Test description | 0.9.2-GCC-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 37.14 ms | ∇ -46.17% | 50.03 Hz / 26.93 Hz | Δ 85.79% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 36.34 ms | ∇ -46.91% | 51.84 Hz / 27.52 Hz | Δ 88.35% |
poses: CPose3D (+) CPose3D | 42.85 ns / 197.08 ns | ∇ -78.26% | 23.34 MHz / 5.07 MHz | Δ 359.92% |
poses: CPose3D.composeFrom() | 37.80 ns / 33.62 ns | Δ 12.42% | 26.46 MHz / 29.74 MHz | ∇ -11.05% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 25.13 ns | ∇ -71.15% | 137.89 MHz / 39.79 MHz | Δ 246.59% |
poses: CPose3D.composePoint() | 11.91 ns / 21.31 ns | ∇ -44.11% | 83.98 MHz / 46.94 MHz | Δ 78.92% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 89.96 ns | ∇ -45.55% | 20.42 MHz / 11.12 MHz | Δ 83.67% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 47.25 ns | ∇ -26.02% | 28.61 MHz / 21.17 MHz | Δ 35.18% |
poses: CPose2D (+) CPose2D | 78.58 ns / 108.63 ns | ∇ -27.66% | 12.73 MHz / 9.21 MHz | Δ 38.25% |
poses: CPose2D.composeFrom() | 70.31 ns / 94.77 ns | ∇ -25.81% | 14.22 MHz / 10.55 MHz | Δ 34.79% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 80.61 ns | ∇ -23.92% | 16.31 MHz / 12.41 MHz | Δ 31.43% |
poses: CPose2D.composePoint() | 65.17 ns / 67.32 ns | ∇ -3.20% | 15.35 MHz / 14.85 MHz | Δ 3.31% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 81.31 ns | ∇ -45.07% | 22.39 MHz / 12.30 MHz | Δ 82.06% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 51.56 ns | ∇ -23.53% | 25.36 MHz / 19.39 MHz | Δ 30.77% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 55.91 ns | ∇ -67.38% | 54.84 MHz / 17.89 MHz | Δ 206.59% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 32.73 ns | ∇ -45.20% | 55.75 MHz / 30.55 MHz | Δ 82.47% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 124.02 ns | ∇ -55.31% | 18.04 MHz / 8.06 MHz | Δ 123.75% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 30.61 ns | ∇ -42.36% | 56.69 MHz / 32.67 MHz | Δ 73.50% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 28.12 ns | ∇ -40.63% | 59.89 MHz / 35.56 MHz | Δ 68.42% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 216.84 ns | ∇ -21.93% | 5.91 MHz / 4.61 MHz | Δ 28.10% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 1.24 us | Δ 61263.57% | 1.31 KHz / 806.40 KHz | ∇ -99.84% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 1.20 us | Δ 63453.05% | 1.31 KHz / 835.55 KHz | ∇ -99.84% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 20.15 us | ∇ -52.98% | 105.55 KHz / 49.63 KHz | Δ 112.69% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 817.60 ns | ∇ -33.30% | 1.83 MHz / 1.22 MHz | Δ 49.94% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 823.40 ns | ∇ -33.92% | 1.84 MHz / 1.21 MHz | Δ 51.33% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 19.09 us | ∇ -57.53% | 123.33 KHz / 52.39 KHz | Δ 135.44% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 49.67 ns | ∇ -57.88% | 47.81 MHz / 20.13 MHz | Δ 137.44% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 50.90 ns | ∇ -60.42% | 49.63 MHz / 19.64 MHz | Δ 152.64% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 180.98 ns | ∇ -70.14% | 18.51 MHz / 5.53 MHz | Δ 234.94% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 177.90 ns | ∇ -68.93% | 18.09 MHz / 5.62 MHz | Δ 221.89% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.89 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 842.46 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 6.63 ns | ∇ -74.39% | 588.93 MHz / 150.81 MHz | Δ 290.50% |
