Test description | 0.9.2-GCC-64bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 20.59 ms | ∇ -2.90% | 50.03 Hz / 48.58 Hz | Δ 2.98% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 20.64 ms | ∇ -6.52% | 51.84 Hz / 48.45 Hz | Δ 6.98% |
poses: CPose3D (+) CPose3D | 42.85 ns / 42.90 ns | ∇ -0.12% | 23.34 MHz / 23.31 MHz | Δ 0.12% |
poses: CPose3D.composeFrom() | 37.80 ns / 37.61 ns | Δ 0.51% | 26.46 MHz / 26.59 MHz | ∇ -0.50% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 7.25 ns | ∇ 0.00% | 137.89 MHz / 137.89 MHz | ∇ 0.00% |
poses: CPose3D.composePoint() | 11.91 ns / 11.83 ns | Δ 0.66% | 83.98 MHz / 84.53 MHz | ∇ -0.66% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 39.31 ns | Δ 24.60% | 20.42 MHz / 25.44 MHz | ∇ -19.74% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 34.91 ns | Δ 0.13% | 28.61 MHz / 28.65 MHz | ∇ -0.13% |
poses: CPose2D (+) CPose2D | 78.58 ns / 76.08 ns | Δ 3.28% | 12.73 MHz / 13.14 MHz | ∇ -3.18% |
poses: CPose2D.composeFrom() | 70.31 ns / 61.61 ns | Δ 14.12% | 14.22 MHz / 16.23 MHz | ∇ -12.38% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 60.26 ns | Δ 1.77% | 16.31 MHz / 16.59 MHz | ∇ -1.74% |
poses: CPose2D.composePoint() | 65.17 ns / 62.26 ns | Δ 4.66% | 15.35 MHz / 16.06 MHz | ∇ -4.46% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 40.99 ns | Δ 8.95% | 22.39 MHz / 24.40 MHz | ∇ -8.22% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 39.39 ns | Δ 0.10% | 25.36 MHz / 25.39 MHz | ∇ -0.10% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 18.30 ns | ∇ -0.37% | 54.84 MHz / 54.63 MHz | Δ 0.37% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 17.94 ns | ∇ -0.02% | 55.75 MHz / 55.74 MHz | Δ 0.02% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 55.46 ns | ∇ -0.05% | 18.04 MHz / 18.03 MHz | Δ 0.05% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 17.66 ns | ∇ -0.11% | 56.69 MHz / 56.63 MHz | Δ 0.11% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 16.78 ns | ∇ -0.52% | 59.89 MHz / 59.58 MHz | Δ 0.53% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 169.37 ns | ∇ -0.05% | 5.91 MHz / 5.90 MHz | Δ 0.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 799.08 us | ∇ -4.77% | 1.31 KHz / 1.25 KHz | Δ 5.01% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 803.31 us | ∇ -5.31% | 1.31 KHz / 1.24 KHz | Δ 5.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 9.44 us | Δ 0.34% | 105.55 KHz / 105.91 KHz | ∇ -0.34% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 648.90 ns | ∇ -15.97% | 1.83 MHz / 1.54 MHz | Δ 19.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 631.00 ns | ∇ -13.77% | 1.84 MHz / 1.58 MHz | Δ 15.97% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 8.18 us | ∇ -0.84% | 123.33 KHz / 122.30 KHz | Δ 0.85% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 24.43 ns | ∇ -14.37% | 47.81 MHz / 40.94 MHz | Δ 16.78% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 23.18 ns | ∇ -13.08% | 49.63 MHz / 43.14 MHz | Δ 15.05% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 59.50 ns | ∇ -9.19% | 18.51 MHz / 16.81 MHz | Δ 10.12% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 62.26 ns | ∇ -11.24% | 18.09 MHz / 16.06 MHz | Δ 12.66% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.35 ns | ∇ -0.29% | 2.89 GHz / 2.88 GHz | Δ 0.29% |
