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Version: 2.0
  • Intel® Robotics SDK
  • Release Notes
  • Getting Started Guide
    • Requirements
      • Knowledge/Experience
      • Target System
    • Prepare the Target System
      • Install Ubuntu* 22.04 LTS (Jammy Jellyfish)
        • Ubuntu* Installation Overview
      • Install the Intel® optimized Linux kernel
      • Install ROS 2 Humble
        • ROS 2 Installation Overview
        • Prepare your ROS 2 Environment
          • Setup a permanent ROS 2 environment
          • Important Notes
    • Register to Access the Intel® Robotics SDK
    • Setup APT Repositories
    • Install Intel® Robotics SDK Deb packages
    • Installation Troubleshooting
  • Developer Guide
    • How it Works
      • Modules and Services
      • Robotics SDK Drivers
      • Tools
        • ROS 2 Tools
        • Simulation Tools
        • Other Tools
      • Robotics SDK Applications
      • Robotics SDK Algorithms
      • Open Model Zoo for OpenVINO™
        • ADBSCAN
        • Point Cloud Library (PCL)
        • ROS 2 Depth Image to Laser Scan
        • IMU Tools
        • FastMapping
        • Collaborative Visual SLAM
        • ROS 2 Cartographer
        • RTAB-Map
        • SLAM Toolbox
        • ITS Global Path Planner
        • Kudan Visual SLAM
        • Robot Localization
        • Navigation 2
      • Robotics SDK Middleware
    • Recommended Hardware
      • Target System
    • Tutorials
      • Robot Kits
        • AAEON UP Xtreme* i11 & UP Squared* 6000 Robotic Development Kits
          • AAEON Robotic Kit based Tutorials
            • Wandering Application with Intel® RealSense™ Camera and Rtabmap Application in Aaeon Robot
              • Getting Started
                • Install Deb package
              • Run Demo
              • Troubleshooting
            • ADBSCAN on AAEON Robot Kit Tutorial
              • Run the ADBSCAN Algorithm Using the AAEON Robot Kit
              • Gamepad Robot Control Method
              • Keyboard Robot Control Method
              • Expected Results
              • Troubleshooting
        • Create Your Own Robot Kit
          • Requirements
            • Hardware Requirements
            • Software Requirements
          • Steps To Create Your Own Robot Kit
            • Step 1: Prerequisites
            • Step 2: Integration into Intel® Robotics SDK
            • Step 3: Robot Base Node ROS 2 Node
              • Introduction to Robotic Base Node
              • Robotic Base Node Deep Dive
            • Step 4: Robot Base Node ROS 2 Navigation Parameter File
              • Introduction to the ROS 2 Navigation Parameter File
              • Robot Navigation Parameter File
            • Step 5: Navigation Full Stack
              • Introduction to the Navigation Full Stack
              • Create a Parameter File for Your Robotic Kit
              • Start Mapping an Area with Your Robot
              • Troubleshooting
        • Robot Teleop Using a Keyboard
          • Hardware Prerequisites
          • Example for the AAEON UP Xtreme* i11 Robotic Development Kit
          • Troubleshooting
      • Perception
        • Intel® RealSense™ ROS 2 Sample Application
          • Run the Intel® RealSense™ ROS 2 Sample Application
        • Point Cloud Library (PCL) Optimized for the Intel® oneAPI Base Toolkit
          • Spatial Partitioning and Search Operations with Octrees
            • Code Explanation
          • Detecting Specific Models and Their Parameters in 3D Point Clouds
            • Code Explanation
          • Plane Model Segmentation
            • Code Explanation
          • Surface Reconstruction with oneAPI™ Moving Least Squares (MLS)
            • Code Explanation
          • Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
            • Iterative Closest Point
            • Code Explanation
          • KdTree search using oneapi KdTree FLANN
            • Code Explanation
          • Downsampling 3D Point Clouds with a Voxelized Grid
            • Code Explanation
          • Filtering Point Clouds with a Passthrough Filter
            • Code Explanation
          • Fast Triangulation of Unordered Point Clouds (OpenMP Version)
            • Background: Algorithm and Parameters
