Difference between revisions of "CUDA ISP for NVIDIA Jetson/Performance/Library"
| (16 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
<noinclude> | <noinclude> | ||
| − | {{CUDA ISP for NVIDIA Jetson/Head|previous=|next=|metakeywords=|metadescription=}} | + | {{CUDA ISP for NVIDIA Jetson/Head|previous=Examples/GStreamer usage|next=Performance/GStreamer|metakeywords=|metadescription=}} |
</noinclude> | </noinclude> | ||
{{DISPLAYTITLE:CUDA ISP for NVIDIA Jetson: Performance|noerror}} | {{DISPLAYTITLE:CUDA ISP for NVIDIA Jetson: Performance|noerror}} | ||
| − | |||
| − | |||
| − | |||
| − | |||
= Library API performance = | = Library API performance = | ||
| Line 13: | Line 9: | ||
To measure the CUDA ISP API performance, we built a simple example (provided upon request) that iterates over the <code>Apply</code> methods for each algorithm and records performance metrics for each iteration. We measured the duration of each algorithm's <code>Apply</code> method. We also measured CPU, CPU RAM, GPU, and GPU RAM usage for the complete processing pipeline iterating at 30fps. We ran the experiments on both 1080p and 4K buffers. We also ran the experiments on the Jetson Nano, Jetson Xavier NX, Jetson Xavier AGX, and Jetson AGX Orin. | To measure the CUDA ISP API performance, we built a simple example (provided upon request) that iterates over the <code>Apply</code> methods for each algorithm and records performance metrics for each iteration. We measured the duration of each algorithm's <code>Apply</code> method. We also measured CPU, CPU RAM, GPU, and GPU RAM usage for the complete processing pipeline iterating at 30fps. We ran the experiments on both 1080p and 4K buffers. We also ran the experiments on the Jetson Nano, Jetson Xavier NX, Jetson Xavier AGX, and Jetson AGX Orin. | ||
| + | === Software performance measurement tools === | ||
* We measured the duration of each <code>Apply</code> method separately using the <code>chrono</code> library. | * We measured the duration of each <code>Apply</code> method separately using the <code>chrono</code> library. | ||
| − | * We used | + | * We mainly used <code>sys/times.h</code> library to obtain the CPU usage. However, we used the <code>proc/status</code> file to obtain a secondary verification measure. |
* We read the <code>/proc/self/status</code> file to obtain the CPU RAM usage. | * We read the <code>/proc/self/status</code> file to obtain the CPU RAM usage. | ||
| − | * We used | + | * We used <code>tegrastats</code> to obtain the GPU usage. |
* We used <code>cudaMemGetInfo</code> from CUDA to measure GPU RAM usage. | * We used <code>cudaMemGetInfo</code> from CUDA to measure GPU RAM usage. | ||
| − | + | Every measurement is averaged over 100 iterations. The iterations are timed to run at 30 iterations per second. | |
| − | * On the Jetson Nano, we used Jetpack 4.5.3 and MAXN Power Mode (NVP model 0) | + | === Hardware setup === |
| + | * On the Jetson Nano, we used Jetpack 4.5.3 and 10W 4 Core MAXN Power Mode (NVP model 0) | ||
* On the Jetson Xavier NX, we used Jetpack 4.5.3 and 20W 6 Core Power Mode (NVP model 8) | * On the Jetson Xavier NX, we used Jetpack 4.5.3 and 20W 6 Core Power Mode (NVP model 8) | ||
* On the Jetson Xavier AGX, we used Jetpack 4.5.1 and 30W 8 Core Power Mode (NVP model 3) | * On the Jetson Xavier AGX, we used Jetpack 4.5.1 and 30W 8 Core Power Mode (NVP model 3) | ||
| − | * On the Jetson AGX Orin, we used Jetpack 5.0.2 and | + | * On the Jetson AGX Orin, we used Jetpack 5.0.2 and 50W 12 Core Power Mode (NVP model 3) |
| + | |||
| + | For each system, we also used <code>jetson_clocks</code> to maximize the device clock frequency and thus the performance. | ||
| + | |||
| + | === Results === | ||
| + | The following table summarizes CUDA ISP's performance results. | ||
| − | |||
<center> | <center> | ||
{| class="wikitable" style="text-align:center;" | {| class="wikitable" style="text-align:center;" | ||
| Line 54: | Line 56: | ||
| style="background-color:#ffd6a5;" | 0.82 | | style="background-color:#ffd6a5;" | 0.82 | ||
| style="background-color:#ffd6a5;" | 1.52 | | style="background-color:#ffd6a5;" | 1.52 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 1.56 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 4.18 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.71 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1.82 |
