Test description | 0.9.4-MSVC10-32bit / 0.9.2-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 30.39 ms | Δ 22.19% | 26.93 Hz / 32.90 Hz | ∇ -18.16% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 52.58 ms | ∇ -30.89% | 27.52 Hz / 19.02 Hz | Δ 44.71% |
poses: CPose3D (+) CPose3D | 197.08 ns / 264.70 ns | ∇ -25.55% | 5.07 MHz / 3.78 MHz | Δ 34.32% |
poses: CPose3D.composeFrom() | 33.62 ns / 98.01 ns | ∇ -65.69% | 29.74 MHz / 10.20 MHz | Δ 191.47% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 27.86 ns | ∇ -9.79% | 39.79 MHz / 35.89 MHz | Δ 10.85% |
poses: CPose3D.composePoint() | 21.31 ns / 19.17 ns | Δ 11.13% | 46.94 MHz / 52.16 MHz | ∇ -10.01% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 51.66 ns | Δ 74.16% | 11.12 MHz / 19.36 MHz | ∇ -42.58% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 46.91 ns | Δ 0.71% | 21.17 MHz / 21.32 MHz | ∇ -0.71% |
poses: CPose2D (+) CPose2D | 108.63 ns / 99.28 ns | Δ 9.42% | 9.21 MHz / 10.07 MHz | ∇ -8.61% |
poses: CPose2D.composeFrom() | 94.77 ns / 89.67 ns | Δ 5.69% | 10.55 MHz / 11.15 MHz | ∇ -5.38% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 82.07 ns | ∇ -1.78% | 12.41 MHz / 12.18 MHz | Δ 1.81% |
poses: CPose2D.composePoint() | 67.32 ns / 64.58 ns | Δ 4.25% | 14.85 MHz / 15.49 MHz | ∇ -4.08% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 87.19 ns | ∇ -6.75% | 12.30 MHz / 11.47 MHz | Δ 7.24% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 57.14 ns | ∇ -9.76% | 19.39 MHz / 17.50 MHz | Δ 10.82% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 48.22 ns | Δ 15.94% | 17.89 MHz / 20.74 MHz | ∇ -13.75% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 29.64 ns | Δ 10.42% | 30.55 MHz / 33.74 MHz | ∇ -9.44% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 84.32 ns | Δ 47.08% | 8.06 MHz / 11.86 MHz | ∇ -32.01% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 30.72 ns | ∇ -0.37% | 32.67 MHz / 32.55 MHz | Δ 0.37% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 33.02 ns | ∇ -14.83% | 35.56 MHz / 30.29 MHz | Δ 17.42% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 206.69 ns | Δ 4.91% | 4.61 MHz / 4.84 MHz | ∇ -4.68% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 1.35 us | ∇ -8.27% | 806.40 KHz / 739.68 KHz | Δ 9.02% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 1.40 us | ∇ -14.77% | 835.55 KHz / 712.12 KHz | Δ 17.33% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 23.15 us | ∇ -12.94% | 49.63 KHz / 43.20 KHz | Δ 14.87% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 1.62 us | ∇ -49.55% | 1.22 MHz / 617.00 KHz | Δ 98.23% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 1.63 us | ∇ -49.47% | 1.21 MHz / 613.67 KHz | Δ 97.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 15.82 us | Δ 20.67% | 52.39 KHz / 63.21 KHz | ∇ -17.13% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 38.75 ns | Δ 28.19% | 20.13 MHz / 25.81 MHz | ∇ -21.99% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 38.69 ns | Δ 31.56% | 19.64 MHz / 25.85 MHz | ∇ -23.99% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 163.36 ns | Δ 10.79% | 5.53 MHz / 6.12 MHz | ∇ -9.74% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 213.06 ns | ∇ -16.50% | 5.62 MHz / 4.69 MHz | Δ 19.76% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.56 ns | ∇ -100.00% | 1.#J THz / 280.77 MHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.29 ns | ∇ -100.00% | 1.#J THz / 304.17 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.63 ns / 2.77 ns | Δ 139.33% | 150.81 MHz / 360.95 MHz | ∇ -58.22% |
