Test description | 0.9.4-MSVC10-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 37.14 ms | ∇ -28.53% | 37.68 Hz / 26.93 Hz | Δ 39.92% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 36.34 ms | ∇ -11.46% | 31.08 Hz / 27.52 Hz | Δ 12.94% |
poses: CPose3D (+) CPose3D | 62.83 ns / 197.08 ns | ∇ -68.12% | 15.92 MHz / 5.07 MHz | Δ 213.68% |
poses: CPose3D.composeFrom() | 41.42 ns / 33.62 ns | Δ 23.18% | 24.14 MHz / 29.74 MHz | ∇ -18.82% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 25.13 ns | ∇ -24.85% | 52.94 MHz / 39.79 MHz | Δ 33.06% |
poses: CPose3D.composePoint() | 17.17 ns / 21.31 ns | ∇ -19.39% | 58.23 MHz / 46.94 MHz | Δ 24.06% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 89.96 ns | ∇ -1.31% | 11.26 MHz / 11.12 MHz | Δ 1.32% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 47.25 ns | ∇ -6.87% | 22.73 MHz / 21.17 MHz | Δ 7.38% |
poses: CPose2D (+) CPose2D | 72.08 ns / 108.63 ns | ∇ -33.64% | 13.87 MHz / 9.21 MHz | Δ 50.70% |
poses: CPose2D.composeFrom() | 63.27 ns / 94.77 ns | ∇ -33.24% | 15.81 MHz / 10.55 MHz | Δ 49.79% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 80.61 ns | ∇ -57.30% | 29.05 MHz / 12.41 MHz | Δ 134.20% |
poses: CPose2D.composePoint() | 26.02 ns / 67.32 ns | ∇ -61.35% | 38.43 MHz / 14.85 MHz | Δ 158.70% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 81.31 ns | Δ 39.71% | 8.80 MHz / 12.30 MHz | ∇ -28.42% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 51.56 ns | Δ 60.41% | 12.09 MHz / 19.39 MHz | ∇ -37.66% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 55.91 ns | ∇ -26.08% | 24.20 MHz / 17.89 MHz | Δ 35.29% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 32.73 ns | ∇ -4.89% | 32.12 MHz / 30.55 MHz | Δ 5.14% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 124.02 ns | ∇ -8.17% | 8.78 MHz / 8.06 MHz | Δ 8.89% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 30.61 ns | Δ 10.92% | 29.46 MHz / 32.67 MHz | ∇ -9.84% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 28.12 ns | ∇ -5.97% | 37.82 MHz / 35.56 MHz | Δ 6.34% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 216.84 ns | ∇ -55.12% | 10.28 MHz / 4.61 MHz | Δ 122.83% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 1.24 us | ∇ -23.48% | 1.05 MHz / 806.40 KHz | Δ 30.69% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 1.20 us | ∇ -21.57% | 1.07 MHz / 835.55 KHz | Δ 27.50% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 20.15 us | Δ 5.25% | 47.15 KHz / 49.63 KHz | ∇ -4.99% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 817.60 ns | ∇ -34.88% | 1.88 MHz / 1.22 MHz | Δ 53.56% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 823.40 ns | ∇ -35.85% | 1.89 MHz / 1.21 MHz | Δ 55.88% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 19.09 us | ∇ -41.37% | 89.35 KHz / 52.39 KHz | Δ 70.56% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 49.67 ns | ∇ -9.00% | 22.13 MHz / 20.13 MHz | Δ 9.89% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 50.90 ns | ∇ -9.92% | 21.81 MHz / 19.64 MHz | Δ 11.01% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 180.98 ns | ∇ -1.96% | 5.64 MHz / 5.53 MHz | Δ 2.00% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 177.90 ns | ∇ -4.71% | 5.90 MHz / 5.62 MHz | Δ 4.94% |
