Test description | 0.9.4-MSVC10-64bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 20.90 ms | Δ 27.01% | 37.68 Hz / 47.85 Hz | ∇ -21.26% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 18.76 ms | Δ 71.46% | 31.08 Hz / 53.30 Hz | ∇ -41.68% |
poses: CPose3D (+) CPose3D | 62.83 ns / 41.67 ns | Δ 50.78% | 15.92 MHz / 24.00 MHz | ∇ -33.68% |
poses: CPose3D.composeFrom() | 41.42 ns / 32.39 ns | Δ 27.88% | 24.14 MHz / 30.87 MHz | ∇ -21.80% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 8.02 ns | Δ 135.41% | 52.94 MHz / 124.63 MHz | ∇ -57.52% |
poses: CPose3D.composePoint() | 17.17 ns / 11.53 ns | Δ 48.90% | 58.23 MHz / 86.70 MHz | ∇ -32.84% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 18.18 ns | Δ 388.28% | 11.26 MHz / 54.99 MHz | ∇ -79.52% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 25.21 ns | Δ 74.51% | 22.73 MHz / 39.66 MHz | ∇ -42.70% |
poses: CPose2D (+) CPose2D | 72.08 ns / 72.10 ns | ∇ -0.03% | 13.87 MHz / 13.87 MHz | Δ 0.03% |
poses: CPose2D.composeFrom() | 63.27 ns / 69.22 ns | ∇ -8.60% | 15.81 MHz / 14.45 MHz | Δ 9.41% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 60.48 ns | ∇ -43.09% | 29.05 MHz / 16.53 MHz | Δ 75.73% |
poses: CPose2D.composePoint() | 26.02 ns / 60.01 ns | ∇ -56.64% | 38.43 MHz / 16.66 MHz | Δ 130.61% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 42.70 ns | Δ 166.02% | 8.80 MHz / 23.42 MHz | ∇ -62.41% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 38.27 ns | Δ 116.14% | 12.09 MHz / 26.13 MHz | ∇ -53.73% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 17.90 ns | Δ 130.82% | 24.20 MHz / 55.85 MHz | ∇ -56.68% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 18.44 ns | Δ 68.83% | 32.12 MHz / 54.23 MHz | ∇ -40.77% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 33.31 ns | Δ 241.88% | 8.78 MHz / 30.02 MHz | ∇ -70.75% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 19.52 ns | Δ 73.94% | 29.46 MHz / 51.24 MHz | ∇ -42.51% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 16.27 ns | Δ 62.49% | 37.82 MHz / 61.45 MHz | ∇ -38.46% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 169.77 ns | ∇ -42.68% | 10.28 MHz / 5.89 MHz | Δ 74.47% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 799.00 ns | Δ 18.76% | 1.05 MHz / 1.25 MHz | ∇ -15.79% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 788.50 ns | Δ 19.04% | 1.07 MHz / 1.27 MHz | ∇ -16.00% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 9.11 us | Δ 132.94% | 47.15 KHz / 109.83 KHz | ∇ -57.07% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 557.50 ns | ∇ -4.49% | 1.88 MHz / 1.79 MHz | Δ 4.71% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 558.50 ns | ∇ -5.42% | 1.89 MHz / 1.79 MHz | Δ 5.73% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 8.42 us | Δ 32.98% | 89.35 KHz / 118.81 KHz | ∇ -24.80% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 17.83 ns | Δ 153.43% | 22.13 MHz / 56.07 MHz | ∇ -60.54% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 19.48 ns | Δ 135.46% | 21.81 MHz / 51.35 MHz | ∇ -57.53% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 54.85 ns | Δ 223.51% | 5.64 MHz / 18.23 MHz | ∇ -69.09% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 55.93 ns | Δ 203.08% | 5.90 MHz / 17.88 MHz | ∇ -67.01% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 6.37 ns / 1.50 ns | Δ 325.04% | 157.06 MHz / 667.56 MHz | ∇ -76.47% |
