16. Performance Report
Performance statistics logging is turned on by setting a launch parameter, exportPerfStats to 1.
16.1. TDA4VM
16.1.1. ROSBAG, 15 FPS
Source: “rosbag play” and a demo ROS node are running in the ROS 1 Docker container on the target SK board. 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 |
15.13 |
66.1128 |
NA |
NA |
18.38 |
694 |
528 |
1222 |
1.0 |
0.0 |
0.0 |
3.0 |
1.0 |
0 |
0 |
0 |
0 |
4.52 |
16.31 |
0 |
ti_sde (w/ pcl) |
15.12 |
66.1162 |
NA |
NA |
33.25 |
1051 |
927 |
1978 |
0.0 |
16.0 |
0.0 |
4.0 |
3.0 |
6.74 |
0 |
0 |
0 |
4.59 |
21.10 |
0 |
ti_vision_cnn (semseg) |
15.13 |
66.0911 |
3.0177 |
8.0303 |
11.97 |
525 |
309 |
834 |
11.0 |
0.0 |
0.0 |
2.0 |
1.0 |
3.27 |
0 |
0 |
0 |
2.17 |
0 |
0 |
ti_vision_cnn (objdet) |
15.13 |
66.1066 |
3.0051 |
5.0025 |
11.47 |
491 |
278 |
769 |
8.0 |
1.0 |
0.0 |
2.0 |
1.0 |
3.27 |
0 |
0 |
0 |
2.16 |
0 |
0 |
ti_estop |
15.15 |
66.0077 |
3.0026 |
8.0720 |
25.62 |
927 |
603 |
1530 |
11.0 |
0.0 |
0.0 |
4.0 |
2.0 |
3.29 |
0 |
0 |
0 |
4.52 |
16.17 |
0 |
ti_objdet_range |
15.15 |
65.9896 |
3.0000 |
5.0415 |
40.89 |
1406 |
1029 |
2435 |
8.0 |
1.0 |
0.0 |
6.0 |
3.0 |
10.27 |
0 |
0 |
0 |
6.97 |
24.83 |
0 |
ti_vl |
15.14 |
66.0387 |
3.0193 |
17.0386 |
30.67 |
1138 |
976 |
2114 |
18.0 |
68.0 |
2.0 |
2.0 |
1.0 |
1.25 |
0 |
0 |
0 |
0.79 |
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.
16.1.2. 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 the target SK board.
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 |
66.1753 |
NA |
NA |
25.18 |
923 |
860 |
1783 |
1.0 |
1.0 |
0.0 |
2.0 |
2.0 |
0 |
0 |
0 |
0 |
4.42 |
16.46 |
0 |
ti_sde (w/ pcl) |
15.12 |
66.1377 |
NA |
NA |
40.75 |
1328 |
1311 |
2639 |
0.0 |
17.0 |
0.0 |
5.0 |
3.0 |
6.59 |
0 |
0 |
0 |
4.48 |
21.32 |
0 |
ti_vision_cnn (semseg) |
15.12 |
66.1263 |
3.1748 |
8.0026 |
20.63 |
802 |
671 |
1473 |
11.0 |
0.0 |
0.0 |
2.0 |
1.0 |
3.23 |
0 |
0 |
0 |
2.15 |
0 |
0 |
ti_vision_cnn (objdet) |
15.14 |
66.0699 |
3.0000 |
5.0080 |
20.19 |
761 |
639 |
1400 |
8.0 |
1.0 |
1.0 |
2.0 |
1.0 |
3.22 |
0 |
0 |
0 |
2.14 |
0 |
0 |
ti_estop |
15.14 |
66.0397 |
3.1372 |
8.0871 |
33.33 |
1166 |
936 |
2102 |
11.0 |
0.0 |
0.0 |
4.0 |
2.0 |
3.34 |
0 |
0 |
0 |
4.59 |
16.39 |
0 |
ti_objdet_range |
15.11 |
66.1702 |
3.0522 |
5.5039 |
49.50 |
1682 |
1358 |
3040 |
8.0 |
1.0 |
0.0 |
7.0 |
3.0 |
9.97 |
0 |
0 |
0 |
6.88 |
25.11 |
0 |
16.1.3. 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 the target SK board.