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 / 6.63 ns | ∇ -3.98% | 157.06 MHz / 150.81 MHz | Δ 4.14% |
matrix: unit, fix[double,6,6] | 7.86 ns / 8.86 ns | ∇ -11.23% | 127.19 MHz / 112.91 MHz | Δ 12.64% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 680.28 ns | ∇ -28.57% | 2.06 MHz / 1.47 MHz | Δ 39.99% |
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 / 458.35 ns | Δ 15.29% | 1.89 MHz / 2.18 MHz | ∇ -13.26% |
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 / 680.46 ns | ∇ -19.59% | 1.83 MHz / 1.47 MHz | Δ 24.36% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 35.28 ns | ∇ -93.32% | 424.60 MHz / 28.34 MHz | Δ 1398.08% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 514.01 ns | ∇ -23.83% | 2.55 MHz / 1.95 MHz | Δ 31.29% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 3.40 ns | ∇ -30.67% | 424.60 MHz / 294.39 MHz | Δ 44.23% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 5.18 us | ∇ -47.04% | 364.51 KHz / 193.06 KHz | Δ 88.81% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 4.56 us | ∇ -54.27% | 479.89 KHz / 219.44 KHz | Δ 118.69% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 3.79 us | ∇ -8.58% | 288.55 KHz / 263.78 KHz | Δ 9.39% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 2.92 us | ∇ -18.47% | 419.56 KHz / 342.06 KHz | Δ 22.66% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 1.50 us | ∇ -27.76% | 921.12 KHz / 665.44 KHz | Δ 38.42% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 9.51 ns | Δ 133.33% | 45.06 MHz / 105.14 MHz | ∇ -57.14% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 3.90 us | ∇ -28.77% | 359.66 KHz / 256.17 KHz | Δ 40.40% |
matrix: inv, fix[double] 6x6 | 2.22 us / 3.54 us | ∇ -37.26% | 450.23 KHz / 282.49 KHz | Δ 59.38% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 34.19 us | ∇ -10.17% | 32.56 KHz / 29.25 KHz | Δ 11.33% |
matrix: inv, fix[double] 20x20 | 24.08 us / 29.35 us | ∇ -17.97% | 41.53 KHz / 34.07 KHz | Δ 21.91% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 134.24 us | ∇ -12.71% | 8.53 KHz / 7.45 KHz | Δ 14.56% |
matrix: inv, fix[double] 40x40 | 112.80 us / 126.45 us | ∇ -10.79% | 8.86 KHz / 7.91 KHz | Δ 12.10% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 601.74 ns | Δ 27.22% | 1.31 MHz / 1.66 MHz | ∇ -21.39% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: det, dyn[double] 3x3 | 822.31 ns / 872.81 ns | ∇ -5.79% | 1.22 MHz / 1.15 MHz | Δ 6.14% |
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 / 2.32 us | ∇ -23.23% | 560.47 KHz / 430.29 KHz | Δ 30.25% |
matrix: det, fix[double] 6x6 | 1.51 us / 2.17 us | ∇ -30.36% | 661.35 KHz / 460.60 KHz | Δ 43.59% |
matrix: det, dyn[double] 20x20 | 18.54 us / 23.14 us | ∇ -19.87% | 53.94 KHz / 43.22 KHz | Δ 24.80% |
matrix: det, fix[double] 20x20 | 19.01 us / 21.38 us | ∇ -11.08% | 52.61 KHz / 46.78 KHz | Δ 12.46% |
matrix: det, dyn[double] 40x40 | 72.40 us / 92.83 us | ∇ -22.01% | 13.81 KHz / 10.77 KHz | Δ 28.23% |
matrix: det, fix[double] 40x40 | 67.43 us / 90.97 us | ∇ -25.88% | 14.83 KHz / 10.99 KHz | Δ 34.91% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 892.24 ns | ∇ -31.98% | 1.65 MHz / 1.12 MHz | Δ 47.01% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 249.10 ns | ∇ -23.64% | 5.26 MHz / 4.01 MHz | Δ 30.95% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 41.12 us | ∇ -23.19% | 31.66 KHz / 24.32 KHz | Δ 30.20% |
