Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 31.78 ms | ∇ -35.23% | 48.58 Hz / 31.46 Hz | Δ 54.40% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 53.70 ms | ∇ -61.57% | 48.45 Hz / 18.62 Hz | Δ 160.22% |
poses: CPose3D (+) CPose3D | 42.90 ns / 925.38 ns | ∇ -95.36% | 23.31 MHz / 1.08 MHz | Δ 2057.07% |
poses: CPose3D.composeFrom() | 37.61 ns / 617.00 ns | ∇ -93.90% | 26.59 MHz / 1.62 MHz | Δ 1540.53% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 35.98 ns | ∇ -79.84% | 137.89 MHz / 27.80 MHz | Δ 396.09% |
poses: CPose3D.composePoint() | 11.83 ns / 14.62 ns | ∇ -19.06% | 84.53 MHz / 68.42 MHz | Δ 23.55% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 75.43 ns | ∇ -47.88% | 25.44 MHz / 13.26 MHz | Δ 91.87% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 56.48 ns | ∇ -38.20% | 28.65 MHz / 17.70 MHz | Δ 61.81% |
poses: CPose2D (+) CPose2D | 76.08 ns / 121.60 ns | ∇ -37.43% | 13.14 MHz / 8.22 MHz | Δ 59.83% |
poses: CPose2D.composeFrom() | 61.61 ns / 66.63 ns | ∇ -7.53% | 16.23 MHz / 15.01 MHz | Δ 8.14% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 93.73 ns | ∇ -35.71% | 16.59 MHz / 10.67 MHz | Δ 55.54% |
poses: CPose2D.composePoint() | 62.26 ns / 62.24 ns | Δ 0.04% | 16.06 MHz / 16.07 MHz | ∇ -0.04% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 100.74 ns | ∇ -59.31% | 24.40 MHz / 9.93 MHz | Δ 145.76% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 57.92 ns | ∇ -32.00% | 25.39 MHz / 17.26 MHz | Δ 47.05% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 61.33 ns | ∇ -70.15% | 54.63 MHz / 16.31 MHz | Δ 235.06% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 27.34 ns | ∇ -34.38% | 55.74 MHz / 36.57 MHz | Δ 52.40% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 580.67 ns | ∇ -90.45% | 18.03 MHz / 1.72 MHz | Δ 947.08% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 28.18 ns | ∇ -37.33% | 56.63 MHz / 35.48 MHz | Δ 59.58% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 506.67 ns | ∇ -96.69% | 59.58 MHz / 1.97 MHz | Δ 2918.57% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 214.86 ns | ∇ -21.17% | 5.90 MHz / 4.65 MHz | Δ 26.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 1.56 us | Δ 51277.21% | 1.25 KHz / 642.96 KHz | ∇ -99.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 1.51 us | Δ 53226.20% | 1.24 KHz / 663.83 KHz | ∇ -99.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 23.29 us | ∇ -59.45% | 105.91 KHz / 42.94 KHz | Δ 146.64% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 1.64 us | ∇ -60.43% | 1.54 MHz / 609.77 KHz | Δ 152.73% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 1.66 us | ∇ -62.09% | 1.58 MHz / 600.84 KHz | Δ 163.76% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 16.05 us | ∇ -49.04% | 122.30 KHz / 62.32 KHz | Δ 96.24% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 39.66 ns | ∇ -38.40% | 40.94 MHz / 25.22 MHz | Δ 62.34% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 42.75 ns | ∇ -45.77% | 43.14 MHz / 23.39 MHz | Δ 84.40% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 152.29 ns | ∇ -60.93% | 16.81 MHz / 6.57 MHz | Δ 155.92% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 150.45 ns | ∇ -58.61% | 16.06 MHz / 6.65 MHz | Δ 141.63% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.30 ns | ∇ -89.47% | 2.88 GHz / 303.37 MHz | Δ 849.95% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.48 ns | ∇ -65.84% | 841.75 MHz / 287.56 MHz | Δ 192.72% |