matrix: unit, fix[double,3,3] | 1.19 ns / 1.19 ns | ∇ -0.08% | 842.46 MHz / 841.75 MHz | Δ 0.08% |
matrix: unit, fix[float,6,6] | 1.70 ns / 1.70 ns | ∇ -0.29% | 588.93 MHz / 587.20 MHz | Δ 0.29% |
matrix: unit, fix[double,6,6] | 2.77 ns / 2.77 ns | Δ 0.18% | 360.36 MHz / 361.01 MHz | ∇ -0.18% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 85.80 ns | ∇ -14.80% | 13.68 MHz / 11.66 MHz | Δ 17.37% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 23.80 ns | ∇ 0.00% | 42.02 MHz / 42.02 MHz | ∇ 0.00% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 75.90 ns | ∇ -4.61% | 13.81 MHz / 13.18 MHz | Δ 4.83% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 23.50 ns | ∇ -0.43% | 42.74 MHz / 42.55 MHz | Δ 0.43% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 118.10 ns | ∇ -6.44% | 9.05 MHz / 8.47 MHz | Δ 6.88% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 44.70 ns | Δ 0.89% | 22.17 MHz / 22.37 MHz | ∇ -0.89% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 110.50 ns | Δ 5.25% | 8.60 MHz / 9.05 MHz | ∇ -4.99% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 45.20 ns | ∇ 0.00% | 22.12 MHz / 22.12 MHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 5.44 us | ∇ -4.58% | 192.77 KHz / 183.95 KHz | Δ 4.80% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 3.78 us | ∇ -5.93% | 281.56 KHz / 264.87 KHz | Δ 6.30% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 5.54 us | ∇ -6.57% | 193.05 KHz / 180.38 KHz | Δ 7.03% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 4.07 us | ∇ -11.41% | 277.05 KHz / 245.43 KHz | Δ 12.88% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / 631.00 ns | ∇ -47.23% | 3.00 MHz / 1.58 MHz | Δ 89.49% |
matrix: inv, fix[float ] 3x3 | 21.00 ns / 35.00 ns | ∇ -40.00% | 47.62 MHz / 28.57 MHz | Δ 66.67% |
matrix: inv, dyn[double] 3x3 | 329.00 ns / 644.00 ns | ∇ -48.91% | 3.04 MHz / 1.55 MHz | Δ 95.74% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 39.00 ns | ∇ -46.15% | 47.62 MHz / 25.64 MHz | Δ 85.71% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / 2.37 us | ∇ -48.67% | 821.69 KHz / 421.76 KHz | Δ 94.82% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 812.00 ns | ∇ -42.36% | 2.14 MHz / 1.23 MHz | Δ 73.50% |
matrix: inv, dyn[double] 6x6 | 1.20 us / 1.26 us | ∇ -4.76% | 832.64 KHz / 793.02 KHz | Δ 5.00% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 575.00 ns | Δ 0.52% | 1.73 MHz / 1.74 MHz | ∇ -0.52% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / 25.94 us | ∇ -2.69% | 39.62 KHz / 38.55 KHz | Δ 2.77% |
matrix: inv, fix[float ] 20x20 | 12.60 us / 14.15 us | ∇ -10.92% | 79.36 KHz / 70.70 KHz | Δ 12.25% |
matrix: inv, dyn[double] 20x20 | 25.64 us / 25.76 us | ∇ -0.46% | 39.01 KHz / 38.83 KHz | Δ 0.46% |
matrix: inv, fix[double] 20x20 | 17.36 us / 17.04 us | Δ 1.90% | 57.60 KHz / 58.69 KHz | ∇ -1.87% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / 205.11 us | ∇ -6.95% | 5.24 KHz / 4.88 KHz | Δ 7.46% |
matrix: inv, fix[float ] 40x40 | 88.89 us / 93.29 us | ∇ -4.72% | 11.25 KHz / 10.72 KHz | Δ 4.95% |
matrix: inv, dyn[double] 40x40 | 189.04 us / 207.20 us | ∇ -8.76% | 5.29 KHz / 4.83 KHz | Δ 9.61% |
matrix: inv, fix[double] 40x40 | 121.47 us / 133.80 us | ∇ -9.22% | 8.23 KHz / 7.47 KHz | Δ 10.16% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