matrix: chol, fix[double] 40x40 | 20.87 us / 26.92 us | ∇ -22.48% | 47.93 KHz / 37.15 KHz | Δ 29.00% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 15.31 us | ∇ -53.55% | 140.63 KHz / 65.32 KHz | Δ 115.29% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 116.85 us | ∇ -18.91% | 10.55 KHz / 8.56 KHz | Δ 23.33% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 98.96 us | ∇ -23.62% | 13.23 KHz / 10.10 KHz | Δ 30.92% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 55.18 us | ∇ -21.70% | 23.15 KHz / 18.12 KHz | Δ 27.72% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 498.07 us | ∇ -8.96% | 2.21 KHz / 2.01 KHz | Δ 9.84% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 133.40 us | ∇ -44.53% | 13.51 KHz / 7.50 KHz | Δ 80.26% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 4.99 ms | ∇ -29.02% | 282.19 Hz / 200.30 Hz | Δ 40.89% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 243.96 us | ∇ -26.76% | 5.60 KHz / 4.10 KHz | Δ 36.53% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 30.03 ms | ∇ -25.78% | 44.87 Hz / 33.31 Hz | Δ 34.73% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 486.08 us | ∇ -26.07% | 2.78 KHz / 2.06 KHz | Δ 35.26% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 51.94 ms | ∇ -30.14% | 27.56 Hz / 19.25 Hz | Δ 43.15% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 583.78 us | ∇ -29.45% | 2.43 KHz / 1.71 KHz | Δ 41.74% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 76.91 ms | ∇ -29.34% | 18.40 Hz / 13.00 Hz | Δ 41.52% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 649.31 us | ∇ -24.83% | 2.05 KHz / 1.54 KHz | Δ 33.03% |
gridmap2D: getCell | 4.13 ns / 6.44 ns | ∇ -35.87% | 242.07 MHz / 155.25 MHz | Δ 55.92% |
gridmap2D: setCell | 5.65 ns / 9.52 ns | ∇ -40.72% | 177.14 MHz / 105.00 MHz | Δ 68.70% |
gridmap2D: updateCell | 6.93 ns / 9.85 ns | ∇ -29.65% | 144.35 MHz / 101.55 MHz | Δ 42.15% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.47 ns | ∇ -18.48% | 833.40 MHz / 679.40 MHz | Δ 22.67% |
gridmap2D: insert scan w/o widening | 102.16 us / 225.20 us | ∇ -54.64% | 9.79 KHz / 4.44 KHz | Δ 120.44% |
gridmap2D: insert scan with widening | 276.88 us / 365.80 us | ∇ -24.31% | 3.61 KHz / 2.73 KHz | Δ 32.11% |
gridmap2D: resize | 3.89 ms / 2.56 ms | Δ 51.70% | 257.06 Hz / 389.96 Hz | ∇ -34.08% |
gridmap2D: computeLikelihood | 13.92 us / 21.14 us | ∇ -34.16% | 71.84 KHz / 47.30 KHz | Δ 51.88% |
pointmap: insert 100 scans | 1.87 ms / 3.27 ms | ∇ -42.77% | 534.24 Hz / 305.75 Hz | Δ 74.73% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 6.03 us | ∇ -15.62% | 196.43 KHz / 165.76 KHz | Δ 18.51% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 579.42 us | ∇ -16.06% | 2.06 KHz / 1.73 KHz | Δ 19.13% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 6.14 ms | ∇ -16.99% | 196.20 Hz / 162.87 Hz | Δ 20.46% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 6.68 us | ∇ -16.80% | 179.80 KHz / 149.59 KHz | Δ 20.20% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 519.96 us | ∇ -10.14% | 2.14 KHz / 1.92 KHz | Δ 11.28% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 6.64 ms | ∇ -21.92% | 192.98 Hz / 150.68 Hz | Δ 28.07% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.95 