Test description | 0.9.2-MSVC9-32bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 26.54 ms | Δ 14.51% | 32.90 Hz / 37.68 Hz | ∇ -12.67% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 32.17 ms | Δ 63.44% | 19.02 Hz / 31.08 Hz | ∇ -38.81% |
poses: CPose3D (+) CPose3D | 264.70 ns / 62.83 ns | Δ 321.31% | 3.78 MHz / 15.92 MHz | ∇ -76.26% |
poses: CPose3D.composeFrom() | 98.01 ns / 41.42 ns | Δ 136.62% | 10.20 MHz / 24.14 MHz | ∇ -57.74% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 18.89 ns | Δ 47.50% | 35.89 MHz / 52.94 MHz | ∇ -32.20% |
poses: CPose3D.composePoint() | 19.17 ns / 17.17 ns | Δ 11.63% | 52.16 MHz / 58.23 MHz | ∇ -10.42% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 88.79 ns | ∇ -41.82% | 19.36 MHz / 11.26 MHz | Δ 71.89% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 44.00 ns | Δ 6.62% | 21.32 MHz / 22.73 MHz | ∇ -6.21% |
poses: CPose2D (+) CPose2D | 99.28 ns / 72.08 ns | Δ 37.73% | 10.07 MHz / 13.87 MHz | ∇ -27.39% |
poses: CPose2D.composeFrom() | 89.67 ns / 63.27 ns | Δ 41.73% | 11.15 MHz / 15.81 MHz | ∇ -29.45% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 34.42 ns | Δ 138.44% | 12.18 MHz / 29.05 MHz | ∇ -58.06% |
poses: CPose2D.composePoint() | 64.58 ns / 26.02 ns | Δ 148.16% | 15.49 MHz / 38.43 MHz | ∇ -59.70% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 113.59 ns | ∇ -23.24% | 11.47 MHz / 8.80 MHz | Δ 30.28% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 82.72 ns | ∇ -30.92% | 17.50 MHz / 12.09 MHz | Δ 44.75% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 41.33 ns | Δ 16.69% | 20.74 MHz / 24.20 MHz | ∇ -14.30% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 31.13 ns | ∇ -4.79% | 33.74 MHz / 32.12 MHz | Δ 5.03% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 113.89 ns | ∇ -25.96% | 11.86 MHz / 8.78 MHz | Δ 35.07% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 33.95 ns | ∇ -9.51% | 32.55 MHz / 29.46 MHz | Δ 10.51% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 26.44 ns | Δ 24.86% | 30.29 MHz / 37.82 MHz | ∇ -19.91% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 97.31 ns | Δ 112.40% | 4.84 MHz / 10.28 MHz | ∇ -52.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 948.85 ns | Δ 42.48% | 739.68 KHz / 1.05 MHz | ∇ -29.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 938.66 ns | Δ 49.60% | 712.12 KHz / 1.07 MHz | ∇ -33.16% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 21.21 us | Δ 9.13% | 43.20 KHz / 47.15 KHz | ∇ -8.37% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 532.44 ns | Δ 204.40% | 617.00 KHz / 1.88 MHz | ∇ -67.15% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 528.23 ns | Δ 208.49% | 613.67 KHz / 1.89 MHz | ∇ -67.58% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 11.19 us | Δ 41.34% | 63.21 KHz / 89.35 KHz | ∇ -29.25% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 45.20 ns | ∇ -14.28% | 25.81 MHz / 22.13 MHz | Δ 16.65% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 45.86 ns | ∇ -15.63% | 25.85 MHz / 21.81 MHz | Δ 18.52% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 177.43 ns | ∇ -7.93% | 6.12 MHz / 5.64 MHz | Δ 8.62% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 169.52 ns | Δ 25.68% | 4.69 MHz / 5.90 MHz | ∇ -20.43% |
matrix: unit, fix[float,3,3] | 3.56 ns / 0.00 ns | Δ 1.#J% | 280.77 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.29 ns / 0.00 ns | Δ 1.#J% | 304.17 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 2.77 ns / 6.37 ns | ∇ -56.49% | 360.95 MHz / 157.06 MHz | Δ 129.82% |
