Test description | 0.9.4-MSVC10-32bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 20.74 ms | Δ 79.02% | 26.93 Hz / 48.21 Hz | ∇ -44.14% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 17.09 ms | Δ 112.62% | 27.52 Hz / 58.52 Hz | ∇ -52.97% |
poses: CPose3D (+) CPose3D | 197.08 ns / 29.76 ns | Δ 562.22% | 5.07 MHz / 33.60 MHz | ∇ -84.90% |
poses: CPose3D.composeFrom() | 33.62 ns / 21.90 ns | Δ 53.54% | 29.74 MHz / 45.66 MHz | ∇ -34.87% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 7.23 ns | Δ 247.45% | 39.79 MHz / 138.24 MHz | ∇ -71.22% |
poses: CPose3D.composePoint() | 21.31 ns / 11.67 ns | Δ 82.54% | 46.94 MHz / 85.68 MHz | ∇ -45.22% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 13.29 ns | Δ 577.13% | 11.12 MHz / 75.27 MHz | ∇ -85.23% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 24.48 ns | Δ 93.00% | 21.17 MHz / 40.85 MHz | ∇ -48.19% |
poses: CPose2D (+) CPose2D | 108.63 ns / 71.64 ns | Δ 51.63% | 9.21 MHz / 13.96 MHz | ∇ -34.05% |
poses: CPose2D.composeFrom() | 94.77 ns / 69.41 ns | Δ 36.55% | 10.55 MHz / 14.41 MHz | ∇ -26.76% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 60.78 ns | Δ 32.63% | 12.41 MHz / 16.45 MHz | ∇ -24.60% |
poses: CPose2D.composePoint() | 67.32 ns / 60.80 ns | Δ 10.73% | 14.85 MHz / 16.45 MHz | ∇ -9.69% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 40.47 ns | Δ 100.91% | 12.30 MHz / 24.71 MHz | ∇ -50.23% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 37.55 ns | Δ 37.32% | 19.39 MHz / 26.63 MHz | ∇ -27.18% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 17.39 ns | Δ 221.55% | 17.89 MHz / 57.51 MHz | ∇ -68.90% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 17.48 ns | Δ 87.21% | 30.55 MHz / 57.20 MHz | ∇ -46.58% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 32.97 ns | Δ 276.18% | 8.06 MHz / 30.33 MHz | ∇ -73.42% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 19.11 ns | Δ 60.19% | 32.67 MHz / 52.34 MHz | ∇ -37.57% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 23.42 ns | Δ 20.07% | 35.56 MHz / 42.70 MHz | ∇ -16.72% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 172.72 ns | Δ 25.55% | 4.61 MHz / 5.79 MHz | ∇ -20.35% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 671.00 ns | Δ 84.81% | 806.40 KHz / 1.49 MHz | ∇ -45.89% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 652.00 ns | Δ 83.56% | 835.55 KHz / 1.53 MHz | ∇ -45.52% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 8.74 us | Δ 130.53% | 49.63 KHz / 114.40 KHz | ∇ -56.62% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 454.10 ns | Δ 80.05% | 1.22 MHz / 2.20 MHz | ∇ -44.46% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 452.90 ns | Δ 81.81% | 1.21 MHz / 2.21 MHz | ∇ -45.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 7.98 us | Δ 139.36% | 52.39 KHz / 125.39 KHz | ∇ -58.22% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 17.64 ns | Δ 181.64% | 20.13 MHz / 56.71 MHz | ∇ -64.49% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 19.86 ns | Δ 156.27% | 19.64 MHz / 50.34 MHz | ∇ -60.98% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 57.06 ns | Δ 217.21% | 5.53 MHz / 17.53 MHz | ∇ -68.48% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 60.00 ns | Δ 196.50% | 5.62 MHz / 16.67 MHz | ∇ -66.27% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 6.63 ns / 0.00 ns | Δ 1.