Test description | 0.9.4-MSVC10-32bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 20.59 ms | Δ 80.40% | 26.93 Hz / 48.58 Hz | ∇ -44.57% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 20.64 ms | Δ 76.07% | 27.52 Hz / 48.45 Hz | ∇ -43.20% |
poses: CPose3D (+) CPose3D | 197.08 ns / 42.90 ns | Δ 359.38% | 5.07 MHz / 23.31 MHz | ∇ -78.23% |
poses: CPose3D.composeFrom() | 33.62 ns / 37.61 ns | ∇ -10.60% | 29.74 MHz / 26.59 MHz | Δ 11.85% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 7.25 ns | Δ 246.59% | 39.79 MHz / 137.89 MHz | ∇ -71.15% |
poses: CPose3D.composePoint() | 21.31 ns / 11.83 ns | Δ 80.10% | 46.94 MHz / 84.53 MHz | ∇ -44.48% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 39.31 ns | Δ 128.85% | 11.12 MHz / 25.44 MHz | ∇ -56.30% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 34.91 ns | Δ 35.35% | 21.17 MHz / 28.65 MHz | ∇ -26.12% |
poses: CPose2D (+) CPose2D | 108.63 ns / 76.08 ns | Δ 42.78% | 9.21 MHz / 13.14 MHz | ∇ -29.96% |
poses: CPose2D.composeFrom() | 94.77 ns / 61.61 ns | Δ 53.82% | 10.55 MHz / 16.23 MHz | ∇ -34.99% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 60.26 ns | Δ 33.76% | 12.41 MHz / 16.59 MHz | ∇ -25.24% |
poses: CPose2D.composePoint() | 67.32 ns / 62.26 ns | Δ 8.13% | 14.85 MHz / 16.06 MHz | ∇ -7.51% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 40.99 ns | Δ 98.36% | 12.30 MHz / 24.40 MHz | ∇ -49.59% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 39.39 ns | Δ 30.91% | 19.39 MHz / 25.39 MHz | ∇ -23.61% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 18.30 ns | Δ 205.45% | 17.89 MHz / 54.63 MHz | ∇ -67.26% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 17.94 ns | Δ 82.43% | 30.55 MHz / 55.74 MHz | ∇ -45.18% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 55.46 ns | Δ 123.63% | 8.06 MHz / 18.03 MHz | ∇ -55.28% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 17.66 ns | Δ 73.31% | 32.67 MHz / 56.63 MHz | ∇ -42.30% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 16.78 ns | Δ 67.54% | 35.56 MHz / 59.58 MHz | ∇ -40.31% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 169.37 ns | Δ 28.03% | 4.61 MHz / 5.90 MHz | ∇ -21.89% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 799.08 us | ∇ -99.84% | 806.40 KHz / 1.25 KHz | Δ 64337.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 803.31 us | ∇ -99.85% | 835.55 KHz / 1.24 KHz | Δ 67019.96% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 9.44 us | Δ 113.41% | 49.63 KHz / 105.91 KHz | ∇ -53.14% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 648.90 ns | Δ 26.00% | 1.22 MHz / 1.54 MHz | ∇ -20.63% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 631.00 ns | Δ 30.49% | 1.21 MHz / 1.58 MHz | ∇ -23.37% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 8.18 us | Δ 133.46% | 52.39 KHz / 122.30 KHz | ∇ -57.17% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 24.43 ns | Δ 103.33% | 20.13 MHz / 40.94 MHz | ∇ -50.82% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 23.18 ns | Δ 119.59% | 19.64 MHz / 43.14 MHz | ∇ -54.46% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 59.50 ns | Δ 204.15% | 5.53 MHz / 16.81 MHz | ∇ -67.12% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 62.26 ns | Δ 185.71% | 5.62 MHz / 16.06 MHz | ∇ -65.00% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.88 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 841.75 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.63 ns / 1.70 ns | Δ 289.35% | 150.81 MHz / 587.20 MHz | ∇ -74.32% |
matrix: unit, fix[double,6,6] | 8.86 ns / 2.77 ns | Δ 219.72% | 112.91 MHz / 361.01 MHz | ∇ -68.72% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 85.80 ns | Δ 692.86% | 1.47 MHz / 11.66 MHz | ∇ -87.39% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 23.80 ns | ∇ -100.00% | 1.