Benchmarking and Evaluation with NVIDIA Jetson Platform

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Event Cameras Developer Guide from RidgeRun
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Introduction

This page documents the latency benchmarking of the Prophesee GenX320 event-based sensor running on an NVIDIA Jetson Orin NX platform with JetPack 6.2.1 and driver version v0.1.0.

The goal of this benchmark is to measure end-to-end latency from a physical stimulus (LED activation) to its detection in software. Different streaming configurations (frame rate and resolution) are evaluated to understand their impact on latency.

Measurement Setup

To obtain accurate and reproducible latency measurements, the following controlled setup was used:

  • The sensor was placed inside a closed enclosure containing only a single LED.
  • The enclosure ensures that no external light sources generate spurious events, making the LED the only source of activity.

Measurement Methodology

  1. A test application turns the LED ON and records a timestamp using the TSC (Time Stamp Counter). This timestamp is referred to as t0.
  2. The software continuously reads buffers from the driver and counts the number of events per buffer.
  3. Since the scene is static, any significant increase in the number of events indicates a change caused by the LED turning ON or OFF.
  4. When the number of events exceeds a predefined threshold, the LED transition is considered detected, and a second timestamp t1 is recorded.
  5. The latency is computed as:
  6. Latency = t1 - t0

This procedure was repeated 10 times for each configuration, and the average latency was computed.

Driver Configuration

The driver supports:

  • Variable and fixed frame size streaming modes
  • Configurable buffer width and height
  • Configurable frame period

For these tests, the variable mode was used with different configurations depending on the target frame rate.

Results

100 FPS (4096x391)

Driver Configuration

#define GENX320_TRANSPORT_MODE "variable"
#define GENX320_TRANSPORT_PACKET_SIZE 4096
#define GENX320_TRANSPORT_FRAME_SIZE 391
#define GENX320_TRANSPORT_WINDOW_US 10000
Run Latency (ms)
1 9.087168
2 9.235584
3 9.254272
4 9.276032
5 9.236672
6 9.287712
7 9.200384
8 9.236928
9 9.240672
10 9.304736
Average 9.236016

500 FPS (4096x391)

Driver Configuration

#define GENX320_TRANSPORT_MODE "variable"
#define GENX320_TRANSPORT_PACKET_SIZE 4096
#define GENX320_TRANSPORT_FRAME_SIZE 391
#define GENX320_TRANSPORT_WINDOW_US 2000
Run Latency (ms)
1 3.634240
2 3.655680
3 1.669664
4 3.631840
5 3.695136
6 3.710016
7 3.689472
8 3.682400
9 1.705376
10 3.693696
Average 3.276752

1000 FPS (1024x32)

Driver Configuration

#define GENX320_TRANSPORT_MODE "variable"
#define GENX320_TRANSPORT_PACKET_SIZE 1024
#define GENX320_TRANSPORT_FRAME_SIZE 32
#define GENX320_TRANSPORT_WINDOW_US 1008
Run Latency (ms)
1 2.547680
2 2.560480
3 2.566528
4 2.591328
5 2.539584
6 2.540864
7 2.536064
8 2.562976
9 2.599968
10 2.543776
Average 2.558925

Summary

The results show that latency decreases as the frame rate increases and resolution is reduced. This behavior aligns with expectations, as smaller buffers and higher frame rates reduce the time required for event accumulation and processing.

These measurements provide a baseline for evaluating driver performance and can be used to guide configuration choices depending on latency requirements.



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