#J% | 150.81 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 8.86 ns / 0.00 ns | Δ 1.#J% | 112.91 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 242.70 ns | Δ 180.29% | 1.47 MHz / 4.12 MHz | ∇ -64.32% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 231.60 ns | Δ 97.91% | 2.18 MHz / 4.32 MHz | ∇ -49.47% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 680.46 ns / 296.50 ns | Δ 129.50% | 1.47 MHz / 3.37 MHz | ∇ -56.43% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 0.10 ns | Δ 35181.93% | 28.34 MHz / 10.00 GHz | ∇ -99.72% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 259.20 ns | Δ 98.31% | 1.95 MHz / 3.86 MHz | ∇ -49.57% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 0.00 ns | Δ 1.#J% | 294.39 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 2.09 us | Δ 147.43% | 193.06 KHz / 477.69 KHz | ∇ -59.58% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 1.79 us | Δ 154.76% | 219.44 KHz / 559.03 KHz | ∇ -60.75% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 2.43 us | Δ 56.07% | 263.78 KHz / 411.68 KHz | ∇ -35.93% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 2.16 us | Δ 35.13% | 342.06 KHz / 462.21 KHz | ∇ -26.00% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 767.00 ns | Δ 95.93% | 665.44 KHz / 1.30 MHz | ∇ -48.96% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 0.00 ns | Δ 1.#J% | 105.14 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 1.78 us | Δ 119.31% | 256.17 KHz / 561.80 KHz | ∇ -54.40% |
matrix: inv, fix[double] 6x6 | 3.54 us / 1.73 us | Δ 104.86% | 282.49 KHz / 578.70 KHz | ∇ -51.19% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 16.27 us | Δ 110.19% | 29.25 KHz / 61.47 KHz | ∇ -52.42% |
matrix: inv, fix[double] 20x20 | 29.35 us / 13.44 us | Δ 118.40% | 34.07 KHz / 74.41 KHz | ∇ -54.21% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 68.00 us | Δ 97.39% | 7.45 KHz / 14.70 KHz | ∇ -49.34% |
matrix: inv, fix[double] 40x40 | 126.45 us / 63.01 us | Δ 100.70% | 7.91 KHz / 15.87 KHz | ∇ -50.17% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 209.40 ns | Δ 187.36% | 1.66 MHz / 4.78 MHz | ∇ -65.20% |
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 / 331.30 ns | Δ 163.45% | 1.15 MHz / 3.02 MHz | ∇ -62.04% |
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 / 943.70 ns | Δ 146.26% | 430.29 KHz / 1.06 MHz | ∇ -59.39% |
matrix: det, fix[double] 6x6 | 2.17 us / 575.90 ns | Δ 276.99% | 460.60 KHz / 1.74 MHz | ∇ -73.47% |
matrix: det, dyn[double] 20x20 | 23.14 us / 8.10 us | Δ 185.49% | 43.22 KHz / 123.40 KHz | ∇ -64.97% |
matrix: det, fix[double] 20x20 | 21.38 us / 7.48 us | Δ 185.63% | 46.78 KHz / 133.61 KHz | ∇ -64.99% |
matrix: det, dyn[double] 40x40 | 92.83 us / 30.87 us | Δ 200.70% | 10.77 KHz / 32.39 KHz | ∇ -66.74% |
matrix: det, fix[double] 40x40 | 90.97 us / 29.01 us | Δ 213.56% | 10.99 KHz / 34.47 KHz | ∇ -68.11% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 530.00 ns | Δ 68.35% | 1.12 MHz / 1.89 MHz | ∇ -40.60% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 120.00 ns | Δ 107.59% | 4.01 MHz / 8.33 MHz | ∇ -51.83% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 20.70 us | Δ 98.67% | 24.32 KHz / 48.31 KHz | ∇ -49.67% |