matrix: unit, fix[float,6,6] | 1.70 ns / 3.06 ns | ∇ -44.28% | 587.20 MHz / 327.19 MHz | Δ 79.46% |
matrix: unit, fix[double,6,6] | 2.77 ns / 6.65 ns | ∇ -58.32% | 361.01 MHz / 150.48 MHz | Δ 139.90% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 167.81 ns | ∇ -48.87% | 11.66 MHz / 5.96 MHz | Δ 95.58% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 108.61 ns | ∇ -78.09% | 42.02 MHz / 9.21 MHz | Δ 356.34% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 158.88 ns | ∇ -52.23% | 13.18 MHz / 6.29 MHz | Δ 109.33% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 90.86 ns | ∇ -74.13% | 42.55 MHz / 11.01 MHz | Δ 286.62% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 272.47 ns | ∇ -56.66% | 8.47 MHz / 3.67 MHz | Δ 130.72% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 193.12 ns | ∇ -76.85% | 22.37 MHz / 5.18 MHz | Δ 332.04% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 238.91 ns | ∇ -53.75% | 9.05 MHz / 4.19 MHz | Δ 116.21% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 139.05 ns | ∇ -67.49% | 22.12 MHz / 7.19 MHz | Δ 207.62% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 16.80 us | ∇ -67.65% | 183.95 KHz / 59.51 KHz | Δ 209.11% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 13.06 us | ∇ -71.09% | 264.87 KHz / 76.57 KHz | Δ 245.93% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 13.55 us | ∇ -59.08% | 180.38 KHz / 73.81 KHz | Δ 144.39% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 9.96 us | ∇ -59.09% | 245.43 KHz / 100.40 KHz | Δ 144.46% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / 1.50 us | ∇ -57.99% | 1.58 MHz / 665.84 KHz | Δ 138.01% |
matrix: inv, fix[float ] 3x3 | 35.00 ns / 59.79 ns | ∇ -41.46% | 28.57 MHz / 16.73 MHz | Δ 70.81% |
matrix: inv, dyn[double] 3x3 | 644.00 ns / 1.53 us | ∇ -57.96% | 1.55 MHz / 652.84 KHz | Δ 137.85% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 31.25 ns | Δ 24.79% | 25.64 MHz / 32.00 MHz | ∇ -19.87% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / 5.07 us | ∇ -53.23% | 421.76 KHz / 197.26 KHz | Δ 113.81% |
matrix: inv, fix[float ] 6x6 | 812.00 ns / 1.33 us | ∇ -39.14% | 1.23 MHz / 749.46 KHz | Δ 64.32% |
matrix: inv, dyn[double] 6x6 | 1.26 us / 5.08 us | ∇ -75.20% | 793.02 KHz / 196.68 KHz | Δ 303.21% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 926.67 ns | ∇ -37.95% | 1.74 MHz / 1.08 MHz | Δ 61.16% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / 81.86 us | ∇ -68.32% | 38.55 KHz / 12.22 KHz | Δ 215.61% |
matrix: inv, fix[float ] 20x20 | 14.15 us / 40.71 us | ∇ -65.26% | 70.70 KHz / 24.56 KHz | Δ 187.82% |
matrix: inv, dyn[double] 20x20 | 25.76 us / 108.60 us | ∇ -76.28% | 38.83 KHz / 9.21 KHz | Δ 321.64% |
matrix: inv, fix[double] 20x20 | 17.04 us / 19.22 us | ∇ -11.36% | 58.69 KHz / 52.02 KHz | Δ 12.82% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / 609.15 us | ∇ -66.33% | 4.88 KHz / 1.64 KHz | Δ 196.99% |
