Test description | 0.9.4-MSVC10-64bit / 0.9.2-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 30.39 ms | ∇ -12.67% | 37.68 Hz / 32.90 Hz | Δ 14.51% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 52.58 ms | ∇ -38.81% | 31.08 Hz / 19.02 Hz | Δ 63.44% |
poses: CPose3D (+) CPose3D | 62.83 ns / 264.70 ns | ∇ -76.26% | 15.92 MHz / 3.78 MHz | Δ 321.31% |
poses: CPose3D.composeFrom() | 41.42 ns / 98.01 ns | ∇ -57.74% | 24.14 MHz / 10.20 MHz | Δ 136.62% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 27.86 ns | ∇ -32.20% | 52.94 MHz / 35.89 MHz | Δ 47.50% |
poses: CPose3D.composePoint() | 17.17 ns / 19.17 ns | ∇ -10.42% | 58.23 MHz / 52.16 MHz | Δ 11.63% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 51.66 ns | Δ 71.89% | 11.26 MHz / 19.36 MHz | ∇ -41.82% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 46.91 ns | ∇ -6.21% | 22.73 MHz / 21.32 MHz | Δ 6.62% |
poses: CPose2D (+) CPose2D | 72.08 ns / 99.28 ns | ∇ -27.39% | 13.87 MHz / 10.07 MHz | Δ 37.73% |
poses: CPose2D.composeFrom() | 63.27 ns / 89.67 ns | ∇ -29.45% | 15.81 MHz / 11.15 MHz | Δ 41.73% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 82.07 ns | ∇ -58.06% | 29.05 MHz / 12.18 MHz | Δ 138.44% |
poses: CPose2D.composePoint() | 26.02 ns / 64.58 ns | ∇ -59.70% | 38.43 MHz / 15.49 MHz | Δ 148.16% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 87.19 ns | Δ 30.28% | 8.80 MHz / 11.47 MHz | ∇ -23.24% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 57.14 ns | Δ 44.75% | 12.09 MHz / 17.50 MHz | ∇ -30.92% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 48.22 ns | ∇ -14.30% | 24.20 MHz / 20.74 MHz | Δ 16.69% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 29.64 ns | Δ 5.03% | 32.12 MHz / 33.74 MHz | ∇ -4.79% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 84.32 ns | Δ 35.07% | 8.78 MHz / 11.86 MHz | ∇ -25.96% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 30.72 ns | Δ 10.51% | 29.46 MHz / 32.55 MHz | ∇ -9.51% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 33.02 ns | ∇ -19.91% | 37.82 MHz / 30.29 MHz | Δ 24.86% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 206.69 ns | ∇ -52.92% | 10.28 MHz / 4.84 MHz | Δ 112.40% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 1.35 us | ∇ -29.82% | 1.05 MHz / 739.68 KHz | Δ 42.48% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 1.40 us | ∇ -33.16% | 1.07 MHz / 712.12 KHz | Δ 49.60% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 23.15 us | ∇ -8.37% | 47.15 KHz / 43.20 KHz | Δ 9.13% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 1.62 us | ∇ -67.15% | 1.88 MHz / 617.00 KHz | Δ 204.40% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 1.63 us | ∇ -67.58% | 1.89 MHz / 613.67 KHz | Δ 208.49% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 15.82 us | ∇ -29.25% | 89.35 KHz / 63.21 KHz | Δ 41.34% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 38.75 ns | Δ 16.65% | 22.13 MHz / 25.81 MHz | ∇ -14.28% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 38.69 ns | Δ 18.52% | 21.81 MHz / 25.85 MHz | ∇ -15.63% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 163.36 ns | Δ 8.62% | 5.64 MHz / 6.12 MHz | ∇ -7.93% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 213.06 ns | ∇ -20.43% | 5.90 MHz / 4.69 MHz | Δ 25.68% |
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] | 6.37 ns / 2.77 ns | Δ 129.82% | 157.06 MHz / 360.95 MHz | ∇ -56.49% |
matrix: unit, fix[double,6,6] | 7.86 ns / 6.07 ns | Δ 29.56% | 127.19 MHz / 164.80 MHz | ∇ -22.82% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 168.66 ns | Δ 188.11% | 2.06 MHz / 5.93 MHz | ∇ -65.29% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 109.47 ns | ∇ -99.96% | 22.08 GHz / 9.14 MHz | Δ 241598.91% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 159.15 ns | Δ 232.02% | 1.89 MHz / 6.28 MHz | ∇ -69.88% |