| style="background-color:#a0c4ff;" | 2.10 | | style="background-color:#a0c4ff;" | 2.10 | ||
| style="background-color:#a0c4ff;" | 7.52 | | style="background-color:#a0c4ff;" | 7.52 | ||
| Line 65: | Line 67: | ||
| style="background-color:#ffd6a5;" | 0.68 | | style="background-color:#ffd6a5;" | 0.68 | ||
| style="background-color:#ffd6a5;" | 1.30 | | style="background-color:#ffd6a5;" | 1.30 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 1.93 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 5.74 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.79 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 2.13 |
| style="background-color:#a0c4ff;" | 2.40 | | style="background-color:#a0c4ff;" | 2.40 | ||
| style="background-color:#a0c4ff;" | 8.75 | | style="background-color:#a0c4ff;" | 8.75 | ||
| Line 76: | Line 78: | ||
| style="background-color:#ffd6a5;" | 0.84 | | style="background-color:#ffd6a5;" | 0.84 | ||
| style="background-color:#ffd6a5;" | 1.66 | | style="background-color:#ffd6a5;" | 1.66 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 1.94 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 5.21 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.99 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 2.22 |
| style="background-color:#a0c4ff;" | 2.51 | | style="background-color:#a0c4ff;" | 2.51 | ||
| style="background-color:#a0c4ff;" | 8.51 | | style="background-color:#a0c4ff;" | 8.51 | ||
| Line 87: | Line 89: | ||
| style="background-color:#ffd6a5;" | 1.24 | | style="background-color:#ffd6a5;" | 1.24 | ||
| style="background-color:#ffd6a5;" | 1.91 | | style="background-color:#ffd6a5;" | 1.91 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 2.33 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 6.87 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1.11 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 2.71 |
| style="background-color:#a0c4ff;" | 3.18 | | style="background-color:#a0c4ff;" | 3.18 | ||
| style="background-color:#a0c4ff;" | 11.06 | | style="background-color:#a0c4ff;" | 11.06 | ||
| Line 98: | Line 100: | ||
| style="background-color:#ffd6a5;" | 0.91 | | style="background-color:#ffd6a5;" | 0.91 | ||
| style="background-color:#ffd6a5;" | 1.60 | | style="background-color:#ffd6a5;" | 1.60 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 1.23 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 3.13 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.59 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1.31 |
| style="background-color:#a0c4ff;" | 2.05 | | style="background-color:#a0c4ff;" | 2.05 | ||
| style="background-color:#a0c4ff;" | 7.70 | | style="background-color:#a0c4ff;" | 7.70 | ||
| Line 112: | Line 114: | ||
| style="background-color:#ffd6a5;" | 1216 | | style="background-color:#ffd6a5;" | 1216 | ||
| style="background-color:#ffd6a5;" | 660 | | style="background-color:#ffd6a5;" | 660 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 641 |
| style="background-color:#ffadad;" | 239 | | style="background-color:#ffadad;" | 239 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1408 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 550 |
| style="background-color:#a0c4ff;" | 475 | | style="background-color:#a0c4ff;" | 475 | ||
| style="background-color:#a0c4ff;" | 132 | | style="background-color:#a0c4ff;" | 132 | ||
| Line 123: | Line 125: | ||
| style="background-color:#ffd6a5;" | 1479 | | style="background-color:#ffd6a5;" | 1479 | ||
| style="background-color:#ffd6a5;" | 771 | | style="background-color:#ffd6a5;" | 771 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 519 |
| style="background-color:#ffadad;" | 174 | | style="background-color:#ffadad;" | 174 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1259 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 469 |
| style="background-color:#a0c4ff;" | 415 | | style="background-color:#a0c4ff;" | 415 | ||
| style="background-color:#a0c4ff;" | 114 | | style="background-color:#a0c4ff;" | 114 | ||
| Line 134: | Line 136: | ||
| style="background-color:#ffd6a5;" | 1197 | | style="background-color:#ffd6a5;" | 1197 | ||
| style="background-color:#ffd6a5;" | 603 | | style="background-color:#ffd6a5;" | 603 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 515 |