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 / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 653.50 ns | Δ 5.95% | 1.44 MHz / 1.53 MHz | ∇ -5.62% |
matrix: det, fix[float ] 6x6 | 207.00 ns / 210.00 ns | ∇ -1.43% | 4.83 MHz / 4.76 MHz | Δ 1.45% |
matrix: det, dyn[double] 6x6 | 696.30 ns / 730.30 ns | ∇ -4.66% | 1.44 MHz / 1.37 MHz | Δ 4.88% |
matrix: det, fix[double] 6x6 | 212.30 ns / 212.10 ns | Δ 0.09% | 4.71 MHz / 4.71 MHz | ∇ -0.09% |
matrix: det, dyn[float ] 20x20 | 5.39 us / 5.70 us | ∇ -5.48% | 185.56 KHz / 175.40 KHz | Δ 5.80% |
matrix: det, fix[float ] 20x20 | 3.90 us / 4.20 us | ∇ -7.19% | 256.35 KHz / 237.92 KHz | Δ 7.75% |
matrix: det, dyn[double] 20x20 | 6.40 us / 6.56 us | ∇ -2.45% | 156.16 KHz / 152.33 KHz | Δ 2.51% |
matrix: det, fix[double] 20x20 | 4.72 us / 5.04 us | ∇ -6.32% | 211.77 KHz / 198.38 KHz | Δ 6.75% |
matrix: det, dyn[float ] 40x40 | 30.35 us / 32.38 us | ∇ -6.26% | 32.95 KHz / 30.89 KHz | Δ 6.68% |
matrix: det, fix[float ] 40x40 | 26.47 us / 27.92 us | ∇ -5.17% | 37.78 KHz / 35.82 KHz | Δ 5.45% |
matrix: det, dyn[double] 40x40 | 32.49 us / 39.41 us | ∇ -17.55% | 30.77 KHz / 25.37 KHz | Δ 21.28% |
matrix: det, fix[double] 40x40 | 27.34 us / 29.04 us | ∇ -5.85% | 36.58 KHz / 34.44 KHz | Δ 6.22% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 140.00 ns | ∇ -7.14% | 7.69 MHz / 7.14 MHz | Δ 7.69% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 160.00 ns | ∇ -12.50% | 7.14 MHz / 6.25 MHz | Δ 14.29% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 18.38 us | Δ 0.76% | 54.00 KHz / 54.41 KHz | ∇ -0.76% |
matrix: chol, fix[double] 40x40 | 16.55 us / 17.08 us | ∇ -3.10% | 60.42 KHz / 58.55 KHz | Δ 3.20% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.30 us | ∇ -1.20% | 121.95 KHz / 120.48 KHz | Δ 1.22% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 84.40 us | ∇ -1.78% | 12.06 KHz / 11.85 KHz | Δ 1.81% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 53.00 us | ∇ -0.57% | 18.98 KHz / 18.87 KHz | Δ 0.57% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 39.49 us | ∇ -2.28% | 25.91 KHz / 25.32 KHz | Δ 2.33% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 411.70 us | ∇ -0.46% | 2.44 KHz / 2.43 KHz | Δ 0.46% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 74.09 us | ∇ -4.51% | 14.13 KHz / 13.50 KHz | Δ 4.72% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 10.38 ms | ∇ -17.39% | 116.60 Hz / 96.33 Hz | Δ 21.04% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 248.74 us | ∇ -31.17% | 5.84 KHz / 4.02 KHz | Δ 45.29% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 370.64 ms | ∇ -63.96% | 7.49 Hz / 2.70 Hz | Δ 177.46% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 353.56 us | ∇ -3.31% | 2.93 KHz / 2.83 KHz | Δ 3.43% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 365.56 ms | ∇ -3.03% | 2.82 Hz / 2.74 Hz | Δ 3.12% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 425.27 us | ∇ -5.59% | 2.49 KHz / 2.35 KHz | Δ 5.92% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 796.04 ms | ∇ -2.86% | 1.29 Hz / 1.26 Hz | Δ 2.95% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 490.79 us | ∇ -4.39% | 2.13 KHz / 2.04 KHz | Δ 4.59% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | Δ 1.#J% | 10.00 THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | ∇ -0.07% | 388.02 MHz / 387.76 MHz | Δ 0.07% |
