Minimal Configurations for lower CPU & GPU usage and better performance ZED X Mini, Jetson Orin AGX

karmenlu · August 4, 2023, 10:05am

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Our perception stack uses images published by the ZED X Mini to find targets. The performance of the ZED has been measured against the same perception stack running with a different camera. The key indicator that ZED-related performance issues are present include that the ZED/Orin/perception setup crashes/disconnected while the other camera/Orin/perception setup connects properly and runs without disconnecting. Crashing / freezing led us to look into ZED performance. We have been measuring with jtop, the Jetson Stats tool. By default, ZED X Mini has been running with the Depth Quality setting of Ultra. (Ideally, we would want to set Depth Quality to 0/None. Running into issues discussed here). In the logs before, key columns to compare include the temperature, power, and GPU. We believe that minimizing power and compute usage by the ZED would prevent the overheat/crashing of our ZED testbench setup.

ZED X Mini Running w/ Depth Quality Ultra:

time	uptime	CPU1	CPU2	CPU3	CPU4	CPU5	CPU6	CPU7	CPU8	CPU9	CPU10	CPU11	CPU12	RAM	GPU	APE	DLA0_CORE	DLA0_FALCON	DLA1_CORE	DLA1_FALCON	NVDEC	NVENC	NVJPG	NVJPG1	PVA0_CPU_AXI	PVA0_VPS	SE	VIC	Fan pwmfan0	Temp CPU	Temp CV0	Temp CV1	Temp CV2	Temp GPU	Temp SOC0	Temp SOC1	Temp SOC2	Temp Tboard	Temp Tdiode	Temp tj	Power tj	Power TOT	jetson_clocks	nvp model
2023-08-02 19:24:38	0:06:09	26	25	24	24	25	24	26	24	23	24	24	23	0.2774543256	98.9	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	76.187	-256	-256	-256	72.375	71.468	71.187	70.968	61	64.5	76.187	9359	41406	OFF	MAXN
2023-08-02 19:24:38	0:06:09	26	25	24	24	25	24	26	24	23	24	24	23	0.2774543256	98.9	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	76.187	-256	-256	-256	72.375	71.468	71.187	70.968	61	64.5	76.187	9359	41406	OFF	MAXN
2023-08-02 19:24:39	0:06:10	27	29	24	39	23	36	37	68	50	32	36	37	0.2782506435	98.7	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	75.937	-256	-256	-256	72.906	71.531	71.187	70.937	61	64.75	75.937	9359	41082	OFF	MAXN
2023-08-02 19:24:40	0:06:11	39	29	27	26	21	34	25	72	27	30	39	29	0.2782028005	95.3	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	75.718	-256	-256	-256	72.562	71.5	71.156	70.937	61	64.5	75.718	9359	41103	OFF	MAXN
2023-08-02 19:24:41	0:06:12	33	32	30	28	38	31	30	37	73	20	34	24	0.2781731225	99.1	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	76.218	-256	-256	-256	72.781	71.5	71.125	71.125	61	64.5	75.812	9359	41324	OFF	MAXN
2023-08-02 19:24:42	0:06:13	34	29	32	28	29	17	22	31	77	35	26	33	0.2782475734	96.3	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	76.218	-256	-256	-256	72.531	71.531	71.187	71.062	61	64.5	76.218	9258	40804	OFF	MAXN
2023-08-02 19:24:43	0:06:14	34	29	32	30	35	31	37	35	41	20	71	32	0.278165703	83.4	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	75.968	-256	-256	-256	72.656	71.406	71.156	70.968	62	64.25	75.968	9158	40195	OFF	MAXN
2023-08-02 19:24:44	0:06:15	33	29	30	31	31	31	32	34	29	16	48	59	0.278215209	99.1	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	75.687	-256	-256	-256	72.906	71.406	71.406	71.156	62	64.5	76	9258	40565	OFF	MAXN
2023-08-02 19:24:45	0:06:16	34	31	29	29	30	33	46	30	27	84	18	24	0.2783069295	98.8	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	115200	61.17647059	75.906	-256	-256	-256	72.593	71.562	71.343	71.093	62	64.5	75.906	9258	41022	OFF	MAXN

Other Camera:

time	uptime	CPU1	CPU2	CPU3	CPU4	CPU5	CPU6	CPU7	CPU8	CPU9	CPU10	CPU11	CPU12	RAM	GPU	APE	DLA0_CORE	DLA0_FALCON	DLA1_CORE	DLA1_FALCON	NVDEC	NVENC	NVJPG	NVJPG1	PVA0_CPU_AXI	PVA0_VPS	SE	VIC	Fan pwmfan0	Temp CPU	Temp CV0	Temp CV1	Temp CV2	Temp GPU	Temp SOC0	Temp SOC1	Temp SOC2	Temp Tboard	Temp Tdiode	Temp tj	Power tj	Power TOT	jetson_clocks	nvp model
2023-08-02 21:24:50	0:12:49	16	14	13	14	13	13	13	14	13	14	13	14	0.3111295092	42.7	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.156	-256	-256	-256	52.187	51.968	51.031	52.218	42	45.25	56.156	8291	34789	OFF	MAXN
2023-08-02 21:24:50	0:12:49	16	14	13	14	13	13	13	14	13	14	13	14	0.3111295092	42.7	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.156	-256	-256	-256	52.187	51.968	51.031	52.218	42	45.25	56.156	8291	34789	OFF	MAXN
2023-08-02 21:24:51	0:12:50	41	52	45	53	28	51	36	71	33	40	40	32	0.3107495791	99	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	55.968	-256	-256	-256	54.468	52.156	50.968	52.75	42	45	55.968	8696	37348	OFF	MAXN
2023-08-02 21:24:52	0:12:51	29	33	29	47	25	98	18	22	45	27	42	57	0.311450467	53.3	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.031	-256	-256	-256	52.531	52.031	51.093	52.281	42	45.25	56.031	8291	35278	OFF	MAXN
2023-08-02 21:24:53	0:12:52	35	46	43	31	32	73	59	33	44	20	61	41	0.3117581209	99.4	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.031	-256	-256	-256	55.125	52.25	51.062	52.531	42	45	56.031	8595	36853	OFF	MAXN
2023-08-02 21:24:54	0:12:53	31	37	44	37	32	32	56	76	48	26	21	52	0.3123647298	60.9	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.656	-256	-256	-256	52.656	52.031	51.062	52.531	42	45	56.656	8291	35579	OFF	MAXN
2023-08-02 21:24:55	0:12:54	56	60	40	37	48	63	39	96	34	32	37	37	0.3138743444	99.4	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	57.718	-256	-256	-256	54.031	52.562	51.187	52.75	42	45.25	57.625	8595	38140	OFF	MAXN
2023-08-02 21:24:56	0:12:55	50	51	56	43	97	44	28	39	39	43	38	38	0.3127868744	73.4	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.437	-256	-256	-256	53.218	52.5	51.281	52.625	42	45	56.437	8392	35774	OFF	MAXN
2023-08-02 21:24:57	0:12:56	77	34	38	45	33	44	26	31	39	37	41	87	0.3128693845	99.2	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	OFF	473600	OFF	30.19607843	56.25	-256	-256	-256	54.343	52.843	51.5	53.062	42	45.75	56.25	8696	37844	OFF	MAXN