Test description | 0.9.4-GCC-64bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 31.56 ms | ∇ -34.26% | 48.21 Hz / 31.69 Hz | Δ 52.12% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 53.95 ms | ∇ -68.32% | 58.52 Hz / 18.54 Hz | Δ 215.66% |
poses: CPose3D (+) CPose3D | 29.76 ns / 194.14 ns | ∇ -84.67% | 33.60 MHz / 5.15 MHz | Δ 552.35% |
poses: CPose3D.composeFrom() | 21.90 ns / 34.65 ns | ∇ -36.80% | 45.66 MHz / 28.86 MHz | Δ 58.23% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 28.67 ns | ∇ -74.77% | 138.24 MHz / 34.88 MHz | Δ 296.28% |
poses: CPose3D.composePoint() | 11.67 ns / 18.49 ns | ∇ -36.88% | 85.68 MHz / 54.08 MHz | Δ 58.43% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 93.89 ns | ∇ -85.85% | 75.27 MHz / 10.65 MHz | Δ 606.68% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 44.39 ns | ∇ -44.85% | 40.85 MHz / 22.53 MHz | Δ 81.33% |
poses: CPose2D (+) CPose2D | 71.64 ns / 103.92 ns | ∇ -31.06% | 13.96 MHz / 9.62 MHz | Δ 45.06% |
poses: CPose2D.composeFrom() | 69.41 ns / 91.82 ns | ∇ -24.41% | 14.41 MHz / 10.89 MHz | Δ 32.29% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 140.37 ns | ∇ -56.70% | 16.45 MHz / 7.12 MHz | Δ 130.96% |
poses: CPose2D.composePoint() | 60.80 ns / 66.26 ns | ∇ -8.24% | 16.45 MHz / 15.09 MHz | Δ 8.98% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 93.35 ns | ∇ -56.65% | 24.71 MHz / 10.71 MHz | Δ 130.67% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 60.52 ns | ∇ -37.96% | 26.63 MHz / 16.52 MHz | Δ 61.18% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 116.72 ns | ∇ -85.10% | 57.51 MHz / 8.57 MHz | Δ 571.24% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 31.02 ns | ∇ -43.64% | 57.20 MHz / 32.23 MHz | Δ 77.44% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 126.78 ns | ∇ -74.00% | 30.33 MHz / 7.89 MHz | Δ 284.56% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 30.88 ns | ∇ -38.13% | 52.34 MHz / 32.38 MHz | Δ 61.63% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 33.42 ns | ∇ -29.91% | 42.70 MHz / 29.93 MHz | Δ 42.68% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 211.33 ns | ∇ -18.27% | 5.79 MHz / 4.73 MHz | Δ 22.36% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 19.45 us | ∇ -96.55% | 1.49 MHz / 51.41 KHz | Δ 2799.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 2.93 us | ∇ -77.76% | 1.53 MHz / 341.05 KHz | Δ 349.72% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 34.64 us | ∇ -74.76% | 114.40 KHz / 28.87 KHz | Δ 296.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 860.26 ns | ∇ -47.21% | 2.20 MHz / 1.16 MHz | Δ 89.44% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 880.23 ns | ∇ -48.55% | 2.21 MHz / 1.14 MHz | Δ 94.35% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 21.76 us | ∇ -63.36% | 125.39 KHz / 45.95 KHz | Δ 172.89% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 44.99 ns | ∇ -60.80% | 56.71 MHz / 22.23 MHz | Δ 155.11% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 45.16 ns | ∇ -56.02% | 50.34 MHz / 22.14 MHz | Δ 127.37% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 160.84 ns | ∇ -64.53% | 17.53 MHz / 6.22 MHz | Δ 181.91% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 160.97 ns | ∇ -62.73% | 16.67 MHz / 6.21 MHz | Δ 168.28% |
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] | 0.00 ns / 6.73 ns | ∇ -100.00% | 1.#J THz / 148.49 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 7.86 ns | ∇ -100.00% | 1.#J THz / 127.26 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 550.79 ns | ∇ -55.94% | 4.12 MHz / 1.82 MHz | Δ 126.94% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 231.60 ns / 432.98 ns | ∇ -46.51% | 4.32 MHz / 2.31 MHz | Δ 86.95% |