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) |
30.48 |
32.8044 |
3.4448 |
8.0051 |
45.5 |
1247 |
772 |
2019 |
22.0 |
20.0 |
0.0 |
4.0 |
1.0 |
6.47 |
0 |
0 |
0 |
4.29 |
0 |
0 |
ti_vision_cnn (objdet) |
30.46 |
32.8274 |
3.0379 |
5.0483 |
36.22 |
1092 |
664 |
1756 |
15.0 |
20.0 |
0.0 |
4.0 |
1.0 |
6.42 |
0 |
0 |
0 |
4.26 |
0 |
0 |
16.2. AM68A
16.2.1. ROSBAG, 15 FPS
Source: “rosbag play” and a demo ROS node are running in the ROS 1 Docker container on the target SK board. 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 |
66.1523 |
NA |
NA |
18.25 |
1216 |
546 |
1762 |
0.0 |
0 |
0 |
2.0 |
1.0 |
0 |
0 |
0 |
0 |
4.27 |
16.10 |
0 |
ti_sde (w/ pcl) |
15.12 |
66.1279 |
NA |
NA |
33.24 |
1606 |
912 |
2518 |
0.0 |
0 |
0 |
3.0 |
2.0 |
6.26 |
0 |
0 |
0 |
4.27 |
21.29 |
0 |
ti_vision_cnn (semseg) |
15.12 |
66.1458 |
3.0102 |
10.0102 |
12.96 |
1836 |
1025 |
2861 |
15.0 |
0 |
0 |
2.0 |
1.0 |
3.16 |
0 |
0 |
0 |
2.10 |
0 |
0 |
ti_vision_cnn (objdet) |
15.13 |
66.1079 |
3.0179 |
5.0026 |
10.57 |
1111 |
387 |
1498 |
7.0 |
0 |
0 |
1.0 |
1.0 |
3.9 |
0 |
0 |
0 |
2.6 |
0 |
0 |
ti_estop |
15.15 |
66.0026 |
3.0182 |
10.0961 |
25.18 |
2267 |
1333 |
3600 |
15.0 |
0 |
0 |
2.0 |
1.0 |
3.10 |
0 |
0 |
0 |
4.24 |
16.44 |
0 |
ti_objdet_range |
13.12 |
76.2331 |
3.0092 |
5.0245 |
40.35 |
2077 |
1180 |
3257 |
7.0 |
0 |
0 |
4.0 |
2.0 |
9.60 |
0 |
0 |
0 |
6.45 |
24.95 |
0 |
ti_vl |
15.14 |
66.0396 |
3.0395 |
13.2006 |
30.15 |
1957 |
1272 |
3229 |
13.0 |
0 |
0 |
1.0 |
1.0 |
1.11 |
0 |
0 |
0 |
0.71 |
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.
16.2.2. 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 the target SK board.
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 |
66.1728 |
NA |
NA |
28.53 |
1464 |
881 |
2345 |
0.0 |
0 |
0 |
2.0 |
1.0 |
0 |
0 |
0 |
0 |
4.26 |
16.9 |
0 |
ti_sde (w/ pcl) |
15.12 |
66.1395 |
NA |
NA |
39.84 |
1896 |
1300 |
3196 |
0.0 |
0 |
0 |
3.0 |
2.0 |
6.38 |
0 |
0 |
0 |
4.34 |
20.98 |
0 |
ti_vision_cnn (semseg) |
15.12 |
66.1269 |
3.4677 |
10.0258 |
18.32 |
2119 |
1388 |
3507 |
15.0 |
0 |
0 |
1.0 |
1.0 |
3.12 |
0 |
0 |
0 |
2.8 |
0 |
0 |
ti_vision_cnn (objdet) |
15.12 |
66.1273 |
3.0078 |
5.0052 |
17.67 |
1400 |
753 |
2153 |
7.0 |
0 |
0 |
2.0 |
1.0 |
3.15 |
0 |
0 |
0 |
2.9 |
0 |
0 |
ti_estop |
15.15 |
66.0272 |
3.2636 |
10.1005 |
33.83 |
2506 |
1658 |
4164 |
15.0 |
0 |
0 |
2.0 |
1.0 |
3.17 |
0 |
0 |
0 |
4.35 |
16.27 |
0 |
ti_objdet_range |
15.12 |
66.1250 |
3.1192 |
5.1518 |
48.73 |
2361 |
1501 |
3862 |
7.0 |
0 |
0 |
5.0 |
2.0 |
9.65 |
0 |
0 |
0 |
6.75 |
25.3 |
0 |
16.2.3. 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 the target SK board.