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 | 547.16 ns / 272.34 ns | Δ 100.92% | 1.83 MHz / 3.67 MHz | ∇ -50.23% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 190.04 ns | ∇ -98.76% | 424.60 MHz / 5.26 MHz | Δ 7969.19% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 245.84 ns | Δ 59.25% | 2.55 MHz / 4.07 MHz | ∇ -37.21% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 138.91 ns | ∇ -98.30% | 424.60 MHz / 7.20 MHz | Δ 5798.05% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 16.67 us | ∇ -83.54% | 364.51 KHz / 60.00 KHz | Δ 507.56% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 12.92 us | ∇ -83.87% | 479.89 KHz / 77.41 KHz | Δ 519.96% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 13.30 us | ∇ -73.95% | 288.55 KHz / 75.16 KHz | Δ 283.90% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 9.66 us | ∇ -75.33% | 419.56 KHz / 103.53 KHz | Δ 305.27% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 1.47 us | ∇ -26.00% | 921.12 KHz / 681.67 KHz | Δ 35.13% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 30.80 ns | ∇ -27.94% | 45.06 MHz / 32.47 MHz | Δ 38.77% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 5.05 us | ∇ -44.89% | 359.66 KHz / 198.20 KHz | Δ 81.46% |
matrix: inv, fix[double] 6x6 | 2.22 us / 944.32 ns | Δ 135.20% | 450.23 KHz / 1.06 MHz | ∇ -57.48% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 106.06 us | ∇ -71.04% | 32.56 KHz / 9.43 KHz | Δ 245.33% |
matrix: inv, fix[double] 20x20 | 24.08 us / 18.99 us | Δ 26.76% | 41.53 KHz / 52.65 KHz | ∇ -21.11% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 805.07 us | ∇ -85.45% | 8.53 KHz / 1.24 KHz | Δ 587.07% |
matrix: inv, fix[double] 40x40 | 112.80 us / 129.27 us | ∇ -12.74% | 8.86 KHz / 7.74 KHz | Δ 14.60% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 8.47 ns | Δ 8938.54% | 1.31 MHz / 118.07 MHz | ∇ -98.89% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 822.31 ns / 15.90 ns | Δ 5072.67% | 1.22 MHz / 62.90 MHz | ∇ -98.07% |
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 | 1.78 us / 2.27 us | ∇ -21.38% | 560.47 KHz / 440.64 KHz | Δ 27.19% |
matrix: det, fix[double] 6x6 | 1.51 us / 409.52 ns | Δ 269.22% | 661.35 KHz / 2.44 MHz | ∇ -72.92% |
matrix: det, dyn[double] 20x20 | 18.54 us / 17.63 us | Δ 5.16% | 53.94 KHz / 56.72 KHz | ∇ -4.90% |
matrix: det, fix[double] 20x20 | 19.01 us / 6.19 us | Δ 207.23% | 52.61 KHz / 161.63 KHz | ∇ -67.45% |
matrix: det, dyn[double] 40x40 | 72.40 us / 112.43 us | ∇ -35.61% | 13.81 KHz / 8.89 KHz | Δ 55.29% |
matrix: det, fix[double] 40x40 | 67.43 us / 35.24 us | Δ 91.35% | 14.83 KHz / 28.38 KHz | ∇ -47.74% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 172.11 ns | Δ 252.63% | 1.65 MHz / 5.81 MHz | ∇ -71.64% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 117.76 ns | Δ 61.54% | 5.26 MHz / 8.49 MHz | ∇ -38.10% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 24.40 us | Δ 29.44% | 31.66 KHz / 40.98 KHz | ∇ -22.74% |
