General

CPU	NVIDIA Carmel ARMv8.2 @ 2.26GHz
Cores	8
RAM	32GB
USB2.0 Interfaces	4
USB3.1 Interfaces	3
Ethernet	10/100/1000 MBit
PCIe	1x8 + 1x4 + 1x2 + 2x1 Gen 4.0

Note: The above table describes the specification of the NVIDIA Jetson™ AGX Xavier Developer Kit.; The following tests were conducted on JetPack 4.6.0.

Test Setup

Test setup

Note: The BVS CA-BN device uses 4-lane PCIe 2.0 on the NVIDIA Jetson™ AGX Xavier.

Additional Settings

Set EMC clocks to Maximum

For JetPack >= 5.0.1, it might be necessary (to ensure a reliable data transmission) to set the EMC clock to maximum by calling jetson_clocks with sudo credentials via CLI:

$ sudo jetson_clocks

Note: After executing the above command, the clock will still be reset after the next system boot. A systemd service can be used to run the command line permanently at every system boot.

Benchmarks

The following tests have been performed using different de-Bayering scenarios to achieve the max. FPS while maintaining 0 lost images. The CPU load during the acquisition is also documented below.

Scenarios that have been tested are listed as follows:

When de-Bayering is carried out on the camera: The camera delivers RGB8 image data to the host system. This setting results in a lower CPU load but a lower frame rate.
When de-Bayering is carried out on the host system: The camera delivers Bayer8 image data to the host system. The Bayer8 image data then get de-Bayered to RGB8 format on the host system. This setting results in a higher frame rate but a higher CPU load as well.
When no de-Bayering is performed: The camera delivers Bayer8 image data to the host system. No de-Bayering is performed. This settings results in a lower CPU load and a higher frame rate. The behavior is identical to monochrome cameras.

Camera	Resolution	Pixel Format	Frame Rate [Frames/s]	Bandwidth [MB/s]	CPU Load With Image Display	CPU Load Without Image Display
CA-BN2-0051ZC	2464 x 2056	RGB8 (on camera) → RGB8 (on host)	86.83	1319.88	~21%	~12%


Camera	Resolution	Pixel Format	Frame Rate [Frames/s]	Bandwidth [MB/s]	CPU Load With Image Display	CPU Load Without Image Display
CA-BN2-0051ZC	2464 x 2056	BayerRG8 (on camera) → RGB8 (on host)	138.93	703.94	~42%	~31%


Camera	Resolution	Pixel Format	Frame Rate [Frames/s]	Bandwidth [MB/s]	CPU Load With Image Display	CPU Load Without Image Display
CA-BN2-0051ZC	2464 x 2056	BayerRG8 (on camera) → BayerRG8/Raw (on host)	138.93	703.97	~21%	~14%