Same response as then, we don't have anything implemented for digital zooming as far as I'm aware but it wouldn't be too difficult to do with libmodal-pipe and opencv, happy to help you out with this if you'd like.
If you are willing to try it, remove voxl-eigen3 package (which may temporarily break something - note which packages require it). We could potentially update whatever gets broken to be happy with either voxl-eigen3 or eigen3 installed using apt.
There is no one answer, it is entirely dependent on your circumstances. auto will be more conservative than perf. perf is intended to go as fast (and hot) as possible
if CPU was causing the issue, then you would see slower FPS, not degraded performance.
This sounds like the actual TOF sensor is heating up and at some point starts throttling itself by reducing the emitted power, which helps cool it down.
You could test it by selectively cooling TOF sensor (and not voxl) and see if performance goes back up.
@Rowan-Dempster If the packages you're looking to include are small I can look into getting them into our default system image. Otherwise yeah we may have to discuss other avenues for supporting a custom system image (not a decision that I can make personally)
Also most python packages are available via. apt with something like apt-get install python3-numpy
I narrowed it down to the ToF. I can run all the cameras in C17 (hires, tracking, stereo) except the ToF and no issues stressing the CPU. When I enable the tof in the camera server I cannot stress the CPU.