Frame rate dropping when FLIR Blackfly-s is synced with a LiDAR

[kavishmshah]

Hi all,

I'm using a BlackFly-S USB camera and have it synced with an Ouster LiDAR using hardware sync. The camera receives pulses at a frequency of 10 Hz from the LiDAR. I've set the below parameters for the sync:

'blackfly_s': {
    'debug': False,
    'compute_brightness': False,
    'adjust_timestamp': True,
    'dump_node_map': False,
    'gain_auto': 'Continuous',
    'pixel_format': 'BayerRG8',
    'exposure_auto': 'Continuous',
    'user_set_selector': 'UserSet0',
    'user_set_load': 'Yes',
    'frame_rate_auto': 'Off',
    'frame_rate': 40.0,
    'frame_rate_enable': True,
    'buffer_queue_size': 10,
    'trigger_mode': 'On',
    'trigger_source': 'Line3',
    'line2_selector': 'Line2',
    'trigger_activation': 'RisingEdge',
    'chunk_mode_active': True,
    'chunk_selector_frame_id': 'FrameID',
    'chunk_enable_frame_id': True,
    'chunk_selector_exposure_time': 'ExposureTime',
    'chunk_enable_exposure_time': True,
    'chunk_selector_gain': 'Gain',
    'chunk_enable_gain': True,
    'chunk_selector_timestamp': 'Timestamp',
    'chunk_enable_timestamp': True,

}

With Spinview, I see: Camera FPS: 10Hz, but when I run it with ROS, and measure frame rate with ros2 topic hz /flir_camera/image_raw, the frame rate is around 8.5. Additionally, with 'pixel_format': 'BGR8', frame rates are as low as 7 FPS. Is there any workaround this?

Thanks! Kavish