matrix: chol, fix[double] 40x40 | 26.92 us / 16.54 us | Δ 62.74% | 37.15 KHz / 60.46 KHz | ∇ -38.55% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 12.20 us | Δ 25.48% | 65.32 KHz / 81.97 KHz | ∇ -20.31% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 87.70 us | Δ 33.24% | 8.56 KHz / 11.40 KHz | ∇ -24.95% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 51.70 us | Δ 91.41% | 10.10 KHz / 19.34 KHz | ∇ -47.76% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 38.27 us | Δ 44.18% | 18.12 KHz / 26.13 KHz | ∇ -30.64% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 255.50 us | Δ 94.94% | 2.01 KHz / 3.91 KHz | ∇ -48.70% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 70.94 us | Δ 88.04% | 7.50 KHz / 14.10 KHz | ∇ -46.82% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 2.75 ms | Δ 81.55% | 200.30 Hz / 363.64 Hz | ∇ -44.92% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 169.22 us | Δ 44.17% | 4.10 KHz / 5.91 KHz | ∇ -30.64% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 22.06 ms | Δ 36.11% | 33.31 Hz / 45.33 Hz | ∇ -26.53% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 339.61 us | Δ 43.13% | 2.06 KHz / 2.94 KHz | ∇ -30.13% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 36.67 ms | Δ 41.67% | 19.25 Hz / 27.27 Hz | ∇ -29.41% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 402.38 us | Δ 45.08% | 1.71 KHz / 2.49 KHz | ∇ -31.07% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 53.86 ms | Δ 42.78% | 13.00 Hz / 18.57 Hz | ∇ -29.96% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 476.81 us | Δ 36.18% | 1.54 KHz / 2.10 KHz | ∇ -26.57% |
gridmap2D: getCell | 6.44 ns / 0.00 ns | Δ 1.#J% | 155.25 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 9.52 ns / 2.71 ns | Δ 251.73% | 105.00 MHz / 369.33 MHz | ∇ -71.57% |
gridmap2D: updateCell | 9.85 ns / 6.04 ns | Δ 63.07% | 101.55 MHz / 165.59 MHz | ∇ -38.68% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 0.61 ns | Δ 139.64% | 679.40 MHz / 1.63 GHz | ∇ -58.27% |
gridmap2D: insert scan w/o widening | 225.20 us / 99.83 us | Δ 125.58% | 4.44 KHz / 10.02 KHz | ∇ -55.67% |
gridmap2D: insert scan with widening | 365.80 us / 293.13 us | Δ 24.79% | 2.73 KHz / 3.41 KHz | ∇ -19.87% |
gridmap2D: resize | 2.56 ms / 630.00 us | Δ 307.05% | 389.96 Hz / 1.59 KHz | ∇ -75.43% |
gridmap2D: computeLikelihood | 21.14 us / 17.81 us | Δ 18.70% | 47.30 KHz / 56.14 KHz | ∇ -15.75% |
pointmap: insert 100 scans | 3.27 ms / 1.01 ms | Δ 224.06% | 305.75 Hz / 990.80 Hz | ∇ -69.14% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.52 us | Δ 33.47% | 165.76 KHz / 221.24 KHz | ∇ -25.08% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 364.44 us | Δ 58.99% | 1.73 KHz / 2.74 KHz | ∇ -37.10% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 4.38 ms | Δ 40.12% | 162.87 Hz / 228.21 Hz | ∇ -28.63% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 5.16 us | Δ 29.55% | 149.59 KHz / 193.80 KHz | ∇ -22.81% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 372.44 us | Δ 39.61% | 1.92 KHz / 2.68 KHz | ∇ -28.37% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 4.20 ms | Δ 57.99% | 150.68 Hz / 238.06 Hz | ∇ -36.71% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.42 us | Δ 37.56% | 511.57 KHz / 703.73 KHz | ∇ -27.31% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 101.86 us | Δ 64.10% | 5.98 KHz / 9.82 KHz | ∇ -39.06% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 12.17 ms | Δ 43.38% | 57.30 Hz / 82.15 Hz | ∇ -30.26% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 5.64 ms | Δ 61.51% | 109.75 Hz / 177.25 Hz | ∇ -38.09% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 132.76 ms | Δ 58.72% | 4.75 Hz / 7.53 Hz | ∇ -36.99% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 5.71 ms | Δ 46.63% | 119.37 Hz / 175.04 Hz | ∇ -31.80% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 134.74 ms | Δ 47.48% | 5.03 Hz / 7.42 Hz | ∇ -32.20% |
random: drawUniform32bit | 7.57 ns / 14.55 ns | ∇ -47.96% | 132.11 MHz / 68.75 MHz | Δ 92.16% |
random: drawUniform | 7.60 ns / 14.56 ns | ∇ -47.78% | 131.54 MHz / 68.69 MHz | Δ 91.51% |
random: drawGaussian1D_normalized | 58.48 ns / 66.87 ns | ∇ -12.55% | 17.10 MHz / 14.96 MHz | Δ 14.35% |
random: drawGaussian1D | 57.62 ns / 66.81 ns | ∇ -13.74% | 17.35 MHz / 14.97 MHz | Δ 15.93% |
random: system rand() | 29.43 ns / 10.63 ns | Δ 176.94% | 33.98 MHz / 94.11 MHz | ∇ -63.89% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 903.36 ns | Δ 226.34% | 339.21 KHz / 1.11 MHz | ∇ -69.36% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 1.61 us | Δ 119.50% | 282.92 KHz / 621.01 KHz | ∇ -54.44% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 144.65 ns | Δ 0.73% | 6.86 MHz / 6.91 MHz | ∇ -0.73% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 219.48 ns | Δ 3.59% | 4.40 MHz / 4.56 MHz | ∇ -3.47% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 472.80 ns | Δ 8.83% | 1.94 MHz / 2.12 MHz | ∇ -8.12% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 152.29 ns | Δ 11.90% | 5.87 MHz / 6.57 MHz | ∇ -10.63% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 235.04 ns | Δ 20.66% | 3.53 MHz / 4.25 MHz | ∇ -17.12% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 491.60 ns | Δ 34.50% | 1.51 MHz / 2.03 MHz | ∇ -25.65% |
random: permuteVector (len=10) | 304.45 ns / 243.60 ns | Δ 24.98% | 3.28 MHz / 4.11 MHz | ∇ -19.99% |
random: permuteVector (len=100) | 3.47 us / 2.99 us | Δ 16.14% | 288.42 KHz / 334.99 KHz | ∇ -13.90% |
random: permuteVector (len=1000) | 37.99 us / 29.51 us | Δ 28.70% | 26.33 KHz / 33.88 KHz | ∇ -22.30% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.08 GHz | Δ 2189944.78% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 33.63 ms | ∇ -1.69% | 30.25 Hz / 29.74 Hz | Δ 1.72% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 49.85 ms | Δ 1.59% | 19.75 Hz / 20.06 Hz | ∇ -1.56% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 69.59 ms | Δ 18.78% | 12.10 Hz / 14.37 Hz | ∇ -15.81% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 30.64 ms | ∇ -10.73% | 36.56 Hz / 32.63 Hz | Δ 12.02% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 43.91 ms | ∇ -1.48% | 23.12 Hz / 22.78 Hz | Δ 1.51% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 62.52 ms | Δ 6.44% | 15.03 Hz / 15.99 Hz | ∇ -6.05% |
images: Gauss filter (640x480) | 5.57 ms / 3.81 ms | Δ 46.39% | 179.49 Hz / 262.76 Hz | ∇ -31.69% |
images: Gauss filter (800x600) | 8.84 ms / 5.96 ms | Δ 48.28% | 113.10 Hz / 167.70 Hz | ∇ -32.56% |