gridmap2D: updateCell | 7.84 ns / 7.44 ns | Δ 5.28% | 127.58 MHz / 134.32 MHz | ∇ -5.01% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | ∇ -0.04% | 1.82 GHz / 1.82 GHz | Δ 0.04% |
gridmap2D: insert scan w/o widening | 102.06 us / 101.23 us | Δ 0.82% | 9.80 KHz / 9.88 KHz | ∇ -0.81% |
gridmap2D: insert scan with widening | 289.47 us / 291.30 us | ∇ -0.63% | 3.45 KHz / 3.43 KHz | Δ 0.63% |
gridmap2D: resize | 1.97 ms / 1.89 ms | Δ 4.13% | 508.65 Hz / 529.66 Hz | ∇ -3.97% |
gridmap2D: computeLikelihood | 15.74 us / 16.46 us | ∇ -4.39% | 63.55 KHz / 60.76 KHz | Δ 4.59% |
pointmap: insert 100 scans | 3.04 ms / 3.10 ms | ∇ -2.06% | 329.30 Hz / 322.50 Hz | Δ 2.11% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 4.28 us | Δ 0.93% | 231.48 KHz / 233.64 KHz | ∇ -0.93% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 355.52 us | ∇ -0.96% | 2.84 KHz / 2.81 KHz | Δ 0.97% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.16 ms | ∇ -0.53% | 241.51 Hz / 240.24 Hz | Δ 0.53% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 4.76 us | ∇ -1.68% | 213.68 KHz / 210.08 KHz | Δ 1.71% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 363.20 us | ∇ -1.01% | 2.78 KHz / 2.75 KHz | Δ 1.02% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 4.09 ms | ∇ -1.61% | 248.28 Hz / 244.29 Hz | Δ 1.63% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.38 us | Δ 1.66% | 711.74 KHz / 723.59 KHz | ∇ -1.64% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 100.93 us | ∇ -3.69% | 10.29 KHz / 9.91 KHz | Δ 3.83% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 11.91 ms | ∇ -2.44% | 86.05 Hz / 83.95 Hz | Δ 2.50% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 5.62 ms | ∇ -0.43% | 178.77 Hz / 178.01 Hz | Δ 0.43% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 130.76 ms | ∇ -1.13% | 7.73 Hz / 7.65 Hz | Δ 1.14% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 5.67 ms | ∇ -0.10% | 176.53 Hz / 176.35 Hz | Δ 0.10% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 132.64 ms | ∇ -1.07% | 7.62 Hz / 7.54 Hz | Δ 1.08% |
random: drawUniform32bit | 14.50 ns / 14.57 ns | ∇ -0.47% | 68.95 MHz / 68.63 MHz | Δ 0.47% |
random: drawUniform | 14.50 ns / 14.62 ns | ∇ -0.80% | 68.96 MHz / 68.41 MHz | Δ 0.80% |
random: drawGaussian1D_normalized | 68.97 ns / 68.70 ns | Δ 0.40% | 14.50 MHz / 14.56 MHz | ∇ -0.39% |
random: drawGaussian1D | 68.98 ns / 68.68 ns | Δ 0.43% | 14.50 MHz / 14.56 MHz | ∇ -0.43% |
random: system rand() | 10.45 ns / 10.45 ns | ∇ -0.05% | 95.72 MHz / 95.67 MHz | Δ 0.05% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.31 us | ∇ -0.05% | 765.12 KHz / 764.77 KHz | Δ 0.05% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 2.79 us | ∇ -2.03% | 366.37 KHz / 358.92 KHz | Δ 2.08% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 158.26 ns | Δ 0.41% | 6.29 MHz / 6.32 MHz | ∇ -0.41% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 236.42 ns | Δ 0.41% | 4.21 MHz / 4.23 MHz | ∇ -0.41% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 489.37 ns | Δ 0.14% | 2.04 MHz / 2.04 MHz | ∇ -0.14% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 164.61 ns | Δ 0.03% | 6.07 MHz / 6.07 MHz | ∇ -0.03% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 248.12 ns | Δ 0.68% | 4.00 MHz / 4.03 MHz | ∇ -0.68% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 514.83 ns | ∇ -0.02% | 1.94 MHz / 1.94 MHz | Δ 0.02% |
