Test description | 0.9.1-MSVC9-32bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 20.90 ms | Δ 52.09% | 31.46 Hz / 47.85 Hz | ∇ -34.25% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 18.76 ms | Δ 186.22% | 18.62 Hz / 53.30 Hz | ∇ -65.06% |
poses: CPose3D (+) CPose3D | 925.38 ns / 41.67 ns | Δ 2120.74% | 1.08 MHz / 24.00 MHz | ∇ -95.50% |
poses: CPose3D.composeFrom() | 617.00 ns / 32.39 ns | Δ 1804.92% | 1.62 MHz / 30.87 MHz | ∇ -94.75% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 8.02 ns | Δ 348.36% | 27.80 MHz / 124.63 MHz | ∇ -77.70% |
poses: CPose3D.composePoint() | 14.62 ns / 11.53 ns | Δ 26.72% | 68.42 MHz / 86.70 MHz | ∇ -21.08% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 18.18 ns | Δ 314.80% | 13.26 MHz / 54.99 MHz | ∇ -75.89% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 25.21 ns | Δ 124.01% | 17.70 MHz / 39.66 MHz | ∇ -55.36% |
poses: CPose2D (+) CPose2D | 121.60 ns / 72.10 ns | Δ 68.65% | 8.22 MHz / 13.87 MHz | ∇ -40.70% |
poses: CPose2D.composeFrom() | 66.63 ns / 69.22 ns | ∇ -3.75% | 15.01 MHz / 14.45 MHz | Δ 3.90% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 60.48 ns | Δ 54.97% | 10.67 MHz / 16.53 MHz | ∇ -35.47% |
poses: CPose2D.composePoint() | 62.24 ns / 60.01 ns | Δ 3.71% | 16.07 MHz / 16.66 MHz | ∇ -3.58% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 42.70 ns | Δ 135.92% | 9.93 MHz / 23.42 MHz | ∇ -57.61% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 38.27 ns | Δ 51.35% | 17.26 MHz / 26.13 MHz | ∇ -33.93% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 17.90 ns | Δ 242.55% | 16.31 MHz / 55.85 MHz | ∇ -70.81% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 18.44 ns | Δ 48.28% | 36.57 MHz / 54.23 MHz | ∇ -32.56% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 33.31 ns | Δ 1643.12% | 1.72 MHz / 30.02 MHz | ∇ -94.26% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 19.52 ns | Δ 44.40% | 35.48 MHz / 51.24 MHz | ∇ -30.75% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 16.27 ns | Δ 3013.35% | 1.97 MHz / 61.45 MHz | ∇ -96.79% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 169.77 ns | Δ 26.55% | 4.65 MHz / 5.89 MHz | ∇ -20.98% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 799.00 ns | Δ 94.66% | 642.96 KHz / 1.25 MHz | ∇ -48.63% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 788.50 ns | Δ 91.05% | 663.83 KHz / 1.27 MHz | ∇ -47.66% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 9.11 us | Δ 155.77% | 42.94 KHz / 109.83 KHz | ∇ -60.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 557.50 ns | Δ 194.16% | 609.77 KHz / 1.79 MHz | ∇ -66.01% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 558.50 ns | Δ 198.00% | 600.84 KHz / 1.79 MHz | ∇ -66.44% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 8.42 us | Δ 90.65% | 62.32 KHz / 118.81 KHz | ∇ -47.55% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 17.83 ns | Δ 122.36% | 25.22 MHz / 56.07 MHz | ∇ -55.03% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 19.48 ns | Δ 119.49% | 23.39 MHz / 51.35 MHz | ∇ -54.44% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 54.85 ns | Δ 177.66% | 6.57 MHz / 18.23 MHz | ∇ -63.99% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 55.93 ns | Δ 168.99% | 6.65 MHz / 17.88 MHz | ∇ -62.82% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.00 ns | Δ 1.#J% | 303.37 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.48 ns / 0.00 ns | Δ 1.#J% | 287.56 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 3.06 ns / 1.50 ns | Δ 104.02% | 327.19 MHz / 667.56 MHz | ∇ -50.99% |