matrix: unit, fix[double,6,6] | 8.86 ns / 6.07 ns | Δ 45.95% | 112.91 MHz / 164.80 MHz | ∇ -31.48% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 168.66 ns | Δ 303.33% | 1.47 MHz / 5.93 MHz | ∇ -75.21% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 109.47 ns | ∇ -100.00% | 1.#J THz / 9.14 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 159.15 ns | Δ 187.99% | 2.18 MHz / 6.28 MHz | ∇ -65.28% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 87.59 ns | ∇ -100.00% | 1.#J THz / 11.42 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 680.46 ns / 272.34 ns | Δ 149.86% | 1.47 MHz / 3.67 MHz | ∇ -59.98% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 190.04 ns | ∇ -81.43% | 28.34 MHz / 5.26 MHz | Δ 438.64% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 245.84 ns | Δ 109.08% | 1.95 MHz / 4.07 MHz | ∇ -52.17% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 138.91 ns | ∇ -97.55% | 294.39 MHz / 7.20 MHz | Δ 3989.31% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 16.67 us | ∇ -68.92% | 193.06 KHz / 60.00 KHz | Δ 221.79% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 12.92 us | ∇ -64.73% | 219.44 KHz / 77.41 KHz | Δ 183.49% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 13.30 us | ∇ -71.51% | 263.78 KHz / 75.16 KHz | Δ 250.95% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 9.66 us | ∇ -69.73% | 342.06 KHz / 103.53 KHz | Δ 230.41% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 1.47 us | Δ 2.44% | 665.44 KHz / 681.67 KHz | ∇ -2.38% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 30.80 ns | ∇ -69.12% | 105.14 MHz / 32.47 MHz | Δ 223.81% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 5.05 us | ∇ -22.63% | 256.17 KHz / 198.20 KHz | Δ 29.25% |
matrix: inv, fix[double] 6x6 | 3.54 us / 944.32 ns | Δ 274.87% | 282.49 KHz / 1.06 MHz | ∇ -73.32% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 106.06 us | ∇ -67.76% | 29.25 KHz / 9.43 KHz | Δ 210.19% |
matrix: inv, fix[double] 20x20 | 29.35 us / 18.99 us | Δ 54.53% | 34.07 KHz / 52.65 KHz | ∇ -35.29% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 805.07 us | ∇ -83.33% | 7.45 KHz / 1.24 KHz | Δ 499.74% |
matrix: inv, fix[double] 40x40 | 126.45 us / 129.27 us | ∇ -2.18% | 7.91 KHz / 7.74 KHz | Δ 2.23% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 8.47 ns | Δ 7004.85% | 1.66 MHz / 118.07 MHz | ∇ -98.59% |
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 / 15.90 ns | Δ 5390.34% | 1.15 MHz / 62.90 MHz | ∇ -98.18% |
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 / 2.27 us | Δ 2.41% | 430.29 KHz / 440.64 KHz | ∇ -2.35% |
matrix: det, fix[double] 6x6 | 2.17 us / 409.52 ns | Δ 430.15% | 460.60 KHz / 2.44 MHz | ∇ -81.14% |
matrix: det, dyn[double] 20x20 | 23.14 us / 17.63 us | Δ 31.23% | 43.22 KHz / 56.72 KHz | ∇ -23.80% |
matrix: det, fix[double] 20x20 | 21.38 us / 6.19 us | Δ 245.52% | 46.78 KHz / 161.63 KHz | ∇ -71.06% |
matrix: det, dyn[double] 40x40 | 92.83 us / 112.43 us | ∇ -17.43% | 10.77 KHz / 8.89 KHz | Δ 21.11% |
matrix: det, fix[double] 40x40 | 90.97 us / 35.24 us | Δ 158.16% | 10.99 KHz / 28.38 KHz | ∇ -61.26% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 172.11 ns | Δ 418.42% | 1.12 MHz / 5.81 MHz | ∇ -80.71% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 117.76 ns | Δ 111.54% | 4.01 MHz / 8.49 MHz | ∇ -52.73% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 24.40 us | Δ 68.52% | 24.32 KHz / 40.98 KHz | ∇ -40.66% |
