Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 31.56 ms | ∇ -34.77% | 48.58 Hz / 31.69 Hz | Δ 53.29% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 53.95 ms | ∇ -61.74% | 48.45 Hz / 18.54 Hz | Δ 161.39% |
poses: CPose3D (+) CPose3D | 42.90 ns / 194.14 ns | ∇ -77.90% | 23.31 MHz / 5.15 MHz | Δ 352.54% |
poses: CPose3D.composeFrom() | 37.61 ns / 34.65 ns | Δ 8.54% | 26.59 MHz / 28.86 MHz | ∇ -7.86% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 28.67 ns | ∇ -74.70% | 137.89 MHz / 34.88 MHz | Δ 295.29% |
poses: CPose3D.composePoint() | 11.83 ns / 18.49 ns | ∇ -36.02% | 84.53 MHz / 54.08 MHz | Δ 56.31% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 93.89 ns | ∇ -58.13% | 25.44 MHz / 10.65 MHz | Δ 138.83% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 44.39 ns | ∇ -21.36% | 28.65 MHz / 22.53 MHz | Δ 27.17% |
poses: CPose2D (+) CPose2D | 76.08 ns / 103.92 ns | ∇ -26.79% | 13.14 MHz / 9.62 MHz | Δ 36.60% |
poses: CPose2D.composeFrom() | 61.61 ns / 91.82 ns | ∇ -32.90% | 16.23 MHz / 10.89 MHz | Δ 49.03% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 140.37 ns | ∇ -57.07% | 16.59 MHz / 7.12 MHz | Δ 132.92% |
poses: CPose2D.composePoint() | 62.26 ns / 66.26 ns | ∇ -6.03% | 16.06 MHz / 15.09 MHz | Δ 6.42% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 93.35 ns | ∇ -56.09% | 24.40 MHz / 10.71 MHz | Δ 127.75% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 60.52 ns | ∇ -34.92% | 25.39 MHz / 16.52 MHz | Δ 53.65% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 116.72 ns | ∇ -84.32% | 54.63 MHz / 8.57 MHz | Δ 537.65% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 31.02 ns | ∇ -42.17% | 55.74 MHz / 32.23 MHz | Δ 72.91% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 126.78 ns | ∇ -56.26% | 18.03 MHz / 7.89 MHz | Δ 128.62% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 30.88 ns | ∇ -42.81% | 56.63 MHz / 32.38 MHz | Δ 74.86% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 33.42 ns | ∇ -49.77% | 59.58 MHz / 29.93 MHz | Δ 99.08% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 211.33 ns | ∇ -19.86% | 5.90 MHz / 4.73 MHz | Δ 24.78% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 19.45 us | Δ 4007.84% | 1.25 KHz / 51.41 KHz | ∇ -97.57% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 2.93 us | Δ 27296.55% | 1.24 KHz / 341.05 KHz | ∇ -99.63% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 34.64 us | ∇ -72.74% | 105.91 KHz / 28.87 KHz | Δ 266.83% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 860.26 ns | ∇ -24.57% | 1.54 MHz / 1.16 MHz | Δ 32.57% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 880.23 ns | ∇ -28.31% | 1.58 MHz / 1.14 MHz | Δ 39.50% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 21.76 us | ∇ -62.43% | 122.30 KHz / 45.95 KHz | Δ 166.17% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 44.99 ns | ∇ -45.70% | 40.94 MHz / 22.23 MHz | Δ 84.18% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 45.16 ns | ∇ -48.67% | 43.14 MHz / 22.14 MHz | Δ 94.82% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 160.84 ns | ∇ -63.00% | 16.81 MHz / 6.22 MHz | Δ 170.30% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 160.97 ns | ∇ -61.32% | 16.06 MHz / 6.21 MHz | Δ 158.52% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.88 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 841.75 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 6.73 ns | ∇ -74.71% | 587.20 MHz / 148.49 MHz | Δ 295.44% |