matrix: unit, fix[double,6,6] | 6.65 ns / 5.61 ns | Δ 18.52% | 150.48 MHz / 178.35 MHz | ∇ -15.62% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 291.30 ns | ∇ -42.39% | 5.96 MHz / 3.43 MHz | Δ 73.59% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 0.00 ns | Δ 1.#J% | 9.21 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 292.50 ns | ∇ -45.68% | 6.29 MHz / 3.42 MHz | Δ 84.10% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 0.00 ns | Δ 1.#J% | 11.01 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 347.50 ns | ∇ -21.59% | 3.67 MHz / 2.88 MHz | Δ 27.53% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 0.00 ns | Δ 1.#J% | 5.18 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 340.40 ns | ∇ -29.81% | 4.19 MHz / 2.94 MHz | Δ 42.48% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 0.00 ns | Δ 1.#J% | 7.19 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 2.42 us | Δ 594.32% | 59.51 KHz / 413.19 KHz | ∇ -85.60% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 2.23 us | Δ 485.36% | 76.57 KHz / 448.19 KHz | ∇ -82.92% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 2.31 us | Δ 486.26% | 73.81 KHz / 432.69 KHz | ∇ -82.94% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 2.12 us | Δ 369.20% | 100.40 KHz / 471.08 KHz | ∇ -78.69% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / X | 665.84 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.79 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.53 us / 780.00 ns | Δ 96.38% | 652.84 KHz / 1.28 MHz | ∇ -49.08% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 0.00 ns | Δ 1.#J% | 32.00 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / X | 197.26 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.33 us / X | 749.46 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.08 us / 1.97 us | Δ 157.83% | 196.68 KHz / 507.10 KHz | ∇ -61.22% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 1.60 us | ∇ -42.12% | 1.08 MHz / 624.61 KHz | Δ 72.77% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / X | 12.22 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 40.71 us / X | 24.56 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 108.60 us / 16.08 us | Δ 575.35% | 9.21 KHz / 62.19 KHz | ∇ -85.19% |
matrix: inv, fix[double] 20x20 | 19.22 us / 14.48 us | Δ 32.78% | 52.02 KHz / 69.08 KHz | ∇ -24.69% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / X | 1.64 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 307.68 us / X | 3.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 818.27 us / 65.78 us | Δ 1143.85% | 1.22 KHz / 15.20 KHz | ∇ -91.96% |
matrix: inv, fix[double] 40x40 | 136.18 us / 64.13 us | Δ 112.35% | 7.34 KHz / 15.59 KHz | ∇ -52.91% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / X | 109.30 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 9.56 ns / 212.60 ns | ∇ -95.50% | 104.64 MHz / 4.70 MHz | Δ 2124.65% |
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 | 19.70 ns / X | 50.76 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 323.30 ns | ∇ -95.08% | 62.90 MHz / 3.09 MHz | Δ 1933.67% |
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 | 2.32 us / X | 431.38 KHz / X | ||
matrix: det, fix[float ] 6x6 | 434.76 ns / X | 2.30 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.38 us / 774.90 ns | Δ 206.97% | 420.40 KHz / 1.29 MHz | ∇ -67.42% |
matrix: det, fix[double] 6x6 | 422.89 ns / 592.30 ns | ∇ -28.60% | 2.36 MHz / 1.69 MHz | Δ 40.06% |
matrix: det, dyn[float ] 20x20 | 18.34 us / X | 54.54 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.85 us / X | 101.56 KHz / X | ||
matrix: det, dyn[double] 20x20 | 18.19 us / 8.50 us | Δ 113.92% | 54.99 KHz / 117.63 KHz | ∇ -53.25% |