matrix: unit, fix[double,6,6] | 6.07 ns / 7.86 ns | ∇ -22.82% | 164.80 MHz / 127.19 MHz | Δ 29.56% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 485.93 ns | ∇ -65.29% | 5.93 MHz / 2.06 MHz | Δ 188.11% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 0.05 ns | Δ 241598.91% | 9.14 MHz / 22.08 GHz | ∇ -99.96% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 528.41 ns | ∇ -69.88% | 6.28 MHz / 1.89 MHz | Δ 232.02% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 0.00 ns | Δ 1.#J% | 11.42 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 547.16 ns | ∇ -50.23% | 3.67 MHz / 1.83 MHz | Δ 100.92% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 2.36 ns | Δ 7969.19% | 5.26 MHz / 424.60 MHz | ∇ -98.76% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 391.50 ns | ∇ -37.21% | 4.07 MHz / 2.55 MHz | Δ 59.25% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 2.36 ns | Δ 5798.05% | 7.20 MHz / 424.60 MHz | ∇ -98.30% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 2.74 us | Δ 507.56% | 60.00 KHz / 364.51 KHz | ∇ -83.54% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 2.08 us | Δ 519.96% | 77.41 KHz / 479.89 KHz | ∇ -83.87% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 3.47 us | Δ 283.90% | 75.16 KHz / 288.55 KHz | ∇ -73.95% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 2.38 us | Δ 305.27% | 103.53 KHz / 419.56 KHz | ∇ -75.33% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / X | 685.70 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.78 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.47 us / 1.09 us | Δ 35.13% | 681.67 KHz / 921.12 KHz | ∇ -26.00% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 22.19 ns | Δ 38.77% | 32.47 MHz / 45.06 MHz | ∇ -27.94% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / X | 227.86 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.39 us / X | 718.96 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.05 us / 2.78 us | Δ 81.46% | 198.20 KHz / 359.66 KHz | ∇ -44.89% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 2.22 us | ∇ -57.48% | 1.06 MHz / 450.23 KHz | Δ 135.20% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / X | 12.41 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 39.77 us / X | 25.14 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 106.06 us / 30.71 us | Δ 245.33% | 9.43 KHz / 32.56 KHz | ∇ -71.04% |
matrix: inv, fix[double] 20x20 | 18.99 us / 24.08 us | ∇ -21.11% | 52.65 KHz / 41.53 KHz | Δ 26.76% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / X | 1.68 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 302.87 us / X | 3.30 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 805.07 us / 117.18 us | Δ 587.07% | 1.24 KHz / 8.53 KHz | ∇ -85.45% |
matrix: inv, fix[double] 40x40 | 129.27 us / 112.80 us | Δ 14.60% | 7.74 KHz / 8.86 KHz | ∇ -12.74% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / X | 125.45 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 2x2 | 8.47 ns / 765.51 ns | ∇ -98.89% | 118.07 MHz / 1.31 MHz | Δ 8938.54% |
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 | 20.83 ns / X | 48.00 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 822.31 ns | ∇ -98.07% | 62.90 MHz / 1.22 MHz | Δ 5072.67% |
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 | 2.28 us / X | 438.79 KHz / X | ||
matrix: det, fix[float ] 6x6 | 455.22 ns / X | 2.20 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.27 us / 1.78 us | Δ 27.19% | 440.64 KHz / 560.47 KHz | ∇ -21.38% |
