# SENSR I Asynchronous Pipeline Benchmark [Laptop]

- Asynchronous running components
- New thread pool system
- One thread pool per asynchronous components
- Moving the frame bundling from the input manager to the detection/environment node
- The preprocessing time is now amortized by the waiting time for all the lidars data

## Benchmarks

- Memory: 28 GiB
- Processor: AMD® Ryzen 9 6900hx with radeon graphics × 16
- Graphics: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2
- Use 7 threads in total for Algo node
- SENSR I Release: General thread pool of 7 threads
- SENSR I Master Seq: General thread pool of 7 threads
- SENSR I Async: 3 preprocessing threads, 3 detection threads, 1 environment threads
- Use 1 thread in total for Master node

### Remarks:

- SENSR I Master Seq and SENSR I Async are spending more time on the background detector process as they are considering all points (ground, static, etc.)
- SENSR I Master Seq has been modified to take into account the frame post process time (background detector update) which was not taken into account before

### 4 XTs at intersection - K-city

| SENSR Version | Frame Overall Mean Time (ms) | Detection Node Overall Time (ms) |
| ------------------ |:----------------------------:|:--------------------------------:|
| SENSR I Release | 25.6 | - |
| SENSR I Master Seq | 35.6 | - |
| SENSR I Async | 15.2 | 1.64 |

| SENSR Version | Frame Overall Mean Time (ms) | Detection Node Overall Time (ms) |
| ---------------------- |:----------------------------:|:--------------------------------:|
| SENSR I GPU Release | 49.1 | - |
| SENSR I GPU Master Seq | 46.7 | - |
| SENSR I GPU Async | 52.3 | 38.0 |

### 4 XTs at intersection - Dodam

| SENSR Version | Frame Overall Mean Time (ms) | Detection Node Overall Time (ms) |
|:------------------ |:----------------------------:|:--------------------------------:|
| SENSR I Release | 29.5 | - |
| SENSR I Master Seq | 39.6 | - |
| SENSR I Async | 21.6 | 2.51 |

### 1 Falcon - Jamsu bridge

| SENSR Version | Frame Overall Mean Time | Detection Node Overall Time (ms) |
|:------------------ |:-----------------------:|:--------------------------------:|
| SENSR I Release | 9.01 | - |
| SENSR I Master Seq | 9.46 | - |
| SENSR I Async | 10.98 | 2.88 |

| SENSR Version | Frame Overall Mean Time (ms) | Detection Node Overall Time (ms) |
| ---------------------- |:----------------------------:|:--------------------------------:|
| SENSR I GPU Release | 33.5 | - |
| SENSR I GPU Master Seq | 35.2 | - |
| SENSR I GPU Async | 39.6 | 33.9 |

### 1 Velodyne 128 - Gangnam crosswalk

| SENSR Version | Frame Overall Mean Time | Detection Node Overall Time (ms) |
|:------------------ |:-----------------------:|:--------------------------------:|
| SENSR I Release | 23.6 | - |
| SENSR I Master Seq | 23.1 | - |
| SENSR I Async | 25.1 | 4.68 |