Birds Eye View - Performance on NVIDIA Jetson

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Performance Measurements
NVIDIA Jetson
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In the following wiki, you can find the performance measurements for Jetson Orin platforms using the GstBEV plugin.

Considerations

The performance measurements were done with a resolution of 1024x768px and 60 fps.

The following sections show a comparison between using the platform at a maximum frequency (With jetson_clocks) and in base mode. This mode can be set as follows:

sudo /usr/bin/jetson_clocks

Jetson AGX Orin

Framerate

The average Frames per Second measurements are shown in the following charts, for the two common cases of use for Birds Eye View (4 and 6 inputs). Also, the impact of executing or not the jetson_clocks script is shown in the results.

1024x768

FPS on 1024x768 video with and without jetson_clocks.sh

1080x720

FPS on 1080x720 video with and without jetson_clocks.sh

1920x1080

FPS on 1920x1080 video with and without jetson_clocks.sh

4K

FPS on 4K video with and without jetson_clocks.sh

Pipeline Structure

The general structure of the pipeline used for the FPS measurements above is the following:

GST_DEBUG=2 gst-launch-1.0 bev name=bev0 calibration-file=birds_eye_view.json \
 filesrc location=$INPUT_0 ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! $CAPS ! bev0.sink_0 \
 filesrc location=$INPUT_1 ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! $CAPS ! bev0.sink_1 \
 filesrc location=$INPUT_2 ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! $CAPS ! bev0.sink_2 \
 filesrc location=$INPUT_3 ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! $CAPS ! bev0.sink_3 \
bev0. ! perf print-cpu-load=true  ! fakesink -v

Latency

The next table will summarize the latency added the BEV plugin for different resolutions and common setup cameras (4 and 6). Also, the comparison when using or not jetson clocks.

Latency for common resolutions and setups with and without jetson clocks.

Resolution	Inputs	Latency (ms)
		Jetson Clocks	Normal
1280x720	4	7.313831	10.511158
1920x1080	4	9.759018	14.606874
4K	4	33.144881	53.896635
1280x720	6	9.77772	15.066253
1920x1080	6	13.639131	20.51331
4K	6	45.892468	65.539032

Jetson Orin Platforms CPU Usage

In the following table, you can see the performance with and without Jetson Clocks for different platforms from the Orin family with cases of 4 and 6 input video sources with a resolution of 1024x768 with 60fps.

CPU Usage percentage for each platform

Platform	Mode	Cameras	CPU
			Avg	1	2	3	4	5	6	7	8	9	10	11	12
Orin NX	Normal	4	16%	15%	19%	11%	17%	-	-	-	-	-	-	-	-
		6	21%	19%	22%	21%	21%	-	-	-	-	-	-	-	-
	Jetson Clocks	4	12%	11%	12%	12%	12%	-	-	-	-	-	-	-	-
		6	16%	15%	18%	16%	16%	-	-	-	-	-	-	-	-
AGX Orin	Normal	4	6%	1%	29%	14%	0%	0%	0%	0%	0%	-	-	-	-
		6	5%	1%	7%	34%	0%	0%	0%	0%	0%	-	-	-	-
	Jetson Clocks	4	5%	1%	5%	25%	8%	0%	0%	0%	0%	-	-	-	-
		6	5%	1%	15%	17%	4%	0%	0%	0%	0%	-	-	-	-

Jetson Orin Platforms GPU and RAM Usage

In the following table, you can see the performance with and without Jetson Clocks for different platforms from the Orin family with cases of 4 and 6 input video sources with a resolution of 1280x720 with 60fps.

GPU and RAM Usage percentage for each platform

Platform	Mode	Cameras	GPU	RAM
Orin Nx	Normal	4	70.29%	7.18%
		6	77.07%	7.75%
	Jetson Clocks	4	76%	7.21%
		6	79%	7.82%
Orin AGX	Normal	4	65%	4.46%
		6	65%	4.94%
	Jetson Clocks	4	69%	4.51%
		6	69%	4.88%