matrix: unit, fix[double,6,6] | 2.77 ns / 8.86 ns | ∇ -68.67% | 360.36 MHz / 112.91 MHz | Δ 219.14% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 680.28 ns | ∇ -89.25% | 13.68 MHz / 1.47 MHz | Δ 830.61% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.00 ns | Δ 1.#J% | 42.02 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 458.35 ns | ∇ -84.20% | 13.81 MHz / 2.18 MHz | Δ 533.08% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 0.00 ns | Δ 1.#J% | 42.74 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 680.46 ns | ∇ -83.76% | 9.05 MHz / 1.47 MHz | Δ 515.80% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 35.28 ns | Δ 27.83% | 22.17 MHz / 28.34 MHz | ∇ -21.77% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 514.01 ns | ∇ -77.37% | 8.60 MHz / 1.95 MHz | Δ 341.97% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 3.40 ns | Δ 1230.65% | 22.12 MHz / 294.39 MHz | ∇ -92.48% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 5.18 us | Δ 0.15% | 192.77 KHz / 193.06 KHz | ∇ -0.15% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 4.56 us | ∇ -22.06% | 281.56 KHz / 219.44 KHz | Δ 28.31% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 3.79 us | Δ 36.64% | 193.05 KHz / 263.78 KHz | ∇ -26.81% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 2.92 us | Δ 23.46% | 277.05 KHz / 342.06 KHz | ∇ -19.00% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / X | 3.00 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 21.00 ns / X | 47.62 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 329.00 ns / 1.50 us | ∇ -78.11% | 3.04 MHz / 665.44 KHz | Δ 356.77% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 9.51 ns | Δ 120.79% | 47.62 MHz / 105.14 MHz | ∇ -54.71% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / X | 821.69 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 468.00 ns / X | 2.14 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.20 us / 3.90 us | ∇ -69.23% | 832.64 KHz / 256.17 KHz | Δ 225.03% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 3.54 us | ∇ -83.67% | 1.73 MHz / 282.49 KHz | Δ 512.45% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / X | 39.62 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 12.60 us / X | 79.36 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.64 us / 34.19 us | ∇ -25.02% | 39.01 KHz / 29.25 KHz | Δ 33.37% |
matrix: inv, fix[double] 20x20 | 17.36 us / 29.35 us | ∇ -40.85% | 57.60 KHz / 34.07 KHz | Δ 69.05% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / X | 5.24 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 88.89 us / X | 11.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 189.04 us / 134.24 us | Δ 40.82% | 5.29 KHz / 7.45 KHz | ∇ -28.99% |
matrix: inv, fix[double] 40x40 | 121.47 us / 126.45 us | ∇ -3.94% | 8.23 KHz / 7.91 KHz | Δ 4.10% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 6.40 ns / 601.74 ns | ∇ -98.94% | 156.25 MHz / 1.66 MHz | Δ 9302.19% |
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[float ] 3x3 | 10.30 ns / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 872.81 ns | ∇ -98.82% | 97.09 MHz / 1.15 MHz | Δ 8373.87% |
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 | 692.40 ns / X | 1.44 MHz / X | ||
matrix: det, fix[float ] 6x6 | 207.00 ns / X | 4.83 MHz / X | ||
matrix: det, dyn[double] 6x6 | 696.30 ns / 2.32 us | ∇ -70.04% | 1.44 MHz / 430.29 KHz | Δ 233.76% |
matrix: det, fix[double] 6x6 | 212.30 ns / 2.17 us | ∇ -90.22% | 4.71 MHz / 460.60 KHz | Δ 922.65% |