matrix: det, fix[double] 6x6 | 409.52 ns / 1.51 us | ∇ -72.92% | 2.44 MHz / 661.35 KHz | Δ 269.22% |
matrix: det, dyn[float ] 20x20 | 18.23 us / X | 54.86 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.64 us / X | 103.77 KHz / X | ||
matrix: det, dyn[double] 20x20 | 17.63 us / 18.54 us | ∇ -4.90% | 56.72 KHz / 53.94 KHz | Δ 5.16% |
matrix: det, fix[double] 20x20 | 6.19 us / 19.01 us | ∇ -67.45% | 161.63 KHz / 52.61 KHz | Δ 207.23% |
matrix: det, dyn[float ] 40x40 | 109.51 us / X | 9.13 KHz / X | ||
matrix: det, fix[float ] 40x40 | 61.78 us / X | 16.19 KHz / X | ||
matrix: det, dyn[double] 40x40 | 112.43 us / 72.40 us | Δ 55.29% | 8.89 KHz / 13.81 KHz | ∇ -35.61% |
matrix: det, fix[double] 40x40 | 35.24 us / 67.43 us | ∇ -47.74% | 28.38 KHz / 14.83 KHz | Δ 91.35% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 606.90 ns | ∇ -71.64% | 5.81 MHz / 1.65 MHz | Δ 252.63% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 190.22 ns | ∇ -38.10% | 8.49 MHz / 5.26 MHz | Δ 61.54% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 31.59 us | ∇ -22.74% | 40.98 KHz / 31.66 KHz | Δ 29.44% |
matrix: chol, fix[double] 40x40 | 17.68 us / 20.87 us | ∇ -15.28% | 56.57 KHz / 47.93 KHz | Δ 18.04% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 7.11 us | Δ 18.47% | 118.71 KHz / 140.63 KHz | ∇ -15.59% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 94.75 us | Δ 25.38% | 8.42 KHz / 10.55 KHz | ∇ -20.24% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 75.59 us | ∇ -7.67% | 14.33 KHz / 13.23 KHz | Δ 8.31% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 43.20 us | Δ 21.61% | 19.03 KHz / 23.15 KHz | ∇ -17.77% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 453.46 us | Δ 2.79% | 2.15 KHz / 2.21 KHz | ∇ -2.71% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 74.00 us | Δ 20.28% | 11.24 KHz / 13.51 KHz | ∇ -16.86% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 3.54 ms | Δ 163.11% | 107.25 Hz / 282.19 Hz | ∇ -61.99% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 178.69 us | Δ 12.61% | 4.97 KHz / 5.60 KHz | ∇ -11.20% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 22.29 ms | Δ 519.52% | 7.24 Hz / 44.87 Hz | ∇ -83.86% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 359.36 us | Δ 11.71% | 2.49 KHz / 2.78 KHz | ∇ -10.48% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 36.29 ms | Δ 1150.11% | 2.20 Hz / 27.56 Hz | ∇ -92.00% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 411.86 us | Δ 15.13% | 2.11 KHz / 2.43 KHz | ∇ -13.14% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 54.34 ms | Δ 1639.27% | 1.06 Hz / 18.40 Hz | ∇ -94.25% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 488.10 us | Δ 13.25% | 1.81 KHz / 2.05 KHz | ∇ -11.70% |
gridmap2D: getCell | 5.57 ns / 4.13 ns | Δ 34.76% | 179.64 MHz / 242.07 MHz | ∇ -25.79% |
gridmap2D: setCell | 7.80 ns / 5.65 ns | Δ 38.21% | 128.17 MHz / 177.14 MHz | ∇ -27.64% |
gridmap2D: updateCell | 10.65 ns / 6.93 ns | Δ 53.67% | 93.93 MHz / 144.35 MHz | ∇ -34.93% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.20 ns | ∇ -0.17% | 834.82 MHz / 833.40 MHz | Δ 0.17% |
gridmap2D: insert scan w/o widening | 202.10 us / 102.16 us | Δ 97.83% | 4.95 KHz / 9.79 KHz | ∇ -49.45% |
gridmap2D: insert scan with widening | 338.79 us / 276.88 us | Δ 22.36% | 2.95 KHz / 3.61 KHz | ∇ -18.27% |
gridmap2D: resize | 3.58 ms / 3.89 ms | ∇ -8.00% | 279.42 Hz / 257.06 Hz | Δ 8.69% |
