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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
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Messages
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Services
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Plugins
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Recent questions tagged a1_perception_2nodes at Robotics Stack Exchange
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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CHANGELOG
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Launch files
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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CHANGELOG
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Launch files
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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CHANGELOG
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Package Dependencies
System Dependencies
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Launch files
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Plugins
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Recent questions tagged a1_perception_2nodes at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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CHANGELOG
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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CHANGELOG
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Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
File truncated at 100 lines see the full file
CHANGELOG
No CHANGELOG found.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
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Recent questions tagged a1_perception_2nodes at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
A simple perception computational graph composed by 2 Components,
`rectify` and `resize` operations. Used to demonstrate a simple perception
pipeline using the image_pipeline package.
Additional Links
No additional links.
Maintainers
- Víctor Mayoral Vilches
Authors
- Víctor Mayoral Vilches
a1_perception_2nodes
Perception computational graph composed by 2 dataflow-connected Components, rectify and resize.
ID
a1
Description
A simple perception computational graph composed by 2 Components, rectify and resize operations. Used to demonstrate a simple perception pipeline using the image_pipeline package.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/perception/a1_perception_2nodes and review the launch files to reproduce this package.
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :black_circle: | Intel i7-12700H | latency | 20.4 | workstation | 07-07-2023 | mean 14.73 ms, RMS 14.84 ms, max 20.40 ms, min 6.03 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H | power | 12.46 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 30.156 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.14 | workstation | 07-07-2023 | mean 13.45 ms, RMS 13.52 ms, max 20.14 ms, min 8.39 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.174 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 16.79 | workstation | 07-07-2023 | mean 8.14 ms, RMS 8.23 ms, max 16.79 ms, min 5.28 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.206 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 17.47 | workstation | 07-07-2023 | mean 11.94 ms, RMS 12.06 ms, max 17.47 ms, min 7.41 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | power | 39.4 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 30.183 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL and NVML | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | latency | 20.67 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i5-13600K + NVIDIA GeForce RTX 3060 (ROBOTCORE® Perception) | throughput | 296.326 | workstation | 07-07-2023 | mean 8.85 ms, rms 9.24 ms, max 20.67 ms, min 1.97 ms, % frames lost 0.13 %. Throughput configured in the 30-300 FPS range. Mean FPS observed 296.326. | perception/image |
| :black_circle: | Intel i7-12700H | latency | 180.26 | workstation | 07-07-2023 | mean 66.17 ms, rms 71.71 ms, max 180.26 ms, min 3.92 ms, % frames lost 1.92 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. | perception/image |
| :black_circle: | Intel i7-12700H | power | 41.44 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. Estimated with RAPL | perception/image |
| :black_circle: | Intel i7-12700H | throughput | 174.432 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 174.432. % frames lost 1.92 % | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 286.57 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 223.602 | workstation | 07-07-2023 | mean 138.60 ms, rms 157.59 ms, max 286.57 ms, min 3.83 ms, % frames lost 5.09 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 223.602. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | latency | 197.53 | workstation | 07-07-2023 | mean 88.81 ms, rms 101.41 ms, max 197.53 ms, min 3.22 ms, % frames lost 3.24 %. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | power | 42.08 | workstation | 07-07-2023 | Estimated with RAPL and NVML. Throughput configured in the 30-500 FPS range. Mean FPS observed 220.951. | perception/image |
| :black_circle: | Intel i7-12700H + NVIDIA GeForce RTX 3060 (ROBOTCORE\xAE Perception) | throughput | 220.951 | workstation | 07-07-2023 | Throughput configured in the 30-500 FPS range. Mean FPS observed 220.91. % frames lost 3.24 % | perception/image |