matrix: chol, fix[double] 40x40 | 20.87 us / 17.68 us | Δ 18.04% | 47.93 KHz / 56.57 KHz | ∇ -15.28% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 8.42 us | ∇ -15.59% | 140.63 KHz / 118.71 KHz | Δ 18.47% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 118.80 us | ∇ -20.24% | 10.55 KHz / 8.42 KHz | Δ 25.38% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 69.79 us | Δ 8.31% | 13.23 KHz / 14.33 KHz | ∇ -7.67% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 52.54 us | ∇ -17.77% | 23.15 KHz / 19.03 KHz | Δ 21.61% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 466.09 us | ∇ -2.71% | 2.21 KHz / 2.15 KHz | Δ 2.79% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 89.01 us | ∇ -16.86% | 13.51 KHz / 11.24 KHz | Δ 20.28% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 9.32 ms | ∇ -61.99% | 282.19 Hz / 107.25 Hz | Δ 163.11% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 201.22 us | ∇ -11.20% | 5.60 KHz / 4.97 KHz | Δ 12.61% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 138.07 ms | ∇ -83.86% | 44.87 Hz / 7.24 Hz | Δ 519.52% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 401.45 us | ∇ -10.48% | 2.78 KHz / 2.49 KHz | Δ 11.71% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 453.62 ms | ∇ -92.00% | 27.56 Hz / 2.20 Hz | Δ 1150.11% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 474.18 us | ∇ -13.14% | 2.43 KHz / 2.11 KHz | Δ 15.13% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 945.16 ms | ∇ -94.25% | 18.40 Hz / 1.06 Hz | Δ 1639.27% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 552.77 us | ∇ -11.70% | 2.05 KHz / 1.81 KHz | Δ 13.25% |
gridmap2D: getCell | 4.13 ns / 5.57 ns | ∇ -25.79% | 242.07 MHz / 179.64 MHz | Δ 34.76% |
gridmap2D: setCell | 5.65 ns / 7.80 ns | ∇ -27.64% | 177.14 MHz / 128.17 MHz | Δ 38.21% |
gridmap2D: updateCell | 6.93 ns / 10.65 ns | ∇ -34.93% | 144.35 MHz / 93.93 MHz | Δ 53.67% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.20 ns | Δ 0.17% | 833.40 MHz / 834.82 MHz | ∇ -0.17% |
gridmap2D: insert scan w/o widening | 102.16 us / 202.10 us | ∇ -49.45% | 9.79 KHz / 4.95 KHz | Δ 97.83% |
gridmap2D: insert scan with widening | 276.88 us / 338.79 us | ∇ -18.27% | 3.61 KHz / 2.95 KHz | Δ 22.36% |
gridmap2D: resize | 3.89 ms / 3.58 ms | Δ 8.69% | 257.06 Hz / 279.42 Hz | ∇ -8.00% |
gridmap2D: computeLikelihood | 13.92 us / 18.09 us | ∇ -23.05% | 71.84 KHz / 55.28 KHz | Δ 29.95% |
pointmap: insert 100 scans | 1.87 ms / 5.50 ms | ∇ -65.94% | 534.24 Hz / 181.98 Hz | Δ 193.58% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 6.29 us | ∇ -19.02% | 196.43 KHz / 159.07 KHz | Δ 23.49% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 520.70 us | ∇ -6.59% | 2.06 KHz / 1.92 KHz | Δ 7.05% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 5.50 ms | ∇ -7.40% | 196.20 Hz / 181.67 Hz | Δ 7.99% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 6.47 us | ∇ -14.01% | 179.80 KHz / 154.62 KHz | Δ 16.29% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 526.59 us | ∇ -11.27% | 2.14 KHz / 1.90 KHz | Δ 12.70% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 5.63 ms | ∇ -8.01% | 192.98 Hz / 177.52 Hz | Δ 8.71% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 2.04 us | ∇ -21.81% | 627.25 KHz / 490.44 KHz | Δ 27.90% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 137.79 us | ∇ -8.07% | 7.89 KHz / 7.26 KHz | Δ 8.78% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 14.88 ms | ∇ -6.85% | 72.14 Hz / 67.19 Hz | Δ 7.36% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 8.57 ms | ∇ -23.64% | 152.81 Hz / 116.69 Hz | Δ 30.96% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 191.63 ms | ∇ -8.80% | 5.72 Hz / 5.22 Hz | Δ 9.65% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 8.64 ms | ∇ -20.31% | 145.28 Hz / 115.78 Hz | Δ 25.48% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 194.89 ms | ∇ -6.94% | 5.51 Hz / 5.13 Hz | Δ 7.45% |
random: drawUniform32bit | 9.54 ns / 7.21 ns | Δ 32.24% | 104.87 MHz / 138.68 MHz | ∇ -24.38% |
random: drawUniform | 9.69 ns / 7.18 ns | Δ 34.90% | 103.21 MHz / 139.23 MHz | ∇ -25.87% |