gridmap2D: computeLikelihood | 18.09 us / 13.92 us | Δ 29.95% | 55.28 KHz / 71.84 KHz | ∇ -23.05% |
pointmap: insert 100 scans | 5.50 ms / 1.87 ms | Δ 193.58% | 181.98 Hz / 534.24 Hz | ∇ -65.94% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 5.09 us | Δ 23.49% | 159.07 KHz / 196.43 KHz | ∇ -19.02% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 486.39 us | Δ 7.05% | 1.92 KHz / 2.06 KHz | ∇ -6.59% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 5.10 ms | Δ 7.99% | 181.67 Hz / 196.20 Hz | ∇ -7.40% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 5.56 us | Δ 16.29% | 154.62 KHz / 179.80 KHz | ∇ -14.01% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 467.24 us | Δ 12.70% | 1.90 KHz / 2.14 KHz | ∇ -11.27% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 5.18 ms | Δ 8.71% | 177.52 Hz / 192.98 Hz | ∇ -8.01% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.59 us | Δ 27.90% | 490.44 KHz / 627.25 KHz | ∇ -21.81% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 126.68 us | Δ 8.78% | 7.26 KHz / 7.89 KHz | ∇ -8.07% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 13.86 ms | Δ 7.36% | 67.19 Hz / 72.14 Hz | ∇ -6.85% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 6.54 ms | Δ 30.96% | 116.69 Hz / 152.81 Hz | ∇ -23.64% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 174.77 ms | Δ 9.65% | 5.22 Hz / 5.72 Hz | ∇ -8.80% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 6.88 ms | Δ 25.48% | 115.78 Hz / 145.28 Hz | ∇ -20.31% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 181.38 ms | Δ 7.45% | 5.13 Hz / 5.51 Hz | ∇ -6.94% |
random: drawUniform32bit | 7.21 ns / 9.54 ns | ∇ -24.38% | 138.68 MHz / 104.87 MHz | Δ 32.24% |
random: drawUniform | 7.18 ns / 9.69 ns | ∇ -25.87% | 139.23 MHz / 103.21 MHz | Δ 34.90% |
random: drawGaussian1D_normalized | 51.37 ns / 52.06 ns | ∇ -1.33% | 19.47 MHz / 19.21 MHz | Δ 1.34% |
random: drawGaussian1D | 51.39 ns / 50.73 ns | Δ 1.29% | 19.46 MHz / 19.71 MHz | ∇ -1.27% |
random: system rand() | 28.61 ns / 24.47 ns | Δ 16.94% | 34.95 MHz / 40.87 MHz | ∇ -14.49% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 1.24 us | Δ 105.59% | 391.65 KHz / 805.20 KHz | ∇ -51.36% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 3.19 us | Δ 162.15% | 119.66 KHz / 313.70 KHz | ∇ -61.85% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 130.03 ns | Δ 64.54% | 4.67 MHz / 7.69 MHz | ∇ -39.23% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 198.35 ns | Δ 63.69% | 3.08 MHz / 5.04 MHz | ∇ -38.91% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 451.66 ns | Δ 83.70% | 1.21 MHz / 2.21 MHz | ∇ -45.56% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 136.92 ns | Δ 56.94% | 4.65 MHz / 7.30 MHz | ∇ -36.28% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 213.52 ns | Δ 70.94% | 2.74 MHz / 4.68 MHz | ∇ -41.50% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 478.55 ns | Δ 58.84% | 1.32 MHz / 2.09 MHz | ∇ -37.04% |
random: permuteVector (len=10) | 420.57 ns / 244.07 ns | Δ 72.31% | 2.38 MHz / 4.10 MHz | ∇ -41.97% |
random: permuteVector (len=100) | 3.56 us / 3.12 us | Δ 13.87% | 281.12 KHz / 320.11 KHz | ∇ -12.18% |
random: permuteVector (len=1000) | 33.55 us / 30.82 us | Δ 8.85% | 29.80 KHz / 32.44 KHz | ∇ -8.13% |