            • Code Explanation
          • Estimating Surface Normals in a PointCloud
            • Code Explanation
          • Removing Outliers Using a StatisticalOutlierRemoval Filter
            • Code Explanation
          • Using SampleConsensusInitialAligment (SCIA) to Initial Align Two Point Clouds
            • Code Explanation
          • Intel Point Cloud Library (PCL) Overview and Installation
            • Overview
            • Supported Hardware
            • Supported Operating System
            • PCL oneAPI™ Installation
            • Runtime Device Selection
            • JIT Limitation
          • Optimized PCL Limitation and Troubleshooting
            • Limitation
            • Troubleshooting
        • GPU ORB Extractor
          • GPU ORB Extractor Feature Overview
            • System Requirements
            • Hardware Requirements
            • Deb packages
            • Install Deb packages
          • Tutorial to Use GPU ORB Extractor Feature
            • Code Explanation
          • Tutorial to Use GPU ORB Extractor Feature with OpenCV-free Library.
            • Code Explanation
          • GPU ORB Extractor Feature Limitation
            • Troubleshooting
      • Navigation
        • Collaborative Visual SLAM
          • Collaborative Visual SLAM Versions Available
          • Select a Collaborative visual SLAM Tutorial to Run
            • Collaborative Visual SLAM with Two Robots
            • Collaborative Visual SLAM with FastMapping Enabled
            • Collaborative Visual SLAM with Multi-Camera Feature
            • Collaborative Visual SLAM with 2D Lidar Enabled
            • Collaborative Visual SLAM with Region-wise Remapping Feature
          • Collaborative Visual SLAM with GPU Offloading
          • Troubleshooting
        • Kudan Visual SLAM
          • Introduction
          • Install the Kudan Visual SLAM Package and Tutorials
            • Install the Kudan Visual SLAM Core Package
            • Install the tutorial with pre-recorded ROS 2 bags
            • Install the tutorial with Kudan Visual SLAM, AAEON robotic kit, and Intel® RealSense™ camera
          • Execute the Tutorials
            • Tutorial with pre-recorded ROS 2 bags from an RGBD camera
            • Tutorial with pre-recorded ROS 2 bags from a stereo camera
            • Tutorial with direct input of pre-recorded ROS 2 bags
            • Tutorial with Kudan Visual SLAM, AAEON robotic kit, and Intel® RealSense™ camera
          • Troubleshooting
            • Running Kudan Visual SLAM in a containerized environment
            • L0 error 78000001 in a native environment
            • Issues with the Kudan license manager
            • Issues with accessing the AAEON robotic kit
            • Keypoint tracking fails occasionally and Kudan Visual SLAM needs to relocalize
              • Optimize the processor C-states for better real-time behavior
              • Set the CPU affinity of the Kudan Visual SLAM processes to the P-cores
            • General issues
        • FastMapping Algorithm
          • Run the FastMapping Standalone Application
          • Troubleshooting
        • ADBSCAN Algorithm
          • Getting Started
            • Install Deb package
          • Run the ADBSCAN Algorithm with RPLIDAR Input
          • Run the ADBSCAN Algorithm with Intel® RealSense™ Camera Input
          • Troubleshooting
        • Follow-me Algorithm
          • Follow-me Introduction
            • Getting Started
              • Install Deb package
            • Run Demo with 2D Lidar
            • Run Demo with Intel® RealSense™ Camera
            • Troubleshooting
          • Follow-me with ADBSCAN on Aaeon Robot
            • Getting Started
              • Install Deb package
            • Run Demo
            • Troubleshooting
          • Follow-me Algorithm with Gesture-based Control
            • Getting Started
              • Install Deb package
              • Install Python Modules
            • Run Demo with 2D Lidar
            • Run Demo with Intel® RealSense™ Camera
            • Troubleshooting
        • ITS Path Planner ROS 2 Navigation Plugin
          • Getting Started
            • Install Deb package
          • ITS Path Planner Plugin Customization