us | ∇ -18.44% | 627.25 KHz / 511.57 KHz | Δ 22.61% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 167.14 us | ∇ -24.21% | 7.89 KHz / 5.98 KHz | Δ 31.94% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 17.45 ms | ∇ -20.58% | 72.14 Hz / 57.30 Hz | Δ 25.91% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 9.11 ms | ∇ -28.18% | 152.81 Hz / 109.75 Hz | Δ 39.24% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 210.71 ms | ∇ -17.06% | 5.72 Hz / 4.75 Hz | Δ 20.57% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 8.38 ms | ∇ -17.83% | 145.28 Hz / 119.37 Hz | Δ 21.70% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 198.71 ms | ∇ -8.73% | 5.51 Hz / 5.03 Hz | Δ 9.56% |
random: drawUniform32bit | 9.54 ns / 7.57 ns | Δ 25.97% | 104.87 MHz / 132.11 MHz | ∇ -20.61% |
random: drawUniform | 9.69 ns / 7.60 ns | Δ 27.45% | 103.21 MHz / 131.54 MHz | ∇ -21.54% |
random: drawGaussian1D_normalized | 52.06 ns / 58.48 ns | ∇ -10.97% | 19.21 MHz / 17.10 MHz | Δ 12.32% |
random: drawGaussian1D | 50.73 ns / 57.62 ns | ∇ -11.96% | 19.71 MHz / 17.35 MHz | Δ 13.58% |
random: system rand() | 24.47 ns / 29.43 ns | ∇ -16.85% | 40.87 MHz / 33.98 MHz | Δ 20.27% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 2.95 us | ∇ -57.87% | 805.20 KHz / 339.21 KHz | Δ 137.38% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 3.53 us | ∇ -9.81% | 313.70 KHz / 282.92 KHz | Δ 10.88% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 145.71 ns | ∇ -10.77% | 7.69 MHz / 6.86 MHz | Δ 12.06% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 227.37 ns | ∇ -12.76% | 5.04 MHz / 4.40 MHz | Δ 14.63% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 514.56 ns | ∇ -12.22% | 2.21 MHz / 1.94 MHz | Δ 13.92% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 170.42 ns | ∇ -19.65% | 7.30 MHz / 5.87 MHz | Δ 24.46% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 283.60 ns | ∇ -24.71% | 4.68 MHz / 3.53 MHz | Δ 32.83% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 661.22 ns | ∇ -27.63% | 2.09 MHz / 1.51 MHz | Δ 38.17% |
random: permuteVector (len=10) | 244.07 ns / 304.45 ns | ∇ -19.83% | 4.10 MHz / 3.28 MHz | Δ 24.74% |
random: permuteVector (len=100) | 3.12 us / 3.47 us | ∇ -9.90% | 320.11 KHz / 288.42 KHz | Δ 10.99% |
random: permuteVector (len=1000) | 30.82 us / 37.99 us | ∇ -18.85% | 32.44 KHz / 26.33 KHz | Δ 23.23% |
math: round | 0.00 ns / 0.00 ns | ∇ 0.00% | 220.79 THz / 220.79 THz | ∇ 0.00% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 33.06 ms | ∇ -9.65% | 33.48 Hz / 30.25 Hz | Δ 10.68% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 50.64 ms | ∇ -15.12% | 23.26 Hz / 19.75 Hz | Δ 17.81% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 82.66 ms | ∇ -16.49% | 14.49 Hz / 12.10 Hz | Δ 19.75% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 27.36 ms | ∇ -16.45% | 43.75 Hz / 36.56 Hz | Δ 19.68% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 43.25 ms | ∇ -18.61% | 28.41 Hz / 23.12 Hz | Δ 22.86% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 66.55 ms | ∇ -13.92% | 17.45 Hz / 15.03 Hz | Δ 16.17% |
images: Gauss filter (640x480) | 4.45 ms / 5.57 ms | ∇ -20.12% | 224.70 Hz / 179.49 Hz | Δ 25.19% |
images: Gauss filter (800x600) | 8.06 ms / 8.84 ms | ∇ -8.90% | 124.15 Hz / 113.10 Hz | Δ 9.77% |
