[PERFORMANCE ISSUE] : isaac_ros_image_proc -> crop_node performance bottleneck

[pasanmanula]

I've been using the Isaac ROS Image Pipeline to pre-process image data for my project. I'm running the 3.1 release on a Jetson Orin 64GB Developer Kit. However, I've noticed a big bottleneck with the crop node in the isaac_ros_image_proc package—it drops my frame rate from 30 FPS to around 13-15 FPS. I'm pretty confused because, as far as I know, the cropping happens on the GPU. So why is there such a significant performance drop in the crop node? Any ideas?

[AlessandroBiaggi]

I am experiencing the same issue, except I found out that the frame rate is reduced regardless of the original frame rate (e.g. 10fps -> ~7fps, 1fps -> ~0.8fps).