CUDA Accelerated GStreamer Camera Undistort - Orin

The performance of the CUDA undistort element depends mainly on the input image resolution.

The following sections show the measurements of the cuda-undistort (FPS and Processing time) for the following resolutions.

HD=1920x1080
4K=3840x2160

Platform Setup

The performance measurements were done with the AGX Orin at MAXN mode, which can be activated with

sudo nvpmodel -m 0

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

Pipeline structure

The general structure of the pipeline used for the latency measurements is shown below, for the Fisheye model.

GST_DEBUG='GST_TRACER:7' GST_TRACERS='proctime' gst-launch-1.0 filesrc location=brownconrady_distortion.mp4 ! qtdemux ! h264parse ! avdec_h264 ! nvvidconv ! 'video/x-raw(memory:NVMM),height=3840,width=2160' ! rrcudaundistort distortion-model=brown-conrady camera-matrix="{\"fx\":9.5211633874478218e+02, \"fy\":9.4946222068253201e+02, \"cx\":6.8041416457132573e+02, \"cy\":3.1446117133659988e+02}" distortion-parameters="{\"k1\":3.8939572818197948e-01, \"k2\":-5.5685725182648649e-01, \"k3\":2.3785352925072494e+00, \"k4\":-1.2037220289124213e+00}" ! perf ! fakesink -v

Results

The following table shows the results for the following platforms.

AGX Orin with JP 6.2

Table 1: Performance results for CUDA Undistort.
Input	CPU Load(%)	RAM(%)	GPU Load(%)	Processing time (ms)	Framerate (FPS)
HD	11.228	1.156	3.42	1.103361	131.284
4K	8.067	1.776	6.79	2.929021	80.853

Orin Nano with JP 7.2

Table 1: Performance results for CUDA Undistort.
Input	CPU Load(%)	RAM(%)	GPU Load(%)	Processing time (ms)	Framerate (FPS)
HD	26.968	4.900	6.95	2.807	78.735
4K	17.277	7.474	9.26	7.241	42.256

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