| :black_circle: | Intel i5-13600K | latency | 24.67 | workstation | 07-07-2023 | mean 12.15 ms, RMS 13.14 ms, max 24.67 ms, min 5.71 ms, throughput bounded to 30fps | perception/image |
| :black_circle: | Intel i5-13600K | power | 21.37 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :black_circle: | Intel i5-13600K | throughput | 30.168 | workstation | 07-07-2023 | throughput bounded to 30fps, estimated with RAPL | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | latency | 66.82 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception, the Kria KR260 is able to achieve a latency of 66.82 ms. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | throughput | 30.0 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Kria KR260 (ROBOTCORE® Perception) | power | 7.05 | edge | 14-10-2022 | Leveraging ROBOTCORE® Perception. | perception/image |
| :white_circle: | Jetson Nano | latency | 238.13 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Jetson AGX Xavier | latency | 106.34 | edge | 14-10-2022 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 27.86298 | workstation | 2023-06-25 15:10:31 | mean_benchmark 13.880188545454546, rms_benchmark 14.387412826011047, max_benchmark 27.86298, min_benchmark 9.530861999999999, lost messages 4.55 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 46.155170000000005 | workstation | 2023-06-30 21:13:04 | mean_benchmark 13.729018779411762, rms_benchmark 14.764683243129985, max_benchmark 46.155170000000005, min_benchmark 6.645244999999999, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 16.729871 | workstation | 2023-07-01 13:33:05 | mean_benchmark 13.63853788, rms_benchmark 13.767741008697662, max_benchmark 16.729871, min_benchmark 10.103081999999999, lost messages 8.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.1712188720703125 | workstation | 2023-07-01 13:36:18 | perception/image | |
| :white_circle: | Intel i7-8700K | latency | 40.397632 | workstation | 2023-07-01 17:24:11 | mean_benchmark 14.55271958490566, rms_benchmark 15.300233260168039, max_benchmark 40.397632, min_benchmark 8.393206000000001, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.394293785095215 | workstation | 2023-07-01 17:27:21 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 29.25599254168803 | workstation | 2023-07-01 17:30:50 | mean_benchmark 29.25599254168803, rms_benchmark 29.710040331431454, max_benchmark 45.27460770005173, min_benchmark 9.43612660892683, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 41.113 | workstation | 2023-07-01 17:34:06 | mean_benchmark 14.362254691176473, rms_benchmark 15.069385102593149, max_benchmark 41.113, min_benchmark 7.722244, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 8.909062385559082 | workstation | 2023-07-01 17:37:37 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.245347842949002 | workstation | 2023-07-01 17:40:49 | mean_benchmark 30.245347842949002, rms_benchmark 30.287857695872127, max_benchmark 40.78378772658402, min_benchmark 27.675432490902267, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 18.400618 | workstation | 2023-07-01 17:44:20 | mean_benchmark 13.160526823529413, rms_benchmark 13.34882615613099, max_benchmark 18.400618, min_benchmark 7.568259, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 8.779195785522461 | workstation | 2023-07-01 17:47:49 | perception/image | |
| :black_circle: | Intel i7-8700K | throughput | 30.004940357991266 | workstation | 2023-07-01 17:51:14 | mean_benchmark 30.004940357991266, rms_benchmark 30.012328118390013, max_benchmark 32.865597813885636, min_benchmark 28.0221810134255, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 15.917812 | workstation | 2023-07-04 19:24:54 | ✋ mean_benchmark 15.065448686274511, rms_benchmark 15.081856587494695, max_benchmark 15.917812, min_benchmark 12.762773000000001, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 4.9055280685424805 | workstation | 2023-07-04 19:27:08 | ✋ | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 29.46749702654583 | workstation | 2023-07-04 19:29:42 | ✋ mean_benchmark 29.46749702654583, rms_benchmark 29.85209139299099, max_benchmark 41.49057892095183, min_benchmark 9.56112998329441, lost messages 7.84 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | latency | 13.539426000000002 | workstation | 2023-07-04 19:32:12 | mean_benchmark 11.184403911764704, rms_benchmark 11.238754668101638, max_benchmark 13.539426000000002, min_benchmark 6.467779999999999, lost messages 0.00 % | perception/image |
| :white_circle: | AMD Ryzen 5 PRO 4650G | power | 5.821311950683594 | workstation | 2023-07-04 19:34:36 | perception/image | |
| :white_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.01906058364618 | workstation | 2023-07-04 19:36:55 | mean_benchmark 30.01906058364618, rms_benchmark 30.021442875132216, max_benchmark 31.112538001242804, min_benchmark 28.72153139758829, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 279.754518 | workstation | 2023-07-04 19:39:18 | mean_latency 30.61729680003763, rms_latency 46.194445328429005, max_latency 279.754518, min_latency 4.734407, lost messages 0.67 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | latency | 18.098937 | workstation | 2023-07-04 19:39:30 | mean_latency 14.913954683999998, rms_latency 14.940958418822296, max_latency 18.098937, min_latency 8.64745, lost messages 0.00 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | power | 5.873101806640625 | workstation | 2023-07-04 19:41:52 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 21.843911999999996 | workstation | 2023-07-04 19:42:54 | ✋ mean_benchmark 15.402625624999999, rms_benchmark 15.749233067248435, max_benchmark 21.843911999999996, min_benchmark 10.943434, lost messages 8.33 % | perception/image |
