId: 14442C10913DD3D200 * USB speed: UsbSpeed.SUPER * [14442C10913DD3D200] [1.12] [10.048] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s [14442C10913DD3D200] [1.12] [10.048] [system] [info] Temperatures - Average: 34.34C, CSS: 35.59C, MSS 33.69C, UPA: 34.40C, DSS: 33.69C [14442C10913DD3D200] [1.12] [10.048] [system] [info] Cpu Usage - LeonOS 35.34%, LeonRT: 12.84% [14442C10913DD3D200] [1.12] [11.049] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s [14442C10913DD3D200] [1.12] [11.049] [system] [info] Temperatures - Average: 34.52C, CSS: 35.59C, MSS 34.16C, UPA: 34.16C, DSS: 34.16C [14442C10913DD3D200] [1.12] [11.049] [system] [info] Cpu Usage - LeonOS 35.52%, LeonRT: 12.55% [14442C10913DD3D200] [1.12] [12.050] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s Tks

OAK-D Pro Fixed Focus: FPS capped at 15 despite setting 20-25

chi_anh_hn

Hello,

I am using an OAK-D Pro (Fixed Focus) camera. I’m encountering an issue where the output FPS is lower than expected. Although I have set the FPS to 20 or 25, 30 in my code, the actual performance I’m receiving is only around 14-15 FPS.

Please find my code (link google driver) and logs below:

MxId: 14442C10913DD3D200
USB speed: UsbSpeed.SUPER
[14442C10913DD3D200] [1.12] [10.048] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s

[14442C10913DD3D200] [1.12] [10.048] [system] [info] Temperatures - Average: 34.34C, CSS: 35.59C, MSS 33.69C, UPA: 34.40C, DSS: 33.69C

[14442C10913DD3D200] [1.12] [10.048] [system] [info] Cpu Usage - LeonOS 35.34%, LeonRT: 12.84%

[14442C10913DD3D200] [1.12] [11.049] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s

[14442C10913DD3D200] [1.12] [11.049] [system] [info] Temperatures - Average: 34.52C, CSS: 35.59C, MSS 34.16C, UPA: 34.16C, DSS: 34.16C

[14442C10913DD3D200] [1.12] [11.049] [system] [info] Cpu Usage - LeonOS 35.52%, LeonRT: 12.55%

[14442C10913DD3D200] [1.12] [12.050] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 954 MB/s

Tks

OskarSonc

Hey @chi_anh_hn - sorry for late reply.
A stable 14–15 FPS usually means something downstream (host-side processing/display, queue blocking/backlog, or multiple high-bandwidth streams) is throttling the pipeline even if setFps(30) is set.

Do you still see this issue today? If yes I can take a look at you code.
We also have this docs for increasing framerate:
https://docs.luxonis.com/software-v3/depthai/tutorials/optimizing

Thanks,
Oskar

chi_anh_hn

Thank you for your response. I've made a minor modification: I switched from using an HDD (Hard Disk Drive) for storage to an NVMe SSD.

This change resulted in my actual FPS increasing from 14-15 to 20.
Currently, the FPS value is set to 20 in the source code.

However, when I updated the FPS setting in the source code to FPS = 30, the actual received FPS value only remained around 20-21.

Here is the link to my Python source code. Could you please review it and assist me in identifying the bottleneck or why the FPS setting isn't taking full effect?

Logs below:

[14442C10913DD3D200] [1.12] [4.352] [StereoDepth(3)] [info] Max disparity: 760 Disparity subpixel levels: 3 Disparity integer level multiplier: 8 Scale factor: 1

[14442C10913DD3D200] [1.12] [4.395] [StereoDepth(3)] [info] Max disparity: 760 Disparity subpixel levels: 3 Disparity integer level multiplier: 8 Scale factor: 1

[14442C10913DD3D200] [1.12] [5.036] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 345 MB/s

[14442C10913DD3D200] [1.12] [5.036] [system] [info] Temperatures - Average: 31.34C, CSS: 32.73C, MSS 30.56C, UPA: 31.77C, DSS: 30.32C

[14442C10913DD3D200] [1.12] [5.036] [system] [info] Cpu Usage - LeonOS 49.60%, LeonRT: 24.01%

[14442C10913DD3D200] [1.12] [6.038] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1403 MB/s

[14442C10913DD3D200] [1.12] [6.038] [system] [info] Temperatures - Average: 31.65C, CSS: 32.49C, MSS 30.56C, UPA: 32.49C, DSS: 31.04C

[14442C10913DD3D200] [1.12] [6.038] [system] [info] Cpu Usage - LeonOS 50.09%, LeonRT: 18.12%

[14442C10913DD3D200] [1.12] [7.039] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1401 MB/s

[14442C10913DD3D200] [1.12] [7.039] [system] [info] Temperatures - Average: 32.37C, CSS: 33.45C, MSS 31.77C, UPA: 32.49C, DSS: 31.77C

[14442C10913DD3D200] [1.12] [7.039] [system] [info] Cpu Usage - LeonOS 49.51%, LeonRT: 19.31%

[14442C10913DD3D200] [1.12] [8.041] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1398 MB/s

[14442C10913DD3D200] [1.12] [8.041] [system] [info] Temperatures - Average: 32.25C, CSS: 33.45C, MSS 31.53C, UPA: 32.73C, DSS: 31.29C

[14442C10913DD3D200] [1.12] [8.041] [system] [info] Cpu Usage - LeonOS 48.69%, LeonRT: 20.69%

[14442C10913DD3D200] [1.12] [9.042] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1274 MB/s

