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