math: round | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 220.79 THz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 29.87 ms | ∇ -4.92% | 35.21 Hz / 33.48 Hz | Δ 5.18% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 42.98 ms | Δ 1.70% | 22.88 Hz / 23.26 Hz | ∇ -1.67% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 69.03 ms | Δ 1.66% | 14.25 Hz / 14.49 Hz | ∇ -1.63% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 22.86 ms | Δ 5.49% | 41.48 Hz / 43.75 Hz | ∇ -5.20% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 35.20 ms | Δ 5.17% | 27.01 Hz / 28.41 Hz | ∇ -4.92% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 57.29 ms | Δ 3.87% | 16.80 Hz / 17.45 Hz | ∇ -3.72% |
images: Gauss filter (640x480) | 5.29 ms / 4.45 ms | Δ 18.92% | 188.95 Hz / 224.70 Hz | ∇ -15.91% |
images: Gauss filter (800x600) | 8.36 ms / 8.06 ms | Δ 3.77% | 119.64 Hz / 124.15 Hz | ∇ -3.63% |
images: Gauss filter (1024x768) | 13.88 ms / 13.86 ms | Δ 0.15% | 72.06 Hz / 72.16 Hz | ∇ -0.15% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 17.29 us | Δ 7.78% | 53.67 KHz / 57.84 KHz | ∇ -7.22% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 16.49 us | Δ 8.49% | 55.91 KHz / 60.66 KHz | ∇ -7.82% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 9.72 us | ∇ -48.00% | 197.84 KHz / 102.89 KHz | Δ 92.29% |
feature_extraction [640x480]: Harris | 33.27 ms / 31.46 ms | Δ 5.74% | 30.06 Hz / 31.79 Hz | ∇ -5.43% |
feature_extraction [640x480]: KLT | 31.21 ms / 30.94 ms | Δ 0.87% | 32.04 Hz / 32.32 Hz | ∇ -0.86% |
feature_extraction [640x480]: SIFT | 675.81 ms / 653.53 ms | Δ 3.41% | 1.48 Hz / 1.53 Hz | ∇ -3.30% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 210.38 ms | Δ 3.24% | 4.60 Hz / 4.75 Hz | ∇ -3.14% |
feature_extraction [640x480]: SURF | 316.97 ms / 243.66 ms | Δ 30.09% | 3.15 Hz / 4.10 Hz | ∇ -23.13% |
feature_extraction [640x480]: FAST | 7.82 ms / 6.32 ms | Δ 23.68% | 127.91 Hz / 158.19 Hz | ∇ -19.15% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 45.12 ms | Δ 129.13% | 9.67 Hz / 22.16 Hz | ∇ -56.36% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 46.60 ms | Δ 20.69% | 17.78 Hz / 21.46 Hz | ∇ -17.15% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 40.89 ms | Δ 16.29% | 21.03 Hz / 24.46 Hz | ∇ -14.00% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.28 sec | Δ 4.41% | 745.82 mHz / 778.73 mHz | ∇ -4.23% |
feature_matching [640x480]: SURF | 606.64 ms / 502.54 ms | Δ 20.71% | 1.65 Hz / 1.99 Hz | ∇ -17.16% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 19.71 ms | Δ 13.47% | 44.72 Hz / 50.74 Hz | ∇ -11.87% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 13.01 ms | Δ 15.25% | 66.69 Hz / 76.86 Hz | ∇ -13.24% |
graph(2d): insertEdge x 1e3 | 313.03 us / 236.53 us | Δ 32.34% | 3.19 KHz / 4.23 KHz | ∇ -24.44% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 246.73 us | Δ 24.60% | 3.25 KHz / 4.05 KHz | ∇ -19.75% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 218.81 us | Δ 1.75% | 4.49 KHz / 4.57 KHz | ∇ -1.72% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 209.21 us | Δ 6.53% | 4.49 KHz / 4.78 KHz | ∇ -6.13% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 329.87 us | Δ 56.71% | 1.93 KHz / 3.03 KHz | ∇ -36.19% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 303.60 us | Δ 70.35% | 1.93 KHz / 3.29 KHz | ∇ -41.30% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 280.10 us | Δ 44.94% | 2.46 KHz / 3.57 KHz | ∇ -31.01% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 284.27 us | Δ 41.93% | 2.48 KHz / 3.52 KHz | ∇ -29.54% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 2.72 ms | Δ 23.45% | 297.28 Hz / 367.00 Hz | ∇ -19.00% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 2.73 ms | Δ 22.73% | 