matrix: det, dyn[float ] 20x20 | 5.39 us / X | 185.56 KHz / X | ||
matrix: det, fix[float ] 20x20 | 3.90 us / X | 256.35 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.40 us / 23.14 us | ∇ -72.32% | 156.16 KHz / 43.22 KHz | Δ 261.29% |
matrix: det, fix[double] 20x20 | 4.72 us / 21.38 us | ∇ -77.91% | 211.77 KHz / 46.78 KHz | Δ 352.72% |
matrix: det, dyn[float ] 40x40 | 30.35 us / X | 32.95 KHz / X | ||
matrix: det, fix[float ] 40x40 | 26.47 us / X | 37.78 KHz / X | ||
matrix: det, dyn[double] 40x40 | 32.49 us / 92.83 us | ∇ -65.00% | 30.77 KHz / 10.77 KHz | Δ 185.69% |
matrix: det, fix[double] 40x40 | 27.34 us / 90.97 us | ∇ -69.95% | 36.58 KHz / 10.99 KHz | Δ 232.77% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 892.24 ns | ∇ -85.43% | 7.69 MHz / 1.12 MHz | Δ 586.34% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 249.10 ns | ∇ -43.80% | 7.14 MHz / 4.01 MHz | Δ 77.93% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 41.12 us | ∇ -54.97% | 54.00 KHz / 24.32 KHz | Δ 122.05% |
matrix: chol, fix[double] 40x40 | 16.55 us / 26.92 us | ∇ -38.51% | 60.42 KHz / 37.15 KHz | Δ 62.64% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 15.31 us | ∇ -46.43% | 121.95 KHz / 65.32 KHz | Δ 86.69% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 116.85 us | ∇ -29.06% | 12.06 KHz / 8.56 KHz | Δ 40.95% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 98.96 us | ∇ -46.75% | 18.98 KHz / 10.10 KHz | Δ 87.78% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 55.18 us | ∇ -30.06% | 25.91 KHz / 18.12 KHz | Δ 42.99% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 498.07 us | ∇ -17.72% | 2.44 KHz / 2.01 KHz | Δ 21.54% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 133.40 us | ∇ -46.96% | 14.13 KHz / 7.50 KHz | Δ 88.55% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 4.99 ms | Δ 71.77% | 116.60 Hz / 200.30 Hz | ∇ -41.78% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 243.96 us | ∇ -29.83% | 5.84 KHz / 4.10 KHz | Δ 42.50% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 30.03 ms | Δ 344.90% | 7.49 Hz / 33.31 Hz | ∇ -77.52% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 486.08 us | ∇ -29.67% | 2.93 KHz / 2.06 KHz | Δ 42.19% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 51.94 ms | Δ 582.43% | 2.82 Hz / 19.25 Hz | ∇ -85.35% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 583.78 us | ∇ -31.22% | 2.49 KHz / 1.71 KHz | Δ 45.40% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 76.91 ms | Δ 905.45% | 1.29 Hz / 13.00 Hz | ∇ -90.05% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 649.31 us | ∇ -27.73% | 2.13 KHz / 1.54 KHz | Δ 38.37% |
gridmap2D: getCell | 0.00 ns / 6.44 ns | ∇ -100.00% | 10.00 THz / 155.25 MHz | Δ 6441049.15% |
gridmap2D: setCell | 2.58 ns / 9.52 ns | ∇ -72.94% | 388.02 MHz / 105.00 MHz | Δ 269.53% |
gridmap2D: updateCell | 7.84 ns / 9.85 ns | ∇ -20.41% | 127.58 MHz / 101.55 MHz | Δ 25.64% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.47 ns | ∇ -62.59% | 1.82 GHz / 679.40 MHz | Δ 167.27% |
gridmap2D: insert scan w/o widening | 102.06 us / 225.20 us | ∇ -54.68% | 9.80 KHz / 4.44 KHz | Δ 120.66% |
gridmap2D: insert scan with widening | 289.47 us / 365.80 us | ∇ -20.87% | 3.45 KHz / 2.73 KHz | Δ 26.37% |
gridmap2D: resize | 1.97 ms / 2.56 ms | ∇ -23.33% | 508.65 Hz / 389.96 Hz | Δ 30.44% |
gridmap2D: computeLikelihood | 15.74 us / 21.14 us | ∇ -25.57% | 63.55 KHz / 47.30 KHz | Δ 34.36% |