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 | 296.50 ns / 660.53 ns | ∇ -55.11% | 3.37 MHz / 1.51 MHz | Δ 122.77% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 38.91 ns | ∇ -99.74% | 10.00 GHz / 25.70 MHz | Δ 38805.06% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 474.65 ns | ∇ -45.39% | 3.86 MHz / 2.11 MHz | Δ 83.12% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 8.74 ns | ∇ -100.00% | 1.#J THz / 114.40 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 4.68 us | ∇ -55.29% | 477.69 KHz / 213.59 KHz | Δ 123.65% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 4.42 us | ∇ -59.54% | 559.03 KHz / 226.20 KHz | Δ 147.14% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 3.24 us | ∇ -24.96% | 411.68 KHz / 308.92 KHz | Δ 33.26% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 2.37 us | ∇ -8.53% | 462.21 KHz / 422.77 KHz | Δ 9.33% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 1.49 us | ∇ -48.43% | 1.30 MHz / 672.33 KHz | Δ 93.92% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 32.16 ns | ∇ -100.00% | 1.#J THz / 31.10 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 3.50 us | ∇ -49.07% | 561.80 KHz / 286.11 KHz | Δ 96.35% |
matrix: inv, fix[double] 6x6 | 1.73 us / 2.72 us | ∇ -36.37% | 578.70 KHz / 368.24 KHz | Δ 57.16% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 31.87 us | ∇ -48.96% | 61.47 KHz / 31.37 KHz | Δ 95.94% |
matrix: inv, fix[double] 20x20 | 13.44 us / 28.91 us | ∇ -53.52% | 74.41 KHz / 34.58 KHz | Δ 115.15% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 124.22 us | ∇ -45.25% | 14.70 KHz / 8.05 KHz | Δ 82.66% |
matrix: inv, fix[double] 40x40 | 63.01 us / 122.24 us | ∇ -48.46% | 15.87 KHz / 8.18 KHz | Δ 94.02% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 647.62 ns | ∇ -67.67% | 4.78 MHz / 1.54 MHz | Δ 209.27% |
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 | 331.30 ns / 969.59 ns | ∇ -65.83% | 3.02 MHz / 1.03 MHz | Δ 192.66% |
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 | 943.70 ns / 2.45 us | ∇ -61.55% | 1.06 MHz / 407.46 KHz | Δ 160.07% |
matrix: det, fix[double] 6x6 | 575.90 ns / 1.89 us | ∇ -69.48% | 1.74 MHz / 529.99 KHz | Δ 227.63% |
matrix: det, dyn[double] 20x20 | 8.10 us / 22.48 us | ∇ -63.94% | 123.40 KHz / 44.49 KHz | Δ 177.34% |
matrix: det, fix[double] 20x20 | 7.48 us / 21.45 us | ∇ -65.10% | 133.61 KHz / 46.63 KHz | Δ 186.54% |
matrix: det, dyn[double] 40x40 | 30.87 us / 80.28 us | ∇ -61.54% | 32.39 KHz / 12.46 KHz | Δ 160.03% |
matrix: det, fix[double] 40x40 | 29.01 us / 79.04 us | ∇ -63.29% | 34.47 KHz / 12.65 KHz | Δ 172.44% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 1.09 us | ∇ -51.44% | 1.89 MHz / 916.16 KHz | Δ 105.95% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 317.04 ns | ∇ -62.15% | 8.33 MHz / 3.15 MHz | Δ 164.20% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 75.74 us | ∇ -72.67% | 48.31 KHz / 13.20 KHz | Δ 265.87% |
matrix: chol, fix[double] 40x40 | 16.54 us / 55.31 us | ∇ -70.10% | 60.46 KHz / 18.08 KHz | Δ 234.40% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 16.89 us | ∇ -27.78% | 81.97 KHz / 59.19 KHz | Δ 38.47% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 247.29 us | ∇ -64.54% | 11.40 KHz / 4.04 KHz | Δ 181.97% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 180.76 us | ∇ -71.40% | 19.34 KHz / 5.53 KHz | Δ 249.63% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 91.89 us | ∇ -58.35% | 26.13 KHz / 10.88 KHz | Δ 140.11% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 765.78 us | ∇ -66.64% | 3.91 KHz / 1.31 