matrix: inv, fix[float ] 40x40 | 93.29 us / 307.68 us | ∇ -69.68% | 10.72 KHz / 3.25 KHz | Δ 229.81% |
matrix: inv, dyn[double] 40x40 | 207.20 us / 818.27 us | ∇ -74.68% | 4.83 KHz / 1.22 KHz | Δ 294.93% |
matrix: inv, fix[double] 40x40 | 133.80 us / 136.18 us | ∇ -1.74% | 7.47 KHz / 7.34 KHz | Δ 1.77% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 9.15 ns | ∇ -30.05% | 156.25 MHz / 109.30 MHz | Δ 42.95% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 2x2 | 6.40 ns / 9.56 ns | ∇ -33.03% | 156.25 MHz / 104.64 MHz | Δ 49.32% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 3x3 | 10.30 ns / 19.70 ns | ∇ -47.72% | 97.09 MHz / 50.76 MHz | Δ 91.28% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 15.90 ns | ∇ -35.21% | 97.09 MHz / 62.90 MHz | Δ 54.34% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 6x6 | 653.50 ns / 2.32 us | ∇ -71.81% | 1.53 MHz / 431.38 KHz | Δ 254.72% |
matrix: det, fix[float ] 6x6 | 210.00 ns / 434.76 ns | ∇ -51.70% | 4.76 MHz / 2.30 MHz | Δ 107.03% |
matrix: det, dyn[double] 6x6 | 730.30 ns / 2.38 us | ∇ -69.30% | 1.37 MHz / 420.40 KHz | Δ 225.71% |
matrix: det, fix[double] 6x6 | 212.10 ns / 422.89 ns | ∇ -49.84% | 4.71 MHz / 2.36 MHz | Δ 99.38% |
matrix: det, dyn[float ] 20x20 | 5.70 us / 18.34 us | ∇ -68.91% | 175.40 KHz / 54.54 KHz | Δ 221.62% |
matrix: det, fix[float ] 20x20 | 4.20 us / 9.85 us | ∇ -57.31% | 237.92 KHz / 101.56 KHz | Δ 134.26% |
matrix: det, dyn[double] 20x20 | 6.56 us / 18.19 us | ∇ -63.90% | 152.33 KHz / 54.99 KHz | Δ 177.02% |
matrix: det, fix[double] 20x20 | 5.04 us / 6.52 us | ∇ -22.72% | 198.38 KHz / 153.30 KHz | Δ 29.41% |
matrix: det, dyn[float ] 40x40 | 32.38 us / 111.92 us | ∇ -71.07% | 30.89 KHz / 8.93 KHz | Δ 245.69% |
matrix: det, fix[float ] 40x40 | 27.92 us / 63.43 us | ∇ -55.99% | 35.82 KHz / 15.77 KHz | Δ 127.21% |
matrix: det, dyn[double] 40x40 | 39.41 us / 114.84 us | ∇ -65.68% | 25.37 KHz / 8.71 KHz | Δ 191.40% |
matrix: det, fix[double] 40x40 | 29.04 us / 36.00 us | ∇ -19.35% | 34.44 KHz / 27.78 KHz | Δ 23.99% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 185.70 ns | ∇ -24.61% | 7.14 MHz / 5.39 MHz | Δ 32.64% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 113.23 ns | Δ 41.31% | 6.25 MHz / 8.83 MHz | ∇ -29.23% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 24.43 us | ∇ -24.77% | 54.41 KHz / 40.93 KHz | Δ 32.92% |
matrix: chol, fix[double] 40x40 | 17.08 us / 17.73 us | ∇ -3.68% | 58.55 KHz / 56.40 KHz | Δ 3.82% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 10.78 us | ∇ -23.00% | 120.48 KHz / 92.77 KHz | Δ 29.87% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 117.89 us | ∇ -28.41% | 11.85 KHz / 8.48 KHz | Δ 39.69% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 70.52 us | ∇ -24.84% | 18.87 KHz / 14.18 KHz | Δ 33.06% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 52.59 us | ∇ -24.91% | 25.32 KHz / 19.02 KHz | Δ 33.17% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 491.10 us | ∇ -16.17% | 2.43 KHz / 2.04 KHz | Δ 19.29% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 85.83 us | ∇ -13.68% | 13.50 KHz / 11.65 KHz | Δ 