| style="background-color:#ffadad;" | 191 | | style="background-color:#ffadad;" | 191 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1011 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 451 |
| style="background-color:#a0c4ff;" | 398 | | style="background-color:#a0c4ff;" | 398 | ||
| style="background-color:#a0c4ff;" | 117 | | style="background-color:#a0c4ff;" | 117 | ||
| Line 145: | Line 147: | ||
| style="background-color:#ffd6a5;" | 807 | | style="background-color:#ffd6a5;" | 807 | ||
| style="background-color:#ffd6a5;" | 522 | | style="background-color:#ffd6a5;" | 522 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 429 |
| style="background-color:#ffadad;" | 145 | | style="background-color:#ffadad;" | 145 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 902 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 368 |
| style="background-color:#a0c4ff;" | 314 | | style="background-color:#a0c4ff;" | 314 | ||
| style="background-color:#a0c4ff;" | 90 | | style="background-color:#a0c4ff;" | 90 | ||
| Line 156: | Line 158: | ||
| style="background-color:#ffd6a5;" | 1104 | | style="background-color:#ffd6a5;" | 1104 | ||
| style="background-color:#ffd6a5;" | 623 | | style="background-color:#ffd6a5;" | 623 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 814 |
| style="background-color:#ffadad;" | 319 | | style="background-color:#ffadad;" | 319 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 1697 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 761 |
| style="background-color:#a0c4ff;" | 487 | | style="background-color:#a0c4ff;" | 487 | ||
| style="background-color:#a0c4ff;" | 129 | | style="background-color:#a0c4ff;" | 129 | ||
| Line 170: | Line 172: | ||
| style="background-color:#ffd6a5;" | 0.198 | | style="background-color:#ffd6a5;" | 0.198 | ||
| style="background-color:#ffd6a5;" | 0.218 | | style="background-color:#ffd6a5;" | 0.218 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 0.285 |
| − | | style="background-color:#ffadad;" | 0. | + | | style="background-color:#ffadad;" | 0.255 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.287 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.356 |
| style="background-color:#a0c4ff;" | 0.800 | | style="background-color:#a0c4ff;" | 0.800 | ||
| style="background-color:#a0c4ff;" | 0.817 | | style="background-color:#a0c4ff;" | 0.817 | ||
| Line 181: | Line 183: | ||
| style="background-color:#ffd6a5;" | 0.121 | | style="background-color:#ffd6a5;" | 0.121 | ||
| style="background-color:#ffd6a5;" | 0.161 | | style="background-color:#ffd6a5;" | 0.161 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 0.238 |
| − | | style="background-color:#ffadad;" | 0. | + | | style="background-color:#ffadad;" | 0.237 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.263 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.280 |
| style="background-color:#a0c4ff;" | 0.873 | | style="background-color:#a0c4ff;" | 0.873 | ||
| style="background-color:#a0c4ff;" | 0.665 | | style="background-color:#a0c4ff;" | 0.665 | ||
| Line 192: | Line 194: | ||
| style="background-color:#ffd6a5;" | 0.201 | | style="background-color:#ffd6a5;" | 0.201 | ||
| style="background-color:#ffd6a5;" | 0.277 | | style="background-color:#ffd6a5;" | 0.277 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 0.338 |
| − | | style="background-color:#ffadad;" | 0. | + | | style="background-color:#ffadad;" | 0.316 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.443 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.471 |
| style="background-color:#a0c4ff;" | 1.286 | | style="background-color:#a0c4ff;" | 1.286 | ||
| style="background-color:#a0c4ff;" | 1.299 | | style="background-color:#a0c4ff;" | 1.299 | ||
| Line 203: | Line 205: | ||
| style="background-color:#ffd6a5;" | 0.260 | | style="background-color:#ffd6a5;" | 0.260 | ||
| style="background-color:#ffd6a5;" | 0.280 | | style="background-color:#ffd6a5;" | 0.280 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 0.351 |
| − | | style="background-color:#ffadad;" | 0. | + | | style="background-color:#ffadad;" | 0.341 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.527 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.442 |