#J THz / 42.02 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 75.90 ns | Δ 503.88% | 2.18 MHz / 13.18 MHz | ∇ -83.44% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 680.46 ns / 118.10 ns | Δ 476.17% | 1.47 MHz / 8.47 MHz | ∇ -82.64% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 44.70 ns | ∇ -21.07% | 28.34 MHz / 22.37 MHz | Δ 26.69% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 110.50 ns | Δ 365.17% | 1.95 MHz / 9.05 MHz | ∇ -78.50% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 45.20 ns | ∇ -92.48% | 294.39 MHz / 22.12 MHz | Δ 1230.65% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 5.44 us | ∇ -4.72% | 193.06 KHz / 183.95 KHz | Δ 4.95% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 3.78 us | Δ 20.70% | 219.44 KHz / 264.87 KHz | ∇ -17.15% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 5.54 us | ∇ -31.62% | 263.78 KHz / 180.38 KHz | Δ 46.24% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 4.07 us | ∇ -28.25% | 342.06 KHz / 245.43 KHz | Δ 39.37% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 644.00 ns | Δ 133.35% | 665.44 KHz / 1.55 MHz | ∇ -57.15% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 39.00 ns | ∇ -75.61% | 105.14 MHz / 25.64 MHz | Δ 310.04% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 1.26 us | Δ 209.57% | 256.17 KHz / 793.02 KHz | ∇ -67.70% |
matrix: inv, fix[double] 6x6 | 3.54 us / 575.00 ns | Δ 515.65% | 282.49 KHz / 1.74 MHz | ∇ -83.76% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 25.76 us | Δ 32.75% | 29.25 KHz / 38.83 KHz | ∇ -24.67% |
matrix: inv, fix[double] 20x20 | 29.35 us / 17.04 us | Δ 72.27% | 34.07 KHz / 58.69 KHz | ∇ -41.95% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 207.20 us | ∇ -35.21% | 7.45 KHz / 4.83 KHz | Δ 54.35% |
matrix: inv, fix[double] 40x40 | 126.45 us / 133.80 us | ∇ -5.50% | 7.91 KHz / 7.47 KHz | Δ 5.82% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 6.40 ns | Δ 9302.19% | 1.66 MHz / 156.25 MHz | ∇ -98.94% |
matrix: det, fix[double] 2x2 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 872.81 ns / 10.30 ns | Δ 8373.87% | 1.15 MHz / 97.09 MHz | ∇ -98.82% |
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 | 2.32 us / 730.30 ns | Δ 218.22% | 430.29 KHz / 1.37 MHz | ∇ -68.58% |
matrix: det, fix[double] 6x6 | 2.17 us / 212.10 ns | Δ 923.61% | 460.60 KHz / 4.71 MHz | ∇ -90.23% |
matrix: det, dyn[double] 20x20 | 23.14 us / 6.56 us | Δ 252.43% | 43.22 KHz / 152.33 KHz | ∇ -71.63% |
matrix: det, fix[double] 20x20 | 21.38 us / 5.04 us | Δ 324.09% | 46.78 KHz / 198.38 KHz | ∇ -76.42% |
matrix: det, dyn[double] 40x40 | 92.83 us / 39.41 us | Δ 135.55% | 10.77 KHz / 25.37 KHz | ∇ -57.55% |
matrix: det, fix[double] 40x40 | 90.97 us / 29.04 us | Δ 213.29% | 10.99 KHz / 34.44 KHz | ∇ -68.08% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 140.00 ns | Δ 537.31% | 1.12 MHz / 7.14 MHz | ∇ -84.31% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 160.00 ns | Δ 55.69% | 4.01 MHz / 6.25 MHz | ∇ -35.77% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 18.38 us | Δ 123.75% | 24.32 KHz / 54.41 KHz | ∇ -55.31% |
matrix: chol, fix[double] 40x40 | 26.92 us / 17.08 us | Δ 57.59% | 37.15 KHz / 58.55 KHz | ∇ -36.54% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 8.30 us | Δ 84.44% | 65.32 KHz / 120.48 KHz | ∇ -45.78% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 84.40 us | Δ 38.45% | 8.56 KHz / 11.85 KHz | ∇ -27.77% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 53.00 us | Δ 86.72% | 10.10 KHz / 18.87 KHz | ∇ -46.44% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 39.49 us | Δ 39.73% | 18.12 KHz / 25.32 KHz | ∇ -28.43% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 411.70 us | Δ 20.98% | 2.01 KHz / 2.43 KHz | ∇ -17.34% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 74.09 us | Δ 80.05% | 7.50 KHz / 13.50 KHz | ∇ -44.46% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 10.38 ms | ∇ -51.91% | 200.30 Hz / 96.33 Hz | Δ 107.92% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 248.74 us | ∇ -1.92% | 4.10 KHz / 4.02 KHz | Δ 1.96% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 370.64 ms | ∇ -91.90% | 33.31 Hz / 2.70 Hz | Δ 1134.43% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 353.56 us | Δ 37.48% | 2.06 KHz / 2.83 KHz | ∇ -27.26% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 365.56 ms | ∇ -85.79% | 19.25 Hz / 2.74 Hz | Δ 603.75% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 425.27 us | Δ 37.27% | 1.71 KHz / 2.35 KHz | ∇ -27.15% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 796.04 ms | ∇ -90.34% | 13.00 Hz / 1.26 Hz | Δ 935.08% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 490.79 us | Δ 32.30% | 1.54 KHz / 2.04 KHz | ∇ -24.41% |