matrix: unit, fix[double,6,6] | 7.86 ns / 5.61 ns | Δ 40.22% | 127.19 MHz / 178.35 MHz | ∇ -28.68% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 291.30 ns | Δ 66.81% | 2.06 MHz / 3.43 MHz | ∇ -40.05% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 292.50 ns | Δ 80.65% | 1.89 MHz / 3.42 MHz | ∇ -44.65% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 547.16 ns / 347.50 ns | Δ 57.46% | 1.83 MHz / 2.88 MHz | ∇ -36.49% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 0.00 ns | Δ 1.#J% | 424.60 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 340.40 ns | Δ 15.01% | 2.55 MHz / 2.94 MHz | ∇ -13.05% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 0.00 ns | Δ 1.#J% | 424.60 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 2.42 us | Δ 13.35% | 364.51 KHz / 413.19 KHz | ∇ -11.78% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 2.23 us | ∇ -6.61% | 479.89 KHz / 448.19 KHz | Δ 7.07% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 2.31 us | Δ 49.96% | 288.55 KHz / 432.69 KHz | ∇ -33.31% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 2.12 us | Δ 12.28% | 419.56 KHz / 471.08 KHz | ∇ -10.94% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 780.00 ns | Δ 39.18% | 921.12 KHz / 1.28 MHz | ∇ -28.15% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 0.00 ns | Δ 1.#J% | 45.06 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 1.97 us | Δ 41.00% | 359.66 KHz / 507.10 KHz | ∇ -29.08% |
matrix: inv, fix[double] 6x6 | 2.22 us / 1.60 us | Δ 38.73% | 450.23 KHz / 624.61 KHz | ∇ -27.92% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 16.08 us | Δ 91.00% | 32.56 KHz / 62.19 KHz | ∇ -47.64% |
matrix: inv, fix[double] 20x20 | 24.08 us / 14.48 us | Δ 66.32% | 41.53 KHz / 69.08 KHz | ∇ -39.88% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 65.78 us | Δ 78.12% | 8.53 KHz / 15.20 KHz | ∇ -43.86% |
matrix: inv, fix[double] 40x40 | 112.80 us / 64.13 us | Δ 75.90% | 8.86 KHz / 15.59 KHz | ∇ -43.15% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 212.60 ns | Δ 260.07% | 1.31 MHz / 4.70 MHz | ∇ -72.23% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 822.31 ns / 323.30 ns | Δ 154.35% | 1.22 MHz / 3.09 MHz | ∇ -60.68% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 6x6 | 1.78 us / 774.90 ns | Δ 130.25% | 560.47 KHz / 1.29 MHz | ∇ -56.57% |
matrix: det, fix[double] 6x6 | 1.51 us / 592.30 ns | Δ 155.28% | 661.35 KHz / 1.69 MHz | ∇ -60.83% |
matrix: det, dyn[double] 20x20 | 18.54 us / 8.50 us | Δ 118.06% | 53.94 KHz / 117.63 KHz | ∇ -54.14% |
matrix: det, fix[double] 20x20 | 19.01 us / 7.72 us | Δ 146.22% | 52.61 KHz / 129.53 KHz | ∇ -59.39% |
matrix: det, dyn[double] 40x40 | 72.40 us / 32.23 us | Δ 124.65% | 13.81 KHz / 31.03 KHz | ∇ -55.49% |
matrix: det, fix[double] 40x40 | 67.43 us / 30.71 us | Δ 119.59% | 14.83 KHz / 32.57 KHz | ∇ -54.46% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 530.00 ns | Δ 14.51% | 1.65 MHz / 1.89 MHz | ∇ -12.67% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 130.00 ns | Δ 46.33% | 5.26 MHz / 7.69 MHz | ∇ -31.66% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 22.98 us | Δ 37.45% | 31.66 KHz / 43.52 KHz | ∇ -27.25% |
matrix: chol, fix[double] 40x40 | 20.87 us / 19.50 us | Δ 7.00% | 47.93 KHz / 51.28 KHz | ∇ -6.55% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 8.20 us | ∇ -13.28% | 140.63 KHz / 121.95 KHz | Δ 15.32% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 85.30 us | Δ 11.08% | 10.55 KHz / 11.72 KHz | ∇ -9.97% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 56.80 us | Δ 33.08% | 13.23 KHz / 17.61 KHz | ∇ -24.86% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 39.31 us | Δ 9.90% | 23.15 KHz / 25.44 KHz | ∇ -9.01% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 266.80 us | Δ 69.96% | 2.21 KHz / 3.75 KHz | ∇ -41.16% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 