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yuzhenning / ROS_turtlebot2

This is a file record Ubuntu based ROS and Turtlebot2 control system
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19 Experiment Hardware Records #19

Open yuzhenning opened 4 years ago

yuzhenning commented 4 years ago

Recording hardware PK between NANO, TX1, TX2, Xavier

https://www.fastcompression.com/blog/jetson-benchmark-comparison.htm

yuzhenning commented 4 years ago
Hardware feature \ Jetson module Jetson Nano Jetson TX1 Jetson TX2/TX2i Jetson AGX Xavier
CPU (ARM) 4-core ARM A57 @ 1.43 GHz 4-core ARM Cortex A57 @ 1.73GHz 4-core ARM Cortex-A57 @ 2GHz, 2-core Denver2 @ 2GHz 8-core ARM Carmel v.8.2 @ 2.26GHz
GPU 128-core Maxwell @ 921MHz 256-core Maxwell @ 998MHz 256-core Pascal @ 1.3GHz 512-core Volta @ 1.37GHz
Memory 4GB LPDDR4, 25.6 GB/s 4GB LPDDR4, 25.6 GB/s 8GB 128-bit LPDDR4, 58.3 GB/s 16GB 256-bit LPDDR4, 137 GB/s
Storage MicroSD 16 GB eMMC 5.1 32 GB eMMC 5.1 32 GB eMMC 5.1
Tensor cores -- -- -- 64
Video encoding (NVENC) (1x) 4Kp30, (2x) 1080p60, (4x) 1080p30 (1x) 4Kp30, (2x) 1080p60, (4x) 1080p30 (1x) 4Kp60, (3x) 4Kp30, (4x) 1080p60, (8x) 1080p30 (4x) 4Kp60, (8x) 4Kp30, (32x) 1080p30
Video decoding (NVDEC) (1x) 4Kp60, (2x) 4Kp30, (4x) 1080p60, (8x) 1080p30 (1x) 4Kp60, (2x) 4Kp30, (4x) 1080p60, (8x) 1080p30 (2x) 4Kp60, (4x) 4Kp30, (7x) 1080p60 (2x) 8Kp30, (6x) 4Kp60, (12x) 4Kp30
USB (4x) USB 3.0 + Micro-USB 2.0 (1x) USB 3.0 + (1x) USB 2.0 (1x) USB 3.0 + (1x) USB 2.0 (3x) USB 3.1 + (4x) USB 2.0
PCI-Express lanes 4 lanes PCIe Gen 2 5 lanes PCIe Gen 2 5 lanes PCIe Gen 2 16 lanes PCIe Gen 4
Power 5W / 10W 10W 7.5W / 15W 10W / 15W / 30W
yuzhenning commented 4 years ago

　Performance Comparison: Jetson Nano vs TX1 vs TX2 vs AGX Xavie

Algorithm and parameters / Jetson model Jetson Nano Jetson TX1 Jetson TX2/TX2i Jetson AGX Xavier
Host to Device 0.2 0.2 0.2 0.05
White Balance 0.6 0.32 0.24 0.08
HQLI Debayer 1.8 0.62 0.47 0.36
DFPD Debayer 4.7 2.4 2.06 0.95
MG Debayer 12.7 7.8 5.9 2.2
Color Correction with 3×4 matrix 1.7 1.05 0.81 0.25
Resize from 2K to 960×540 10.0 5.1 4.3 1.5
Resize from 2K to 1919×1079 19.8 9.0 8.2 2.4
Gamma (1920×1080) 1.4 0.96 0.84 0.2
JPEG Encoding (1920×1080, 90%, 4:2:0) 4.3 2.3 1.7 0.62
JPEG Encoding (1920×1080, 90%, 4:4:4) 6.8 3.1 2.6 0.75
JPEG2000 Encoding (lossy, 32×32, single mode) 81 70 63 11.1
JPEG2000 Encoding (lossless, 32×32, single mode) 190 180 163 23.3
Device to Host 0.1 0.1 0.1 0.02
Total for simple camera pipeline (ms) 9.8 5.6 4.4 1.5