KHz | Δ 199.72% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 116.55 us | ∇ -39.13% | 14.10 KHz / 8.58 KHz | Δ 64.29% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 4.08 ms | ∇ -32.57% | 363.64 Hz / 245.20 Hz | Δ 48.30% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 207.46 us | ∇ -18.43% | 5.91 KHz / 4.82 KHz | Δ 22.60% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 24.43 ms | ∇ -9.72% | 45.33 Hz / 40.93 Hz | Δ 10.76% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 403.40 us | ∇ -15.81% | 2.94 KHz / 2.48 KHz | Δ 18.78% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 40.20 ms | ∇ -8.79% | 27.27 Hz / 24.87 Hz | Δ 9.64% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 479.83 us | ∇ -16.14% | 2.49 KHz / 2.08 KHz | Δ 19.25% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 59.95 ms | ∇ -10.15% | 18.57 Hz / 16.68 Hz | Δ 11.30% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 560.09 us | ∇ -14.87% | 2.10 KHz / 1.79 KHz | Δ 17.47% |
gridmap2D: getCell | 0.00 ns / 5.69 ns | ∇ -100.00% | 1.#J THz / 175.73 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 8.06 ns | ∇ -66.41% | 369.33 MHz / 124.07 MHz | Δ 197.68% |
gridmap2D: updateCell | 6.04 ns / 61.98 ns | ∇ -90.26% | 165.59 MHz / 16.13 MHz | Δ 926.32% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 1.25 ns | ∇ -50.94% | 1.63 GHz / 798.82 MHz | Δ 103.82% |
gridmap2D: insert scan w/o widening | 99.83 us / 208.84 us | ∇ -52.20% | 10.02 KHz / 4.79 KHz | Δ 109.19% |
gridmap2D: insert scan with widening | 293.13 us / 346.08 us | ∇ -15.30% | 3.41 KHz / 2.89 KHz | Δ 18.07% |
gridmap2D: resize | 630.00 us / 2.81 ms | ∇ -77.60% | 1.59 KHz / 355.60 Hz | Δ 346.37% |
gridmap2D: computeLikelihood | 17.81 us / 18.33 us | ∇ -2.81% | 56.14 KHz / 54.57 KHz | Δ 2.89% |
pointmap: insert 100 scans | 1.01 ms / 6.61 ms | ∇ -84.73% | 990.80 Hz / 151.33 Hz | Δ 554.73% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 6.03 us | ∇ -25.08% | 221.24 KHz / 165.76 KHz | Δ 33.47% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 536.01 us | ∇ -32.01% | 2.74 KHz / 1.87 KHz | Δ 47.08% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 5.64 ms | ∇ -22.37% | 228.21 Hz / 177.17 Hz | Δ 28.81% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 7.70 us | ∇ -32.98% | 193.80 KHz / 129.88 KHz | Δ 49.21% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 528.60 us | ∇ -29.54% | 2.68 KHz / 1.89 KHz | Δ 41.93% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 5.81 ms | ∇ -27.70% | 238.06 Hz / 172.12 Hz | Δ 38.31% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 2.13 us | ∇ -33.36% | 703.73 KHz / 468.98 KHz | Δ 50.06% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 145.70 us | ∇ -30.09% | 9.82 KHz / 6.86 KHz | Δ 43.04% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 15.49 ms | ∇ -21.41% | 82.15 Hz / 64.56 Hz | Δ 27.24% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 8.93 ms | ∇ -36.85% | 177.25 Hz / 111.93 Hz | Δ 58.37% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 200.06 ms | ∇ -33.64% | 7.53 Hz / 5.00 Hz | Δ 50.69% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 8.97 ms | ∇ -36.34% | 175.04 Hz / 111.43 Hz | Δ 57.08% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 201.21 ms | ∇ -33.04% | 7.42 Hz / 4.97 Hz | Δ 49.33% |
random: drawUniform32bit | 14.55 ns / 7.76 ns | Δ 87.54% | 68.75 MHz / 128.93 MHz | ∇ -46.68% |
random: drawUniform | 14.56 ns / 7.61 ns | Δ 91.31% | 68.69 MHz / 131.41 MHz | ∇ -47.73% |
random: drawGaussian1D_normalized | 66.87 ns / 51.84 ns | Δ 29.00% | 14.96 MHz / 19.29 MHz | ∇ -22.48% |