72.76 us | Δ 1.71% | 13.51 KHz / 13.74 KHz | ∇ -1.68% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 2.67 ms | Δ 32.72% | 282.19 Hz / 374.53 Hz | ∇ -24.65% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 176.19 us | Δ 1.42% | 5.60 KHz / 5.68 KHz | ∇ -1.40% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 20.73 ms | Δ 7.49% | 44.87 Hz / 48.23 Hz | ∇ -6.97% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 351.05 us | Δ 2.37% | 2.78 KHz / 2.85 KHz | ∇ -2.31% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 34.60 ms | Δ 4.86% | 27.56 Hz / 28.90 Hz | ∇ -4.64% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 415.89 us | ∇ -0.97% | 2.43 KHz / 2.40 KHz | Δ 0.98% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 50.32 ms | Δ 8.00% | 18.40 Hz / 19.87 Hz | ∇ -7.40% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 482.94 us | Δ 1.07% | 2.05 KHz / 2.07 KHz | ∇ -1.06% |
gridmap2D: getCell | 4.13 ns / 0.00 ns | Δ 1.#J% | 242.07 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 5.65 ns / 2.61 ns | Δ 116.56% | 177.14 MHz / 383.63 MHz | ∇ -53.82% |
gridmap2D: updateCell | 6.93 ns / 6.99 ns | ∇ -0.92% | 144.35 MHz / 143.02 MHz | Δ 0.93% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.51 ns | Δ 134.17% | 833.40 MHz / 1.95 GHz | ∇ -57.30% |
gridmap2D: insert scan w/o widening | 102.16 us / 102.59 us | ∇ -0.42% | 9.79 KHz / 9.75 KHz | Δ 0.42% |
gridmap2D: insert scan with widening | 276.88 us / 284.11 us | ∇ -2.54% | 3.61 KHz / 3.52 KHz | Δ 2.61% |
gridmap2D: resize | 3.89 ms / 722.00 us | Δ 438.79% | 257.06 Hz / 1.39 KHz | ∇ -81.44% |
gridmap2D: computeLikelihood | 13.92 us / 15.69 us | ∇ -11.30% | 71.84 KHz / 63.72 KHz | Δ 12.74% |
pointmap: insert 100 scans | 1.87 ms / 2.97 ms | ∇ -36.91% | 534.24 Hz / 337.06 Hz | Δ 58.50% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 4.36 us | Δ 16.76% | 196.43 KHz / 229.36 KHz | ∇ -14.35% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 357.08 us | Δ 36.21% | 2.06 KHz / 2.80 KHz | ∇ -26.59% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 4.19 ms | Δ 21.62% | 196.20 Hz / 238.61 Hz | ∇ -17.78% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 4.72 us | Δ 17.83% | 179.80 KHz / 211.86 KHz | ∇ -15.13% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 362.68 us | Δ 28.83% | 2.14 KHz / 2.76 KHz | ∇ -22.38% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 4.10 ms | Δ 26.48% | 192.98 Hz / 244.09 Hz | ∇ -20.94% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.39 us | Δ 14.86% | 627.25 KHz / 720.46 KHz | ∇ -12.94% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 101.86 us | Δ 24.36% | 7.89 KHz / 9.82 KHz | ∇ -19.59% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 11.78 ms | Δ 17.72% | 72.14 Hz / 84.92 Hz | ∇ -15.05% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 5.62 ms | Δ 16.38% | 152.81 Hz / 177.84 Hz | ∇ -14.07% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 130.59 ms | Δ 33.83% | 5.72 Hz / 7.66 Hz | ∇ -25.28% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 5.69 ms | Δ 20.96% | 145.28 Hz / 175.73 Hz | ∇ -17.33% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 132.22 ms | Δ 37.17% | 5.51 Hz / 7.56 Hz | ∇ -27.10% |
random: drawUniform32bit | 9.54 ns / 15.67 ns | ∇ -39.14% | 104.87 MHz / 63.82 MHz | Δ 64.32% |
random: drawUniform | 9.69 ns / 15.66 ns | ∇ -38.11% | 103.21 MHz / 63.88 MHz | Δ 61.58% |
random: drawGaussian1D_normalized | 52.06 ns / 69.89 ns | ∇ -25.51% | 19.21 MHz / 14.31 MHz | Δ 34.25% |
random: drawGaussian1D | 50.73 ns / 69.86 ns | ∇ -27.38% | 19.71 MHz / 14.32 MHz | Δ 37.69% |