matrix: unit, fix[double,6,6] | 2.77 ns / 7.86 ns | ∇ -64.75% | 361.01 MHz / 127.26 MHz | Δ 183.68% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 550.79 ns | ∇ -84.42% | 11.66 MHz / 1.82 MHz | Δ 541.94% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.05 ns | Δ 52448.95% | 42.02 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 432.98 ns | ∇ -82.47% | 13.18 MHz / 2.31 MHz | Δ 470.47% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ 1.#J% | 42.55 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 660.53 ns | ∇ -82.12% | 8.47 MHz / 1.51 MHz | Δ 459.29% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 38.91 ns | Δ 14.90% | 22.37 MHz / 25.70 MHz | ∇ -12.96% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 474.65 ns | ∇ -76.72% | 9.05 MHz / 2.11 MHz | Δ 329.55% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 8.74 ns | Δ 417.09% | 22.12 MHz / 114.40 MHz | ∇ -80.66% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 4.68 us | Δ 16.11% | 183.95 KHz / 213.59 KHz | ∇ -13.88% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 4.42 us | ∇ -14.60% | 264.87 KHz / 226.20 KHz | Δ 17.09% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 3.24 us | Δ 71.27% | 180.38 KHz / 308.92 KHz | ∇ -41.61% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 2.37 us | Δ 72.25% | 245.43 KHz / 422.77 KHz | ∇ -41.95% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / X | 1.58 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 35.00 ns / X | 28.57 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 644.00 ns / 1.49 us | ∇ -56.70% | 1.55 MHz / 672.33 KHz | Δ 130.96% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 32.16 ns | Δ 21.28% | 25.64 MHz / 31.10 MHz | ∇ -17.55% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / X | 421.76 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 812.00 ns / X | 1.23 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.26 us / 3.50 us | ∇ -63.92% | 793.02 KHz / 286.11 KHz | Δ 177.17% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 2.72 us | ∇ -78.83% | 1.74 MHz / 368.24 KHz | Δ 372.29% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / X | 38.55 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 14.15 us / X | 70.70 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.76 us / 31.87 us | ∇ -19.19% | 38.83 KHz / 31.37 KHz | Δ 23.75% |
matrix: inv, fix[double] 20x20 | 17.04 us / 28.91 us | ∇ -41.07% | 58.69 KHz / 34.58 KHz | Δ 69.70% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / X | 4.88 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 93.29 us / X | 10.72 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 207.20 us / 124.22 us | Δ 66.80% | 4.83 KHz / 8.05 KHz | ∇ -40.05% |
matrix: inv, fix[double] 40x40 | 133.80 us / 122.24 us | Δ 9.46% | 7.47 KHz / 8.18 KHz | ∇ -8.64% |
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 / 647.62 ns | ∇ -99.01% | 156.25 MHz / 1.54 MHz | Δ 10019.02% |
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 / 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 / 969.59 ns | ∇ -98.94% | 97.09 MHz / 1.03 MHz | Δ 9313.51% |
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 | 653.50 ns / X | 1.53 MHz / X | ||
matrix: det, fix[float ] 6x6 | 210.00 ns / X | 4.76 MHz / X | ||
matrix: det, dyn[double] 6x6 | 730.30 ns / 2.45 us | ∇ -70.24% | 1.37 MHz / 407.46 KHz | Δ 236.06% |
matrix: det, fix[double] 6x6 | 212.10 ns / 1.89 us | ∇ -88.76% | 4.71 MHz / 529.99 KHz | Δ 789.59% |
matrix: det, dyn[float ] 20x20 | 5.70 us / X | 175.40 KHz / X | ||
matrix: det, fix[float ] 20x20 | 4.20 us / X | 237.92 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.56 us / 22.48 us | ∇ -70.79% | 152.33 KHz / 44.49 KHz | Δ 242.37% |
matrix: det, fix[double] 20x20 | 5.04 us / 21.45 us | ∇ -76.50% | 198.38 KHz / 46.63 KHz | Δ 325.44% |
