camera_geometry

• rust build:
• c++ build:

Various implementations and speed comparison of 3D-to-2D camera projection.

Including:

• pure numpy
• opencv
• numba
• julia
• rust
• c++ scalar
• cuda
• c++ with halide

Coming next:

• opencl
• glsl shader
• fpga

Purpose

This is purely educational and not made to be a production-ready library.

Timings

MacOS, Macbook Air M2 (2022)

------------------------------------------------------------------------------------------------------------- benchmark: 5 tests ------------------------------------------------------------------------------------------------------------
Name (time in us)                                                 Min                   Max                  Mean              StdDev                Median                 IQR            Outliers         OPS            Rounds  Iterations
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
test_benchmarkproject_points[project_points_nb_parfor]        75.2080 (1.0)        127.6660 (1.05)       100.3250 (1.0)       21.5014 (11.86)       97.2920 (1.0)       35.8958 (12.14)         2;0  9,967.6051 (1.0)           5           1
test_benchmarkproject_points[project_points_rs]              108.9590 (1.45)       185.1670 (1.52)       112.5200 (1.12)       5.3272 (2.94)       110.7500 (1.14)       2.9580 (1.0)       428;447  8,887.3110 (0.89)       5703           1
test_benchmarkproject_points[project_points_nb]              117.8750 (1.57)       121.5001 (1.0)        119.2164 (1.19)       1.8130 (1.0)        117.9160 (1.21)       3.1255 (1.06)          1;0  8,388.1075 (0.84)          5           1
test_benchmarkproject_points[project_points_np]              354.3750 (4.71)       616.2500 (5.07)       398.7205 (3.97)      44.0745 (24.31)      380.5410 (3.91)      62.1557 (21.01)        59;8  2,508.0227 (0.25)        409           1
test_benchmarkproject_points[project_points_cv]            5,152.7080 (68.51)    5,541.5840 (45.61)    5,283.0488 (52.66)    138.7260 (76.52)    5,274.6880 (54.22)    109.1250 (36.89)         1;1    189.2846 (0.02)          6           1
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Windows, Intel Core i5-7500 CPU @ 3.40GHz

---------------------------------------------------------------------------------------------------------------- benchmark: 5 tests ---------------------------------------------------------------------------------------------------------------
Name (time in us)                                                  Min                    Max                   Mean                StdDev                 Median                 IQR            Outliers         OPS            Rounds  Iterations
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
test_benchmarkproject_points[project_points_nb]               286.9001 (1.0)         382.4000 (1.0)         337.5200 (1.0)         41.9242 (1.0)         349.7000 (1.16)      74.5749 (7.85)          2;0  2,962.7871 (1.0)           5           1
test_benchmarkproject_points[project_points_nb_parfor]        287.3000 (1.00)        531.5000 (1.39)        347.9800 (1.03)       103.8021 (2.48)        302.5001 (1.0)       88.6500 (9.33)          1;1  2,873.7282 (0.97)          5           1
test_benchmarkproject_points[project_points_rs]               326.8999 (1.14)      3,095.9001 (8.10)        358.1250 (1.06)       120.7205 (2.88)        336.7000 (1.11)       9.5000 (1.0)        55;218  2,792.3210 (0.94)       1531           1
test_benchmarkproject_points[project_points_np]             1,948.3999 (6.79)      5,246.8000 (13.72)     3,119.9148 (9.24)       430.1179 (10.26)     3,083.7000 (10.19)    255.0998 (26.85)       66;61    320.5216 (0.11)        366           1
test_benchmarkproject_points[project_points_cv]            15,761.0000 (54.94)    33,150.4000 (86.69)    18,445.3739 (54.65)    3,425.0722 (81.70)    17,590.1001 (58.15)    956.9500 (100.73)        1;5     54.2141 (0.02)         23           1
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

License

The code in this repository is published under the MIT license.