matrix: chol, fix[double] 40x40 | 26.92 us / 17.68 us | Δ 52.27% | 37.15 KHz / 56.57 KHz | ∇ -34.33% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 8.42 us | Δ 81.72% | 65.32 KHz / 118.71 KHz | ∇ -44.97% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 118.80 us | ∇ -1.64% | 8.56 KHz / 8.42 KHz | Δ 1.67% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 69.79 us | Δ 41.79% | 10.10 KHz / 14.33 KHz | ∇ -29.47% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 52.54 us | Δ 5.03% | 18.12 KHz / 19.03 KHz | ∇ -4.79% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 466.09 us | Δ 6.86% | 2.01 KHz / 2.15 KHz | ∇ -6.42% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 89.01 us | Δ 49.87% | 7.50 KHz / 11.24 KHz | ∇ -33.28% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 9.32 ms | ∇ -46.45% | 200.30 Hz / 107.25 Hz | Δ 86.75% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 201.22 us | Δ 21.24% | 4.10 KHz / 4.97 KHz | ∇ -17.52% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 138.07 ms | ∇ -78.25% | 33.31 Hz / 7.24 Hz | Δ 359.83% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 401.45 us | Δ 21.08% | 2.06 KHz / 2.49 KHz | ∇ -17.41% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 453.62 ms | ∇ -88.55% | 19.25 Hz / 2.20 Hz | Δ 773.27% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 474.18 us | Δ 23.11% | 1.71 KHz / 2.11 KHz | ∇ -18.77% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 945.16 ms | ∇ -91.86% | 13.00 Hz / 1.06 Hz | Δ 1128.99% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 552.77 us | Δ 17.46% | 1.54 KHz / 1.81 KHz | ∇ -14.87% |
gridmap2D: getCell | 6.44 ns / 5.57 ns | Δ 15.71% | 155.25 MHz / 179.64 MHz | ∇ -13.57% |
gridmap2D: setCell | 9.52 ns / 7.80 ns | Δ 22.07% | 105.00 MHz / 128.17 MHz | ∇ -18.08% |
gridmap2D: updateCell | 9.85 ns / 10.65 ns | ∇ -7.50% | 101.55 MHz / 93.93 MHz | Δ 8.11% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 1.20 ns | Δ 22.88% | 679.40 MHz / 834.82 MHz | ∇ -18.62% |
gridmap2D: insert scan w/o widening | 225.20 us / 202.10 us | Δ 11.43% | 4.44 KHz / 4.95 KHz | ∇ -10.26% |
gridmap2D: insert scan with widening | 365.80 us / 338.79 us | Δ 7.97% | 2.73 KHz / 2.95 KHz | ∇ -7.38% |
gridmap2D: resize | 2.56 ms / 3.58 ms | ∇ -28.35% | 389.96 Hz / 279.42 Hz | Δ 39.56% |
gridmap2D: computeLikelihood | 21.14 us / 18.09 us | Δ 16.88% | 47.30 KHz / 55.28 KHz | ∇ -14.44% |
pointmap: insert 100 scans | 3.27 ms / 5.50 ms | ∇ -40.48% | 305.75 Hz / 181.98 Hz | Δ 68.01% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.29 us | ∇ -4.03% | 165.76 KHz / 159.07 KHz | Δ 4.20% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 520.70 us | Δ 11.28% | 1.73 KHz / 1.92 KHz | ∇ -10.13% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 5.50 ms | Δ 11.55% | 162.87 Hz / 181.67 Hz | ∇ -10.35% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 6.47 us | Δ 3.36% | 149.59 KHz / 154.62 KHz | ∇ -3.25% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 526.59 us | ∇ -1.26% | 1.92 KHz / 1.90 KHz | Δ 1.27% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 5.63 ms | Δ 17.81% | 150.68 Hz / 177.52 Hz | ∇ -15.12% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 2.04 us | ∇ -4.13% | 511.57 KHz / 490.44 KHz | Δ 4.31% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 137.79 us | Δ 21.30% | 5.98 KHz / 7.26 KHz | ∇ -17.56% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 14.88 ms | Δ 17.28% | 57.30 Hz / 67.19 Hz | ∇ -14.73% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 8.57 ms | Δ 6.33% | 109.75 Hz / 116.69 Hz | ∇ -5.95% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 191.63 ms | Δ 9.96% | 4.75 Hz / 5.22 Hz | ∇ -9.06% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 8.64 ms | ∇ -3.01% | 119.37 Hz / 115.78 Hz | Δ 3.11% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 194.89 ms | Δ 1.96% | 5.03 Hz / 5.13 Hz | ∇ -1.92% |
random: drawUniform32bit | 7.57 ns / 7.21 ns | Δ 4.98% | 132.11 MHz / 138.68 MHz | ∇ -4.74% |
random: drawUniform | 7.60 ns / 7.18 ns | Δ 5.84% | 131.54 MHz / 139.23 MHz | ∇ -5.52% |