matrix: det, dyn[float ] 40x40 | 32.38 us / X | 30.89 KHz / X | ||
matrix: det, fix[float ] 40x40 | 27.92 us / X | 35.82 KHz / X | ||
matrix: det, dyn[double] 40x40 | 39.41 us / 80.28 us | ∇ -50.91% | 25.37 KHz / 12.46 KHz | Δ 103.69% |
matrix: det, fix[double] 40x40 | 29.04 us / 79.04 us | ∇ -63.26% | 34.44 KHz / 12.65 KHz | Δ 172.20% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 1.09 us | ∇ -87.17% | 7.14 MHz / 916.16 KHz | Δ 679.65% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 317.04 ns | ∇ -49.53% | 6.25 MHz / 3.15 MHz | Δ 98.15% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 75.74 us | ∇ -75.73% | 54.41 KHz / 13.20 KHz | Δ 312.06% |
matrix: chol, fix[double] 40x40 | 17.08 us / 55.31 us | ∇ -69.12% | 58.55 KHz / 18.08 KHz | Δ 223.83% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 16.89 us | ∇ -50.87% | 120.48 KHz / 59.19 KHz | Δ 103.54% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 247.29 us | ∇ -65.87% | 11.85 KHz / 4.04 KHz | Δ 193.00% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 180.76 us | ∇ -70.68% | 18.87 KHz / 5.53 KHz | Δ 241.05% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 91.89 us | ∇ -57.03% | 25.32 KHz / 10.88 KHz | Δ 132.69% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 765.78 us | ∇ -46.24% | 2.43 KHz / 1.31 KHz | Δ 86.00% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 116.55 us | ∇ -36.43% | 13.50 KHz / 8.58 KHz | Δ 57.31% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 4.08 ms | Δ 154.54% | 96.33 Hz / 245.20 Hz | ∇ -60.71% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 207.46 us | Δ 19.90% | 4.02 KHz / 4.82 KHz | ∇ -16.60% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 24.43 ms | Δ 1416.88% | 2.70 Hz / 40.93 Hz | ∇ -93.41% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 403.40 us | ∇ -12.35% | 2.83 KHz / 2.48 KHz | Δ 14.10% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 40.20 ms | Δ 809.31% | 2.74 Hz / 24.87 Hz | ∇ -89.00% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 479.83 us | ∇ -11.37% | 2.35 KHz / 2.08 KHz | Δ 12.83% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 59.95 ms | Δ 1227.89% | 1.26 Hz / 16.68 Hz | ∇ -92.47% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 560.09 us | ∇ -12.37% | 2.04 KHz / 1.79 KHz | Δ 14.12% |
gridmap2D: getCell | 0.00 ns / 5.69 ns | ∇ -100.00% | 1.#J THz / 175.73 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 8.06 ns | ∇ -68.00% | 387.76 MHz / 124.07 MHz | Δ 212.54% |
gridmap2D: updateCell | 7.44 ns / 61.98 ns | ∇ -87.99% | 134.32 MHz / 16.13 MHz | Δ 732.50% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.25 ns | ∇ -55.99% | 1.82 GHz / 798.82 MHz | Δ 127.24% |
gridmap2D: insert scan w/o widening | 101.23 us / 208.84 us | ∇ -51.53% | 9.88 KHz / 4.79 KHz | Δ 106.31% |
gridmap2D: insert scan with widening | 291.30 us / 346.08 us | ∇ -15.83% | 3.43 KHz / 2.89 KHz | Δ 18.81% |
gridmap2D: resize | 1.89 ms / 2.81 ms | ∇ -32.86% | 529.66 Hz / 355.60 Hz | Δ 48.95% |
gridmap2D: computeLikelihood | 16.46 us / 18.33 us | ∇ -10.19% | 60.76 KHz / 54.57 KHz | Δ 11.35% |
