CUDA ISP API performance

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 Apply method separately using the chrono library.
We mainly used sys/times.h library to obtain the CPU usage. However, we used the proc/status file to obtain a secondary verification measure.
We read the /proc/self/status file to obtain the CPU RAM usage.
We used tegrastats to obtain the GPU usage.
We used cudaMemGetInfo 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.

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 maximise the device clock frequency and thus the performance.

Results

The following table summarises 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

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