Measuring CUDA ISP API performance using GstShark and GstPerf

CUDA ISP for NVIDIA Jetson
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GStreamer elements performance

To measure the performance, we have used two of our GStreamer tools: GstShark and GstPerf.

For testing purposes, take into account the following points:

• Maximum performance mode enabled: all cores and Jetson clocks enabled.
• Jetpack 4.6
• A patch was applied to v4l2src to enable bayer10 captures. You can see how to apply the patch in this link: Apply patch to v4l2src

In summary:

	Jetson Orin (2472x2064)						Jetson Xavier AGX (+1080p)				Jetson Xavier NX (4K)						Jetson Nano (4K)
Element	cudashift		cudadebayer		cudaawb		cudadebayer		cudaawb		cudashift		cudadebayer		cudaawb		cudashift		cudadebayer		cudaawb
Output	bayer 8		RGB	I420	RGB	I420	RGB	I420	RGB	I420	bayer 8		RGB	I420	RGB	I420	bayer 8		RGB	I420	RGB	I420
FPS	1382		1063	861	1800	1022	539	458	752	473	396		228	187	370	202	92		51	36	91	38
Processing time (milliseconds)	0.7237		0.9411	1.161	0.5557	0.9781	1.854	2.183	1.329	2.111	2.522		4.389	5.353	2.698	4.952	10.886		19.484	27.696	10.961	26.022

Jetson Orin

In this case, the patch for v4l2src was modified to enable captures in bayer 12. The processing time and FPS were measured with an input image with 2472x2064 resolution from a camera sensor for all the elements.

The following pipeline measured the processing time and FPS for the cudashift element.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=12, width=2472, height=2064, format=rggb' ! cudashift shift=5 ! fakesink

The following pipeline was used to test the cudadebayer and cudaawb elements with an RGB image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=12, width=2472, height=2064, format=rggb' ! cudadebayer ! cudaawb ! 'video/x-raw, format=RGB' ! fakesink

The following pipeline was used to test the cudadebayer and cudaawb elements with an I420 image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=12, width=2472, height=2064, format=rggb' ! cudadebayer ! cudaawb ! 'video/x-raw, format=I420' ! fakesink

The following image shows a plot with the processing time for all elements:

CUDA ISP library

Jetson Xavier AGX

The processing time and FPS were measured with an input image with +1080p resolution from a camera sensor for all the elements.

The following pipeline was used to test the cudadebayer and cudaawb elements with an RGB image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=1920, height=1200, format=grbg' ! cudadebayer ! cudaawb ! 'video/x-raw, format=RGB' ! fakesink

The following pipeline was used for the cudadebayer and cudaawb elements with an I420 image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=1920, height=1200, format=grbg' ! cudadebayer ! cudaawb ! 'video/x-raw, format=I420' ! fakesink

The following image shows a plot with the processing time for all elements:

CUDA ISP library

Jetson Xavier NX

The processing time and FPS were measured with an input image with 4K resolution from a camera sensor for all the elements.

The following pipeline measured the processing time and FPS for the cudashift element.

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GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, format=rggb' ! cudashift shift=5 ! fakesink

The following pipeline was used to test the cudadebayer and cudaawb elements with an RGB image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=3840, height=2160' ! cudadebayer ! cudaawb ! fakesink

The following pipeline was used to test the cudadebayer and cudaawb elements with an I420 image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=3840, height=2160' ! cudadebayer ! cudaawb ! 'video/x-raw, format=I420' ! fakesink

The following image shows a plot with the processing time for all elements:

CUDA ISP library

Jetson Nano

The processing time and FPS were measured with an input image with 4K resolution from a camera sensor for all the elements.

The following pipeline measured the processing time and FPS for the cudashift element.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, format=rggb' ! cudashift shift=0 ! fakesink

he following pipeline was used to testing the cudadebayer and cudaawb elements with an RGB image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=3840, height=2160' ! cudadebayer ! cudaawb ! fakesink

The following pipeline was used to test the cudadebayer and cudaawb elements with an I420 image as output.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src io-mode=userptr ! 'video/x-bayer, bpp=10, width=3840, height=2160' ! cudadebayer ! cudaawb ! 'video/x-raw, format=I420' ! fakesink

The following image shows a plot with the processing time for all elements:

CUDA ISP library

More cameras

This section shows the performance results for the elements running simultaneously on multiple cameras on a Jetson Xavier AGX. For all the tests done with an RGB output image, the following pipeline was used to measure the processing time and FPS for the cudaawb and the cudadebayer element with an input image with 1920x1200 resolution coming from multiple camera sensors.

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src device=/dev/video0 io-mode=userptr ! 'video/x-bayer, bpp=10, width=1920, height=1200, format=grbg' ! cudadebayer ! cudaawb ! 'video/x-raw, format=RGB' ! fakesink

In the same way, all the tests are done with an I420 output image. the following pipeline was used to measure the processing time and FPS for the cudaawb and the cudadebayer element with an input image with 1920x1200 resolution coming from multiple camera sensors

GST_DEBUG="GST_TRACER:7" GST_TRACERS="proctime" gst-launch-1.0 -ve v4l2src device=/dev/video1 io-mode=userptr ! 'video/x-bayer, bpp=10, width=1920, height=1200, format=grbg' ! cudadebayer ! cudaawb ! 'video/x-raw, format=I420' ! fakesink

The results obtained:

cudadebayer
Output	RGB				I420
Number of cameras	Two	Three	Four	Five	Two	Three	Four	Five
FPS	412	429	385	494	464	402	320	332
Processing time (milliseconds)	2.426	2.354	2.597	2.025	2.154	2.486	3.128	3.011

cudaawb
Output	RGB				I420
Number of cameras	Two	Three	Four	Five	Two	Three	Four	Five
FPS	397	374	689	347	429	450	289	296
Processing time (milliseconds)	2.521	2.672	1.450	2.883	2.330	2.20	3.459	3.375