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 | 66.1322 | NA | NA | 18.75 | 687 | 530 | 1217 | 0.0 | 0.0 | 0.0 | 2.0 | 2.0 | 0 | 0 | 0 | 0 | 4.42 | 16.49 | 0 |
ti_sde (w/ pcl) | 15.12 | 66.1181 | NA | NA | 33.8 | 1057 | 928 | 1985 | 0.0 | 16.0 | 0.0 | 5.0 | 3.0 | 6.59 | 0 | 0 | 0 | 4.48 | 21.30 | 0 |
ti_vision_cnn (semseg) | 15.12 | 66.1341 | 3.0101 | 8.0707 | 12.50 | 533 | 310 | 843 | 11.0 | 1.0 | 1.0 | 2.0 | 1.0 | 3.24 | 0 | 0 | 0 | 2.15 | 0 | 0 |
ti_vision_cnn (objdet) | 15.13 | 66.1137 | 2.9975 | 5.0907 | 11.0 | 489 | 279 | 768 | 8.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.22 | 0 | 0 | 0 | 2.13 | 0 | 0 |
ti_estop | 15.14 | 66.0334 | 3.0051 | 8.0716 | 25.74 | 928 | 600 | 1528 | 11.0 | 0.0 | 0.0 | 3.0 | 1.0 | 3.32 | 0 | 0 | 0 | 4.55 | 16.31 | 0 |
ti_objdet_range | 13.74 | 72.7799 | 3.0063 | 5.5250 | 44.5 | 1475 | 1092 | 2567 | 8.0 | 0.0 | 1.0 | 7.0 | 3.0 | 10.62 | 0 | 0 | 0 | 7.26 | 25.73 | 0 |
ti_vl | 15.17 | 65.9390 | 3.0221 | 16.7459 | 30.22 | 1144 | 986 | 2130 | 17.0 | 69.0 | 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 | 66.1509 | NA | NA | 26.17 | 928 | 864 | 1792 | 0.0 | 0.0 | 0.0 | 3.0 | 2.0 | 0 | 0 | 0 | 0 | 4.53 | 16.36 | 0 |
ti_sde (w/ pcl) | 15.08 | 66.3031 | NA | NA | 34.51 | 1228 | 1123 | 2351 | 0.0 | 16.0 | 0.0 | 5.0 | 3.0 | 6.64 | 0 | 0 | 0 | 4.52 | 20.78 | 0 |
ti_vision_cnn (semseg) | 15.14 | 66.0606 | 3.3602 | 8.0756 | 20.9 | 804 | 671 | 1475 | 11.0 | 1.0 | 1.0 | 2.0 | 1.0 | 3.31 | 0 | 0 | 0 | 2.12 | 0 | 0 |
ti_vision_cnn (objdet) | 15.13 | 66.0964 | 3.0000 | 5.0886 | 20.0 | 768 | 639 | 1407 | 8.0 | 0.0 | 0.0 | 2.0 | 1.0 | 3.26 | 0 | 0 | 0 | 2.16 | 0 | 0 |
ti_estop | 15.09 | 66.2487 | 3.3298 | 8.0818 | 34.50 | 1178 | 934 | 2112 | 11.0 | 1.0 | 1.0 | 4.0 | 2.0 | 3.26 | 0 | 0 | 0 | 4.48 | 16.3 | 0 |
ti_objdet_range | 15.12 | 66.1525 | 3.1031 | 5.5799 | 50.12 | 1694 | 1363 | 3057 | 8.0 | 0.0 | 0.0 | 7.0 | 3.0 | 10.20 | 0 | 0 | 0 | 7.6 | 24.81 | 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) | 15.64 | 63.9216 | 3.2961 | 8.0810 | 18.62 | 571 | 354 | 925 | 11.0 | 10.0 | 1.0 | 2.0 | 1.0 | 3.28 | 0 | 0 | 0 | 2.18 | 0 | 0 |
ti_vision_cnn (objdet) | 14.84 | 67.3990 | 3.0000 | 5.0942 | 18.87 | 579 | 349 | 928 | 8.0 | 10.0 | 1.0 | 2.0 | 1.0 | 3.29 | 0 | 0 | 0 | 2.18 | 0 | 0 |