images: Gauss filter (1024x768) | 14.37 ms / 10.46 ms | Δ 37.41% | 69.58 Hz / 95.61 Hz | ∇ -27.23% |
images: Half sample GRAY (160x120) | 1.63 us / 1.04 us | Δ 57.07% | 612.18 KHz / 961.54 KHz | ∇ -36.33% |
images: Half sample GRAY (320x240) | 4.13 us / 2.91 us | Δ 42.21% | 241.92 KHz / 344.04 KHz | ∇ -29.68% |
images: Half sample GRAY (640x480) | 19.15 us / 14.63 us | Δ 30.89% | 52.22 KHz / 68.35 KHz | ∇ -23.60% |
images: Half sample GRAY (800x600) | 31.65 us / 27.61 us | Δ 14.63% | 31.59 KHz / 36.21 KHz | ∇ -12.77% |
images: Half sample GRAY (1024x768) | 50.27 us / 43.98 us | Δ 14.30% | 19.89 KHz / 22.74 KHz | ∇ -12.51% |
images: Half sample GRAY (1280x1024) | 87.87 us / 84.93 us | Δ 3.46% | 11.38 KHz / 11.77 KHz | ∇ -3.35% |
images: Half sample RGB (160x120) | 3.54 us / 2.35 us | Δ 50.80% | 282.58 KHz / 426.14 KHz | ∇ -33.69% |
images: Half sample RGB (320x240) | 11.27 us / 8.97 us | Δ 25.56% | 88.76 KHz / 111.44 KHz | ∇ -20.36% |
images: Half sample RGB (640x480) | 57.50 us / 49.58 us | Δ 15.98% | 17.39 KHz / 20.17 KHz | ∇ -13.78% |
images: Half sample RGB (800x600) | 80.68 us / 83.52 us | ∇ -3.39% | 12.39 KHz / 11.97 KHz | Δ 3.51% |
images: Half sample RGB (1024x768) | 391.11 us / 175.02 us | Δ 123.47% | 2.56 KHz / 5.71 KHz | ∇ -55.25% |
images: Half sample RGB (1280x1024) | 826.49 us / 434.33 us | Δ 90.29% | 1.21 KHz / 2.30 KHz | ∇ -47.45% |
images: Half sample smooth GRAY (160x120) | 2.87 us / 1.52 us | Δ 88.10% | 348.99 KHz / 656.46 KHz | ∇ -46.84% |
images: Half sample smooth GRAY (320x240) | 8.64 us / 5.05 us | Δ 71.04% | 115.70 KHz / 197.89 KHz | ∇ -41.53% |
images: Half sample smooth GRAY (640x480) | 29.52 us / 27.35 us | Δ 7.93% | 33.88 KHz / 36.57 KHz | ∇ -7.35% |
images: Half sample smooth GRAY (800x600) | 66.07 us / 41.00 us | Δ 61.14% | 15.14 KHz / 24.39 KHz | ∇ -37.94% |
images: Half sample smooth GRAY (1024x768) | 90.65 us / 70.54 us | Δ 28.51% | 11.03 KHz / 14.18 KHz | ∇ -22.18% |
images: Half sample smooth GRAY (1280x1024) | 132.57 us / 147.17 us | ∇ -9.92% | 7.54 KHz / 6.80 KHz | Δ 11.01% |
images: Half sample smooth RGB (160x120) | 202.00 us / 87.34 us | Δ 131.28% | 4.95 KHz / 11.45 KHz | ∇ -56.76% |
images: Half sample smooth RGB (320x240) | 779.03 us / 341.55 us | Δ 128.08% | 1.28 KHz / 2.93 KHz | ∇ -56.16% |
images: Half sample smooth RGB (640x480) | 3.10 ms / 1.35 ms | Δ 129.27% | 323.08 Hz / 740.73 Hz | ∇ -56.38% |
images: Half sample smooth RGB (800x600) | 4.82 ms / 2.13 ms | Δ 125.85% | 207.41 Hz / 468.44 Hz | ∇ -55.72% |
images: Half sample smooth RGB (1024x768) | 8.63 ms / 3.55 ms | Δ 143.28% | 115.89 Hz / 281.93 Hz | ∇ -58.90% |
images: Half sample smooth RGB (1280x1024) | 14.76 ms / 6.52 ms | Δ 126.34% | 67.77 Hz / 153.40 Hz | ∇ -55.82% |
images: RGB->GRAY 8u (40x30) | 6.40 us / 3.88 us | Δ 64.96% | 156.37 KHz / 257.95 KHz | ∇ -39.38% |
images: RGB->GRAY 8u (80x60) | 4.33 us / 2.78 us | Δ 55.56% | 230.95 KHz / 359.28 KHz | ∇ -35.72% |
images: RGB->GRAY 8u (160x120) | 11.84 us / 9.91 us | Δ 19.51% | 84.43 KHz / 100.91 KHz | ∇ -16.33% |
images: RGB->GRAY 8u (320x240) | 44.50 us / 39.89 us | Δ 11.56% | 22.47 KHz / 25.07 KHz | ∇ -10.36% |
images: RGB->GRAY 8u (640x480) | 191.53 us / 157.22 us | Δ 21.82% | 5.22 KHz / 6.36 KHz | ∇ -17.91% |