random: drawGaussian1D | 66.81 ns / 52.02 ns | Δ 28.42% | 14.97 MHz / 19.22 MHz | ∇ -22.13% |
random: system rand() | 10.63 ns / 27.43 ns | ∇ -61.26% | 94.11 MHz / 36.46 MHz | Δ 158.14% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 4.97 us | ∇ -81.81% | 1.11 MHz / 201.38 KHz | Δ 449.69% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 10.68 us | ∇ -84.92% | 621.01 KHz / 93.66 KHz | Δ 563.06% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 153.63 ns | ∇ -5.84% | 6.91 MHz / 6.51 MHz | Δ 6.21% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 250.07 ns | ∇ -12.23% | 4.56 MHz / 4.00 MHz | Δ 13.94% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 664.62 ns | ∇ -28.86% | 2.12 MHz / 1.50 MHz | Δ 40.57% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 153.22 ns | ∇ -0.61% | 6.57 MHz / 6.53 MHz | Δ 0.61% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 253.40 ns | ∇ -7.25% | 4.25 MHz / 3.95 MHz | Δ 7.81% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 622.96 ns | ∇ -21.09% | 2.03 MHz / 1.61 MHz | Δ 26.72% |
random: permuteVector (len=10) | 243.60 ns / 342.58 ns | ∇ -28.89% | 4.11 MHz / 2.92 MHz | Δ 40.63% |
random: permuteVector (len=100) | 2.99 us / 3.62 us | ∇ -17.45% | 334.99 KHz / 276.54 KHz | Δ 21.14% |
random: permuteVector (len=1000) | 29.51 us / 35.68 us | ∇ -17.28% | 33.88 KHz / 28.03 KHz | Δ 20.89% |
math: round | 0.10 ns / 0.00 ns | Δ 2189954.69% | 10.08 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 28.08 ms | Δ 19.74% | 29.74 Hz / 35.61 Hz | ∇ -16.49% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 42.80 ms | Δ 16.48% | 20.06 Hz / 23.37 Hz | ∇ -14.14% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 69.14 ms | Δ 0.66% | 14.37 Hz / 14.46 Hz | ∇ -0.65% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 23.76 ms | Δ 28.97% | 32.63 Hz / 42.09 Hz | ∇ -22.46% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 37.25 ms | Δ 17.87% | 22.78 Hz / 26.85 Hz | ∇ -15.16% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 59.86 ms | Δ 4.46% | 15.99 Hz / 16.71 Hz | ∇ -4.27% |
images: Gauss filter (640x480) | 3.81 ms / 7.21 ms | ∇ -47.19% | 262.76 Hz / 138.75 Hz | Δ 89.37% |
images: Gauss filter (800x600) | 5.96 ms / 8.67 ms | ∇ -31.24% | 167.70 Hz / 115.32 Hz | Δ 45.43% |
images: Gauss filter (1024x768) | 10.46 ms / 14.94 ms | ∇ -29.99% | 95.61 Hz / 66.93 Hz | Δ 42.84% |
images: Half sample GRAY (160x120) | 1.04 us / X | 961.54 KHz / X | ||
images: Half sample GRAY (320x240) | 2.91 us / X | 344.04 KHz / X | ||
images: Half sample GRAY (640x480) | 14.63 us / X | 68.35 KHz / X | ||
images: Half sample GRAY (800x600) | 27.61 us / X | 36.21 KHz / X | ||
images: Half sample GRAY (1024x768) | 43.98 us / X | 22.74 KHz / X | ||
images: Half sample GRAY (1280x1024) | 84.93 us / X | 11.77 KHz / X | ||
images: Half sample RGB (160x120) | 2.35 us / X | 426.14 KHz / X | ||
images: Half sample RGB (320x240) | 8.97 us / X | 111.44 KHz / X | ||
images: Half sample RGB (640x480) | 49.58 us / X | 20.17 KHz / X | ||
images: Half sample RGB (800x600) | 83.52 us / X | 11.97 KHz / X | ||
images: Half sample RGB (1024x768) | 175.02 us / X | 5.71 KHz / X | ||
images: Half sample RGB (1280x1024) | 434.33 us / X | 2.30 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.52 us / X | 656.46 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 5.05 us / X | 197.89 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 27.35 us / X | 36.57 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 41.00 us / X | 24.39 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 70.54 us / X | 14.18 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 147.17 us / X | 6.80 KHz / X | ||