random: permuteVector (len=10) | 296.20 ns / 317.50 ns | ∇ -6.71% | 3.38 MHz / 3.15 MHz | Δ 7.19% |
random: permuteVector (len=100) | 3.04 us / 3.06 us | ∇ -0.72% | 328.91 KHz / 326.54 KHz | Δ 0.73% |
random: permuteVector (len=1000) | 30.22 us / 30.27 us | ∇ -0.15% | 33.09 KHz / 33.04 KHz | Δ 0.15% |
math: round | 0.10 ns / 0.10 ns | ∇ -0.01% | 10.09 GHz / 10.09 GHz | Δ 0.01% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 27.27 ms | Δ 28.57% | 28.52 Hz / 36.67 Hz | ∇ -22.22% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 43.27 ms | Δ 13.15% | 20.42 Hz / 23.11 Hz | ∇ -11.62% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 74.67 ms | ∇ -0.03% | 13.40 Hz / 13.39 Hz | Δ 0.03% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 26.31 ms | Δ 13.90% | 33.37 Hz / 38.01 Hz | ∇ -12.20% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 40.92 ms | Δ 4.57% | 23.37 Hz / 24.44 Hz | ∇ -4.37% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 62.56 ms | Δ 2.54% | 15.59 Hz / 15.99 Hz | ∇ -2.48% |
images: Gauss filter (640x480) | 3.90 ms / 4.48 ms | ∇ -12.99% | 256.30 Hz / 223.01 Hz | Δ 14.93% |
images: Gauss filter (800x600) | 6.21 ms / 7.46 ms | ∇ -16.72% | 160.99 Hz / 134.07 Hz | Δ 20.08% |
images: Gauss filter (1024x768) | 10.55 ms / 12.41 ms | ∇ -14.96% | 94.74 Hz / 80.57 Hz | Δ 17.59% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 5.15 us | ∇ -1.75% | 197.63 KHz / 194.17 KHz | Δ 1.78% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 4.35 us | ∇ -1.15% | 232.56 KHz / 229.89 KHz | Δ 1.16% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 2.12 us | ∇ -0.94% | 476.19 KHz / 471.70 KHz | Δ 0.95% |
feature_extraction [640x480]: Harris | 24.28 ms / 33.18 ms | ∇ -26.84% | 41.19 Hz / 30.14 Hz | Δ 36.68% |
feature_extraction [640x480]: KLT | 24.43 ms / 29.64 ms | ∇ -17.58% | 40.94 Hz / 33.74 Hz | Δ 21.33% |
feature_extraction [640x480]: SIFT | 610.42 ms / 637.68 ms | ∇ -4.27% | 1.64 Hz / 1.57 Hz | Δ 4.46% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 173.14 ms | ∇ -3.10% | 5.96 Hz / 5.78 Hz | Δ 3.20% |
feature_extraction [640x480]: SURF | 197.61 ms / 202.84 ms | ∇ -2.58% | 5.06 Hz / 4.93 Hz | Δ 2.64% |
feature_extraction [640x480]: FAST | 5.24 ms / 5.10 ms | Δ 2.76% | 190.68 Hz / 195.94 Hz | ∇ -2.68% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 61.22 ms | ∇ -2.02% | 16.67 Hz / 16.33 Hz | Δ 2.06% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 43.90 ms | ∇ -6.88% | 24.46 Hz / 22.78 Hz | Δ 7.39% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 38.32 ms | ∇ -7.38% | 28.17 Hz / 26.09 Hz | Δ 7.96% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.28 sec | ∇ -5.46% | 828.07 mHz / 782.87 mHz | Δ 5.77% |
feature_matching [640x480]: SURF | 379.92 ms / 387.99 ms | ∇ -2.08% | 2.63 Hz / 2.58 Hz | Δ 2.13% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 15.73 ms | Δ 2.12% | 62.26 Hz / 63.57 Hz | ∇ -2.07% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 10.56 ms | Δ 1.63% | 93.18 Hz / 94.70 Hz | ∇ -1.60% |
graph(2d): insertEdge x 1e3 | 117.65 us / 104.46 us | Δ 12.63% | 8.50 KHz / 9.57 KHz | ∇ -11.21% |