298.76 Hz / 366.67 Hz | ∇ -18.52% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 1.95 ms | Δ 13.72% | 450.51 Hz / 512.34 Hz | ∇ -12.07% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 1.92 ms | Δ 15.47% | 450.21 Hz / 519.87 Hz | ∇ -13.40% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 3.21 ms | Δ 69.97% | 183.37 Hz / 311.68 Hz | ∇ -41.17% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 3.24 ms | Δ 67.93% | 183.91 Hz / 308.83 Hz | ∇ -40.45% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 3.23 ms | Δ 26.13% | 245.74 Hz / 309.95 Hz | ∇ -20.72% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 3.17 ms | Δ 27.77% | 246.50 Hz / 314.97 Hz | ∇ -21.74% |
graph(3d): insertEdge x 1e3 | 447.20 us / 274.22 us | Δ 63.08% | 2.24 KHz / 3.65 KHz | ∇ -38.68% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 264.66 us | Δ 67.05% | 2.26 KHz / 3.78 KHz | ∇ -40.14% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 263.97 us | Δ 31.34% | 2.88 KHz / 3.79 KHz | ∇ -23.86% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 267.33 us | Δ 29.87% | 2.88 KHz / 3.74 KHz | ∇ -23.00% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 589.01 us | Δ 60.27% | 1.06 KHz / 1.70 KHz | ∇ -37.61% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 596.64 us | Δ 63.93% | 1.02 KHz / 1.68 KHz | ∇ -39.00% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 562.97 us | Δ 40.89% | 1.26 KHz / 1.78 KHz | ∇ -29.02% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 559.03 us | Δ 41.95% | 1.26 KHz / 1.79 KHz | ∇ -29.55% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 3.23 ms | Δ 42.85% | 216.43 Hz / 309.17 Hz | ∇ -30.00% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 3.13 ms | Δ 47.37% | 216.67 Hz / 319.30 Hz | ∇ -32.14% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 2.62 ms | Δ 32.85% | 287.28 Hz / 381.66 Hz | ∇ -24.73% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 2.55 ms | Δ 36.45% | 287.84 Hz / 392.76 Hz | ∇ -26.71% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 6.11 ms | Δ 72.63% | 94.75 Hz / 163.57 Hz | ∇ -42.07% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 5.61 ms | Δ 73.94% | 102.54 Hz / 178.36 Hz | ∇ -42.51% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 5.21 ms | Δ 52.29% | 126.08 Hz / 192.01 Hz | ∇ -34.34% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 5.18 ms | Δ 53.16% | 125.93 Hz / 192.88 Hz | ∇ -34.71% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 156.43 us | Δ 67.61% | 3.81 KHz / 6.39 KHz | ∇ -40.34% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 192.33 us | Δ 89.09% | 2.75 KHz / 5.20 KHz | ∇ -47.12% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 2.18 ms | Δ 36.58% | 336.14 Hz / 459.11 Hz | ∇ -26.78% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 1.80 ms | Δ 82.80% | 303.75 Hz / 555.25 Hz | ∇ -45.30% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 26.67 ms | Δ 28.28% | 29.23 Hz / 37.50 Hz | ∇ -22.05% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 22.83 ms | Δ 66.97% | 26.23 Hz / 43.80 Hz | ∇ -40.11% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 307.16 ms | Δ 26.82% | 2.57 Hz / 3.26 Hz | ∇ -21.15% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 266.80 ms | Δ 60.66% | 2.33 Hz / 3.75 Hz | ∇ -37.76% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 302.10 ms | Δ 26.48% | 2.62 Hz / 3.31 Hz | ∇ -20.94% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 262.78 ms | Δ 58.86% | 2.40 Hz / 3.81 Hz | ∇ -37.05% |