Possible throughput problem with MPA - multiple cameras ?

[amitga]

We are having problems running multiple cameras over MPA. System image 0.9 (4.0).
We are running 2 UVC cameras via voxl-uvc-server and one TOF via voxl-camera server.

One UVC camera is a color, 640x480 @ 30fps frame. The other is a RAW16 of 160x120 @ 5fps.
The TOF is 224x172 @ 10 fps, gray image + depth.

When we try to run all three together, we start to get problems. Running each one alone works fine.
The problems are usually that the camera/uvc server either gets stuck (frames are not published to the pipe) or the server crashes.

It seems like there is some sort of throughput problem, where the MPA cannot handle these 4 pipes simultaneously.

Any suggestions?
Unfortunately we cannot change the FPS of the color camera, as the resolution and fps are native.

[Chad Sweet]

Each service is using MPA, so there are many pipes going at any given time. With two TOF, you are likely overheating the CPU

Do you have airflow on the board?
Are you using voxl-inspect-cpu to monitor how hot you are getting the CPU?