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