images: Half sample smooth RGB (160x120) | 87.34 us / X | 11.45 KHz / X | ||
images: Half sample smooth RGB (320x240) | 341.55 us / X | 2.93 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.35 ms / X | 740.73 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.13 ms / X | 468.44 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.55 ms / X | 281.93 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.52 ms / X | 153.40 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.95 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.78 us / X | 359.28 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 9.91 us / X | 100.91 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.89 us / X | 25.07 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 157.22 us / X | 6.36 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 266.94 us / X | 3.75 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 485.16 us / X | 2.06 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 926.17 us / X | 1.08 KHz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 12.69 us / 25.26 us | ∇ -49.76% | 78.80 KHz / 39.59 KHz | Δ 99.05% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 24.29 us | ∇ -59.45% | 101.52 KHz / 41.17 KHz | Δ 146.60% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 13.82 us | ∇ -62.08% | 190.84 KHz / 72.37 KHz | Δ 163.71% |
feature_extraction [640x480]: Harris | 21.14 ms / 53.60 ms | ∇ -60.56% | 47.31 Hz / 18.66 Hz | Δ 153.56% |
feature_extraction [640x480]: KLT | 21.45 ms / 32.67 ms | ∇ -34.33% | 46.61 Hz / 30.61 Hz | Δ 52.28% |
feature_extraction [640x480]: SIFT | 591.25 ms / 724.51 ms | ∇ -18.39% | 1.69 Hz / 1.38 Hz | Δ 22.54% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 217.33 ms | ∇ -25.08% | 6.14 Hz / 4.60 Hz | Δ 33.48% |
feature_extraction [640x480]: SURF | 197.33 ms / 320.21 ms | ∇ -38.37% | 5.07 Hz / 3.12 Hz | Δ 62.27% |
feature_extraction [640x480]: FAST | 6.89 ms / 9.58 ms | ∇ -28.09% | 145.15 Hz / 104.37 Hz | Δ 39.07% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 111.16 ms | ∇ -42.52% | 15.65 Hz / 9.00 Hz | Δ 73.96% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 64.75 ms | ∇ -40.48% | 25.95 Hz / 15.44 Hz | Δ 68.01% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 50.46 ms | ∇ -33.43% | 29.77 Hz / 19.82 Hz | Δ 50.21% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.37 sec | ∇ -15.17% | 863.45 mHz / 732.49 mHz | Δ 17.88% |
feature_matching [640x480]: SURF | 375.89 ms / 602.11 ms | ∇ -37.57% | 2.66 Hz / 1.66 Hz | Δ 60.18% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 23.55 ms | ∇ -32.54% | 62.95 Hz / 42.46 Hz | Δ 48.24% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 15.71 ms | ∇ -33.28% | 95.42 Hz / 63.67 Hz | Δ 49.87% |
graph(2d): insertEdge x 1e3 | 158.24 us / 300.22 us | ∇ -47.29% | 6.32 KHz / 3.33 KHz | Δ 89.72% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 300.93 us | ∇ -55.58% | 7.48 KHz / 3.32 KHz | Δ 125.10% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 245.20 us | ∇ -65.57% | 11.84 KHz / 4.08 KHz | Δ 190.44% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 252.81 us | ∇ -67.65% | 12.23 KHz / 3.96 KHz | Δ 209.15% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 537.61 us | ∇ -61.47% | 4.83 KHz / 1.86 KHz | Δ 159.51% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 456.45 us | ∇ -49.05% | 4.30 KHz / 2.19 KHz | Δ 96.26% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 401.18 us | ∇ -38.50% | 4.05 KHz / 2.49 KHz | Δ 62.59% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 394.03 us | ∇ -51.12% | 5.19 KHz / 2.54 KHz | Δ 104.59% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 