| style="background-color:#a0c4ff;" | 1.569 | | style="background-color:#a0c4ff;" | 1.569 | ||
| style="background-color:#a0c4ff;" | 1.454 | | style="background-color:#a0c4ff;" | 1.454 | ||
| Line 214: | Line 216: | ||
| style="background-color:#ffd6a5;" | 0.172 | | style="background-color:#ffd6a5;" | 0.172 | ||
| style="background-color:#ffd6a5;" | 0.201 | | style="background-color:#ffd6a5;" | 0.201 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 0.246 |
| − | | style="background-color:#ffadad;" | 0. | + | | style="background-color:#ffadad;" | 0.237 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.278 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 0.251 |
| style="background-color:#a0c4ff;" | 0.647 | | style="background-color:#a0c4ff;" | 0.647 | ||
| style="background-color:#a0c4ff;" | 0.680 | | style="background-color:#a0c4ff;" | 0.680 | ||
| Line 228: | Line 230: | ||
| style="background-color:#ffd6a5;" | 89.7 | | style="background-color:#ffd6a5;" | 89.7 | ||
| style="background-color:#ffd6a5;" | 90.8 | | style="background-color:#ffd6a5;" | 90.8 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 90.0 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 91.5 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 89.9 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 90.0 |
| style="background-color:#a0c4ff;" | 77.5 | | style="background-color:#a0c4ff;" | 77.5 | ||
| style="background-color:#a0c4ff;" | 88.7 | | style="background-color:#a0c4ff;" | 88.7 | ||
| Line 239: | Line 241: | ||
| style="background-color:#ffd6a5;" | 44.4 | | style="background-color:#ffd6a5;" | 44.4 | ||
| style="background-color:#ffd6a5;" | 44.5 | | style="background-color:#ffd6a5;" | 44.5 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 41.8 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 42.2 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 41.7 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 42.9 |
| style="background-color:#a0c4ff;" | 33.0 | | style="background-color:#a0c4ff;" | 33.0 | ||
| style="background-color:#a0c4ff;" | 33.4 | | style="background-color:#a0c4ff;" | 33.4 | ||
| Line 250: | Line 252: | ||
| style="background-color:#ffd6a5;" | 99.8 | | style="background-color:#ffd6a5;" | 99.8 | ||
| style="background-color:#ffd6a5;" | 99.1 | | style="background-color:#ffd6a5;" | 99.1 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 108.5 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 107.4 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 107.6 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 108.1 |
| style="background-color:#a0c4ff;" | 40.6 | | style="background-color:#a0c4ff;" | 40.6 | ||
| style="background-color:#a0c4ff;" | 77.5 | | style="background-color:#a0c4ff;" | 77.5 | ||
| Line 261: | Line 263: | ||
| style="background-color:#ffd6a5;" | 99.2 | | style="background-color:#ffd6a5;" | 99.2 | ||
| style="background-color:#ffd6a5;" | 99.3 | | style="background-color:#ffd6a5;" | 99.3 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 107.7 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 108.6 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 108.1 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 107.5 |
| style="background-color:#a0c4ff;" | 52.1 | | style="background-color:#a0c4ff;" | 52.1 | ||
| style="background-color:#a0c4ff;" | 33.0 | | style="background-color:#a0c4ff;" | 33.0 | ||
| Line 272: | Line 274: | ||
| style="background-color:#ffd6a5;" | 44.1 | | style="background-color:#ffd6a5;" | 44.1 | ||
| style="background-color:#ffd6a5;" | 44.3 | | style="background-color:#ffd6a5;" | 44.3 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 42.0 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 42.1 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 42.1 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 42.0 |
| style="background-color:#a0c4ff;" | 33.2 | | style="background-color:#a0c4ff;" | 33.2 | ||
| style="background-color:#a0c4ff;" | 89.1 | | style="background-color:#a0c4ff;" | 89.1 | ||
| Line 286: | Line 288: | ||
| style="background-color:#ffd6a5;" | 12.29 | | style="background-color:#ffd6a5;" | 12.29 | ||
| style="background-color:#ffd6a5;" | 7.81 | | style="background-color:#ffd6a5;" | 7.81 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 18.03 |
