Performance Report¶
Performance statistics logging is turned on by setting a launch parameter, exportPerfStats to 1.
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 | 15.11 | 66.1597 | NA | NA | 13.25 | 598 | 551 | 1149 | 1.0 | 1.0 | 1.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.90 | 14.88 | 0 |
| ti_sde (w/ pcl) | 15.12 | 66.1425 | NA | NA | 30.73 | 1005 | 926 | 1931 | 0.0 | 16.0 | 0.0 | 3.0 | 2.0 | 7.28 | 0 | 0 | 0 | 4.97 | 19.32 | 0 |
| ti_vision_cnn (semseg) | 15.12 | 66.1181 | 3.0052 | 7.0000 | 10.47 | 486 | 306 | 792 | 11.0 | 0.0 | 1.0 | 2.0 | 1.0 | 3.54 | 0 | 0 | 0 | 2.36 | 0 | 0 |
| ti_vision_cnn (objdet) | 15.12 | 66.1348 | 3.0000 | 12.0081 | 9.77 | 706 | 297 | 1003 | 19.0 | 1.0 | 1.0 | 2.0 | 1.0 | 3.55 | 0 | 0 | 0 | 2.37 | 0 | 0 |
| ti_estop | 15.12 | 66.1295 | 3.0052 | 7.0052 | 21.1 | 865 | 596 | 1461 | 11.0 | 0.0 | 0.0 | 3.0 | 1.0 | 3.60 | 0 | 0 | 0 | 4.96 | 14.97 | 0 |
| ti_objdet_range | 12.55 | 79.7021 | 3.0070 | 12.9296 | 32.50 | 1348 | 981 | 2329 | 16.0 | 0.0 | 1.0 | 4.0 | 2.0 | 9.44 | 0 | 0 | 0 | 6.44 | 19.41 | 0 |
| ti_vl | 15.16 | 65.9628 | 3.0057 | 16.3429 | 29.17 | 1137 | 981 | 2118 | 18.0 | 80.0 | 2.0 | 2.0 | 1.0 | 1.36 | 0 | 0 | 0 | 0.87 | 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 | 66.0869 | NA | NA | 21.5 | 854 | 879 | 1733 | 0.0 | 0.0 | 0.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.91 | 14.91 | 0 |
| ti_sde (w/ pcl) | 15.12 | 66.1568 | NA | NA | 40.39 | 1321 | 1344 | 2665 | 0.0 | 16.0 | 0.0 | 3.0 | 2.0 | 7.27 | 0 | 0 | 0 | 4.96 | 19.30 | 0 |
| ti_vision_cnn (semseg) | 15.09 | 66.2538 | 3.2810 | 7.0076 | 17.46 | 773 | 669 | 1442 | 11.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.52 | 0 | 0 | 0 | 2.35 | 0 | 0 |
| ti_vision_cnn (objdet) | 15.14 | 66.0517 | 3.0026 | 12.0747 | 16.66 | 989 | 658 | 1647 | 19.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.62 | 0 | 0 | 0 | 2.42 | 0 | 0 |
| ti_estop | 15.13 | 66.0968 | 3.1930 | 7.0080 | 30.71 | 1120 | 928 | 2048 | 11.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.59 | 0 | 0 | 0 | 4.96 | 14.95 | 0 |
| ti_objdet_range | 15.11 | 66.1645 | 3.0032 | 12.8360 | 45.92 | 1833 | 1399 | 3232 | 19.0 | 0.0 | 0.0 | 4.0 | 2.0 | 11.18 | 0 | 0 | 0 | 7.65 | 22.97 | 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) | 30.54 | 32.7405 | 3.0260 | 7.0977 | 37.37 | 1121 | 802 | 1923 | 21.0 | 21.0 | 0.0 | 3.0 | 1.0 | 7.12 | 0 | 0 | 0 | 4.76 | 0 | 0 |
| ti_vision_cnn (objdet) | 30.60 | 32.6822 | 3.0000 | 12.9290 | 37.50 | 1567 | 780 | 2347 | 37.0 | 21.0 | 0.0 | 3.0 | 1.0 | 7.6 | 0 | 0 | 0 | 4.71 | 0 | 0 |