Test description | 0.9.4-MSVC10-32bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 31.56 ms | Δ 17.68% | 26.93 Hz / 31.69 Hz | ∇ -15.03% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 53.95 ms | ∇ -32.64% | 27.52 Hz / 18.54 Hz | Δ 48.46% |
poses: CPose3D (+) CPose3D | 197.08 ns / 194.14 ns | Δ 1.51% | 5.07 MHz / 5.15 MHz | ∇ -1.49% |
poses: CPose3D.composeFrom() | 33.62 ns / 34.65 ns | ∇ -2.97% | 29.74 MHz / 28.86 MHz | Δ 3.06% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 28.67 ns | ∇ -12.32% | 39.79 MHz / 34.88 MHz | Δ 14.05% |
poses: CPose3D.composePoint() | 21.31 ns / 18.49 ns | Δ 15.22% | 46.94 MHz / 54.08 MHz | ∇ -13.21% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 93.89 ns | ∇ -4.18% | 11.12 MHz / 10.65 MHz | Δ 4.36% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 44.39 ns | Δ 6.44% | 21.17 MHz / 22.53 MHz | ∇ -6.05% |
poses: CPose2D (+) CPose2D | 108.63 ns / 103.92 ns | Δ 4.53% | 9.21 MHz / 9.62 MHz | ∇ -4.33% |
poses: CPose2D.composeFrom() | 94.77 ns / 91.82 ns | Δ 3.22% | 10.55 MHz / 10.89 MHz | ∇ -3.12% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 140.37 ns | ∇ -42.57% | 12.41 MHz / 7.12 MHz | Δ 74.13% |
poses: CPose2D.composePoint() | 67.32 ns / 66.26 ns | Δ 1.60% | 14.85 MHz / 15.09 MHz | ∇ -1.58% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 93.35 ns | ∇ -12.90% | 12.30 MHz / 10.71 MHz | Δ 14.82% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 60.52 ns | ∇ -14.80% | 19.39 MHz / 16.52 MHz | Δ 17.37% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 116.72 ns | ∇ -52.10% | 17.89 MHz / 8.57 MHz | Δ 108.75% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 31.02 ns | Δ 5.50% | 30.55 MHz / 32.23 MHz | ∇ -5.22% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 126.78 ns | ∇ -2.18% | 8.06 MHz / 7.89 MHz | Δ 2.23% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 30.88 ns | ∇ -0.89% | 32.67 MHz / 32.38 MHz | Δ 0.90% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 33.42 ns | ∇ -15.84% | 35.56 MHz / 29.93 MHz | Δ 18.83% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 211.33 ns | Δ 2.61% | 4.61 MHz / 4.73 MHz | ∇ -2.54% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 19.45 us | ∇ -93.63% | 806.40 KHz / 51.41 KHz | Δ 1468.66% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 2.93 us | ∇ -59.18% | 835.55 KHz / 341.05 KHz | Δ 144.99% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 34.64 us | ∇ -41.82% | 49.63 KHz / 28.87 KHz | Δ 71.89% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 860.26 ns | ∇ -4.96% | 1.22 MHz / 1.16 MHz | Δ 5.22% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 880.23 ns | ∇ -6.46% | 1.21 MHz / 1.14 MHz | Δ 6.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 21.76 us | ∇ -12.29% | 52.39 KHz / 45.95 KHz | Δ 14.01% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 44.99 ns | Δ 10.40% | 20.13 MHz / 22.23 MHz | ∇ -9.42% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 45.16 ns | Δ 12.71% | 19.64 MHz / 22.14 MHz | ∇ -11.28% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 160.84 ns | Δ 12.52% | 5.53 MHz / 6.22 MHz | ∇ -11.13% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 160.97 ns | Δ 10.52% | 5.62 MHz / 6.21 MHz | ∇ -9.52% |
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] | 6.63 ns / 6.73 ns | ∇ -1.54% | 150.81 MHz / 148.49 MHz | Δ 1.56% |
matrix: unit, fix[double,6,6] | 8.86 ns / 7.86 ns | Δ 12.70% | 112.91 MHz / 127.26 MHz | ∇ -11.27% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 550.79 ns | Δ 23.51% | 1.47 MHz / 1.82 MHz | ∇ -19.03% |
