12. Performance Report
Performance statistics logging is turned on by setting a launch parameter, exportPerfStats to 1.
12.1. TDA4VM
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.
12.1.1. 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 2 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_1 Load (%) |
C66_1 Load (%) |
C66_2 Load (%) |
MCU2_0 Load (%) |
MCU2_1 Load (%) |
MSC_0 (%) |
MSC_1 (%) |
VISS (%) |
NF (%) |
LDC (%) |
SDE (%) |
DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ti_sde |
14.95 |
66.8828 |
NA |
NA |
30.84 |
1024 |
956 |
1980 |
0.0 |
0.0 |
0.0 |
3.0 |
1.0 |
0 |
0 |
0 |
0 |
4.58 |
16.43 |
0 |
ti_sde (w/ pcl) |
14.85 |
67.3430 |
NA |
NA |
56.41 |
1577 |
1504 |
3081 |
0.0 |
16.0 |
0.0 |
4.0 |
3.0 |
6.56 |
0 |
0 |
0 |
4.48 |
20.54 |
0 |
ti_vision_cnn (semseg) |
15.08 |
66.2917 |
3.1853 |
8.0032 |
22.82 |
817 |
693 |
1510 |
11.0 |
0.0 |
0.0 |
2.0 |
1.0 |
3.24 |
0 |
0 |
0 |
2.15 |
0 |
0 |
ti_vision_cnn (objdet) |
27.64 |
36.1776 |
1.1669 |
5.5020 |
71.89 |
1491 |
951 |
2442 |
18.0 |
1.0 |
0.0 |
4.0 |
1.0 |
6.73 |
0 |
0 |
0 |
4.51 |
0 |
0 |
ti_estop |
15.11 |
66.1794 |
3.1551 |
8.1098 |
39.44 |
1264 |
1021 |
2285 |
11.0 |
1.0 |
1.0 |
3.0 |
1.0 |
3.29 |
0 |
0 |
0 |
4.54 |
16.16 |
0 |
12.1.2. C920 USB Camera, 30 FPS
Source: live C920 USB camera, 1280x720 in MJPG mode, at 30 FPS. “gscam2” ROS node and a demo ROS node are running in the ROS 2 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_1 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 |
32.8228 |
3.1026 |
8.0244 |
50.26 |
1259 |
775 |
2034 |
22.0 |
1.0 |
0.0 |
4.0 |
1.0 |
6.48 |
0 |
0 |
0 |
4.30 |
0 |
0 |
ti_vision_cnn (objdet) |
30.33 |
32.9738 |
1.0012 |
5.0012 |
46.91 |
1095 |
664 |
1759 |
16.0 |
0.0 |
0.0 |
5.0 |
1.0 |
6.35 |
0 |
0 |
0 |
4.22 |
0 |
0 |
12.2. AM68A
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.
12.2.1. 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 2 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_1 Load (%) |
C71_2 Load (%) |
MCU2_0 Load (%) |
MCU2_1 Load (%) |
MSC_0 (%) |
MSC_1 (%) |
VISS (%) |
NF (%) |
LDC (%) |
SDE (%) |
DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ti_sde |
15.00 |
66.6834 |
NA |
NA |
32.57 |
1088 |
982 |
2070 |
1.0 |
1.0 |
2.0 |
1.0 |
0 |
0 |
0 |
0 |
4.25 |
16.2 |
0 |
ti_sde (w/ pcl) |
15.10 |
66.2105 |
NA |
NA |
57.28 |
1708 |
1542 |
3250 |
0.0 |
12.0 |
3.0 |
2.0 |
6.38 |
0 |
0 |
0 |
4.36 |
20.98 |
0 |
ti_vision_cnn (semseg) |
15.13 |
66.0838 |
3.3284 |
9.0060 |
21.53 |
1540 |
1392 |
2932 |
14.0 |
1.0 |
2.0 |
1.0 |
3.13 |
0 |
0 |
0 |
2.10 |
0 |
0 |
ti_vision_cnn (objdet) |
15.05 |
66.4431 |
1.0000 |
5.0000 |
17.55 |
842 |
658 |
1500 |
8.0 |
0.0 |
2.0 |
1.0 |
3.6 |
0 |
0 |
0 |
2.5 |
0 |
0 |
ti_estop |
15.12 |
66.1226 |
3.4029 |
9.1439 |
40.50 |
1981 |
1716 |
3697 |
14.0 |
0.0 |
2.0 |
1.0 |
3.13 |
0 |
0 |
0 |
4.31 |
16.8 |
0 |
12.2.2. C920 USB Camera, 30 FPS
Source: live C920 USB camera, 1280x720 in MJPG mode, at 30 FPS. “gscam2” ROS node and a demo ROS node are running in the ROS 2 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_1 Load (%) |
C71_2 Load (%) |
MCU2_0 Load (%) |
MCU2_1 Load (%) |
MSC_0 (%) |
MSC_1 (%) |
VISS (%) |
NF (%) |
LDC (%) |
SDE (%) |
DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ti_vision_cnn (semseg) |
28.79 |
34.7380 |
3.1113 |
10.0025 |
51.34 |
2419 |
1975 |
4394 |
25.0 |
1.0 |
2.0 |
1.0 |
5.61 |
0 |
0 |
0 |
3.79 |
0 |
0 |
ti_vision_cnn (objdet) |
30.42 |
32.8687 |
1.0000 |
5.0012 |
49.50 |
1254 |
686 |
1940 |
15.0 |
1.0 |
2.0 |
1.0 |
6.5 |
0 |
0 |
0 |
4.10 |
0 |
0 |
12.3. AM69A
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.