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) |
30.50 |
32.7890 |
3.1703 |
10.1007 |
46.41 |
3362 |
2157 |
5519 |
30.0 |
0 |
0 |
2.0 |
1.0 |
6.14 |
0 |
0 |
0 |
4.11 |
0 |
0 |
ti_vision_cnn (objdet) |
30.48 |
32.8050 |
3.0000 |
5.0039 |
42.43 |
1845 |
846 |
2691 |
13.0 |
0 |
0 |
2.0 |
1.0 |
6.15 |
0 |
0 |
0 |
4.11 |
0 |
0 |
16.3. AM69A
16.3.1. ROSBAG, 15 FPS
Source: “rosbag play” and a demo ROS node are running in the ROS 1 Docker container on the target SK board. 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 |
66.1160 |
NA |
NA |
4.30 |
642 |
522 |
1164 |
0.0 |
0 |
0 |
2.0 |
1.0 |
0 |
0 |
0 |
0 |
4.28 |
16.11 |
0 |
ti_sde (w/ pcl) |
15.13 |
66.0742 |
NA |
NA |
8.24 |
976 |
901 |
1877 |
0.0 |
0 |
0 |
3.0 |
2.0 |
6.27 |
0 |
0 |
0 |
4.27 |
21.30 |
0 |
ti_vision_cnn (semseg) |
15.12 |
66.1432 |
3.8547 |
9.0025 |
2.74 |
1132 |
1162 |
2294 |
13.0 |
0 |
0 |
2.0 |
1.0 |
3.17 |
0 |
0 |
0 |
2.10 |
0 |
0 |
ti_vision_cnn (objdet) |
15.13 |
66.1043 |
3.1114 |
4.0470 |
2.61 |
533 |
376 |
909 |
7.0 |
0 |
0 |
1.0 |
1.0 |
3.9 |
0 |
0 |
0 |
2.5 |
0 |
0 |
ti_estop |
15.15 |
66.0227 |
3.7708 |
9.0730 |
6.10 |
1509 |
1456 |
2965 |
13.0 |
0 |
0 |
2.0 |
1.0 |
3.13 |
0 |
0 |
0 |
4.29 |
16.2 |
0 |
ti_objdet_range |
15.15 |
66.0000 |
3.0150 |
4.0850 |
9.26 |
1372 |
1134 |
2506 |
7.0 |
0 |
0 |
4.0 |
2.0 |
9.62 |
0 |
0 |
0 |
6.54 |
24.60 |
0 |
ti_vl |
15.20 |
65.7929 |
3.0136 |
16.3451 |
8.67 |
1344 |
1225 |
2569 |
12.0 |
0 |
0 |
2.0 |
1.0 |
1.10 |
0 |
0 |
0 |
0.70 |
0 |
0 |
Note: “A72 Load (%)” are for 8x A72 cores in a scale of 100%. For example, 100% A72 loading means that 8x A72 cores are fully loaded.
16.3.2. 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 the target SK board.
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 |
15.15 |
66.0203 |
NA |
NA |
5.8 |
1316 |
823 |
2139 |
0.0 |
0 |
0 |
2.0 |
1.0 |
0 |
0 |
0 |
0 |
4.30 |
16.13 |
0 |
ti_sde (w/ pcl) |
15.14 |
66.0584 |
NA |
NA |
10.48 |
1717 |
1257 |
2974 |
0.0 |
0 |
0 |
3.0 |
3.0 |
6.29 |
0 |
0 |
0 |
4.31 |
20.68 |
0 |
ti_vision_cnn (semseg) |
15.15 |
66.0000 |
4.0050 |
9.0025 |
4.36 |
1850 |
1493 |
3343 |
13.0 |
0 |
0 |
2.0 |
1.0 |
3.10 |
0 |
0 |
0 |
2.7 |
0 |
0 |
ti_vision_cnn (objdet) |
15.16 |
65.9825 |
3.0000 |
4.9950 |
3.75 |
1250 |
708 |
1958 |
7.0 |
0 |
0 |
1.0 |
1.0 |
3.12 |
0 |
0 |
0 |
2.8 |
0 |
0 |
ti_estop |
15.15 |
66.0000 |
4.0000 |
9.0799 |
7.76 |
2190 |
1758 |
3948 |
13.0 |
0 |
0 |
2.0 |
1.0 |
3.14 |
0 |
0 |
0 |
4.33 |
16.9 |
0 |
ti_objdet_range |
15.16 |
65.9599 |
3.0000 |
5.0000 |
10.87 |
2075 |
1437 |
3512 |
7.0 |
0 |
0 |
5.0 |
2.0 |
9.57 |
0 |
0 |
0 |
6.53 |
24.44 |
0 |
16.3.3. 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 the target SK board.
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) |
30.47 |
32.8163 |
4.0168 |
9.0078 |
14.4 |
2926 |
2419 |
5345 |
25.0 |
0 |
0 |
3.0 |
1.0 |
6.24 |
0 |
0 |
0 |
4.32 |
0 |
0 |
ti_vision_cnn (objdet) |
30.48 |
32.8105 |
3.0050 |
4.6974 |
9.54 |
1660 |
820 |
2480 |
13.0 |
0 |
0 |
2.0 |
1.0 |
6.23 |
0 |
0 |
0 |
4.37 |
0 |
0 |