| :black_circle: | AMD Ryzen 5 PRO 4650G | throughput | 30.18621988620588 | workstation | 2023-07-04 19:44:09 | lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 7.200333595275879 | workstation | 2023-07-04 19:46:06 | ✋ | perception/image |
| :white_circle: | Intel i7-8700K | throughput | 28.852008970914273 | workstation | 2023-07-04 19:49:20 | ✋ mean_benchmark 28.852008970914273, rms_benchmark 29.31653467093937, max_benchmark 33.00990122084147, min_benchmark 5.05778373773526, lost messages 8.33 % | perception/image |
| :white_circle: | Intel i7-8700K | latency | 34.541771999999995 | workstation | 2023-07-04 19:52:40 | mean_benchmark 13.723548264705883, rms_benchmark 14.328320398268737, max_benchmark 34.541771999999995, min_benchmark 6.713529, lost messages 0.00 % | perception/image |
| :white_circle: | Intel i7-8700K | power | 9.386639595031738 | workstation | 2023-07-04 19:55:56 | perception/image | |
| :white_circle: | Intel i7-8700K | throughput | 30.099580444929877 | workstation | 2023-07-04 19:59:11 | mean_benchmark 30.099580444929877, rms_benchmark 30.122942749312358, max_benchmark 36.31387974586095, min_benchmark 27.029732191846016, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | latency | 35.64045 | workstation | 2023-07-04 20:02:42 | mean_latency 15.824567146666663, rms_latency 16.264707645733257, max_latency 35.64045, min_latency 8.539434, lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | power | 10.05392665863037 | workstation | 2023-07-04 20:05:56 | lost messages 0.00 % | perception/image |
| :black_circle: | Intel i7-8700K | throughput | 30.133737477748106 | workstation | 2023-07-04 20:09:11 | lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 285.33093 | edge | 2023-07-04 21:05:22 | ✋ mean_benchmark 205.70653579999998, rms_benchmark 212.6838805259807, max_benchmark 285.33093, min_benchmark 102.862154, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 36.08898833599122 | edge | 2023-07-04 21:10:15 | ✋ mean_benchmark 36.08898833599122, rms_benchmark 58.95959432184469, max_benchmark 164.43871393797338, min_benchmark 3.3160629129159465, lost messages 0.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 333.066004 | edge | 2023-07-04 21:12:37 | mean_benchmark 213.1567884137931, rms_benchmark 221.99726139542153, max_benchmark 333.066004, min_benchmark 138.89368499999998, lost messages 134.48 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.987402925011587 | edge | 2023-07-04 21:17:26 | mean_benchmark 16.987402925011587, rms_benchmark 19.140614843121043, max_benchmark 33.282228471515324, min_benchmark 2.990200938094211, lost messages 134.48 % | perception/image |
| :black_circle: | Kria KR260 | latency | 8128.944581 | edge | 2023-07-04 21:19:47 | mean_latency 1501.675240872109, rms_latency 1964.2360924180048, max_latency 8128.944581, min_latency 54.538561, lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | power | 8.96831017167883e-44 | edge | 2023-07-04 21:22:09 | lost messages 49.33 % | perception/image |
| :black_circle: | Kria KR260 | throughput | 12.252896886152516 | edge | 2023-07-04 21:24:31 | lost messages 49.33 % | perception/image |
| :white_circle: | Kria KR260 | latency | 259.095073 | edge | 2023-07-04 21:26:51 | ✋ mean_benchmark 222.7508718, rms_benchmark 224.45958453083898, max_benchmark 259.095073, min_benchmark 174.50145700000002, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 77.49089510354665 | edge | 2023-07-04 21:32:05 | ✋ mean_benchmark 77.49089510354665, rms_benchmark 124.94491497961967, max_benchmark 246.50511214626823, min_benchmark 12.3101749480209, lost messages 120.00 % | perception/image |
| :white_circle: | Kria KR260 | latency | 287.390388 | edge | 2023-07-04 21:34:22 | mean_benchmark 172.67983381818183, rms_benchmark 175.4550642778125, max_benchmark 287.390388, min_benchmark 124.83838399999999, lost messages 106.06 % | perception/image |
| :white_circle: | Kria KR260 | throughput | 16.749318888002247 | edge | 2023-07-04 21:39:16 | mean_benchmark 16.749318888002247, rms_benchmark 18.41709240883319, max_benchmark 35.260237122273864, min_benchmark 7.939015279158882, lost messages 106.06 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 26.884701 | edge | 2023-07-04 21:41:38 | ✋ mean_benchmark 15.617896488888887, rms_benchmark 15.792335809152481, max_benchmark 26.884701, min_benchmark 11.359923000000002, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 11.319457054138184 | edge | 2023-07-04 21:44:04 | ✋ | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 28.72494072900588 | edge | 2023-07-04 21:46:23 | ✋ mean_benchmark 28.72494072900588, rms_benchmark 29.326112707755627, max_benchmark 37.369213358626816, min_benchmark 5.9837027870890855, lost messages 6.67 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | latency | 30.509963000000003 | edge | 2023-07-04 21:48:45 | mean_benchmark 20.579600852941176, rms_benchmark 20.891457848327377, max_benchmark 30.509963000000003, min_benchmark 10.927502, lost messages 0.00 % | perception/image |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | power | 12.452531814575195 | edge | 2023-07-04 21:51:14 | perception/image | |
| :white_circle: | NVIDIA AGX Orin Dev. Kit | throughput | 30.05063245740599 | edge | 2023-07-04 21:53:37 | mean_benchmark 30.05063245740599, rms_benchmark 30.073910061929155, max_benchmark 33.262933443464696, min_benchmark 27.9845783704899, lost messages 0.00 % | perception/image |
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