random: system rand() | 24.47 ns / 12.21 ns | Δ 100.33% | 40.87 MHz / 81.87 MHz | ∇ -50.08% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 2.70 us | ∇ -53.99% | 805.20 KHz / 370.49 KHz | Δ 117.33% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 5.71 us | ∇ -44.17% | 313.70 KHz / 175.14 KHz | Δ 79.11% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 148.19 ns | ∇ -12.25% | 7.69 MHz / 6.75 MHz | Δ 13.97% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 232.46 ns | ∇ -14.67% | 5.04 MHz / 4.30 MHz | Δ 17.19% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 489.71 ns | ∇ -7.77% | 2.21 MHz / 2.04 MHz | Δ 8.42% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 159.54 ns | ∇ -14.17% | 7.30 MHz / 6.27 MHz | Δ 16.52% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 247.75 ns | ∇ -13.82% | 4.68 MHz / 4.04 MHz | Δ 16.03% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 521.91 ns | ∇ -8.31% | 2.09 MHz / 1.92 MHz | Δ 9.06% |
random: permuteVector (len=10) | 244.07 ns / 251.30 ns | ∇ -2.88% | 4.10 MHz / 3.98 MHz | Δ 2.96% |
random: permuteVector (len=100) | 3.12 us / 3.02 us | Δ 3.54% | 320.11 KHz / 331.46 KHz | ∇ -3.42% |
random: permuteVector (len=1000) | 30.82 us / 30.36 us | Δ 1.51% | 32.44 KHz / 32.93 KHz | ∇ -1.49% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188178.43% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 34.14 ms | ∇ -12.51% | 33.48 Hz / 29.29 Hz | Δ 14.30% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 49.83 ms | ∇ -13.74% | 23.26 Hz / 20.07 Hz | Δ 15.92% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 80.71 ms | ∇ -14.48% | 14.49 Hz / 12.39 Hz | Δ 16.93% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 29.36 ms | ∇ -22.16% | 43.75 Hz / 34.05 Hz | Δ 28.48% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 42.45 ms | ∇ -17.06% | 28.41 Hz / 23.56 Hz | Δ 20.57% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 65.41 ms | ∇ -12.41% | 17.45 Hz / 15.29 Hz | Δ 14.16% |
images: Gauss filter (640x480) | 4.45 ms / 4.66 ms | ∇ -4.58% | 224.70 Hz / 214.40 Hz | Δ 4.80% |
images: Gauss filter (800x600) | 8.06 ms / 5.98 ms | Δ 34.60% | 124.15 Hz / 167.10 Hz | ∇ -25.71% |
images: Gauss filter (1024x768) | 13.86 ms / 10.42 ms | Δ 32.94% | 72.16 Hz / 95.93 Hz | ∇ -24.78% |
images: Half sample GRAY (160x120) | 1.32 us / X | 755.28 KHz / X | ||
images: Half sample GRAY (320x240) | 4.41 us / X | 226.69 KHz / X | ||
images: Half sample GRAY (640x480) | 18.51 us / X | 54.02 KHz / X | ||
images: Half sample GRAY (800x600) | 29.74 us / X | 33.62 KHz / X | ||
images: Half sample GRAY (1024x768) | 52.65 us / X | 18.99 KHz / X | ||
images: Half sample GRAY (1280x1024) | 107.42 us / X | 9.31 KHz / X | ||
images: Half sample RGB (160x120) | 9.33 us / X | 107.15 KHz / X | ||
images: Half sample RGB (320x240) | 11.01 us / X | 90.82 KHz / X | ||
images: Half sample RGB (640x480) | 53.51 us / X | 18.69 KHz / X | ||
images: Half sample RGB (800x600) | 126.28 us / X | 7.92 KHz / X | ||
images: Half sample RGB (1024x768) | 248.04 us / X | 4.03 KHz / X | ||
images: Half sample RGB (1280x1024) | 667.92 us / X | 1.50 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.83 us / X | 546.97 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 6.09 us / X | 164.16 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 28.72 us / X | 34.81 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 44.06 us / X | 22.70 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 78.59 us / X | 12.72 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 168.62 us / X | 5.93 KHz / X | ||