15.84% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 9.44 ms | Δ 9.91% | 96.33 Hz / 105.88 Hz | ∇ -9.02% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 204.52 us | Δ 21.62% | 4.02 KHz / 4.89 KHz | ∇ -17.78% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 150.13 ms | Δ 146.88% | 2.70 Hz / 6.66 Hz | ∇ -59.49% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 415.58 us | ∇ -14.92% | 2.83 KHz / 2.41 KHz | Δ 17.54% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 461.43 ms | ∇ -20.78% | 2.74 Hz / 2.17 Hz | Δ 26.23% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 484.92 us | ∇ -12.30% | 2.35 KHz / 2.06 KHz | Δ 14.03% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 947.45 ms | ∇ -15.98% | 1.26 Hz / 1.06 Hz | Δ 19.02% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 586.44 us | ∇ -16.31% | 2.04 KHz / 1.71 KHz | Δ 19.49% |
gridmap2D: getCell | 0.00 ns / 5.77 ns | ∇ -100.00% | 1.#J THz / 173.23 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 7.96 ns | ∇ -67.60% | 387.76 MHz / 125.64 MHz | Δ 208.63% |
gridmap2D: updateCell | 7.44 ns / 10.80 ns | ∇ -31.08% | 134.32 MHz / 92.58 MHz | Δ 45.09% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.21 ns | ∇ -54.46% | 1.82 GHz / 826.59 MHz | Δ 119.60% |
gridmap2D: insert scan w/o widening | 101.23 us / 204.23 us | ∇ -50.44% | 9.88 KHz / 4.90 KHz | Δ 101.76% |
gridmap2D: insert scan with widening | 291.30 us / 344.40 us | ∇ -15.42% | 3.43 KHz / 2.90 KHz | Δ 18.23% |
gridmap2D: resize | 1.89 ms / 2.62 ms | ∇ -27.89% | 529.66 Hz / 381.93 Hz | Δ 38.68% |
gridmap2D: computeLikelihood | 16.46 us / 18.59 us | ∇ -11.47% | 60.76 KHz / 53.79 KHz | Δ 12.95% |
pointmap: insert 100 scans | 3.10 ms / 5.62 ms | ∇ -44.80% | 322.50 Hz / 178.02 Hz | Δ 81.16% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.21 us | ∇ -31.12% | 233.64 KHz / 160.93 KHz | Δ 45.19% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 511.81 us | ∇ -30.54% | 2.81 KHz / 1.95 KHz | Δ 43.96% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 5.59 ms | ∇ -25.55% | 240.24 Hz / 178.86 Hz | Δ 34.32% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 7.23 us | ∇ -34.15% | 210.08 KHz / 138.34 KHz | Δ 51.86% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 523.10 us | ∇ -30.57% | 2.75 KHz / 1.91 KHz | Δ 44.03% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.77 ms | ∇ -29.09% | 244.29 Hz / 173.21 Hz | Δ 41.03% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 2.05 us | ∇ -32.69% | 723.59 KHz / 487.07 KHz | Δ 48.56% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 140.79 us | ∇ -28.31% | 9.91 KHz / 7.10 KHz | Δ 39.49% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 15.17 ms | ∇ -21.49% | 83.95 Hz / 65.91 Hz | Δ 27.37% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.69 ms | ∇ -35.39% | 178.01 Hz / 115.01 Hz | Δ 54.78% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 196.44 ms | ∇ -33.44% | 7.65 Hz / 5.09 Hz | Δ 50.23% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 8.73 ms | ∇ -35.02% | 176.35 Hz / 114.60 Hz | Δ 53.89% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 198.48 ms | ∇ -33.18% | 7.54 Hz / 5.04 Hz | Δ 49.65% |
