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# System prepended metadata

title: 'SENSR I Asynchronous Pipeline Benchmark [Laptop]'

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# 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               |