matrix: det, fix[double] 20x20 | 6.52 us / 7.72 us | ∇ -15.51% | 153.30 KHz / 129.53 KHz | Δ 18.35% |
matrix: det, dyn[float ] 40x40 | 111.92 us / X | 8.93 KHz / X | ||
matrix: det, fix[float ] 40x40 | 63.43 us / X | 15.77 KHz / X | ||
matrix: det, dyn[double] 40x40 | 114.84 us / 32.23 us | Δ 256.37% | 8.71 KHz / 31.03 KHz | ∇ -71.94% |
matrix: det, fix[double] 40x40 | 36.00 us / 30.71 us | Δ 17.25% | 27.78 KHz / 32.57 KHz | ∇ -14.71% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 530.00 ns | ∇ -64.96% | 5.39 MHz / 1.89 MHz | Δ 185.41% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 130.00 ns | ∇ -12.90% | 8.83 MHz / 7.69 MHz | Δ 14.81% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 22.98 us | Δ 6.31% | 40.93 KHz / 43.52 KHz | ∇ -5.94% |
matrix: chol, fix[double] 40x40 | 17.73 us / 19.50 us | ∇ -9.07% | 56.40 KHz / 51.28 KHz | Δ 9.97% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 8.20 us | Δ 31.46% | 92.77 KHz / 121.95 KHz | ∇ -23.93% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 85.30 us | Δ 38.21% | 8.48 KHz / 11.72 KHz | ∇ -27.65% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 56.80 us | Δ 24.15% | 14.18 KHz / 17.61 KHz | ∇ -19.45% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 39.31 us | Δ 33.78% | 19.02 KHz / 25.44 KHz | ∇ -25.25% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 266.80 us | Δ 84.07% | 2.04 KHz / 3.75 KHz | ∇ -45.67% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 72.76 us | Δ 17.96% | 11.65 KHz / 13.74 KHz | ∇ -15.23% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 2.67 ms | Δ 253.74% | 105.88 Hz / 374.53 Hz | ∇ -71.73% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 176.19 us | Δ 16.08% | 4.89 KHz / 5.68 KHz | ∇ -13.85% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 20.73 ms | Δ 624.13% | 6.66 Hz / 48.23 Hz | ∇ -86.19% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 351.05 us | Δ 18.38% | 2.41 KHz / 2.85 KHz | ∇ -15.53% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 34.60 ms | Δ 1233.48% | 2.17 Hz / 28.90 Hz | ∇ -92.50% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 415.89 us | Δ 16.60% | 2.06 KHz / 2.40 KHz | ∇ -14.24% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 50.32 ms | Δ 1782.88% | 1.06 Hz / 19.87 Hz | ∇ -94.69% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 482.94 us | Δ 21.43% | 1.71 KHz / 2.07 KHz | ∇ -17.65% |
gridmap2D: getCell | 5.77 ns / 0.00 ns | Δ 1.#J% | 173.23 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 7.96 ns / 2.61 ns | Δ 205.34% | 125.64 MHz / 383.63 MHz | ∇ -67.25% |
gridmap2D: updateCell | 10.80 ns / 6.99 ns | Δ 54.49% | 92.58 MHz / 143.02 MHz | ∇ -35.27% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 0.51 ns | Δ 136.10% | 826.59 MHz / 1.95 GHz | ∇ -57.65% |
gridmap2D: insert scan w/o widening | 204.23 us / 102.59 us | Δ 99.08% | 4.90 KHz / 9.75 KHz | ∇ -49.77% |
gridmap2D: insert scan with widening | 344.40 us / 284.11 us | Δ 21.22% | 2.90 KHz / 3.52 KHz | ∇ -17.51% |
gridmap2D: resize | 2.62 ms / 722.00 us | Δ 262.65% | 381.93 Hz / 1.39 KHz | ∇ -72.42% |
gridmap2D: computeLikelihood | 18.59 us / 15.69 us | Δ 18.45% | 53.79 KHz / 63.72 KHz | ∇ -15.58% |