random: drawUniform32bit | 14.57 ns / 7.29 ns | Δ 99.78% | 68.63 MHz / 137.11 MHz | ∇ -49.95% |
random: drawUniform | 14.62 ns / 7.33 ns | Δ 99.53% | 68.41 MHz / 136.49 MHz | ∇ -49.88% |
random: drawGaussian1D_normalized | 68.70 ns / 51.27 ns | Δ 33.99% | 14.56 MHz / 19.50 MHz | ∇ -25.37% |
random: drawGaussian1D | 68.68 ns / 51.74 ns | Δ 32.75% | 14.56 MHz / 19.33 MHz | ∇ -24.67% |
random: system rand() | 10.45 ns / 29.39 ns | ∇ -64.43% | 95.67 MHz / 34.03 MHz | Δ 181.13% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.64 us | ∇ -50.51% | 764.77 KHz / 378.48 KHz | Δ 102.06% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 8.53 us | ∇ -67.35% | 358.92 KHz / 117.18 KHz | Δ 206.31% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 215.16 ns | ∇ -26.45% | 6.32 MHz / 4.65 MHz | Δ 35.96% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 359.98 ns | ∇ -34.33% | 4.23 MHz / 2.78 MHz | Δ 52.27% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 732.12 ns | ∇ -33.16% | 2.04 MHz / 1.37 MHz | Δ 49.60% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 213.59 ns | ∇ -22.93% | 6.07 MHz / 4.68 MHz | Δ 29.75% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 339.30 ns | ∇ -26.87% | 4.03 MHz / 2.95 MHz | Δ 36.75% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 760.92 ns | ∇ -32.34% | 1.94 MHz / 1.31 MHz | Δ 47.80% |
random: permuteVector (len=10) | 317.50 ns / 411.34 ns | ∇ -22.81% | 3.15 MHz / 2.43 MHz | Δ 29.56% |
random: permuteVector (len=100) | 3.06 us / 3.59 us | ∇ -14.65% | 326.54 KHz / 278.70 KHz | Δ 17.17% |
random: permuteVector (len=1000) | 30.27 us / 34.34 us | ∇ -11.85% | 33.04 KHz / 29.12 KHz | Δ 13.44% |
math: round | 0.10 ns / 0.00 ns | Δ 1.#J% | 10.09 GHz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 27.92 ms | ∇ -2.35% | 36.67 Hz / 35.81 Hz | Δ 2.40% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 43.53 ms | ∇ -0.60% | 23.11 Hz / 22.97 Hz | Δ 0.60% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 70.76 ms | Δ 5.53% | 13.39 Hz / 14.13 Hz | ∇ -5.24% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 23.43 ms | Δ 12.26% | 38.01 Hz / 42.67 Hz | ∇ -10.92% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 36.52 ms | Δ 12.05% | 24.44 Hz / 27.39 Hz | ∇ -10.76% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 59.82 ms | Δ 4.59% | 15.99 Hz / 16.72 Hz | ∇ -4.38% |
images: Gauss filter (640x480) | 4.48 ms / 6.68 ms | ∇ -32.86% | 223.01 Hz / 149.74 Hz | Δ 48.94% |
images: Gauss filter (800x600) | 7.46 ms / 8.62 ms | ∇ -13.46% | 134.07 Hz / 116.03 Hz | Δ 15.55% |
images: Gauss filter (1024x768) | 12.41 ms / 14.49 ms | ∇ -14.34% | 80.57 Hz / 69.01 Hz | Δ 16.74% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 21.12 us | ∇ -75.62% | 194.17 KHz / 47.34 KHz | Δ 310.18% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 19.36 us | ∇ -77.53% | 229.89 KHz / 51.65 KHz | Δ 345.11% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 6.24 us | ∇ -66.01% | 471.70 KHz / 160.34 KHz | Δ 194.18% |
feature_extraction [640x480]: Harris | 33.18 ms / 40.83 ms | ∇ -18.73% | 30.14 Hz / 24.49 Hz | Δ 23.04% |