| − | | style="background-color:#ffadad;" | 13. | + | | style="background-color:#ffadad;" | 13.00 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 11.59 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 4.23 |
| style="background-color:#a0c4ff;" | 85.32 | | style="background-color:#a0c4ff;" | 85.32 | ||
| style="background-color:#a0c4ff;" | 25.96 | | style="background-color:#a0c4ff;" | 25.96 | ||
| Line 295: | Line 297: | ||
|- style="text-align:right;" | |- style="text-align:right;" | ||
| style="text-align:left; font-weight:bold;" | CudaDebayer | | style="text-align:left; font-weight:bold;" | CudaDebayer | ||
| − | | style="background-color:#ffd6a5;" | 11. | + | | style="background-color:#ffd6a5;" | 11.60 |
| style="background-color:#ffd6a5;" | 13.04 | | style="background-color:#ffd6a5;" | 13.04 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 28.42 |
| − | | style="background-color:#ffadad;" | 29. | + | | style="background-color:#ffadad;" | 29.00 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 7.28 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 10.38 |
| style="background-color:#a0c4ff;" | 67.27 | | style="background-color:#a0c4ff;" | 67.27 | ||
| style="background-color:#a0c4ff;" | 42.53 | | style="background-color:#a0c4ff;" | 42.53 | ||
| Line 308: | Line 310: | ||
| style="background-color:#ffd6a5;" | 9.75 | | style="background-color:#ffd6a5;" | 9.75 | ||
| style="background-color:#ffd6a5;" | 19.27 | | style="background-color:#ffd6a5;" | 19.27 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 17.22 |
| style="background-color:#ffadad;" | 25.54 | | style="background-color:#ffadad;" | 25.54 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 4.70 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 15.15 |
| style="background-color:#a0c4ff;" | 20.24 | | style="background-color:#a0c4ff;" | 20.24 | ||
| style="background-color:#a0c4ff;" | 75.14 | | style="background-color:#a0c4ff;" | 75.14 | ||
| Line 319: | Line 321: | ||
| style="background-color:#ffd6a5;" | 8.89 | | style="background-color:#ffd6a5;" | 8.89 | ||
| style="background-color:#ffd6a5;" | 24.42 | | style="background-color:#ffd6a5;" | 24.42 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 17.00 |
| style="background-color:#ffadad;" | 24.56 | | style="background-color:#ffadad;" | 24.56 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 5.36 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 17.11 |
| style="background-color:#a0c4ff;" | 26.84 | | style="background-color:#a0c4ff;" | 26.84 | ||
| style="background-color:#a0c4ff;" | 83.35 | | style="background-color:#a0c4ff;" | 83.35 | ||
| Line 330: | Line 332: | ||
| style="background-color:#ffd6a5;" | 4.85 | | style="background-color:#ffd6a5;" | 4.85 | ||
| style="background-color:#ffd6a5;" | 9.14 | | style="background-color:#ffd6a5;" | 9.14 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 13.47 |
| style="background-color:#ffadad;" | 24.68 | | style="background-color:#ffadad;" | 24.68 | ||
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 4.64 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 15.36 |
| style="background-color:#a0c4ff;" | 20.11 | | style="background-color:#a0c4ff;" | 20.11 | ||
| style="background-color:#a0c4ff;" | 81.19 | | style="background-color:#a0c4ff;" | 81.19 | ||
| Line 344: | Line 346: | ||
| style="background-color:#ffd6a5;" | 26.8 | | style="background-color:#ffd6a5;" | 26.8 | ||
| style="background-color:#ffd6a5;" | 28.4 | | style="background-color:#ffd6a5;" | 28.4 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 43.0 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 85.7 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 42.9 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 63.7 |
| style="background-color:#a0c4ff;" | 41.6 | | style="background-color:#a0c4ff;" | 41.6 | ||
| style="background-color:#a0c4ff;" | 43.3 | | style="background-color:#a0c4ff;" | 43.3 | ||
| Line 355: | Line 357: | ||
| style="background-color:#ffd6a5;" | 6.0 | | style="background-color:#ffd6a5;" | 6.0 | ||
| style="background-color:#ffd6a5;" | 6.1 | | style="background-color:#ffd6a5;" | 6.1 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 10.7 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 10.3 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 9.8 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 11.2 |
