Benchmarking

it’s important to benchmark so you know the true performance.

This is Performance Test?

Resources

• https://quick-bench.com/

From my experience at NVIDIA in the context of ROS, I break the test in 2 parts:

1. Test for memory utilization by testing idle nodes (no data being fed in)

• You can check how much memory a process is using simply by idling, i.e. when there are no computation operations

2. Test for CPU utilization by feeding in data (ex: camera images)

• Now, there is actual computation, so the CPU needs to do those operations

Frameworks

• Google Benchmark

Benchmarking GPU

You should use the time directly on the GPU.

https://stackoverflow.com/questions/47168542/cudaeventsynchronize-vs-cudadevicesynchronize