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# 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.

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## 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).

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## Software Line Extraction on an **Intel** CPU

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 |

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## Software Line Extraction on a **Jetson Nano**

* 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](http://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 |

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## Software Line Extraction on a **Jetson AGX Orin**

* 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](http://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 |