| style="background-color:#a0c4ff;" | 11.9 | | style="background-color:#a0c4ff;" | 11.9 | ||
| style="background-color:#a0c4ff;" | 11.8 | | style="background-color:#a0c4ff;" | 11.8 | ||
| Line 366: | Line 368: | ||
| style="background-color:#ffd6a5;" | 33.7 | | style="background-color:#ffd6a5;" | 33.7 | ||
| style="background-color:#ffd6a5;" | 32.7 | | style="background-color:#ffd6a5;" | 32.7 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 57.5 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 61.6 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 56.8 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 59.6 |
| style="background-color:#a0c4ff;" | 40.6 | | style="background-color:#a0c4ff;" | 40.6 | ||
| style="background-color:#a0c4ff;" | 31.5 | | style="background-color:#a0c4ff;" | 31.5 | ||
| Line 377: | Line 379: | ||
| style="background-color:#ffd6a5;" | 33.2 | | style="background-color:#ffd6a5;" | 33.2 | ||
| style="background-color:#ffd6a5;" | 33.4 | | style="background-color:#ffd6a5;" | 33.4 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 56.8 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 66.3 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 57.1 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 62.2 |
| style="background-color:#a0c4ff;" | 52.1 | | style="background-color:#a0c4ff;" | 52.1 | ||
| style="background-color:#a0c4ff;" | 52.4 | | style="background-color:#a0c4ff;" | 52.4 | ||
| Line 388: | Line 390: | ||
| style="background-color:#ffd6a5;" | 5.4 | | style="background-color:#ffd6a5;" | 5.4 | ||
| style="background-color:#ffd6a5;" | 6.0 | | style="background-color:#ffd6a5;" | 6.0 | ||
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 9.9 |
| − | | style="background-color:#ffadad;" | | + | | style="background-color:#ffadad;" | 10.4 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 10.0 |
| − | | style="background-color:#c8ffc6;" | | + | | style="background-color:#c8ffc6;" | 10.3 |
| style="background-color:#a0c4ff;" | 11.2 | | style="background-color:#a0c4ff;" | 11.2 | ||
| style="background-color:#a0c4ff;" | 11.8 | | style="background-color:#a0c4ff;" | 11.8 | ||
| Line 399: | Line 401: | ||
<noinclude> | <noinclude> | ||
| − | {{CUDA ISP for NVIDIA Jetson/Foot||}} | + | {{CUDA ISP for NVIDIA Jetson/Foot|Examples/GStreamer usage|Performance/GStreamer}} |
</noinclude> | </noinclude> | ||
Latest revision as of 13:55, 14 June 2023
| CUDA ISP for NVIDIA Jetson | |
|---|---|
 | |
| CUDA ISP for NVIDIA Jetson Basics | |
|
|
|
| Getting Started | |
|
|
|
| User Manual | |
|
|
|
| GStreamer | |
|
|
|
| Examples | |
|
|
|
| Performance | |
|
|
|
| Contact Us | |
|
|
Contents
Library API performance
To measure the CUDA ISP API performance, we built a simple example (provided upon request) that iterates over the Apply methods for each algorithm and records performance metrics for each iteration. We measured the duration of each algorithm's Apply method. We also measured CPU, CPU RAM, GPU, and GPU RAM usage for the complete processing pipeline iterating at 30fps. We ran the experiments on both 1080p and 4K buffers. We also ran the experiments on the Jetson Nano, Jetson Xavier NX, Jetson Xavier AGX, and Jetson AGX Orin.
Software performance measurement tools
- We measured the duration of each
Applymethod separately using thechronolibrary. - We mainly used
sys/times.hlibrary to obtain the CPU usage. However, we used theproc/statusfile to obtain a secondary verification measure. - We read the
/proc/self/statusfile to obtain the CPU RAM usage. - We used
tegrastatsto obtain the GPU usage. - We used
cudaMemGetInfofrom CUDA to measure GPU RAM usage.
Every measurement is averaged over 100 iterations. The iterations are timed to run at 30 iterations per second.
Hardware setup
- On the Jetson Nano, we used Jetpack 4.5.3 and 10W 4 Core MAXN Power Mode (NVP model 0)
- On the Jetson Xavier NX, we used Jetpack 4.5.3 and 20W 6 Core Power Mode (NVP model 8)
- On the Jetson Xavier AGX, we used Jetpack 4.5.1 and 30W 8 Core Power Mode (NVP model 3)
- On the Jetson AGX Orin, we used Jetpack 5.0.2 and 50W 12 Core Power Mode (NVP model 3)
For each system, we also used jetson_clocks to maximize the device clock frequency and thus the performance.
