[Greg McKaskle]

That is more reasonable. I thought that the image was likely the big one. The other thing you may look into is whether or not the small particle filter actually buys you much. I'm also not able to see what the filter after the convexHull does, but those two passes are pretty expensive. Are they needed to make more robust processing? If you can leave them out, it looks like the framerate will be quite a bit faster. I suspect that when you get rid of the small Particle filter, you may find that convexHull time rises, but the sum of the smallParticleFilter and ConvexHull will probably fall.

Greg McKaskle