images: RGB->GRAY 8u (800x600) | 350.56 us / 266.94 us | Δ 31.32% | 2.85 KHz / 3.75 KHz | ∇ -23.85% |
images: RGB->GRAY 8u (1024x768) | 968.81 us / 485.16 us | Δ 99.69% | 1.03 KHz / 2.06 KHz | ∇ -49.92% |
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / 926.17 us | Δ 84.61% | 584.85 Hz / 1.08 KHz | ∇ -45.83% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 12.69 us | Δ 73.10% | 45.52 KHz / 78.80 KHz | ∇ -42.23% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 9.85 us | Δ 123.42% | 45.44 KHz / 101.52 KHz | ∇ -55.24% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 5.24 us | Δ 142.53% | 78.69 KHz / 190.84 KHz | ∇ -58.77% |
feature_extraction [640x480]: Harris | 38.32 ms / 21.14 ms | Δ 81.26% | 26.10 Hz / 47.31 Hz | ∇ -44.83% |
feature_extraction [640x480]: KLT | 37.22 ms / 21.45 ms | Δ 73.48% | 26.87 Hz / 46.61 Hz | ∇ -42.36% |
feature_extraction [640x480]: SIFT | 739.68 ms / 591.25 ms | Δ 25.11% | 1.35 Hz / 1.69 Hz | ∇ -20.07% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 162.82 ms | Δ 43.07% | 4.29 Hz / 6.14 Hz | ∇ -30.11% |
feature_extraction [640x480]: SURF | 309.97 ms / 197.33 ms | Δ 57.08% | 3.23 Hz / 5.07 Hz | ∇ -36.34% |
feature_extraction [640x480]: FAST | 6.88 ms / 6.89 ms | ∇ -0.07% | 145.25 Hz / 145.15 Hz | Δ 0.07% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 63.90 ms | Δ 38.16% | 11.33 Hz / 15.65 Hz | ∇ -27.62% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 38.54 ms | Δ 54.87% | 16.76 Hz / 25.95 Hz | ∇ -35.43% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 33.59 ms | Δ 74.36% | 17.07 Hz / 29.77 Hz | ∇ -42.65% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.16 sec | Δ 29.25% | 668.02 mHz / 863.45 mHz | ∇ -22.63% |
feature_matching [640x480]: SURF | 621.62 ms / 375.89 ms | Δ 65.37% | 1.61 Hz / 2.66 Hz | ∇ -39.53% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 15.89 ms | Δ 36.54% | 46.10 Hz / 62.95 Hz | ∇ -26.76% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 10.48 ms | Δ 20.59% | 79.13 Hz / 95.42 Hz | ∇ -17.07% |
graph(2d): insertEdge x 1e3 | 301.62 us / 158.24 us | Δ 90.61% | 3.32 KHz / 6.32 KHz | ∇ -47.54% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 133.69 us | Δ 123.55% | 3.35 KHz / 7.48 KHz | ∇ -55.27% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 84.43 us | Δ 225.37% | 3.64 KHz / 11.84 KHz | ∇ -69.27% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 81.78 us | Δ 230.42% | 3.70 KHz / 12.23 KHz | ∇ -69.74% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 207.17 us | Δ 100.74% | 2.40 KHz / 4.83 KHz | ∇ -50.18% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 232.57 us | Δ 74.82% | 2.46 KHz / 4.30 KHz | ∇ -42.80% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 246.74 us | Δ 53.01% | 2.65 KHz / 4.05 KHz | ∇ -34.64% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 192.59 us | Δ 97.02% | 2.64 KHz / 5.19 KHz | ∇ -49.24% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 2.08 ms | Δ 98.71% | 241.59 Hz / 480.05 Hz | ∇ -49.67% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 1.62 ms | Δ 147.36% | 250.06 Hz / 618.53 Hz | ∇ -59.57% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 870.19 us | Δ 238.23% | 339.77 Hz / 1.15 KHz | ∇ -70.43% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 846.92 us | Δ 241.57% | 345.69 Hz / 1.18 KHz | ∇ -70.72% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 2.34 ms | Δ 103.82% | 209.57 Hz / 427.14 Hz | ∇ -50.94% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.81 ms | Δ 73.19% | 205.59 Hz / 356.06 Hz | ∇ -42.26% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 2.13 ms | Δ 90.70% | 246.64 Hz / 470.35 Hz | ∇ -47.56% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 2.13 ms | Δ 97.51% | 237.52 Hz / 469.13 Hz | ∇ -49.37% |