random: drawGaussian1D_normalized | 58.48 ns / 51.37 ns | Δ 13.83% | 17.10 MHz / 19.47 MHz | ∇ -12.15% |
random: drawGaussian1D | 57.62 ns / 51.39 ns | Δ 12.14% | 17.35 MHz / 19.46 MHz | ∇ -10.82% |
random: system rand() | 29.43 ns / 28.61 ns | Δ 2.85% | 33.98 MHz / 34.95 MHz | ∇ -2.77% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 2.55 us | Δ 15.46% | 339.21 KHz / 391.65 KHz | ∇ -13.39% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 8.36 us | ∇ -57.71% | 282.92 KHz / 119.66 KHz | Δ 136.44% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 213.95 ns | ∇ -31.89% | 6.86 MHz / 4.67 MHz | Δ 46.83% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 324.69 ns | ∇ -29.97% | 4.40 MHz / 3.08 MHz | Δ 42.81% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 829.70 ns | ∇ -37.98% | 1.94 MHz / 1.21 MHz | Δ 61.25% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 214.89 ns | ∇ -20.70% | 5.87 MHz / 4.65 MHz | Δ 26.10% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 364.99 ns | ∇ -22.30% | 3.53 MHz / 2.74 MHz | Δ 28.70% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 760.13 ns | ∇ -13.01% | 1.51 MHz / 1.32 MHz | Δ 14.96% |
random: permuteVector (len=10) | 304.45 ns / 420.57 ns | ∇ -27.61% | 3.28 MHz / 2.38 MHz | Δ 38.14% |
random: permuteVector (len=100) | 3.47 us / 3.56 us | ∇ -2.53% | 288.42 KHz / 281.12 KHz | Δ 2.60% |
random: permuteVector (len=1000) | 37.99 us / 33.55 us | Δ 13.21% | 26.33 KHz / 29.80 KHz | ∇ -11.67% |
math: round | 0.00 ns / 0.00 ns | Δ 1.#J% | 220.79 THz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 28.40 ms | Δ 16.41% | 30.25 Hz / 35.21 Hz | ∇ -14.10% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 43.71 ms | Δ 15.84% | 19.75 Hz / 22.88 Hz | ∇ -13.67% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 70.17 ms | Δ 17.79% | 12.10 Hz / 14.25 Hz | ∇ -15.10% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 24.11 ms | Δ 13.46% | 36.56 Hz / 41.48 Hz | ∇ -11.86% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 37.02 ms | Δ 16.82% | 23.12 Hz / 27.01 Hz | ∇ -14.40% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 59.51 ms | Δ 11.84% | 15.03 Hz / 16.80 Hz | ∇ -10.59% |
images: Gauss filter (640x480) | 5.57 ms / 5.29 ms | Δ 5.27% | 179.49 Hz / 188.95 Hz | ∇ -5.01% |
images: Gauss filter (800x600) | 8.84 ms / 8.36 ms | Δ 5.78% | 113.10 Hz / 119.64 Hz | ∇ -5.47% |
images: Gauss filter (1024x768) | 14.37 ms / 13.88 ms | Δ 3.56% | 69.58 Hz / 72.06 Hz | ∇ -3.44% |
images: Half sample GRAY (160x120) | 1.63 us / X | 612.18 KHz / X | ||
images: Half sample GRAY (320x240) | 4.13 us / X | 241.92 KHz / X | ||
images: Half sample GRAY (640x480) | 19.15 us / X | 52.22 KHz / X | ||
images: Half sample GRAY (800x600) | 31.65 us / X | 31.59 KHz / X | ||
images: Half sample GRAY (1024x768) | 50.27 us / X | 19.89 KHz / X | ||
images: Half sample GRAY (1280x1024) | 87.87 us / X | 11.38 KHz / X | ||
images: Half sample RGB (160x120) | 3.54 us / X | 282.58 KHz / X | ||
images: Half sample RGB (320x240) | 11.27 us / X | 88.76 KHz / X | ||
images: Half sample RGB (640x480) | 57.50 us / X | 17.39 KHz / X | ||
images: Half sample RGB (800x600) | 80.68 us / X | 12.39 KHz / X | ||
images: Half sample RGB (1024x768) | 391.11 us / X | 2.56 KHz / X | ||
images: Half sample RGB (1280x1024) | 826.49 us / X | 1.21 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 2.87 us / X | 348.99 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 8.64 us / X | 115.70 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 29.52 us / X | 33.88 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 66.07 us / X | 15.14 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 90.65 us / X | 11.03 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 132.57 us / X | 7.54 KHz / X | ||