Results
The following table summarizes CUDA ISP's performance results.
| Algorithm | Jetson AGX Orin | Jetson Xavier AGX | Jetson Xavier NX | Jetson Nano | ||||
|---|---|---|---|---|---|---|---|---|
| Buffer size | 1080p | 4K | 1080p | 4K | 1080p | 4K | 1080p | 4K |
| Duration (ms) | ||||||||
| CudaShift | 0.82 | 1.52 | 1.56 | 4.18 | 0.71 | 1.82 | 2.10 | 7.52 |
| CudaDebayer | 0.68 | 1.30 | 1.93 | 5.74 | 0.79 | 2.13 | 2.40 | 8.75 |
| CudaWhiteBalancer (Gray World Algorithm) | 0.84 | 1.66 | 1.94 | 5.21 | 0.99 | 2.22 | 2.51 | 8.51 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 1.24 | 1.91 | 2.33 | 6.87 | 1.11 | 2.71 | 3.18 | 11.06 |
| CudaColorSpaceConverter | 0.91 | 1.60 | 1.23 | 3.13 | 0.59 | 1.31 | 2.05 | 7.70 |
| Framerate (fps) | ||||||||
| CudaShift | 1216 | 660 | 641 | 239 | 1408 | 550 | 475 | 132 |
| CudaDebayer | 1479 | 771 | 519 | 174 | 1259 | 469 | 415 | 114 |
| CudaWhiteBalancer (Gray World Algorithm) | 1197 | 603 | 515 | 191 | 1011 | 451 | 398 | 117 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 807 | 522 | 429 | 145 | 902 | 368 | 314 | 90 |
| CudaColorSpaceConverter | 1104 | 623 | 814 | 319 | 1697 | 761 | 487 | 129 |
| CPU usage (%) | ||||||||
| CudaShift | 0.198 | 0.218 | 0.285 | 0.255 | 0.287 | 0.356 | 0.800 | 0.817 |
| CudaDebayer | 0.121 | 0.161 | 0.238 | 0.237 | 0.263 | 0.280 | 0.873 | 0.665 |
| CudaWhiteBalancer (Gray World Algorithm) | 0.201 | 0.277 | 0.338 | 0.316 | 0.443 | 0.471 | 1.286 | 1.299 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 0.260 | 0.280 | 0.351 | 0.341 | 0.527 | 0.442 | 1.569 | 1.454 |
| CudaColorSpaceConverter | 0.172 | 0.201 | 0.246 | 0.237 | 0.278 | 0.251 | 0.647 | 0.680 |
| CPU RAM (MB) | ||||||||
| CudaShift | 89.7 | 90.8 | 90.0 | 91.5 | 89.9 | 90.0 | 77.5 | 88.7 |
| CudaDebayer | 44.4 | 44.5 | 41.8 | 42.2 | 41.7 | 42.9 | 33.0 | 33.4 |
| CudaWhiteBalancer (Gray World Algorithm) | 99.8 | 99.1 | 108.5 | 107.4 | 107.6 | 108.1 | 40.6 | 77.5 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 99.2 | 99.3 | 107.7 | 108.6 | 108.1 | 107.5 | 52.1 | 33.0 |
| CudaColorSpaceConverter | 44.1 | 44.3 | 42.0 | 42.1 | 42.1 | 42.0 | 33.2 | 89.1 |
| GPU usage (%) | ||||||||
| CudaShift | 12.29 | 7.81 | 18.03 | 13.00 | 11.59 | 4.23 | 85.32 | 25.96 |
| CudaDebayer | 11.60 | 13.04 | 28.42 | 29.00 | 7.28 | 10.38 | 67.27 | 42.53 |
| CudaWhiteBalancer (Gray World Algorithm) | 9.75 | 19.27 | 17.22 | 25.54 | 4.70 | 15.15 | 20.24 | 75.14 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 8.89 | 24.42 | 17.00 | 24.56 | 5.36 | 17.11 | 26.84 | 83.35 |
| CudaColorSpaceConverter | 4.85 | 9.14 | 13.47 | 24.68 | 4.64 | 15.36 | 20.11 | 81.19 |
| GPU RAM (MB) | ||||||||
| CudaShift | 26.8 | 28.4 | 43.0 | 85.7 | 42.9 | 63.7 | 41.6 | 43.3 |
| CudaDebayer | 6.0 | 6.1 | 10.7 | 10.3 | 9.8 | 11.2 | 11.9 | 11.8 |
| CudaWhiteBalancer (Gray World Algorithm) | 33.7 | 32.7 | 57.5 | 61.6 | 56.8 | 59.6 | 40.6 | 31.5 |
| CudaWhiteBalancer (Histogram Stretch Algorithm) | 33.2 | 33.4 | 56.8 | 66.3 | 57.1 | 62.2 | 52.1 | 52.4 |
| CudaColorSpaceConverter | 5.4 | 6.0 | 9.9 | 10.4 | 10.0 | 10.3 | 11.2 | 11.8 |