graph(3d): insertEdge x 1e3 | 381.69 us / 220.82 us | Δ 72.85% | 2.62 KHz / 4.53 KHz | ∇ -42.15% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 221.81 us | Δ 83.58% | 2.46 KHz / 4.51 KHz | ∇ -45.53% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 183.18 us | Δ 85.38% | 2.94 KHz / 5.46 KHz | ∇ -46.06% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 186.52 us | Δ 79.37% | 2.99 KHz / 5.36 KHz | ∇ -44.25% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 532.35 us | Δ 29.41% | 1.45 KHz / 1.88 KHz | ∇ -22.73% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 537.98 us | Δ 27.27% | 1.46 KHz / 1.86 KHz | ∇ -21.43% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 487.59 us | Δ 40.12% | 1.46 KHz / 2.05 KHz | ∇ -28.63% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 493.50 us | Δ 38.68% | 1.46 KHz / 2.03 KHz | ∇ -27.89% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 2.78 ms | Δ 39.69% | 257.39 Hz / 359.55 Hz | ∇ -28.41% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 2.77 ms | Δ 36.66% | 263.81 Hz / 360.52 Hz | ∇ -26.82% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 2.09 ms | Δ 71.25% | 278.91 Hz / 477.61 Hz | ∇ -41.60% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 2.05 ms | Δ 71.35% | 284.28 Hz / 487.11 Hz | ∇ -41.64% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 7.36 ms | Δ 5.97% | 128.15 Hz / 135.81 Hz | ∇ -5.63% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 6.97 ms | Δ 11.95% | 128.11 Hz / 143.42 Hz | ∇ -10.68% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 5.29 ms | Δ 41.78% | 133.45 Hz / 189.20 Hz | ∇ -29.47% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 5.49 ms | Δ 37.94% | 132.15 Hz / 182.28 Hz | ∇ -27.50% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 90.55 us | Δ 135.39% | 4.69 KHz / 11.04 KHz | ∇ -57.52% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 83.50 us | Δ 273.15% | 3.21 KHz / 11.98 KHz | ∇ -73.20% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 1.13 ms | Δ 126.40% | 389.66 Hz / 882.20 Hz | ∇ -55.83% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 767.67 us | Δ 251.88% | 370.20 Hz / 1.30 KHz | ∇ -71.58% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 21.12 ms | Δ 48.14% | 31.96 Hz / 47.35 Hz | ∇ -32.49% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 10.86 ms | Δ 203.03% | 30.38 Hz / 92.06 Hz | ∇ -67.00% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 341.35 ms | Δ 15.33% | 2.54 Hz / 2.93 Hz | ∇ -13.29% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 142.53 ms | Δ 170.55% | 2.59 Hz / 7.02 Hz | ∇ -63.04% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 320.28 ms | Δ 18.74% | 2.63 Hz / 3.12 Hz | ∇ -15.78% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 133.66 ms | Δ 181.94% | 2.65 Hz / 7.48 Hz | ∇ -64.53% |