pointmap: insert 100 scans | 3.04 ms / 3.27 ms | ∇ -7.15% | 329.30 Hz / 305.75 Hz | Δ 7.70% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 6.03 us | ∇ -28.39% | 231.48 KHz / 165.76 KHz | Δ 39.65% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 579.42 us | ∇ -39.23% | 2.84 KHz / 1.73 KHz | Δ 64.55% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 6.14 ms | ∇ -32.56% | 241.51 Hz / 162.87 Hz | Δ 48.29% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 6.68 us | ∇ -29.99% | 213.68 KHz / 149.59 KHz | Δ 42.84% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 519.96 us | ∇ -30.86% | 2.78 KHz / 1.92 KHz | Δ 44.63% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 6.64 ms | ∇ -39.31% | 248.28 Hz / 150.68 Hz | Δ 64.77% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.95 us | ∇ -28.12% | 711.74 KHz / 511.57 KHz | Δ 39.13% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 167.14 us | ∇ -41.84% | 10.29 KHz / 5.98 KHz | Δ 71.94% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 17.45 ms | ∇ -33.41% | 86.05 Hz / 57.30 Hz | Δ 50.18% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 9.11 ms | ∇ -38.61% | 178.77 Hz / 109.75 Hz | Δ 62.90% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 210.71 ms | ∇ -38.64% | 7.73 Hz / 4.75 Hz | Δ 62.98% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 8.38 ms | ∇ -32.38% | 176.53 Hz / 119.37 Hz | Δ 47.88% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 198.71 ms | ∇ -33.97% | 7.62 Hz / 5.03 Hz | Δ 51.44% |
random: drawUniform32bit | 14.50 ns / 7.57 ns | Δ 91.59% | 68.95 MHz / 132.11 MHz | ∇ -47.81% |
random: drawUniform | 14.50 ns / 7.60 ns | Δ 90.76% | 68.96 MHz / 131.54 MHz | ∇ -47.58% |
random: drawGaussian1D_normalized | 68.97 ns / 58.48 ns | Δ 17.95% | 14.50 MHz / 17.10 MHz | ∇ -15.22% |
random: drawGaussian1D | 68.98 ns / 57.62 ns | Δ 19.71% | 14.50 MHz / 17.35 MHz | ∇ -16.46% |
random: system rand() | 10.45 ns / 29.43 ns | ∇ -64.50% | 95.72 MHz / 33.98 MHz | Δ 181.69% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.95 us | ∇ -55.67% | 765.12 KHz / 339.21 KHz | Δ 125.56% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 3.53 us | ∇ -22.78% | 366.37 KHz / 282.92 KHz | Δ 29.50% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 145.71 ns | Δ 9.06% | 6.29 MHz / 6.86 MHz | ∇ -8.31% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 227.37 ns | Δ 4.41% | 4.21 MHz / 4.40 MHz | ∇ -4.23% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 514.56 ns | ∇ -4.77% | 2.04 MHz / 1.94 MHz | Δ 5.00% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 170.42 ns | ∇ -3.37% | 6.07 MHz / 5.87 MHz | Δ 3.49% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 283.60 ns | ∇ -11.91% | 4.00 MHz / 3.53 MHz | Δ 13.53% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 661.22 ns | ∇ -22.16% | 1.94 MHz / 1.51 MHz | Δ 28.47% |
random: permuteVector (len=10) | 296.20 ns / 304.45 ns | ∇ -2.71% | 3.38 MHz / 3.28 MHz | Δ 2.78% |
random: permuteVector (len=100) | 3.04 us / 3.47 us | ∇ -12.31% | 328.91 KHz / 288.42 KHz | Δ 14.04% |
random: permuteVector (len=1000) | 30.22 us / 37.99 us | ∇ -20.44% | 33.09 KHz / 26.33 KHz | Δ 25.68% |