3.65 ms | ∇ -42.97% | 480.05 Hz / 273.78 Hz | Δ 75.34% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 3.70 ms | ∇ -56.25% | 618.53 Hz / 270.61 Hz | Δ 128.57% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 2.51 ms | ∇ -65.28% | 1.15 KHz / 399.01 Hz | Δ 188.00% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 2.55 ms | ∇ -66.77% | 1.18 KHz / 392.34 Hz | Δ 200.95% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 4.81 ms | ∇ -51.31% | 427.14 Hz / 207.97 Hz | Δ 105.38% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 4.86 ms | ∇ -42.19% | 356.06 Hz / 205.85 Hz | Δ 72.97% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.03 ms | ∇ -47.22% | 470.35 Hz / 248.25 Hz | Δ 89.46% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.00 ms | ∇ -46.70% | 469.13 Hz / 250.07 Hz | Δ 87.60% |
graph(3d): insertEdge x 1e3 | 220.82 us / 338.14 us | ∇ -34.70% | 4.53 KHz / 2.96 KHz | Δ 53.13% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 332.03 us | ∇ -33.20% | 4.51 KHz / 3.01 KHz | Δ 49.69% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 302.41 us | ∇ -39.43% | 5.46 KHz / 3.31 KHz | Δ 65.09% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 309.65 us | ∇ -39.77% | 5.36 KHz / 3.23 KHz | Δ 66.02% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 668.72 us | ∇ -20.39% | 1.88 KHz / 1.50 KHz | Δ 25.62% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 672.92 us | ∇ -20.05% | 1.86 KHz / 1.49 KHz | Δ 25.08% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 668.41 us | ∇ -27.05% | 2.05 KHz / 1.50 KHz | Δ 37.08% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 676.59 us | ∇ -27.06% | 2.03 KHz / 1.48 KHz | Δ 37.10% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 3.60 ms | ∇ -22.81% | 359.55 Hz / 277.54 Hz | Δ 29.55% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 3.62 ms | ∇ -23.34% | 360.52 Hz / 276.39 Hz | Δ 30.44% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 3.04 ms | ∇ -31.12% | 477.61 Hz / 328.99 Hz | Δ 45.17% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 3.02 ms | ∇ -32.06% | 487.11 Hz / 330.96 Hz | Δ 47.18% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 7.09 ms | Δ 3.84% | 135.81 Hz / 141.02 Hz | ∇ -3.70% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 7.08 ms | ∇ -1.52% | 143.42 Hz / 141.24 Hz | Δ 1.55% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 6.70 ms | ∇ -21.06% | 189.20 Hz / 149.36 Hz | Δ 26.68% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 6.88 ms | ∇ -20.27% | 182.28 Hz / 145.34 Hz | Δ 25.42% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 279.15 us | ∇ -67.56% | 11.04 KHz / 3.58 KHz | Δ 208.27% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 417.83 us | ∇ -80.02% | 11.98 KHz / 2.39 KHz | Δ 400.38% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 3.14 ms | ∇ -63.90% | 882.20 Hz / 318.46 Hz | Δ 177.02% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 3.68 ms | ∇ -79.16% | 1.30 KHz / 271.44 Hz | Δ 379.89% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 37.09 ms | ∇ -43.06% | 47.35 Hz / 26.96 Hz | Δ 75.63% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 42.65 ms | ∇ -74.53% | 92.06 Hz / 23.45 Hz | Δ 292.62% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 433.73 ms | ∇ -21.30% | 2.93 Hz / 2.31 Hz | Δ 27.06% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 470.84 ms | ∇ -69.73% | 7.02 Hz / 2.12 Hz | Δ 230.34% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 428.18 ms | ∇ -25.20% | 3.12 Hz / 2.34 Hz | Δ 33.69% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 465.28 ms | ∇ -71.27% | 7.48 Hz / 2.15 Hz | Δ 248.12% |