images: Half sample smooth RGB (160x120) | 88.54 us / X | 11.29 KHz / X | ||
images: Half sample smooth RGB (320x240) | 381.77 us / X | 2.62 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.50 ms / X | 665.62 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.40 ms / X | 417.30 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.77 ms / X | 265.35 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.50 ms / X | 153.82 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.84 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.89 us / X | 345.89 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 10.09 us / X | 99.10 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.97 us / X | 25.02 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 172.29 us / X | 5.80 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 303.41 us / X | 3.30 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 645.96 us / X | 1.55 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / X | 569.41 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 11.35 us | Δ 52.31% | 57.84 KHz / 88.11 KHz | ∇ -34.35% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 9.96 us | Δ 65.52% | 60.66 KHz / 100.40 KHz | ∇ -39.59% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 5.52 us | Δ 76.08% | 102.89 KHz / 181.16 KHz | ∇ -43.21% |
feature_extraction [640x480]: Harris | 31.46 ms / 32.25 ms | ∇ -2.46% | 31.79 Hz / 31.01 Hz | Δ 2.52% |
feature_extraction [640x480]: KLT | 30.94 ms / 25.60 ms | Δ 20.86% | 32.32 Hz / 39.06 Hz | ∇ -17.26% |
feature_extraction [640x480]: SIFT | 653.53 ms / 630.91 ms | Δ 3.59% | 1.53 Hz / 1.59 Hz | ∇ -3.46% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 164.09 ms | Δ 28.21% | 4.75 Hz / 6.09 Hz | ∇ -22.00% |
feature_extraction [640x480]: SURF | 243.66 ms / 207.64 ms | Δ 17.35% | 4.10 Hz / 4.82 Hz | ∇ -14.78% |
feature_extraction [640x480]: FAST | 6.32 ms / 7.60 ms | ∇ -16.83% | 158.19 Hz / 131.57 Hz | Δ 20.23% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 60.60 ms | ∇ -25.55% | 22.16 Hz / 16.50 Hz | Δ 34.32% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 43.99 ms | Δ 5.93% | 21.46 Hz / 22.73 Hz | ∇ -5.59% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 36.29 ms | Δ 12.69% | 24.46 Hz / 27.56 Hz | ∇ -11.26% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.20 sec | Δ 7.16% | 778.73 mHz / 834.47 mHz | ∇ -6.68% |
feature_matching [640x480]: SURF | 502.54 ms / 379.83 ms | Δ 32.31% | 1.99 Hz / 2.63 Hz | ∇ -24.42% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 16.04 ms | Δ 22.91% | 50.74 Hz / 62.36 Hz | ∇ -18.64% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 10.85 ms | Δ 19.88% | 76.86 Hz / 92.14 Hz | ∇ -16.58% |
graph(2d): insertEdge x 1e3 | 236.53 us / 119.99 us | Δ 97.12% | 4.23 KHz / 8.33 KHz | ∇ -49.27% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 107.18 us | Δ 130.20% | 4.05 KHz / 9.33 KHz | ∇ -56.56% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 84.03 us | Δ 160.39% | 4.57 KHz / 11.90 KHz | ∇ -61.60% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 83.37 us | Δ 150.94% | 4.78 KHz / 11.99 KHz | ∇ -60.15% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 170.61 us | Δ 93.34% | 3.03 KHz / 5.86 KHz | ∇ -48.28% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 181.61 us | Δ 67.17% | 3.29 KHz / 5.51 KHz | ∇ -40.18% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 179.02 us | Δ 56.46% | 3.57 KHz / 5.59 KHz | ∇ -36.09% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 178.59 us | Δ 59.18% | 3.52 KHz / 5.60 KHz | ∇ -37.18% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 1.58 ms | Δ 