gridmap2D: getCell | 6.44 ns / 0.00 ns | Δ 1.#J% | 155.25 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 9.52 ns / 2.58 ns | Δ 269.29% | 105.00 MHz / 387.76 MHz | ∇ -72.92% |
gridmap2D: updateCell | 9.85 ns / 7.44 ns | Δ 32.27% | 101.55 MHz / 134.32 MHz | ∇ -24.40% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 0.55 ns | Δ 167.18% | 679.40 MHz / 1.82 GHz | ∇ -62.57% |
gridmap2D: insert scan w/o widening | 225.20 us / 101.23 us | Δ 122.47% | 4.44 KHz / 9.88 KHz | ∇ -55.05% |
gridmap2D: insert scan with widening | 365.80 us / 291.30 us | Δ 25.57% | 2.73 KHz / 3.43 KHz | ∇ -20.37% |
gridmap2D: resize | 2.56 ms / 1.89 ms | Δ 35.83% | 389.96 Hz / 529.66 Hz | ∇ -26.38% |
gridmap2D: computeLikelihood | 21.14 us / 16.46 us | Δ 28.46% | 47.30 KHz / 60.76 KHz | ∇ -22.16% |
pointmap: insert 100 scans | 3.27 ms / 3.10 ms | Δ 5.48% | 305.75 Hz / 322.50 Hz | ∇ -5.20% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.28 us | Δ 40.95% | 165.76 KHz / 233.64 KHz | ∇ -29.05% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 355.52 us | Δ 62.98% | 1.73 KHz / 2.81 KHz | ∇ -38.64% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 4.16 ms | Δ 47.51% | 162.87 Hz / 240.24 Hz | ∇ -32.21% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 4.76 us | Δ 40.44% | 149.59 KHz / 210.08 KHz | ∇ -28.80% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 363.20 us | Δ 43.16% | 1.92 KHz / 2.75 KHz | ∇ -30.15% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 4.09 ms | Δ 62.12% | 150.68 Hz / 244.29 Hz | ∇ -38.32% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.38 us | Δ 41.45% | 511.57 KHz / 723.59 KHz | ∇ -29.30% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 100.93 us | Δ 65.60% | 5.98 KHz / 9.91 KHz | ∇ -39.61% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 11.91 ms | Δ 46.52% | 57.30 Hz / 83.95 Hz | ∇ -31.75% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 5.62 ms | Δ 62.20% | 109.75 Hz / 178.01 Hz | ∇ -38.35% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 130.76 ms | Δ 61.14% | 4.75 Hz / 7.65 Hz | ∇ -37.94% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 5.67 ms | Δ 47.73% | 119.37 Hz / 176.35 Hz | ∇ -32.31% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 132.64 ms | Δ 49.82% | 5.03 Hz / 7.54 Hz | ∇ -33.25% |
random: drawUniform32bit | 7.57 ns / 14.57 ns | ∇ -48.05% | 132.11 MHz / 68.63 MHz | Δ 92.49% |
random: drawUniform | 7.60 ns / 14.62 ns | ∇ -48.00% | 131.54 MHz / 68.41 MHz | Δ 92.30% |
random: drawGaussian1D_normalized | 58.48 ns / 68.70 ns | ∇ -14.88% | 17.10 MHz / 14.56 MHz | Δ 17.48% |
random: drawGaussian1D | 57.62 ns / 68.68 ns | ∇ -16.10% | 17.35 MHz / 14.56 MHz | Δ 19.19% |
random: system rand() | 29.43 ns / 10.45 ns | Δ 181.53% | 33.98 MHz / 95.67 MHz | ∇ -64.48% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 1.31 us | Δ 125.46% | 339.21 KHz / 764.77 KHz | ∇ -55.65% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 2.79 us | Δ 26.86% | 282.92 KHz / 358.92 KHz | ∇ -21.17% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 158.26 ns | ∇ -7.93% | 6.86 MHz / 6.32 MHz | Δ 8.61% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 236.42 ns | ∇ -3.83% | 4.40 MHz / 4.23 MHz | Δ 3.98% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 489.37 ns | Δ 5.15% | 1.94 MHz / 2.04 MHz | ∇ -4.90% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 164.61 ns | Δ 3.52% | 5.87 MHz / 6.07 MHz | ∇ -3.40% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 248.12 ns | Δ 14.30% | 3.53 MHz / 4.03 MHz | ∇ -12.51% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 514.83 ns | Δ 28.43% | 1.51 MHz / 1.94 MHz | ∇ -22.14% |
random: permuteVector (len=10) | 304.45 ns / 317.50 ns | ∇ -4.11% | 3.28 MHz / 3.15 MHz | Δ 4.29% |
random: permuteVector (len=100) | 3.47 us / 3.06 us | Δ 13.22% | 288.42 KHz / 326.54 KHz | ∇ -11.67% |