random: drawGaussian1D_normalized | 52.06 ns / 51.37 ns | Δ 1.34% | 19.21 MHz / 19.47 MHz | ∇ -1.33% |
random: drawGaussian1D | 50.73 ns / 51.39 ns | ∇ -1.27% | 19.71 MHz / 19.46 MHz | Δ 1.29% |
random: system rand() | 24.47 ns / 28.61 ns | ∇ -14.49% | 40.87 MHz / 34.95 MHz | Δ 16.94% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 2.55 us | ∇ -51.36% | 805.20 KHz / 391.65 KHz | Δ 105.59% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 8.36 us | ∇ -61.85% | 313.70 KHz / 119.66 KHz | Δ 162.15% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 213.95 ns | ∇ -39.23% | 7.69 MHz / 4.67 MHz | Δ 64.54% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 324.69 ns | ∇ -38.91% | 5.04 MHz / 3.08 MHz | Δ 63.69% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 829.70 ns | ∇ -45.56% | 2.21 MHz / 1.21 MHz | Δ 83.70% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 214.89 ns | ∇ -36.28% | 7.30 MHz / 4.65 MHz | Δ 56.94% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 364.99 ns | ∇ -41.50% | 4.68 MHz / 2.74 MHz | Δ 70.94% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 760.13 ns | ∇ -37.04% | 2.09 MHz / 1.32 MHz | Δ 58.84% |
random: permuteVector (len=10) | 244.07 ns / 420.57 ns | ∇ -41.97% | 4.10 MHz / 2.38 MHz | Δ 72.31% |
random: permuteVector (len=100) | 3.12 us / 3.56 us | ∇ -12.18% | 320.11 KHz / 281.12 KHz | Δ 13.87% |
random: permuteVector (len=1000) | 30.82 us / 33.55 us | ∇ -8.13% | 32.44 KHz / 29.80 KHz | Δ 8.85% |
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%) | 29.87 ms / 28.40 ms | Δ 5.18% | 33.48 Hz / 35.21 Hz | ∇ -4.92% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 43.71 ms | ∇ -1.67% | 23.26 Hz / 22.88 Hz | Δ 1.70% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 70.17 ms | ∇ -1.63% | 14.49 Hz / 14.25 Hz | Δ 1.66% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 24.11 ms | ∇ -5.20% | 43.75 Hz / 41.48 Hz | Δ 5.49% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 37.02 ms | ∇ -4.92% | 28.41 Hz / 27.01 Hz | Δ 5.17% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 59.51 ms | ∇ -3.72% | 17.45 Hz / 16.80 Hz | Δ 3.87% |
images: Gauss filter (640x480) | 4.45 ms / 5.29 ms | ∇ -15.91% | 224.70 Hz / 188.95 Hz | Δ 18.92% |
images: Gauss filter (800x600) | 8.06 ms / 8.36 ms | ∇ -3.63% | 124.15 Hz / 119.64 Hz | Δ 3.77% |
images: Gauss filter (1024x768) | 13.86 ms / 13.88 ms | ∇ -0.15% | 72.16 Hz / 72.06 Hz | Δ 0.15% |
images: Half sample GRAY (160x120) | 1.32 us / X | 755.28 KHz / X | ||
images: Half sample GRAY (320x240) | 4.41 us / X | 226.69 KHz / X | ||
images: Half sample GRAY (640x480) | 18.51 us / X | 54.02 KHz / X | ||
images: Half sample GRAY (800x600) | 29.74 us / X | 33.62 KHz / X | ||
images: Half sample GRAY (1024x768) | 52.65 us / X | 18.99 KHz / X | ||
images: Half sample GRAY (1280x1024) | 107.42 us / X | 9.31 KHz / X | ||
images: Half sample RGB (160x120) | 9.33 us / X | 107.15 KHz / X | ||
images: Half sample RGB (320x240) | 11.01 us / X | 90.82 KHz / X | ||
images: Half sample RGB (640x480) | 53.51 us / X | 18.69 KHz / X | ||
images: Half sample RGB (800x600) | 126.28 us / X | 7.92 KHz / X | ||
images: Half sample RGB (1024x768) | 248.04 us / X | 4.03 KHz / X | ||
images: Half sample RGB (1280x1024) | 667.92 us / X | 1.50 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.83 us / X | 546.97 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 6.09 us / X | 164.16 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 28.72 us / X | 34.81 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 44.06 us / X | 22.70 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 78.59 us / X | 12.72 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 168.62 us / X | 5.93 KHz / X | ||