            • ITS Path Planner Plugin Parameters
          • Troubleshooting
        • Robot Re-localization package for ROS2 Navigation
          • Getting Started
            • Install Deb package
            • Run the Re-localization
          • Troubleshooting
      • Simulation
        • Turtlesim ROS 2 Sample Application
          • Run the Turtlesim ROS 2 Sample application
        • Wandering Application in a Waffle Gazebo* Simulation
          • Run the Sample Application
          • Troubleshooting
        • Gazebo Pick & Place Demo
          • Getting Started
            • Install Debian Package
          • Run Demo
          • Overview
          • Other Details
          • Launch Sequence
          • Sending Nav2 Pose to AMR
          • Reusing ARM and AMR modules
          • Troubleshooting
      • Troubleshooting for Robot Tutorials
        • Use ROS_DOMAIN_ID to Avoid Interference in ROS Messages
        • Troubleshooting AAEON Motor Control Board Issues
          • Add the current user to the dialout group
          • Solve conflicts with the BRLTTY daemon
          • Enable 3D options in RViz2
    • System Integrators
      • Intel® Edge Software Device Qualification (Intel® ESDQ) for Robotics SDK
        • Overview
        • How It Works
        • Get Started
        • Prerequisites
        • Download and Install Intel® ESDQ for Robotics SDK
          • Download and Install Intel® ESDQ CLI
          • Download and Install the Test Modules
        • Run the Self-Certification Application for Compute Systems
        • Run the Self-Certification Application for RGB Cameras
        • Run the Self-Certification Application for Depth Cameras
        • Send Results to Intel®
        • Troubleshooting
        • Support Forum
      • Benchmarking and Profiling
        • OpenVINO™ Benchmarking Tool
        • Intel® VTune™ Profiler for CPU and GPU profiling
          • Overview
          • Installation of Intel® VTune™ Profiler
          • Additional System Setup for CPU and GPU Profiling
          • Profiling an Application from Intel® Robotics SDK
            • CPU Profiling
              • CPU Hotspots Analysis
                • Steps to run CPU Hotspots Analysis
                • Analysis of the CPU Hotspots Results
                  • Top Hotspots and the Top Tasks
                  • Effective CPU Utilization Histogram
                  • Additional Insights
              • CPU Microarchitecture Exploration
                • Steps to run CPU Microarchitecture Exploration
                • Analysis of the CPU Microarchitecture Exploration results
                  • P-core and E-core execution summary
                  • CPU Bandwidth utilization
      • Optimize Performance
      • Security
        • Shim Layer - Protect your application data
        • Intel® Robotics SDK Platform
        • Security Use Cases and Features
    • Terminology
  • Notices and Disclaimers
  • Developer Guide
  • System Integrators
  • Benchmarking and Profiling

Attention

You are viewing an older version of the documentation. The latest version is 2.2.

Benchmarking and Profiling¶

Use the Intel® VTune™ Profiler profiler and OpenVINO™ toolkit benchmarking to measure the performance of your system.

  • OpenVINO™ Benchmarking Tool
  • Intel® VTune™ Profiler for CPU and GPU profiling
    • Overview
    • Installation of Intel® VTune™ Profiler
    • Additional System Setup for CPU and GPU Profiling
    • Profiling an Application from Intel® Robotics SDK
      • CPU Profiling
        • CPU Hotspots Analysis
          • Steps to run CPU Hotspots Analysis
          • Analysis of the CPU Hotspots Results
            • Top Hotspots and the Top Tasks
            • Effective CPU Utilization Histogram
            • Additional Insights
        • CPU Microarchitecture Exploration
          • Steps to run CPU Microarchitecture Exploration
          • Analysis of the CPU Microarchitecture Exploration results
            • P-core and E-core execution summary
            • CPU Bandwidth utilization

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© Copyright 2022-2024, Intel.  Last updated on Oct 25, 2024.

Robotics SDK Documentation v: 2.0
Document Versions
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2.1
2.0