math: round | 0.10 ns / 0.00 ns | Δ 2188178.43% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 33.06 ms | Δ 6.05% | 28.52 Hz / 30.25 Hz | ∇ -5.70% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 50.64 ms | ∇ -3.31% | 20.42 Hz / 19.75 Hz | Δ 3.42% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 82.66 ms | ∇ -9.69% | 13.40 Hz / 12.10 Hz | Δ 10.73% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 27.36 ms | Δ 9.53% | 33.37 Hz / 36.56 Hz | ∇ -8.70% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 43.25 ms | ∇ -1.08% | 23.37 Hz / 23.12 Hz | Δ 1.09% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 66.55 ms | ∇ -3.61% | 15.59 Hz / 15.03 Hz | Δ 3.75% |
images: Gauss filter (640x480) | 3.90 ms / 5.57 ms | ∇ -29.97% | 256.30 Hz / 179.49 Hz | Δ 42.79% |
images: Gauss filter (800x600) | 6.21 ms / 8.84 ms | ∇ -29.75% | 160.99 Hz / 113.10 Hz | Δ 42.34% |
images: Gauss filter (1024x768) | 10.55 ms / 14.37 ms | ∇ -26.56% | 94.74 Hz / 69.58 Hz | Δ 36.17% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 21.97 us | ∇ -76.96% | 197.63 KHz / 45.52 KHz | Δ 334.12% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 22.01 us | ∇ -80.46% | 232.56 KHz / 45.44 KHz | Δ 411.79% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 12.71 us | ∇ -83.48% | 476.19 KHz / 78.69 KHz | Δ 505.18% |
feature_extraction [640x480]: Harris | 24.28 ms / 38.32 ms | ∇ -36.65% | 41.19 Hz / 26.10 Hz | Δ 57.84% |
feature_extraction [640x480]: KLT | 24.43 ms / 37.22 ms | ∇ -34.37% | 40.94 Hz / 26.87 Hz | Δ 52.36% |
feature_extraction [640x480]: SIFT | 610.42 ms / 739.68 ms | ∇ -17.47% | 1.64 Hz / 1.35 Hz | Δ 21.17% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 232.95 ms | ∇ -27.98% | 5.96 Hz / 4.29 Hz | Δ 38.85% |
feature_extraction [640x480]: SURF | 197.61 ms / 309.97 ms | ∇ -36.25% | 5.06 Hz / 3.23 Hz | Δ 56.86% |
feature_extraction [640x480]: FAST | 5.24 ms / 6.88 ms | ∇ -23.82% | 190.68 Hz / 145.25 Hz | Δ 31.28% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 88.28 ms | ∇ -32.06% | 16.67 Hz / 11.33 Hz | Δ 47.18% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 59.68 ms | ∇ -31.51% | 24.46 Hz / 16.76 Hz | Δ 46.00% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 58.57 ms | ∇ -39.40% | 28.17 Hz / 17.07 Hz | Δ 65.00% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.50 sec | ∇ -19.33% | 828.07 mHz / 668.02 mHz | Δ 23.96% |
feature_matching [640x480]: SURF | 379.92 ms / 621.62 ms | ∇ -38.88% | 2.63 Hz / 1.61 Hz | Δ 63.62% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 21.69 ms | ∇ -25.95% | 62.26 Hz / 46.10 Hz | Δ 35.05% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 12.64 ms | ∇ -15.08% | 93.18 Hz / 79.13 Hz | Δ 17.76% |
graph(2d): insertEdge x 1e3 | 117.65 us / 301.62 us | ∇ -60.99% | 8.50 KHz / 3.32 KHz | Δ 156.37% |
graph(2d,vec): insertEdge x 1e3 | 105.13 us / 298.86 us | ∇ -64.82% | 9.51 KHz / 3.35 KHz | Δ 184.29% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 274.69 us | ∇ -68.99% | 11.74 KHz / 3.64 KHz | Δ 222.46% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 270.21 us | ∇ -68.74% | 11.84 KHz / 3.70 KHz | Δ 219.91% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 415.87 us | ∇ -58.51% | 5.80 KHz / 2.40 KHz | Δ 141.04% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 406.59 us | ∇ -53.77% | 5.32 KHz / 2.46 KHz | Δ 116.31% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 377.54 us | ∇ -55.34% | 5.93 KHz / 2.65 KHz | Δ 123.92% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 379.45 us | ∇ -55.89% | 5.97 KHz / 2.64 KHz | Δ 126.69% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 4.14 ms | ∇ -58.29% | 579.22 Hz / 241.59 Hz | Δ 139.76% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 4.00 ms | ∇ -63.79% | 690.59 Hz / 250.06 Hz | Δ 