graph(2d,vec): insertEdge x 1e3 | 105.13 us / X | 9.51 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 85.19 us | ∇ -0.00% | 11.74 KHz / 11.74 KHz | Δ 0.00% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / X | 11.84 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 134.65 us | Δ 28.13% | 5.80 KHz / 7.43 KHz | ∇ -21.96% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / X | 5.32 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 119.89 us | Δ 40.63% | 5.93 KHz / 8.34 KHz | ∇ -28.89% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / X | 5.97 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.73 ms / 1.39 ms | Δ 24.64% | 579.22 Hz / 721.96 Hz | ∇ -19.77% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / X | 690.59 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 854.04 us | Δ 3.59% | 1.13 KHz / 1.17 KHz | ∇ -3.46% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / X | 1.16 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 1.61 ms | Δ 22.73% | 506.65 Hz / 621.80 Hz | ∇ -18.52% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / X | 433.74 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 1.20 ms | Δ 54.76% | 538.12 Hz / 832.81 Hz | ∇ -35.38% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / X | 538.35 Hz / X | ||
graph(3d): insertEdge x 1e3 | 177.23 us / 132.91 us | Δ 33.35% | 5.64 KHz / 7.52 KHz | ∇ -25.01% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / X | 5.61 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 109.11 us | Δ 44.68% | 6.33 KHz / 9.17 KHz | ∇ -30.88% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / X | 6.27 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 349.74 us | Δ 44.96% | 1.97 KHz / 2.86 KHz | ∇ -31.02% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / X | 1.96 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 321.54 us | Δ 47.22% | 2.11 KHz / 3.11 KHz | ∇ -32.07% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / X | 2.11 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.47 ms / 1.89 ms | Δ 30.77% | 404.60 Hz / 529.10 Hz | ∇ -23.53% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / X | 402.82 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 1.10 ms | Δ 59.56% | 570.48 Hz / 910.25 Hz | ∇ -37.33% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / X | 565.81 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 4.65 ms | Δ 18.92% | 180.97 Hz / 215.20 Hz | ∇ -15.91% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / X | 179.70 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 4.05 ms | Δ 19.72% | 206.16 Hz / 246.81 Hz | ∇ -16.47% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / X | 206.11 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 96.04 us / X | 10.41 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / X | 12.44 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.13 ms / X | 885.05 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / X | 1.24 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 19.14 ms / X | 52.26 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / X | 103.63 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 290.37 ms / X | 3.44 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / X | 8.49 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 268.93 ms / X | 3.72 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / X | 9.70 Hz / X |