images: Half sample smooth RGB (160x120) | 88.54 us / X | 11.29 KHz / X | ||
images: Half sample smooth RGB (320x240) | 381.77 us / X | 2.62 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.50 ms / X | 665.62 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.40 ms / X | 417.30 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.77 ms / X | 265.35 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.50 ms / X | 153.82 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.84 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.89 us / X | 345.89 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 10.09 us / X | 99.10 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.97 us / X | 25.02 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 172.29 us / X | 5.80 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 303.41 us / X | 3.30 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 645.96 us / X | 1.55 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / X | 569.41 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 18.63 us | ∇ -7.22% | 57.84 KHz / 53.67 KHz | Δ 7.78% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 17.89 us | ∇ -7.82% | 60.66 KHz / 55.91 KHz | Δ 8.49% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 5.05 us | Δ 92.29% | 102.89 KHz / 197.84 KHz | ∇ -48.00% |
feature_extraction [640x480]: Harris | 31.46 ms / 33.27 ms | ∇ -5.43% | 31.79 Hz / 30.06 Hz | Δ 5.74% |
feature_extraction [640x480]: KLT | 30.94 ms / 31.21 ms | ∇ -0.86% | 32.32 Hz / 32.04 Hz | Δ 0.87% |
feature_extraction [640x480]: SIFT | 653.53 ms / 675.81 ms | ∇ -3.30% | 1.53 Hz / 1.48 Hz | Δ 3.41% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 217.19 ms | ∇ -3.14% | 4.75 Hz / 4.60 Hz | Δ 3.24% |
feature_extraction [640x480]: SURF | 243.66 ms / 316.97 ms | ∇ -23.13% | 4.10 Hz / 3.15 Hz | Δ 30.09% |
feature_extraction [640x480]: FAST | 6.32 ms / 7.82 ms | ∇ -19.15% | 158.19 Hz / 127.91 Hz | Δ 23.68% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 103.38 ms | ∇ -56.36% | 22.16 Hz / 9.67 Hz | Δ 129.13% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 56.24 ms | ∇ -17.15% | 21.46 Hz / 17.78 Hz | Δ 20.69% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 47.55 ms | ∇ -14.00% | 24.46 Hz / 21.03 Hz | Δ 16.29% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.34 sec | ∇ -4.23% | 778.73 mHz / 745.82 mHz | Δ 4.41% |
feature_matching [640x480]: SURF | 502.54 ms / 606.64 ms | ∇ -17.16% | 1.99 Hz / 1.65 Hz | Δ 20.71% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 22.36 ms | ∇ -11.87% | 50.74 Hz / 44.72 Hz | Δ 13.47% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 15.00 ms | ∇ -13.24% | 76.86 Hz / 66.69 Hz | Δ 15.25% |
graph(2d): insertEdge x 1e3 | 236.53 us / 313.03 us | ∇ -24.44% | 4.23 KHz / 3.19 KHz | Δ 32.34% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 307.43 us | ∇ -19.75% | 4.05 KHz / 3.25 KHz | Δ 24.60% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 222.64 us | ∇ -1.72% | 4.57 KHz / 4.49 KHz | Δ 1.75% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 222.87 us | ∇ -6.13% | 4.78 KHz / 4.49 KHz | Δ 6.53% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 516.93 us | ∇ -36.19% | 3.03 KHz / 1.93 KHz | Δ 56.71% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 517.18 us | ∇ -41.30% | 3.29 KHz / 1.93 KHz | Δ 70.35% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 405.97 us | ∇ -31.01% | 3.57 KHz / 2.46 KHz | Δ 44.94% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 403.48 us | ∇ -29.54% | 3.52 KHz / 2.48 KHz | Δ 41.93% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 