176.17% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 2.94 ms | ∇ -69.94% | 1.13 KHz / 339.77 Hz | Δ 232.68% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 2.89 ms | ∇ -70.19% | 1.16 KHz / 345.69 Hz | Δ 235.51% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 4.77 ms | ∇ -58.64% | 506.65 Hz / 209.57 Hz | Δ 141.75% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 4.86 ms | ∇ -52.60% | 433.74 Hz / 205.59 Hz | Δ 110.98% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.05 ms | ∇ -54.17% | 538.12 Hz / 246.64 Hz | Δ 118.18% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.21 ms | ∇ -55.88% | 538.35 Hz / 237.52 Hz | Δ 126.65% |
graph(3d): insertEdge x 1e3 | 177.23 us / 381.69 us | ∇ -53.57% | 5.64 KHz / 2.62 KHz | Δ 115.36% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 407.21 us | ∇ -56.20% | 5.61 KHz / 2.46 KHz | Δ 128.31% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 339.57 us | ∇ -53.51% | 6.33 KHz / 2.94 KHz | Δ 115.11% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 334.55 us | ∇ -52.31% | 6.27 KHz / 2.99 KHz | Δ 109.70% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 688.91 us | ∇ -26.41% | 1.97 KHz / 1.45 KHz | Δ 35.88% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 684.69 us | ∇ -25.59% | 1.96 KHz / 1.46 KHz | Δ 34.39% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 683.24 us | ∇ -30.72% | 2.11 KHz / 1.46 KHz | Δ 44.34% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 684.37 us | ∇ -30.73% | 2.11 KHz / 1.46 KHz | Δ 44.36% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 3.89 ms | ∇ -36.38% | 404.60 Hz / 257.39 Hz | Δ 57.19% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 3.79 ms | ∇ -34.51% | 402.82 Hz / 263.81 Hz | Δ 52.70% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 3.59 ms | ∇ -51.11% | 570.48 Hz / 278.91 Hz | Δ 104.54% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 3.52 ms | ∇ -49.76% | 565.81 Hz / 284.28 Hz | Δ 99.03% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 7.80 ms | ∇ -29.18% | 180.97 Hz / 128.15 Hz | Δ 41.21% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 7.81 ms | ∇ -28.71% | 179.70 Hz / 128.11 Hz | Δ 40.27% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 7.49 ms | ∇ -35.27% | 206.16 Hz / 133.45 Hz | Δ 54.49% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 7.57 ms | ∇ -35.88% | 206.11 Hz / 132.15 Hz | Δ 55.97% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 213.16 us | ∇ -54.94% | 10.41 KHz / 4.69 KHz | Δ 121.94% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 311.59 us | ∇ -74.20% | 12.44 KHz / 3.21 KHz | Δ 287.62% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.57 ms | ∇ -55.97% | 885.05 Hz / 389.66 Hz | Δ 127.13% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 2.70 ms | ∇ -70.23% | 1.24 KHz / 370.20 Hz | Δ 235.96% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 31.29 ms | ∇ -38.84% | 52.26 Hz / 31.96 Hz | Δ 63.50% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 32.92 ms | ∇ -70.68% | 103.63 Hz / 30.38 Hz | Δ 241.09% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 393.68 ms | ∇ -26.24% | 3.44 Hz / 2.54 Hz | Δ 35.58% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 385.61 ms | ∇ -69.47% | 8.49 Hz / 2.59 Hz | Δ 227.54% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 380.30 ms | ∇ -29.28% | 3.72 Hz / 2.63 Hz | Δ 41.41% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 376.84 ms | ∇ -72.66% | 9.70 Hz / 2.65 Hz | Δ 265.70% |