images: Gauss filter (1024x768) | 13.86 ms / 14.37 ms | ∇ -3.58% | 72.16 Hz / 69.58 Hz | Δ 3.72% |
images: Half sample GRAY (160x120) | 1.32 us / 1.63 us | ∇ -18.95% | 755.28 KHz / 612.18 KHz | Δ 23.38% |
images: Half sample GRAY (320x240) | 4.41 us / 4.13 us | Δ 6.72% | 226.69 KHz / 241.92 KHz | ∇ -6.30% |
images: Half sample GRAY (640x480) | 18.51 us / 19.15 us | ∇ -3.33% | 54.02 KHz / 52.22 KHz | Δ 3.44% |
images: Half sample GRAY (800x600) | 29.74 us / 31.65 us | ∇ -6.04% | 33.62 KHz / 31.59 KHz | Δ 6.43% |
images: Half sample GRAY (1024x768) | 52.65 us / 50.27 us | Δ 4.72% | 18.99 KHz / 19.89 KHz | ∇ -4.51% |
images: Half sample GRAY (1280x1024) | 107.42 us / 87.87 us | Δ 22.25% | 9.31 KHz / 11.38 KHz | ∇ -18.20% |
images: Half sample RGB (160x120) | 9.33 us / 3.54 us | Δ 163.74% | 107.15 KHz / 282.58 KHz | ∇ -62.08% |
images: Half sample RGB (320x240) | 11.01 us / 11.27 us | ∇ -2.28% | 90.82 KHz / 88.76 KHz | Δ 2.33% |
images: Half sample RGB (640x480) | 53.51 us / 57.50 us | ∇ -6.94% | 18.69 KHz / 17.39 KHz | Δ 7.46% |
images: Half sample RGB (800x600) | 126.28 us / 80.68 us | Δ 56.51% | 7.92 KHz / 12.39 KHz | ∇ -36.11% |
images: Half sample RGB (1024x768) | 248.04 us / 391.11 us | ∇ -36.58% | 4.03 KHz / 2.56 KHz | Δ 57.68% |
images: Half sample RGB (1280x1024) | 667.92 us / 826.49 us | ∇ -19.19% | 1.50 KHz / 1.21 KHz | Δ 23.74% |
images: Half sample smooth GRAY (160x120) | 1.83 us / 2.87 us | ∇ -36.20% | 546.97 KHz / 348.99 KHz | Δ 56.73% |
images: Half sample smooth GRAY (320x240) | 6.09 us / 8.64 us | ∇ -29.52% | 164.16 KHz / 115.70 KHz | Δ 41.88% |
images: Half sample smooth GRAY (640x480) | 28.72 us / 29.52 us | ∇ -2.69% | 34.81 KHz / 33.88 KHz | Δ 2.76% |
images: Half sample smooth GRAY (800x600) | 44.06 us / 66.07 us | ∇ -33.32% | 22.70 KHz / 15.14 KHz | Δ 49.96% |
images: Half sample smooth GRAY (1024x768) | 78.59 us / 90.65 us | ∇ -13.31% | 12.72 KHz / 11.03 KHz | Δ 15.35% |
images: Half sample smooth GRAY (1280x1024) | 168.62 us / 132.57 us | Δ 27.19% | 5.93 KHz / 7.54 KHz | ∇ -21.38% |
images: Half sample smooth RGB (160x120) | 88.54 us / 202.00 us | ∇ -56.17% | 11.29 KHz / 4.95 KHz | Δ 128.13% |
images: Half sample smooth RGB (320x240) | 381.77 us / 779.03 us | ∇ -50.99% | 2.62 KHz / 1.28 KHz | Δ 104.06% |
images: Half sample smooth RGB (640x480) | 1.50 ms / 3.10 ms | ∇ -51.46% | 665.62 Hz / 323.08 Hz | Δ 106.02% |
images: Half sample smooth RGB (800x600) | 2.40 ms / 4.82 ms | ∇ -50.30% | 417.30 Hz / 207.41 Hz | Δ 101.19% |
images: Half sample smooth RGB (1024x768) | 3.77 ms / 8.63 ms | ∇ -56.33% | 265.35 Hz / 115.89 Hz | Δ 128.98% |
images: Half sample smooth RGB (1280x1024) | 6.50 ms / 14.76 ms | ∇ -55.94% | 153.82 Hz / 67.77 Hz | Δ 126.96% |
images: RGB->GRAY 8u (40x30) | 3.88 us / 6.40 us | ∇ -39.35% | 257.84 KHz / 156.37 KHz | Δ 64.89% |
images: RGB->GRAY 8u (80x60) | 2.89 us / 4.33 us | ∇ -33.23% | 345.89 KHz / 230.95 KHz | Δ 49.77% |
images: RGB->GRAY 8u (160x120) | 10.09 us / 11.84 us | ∇ -14.80% | 99.10 KHz / 84.43 KHz | Δ 17.37% |
images: RGB->GRAY 8u (320x240) | 39.97 us / 44.50 us | ∇ -10.19% | 25.02 KHz / 22.47 KHz | Δ 11.35% |
images: RGB->GRAY 8u (640x480) | 172.29 us / 191.53 us | ∇ -10.05% | 5.80 KHz / 5.22 KHz | Δ 11.17% |