3.36 ms | ∇ -19.00% | 367.00 Hz / 297.28 Hz | Δ 23.45% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 3.35 ms | ∇ -18.52% | 366.67 Hz / 298.76 Hz | Δ 22.73% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.22 ms | ∇ -12.07% | 512.34 Hz / 450.51 Hz | Δ 13.72% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 2.22 ms | ∇ -13.40% | 519.87 Hz / 450.21 Hz | Δ 15.47% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 5.45 ms | ∇ -41.17% | 311.68 Hz / 183.37 Hz | Δ 69.97% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 5.44 ms | ∇ -40.45% | 308.83 Hz / 183.91 Hz | Δ 67.93% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 4.07 ms | ∇ -20.72% | 309.95 Hz / 245.74 Hz | Δ 26.13% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 4.06 ms | ∇ -21.74% | 314.97 Hz / 246.50 Hz | Δ 27.77% |
graph(3d): insertEdge x 1e3 | 274.22 us / 447.20 us | ∇ -38.68% | 3.65 KHz / 2.24 KHz | Δ 63.08% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 442.12 us | ∇ -40.14% | 3.78 KHz / 2.26 KHz | Δ 67.05% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 346.69 us | ∇ -23.86% | 3.79 KHz / 2.88 KHz | Δ 31.34% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 347.20 us | ∇ -23.00% | 3.74 KHz / 2.88 KHz | Δ 29.87% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 944.03 us | ∇ -37.61% | 1.70 KHz / 1.06 KHz | Δ 60.27% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 978.08 us | ∇ -39.00% | 1.68 KHz / 1.02 KHz | Δ 63.93% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 793.19 us | ∇ -29.02% | 1.78 KHz / 1.26 KHz | Δ 40.89% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 793.52 us | ∇ -29.55% | 1.79 KHz / 1.26 KHz | Δ 41.95% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 4.62 ms | ∇ -30.00% | 309.17 Hz / 216.43 Hz | Δ 42.85% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 4.62 ms | ∇ -32.14% | 319.30 Hz / 216.67 Hz | Δ 47.37% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 3.48 ms | ∇ -24.73% | 381.66 Hz / 287.28 Hz | Δ 32.85% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 3.47 ms | ∇ -26.71% | 392.76 Hz / 287.84 Hz | Δ 36.45% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 10.55 ms | ∇ -42.07% | 163.57 Hz / 94.75 Hz | Δ 72.63% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 9.75 ms | ∇ -42.51% | 178.36 Hz / 102.54 Hz | Δ 73.94% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 7.93 ms | ∇ -34.34% | 192.01 Hz / 126.08 Hz | Δ 52.29% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 7.94 ms | ∇ -34.71% | 192.88 Hz / 125.93 Hz | Δ 53.16% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 262.18 us | ∇ -40.34% | 6.39 KHz / 3.81 KHz | Δ 67.61% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 363.67 us | ∇ -47.12% | 5.20 KHz / 2.75 KHz | Δ 89.09% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 2.97 ms | ∇ -26.78% | 459.11 Hz / 336.14 Hz | Δ 36.58% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 3.29 ms | ∇ -45.30% | 555.25 Hz / 303.75 Hz | Δ 82.80% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 34.21 ms | ∇ -22.05% | 37.50 Hz / 29.23 Hz | Δ 28.28% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 38.12 ms | ∇ -40.11% | 43.80 Hz / 26.23 Hz | Δ 66.97% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 389.54 ms | ∇ -21.15% | 3.26 Hz / 2.57 Hz | Δ 26.82% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 428.64 ms | ∇ -37.76% | 3.75 Hz / 2.33 Hz | Δ 60.66% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 382.11 ms | ∇ -20.94% | 3.31 Hz / 2.62 Hz | Δ 26.48% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 417.45 ms | ∇ -37.05% | 3.81 Hz / 2.40 Hz | Δ 58.86% |