[BUG] Setting frame rate does not work for ZED2 camera

[stereolabs]

[BUG] Setting frame rate does not work for ZED2 camera

[th-lp]

My ZED Diagnostics output:
{
"Camera Test": {
"ZEDCount": 1,
"deviceInitResult": 0,
"firmware": 1523,
"resolutions": {
"HD1080@15": {
"fps (input)": 15,
"fps (output)": 15,
"height (input)": 1080,
"height (output)": 1080,
"initCode": true,
"initialization": "Ok",
"width (input)": 1920,
"width (output)": 1920
},
"HD1080@30": {
"fps (input)": 30,
"fps (output)": 30,
"height (input)": 1080,
"height (output)": 1080,
"initCode": true,
"initialization": "Ok",
"width (input)": 1920,
"width (output)": 1920
},
"HD2K@15": {
"fps (input)": 15,
"fps (output)": 15,
"height (input)": 1242,
"height (output)": 1242,
"initCode": true,
"initialization": "Ok",
"width (input)": 2208,
"width (output)": 2208
},
"HD720@15": {
"fps (input)": 15,
"fps (output)": 15,
"height (input)": 720,
"height (output)": 720,
"initCode": true,
"initialization": "Ok",
"width (input)": 1280,
"width (output)": 1280
},
"HD720@30": {
"fps (input)": 30,
"fps (output)": 30,
"height (input)": 720,
"height (output)": 720,
"initCode": true,
"initialization": "Ok",
"width (input)": 1280,
"width (output)": 1280
},
"HD720@60": {
"dirty lenses": 3,
"dropCount": 0,
"fps (input)": 60,
"fps (output)": 60,
"height (input)": 720,
"height (output)": 720,
"imageCount": 501,
"initCode": true,
"initialization": "Ok",
"tearingCount": 0,
"width (input)": 1280,
"width (output)": 1280
},
"VGA@100": {
"fps (input)": 100,
"fps (output)": 100,
"height (input)": 376,
"height (output)": 376,
"initCode": true,
"initialization": "Ok",
"width (input)": 672,
"width (output)": 672
},
"VGA@15": {
"fps (input)": 15,
"fps (output)": 15,
"height (input)": 376,
"height (output)": 376,
"initCode": true,
"initialization": "Ok",
"width (input)": 672,
"width (output)": 672
},
"VGA@30": {
"fps (input)": 30,
"fps (output)": 30,
"height (input)": 376,
"height (output)": 376,
"initCode": true,
"initialization": "Ok",
"width (input)": 672,
"width (output)": 672
},
"VGA@60": {
"fps (input)": 60,
"fps (output)": 60,
"height (input)": 376,
"height (output)": 376,
"initCode": true,
"initialization": "Ok",
"width (input)": 672,
"width (output)": 672
}
},
"serial": 25661426,
"valid": [
"Camera: ZED 2",
"Firmware: 1523"
],
"videoNumber": 0
},
"Graphics Card": {
"deviceCount": 1,
"deviceDriverVersion": 11000,
"devices": [
{
"arch": "Pascal",
"computeCapability": "6.1",
"cores": 1920,
"name": "GeForce GTX 1070",
"totalMemoryBytes": "4294967295",
"totalMemoryMB": 4096
}
],
"initResult": 0,
"valid": [
"Graphics card: GeForce GTX 1070"
]
},
"Processor": {
"OS": "Ubuntu 20.04.1 LTS ",
"avxSupported": true,
"coreCount": "16",
"cpu": " AMD Ryzen 7 1700 Eight-Core Processor",
"datetime": "2021-01-21 11時19分03秒",
"hyperThreading": "1",
"motherboard": "B350I-S01, MouseComputer Co.,Ltd.",
"ramCapacity": "16.788996",
"ramUsage": "",
"ramUsed": "6.288151",
"threadCount": "32",
"valid": [
"Processor: AMD Ryzen 7 1700 Eight-Core Processor",
"Motherboard: B350I-S01, MouseComputer Co.,Ltd."
]
},
"USB": {
"CorruptedFirmware": false,
"MCUDetected": true,
"USBList": [
{
"USBMode": 3,
"USB_path": "/1",
"bDescriptorType": 1,
"bDeviceProtocol": 1,
"bLength": 18,
"bMaxPacketSize0": 9,
"bNumConfigurations": 1,
"bcdDevice": "1.0",
"bcdUSB": "3.0",
"bcdUSBClass": 239,
"bcdUSBSubClass": 2,
"busNumber": 4,
"device": "ZED2",
"iManufacturer": 1,
"iProduct": 2,
"iSerial": 0,
"idProduct": "0xf780",
"idVendor": "0x2b03"
},
{
"USBMode": 2,
"USB_path": "/1/2",
"bDescriptorType": 1,
"bDeviceProtocol": 0,
"bLength": 18,
"bMaxPacketSize0": 64,
"bNumConfigurations": 1,
"bcdDevice": "3.8",
"bcdUSB": "2.0",
"bcdUSBClass": 0,
"bcdUSBSubClass": 0,
"busNumber": 3,
"device": "ZED2 MCU",
"iManufacturer": 1,
"iProduct": 2,
"iSerial": 3,
"idProduct": "0xf781",
"idVendor": "0x2b03"
},
{
"USB_path": "/1",
"idProduct": "0x2512",
"idVendor": "0x0424"
},
{
"USB_path": "/6",
"idProduct": "0xb720",
"idVendor": "0x0bda"
},
{
"USB_path": "/2",
"idProduct": "0x2107",
"idVendor": "0x413c"
},
{
"USB_path": "/1",
"idProduct": "0x0005",
"idVendor": "0x1bcf"
}
],
"USBMode": 3,
"ZED Camera Module Detected": 63360,
"ZED MCU Module Detected": 63361,
"ZEDDetected": true,
"valid": [
"USB Bandwidth: OK"
]
},
"ZED SDK": {
"CUDA Toolkit version": "V11.0.194",
"DiagnosticZEDSDKVersion": "3.3.0",
"InstalledZEDSDKVersion": "Unknown",
"SMI": "(SMI) : Performance State : P2",
"initResult": 0,
"loaded": true
}
}

[th-lp]

Let me add that setting the FPS on the same system and camera works in the ZED Explorer and when using OpenCV as interface. Therfore, I suspect its an implementation problem in ZED-open-caputre instead of a hardware/driver problem.

[th-lp]

@Myzhar any news on this? Thanks!

[Myzhar]

It's scheduled for this week. Stay tuned

[th-lp]

Great. Thanks a lot. Please let me know if you need any more input from my side.

[Myzhar]

@th-lp I'm testing the FPS issue, but I'm not facing the same problem.
Can you please post the code that you use to calculate the FPS?

[Myzhar]

@th-lp OK, I found a little bug in the declaration of the getLastFrame function:
the default timeout value (10 msec) was too strict and this generated a lot of "not valid" frames.

The frequency of the valid frames was correct, but without comparing the timestamps of the frames to check if the received frame was new, you could not be aware of it.

Now with the correct default timeout value, the function returns only valid frames (unless something wrong happens with the connection of the camera).

You can checkout the branch fix_fps_issue_#10 and recompile to verify if this works correctly for you.
I slightly modified the zed_oc_video_example.cpp example to calculate the FPS in two different ways, you can enable simply removing the comment here:
https://github.com/stereolabs/zed-open-capture/blob/fix_fps_issue_%2310/examples/zed_oc_video_example.cpp#L32

[th-lp]

@Myzhar thanks for the fix. I tested it and it solves the problem for me.

Cheers,
Thomas

[Myzhar]

Good. Merged into master. I close the issue