images: RGB->GRAY 8u (800x600) | 303.41 us / 350.56 us | ∇ -13.45% | 3.30 KHz / 2.85 KHz | Δ 15.54% |
images: RGB->GRAY 8u (1024x768) | 645.96 us / 968.81 us | ∇ -33.32% | 1.55 KHz / 1.03 KHz | Δ 49.98% |
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / 1.71 ms | Δ 2.71% | 569.41 Hz / 584.85 Hz | ∇ -2.64% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 21.97 us | ∇ -21.30% | 57.84 KHz / 45.52 KHz | Δ 27.06% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 22.01 us | ∇ -25.09% | 60.66 KHz / 45.44 KHz | Δ 33.49% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 12.71 us | ∇ -23.52% | 102.89 KHz / 78.69 KHz | Δ 30.75% |
feature_extraction [640x480]: Harris | 31.46 ms / 38.32 ms | ∇ -17.90% | 31.79 Hz / 26.10 Hz | Δ 21.80% |
feature_extraction [640x480]: KLT | 30.94 ms / 37.22 ms | ∇ -16.85% | 32.32 Hz / 26.87 Hz | Δ 20.27% |
feature_extraction [640x480]: SIFT | 653.53 ms / 739.68 ms | ∇ -11.65% | 1.53 Hz / 1.35 Hz | Δ 13.18% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 232.95 ms | ∇ -9.69% | 4.75 Hz / 4.29 Hz | Δ 10.73% |
feature_extraction [640x480]: SURF | 243.66 ms / 309.97 ms | ∇ -21.39% | 4.10 Hz / 3.23 Hz | Δ 27.21% |
feature_extraction [640x480]: FAST | 6.32 ms / 6.88 ms | ∇ -8.18% | 158.19 Hz / 145.25 Hz | Δ 8.91% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 88.28 ms | ∇ -48.89% | 22.16 Hz / 11.33 Hz | Δ 95.67% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 59.68 ms | ∇ -21.93% | 21.46 Hz / 16.76 Hz | Δ 28.09% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 58.57 ms | ∇ -30.18% | 24.46 Hz / 17.07 Hz | Δ 43.23% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.50 sec | ∇ -14.22% | 778.73 mHz / 668.02 mHz | Δ 16.57% |
feature_matching [640x480]: SURF | 502.54 ms / 621.62 ms | ∇ -19.16% | 1.99 Hz / 1.61 Hz | Δ 23.69% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 21.69 ms | ∇ -9.14% | 50.74 Hz / 46.10 Hz | Δ 10.06% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 12.64 ms | Δ 2.95% | 76.86 Hz / 79.13 Hz | ∇ -2.87% |
graph(2d): insertEdge x 1e3 | 236.53 us / 301.62 us | ∇ -21.58% | 4.23 KHz / 3.32 KHz | Δ 27.52% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 298.86 us | ∇ -17.44% | 4.05 KHz / 3.35 KHz | Δ 21.13% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 274.69 us | ∇ -20.34% | 4.57 KHz / 3.64 KHz | Δ 25.54% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 270.21 us | ∇ -22.57% | 4.78 KHz / 3.70 KHz | Δ 29.15% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 415.87 us | ∇ -20.68% | 3.03 KHz / 2.40 KHz | Δ 26.07% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 406.59 us | ∇ -25.33% | 3.29 KHz / 2.46 KHz | Δ 33.92% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 377.54 us | ∇ -25.81% | 3.57 KHz / 2.65 KHz | Δ 34.79% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 379.45 us | ∇ -25.08% | 3.52 KHz / 2.64 KHz | Δ 33.48% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 4.14 ms | ∇ -34.17% | 367.00 Hz / 241.59 Hz | Δ 51.91% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 4.00 ms | ∇ -31.80% | 366.67 Hz / 250.06 Hz | Δ 46.63% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.94 ms | ∇ -33.68% | 512.34 Hz / 339.77 Hz | Δ 50.79% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 2.89 ms | ∇ -33.51% | 519.87 Hz / 345.69 Hz | Δ 50.39% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 4.77 ms | ∇ -32.76% | 311.68 Hz / 209.57 Hz | Δ 48.72% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 4.86 ms | ∇ -33.43% | 308.83 Hz / 205.59 Hz | Δ 50.22% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 4.05 ms | ∇ -20.42% | 309.95 Hz / 246.64 Hz | Δ 25.67% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 4.21 ms | ∇ -24.59% | 314.97 Hz / 237.52 Hz | Δ 32.61% |
