Performance Report¶
Performance statistics logging was turned on by setting exportPerfStats: 1 in the application configuration .yaml file.
ROSBAG, 15 FPS¶
Source: “rosbag play” and a demo ROS node are running in the ROS 1 Docker container on TDA4. ROSBAG (zed1_2020-11-09-18-01-08.bag, 1280x720) is played back at 15 FPS.
| Demo | FPS | Total time (ms) | Preproc time (ms) | Inference time (ms) | A72 Load (%) | DDR Read BW (MB/s) | DDR Write BW (MB/s) | DDR Total BW (MB/s) | C71 Load (%) | C66_1 Load (%) | C66_2 Load (%) | MCU2_0 Load (%) | MCU2_1 Load (%) | MSC_0 (%) | MSC_1 (%) | VISS (%) | NF (%) | LDC (%) | SDE (%) | DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ti_sde | 15.12 | 66.1465 | NA | NA | 13.68 | 604 | 556 | 1160 | 1.0 | 0.0 | 0.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 5.0 | 15.19 | 0 |
| ti_sde (w/ pcl) | 15.12 | 66.1232 | NA | NA | 24.37 | 854 | 812 | 1666 | 0.0 | 16.0 | 1.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.95 | 15.3 | 0 |
| ti_vision_cnn (semseg) | 15.12 | 66.1227 | 3.0153 | 9.0336 | 13.18 | 606 | 422 | 1028 | 10.0 | 0.0 | 1.0 | 2.0 | 1.0 | 3.59 | 0 | 0 | 0 | 2.39 | 0 | 0 |
| ti_vision_cnn (objdet) | 15.13 | 66.0722 | 2.5306 | 13.0510 | 10.10 | 779 | 388 | 1167 | 18.0 | 1.0 | 0.0 | 1.0 | 1.0 | 3.55 | 0 | 0 | 0 | 2.36 | 0 | 0 |
| ti_estop | 15.13 | 66.0851 | 3.0133 | 9.0239 | 22.92 | 974 | 708 | 1682 | 10.0 | 1.0 | 1.0 | 3.0 | 1.0 | 3.56 | 0 | 0 | 0 | 4.90 | 15.24 | 0 |
| ti_vl | 15.15 | 65.9883 | 3.0145 | 14.5710 | 28.75 | 967 | 884 | 1851 | 16.0 | 68.0 | 2.0 | 2.0 | 1.0 | 1.32 | 0 | 0 | 0 | 0.84 | 0 | 0 |
Note: “A72 Load (%)” are for dual A72 cores in a scale of 100%. For example, 100% A72 loading means that two A72 cores are fully loaded.
Live ZED Camera, 15 FPS¶
Source: live ZED camera, 1280x720 on each of left and right image, at 15 FPS. “zed_capture” ROS node and a demo ROS node are running in the ROS 1 Docker container on TDA4.
| Demo | FPS | Total time (ms) | Preproc time (ms) | Inference time (ms) | A72 Load (%) | DDR Read BW (MB/s) | DDR Write BW (MB/s) | DDR Total BW (MB/s) | C71 Load (%) | C66_1 Load (%) | C66_2 Load (%) | MCU2_0 Load (%) | MCU2_1 Load (%) | MSC_0 (%) | MSC_1 (%) | VISS (%) | NF (%) | LDC (%) | SDE (%) | DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ti_sde | 15.13 | 66.1072 | NA | NA | 20.30 | 857 | 880 | 1737 | 1.0 | 0.0 | 0.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.93 | 14.98 | 0 |
| ti_sde (w/ pcl) | 15.11 | 66.2010 | NA | NA | 31.40 | 1070 | 1053 | 2123 | 1.0 | 16.0 | 1.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.92 | 14.92 | 0 |
| ti_vision_cnn (semseg) | 15.12 | 66.1306 | 3.0234 | 9.0339 | 19.84 | 892 | 784 | 1676 | 10.0 | 0.0 | 1.0 | 2.0 | 1.0 | 3.59 | 0 | 0 | 0 | 2.38 | 0 | 0 |
| ti_vision_cnn (objdet) | 15.12 | 66.1194 | 2.9412 | 13.0147 | 30.15 | 1117 | 643 | 1760 | 12.0 | 0.0 | 1.0 | 1.0 | 1.0 | 2.29 | 0 | 0 | 0 | 1.52 | 0 | 0 |
| ti_estop | 15.11 | 66.1662 | 3.0163 | 9.0489 | 35.0 | 1238 | 1042 | 2280 | 10.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.64 | 0 | 0 | 0 | 5.0 | 15.6 | 0 |
Live C920 Webcam, 30 FPS¶
Source: live C920 webcam, 1280x720 in MJPG mode, at 30 FPS. “gscam” ROS node and a demo ROS node are running in the ROS 1 Docker container on TDA4.
| Demo | FPS | Total time (ms) | Preproc time (ms) | Inference time (ms) | A72 Load (%) | DDR Read BW (MB/s) | DDR Write BW (MB/s) | DDR Total BW (MB/s) | C71 Load (%) | C66_1 Load (%) | C66_2 Load (%) | MCU2_0 Load (%) | MCU2_1 Load (%) | MSC_0 (%) | MSC_1 (%) | VISS (%) | NF (%) | LDC (%) | SDE (%) | DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ti_vision_cnn (semseg) | 30.55 | 32.7382 | 3.0844 | 9.7727 | 43.45 | 1363 | 1040 | 2403 | 20.0 | 21.0 | 0.0 | 3.0 | 1.0 | 7.11 | 0 | 0 | 0 | 4.73 | 0 | 0 |
| ti_vision_cnn (objdet) | 30.54 | 32.7486 | 2.8370 | 13.0543 | 38.90 | 1726 | 924 | 2650 | 37.0 | 21.0 | 0.0 | 3.0 | 1.0 | 7.9 | 0 | 0 | 0 | 4.70 | 0 | 0 |