All benchmarks numbers received on Run on 4 cores of Intel(R) Core(TM) i5-7440HQ CPU @ 2.80GHz.
Version: v0.22.5
Non-Maximum Suppression (non-oriented boxes). Benchmark for filtering out of bounding boxes without orientation.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 1,586 | 632000 |
| 100 | 148,906 | 6711 |
| 500 | 4,082,791 | 250 |
| 1000 | 13,773,713 | 72 |
The benchmark is located at /benches/nms.rs.
Non-Maximum Suppression (oriented boxes). Benchmark for filtering out of bounding boxes with angular orientation.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 2,169 | 461000 |
| 100 | 139,204 | 7100 |
| 300 | 1,752,410 | 570 |
| 500 | 4,571,784 | 218 |
| 1000 | 18,155,136 | 54 |
The benchmark is located at /benches/nms_oriented.rs.
SORT tracking (IoU). Benchmark for N simultaneously observed objects. The benchmark uses the heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/simple_sort_iou_tracker.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 100,931 | 9900 |
| 100 | 1,779,434 | 561 |
| 500 | 18,705,819 | 53 |
Oriented SORT tracking (IoU). Benchmark for N simultaneously observed oriented objects. The benchmark uses the heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/simple_sort_iou_tracker_oriented.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 108,414 | 9170 |
| 100 | 1,601,062 | 624 |
| 500 | 18,945,655 | 52 |
SORT tracking (Mahalanobis). Benchmark for N simultaneously observed objects. The benchmark uses heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/simple_sort_maha_tracker.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 105,311 | 9500 |
| 100 | 1,696,943 | 588 |
| 500 | 18,233,557 | 54 |
Oriented SORT tracking (Mahalanobis). Benchmark for N simultaneously observed oriented objects. The benchmark uses the heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/simple_sort_maha_tracker_oriented.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 111,778 | 8900 |
| 100 | 1,567,771 | 636 |
| 500 | 17,762,559 | 56 |
Visual (256 @ f32, hist=3) tracking. Benchmark for N simultaneously observed objects. The benchmark doesn't use heuristics that separate the observed objects based on object distances. The 3 last observations are used to select winning track.
The benchmark located at /benches/feature_tracker.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 101,465 | 9900 |
| 100 | 4,020,673 | 250 |
| 500 | 61,716,729 | 16 |
Visual SORT (aka DeepSORT) tracking. Benchmark for N simultaneously observed objects with feature vectors. The benchmark uses heuristics that separate the observed objects based on object distances. Every track holds 3 feature vectors for comparison with candidats.
The benchmark is located at /benches/simple_visual_sort_tracker.rs.
| Objects | Vector Len | Time (ns/iter) | FPS |
|---|---|---|---|
| 10 | 128 | 356,237 | 2800 |
| 10 | 256 | 404,416 | 2460 |
| 10 | 512 | 447,903 | 2230 |
| 10 | 1024 | 573,197 | 1740 |
| 10 | 2048 | 767,031 | 1300 |
| 50 | 128 | 1,923,861 | 519 |
| 50 | 256 | 2,105,886 | 474 |
| 50 | 512 | 2,249,694 | 444 |
| 50 | 1024 | 2,958,547 | 337 |
| 50 | 2048 | 4,563,691 | 218 |
| 100 | 128 | 3,807,716 | 262 |
| 100 | 256 | 4,717,401 | 211 |
| 100 | 512 | 5,775,469 | 173 |
| 100 | 1024 | 7,497,783 | 133 |
| 100 | 2048 | 10,527,237 | 94 |
BatchSORT tracking (IoU). Benchmark for N simultaneously observed objects. The benchmark uses the heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/batch_sort_iou_tracker.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 106,876 | 9300 |
| 100 | 1,616,542 | 618 |
| 500 | 20,454,230 | 48 |
BatchSORT tracking (Mahalanobis). Benchmark for N simultaneously observed objects. The benchmark uses heuristics that separate the observed objects based on object distances.
The benchmark is located at /benches/batch_sort_maha_tracker.rs.
| Objects | Time (ns/iter) | FPS |
|---|---|---|
| 10 | 114,592 | 8695 |
| 100 | 1,533,445 | 649 |
| 500 | 18,270,742 | 54 |