/
isaac_ros_apriltag_node-orin_nano.json
92 lines (92 loc) · 7.33 KB
/
isaac_ros_apriltag_node-orin_nano.json
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
{
"BasicPerformanceMetrics.RECEIVED_DURATION": 4990.162353515625,
"BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 74.73208461948755,
"BasicPerformanceMetrics.MEAN_FRAME_RATE": 74.08534514191841,
"BasicPerformanceMetrics.NUM_MISSED_FRAMES": 2.3333333333333335,
"BasicPerformanceMetrics.NUM_FRAMES_SENT": 372.0,
"BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 20.482177734375,
"BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 32.692301432291664,
"BasicPerformanceMetrics.MAX_JITTER": 4.766845703125,
"BasicPerformanceMetrics.MIN_JITTER": 0.000732421875,
"BasicPerformanceMetrics.MEAN_JITTER": 0.6934217370074728,
"BasicPerformanceMetrics.STD_DEV_JITTER": 0.5896717250861204,
"CPUProfilingMetrics.MAX_CPU_UTIL": 17.150000000000002,
"CPUProfilingMetrics.MIN_CPU_UTIL": 1.0,
"CPUProfilingMetrics.MEAN_CPU_UTIL": 7.788333333333334,
"CPUProfilingMetrics.STD_DEV_CPU_UTIL": 5.284109767431531,
"CPUProfilingMetrics.BASELINE_CPU_UTIL": 12.872222222222222,
"10.0fps": {
"BasicPerformanceMetrics.RECEIVED_DURATION": 4897.870361328125,
"BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 10.204045535353902,
"BasicPerformanceMetrics.MEAN_FRAME_RATE": 10.208518460346061,
"BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0,
"BasicPerformanceMetrics.NUM_FRAMES_SENT": 50,
"BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 20.069091796875,
"BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 17.922119140625,
"BasicPerformanceMetrics.MAX_JITTER": 4.150390625,
"BasicPerformanceMetrics.MIN_JITTER": 0.074951171875,
"BasicPerformanceMetrics.MEAN_JITTER": 1.1535746256510417,
"BasicPerformanceMetrics.STD_DEV_JITTER": 0.8171811372813368,
"CPUProfilingMetrics.MAX_CPU_UTIL": 5.366666666666667,
"CPUProfilingMetrics.MIN_CPU_UTIL": 3.0,
"CPUProfilingMetrics.MEAN_CPU_UTIL": 3.7399999999999998,
"CPUProfilingMetrics.STD_DEV_CPU_UTIL": 0.8455504453050426,
"CPUProfilingMetrics.BASELINE_CPU_UTIL": 3.1833333333333336
},
"60.0fps": {
"BasicPerformanceMetrics.RECEIVED_DURATION": 4983.412109375,
"BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 60.200430985702695,
"BasicPerformanceMetrics.MEAN_FRAME_RATE": 60.199717265129976,
"BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0,
"BasicPerformanceMetrics.NUM_FRAMES_SENT": 300,
"BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 18.755859375,
"BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 18.81494140625,
"BasicPerformanceMetrics.MAX_JITTER": 29.23388671875,
"BasicPerformanceMetrics.MIN_JITTER": 0.00048828125,
"BasicPerformanceMetrics.MEAN_JITTER": 2.663202272965604,
"BasicPerformanceMetrics.STD_DEV_JITTER": 2.4314798515081106,
"CPUProfilingMetrics.MAX_CPU_UTIL": 14.1,
"CPUProfilingMetrics.MIN_CPU_UTIL": 10.316666666666666,
"CPUProfilingMetrics.MEAN_CPU_UTIL": 11.343333333333334,
"CPUProfilingMetrics.STD_DEV_CPU_UTIL": 1.389668225792681,
"CPUProfilingMetrics.BASELINE_CPU_UTIL": 10.816666666666668
},
"30.0fps": {
"BasicPerformanceMetrics.RECEIVED_DURATION": 4964.287353515625,
"BasicPerformanceMetrics.MEAN_PLAYBACK_FRAME_RATE": 30.20123935190028,
"BasicPerformanceMetrics.MEAN_FRAME_RATE": 30.21581736072802,
"BasicPerformanceMetrics.NUM_MISSED_FRAMES": 0,
"BasicPerformanceMetrics.NUM_FRAMES_SENT": 150,
"BasicPerformanceMetrics.FIRST_SENT_RECEIVED_LATENCY": 20.50537109375,
"BasicPerformanceMetrics.LAST_SENT_RECEIVED_LATENCY": 18.109130859375,