pointmap: insert 100 scans | 5.62 ms / 2.97 ms | Δ 89.34% | 178.02 Hz / 337.06 Hz | ∇ -47.18% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 4.36 us | Δ 42.52% | 160.93 KHz / 229.36 KHz | ∇ -29.84% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 357.08 us | Δ 43.33% | 1.95 KHz / 2.80 KHz | ∇ -30.23% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 4.19 ms | Δ 33.41% | 178.86 Hz / 238.61 Hz | ∇ -25.04% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 4.72 us | Δ 53.15% | 138.34 KHz / 211.86 KHz | ∇ -34.70% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 362.68 us | Δ 44.23% | 1.91 KHz / 2.76 KHz | ∇ -30.67% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 4.10 ms | Δ 40.92% | 173.21 Hz / 244.09 Hz | ∇ -29.04% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.39 us | Δ 47.92% | 487.07 KHz / 720.46 KHz | ∇ -32.39% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 101.86 us | Δ 38.21% | 7.10 KHz / 9.82 KHz | ∇ -27.65% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 11.78 ms | Δ 28.85% | 65.91 Hz / 84.92 Hz | ∇ -22.39% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 5.62 ms | Δ 54.63% | 115.01 Hz / 177.84 Hz | ∇ -35.33% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 130.59 ms | Δ 50.43% | 5.09 Hz / 7.66 Hz | ∇ -33.53% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 5.69 ms | Δ 53.34% | 114.60 Hz / 175.73 Hz | ∇ -34.79% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 132.22 ms | Δ 50.11% | 5.04 Hz / 7.56 Hz | ∇ -33.38% |
random: drawUniform32bit | 7.29 ns / 15.67 ns | ∇ -53.45% | 137.11 MHz / 63.82 MHz | Δ 114.83% |
random: drawUniform | 7.33 ns / 15.66 ns | ∇ -53.20% | 136.49 MHz / 63.88 MHz | Δ 113.68% |
random: drawGaussian1D_normalized | 51.27 ns / 69.89 ns | ∇ -26.64% | 19.50 MHz / 14.31 MHz | Δ 36.31% |
random: drawGaussian1D | 51.74 ns / 69.86 ns | ∇ -25.94% | 19.33 MHz / 14.32 MHz | Δ 35.02% |
random: system rand() | 29.39 ns / 12.21 ns | Δ 140.59% | 34.03 MHz / 81.87 MHz | ∇ -58.44% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 2.70 us | ∇ -2.11% | 378.48 KHz / 370.49 KHz | Δ 2.16% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 5.71 us | Δ 49.47% | 117.18 KHz / 175.14 KHz | ∇ -33.10% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 148.19 ns | Δ 45.20% | 4.65 MHz / 6.75 MHz | ∇ -31.13% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 232.46 ns | Δ 54.86% | 2.78 MHz / 4.30 MHz | ∇ -35.43% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 489.71 ns | Δ 49.50% | 1.37 MHz / 2.04 MHz | ∇ -33.11% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 159.54 ns | Δ 33.88% | 4.68 MHz / 6.27 MHz | ∇ -25.31% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 247.75 ns | Δ 36.95% | 2.95 MHz / 4.04 MHz | ∇ -26.98% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 521.91 ns | Δ 45.79% | 1.31 MHz / 1.92 MHz | ∇ -31.41% |
random: permuteVector (len=10) | 411.34 ns / 251.30 ns | Δ 63.68% | 2.43 MHz / 3.98 MHz | ∇ -38.91% |
random: permuteVector (len=100) | 3.59 us / 3.02 us | Δ 18.93% | 278.70 KHz / 331.46 KHz | ∇ -15.92% |
random: permuteVector (len=1000) | 34.34 us / 30.36 us | Δ 13.08% | 29.12 KHz / 32.93 KHz | ∇ -11.57% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 10.09 GHz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 34.14 ms | ∇ -18.21% | 35.81 Hz / 29.29 Hz | Δ 22.26% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 49.83 ms | ∇ -12.64% | 22.97 Hz / 20.07 Hz | Δ 14.47% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 80.71 ms | ∇ -12.33% | 14.13 Hz / 12.39 Hz | Δ 14.07% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 29.36 ms | ∇ -20.20% | 42.67 Hz / 34.05 Hz | Δ 25.31% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 42.45 ms | ∇ -13.97% | 27.39 Hz / 23.56 Hz | Δ 16.24% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 65.41 ms | ∇ -8.55% | 16.72 Hz / 15.29 Hz | Δ 9.35% |
images: Gauss filter (640x480) | 6.68 ms / 4.66 ms | Δ 43.19% | 149.74 Hz / 214.40 Hz | ∇ -30.16% |
