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 | 15.12 | 66.1319 | NA | NA | 19.80 | 691 | 529 | 1220 | 0.0 | 1.0 | 1.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.51 | 16.25 | 0 |
ti_sde (w/ pcl) | 15.13 | 66.1101 | NA | NA | 32.83 | 1053 | 922 | 1975 | 0.0 | 16.0 | 1.0 | 3.0 | 2.0 | 6.61 | 0 | 0 | 0 | 4.50 | 20.89 | 0 |
ti_vision_cnn (semseg) | 15.12 | 66.1410 | 3.0205 | 7.0026 | 13.8 | 517 | 308 | 825 | 11.0 | 1.0 | 1.0 | 1.0 | 1.0 | 3.22 | 0 | 0 | 0 | 2.14 | 0 | 0 |
ti_vision_cnn (objdet) | 15.12 | 66.1294 | 2.9946 | 12.0027 | 11.47 | 700 | 298 | 998 | 17.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.21 | 0 | 0 | 0 | 2.12 | 0 | 0 |
ti_estop | 15.13 | 66.1005 | 3.0154 | 7.0154 | 24.81 | 912 | 597 | 1509 | 11.0 | 0.0 | 1.0 | 2.0 | 1.0 | 3.32 | 0 | 0 | 0 | 4.57 | 16.33 | 0 |
ti_objdet_range | 13.08 | 76.4712 | 3.1486 | 12.2297 | 37.53 | 1353 | 906 | 2259 | 15.0 | 0.0 | 0.0 | 3.0 | 2.0 | 8.1 | 0 | 0 | 0 | 5.54 | 20.39 | 0 |
ti_vl | 15.17 | 65.9252 | 3.0304 | 16.9310 | 29.69 | 1150 | 987 | 2137 | 17.0 | 68.0 | 2.0 | 2.0 | 1.0 | 1.26 | 0 | 0 | 0 | 0.80 | 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 | 15.12 | 66.1330 | NA | NA | 24.18 | 932 | 864 | 1796 | 0.0 | 0.0 | 0.0 | 2.0 | 1.0 | 0 | 0 | 0 | 0 | 4.53 | 16.34 | 0 |
ti_sde (w/ pcl) | 15.12 | 66.1205 | NA | NA | 36.69 | 1249 | 1135 | 2384 | 0.0 | 16.0 | 1.0 | 3.0 | 2.0 | 6.68 | 0 | 0 | 0 | 4.55 | 20.97 | 0 |
ti_vision_cnn (semseg) | 15.13 | 66.1094 | 3.3122 | 7.0102 | 20.78 | 793 | 669 | 1462 | 11.0 | 1.0 | 0.0 | 2.0 | 1.0 | 3.27 | 0 | 0 | 0 | 2.17 | 0 | 0 |
ti_vision_cnn (objdet) | 15.12 | 66.1266 | 3.0000 | 12.0026 | 18.25 | 971 | 659 | 1630 | 17.0 | 1.0 | 1.0 | 2.0 | 1.0 | 3.26 | 0 | 0 | 0 | 2.16 | 0 | 0 |
ti_estop | 15.12 | 66.1221 | 3.4683 | 7.0132 | 34.33 | 1163 | 932 | 2095 | 11.0 | 1.0 | 0.0 | 2.0 | 1.0 | 3.30 | 0 | 0 | 0 | 4.54 | 16.25 | 0 |
ti_objdet_range | 15.12 | 66.1429 | 3.1135 | 12.1319 | 49.87 | 1895 | 1376 | 3271 | 18.0 | 0.0 | 0.0 | 4.0 | 2.0 | 10.4 | 0 | 0 | 0 | 7.3 | 24.67 | 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) | 29.82 | 33.5381 | 3.3170 | 7.2653 | 35.56 | 1153 | 728 | 1881 | 20.0 | 19.0 | 1.0 | 2.0 | 1.0 | 6.26 | 0 | 0 | 0 | 4.15 | 0 | 0 |
ti_vision_cnn (objdet) | 29.75 | 33.6160 | 3.0013 | 12.0040 | 36.18 | 1514 | 707 | 2221 | 34.0 | 19.0 | 0.0 | 3.0 | 1.0 | 6.21 | 0 | 0 | 0 | 4.11 | 0 | 0 |