"BasicPerformanceMetrics.MAX_JITTER": 4.28369140625,
"BasicPerformanceMetrics.MIN_JITTER": 0.035888671875,
"BasicPerformanceMetrics.MEAN_JITTER": 1.1481620169974662,
"BasicPerformanceMetrics.STD_DEV_JITTER": 0.9373250846587077,
"CPUProfilingMetrics.MAX_CPU_UTIL": 8.316666666666666,
"CPUProfilingMetrics.MIN_CPU_UTIL": 5.25,
"CPUProfilingMetrics.MEAN_CPU_UTIL": 7.226666666666667,
"CPUProfilingMetrics.STD_DEV_CPU_UTIL": 1.1021998205608838,
"CPUProfilingMetrics.BASELINE_CPU_UTIL": 5.25
},
"custom": {
"data_resolution": "HD (1280,720)"
},
"metadata": {
"BenchmarkMetadata.NAME": "Isaac ROS AprilTagNode Benchmark",
"BenchmarkMetadata.TEST_FILE_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_benchmark/scripts/isaac_ros_apriltag_node.py",
"BenchmarkMetadata.TEST_DATETIME": "2023-10-17T06:57:08Z",
"BenchmarkMetadata.DEVICE_HOSTNAME": "ros-xyonlp4bzneudpeazat2tb6lfm",
"BenchmarkMetadata.DEVICE_ARCH": "aarch64",
"BenchmarkMetadata.DEVICE_OS": "Linux 5.10.120-tegra #1 SMP PREEMPT Tue Aug 1 12:32:50 PDT 2023",
"BenchmarkMetadata.IDLE_CPU_UTIL": 3.1666666666666665,
"BenchmarkMetadata.BENCHMARK_MODE": 1,
"BenchmarkMetadata.PEAK_THROUGHPUT_PREDICTION": 74.53125,
"BenchmarkMetadata.INPUT_DATA_PATH": "/workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/assets/datasets/r2b_dataset/r2b_storage",
"BenchmarkMetadata.INPUT_DATA_SIZE": 3087908864,
"BenchmarkMetadata.INPUT_DATA_HASH": "5e8f11201fe10dbac7307a8628553e94",
"BenchmarkMetadata.INPUT_DATA_START_TIME": 3.0,
"BenchmarkMetadata.INPUT_DATA_END_TIME": 3.5,
"BenchmarkMetadata.CONFIG": "ros2_benchmark_config:\n additional_fixed_publisher_rate_tests:\n - 10.0\n - 30.0\n - 60.0\n assets_root: /workspaces/isaac_ros-dev/ros_ws/src/ros2_benchmark/assets\n benchmark_duration: 5.0\n benchmark_mode: BenchmarkMode.LOOPING\n benchmark_name: Isaac ROS AprilTagNode Benchmark\n benchmark_namespace: r2b\n binary_search_acceptable_frame_loss_fraction: 0.05\n binary_search_acceptable_frame_rate_drop: 10.0\n binary_search_duration_fraction: 1.0\n binary_search_terminal_interval_width: 10.0\n cpu_profiling_interval_sec: 1.0\n custom_report_info:\n data_resolution: Resolution(1280, 720, HD)\n default_config_version: 0.30.0\n default_service_future_timeout_sec: 15.0\n enable_cpu_profiler: true\n enable_trial_buffer_preparation: false\n enforce_publisher_rate: false\n input_data_end_time: 3.5\n input_data_path: datasets/r2b_dataset/r2b_storage\n input_data_start_time: 3.0\n linear_scan_acceptable_frame_loss_fraction: 0.05\n linear_scan_acceptable_frame_rate_drop: 5.0\n linear_scan_duration_fraction: 1.0\n linear_scan_step_size: 5.0\n load_data_in_real_time: false\n log_file_name: kpi.json\n log_folder: /osmo/data/output\n monitor_info_list:\n - calculators:\n - class_name: BasicPerformanceCalculator\n config:\n report_prefix: ''\n module_name: ros2_benchmark.basic_performance_calculator\n service_name: start_monitoring0\n play_messages_service_future_timeout_sec: 15.0\n playback_message_buffer_size: 10\n publish_tf_messages_in_set_data: false\n publish_tf_static_messages_in_set_data: false\n publisher_lower_frequency: 10.0\n publisher_upper_frequency: 600.0\n record_data_timeline: false\n revise_timestamps_as_message_ids: false\n ros1_ws: /workspaces/isaac_ros-dev/isaac_ros_1-dev\n set_data_service_future_timeout_sec: 60.0\n setup_service_client_timeout_sec: 20.0\n start_monitoring_service_timeout_sec: 10\n start_recording_service_future_timeout_sec: 35.0\n start_recording_service_timeout_sec: 30\n test_iterations: 5\n"
}
}