random: permuteVector (len=1000) | 37.99 us / 30.27 us | Δ 25.49% | 26.33 KHz / 33.04 KHz | ∇ -20.31% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188399.22% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 27.27 ms | Δ 21.24% | 30.25 Hz / 36.67 Hz | ∇ -17.52% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 43.27 ms | Δ 17.02% | 19.75 Hz / 23.11 Hz | ∇ -14.55% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 74.67 ms | Δ 10.70% | 12.10 Hz / 13.39 Hz | ∇ -9.66% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 26.31 ms | Δ 3.98% | 36.56 Hz / 38.01 Hz | ∇ -3.83% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 40.92 ms | Δ 5.71% | 23.12 Hz / 24.44 Hz | ∇ -5.40% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 62.56 ms | Δ 6.39% | 15.03 Hz / 15.99 Hz | ∇ -6.00% |
images: Gauss filter (640x480) | 5.57 ms / 4.48 ms | Δ 24.25% | 179.49 Hz / 223.01 Hz | ∇ -19.52% |
images: Gauss filter (800x600) | 8.84 ms / 7.46 ms | Δ 18.54% | 113.10 Hz / 134.07 Hz | ∇ -15.64% |
images: Gauss filter (1024x768) | 14.37 ms / 12.41 ms | Δ 15.80% | 69.58 Hz / 80.57 Hz | ∇ -13.64% |
images: Half sample GRAY (160x120) | 1.63 us / X | 612.18 KHz / X | ||
images: Half sample GRAY (320x240) | 4.13 us / X | 241.92 KHz / X | ||
images: Half sample GRAY (640x480) | 19.15 us / X | 52.22 KHz / X | ||
images: Half sample GRAY (800x600) | 31.65 us / X | 31.59 KHz / X | ||
images: Half sample GRAY (1024x768) | 50.27 us / X | 19.89 KHz / X | ||
images: Half sample GRAY (1280x1024) | 87.87 us / X | 11.38 KHz / X | ||
images: Half sample RGB (160x120) | 3.54 us / X | 282.58 KHz / X | ||
images: Half sample RGB (320x240) | 11.27 us / X | 88.76 KHz / X | ||
images: Half sample RGB (640x480) | 57.50 us / X | 17.39 KHz / X | ||
images: Half sample RGB (800x600) | 80.68 us / X | 12.39 KHz / X | ||
images: Half sample RGB (1024x768) | 391.11 us / X | 2.56 KHz / X | ||
images: Half sample RGB (1280x1024) | 826.49 us / X | 1.21 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 2.87 us / X | 348.99 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 8.64 us / X | 115.70 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 29.52 us / X | 33.88 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 66.07 us / X | 15.14 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 90.65 us / X | 11.03 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 132.57 us / X | 7.54 KHz / X | ||
images: Half sample smooth RGB (160x120) | 202.00 us / X | 4.95 KHz / X | ||
images: Half sample smooth RGB (320x240) | 779.03 us / X | 1.28 KHz / X | ||
images: Half sample smooth RGB (640x480) | 3.10 ms / X | 323.08 Hz / X | ||
images: Half sample smooth RGB (800x600) | 4.82 ms / X | 207.41 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 8.63 ms / X | 115.89 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 14.76 ms / X | 67.77 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 6.40 us / X | 156.37 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 4.33 us / X | 230.95 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 11.84 us / X | 84.43 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 44.50 us / X | 22.47 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 191.53 us / X | 5.22 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 350.56 us / X | 2.85 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 968.81 us / X | 1.03 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / X | 584.85 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 5.15 us | Δ 326.53% | 45.52 KHz / 194.17 KHz | ∇ -76.55% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 4.35 us | Δ 405.91% | 45.44 KHz / 229.89 KHz | ∇ -80.23% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 2.12 us | Δ 499.47% | 78.69 KHz / 471.70 KHz | ∇ -83.32% |
feature_extraction [640x480]: Harris | 38.32 ms / 33.18 ms | Δ 15.48% | 26.10 Hz / 30.14 Hz | ∇ -13.41% |
feature_extraction [640x480]: KLT | 37.22 ms / 29.64 ms | Δ 25.58% | 26.87 Hz / 33.74 Hz | ∇ -20.37% |
feature_extraction [640x480]: SIFT | 739.68 ms / 637.68 ms | Δ 16.00% | 1.35 Hz / 1.57 Hz | ∇ -13.79% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 173.14 ms | Δ 34.54% | 4.29 Hz / 5.78 Hz | ∇ -25.67% |
feature_extraction [640x480]: SURF | 309.97 ms / 202.84 ms | Δ 52.82% | 3.23 Hz / 4.93 Hz | ∇ -34.56% |