pointmap: insert 100 scans | 3.10 ms / 6.61 ms | ∇ -53.08% | 322.50 Hz / 151.33 Hz | Δ 113.11% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.03 us | ∇ -29.05% | 233.64 KHz / 165.76 KHz | Δ 40.95% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 536.01 us | ∇ -33.67% | 2.81 KHz / 1.87 KHz | Δ 50.77% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 5.64 ms | ∇ -26.26% | 240.24 Hz / 177.17 Hz | Δ 35.60% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 7.70 us | ∇ -38.18% | 210.08 KHz / 129.88 KHz | Δ 61.75% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 528.60 us | ∇ -31.29% | 2.75 KHz / 1.89 KHz | Δ 45.54% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.81 ms | ∇ -29.54% | 244.29 Hz / 172.12 Hz | Δ 41.93% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 2.13 us | ∇ -35.19% | 723.59 KHz / 468.98 KHz | Δ 54.29% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 145.70 us | ∇ -30.73% | 9.91 KHz / 6.86 KHz | Δ 44.36% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 15.49 ms | ∇ -23.09% | 83.95 Hz / 64.56 Hz | Δ 30.02% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.93 ms | ∇ -37.12% | 178.01 Hz / 111.93 Hz | Δ 59.04% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 200.06 ms | ∇ -34.64% | 7.65 Hz / 5.00 Hz | Δ 53.00% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 8.97 ms | ∇ -36.81% | 176.35 Hz / 111.43 Hz | Δ 58.26% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 201.21 ms | ∇ -34.08% | 7.54 Hz / 4.97 Hz | Δ 51.70% |
random: drawUniform32bit | 14.57 ns / 7.76 ns | Δ 87.87% | 68.63 MHz / 128.93 MHz | ∇ -46.77% |
random: drawUniform | 14.62 ns / 7.61 ns | Δ 92.10% | 68.41 MHz / 131.41 MHz | ∇ -47.94% |
random: drawGaussian1D_normalized | 68.70 ns / 51.84 ns | Δ 32.54% | 14.56 MHz / 19.29 MHz | ∇ -24.55% |
random: drawGaussian1D | 68.68 ns / 52.02 ns | Δ 32.03% | 14.56 MHz / 19.22 MHz | ∇ -24.26% |
random: system rand() | 10.45 ns / 27.43 ns | ∇ -61.89% | 95.67 MHz / 36.46 MHz | Δ 162.42% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 4.97 us | ∇ -73.67% | 764.77 KHz / 201.38 KHz | Δ 279.76% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 10.68 us | ∇ -73.91% | 358.92 KHz / 93.66 KHz | Δ 283.22% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 153.63 ns | Δ 3.01% | 6.32 MHz / 6.51 MHz | ∇ -2.93% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 250.07 ns | ∇ -5.46% | 4.23 MHz / 4.00 MHz | Δ 5.77% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 664.62 ns | ∇ -26.37% | 2.04 MHz / 1.50 MHz | Δ 35.81% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 153.22 ns | Δ 7.44% | 6.07 MHz / 6.53 MHz | ∇ -6.92% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 253.40 ns | ∇ -2.08% | 4.03 MHz / 3.95 MHz | Δ 2.13% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 622.96 ns | ∇ -17.36% | 1.94 MHz / 1.61 MHz | Δ 21.00% |
random: permuteVector (len=10) | 317.50 ns / 342.58 ns | ∇ -7.32% | 3.15 MHz / 2.92 MHz | Δ 7.90% |
random: permuteVector (len=100) | 3.06 us / 3.62 us | ∇ -15.31% | 326.54 KHz / 276.54 KHz | Δ 18.08% |
random: permuteVector (len=1000) | 30.27 us / 35.68 us | ∇ -15.17% | 33.04 KHz / 28.03 KHz | Δ 17.88% |
math: round | 0.10 ns / 0.00 ns | Δ 2188409.14% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 28.08 ms | ∇ -2.90% | 36.67 Hz / 35.61 Hz | Δ 2.99% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 42.80 ms | Δ 1.11% | 23.11 Hz / 23.37 Hz | ∇ -1.10% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 69.14 ms | Δ 8.01% | 13.39 Hz / 14.46 Hz | ∇ -7.42% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 23.76 ms | Δ 10.73% | 38.01 Hz / 42.09 Hz | ∇ -9.69% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 37.25 ms | Δ 9.85% | 24.44 Hz / 26.85 Hz | ∇ -8.96% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 59.86 ms | Δ 4.51% | 15.99 Hz / 16.71 Hz | ∇ -4.32% |
images: Gauss filter (640x480) | 4.48 ms / 7.21 ms | ∇ -37.78% | 223.01 Hz / 138.75 Hz | Δ 60.73% |
images: Gauss filter (800x600) | 7.46 ms / 8.67 ms | ∇ -13.99% | 134.07 Hz / 115.32 Hz | Δ 16.26% |