72.21% | 367.00 Hz / 632.00 Hz | ∇ -41.93% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 1.26 ms | Δ 115.68% | 366.67 Hz / 790.83 Hz | ∇ -53.63% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 863.38 us | Δ 126.07% | 512.34 Hz / 1.16 KHz | ∇ -55.77% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 846.12 us | Δ 127.34% | 519.87 Hz / 1.18 KHz | ∇ -56.01% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 1.96 ms | Δ 63.58% | 311.68 Hz / 509.85 Hz | ∇ -38.87% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 2.25 ms | Δ 44.17% | 308.83 Hz / 445.23 Hz | ∇ -30.64% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 1.95 ms | Δ 65.10% | 309.95 Hz / 511.72 Hz | ∇ -39.43% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 1.95 ms | Δ 62.78% | 314.97 Hz / 512.69 Hz | ∇ -38.57% |
graph(3d): insertEdge x 1e3 | 274.22 us / 169.26 us | Δ 62.01% | 3.65 KHz / 5.91 KHz | ∇ -38.28% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 168.78 us | Δ 56.81% | 3.78 KHz / 5.93 KHz | ∇ -36.23% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 153.69 us | Δ 71.75% | 3.79 KHz / 6.51 KHz | ∇ -41.78% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 154.19 us | Δ 73.38% | 3.74 KHz / 6.49 KHz | ∇ -42.32% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 471.95 us | Δ 24.80% | 1.70 KHz / 2.12 KHz | ∇ -19.87% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 479.58 us | Δ 24.41% | 1.68 KHz / 2.09 KHz | ∇ -19.62% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 441.33 us | Δ 27.56% | 1.78 KHz / 2.27 KHz | ∇ -21.61% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 445.05 us | Δ 25.61% | 1.79 KHz / 2.25 KHz | ∇ -20.39% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 2.46 ms | Δ 31.66% | 309.17 Hz / 407.06 Hz | ∇ -24.05% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 2.46 ms | Δ 27.31% | 319.30 Hz / 406.51 Hz | ∇ -21.45% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 1.70 ms | Δ 54.18% | 381.66 Hz / 588.45 Hz | ∇ -35.14% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 1.70 ms | Δ 49.70% | 392.76 Hz / 587.97 Hz | ∇ -33.20% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 6.68 ms | ∇ -8.53% | 163.57 Hz / 149.62 Hz | Δ 9.32% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 6.75 ms | ∇ -16.99% | 178.36 Hz / 148.06 Hz | Δ 20.47% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 4.59 ms | Δ 13.57% | 192.01 Hz / 218.07 Hz | ∇ -11.95% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 4.58 ms | Δ 13.32% | 192.88 Hz / 218.58 Hz | ∇ -11.76% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 89.04 us | Δ 75.67% | 6.39 KHz / 11.23 KHz | ∇ -43.08% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 75.33 us | Δ 155.32% | 5.20 KHz / 13.28 KHz | ∇ -60.83% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 1.11 ms | Δ 96.78% | 459.11 Hz / 903.43 Hz | ∇ -49.18% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 711.20 us | Δ 153.23% | 555.25 Hz / 1.41 KHz | ∇ -60.51% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 18.54 ms | Δ 43.85% | 37.50 Hz / 53.94 Hz | ∇ -30.48% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 9.76 ms | Δ 134.05% | 43.80 Hz / 102.51 Hz | ∇ -57.27% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 252.57 ms | Δ 21.61% | 3.26 Hz / 3.96 Hz | ∇ -17.77% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 112.23 ms | Δ 137.71% | 3.75 Hz / 8.91 Hz | ∇ -57.93% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 256.02 ms | Δ 18.00% | 3.31 Hz / 3.91 Hz | ∇ -15.25% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 106.16 ms | Δ 147.53% | 3.81 Hz / 9.42 Hz | ∇ -59.60% |