graph(3d): insertEdge x 1e3 | 274.22 us / 381.69 us | ∇ -28.16% | 3.65 KHz / 2.62 KHz | Δ 39.19% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 407.21 us | ∇ -35.01% | 3.78 KHz / 2.46 KHz | Δ 53.86% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 339.57 us | ∇ -22.26% | 3.79 KHz / 2.94 KHz | Δ 28.64% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 334.55 us | ∇ -20.09% | 3.74 KHz / 2.99 KHz | Δ 25.14% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 688.91 us | ∇ -14.50% | 1.70 KHz / 1.45 KHz | Δ 16.96% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 684.69 us | ∇ -12.86% | 1.68 KHz / 1.46 KHz | Δ 14.76% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 683.24 us | ∇ -17.60% | 1.78 KHz / 1.46 KHz | Δ 21.36% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 684.37 us | ∇ -18.32% | 1.79 KHz / 1.46 KHz | Δ 22.42% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 3.89 ms | ∇ -16.75% | 309.17 Hz / 257.39 Hz | Δ 20.12% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 3.79 ms | ∇ -17.38% | 319.30 Hz / 263.81 Hz | Δ 21.04% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 3.59 ms | ∇ -26.92% | 381.66 Hz / 278.91 Hz | Δ 36.84% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 3.52 ms | ∇ -27.62% | 392.76 Hz / 284.28 Hz | Δ 38.16% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 7.80 ms | ∇ -21.65% | 163.57 Hz / 128.15 Hz | Δ 27.63% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 7.81 ms | ∇ -28.17% | 178.36 Hz / 128.11 Hz | Δ 39.23% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 7.49 ms | ∇ -30.50% | 192.01 Hz / 133.45 Hz | Δ 43.88% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 7.57 ms | ∇ -31.49% | 192.88 Hz / 132.15 Hz | Δ 45.96% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 213.16 us | ∇ -26.61% | 6.39 KHz / 4.69 KHz | Δ 36.27% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 311.59 us | ∇ -38.28% | 5.20 KHz / 3.21 KHz | Δ 62.01% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 2.57 ms | ∇ -15.13% | 459.11 Hz / 389.66 Hz | Δ 17.82% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 2.70 ms | ∇ -33.33% | 555.25 Hz / 370.20 Hz | Δ 49.99% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 31.29 ms | ∇ -14.76% | 37.50 Hz / 31.96 Hz | Δ 17.31% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 32.92 ms | ∇ -30.63% | 43.80 Hz / 30.38 Hz | Δ 44.16% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 393.68 ms | ∇ -21.98% | 3.26 Hz / 2.54 Hz | Δ 28.17% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 385.61 ms | ∇ -30.81% | 3.75 Hz / 2.59 Hz | Δ 44.53% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 380.30 ms | ∇ -20.56% | 3.31 Hz / 2.63 Hz | Δ 25.88% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 376.84 ms | ∇ -30.27% | 3.81 Hz / 2.65 Hz | Δ 43.40% |