images: Gauss filter (1024x768) | 12.41 ms / 14.94 ms | ∇ -16.92% | 80.57 Hz / 66.93 Hz | Δ 20.37% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 25.26 us | ∇ -79.61% | 194.17 KHz / 39.59 KHz | Δ 390.46% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 24.29 us | ∇ -82.09% | 229.89 KHz / 41.17 KHz | Δ 458.38% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 13.82 us | ∇ -84.66% | 471.70 KHz / 72.37 KHz | Δ 551.81% |
feature_extraction [640x480]: Harris | 33.18 ms / 53.60 ms | ∇ -38.10% | 30.14 Hz / 18.66 Hz | Δ 61.54% |
feature_extraction [640x480]: KLT | 29.64 ms / 32.67 ms | ∇ -9.28% | 33.74 Hz / 30.61 Hz | Δ 10.23% |
feature_extraction [640x480]: SIFT | 637.68 ms / 724.51 ms | ∇ -11.99% | 1.57 Hz / 1.38 Hz | Δ 13.62% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 217.33 ms | ∇ -20.33% | 5.78 Hz / 4.60 Hz | Δ 25.52% |
feature_extraction [640x480]: SURF | 202.84 ms / 320.21 ms | ∇ -36.65% | 4.93 Hz / 3.12 Hz | Δ 57.87% |
feature_extraction [640x480]: FAST | 5.10 ms / 9.58 ms | ∇ -46.73% | 195.94 Hz / 104.37 Hz | Δ 87.73% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 111.16 ms | ∇ -44.93% | 16.33 Hz / 9.00 Hz | Δ 81.57% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 64.75 ms | ∇ -32.20% | 22.78 Hz / 15.44 Hz | Δ 47.50% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 50.46 ms | ∇ -24.05% | 26.09 Hz / 19.82 Hz | Δ 31.66% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.37 sec | ∇ -6.44% | 782.87 mHz / 732.49 mHz | Δ 6.88% |
feature_matching [640x480]: SURF | 387.99 ms / 602.11 ms | ∇ -35.56% | 2.58 Hz / 1.66 Hz | Δ 55.19% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 23.55 ms | ∇ -33.21% | 63.57 Hz / 42.46 Hz | Δ 49.71% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 15.71 ms | ∇ -32.77% | 94.70 Hz / 63.67 Hz | Δ 48.73% |
graph(2d): insertEdge x 1e3 | 104.46 us / 300.22 us | ∇ -65.21% | 9.57 KHz / 3.33 KHz | Δ 187.40% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 245.20 us | ∇ -65.26% | 11.74 KHz / 4.08 KHz | Δ 187.83% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 537.61 us | ∇ -74.95% | 7.43 KHz / 1.86 KHz | Δ 299.26% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 401.18 us | ∇ -70.12% | 8.34 KHz / 2.49 KHz | Δ 234.62% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 3.65 ms | ∇ -62.08% | 721.96 Hz / 273.78 Hz | Δ 163.70% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 2.51 ms | ∇ -65.92% | 1.17 KHz / 399.01 Hz | Δ 193.45% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 4.81 ms | ∇ -66.55% | 621.80 Hz / 207.97 Hz | Δ 198.98% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 4.03 ms | ∇ -70.19% | 832.81 Hz / 248.25 Hz | Δ 235.46% |
graph(3d): insertEdge x 1e3 | 132.91 us / 338.14 us | ∇ -60.69% | 7.52 KHz / 2.96 KHz | Δ 154.42% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 302.41 us | ∇ -63.92% | 9.17 KHz / 3.31 KHz | Δ 177.16% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 668.72 us | ∇ -47.70% | 2.86 KHz / 1.50 KHz | Δ 91.20% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 668.41 us | ∇ -51.90% | 3.11 KHz / 1.50 KHz | Δ 107.88% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 3.60 ms | ∇ -47.54% | 529.10 Hz / 277.54 Hz | Δ 90.64% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 3.04 ms | ∇ -63.86% | 910.25 Hz / 328.99 Hz | Δ 176.68% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 7.09 ms | ∇ -34.47% | 215.20 Hz / 141.02 Hz | Δ 52.60% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 6.70 ms | ∇ -39.48% | 246.81 Hz / 149.36 Hz | Δ 65.25% |
graph(3d,map): dijkstra 1e2 nodes | 94.48 us / X | 10.58 KHz / X | ||
graph(3d,map): dijkstra 1e3 nodes | 1.16 ms / X | 860.07 Hz / X | ||
graph(3d,map): dijkstra 1e4 nodes | 19.13 ms / X | 52.28 Hz / X |