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 | 458.35 ns / 432.98 ns | Δ 5.86% | 2.18 MHz / 2.31 MHz | ∇ -5.53% |
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 | 680.46 ns / 660.53 ns | Δ 3.02% | 1.47 MHz / 1.51 MHz | ∇ -2.93% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 38.91 ns | ∇ -9.31% | 28.34 MHz / 25.70 MHz | Δ 10.27% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 474.65 ns | Δ 8.29% | 1.95 MHz / 2.11 MHz | ∇ -7.66% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 8.74 ns | ∇ -61.14% | 294.39 MHz / 114.40 MHz | Δ 157.33% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 4.68 us | Δ 10.63% | 193.06 KHz / 213.59 KHz | ∇ -9.61% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 4.42 us | Δ 3.08% | 219.44 KHz / 226.20 KHz | ∇ -2.99% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 3.24 us | Δ 17.11% | 263.78 KHz / 308.92 KHz | ∇ -14.61% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 2.37 us | Δ 23.59% | 342.06 KHz / 422.77 KHz | ∇ -19.09% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 1.49 us | Δ 1.04% | 665.44 KHz / 672.33 KHz | ∇ -1.03% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 32.16 ns | ∇ -70.42% | 105.14 MHz / 31.10 MHz | Δ 238.09% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 3.50 us | Δ 11.69% | 256.17 KHz / 286.11 KHz | ∇ -10.47% |
matrix: inv, fix[double] 6x6 | 3.54 us / 2.72 us | Δ 30.35% | 282.49 KHz / 368.24 KHz | ∇ -23.29% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 31.87 us | Δ 7.27% | 29.25 KHz / 31.37 KHz | ∇ -6.78% |
matrix: inv, fix[double] 20x20 | 29.35 us / 28.91 us | Δ 1.51% | 34.07 KHz / 34.58 KHz | ∇ -1.49% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 124.22 us | Δ 8.07% | 7.45 KHz / 8.05 KHz | ∇ -7.46% |
matrix: inv, fix[double] 40x40 | 126.45 us / 122.24 us | Δ 3.44% | 7.91 KHz / 8.18 KHz | ∇ -3.33% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 647.62 ns | ∇ -7.08% | 1.66 MHz / 1.54 MHz | Δ 7.62% |
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 / 969.59 ns | ∇ -9.98% | 1.15 MHz / 1.03 MHz | Δ 11.09% |
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 / 2.45 us | ∇ -5.31% | 430.29 KHz / 407.46 KHz | Δ 5.60% |
matrix: det, fix[double] 6x6 | 2.17 us / 1.89 us | Δ 15.07% | 460.60 KHz / 529.99 KHz | ∇ -13.09% |
matrix: det, dyn[double] 20x20 | 23.14 us / 22.48 us | Δ 2.94% | 43.22 KHz / 44.49 KHz | ∇ -2.85% |
matrix: det, fix[double] 20x20 | 21.38 us / 21.45 us | ∇ -0.32% | 46.78 KHz / 46.63 KHz | Δ 0.32% |
matrix: det, dyn[double] 40x40 | 92.83 us / 80.28 us | Δ 15.64% | 10.77 KHz / 12.46 KHz | ∇ -13.53% |
matrix: det, fix[double] 40x40 | 90.97 us / 79.04 us | Δ 15.09% | 10.99 KHz / 12.65 KHz | ∇ -13.11% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 1.09 us | ∇ -18.26% | 1.12 MHz / 916.16 KHz | Δ 22.33% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 317.04 ns | ∇ -21.43% | 4.01 MHz / 3.15 MHz | Δ 27.27% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 75.74 us | ∇ -45.70% | 24.32 KHz / 13.20 KHz | Δ 84.16% |