12.3.1. 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 2 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_1 Load (%) |
C71_2 Load (%) |
C71_3 Load (%) |
C71_4 Load (%) |
MCU2_0 Load (%) |
MCU2_1 Load (%) |
MCU3_0 Load (%) |
MCU3_1 Load (%) |
MCU4_0 Load (%) |
MCU4_1 Load (%) |
MSC_0 (%) |
MSC_1 (%) |
VISS (%) |
NF (%) |
LDC (%) |
SDE (%) |
DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ti_sde |
15.12 |
66.1342 |
NA |
NA |
7.12 |
912 |
936 |
1848 |
0.0 |
0.0 |
0.0 |
0.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
0 |
0 |
0 |
0 |
4.34 |
16.30 |
0 |
ti_sde (w/ pcl) |
15.14 |
66.0401 |
NA |
NA |
11.48 |
1402 |
1428 |
2830 |
0.0 |
13.0 |
0.0 |
1.0 |
3.0 |
2.0 |
1.0 |
0.0 |
1.0 |
1.0 |
6.38 |
0 |
0 |
0 |
4.36 |
20.95 |
0 |
ti_vision_cnn (semseg) |
15.14 |
66.0430 |
4.0000 |
9.0029 |
4.82 |
1378 |
1342 |
2720 |
12.0 |
0.0 |
0.0 |
1.0 |
2.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
3.15 |
0 |
0 |
0 |
2.10 |
0 |
0 |
ti_vision_cnn (objdet) |
15.09 |
66.2763 |
1.0000 |
5.0187 |
3.70 |
691 |
600 |
1291 |
8.0 |
0.0 |
1.0 |
0.0 |
2.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
3.11 |
0 |
0 |
0 |
2.8 |
0 |
0 |
ti_estop |
15.17 |
65.9078 |
4.0000 |
9.1604 |
9.11 |
1736 |
1638 |
3374 |
12.0 |
0.0 |
0.0 |
1.0 |
2.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
3.15 |
0 |
0 |
0 |
4.33 |
16.13 |
0 |
12.3.2. C920 USB Camera, 30 FPS
Source: live C920 USB camera, 1280x720 in MJPG mode, at 30 FPS. “gscam2” ROS node and a demo ROS node are running in the ROS 2 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_1 Load (%) |
C71_2 Load (%) |
C71_3 Load (%) |
C71_4 Load (%) |
MCU2_0 Load (%) |
MCU2_1 Load (%) |
MCU3_0 Load (%) |
MCU3_1 Load (%) |
MCU4_0 Load (%) |
MCU4_1 Load (%) |
MSC_0 (%) |
MSC_1 (%) |
VISS (%) |
NF (%) |
LDC (%) |
SDE (%) |
DOF (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
ti_vision_cnn (semseg) |
30.53 |
32.7597 |
4.0000 |
9.0141 |
14.52 |
2476 |
2147 |
4623 |
26.0 |
0.0 |
0.0 |
0.0 |
2.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
6.17 |
0 |
0 |
0 |
4.34 |
0 |
0 |
ti_vision_cnn (objdet) |
30.55 |
32.7333 |
1.0000 |
5.0035 |
11.24 |
1092 |
645 |
1737 |
16.0 |
0.0 |
0.0 |
1.0 |
2.0 |
1.0 |
1.0 |
1.0 |
1.0 |
1.0 |
6.23 |
0 |
0 |
0 |
4.40 |
0 |
0 |