images: Half sample smooth RGB (160x120) | 202.00 us / X | 4.95 KHz / X | ||
images: Half sample smooth RGB (320x240) | 779.03 us / X | 1.28 KHz / X | ||
images: Half sample smooth RGB (640x480) | 3.10 ms / X | 323.08 Hz / X | ||
images: Half sample smooth RGB (800x600) | 4.82 ms / X | 207.41 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 8.63 ms / X | 115.89 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 14.76 ms / X | 67.77 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 6.40 us / X | 156.37 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 4.33 us / X | 230.95 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 11.84 us / X | 84.43 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 44.50 us / X | 22.47 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 191.53 us / X | 5.22 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 350.56 us / X | 2.85 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 968.81 us / X | 1.03 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / X | 584.85 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 18.63 us | Δ 17.89% | 45.52 KHz / 53.67 KHz | ∇ -15.18% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 17.89 us | Δ 23.04% | 45.44 KHz / 55.91 KHz | ∇ -18.73% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 5.05 us | Δ 151.43% | 78.69 KHz / 197.84 KHz | ∇ -60.23% |
feature_extraction [640x480]: Harris | 38.32 ms / 33.27 ms | Δ 15.18% | 26.10 Hz / 30.06 Hz | ∇ -13.18% |
feature_extraction [640x480]: KLT | 37.22 ms / 31.21 ms | Δ 19.23% | 26.87 Hz / 32.04 Hz | ∇ -16.13% |
feature_extraction [640x480]: SIFT | 739.68 ms / 675.81 ms | Δ 9.45% | 1.35 Hz / 1.48 Hz | ∇ -8.63% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 217.19 ms | Δ 7.26% | 4.29 Hz / 4.60 Hz | ∇ -6.77% |
feature_extraction [640x480]: SURF | 309.97 ms / 316.97 ms | ∇ -2.21% | 3.23 Hz / 3.15 Hz | Δ 2.26% |
feature_extraction [640x480]: FAST | 6.88 ms / 7.82 ms | ∇ -11.94% | 145.25 Hz / 127.91 Hz | Δ 13.56% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 103.38 ms | ∇ -14.60% | 11.33 Hz / 9.67 Hz | Δ 17.10% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 56.24 ms | Δ 6.12% | 16.76 Hz / 17.78 Hz | ∇ -5.77% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 47.55 ms | Δ 23.18% | 17.07 Hz / 21.03 Hz | ∇ -18.81% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.34 sec | Δ 11.65% | 668.02 mHz / 745.82 mHz | ∇ -10.43% |
feature_matching [640x480]: SURF | 621.62 ms / 606.64 ms | Δ 2.47% | 1.61 Hz / 1.65 Hz | ∇ -2.41% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 22.36 ms | ∇ -3.00% | 46.10 Hz / 44.72 Hz | Δ 3.09% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 15.00 ms | ∇ -15.72% | 79.13 Hz / 66.69 Hz | Δ 18.65% |
graph(2d): insertEdge x 1e3 | 301.62 us / 313.03 us | ∇ -3.65% | 3.32 KHz / 3.19 KHz | Δ 3.78% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 307.43 us | ∇ -2.79% | 3.35 KHz / 3.25 KHz | Δ 2.87% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 222.64 us | Δ 23.38% | 3.64 KHz / 4.49 KHz | ∇ -18.95% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 222.87 us | Δ 21.24% | 3.70 KHz / 4.49 KHz | ∇ -17.52% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 516.93 us | ∇ -19.55% | 2.40 KHz / 1.93 KHz | Δ 24.30% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 517.18 us | ∇ -21.38% | 2.46 KHz / 1.93 KHz | Δ 27.20% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 405.97 us | ∇ -7.00% | 2.65 KHz / 2.46 KHz | Δ 7.53% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 403.48 us | ∇ -5.96% | 2.64 KHz / 2.48 KHz | Δ 6.33% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 3.36 ms | Δ 23.05% | 241.59 Hz / 297.28 Hz | ∇ -18.74% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 3.35 ms | Δ 19.48% | 250.06 Hz / 298.76 Hz | ∇ -16.30% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 2.22 ms | Δ 32.60% | 339.77 Hz / 450.51 Hz | ∇ -24.58% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 2.22 ms | Δ 30.24% | 345.69 Hz / 450.21 Hz | ∇ -23.22% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 5.45 ms | ∇ -12.50% | 209.57 Hz / 183.37 Hz | Δ 14.29% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 5.44 ms | ∇ -10.54% | 205.59 Hz / 183.91 Hz | Δ 11.79% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 4.07 ms | ∇ -0.37% | 246.64 Hz / 245.74 Hz | Δ 0.37% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 4.06 ms | Δ 3.78% | 237.52 Hz / 246.50 Hz | ∇ -3.64% |
graph(3d): insertEdge x 1e3 | 381.69 us / 447.20 us | ∇ -14.65% | 2.62 KHz / 2.24 KHz | Δ 17.16% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 442.12 us | ∇ -7.90% | 2.46 KHz / 2.26 KHz | Δ 8.57% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 346.69 us | ∇ -2.05% | 2.94 KHz / 2.88 KHz | Δ 2.10% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 347.20 us | ∇ -3.64% | 2.99 KHz / 2.88 KHz | Δ 3.78% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 944.03 us | ∇ -27.02% | 1.45 KHz / 1.06 KHz | Δ 37.03% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 978.08 us | ∇ -30.00% | 1.46 KHz / 1.02 KHz | Δ 42.85% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 793.19 us | ∇ -13.86% | 1.46 KHz / 1.26 KHz | Δ 16.09% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 793.52 us | ∇ -13.76% | 1.46 KHz / 1.26 KHz | Δ 15.95% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 4.62 ms | ∇ -15.92% | 257.39 Hz / 216.43 Hz | Δ 18.93% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 4.62 ms | ∇ -17.87% | 263.81 Hz / 216.67 Hz | Δ 21.76% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 3.48 ms | Δ 3.00% | 278.91 Hz / 287.28 Hz | ∇ -2.92% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 3.47 ms | Δ 1.25% | 284.28 Hz / 287.84 Hz | ∇ -1.24% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 10.55 ms | ∇ -26.06% | 128.15 Hz / 94.75 Hz | Δ 35.25% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 9.75 ms | ∇ -19.96% | 128.11 Hz / 102.54 Hz | Δ 24.93% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 7.93 ms | ∇ -5.52% | 133.45 Hz / 126.08 Hz | Δ 5.85% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 7.94 ms | ∇ -4.70% | 132.15 Hz / 125.93 Hz | Δ 4.94% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 262.18 us | ∇ -18.70% | 4.69 KHz / 3.81 KHz | Δ 23.00% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 363.67 us | ∇ -14.32% | 3.21 KHz / 2.75 KHz | Δ 16.71% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 2.97 ms | ∇ -13.74% | 389.66 Hz / 336.14 Hz | Δ 15.92% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 3.29 ms | ∇ -17.95% | 370.20 Hz / 303.75 Hz | Δ 21.88% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 34.21 ms | ∇ -8.55% | 31.96 Hz / 29.23 Hz | Δ 9.35% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 38.12 ms | ∇ -13.66% | 30.38 Hz / 26.23 Hz | Δ 15.83% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 389.54 ms | Δ 1.06% | 2.54 Hz / 2.57 Hz | ∇ -1.05% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 428.64 ms | ∇ -10.04% | 2.59 Hz / 2.33 Hz | Δ 11.16% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 382.11 ms | ∇ -0.47% | 2.63 Hz / 2.62 Hz | Δ 0.48% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 417.45 ms | ∇ -9.73% | 2.65 Hz / 2.40 Hz | Δ 10.78% |