matrix: chol, fix[double] 40x40 | 26.92 us / 55.31 us | ∇ -51.33% | 37.15 KHz / 18.08 KHz | Δ 105.48% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 16.89 us | ∇ -9.38% | 65.32 KHz / 59.19 KHz | Δ 10.35% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 247.29 us | ∇ -52.75% | 8.56 KHz / 4.04 KHz | Δ 111.63% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 180.76 us | ∇ -45.25% | 10.10 KHz / 5.53 KHz | Δ 82.65% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 91.89 us | ∇ -39.95% | 18.12 KHz / 10.88 KHz | Δ 66.53% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 765.78 us | ∇ -34.96% | 2.01 KHz / 1.31 KHz | Δ 53.75% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 116.55 us | Δ 14.46% | 7.50 KHz / 8.58 KHz | ∇ -12.63% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 4.08 ms | Δ 22.42% | 200.30 Hz / 245.20 Hz | ∇ -18.31% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 207.46 us | Δ 17.59% | 4.10 KHz / 4.82 KHz | ∇ -14.96% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 24.43 ms | Δ 22.88% | 33.31 Hz / 40.93 Hz | ∇ -18.62% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 403.40 us | Δ 20.50% | 2.06 KHz / 2.48 KHz | ∇ -17.01% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 40.20 ms | Δ 29.21% | 19.25 Hz / 24.87 Hz | ∇ -22.61% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 479.83 us | Δ 21.66% | 1.71 KHz / 2.08 KHz | ∇ -17.81% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 59.95 ms | Δ 28.29% | 13.00 Hz / 16.68 Hz | ∇ -22.05% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 560.09 us | Δ 15.93% | 1.54 KHz / 1.79 KHz | ∇ -13.74% |
gridmap2D: getCell | 6.44 ns / 5.69 ns | Δ 13.19% | 155.25 MHz / 175.73 MHz | ∇ -11.65% |
gridmap2D: setCell | 9.52 ns / 8.06 ns | Δ 18.16% | 105.00 MHz / 124.07 MHz | ∇ -15.37% |
gridmap2D: updateCell | 9.85 ns / 61.98 ns | ∇ -84.11% | 101.55 MHz / 16.13 MHz | Δ 529.38% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 1.25 ns | Δ 17.58% | 679.40 MHz / 798.82 MHz | ∇ -14.95% |
gridmap2D: insert scan w/o widening | 225.20 us / 208.84 us | Δ 7.83% | 4.44 KHz / 4.79 KHz | ∇ -7.26% |
gridmap2D: insert scan with widening | 365.80 us / 346.08 us | Δ 5.70% | 2.73 KHz / 2.89 KHz | ∇ -5.39% |
gridmap2D: resize | 2.56 ms / 2.81 ms | ∇ -8.81% | 389.96 Hz / 355.60 Hz | Δ 9.66% |
gridmap2D: computeLikelihood | 21.14 us / 18.33 us | Δ 15.37% | 47.30 KHz / 54.57 KHz | ∇ -13.32% |
pointmap: insert 100 scans | 3.27 ms / 6.61 ms | ∇ -50.50% | 305.75 Hz / 151.33 Hz | Δ 102.04% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.03 us | Δ 0.00% | 165.76 KHz / 165.76 KHz | ∇ -0.00% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 536.01 us | Δ 8.10% | 1.73 KHz / 1.87 KHz | ∇ -7.49% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 5.64 ms | Δ 8.78% | 162.87 Hz / 177.17 Hz | ∇ -8.07% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 7.70 us | ∇ -13.18% | 149.59 KHz / 129.88 KHz | Δ 15.18% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 528.60 us | ∇ -1.63% | 1.92 KHz / 1.89 KHz | Δ 1.66% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 5.81 ms | Δ 14.23% | 150.68 Hz / 172.12 Hz | ∇ -12.46% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 2.13 us | ∇ -8.33% | 511.57 KHz / 468.98 KHz | Δ 9.08% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 145.70 us | Δ 14.72% | 5.98 KHz / 6.86 KHz | ∇ -12.83% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 15.49 ms | Δ 12.69% | 57.30 Hz / 64.56 Hz | ∇ -11.26% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 8.93 ms | Δ 1.99% | 109.75 Hz / 111.93 Hz | ∇ -1.95% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 200.06 ms | Δ 5.33% | 4.75 Hz / 5.00 Hz | ∇ -5.06% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 8.97 ms | ∇ -6.65% | 119.37 Hz / 111.43 Hz | Δ 7.13% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 201.21 ms | ∇ -1.24% | 5.03 Hz / 4.97 Hz | Δ 1.26% |
random: drawUniform32bit | 7.57 ns / 7.76 ns | ∇ -2.40% | 132.11 MHz / 128.93 MHz | Δ 2.46% |