[14442C10913DD3D200] [1.12] [9.042] [system] [info] Temperatures - Average: 32.31C, CSS: 33.21C, MSS 31.77C, UPA: 32.49C, DSS: 31.77C

[14442C10913DD3D200] [1.12] [9.042] [system] [info] Cpu Usage - LeonOS 42.48%, LeonRT: 16.13%

[14442C10913DD3D200] [1.12] [10.043] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1227 MB/s

[14442C10913DD3D200] [1.12] [10.043] [system] [info] Temperatures - Average: 32.25C, CSS: 33.21C, MSS 31.04C, UPA: 32.97C, DSS: 31.77C

[14442C10913DD3D200] [1.12] [10.043] [system] [info] Cpu Usage - LeonOS 41.81%, LeonRT: 14.73%

[14442C10913DD3D200] [1.12] [11.044] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1179 MB/s

[14442C10913DD3D200] [1.12] [11.044] [system] [info] Temperatures - Average: 32.25C, CSS: 33.21C, MSS 31.77C, UPA: 33.21C, DSS: 30.80C

[14442C10913DD3D200] [1.12] [11.044] [system] [info] Cpu Usage - LeonOS 44.77%, LeonRT: 17.34%

[14442C10913DD3D200] [1.12] [12.045] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1187 MB/s

[14442C10913DD3D200] [1.12] [12.045] [system] [info] Temperatures - Average: 33.03C, CSS: 34.64C, MSS 32.01C, UPA: 32.97C, DSS: 32.49C

[14442C10913DD3D200] [1.12] [12.045] [system] [info] Cpu Usage - LeonOS 43.73%, LeonRT: 16.53%

[14442C10913DD3D200] [1.12] [13.046] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1255 MB/s

[14442C10913DD3D200] [1.12] [13.046] [system] [info] Temperatures - Average: 33.09C, CSS: 34.88C, MSS 31.77C, UPA: 32.97C, DSS: 32.73C

[14442C10913DD3D200] [1.12] [13.046] [system] [info] Cpu Usage - LeonOS 44.11%, LeonRT: 15.62%

[14442C10913DD3D200] [1.12] [14.047] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1276 MB/s

[14442C10913DD3D200] [1.12] [14.047] [system] [info] Temperatures - Average: 32.91C, CSS: 34.88C, MSS 31.77C, UPA: 33.45C, DSS: 31.53C

[14442C10913DD3D200] [1.12] [14.047] [system] [info] Cpu Usage - LeonOS 43.97%, LeonRT: 16.29%

[14442C10913DD3D200] [1.12] [15.048] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1210 MB/s

[14442C10913DD3D200] [1.12] [15.048] [system] [info] Temperatures - Average: 33.15C, CSS: 33.93C, MSS 32.49C, UPA: 33.93C, DSS: 32.25C

[14442C10913DD3D200] [1.12] [15.048] [system] [info] Cpu Usage - LeonOS 43.24%, LeonRT: 16.38%

[14442C10913DD3D200] [1.12] [16.049] [system] [info] Memory Usage - DDR: 61.98 / 333.08 MiB, CMX: 2.38 / 2.50 MiB, LeonOS Heap: 46.73 / 81.58 MiB, LeonRT Heap: 4.97 / 39.76 MiB / NOC ddr: 1246 MB/s

[14442C10913DD3D200] [1.12] [16.049] [system] [info] Temperatures - Average: 32.79C, CSS: 34.40C, MSS 32.01C, UPA: 32.97C, DSS: 31.77C

[14442C10913DD3D200] [1.12] [16.049] [system] [info] Cpu Usage - LeonOS 42.16%, LeonRT: 15.71%

Tks

OskarSonc

Hey chi_anh_hn - thanks for the code + logs. With Sync, the output FPS is always limited by the slowest branch, and your depth branch is quite heavy (720p + HIGH_DENSITY + subpixel + LR-check + 7x7 median + depthAlign to RGB), which commonly tops out around 20 FPS in practice so setting 30 won’t help if depth can’t sustain it.

Also note the host-side load: converting depth to BGR and writing lossless FFV1 (plus MJPEG) is expensive, and the HDD→NVMe improvement confirms disk/encoding was part of the bottleneck.

To isolate it, try running without Sync and measure RGB and depth FPS separately (non-blocking queues). If depth is 20, reduce stereo load (disable subpixel/LR-check, lower median, reduce resolution, or use a lighter preset).

You can also check this example out to isolate the problem:
https://docs.luxonis.com/software/depthai/examples/depth_video_sync/

chi_anh_hn

Thanks for your response. Since my application requires high-precision depth measurement, I am currently using the following configuration on my OAK-D: 720p resolution, HIGH_DENSITY mode, subpixel enabled, LR-check, 7x7 median filter, and Depth-to-RGB alignment.

I’ve noticed that the FPS remains capped even though the host CPU and RAM are not fully utilized. I have two small questions:

Would switching to the OAK 4 D Pro improve the FPS while maintaining the same configuration mentioned above?
If I use the OAK-D Long Range at 2.3MP resolution, should I expect a further decrease in FPS?

Best regards,

OskarSonc

Hey chi_anh_hn - On OAK-D Pro (RVC2), that “max quality” stereo setup can become the bottleneck on the device itself, so it’s normal to see 20 FPS even if your PC CPU/RAM look fine.

Moving to an OAK4-D Pro (RVC4) should generally improve throughput since the platform has more compute/bandwidth.

And yes, running OAK-D LR at 2.3MP with the same HIGH_DENSITY/subpixel/LR-check/filter/alignment settings is a heavier workload than 720p, so you should expect FPS to drop further.