Line Extraction Benchmark¶

The following information is valid for all tables in this section:

The region size is given in pixels.
The extraction speed (fields Max, CoG and Peaks) is given in profiles per second.

Hardware Line Extraction on a Coaxlink¶

The Coaxlink Quad 3D-LLE frame grabber features hardware line extraction. The performances are as follows, for all methods - Maximum detection (Max), Center of gravity detection (CoG) and Peak detection (Peaks):
- 9500 profiles/s for a 2048 \(\times\) 256 or a 4096 \(\times\) 128 region
- 19000 profiles/s for a 2048 \(\times\) 128 region
- 38000 profiles/s for a 1024 \(\times\) 128 region
- 76000 profiles/s for a 1024 \(\times\) 64 region
As a result, the hardware-based line extraction is \(2\times\) to \(15\times\) faster than the software implementation in eVision running on an Intel Core i7-10850H CPU at 2.70 GHz (see below).

The measurement setup is:

Intel Core i7-10850H CPU at 2.70 GHz
Generation of 16-bit depth maps
Methods used: Maximum detection (Max), Center of gravity detection (CoG) and Peak detection (Peaks)

Using 1 thread, without low pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	368	298	248
3072 \(\times\) 256	752	593	497
3072 \(\times\) 128	1488	1179	966
3072 \(\times\) 64	3764	2723	2169
1024 \(\times\) 512	1142	891	771
1024 \(\times\) 256	2226	1777	1479
1024 \(\times\) 128	4266	3324	2752
1024 \(\times\) 64	11130	8533	6400

Using 1 thread, with low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	241	200	183
3072 \(\times\) 256	468	403	357
3072 \(\times\) 128	920	790	703
3072 \(\times\) 64	2169	1765	1610
1024 \(\times\) 512	707	600	561
1024 \(\times\) 256	1406	1219	1057
1024 \(\times\) 128	2723	2370	2048
1024 \(\times\) 64	6400	5333	4830

Using 2 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	731	576	474
3072 \(\times\) 256	1406	1094	941
3072 \(\times\) 128	2813	2226	1868
3072 \(\times\) 64	7314	5224	3240
1024 \(\times\) 512	2000	1718	1446
1024 \(\times\) 256	4129	3368	2844
1024 \(\times\) 128	8533	6564	4654
1024 \(\times\) 64	21333	15058	10666

Using 4 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	1108	885	703
3072 \(\times\) 256	2438	1765	1273
3072 \(\times\) 128	4740	3459	2639
3072 \(\times\) 64	9481	7757	6564
1024 \(\times\) 512	3605	2694	2031
1024 \(\times\) 256	6400	5446	4063
1024 \(\times\) 128	13473	11636	9846
1024 \(\times\) 64	36571	19692	19692

The tables below present benchmarks for software line extraction for various region sizes (in pixels) and configurations. The extraction speed is expressed in profiles per second. The measurement setup is:
- Jetson Nano (4 available cores). See developer.nvidia.com/embedded/jetson-nano
- Generation of 16-bit depth maps
- Methods used: Maximum detection (Max), Center of gravity detection (CoG) and Peak detection (Peaks)

Using 1 thread, without low pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	34	30	30
3072 \(\times\) 256	126	106	102
3072 \(\times\) 128	248	210	199
3072 \(\times\) 64	479	409	374
1024 \(\times\) 512	110	98	97
1024 \(\times\) 256	383	321	308
1024 \(\times\) 128	736	623	587
1024 \(\times\) 64	1426	1229	1114

Using 1 thread, with low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	30	28	27
3072 \(\times\) 256	112	94	93
3072 \(\times\) 128	220	188	183
3072 \(\times\) 64	413	356	333
1024 \(\times\) 512	90	83	82
1024 \(\times\) 256	337	285	280
1024 \(\times\) 128	658	567	543
1024 \(\times\) 64	1226	1065	987

Using 2 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	61	56	56
3072 \(\times\) 256	206	180	181
3072 \(\times\) 128	423	367	365
3072 \(\times\) 64	864	740	711
1024 \(\times\) 512	185	170	168
1024 \(\times\) 256	596	530	517
1024 \(\times\) 128	1203	1065	1035
1024 \(\times\) 64	2403	2106	2000

Using 4 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	95	91	90
3072 \(\times\) 256	257	234	240
3072 \(\times\) 128	515	470	489
3072 \(\times\) 64	1092	992	1029
1024 \(\times\) 512	269	260	259
1024 \(\times\) 256	689	678	675
1024 \(\times\) 128	1383	1352	1356
1024 \(\times\) 64	2820	2716	2745

The tables below present benchmarks for software line extraction for various region sizes (in pixels) and configurations. The extraction speed is expressed in profiles per second. The measurement setup is:
- Jetson AGX Orin (12 available cores). See www.nvidia.com/en-il/autonomous-machines/embedded-systems/jetson-orin
- Generation of 16-bit depth maps
- Methods used: Maximum detection (Max), Center of gravity detection (CoG) and Peak detection (Peaks)

Using 1 thread, without low pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	222	192	181
3072 \(\times\) 256	449	386	362
3072 \(\times\) 128	898	766	710
3072 \(\times\) 64	1796	1521	1391
1024 \(\times\) 512	671	579	546
1024 \(\times\) 256	1336	1155	1075
1024 \(\times\) 128	2680	2301	2106
1024 \(\times\) 64	5278	4511	4079

Using 1 thread, with low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	198	174	164
3072 \(\times\) 256	401	351	332
3072 \(\times\) 128	801	697	653
3072 \(\times\) 64	1592	1380	1261
1024 \(\times\) 512	600	525	498
1024 \(\times\) 256	1197	1049	987
1024 \(\times\) 128	2386	2085	1935
1024 \(\times\) 64	4697	4096	3696

Using 2 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	444	382	362
3072 \(\times\) 256	897	772	723
3072 \(\times\) 128	1790	1528	1416
3072 \(\times\) 64	3543	3002	2745
1024 \(\times\) 512	1338	1158	1088
1024 \(\times\) 256	2659	2311	2142
1024 \(\times\) 128	5224	4471	4112
1024 \(\times\) 64	9941	8533	7529

Using 4 threads, without low-pass filter

Region size	Max	CoG	Peaks
3072 \(\times\) 512	876	763	720
3072 \(\times\) 256	1790	1530	1436
3072 \(\times\) 128	3447	3011	2745
3072 \(\times\) 64	6649	5752	5069
1024 \(\times\) 512	2687	2321	2178
1024 \(\times\) 256	5251	4571	4213
1024 \(\times\) 128	10138	8752	8000
1024 \(\times\) 64	18618	16516	14422