images: Gauss filter (800x600) | 8.62 ms / 5.98 ms | Δ 44.02% | 116.03 Hz / 167.10 Hz | ∇ -30.56% |
images: Gauss filter (1024x768) | 14.49 ms / 10.42 ms | Δ 39.00% | 69.01 Hz / 95.93 Hz | ∇ -28.06% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 11.35 us | Δ 86.11% | 47.34 KHz / 88.11 KHz | ∇ -46.27% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 9.96 us | Δ 94.40% | 51.65 KHz / 100.40 KHz | ∇ -48.56% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 5.52 us | Δ 12.98% | 160.34 KHz / 181.16 KHz | ∇ -11.49% |
feature_extraction [640x480]: Harris | 40.83 ms / 32.25 ms | Δ 26.58% | 24.49 Hz / 31.01 Hz | ∇ -21.00% |
feature_extraction [640x480]: KLT | 33.62 ms / 25.60 ms | Δ 31.29% | 29.75 Hz / 39.06 Hz | ∇ -23.83% |
feature_extraction [640x480]: SIFT | 705.28 ms / 630.91 ms | Δ 11.79% | 1.42 Hz / 1.59 Hz | ∇ -10.55% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 164.09 ms | Δ 30.55% | 4.67 Hz / 6.09 Hz | ∇ -23.40% |
feature_extraction [640x480]: SURF | 326.57 ms / 207.64 ms | Δ 57.28% | 3.06 Hz / 4.82 Hz | ∇ -36.42% |
feature_extraction [640x480]: FAST | 7.69 ms / 7.60 ms | Δ 1.15% | 130.08 Hz / 131.57 Hz | ∇ -1.14% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 60.60 ms | Δ 74.75% | 9.44 Hz / 16.50 Hz | ∇ -42.77% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 43.99 ms | Δ 31.11% | 17.34 Hz / 22.73 Hz | ∇ -23.73% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 36.29 ms | Δ 38.54% | 19.89 Hz / 27.56 Hz | ∇ -27.82% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.20 sec | Δ 15.16% | 724.62 mHz / 834.47 mHz | ∇ -13.16% |
feature_matching [640x480]: SURF | 618.66 ms / 379.83 ms | Δ 62.88% | 1.62 Hz / 2.63 Hz | ∇ -38.60% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 16.04 ms | Δ 37.90% | 45.22 Hz / 62.36 Hz | ∇ -27.48% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 10.85 ms | Δ 34.38% | 68.57 Hz / 92.14 Hz | ∇ -25.58% |
graph(2d): insertEdge x 1e3 | 354.58 us / 119.99 us | Δ 195.51% | 2.82 KHz / 8.33 KHz | ∇ -66.16% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 84.03 us | Δ 238.01% | 3.52 KHz / 11.90 KHz | ∇ -70.42% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 170.61 us | Δ 221.95% | 1.82 KHz / 5.86 KHz | ∇ -68.94% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 179.02 us | Δ 152.93% | 2.21 KHz / 5.59 KHz | ∇ -60.46% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 1.58 ms | Δ 143.90% | 259.12 Hz / 632.00 Hz | ∇ -59.00% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 863.38 us | Δ 233.06% | 347.75 Hz / 1.16 KHz | ∇ -69.98% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 1.96 ms | Δ 192.54% | 174.28 Hz / 509.85 Hz | ∇ -65.82% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 1.95 ms | Δ 127.10% | 225.33 Hz / 511.72 Hz | ∇ -55.97% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 169.26 us | Δ 695.08% | 743.07 Hz / 5.91 KHz | ∇ -87.42% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 153.69 us | Δ 608.79% | 917.96 Hz / 6.51 KHz | ∇ -85.89% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 471.95 us | Δ 269.36% | 573.66 Hz / 2.12 KHz | ∇ -72.93% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 441.33 us | Δ 231.62% | 683.28 Hz / 2.27 KHz | ∇ -69.84% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 2.46 ms | Δ 466.42% | 71.86 Hz / 407.06 Hz | ∇ -82.35% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 1.70 ms | Δ 554.40% | 89.92 Hz / 588.45 Hz | ∇ -84.72% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 6.68 ms | Δ 163.01% | 56.89 Hz / 149.62 Hz | ∇ -61.98% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 4.59 ms | Δ 207.98% | 70.81 Hz / 218.07 Hz | ∇ -67.53% |