feature_extraction [640x480]: KLT | 29.64 ms / 33.62 ms | ∇ -11.84% | 33.74 Hz / 29.75 Hz | Δ 13.43% |
feature_extraction [640x480]: SIFT | 637.68 ms / 705.28 ms | ∇ -9.59% | 1.57 Hz / 1.42 Hz | Δ 10.60% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 214.22 ms | ∇ -19.17% | 5.78 Hz / 4.67 Hz | Δ 23.72% |
feature_extraction [640x480]: SURF | 202.84 ms / 326.57 ms | ∇ -37.89% | 4.93 Hz / 3.06 Hz | Δ 61.00% |
feature_extraction [640x480]: FAST | 5.10 ms / 7.69 ms | ∇ -33.61% | 195.94 Hz / 130.08 Hz | Δ 50.63% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 105.90 ms | ∇ -42.19% | 16.33 Hz / 9.44 Hz | Δ 72.99% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 57.67 ms | ∇ -23.89% | 22.78 Hz / 17.34 Hz | Δ 31.38% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 50.27 ms | ∇ -23.76% | 26.09 Hz / 19.89 Hz | Δ 31.17% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.38 sec | ∇ -7.44% | 782.87 mHz / 724.62 mHz | Δ 8.04% |
feature_matching [640x480]: SURF | 387.99 ms / 618.66 ms | ∇ -37.29% | 2.58 Hz / 1.62 Hz | Δ 59.45% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 22.11 ms | ∇ -28.86% | 63.57 Hz / 45.22 Hz | Δ 40.57% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 14.58 ms | ∇ -27.59% | 94.70 Hz / 68.57 Hz | Δ 38.11% |
graph(2d): insertEdge x 1e3 | 104.46 us / 354.58 us | ∇ -70.54% | 9.57 KHz / 2.82 KHz | Δ 239.44% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 284.04 us | ∇ -70.01% | 11.74 KHz / 3.52 KHz | Δ 233.42% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 549.28 us | ∇ -75.49% | 7.43 KHz / 1.82 KHz | Δ 307.93% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 452.79 us | ∇ -73.52% | 8.34 KHz / 2.21 KHz | Δ 277.67% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 3.86 ms | ∇ -64.11% | 721.96 Hz / 259.12 Hz | Δ 178.62% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 2.88 ms | ∇ -70.30% | 1.17 KHz / 347.75 Hz | Δ 236.71% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 5.74 ms | ∇ -71.97% | 621.80 Hz / 174.28 Hz | Δ 256.78% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 4.44 ms | ∇ -72.94% | 832.81 Hz / 225.33 Hz | Δ 269.59% |
graph(3d): insertEdge x 1e3 | 132.91 us / 1.35 ms | ∇ -90.12% | 7.52 KHz / 743.07 Hz | Δ 912.55% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 1.09 ms | ∇ -89.98% | 9.17 KHz / 917.96 Hz | Δ 898.41% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 1.74 ms | ∇ -79.94% | 2.86 KHz / 573.66 Hz | Δ 398.43% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 1.46 ms | ∇ -78.03% | 3.11 KHz / 683.28 Hz | Δ 355.16% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 13.92 ms | ∇ -86.42% | 529.10 Hz / 71.86 Hz | Δ 636.24% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 11.12 ms | ∇ -90.12% | 910.25 Hz / 89.92 Hz | Δ 912.27% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 17.58 ms | ∇ -73.56% | 215.20 Hz / 56.89 Hz | Δ 278.28% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 14.12 ms | ∇ -71.31% | 246.81 Hz / 70.81 Hz | Δ 248.57% |
graph(3d,map): dijkstra 1e2 nodes | 94.48 us / X | 10.58 KHz / X | ||
graph(3d,map): dijkstra 1e3 nodes | 1.16 ms / X | 860.07 Hz / X | ||
graph(3d,map): dijkstra 1e4 nodes | 19.13 ms / X | 52.28 Hz / X |