CUDA ISP API performance
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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 Orin Nano, Jetson Orin NX, Jetson Thor T5000, 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 Orin Nano, we used Jetpack 6.2 and 6 Core MAXN Power Mode (NVP model 0)
- On the Jetson Orin NX, we used Jetpack 6.2.0 and MAXN Performance Power Mode (NVP model 0)
- On the Jetson Orin AGX, we used Jetpack 6.2 and MAXN Performance Power Mode (NVP model 3)
- On the Jetson Thor T5000, we used Jetpack 7.0 and 120W 14 Core Power Mode (NVP model 1)
For each system, we also used jetson_clocks to maximise the device clock frequency and thus the performance.
Results
The following table summarises CUDA ISP's performance results.
| Algorithm | Jetson AGX Orin | Jetson Thor T5000 | Jetson Orin NX | Jetson Orin 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 |