feature_extraction [640x480]: FAST | 6.88 ms / 5.10 ms | Δ 34.90% | 145.25 Hz / 195.94 Hz | ∇ -25.87% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 61.22 ms | Δ 44.21% | 11.33 Hz / 16.33 Hz | ∇ -30.65% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 43.90 ms | Δ 35.96% | 16.76 Hz / 22.78 Hz | ∇ -26.45% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 38.32 ms | Δ 52.83% | 17.07 Hz / 26.09 Hz | ∇ -34.57% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.28 sec | Δ 17.19% | 668.02 mHz / 782.87 mHz | ∇ -14.67% |
feature_matching [640x480]: SURF | 621.62 ms / 387.99 ms | Δ 60.21% | 1.61 Hz / 2.58 Hz | ∇ -37.58% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 15.73 ms | Δ 37.90% | 46.10 Hz / 63.57 Hz | ∇ -27.48% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 10.56 ms | Δ 19.68% | 79.13 Hz / 94.70 Hz | ∇ -16.44% |
graph(2d): insertEdge x 1e3 | 301.62 us / 104.46 us | Δ 188.74% | 3.32 KHz / 9.57 KHz | ∇ -65.37% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / X | 3.35 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 85.19 us | Δ 222.45% | 3.64 KHz / 11.74 KHz | ∇ -68.99% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / X | 3.70 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 134.65 us | Δ 208.85% | 2.40 KHz / 7.43 KHz | ∇ -67.62% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / X | 2.46 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 119.89 us | Δ 214.91% | 2.65 KHz / 8.34 KHz | ∇ -68.24% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / X | 2.64 KHz / X | ||
graph(2d): insertEdge x 1e4 | 4.14 ms / 1.39 ms | Δ 198.84% | 241.59 Hz / 721.96 Hz | ∇ -66.54% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / X | 250.06 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 854.04 us | Δ 244.62% | 339.77 Hz / 1.17 KHz | ∇ -70.98% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / X | 345.69 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 1.61 ms | Δ 196.70% | 209.57 Hz / 621.80 Hz | ∇ -66.30% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.59 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 1.20 ms | Δ 237.65% | 246.64 Hz / 832.81 Hz | ∇ -70.38% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / X | 237.52 Hz / X | ||
graph(3d): insertEdge x 1e3 | 381.69 us / 132.91 us | Δ 187.18% | 2.62 KHz / 7.52 KHz | ∇ -65.18% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / X | 2.46 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 109.11 us | Δ 211.22% | 2.94 KHz / 9.17 KHz | ∇ -67.87% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / X | 2.99 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 349.74 us | Δ 96.98% | 1.45 KHz / 2.86 KHz | ∇ -49.23% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / X | 1.46 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 321.54 us | Δ 112.49% | 1.46 KHz / 3.11 KHz | ∇ -52.94% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / X | 1.46 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.89 ms / 1.89 ms | Δ 105.56% | 257.39 Hz / 529.10 Hz | ∇ -51.35% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / X | 263.81 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 1.10 ms | Δ 226.36% | 278.91 Hz / 910.25 Hz | ∇ -69.36% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / X | 284.28 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 4.65 ms | Δ 67.92% | 128.15 Hz / 215.20 Hz | ∇ -40.45% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / X | 128.11 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 4.05 ms | Δ 84.94% | 133.45 Hz / 246.81 Hz | ∇ -45.93% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / X | 132.15 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 213.16 us / X | 4.69 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / X | 3.21 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.57 ms / X | 389.66 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / X | 370.20 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 31.29 ms / X | 31.96 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / X | 30.38 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 393.68 ms / X | 2.54 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / X | 2.59 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 380.30 ms / X | 2.63 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / X | 2.65 Hz / X |