random: drawUniform | 7.60 ns / 7.61 ns | ∇ -0.10% | 131.54 MHz / 131.41 MHz | Δ 0.10% |
random: drawGaussian1D_normalized | 58.48 ns / 51.84 ns | Δ 12.81% | 17.10 MHz / 19.29 MHz | ∇ -11.36% |
random: drawGaussian1D | 57.62 ns / 52.02 ns | Δ 10.77% | 17.35 MHz / 19.22 MHz | ∇ -9.72% |
random: system rand() | 29.43 ns / 27.43 ns | Δ 7.28% | 33.98 MHz / 36.46 MHz | ∇ -6.79% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 4.97 us | ∇ -40.63% | 339.21 KHz / 201.38 KHz | Δ 68.44% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 10.68 us | ∇ -66.90% | 282.92 KHz / 93.66 KHz | Δ 202.08% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 153.63 ns | ∇ -5.15% | 6.86 MHz / 6.51 MHz | Δ 5.43% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 250.07 ns | ∇ -9.08% | 4.40 MHz / 4.00 MHz | Δ 9.99% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 664.62 ns | ∇ -22.58% | 1.94 MHz / 1.50 MHz | Δ 29.16% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 153.22 ns | Δ 11.22% | 5.87 MHz / 6.53 MHz | ∇ -10.09% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 253.40 ns | Δ 11.92% | 3.53 MHz / 3.95 MHz | ∇ -10.65% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 622.96 ns | Δ 6.14% | 1.51 MHz / 1.61 MHz | ∇ -5.79% |
random: permuteVector (len=10) | 304.45 ns / 342.58 ns | ∇ -11.13% | 3.28 MHz / 2.92 MHz | Δ 12.53% |
random: permuteVector (len=100) | 3.47 us / 3.62 us | ∇ -4.12% | 288.42 KHz / 276.54 KHz | Δ 4.30% |
random: permuteVector (len=1000) | 37.99 us / 35.68 us | Δ 6.46% | 26.33 KHz / 28.03 KHz | ∇ -6.06% |
math: round | 0.00 ns / 0.00 ns | Δ 0.00% | 220.79 THz / 220.79 THz | ∇ -0.00% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 28.08 ms | Δ 17.72% | 30.25 Hz / 35.61 Hz | ∇ -15.05% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 42.80 ms | Δ 18.32% | 19.75 Hz / 23.37 Hz | ∇ -15.48% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 69.14 ms | Δ 19.56% | 12.10 Hz / 14.46 Hz | ∇ -16.36% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 23.76 ms | Δ 15.14% | 36.56 Hz / 42.09 Hz | ∇ -13.15% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 37.25 ms | Δ 16.12% | 23.12 Hz / 26.85 Hz | ∇ -13.88% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 59.86 ms | Δ 11.19% | 15.03 Hz / 16.71 Hz | ∇ -10.06% |
images: Gauss filter (640x480) | 5.57 ms / 7.21 ms | ∇ -22.70% | 179.49 Hz / 138.75 Hz | Δ 29.36% |
images: Gauss filter (800x600) | 8.84 ms / 8.67 ms | Δ 1.96% | 113.10 Hz / 115.32 Hz | ∇ -1.92% |
images: Gauss filter (1024x768) | 14.37 ms / 14.94 ms | ∇ -3.80% | 69.58 Hz / 66.93 Hz | Δ 3.95% |
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 / 25.26 us | ∇ -13.04% | 45.52 KHz / 39.59 KHz | Δ 14.99% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 24.29 us | ∇ -9.40% | 45.44 KHz / 41.17 KHz | Δ 10.37% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 13.82 us | ∇ -8.03% | 78.69 KHz / 72.37 KHz | Δ 8.73% |
feature_extraction [640x480]: Harris | 38.32 ms / 53.60 ms | ∇ -28.51% | 26.10 Hz / 18.66 Hz | Δ 39.89% |
feature_extraction [640x480]: KLT | 37.22 ms / 32.67 ms | Δ 13.92% | 26.87 Hz / 30.61 Hz | ∇ -12.22% |
feature_extraction [640x480]: SIFT | 739.68 ms / 724.51 ms | Δ 2.09% | 1.35 Hz / 1.38 Hz | ∇ -2.05% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 217.33 ms | Δ 7.19% | 4.29 Hz / 4.60 Hz | ∇ -6.70% |
feature_extraction [640x480]: SURF | 309.97 ms / 320.21 ms | ∇ -3.20% | 3.23 Hz / 3.12 Hz | Δ 3.30% |
feature_extraction [640x480]: FAST | 6.88 ms / 9.58 ms | ∇ -28.14% | 145.25 Hz / 104.37 Hz | Δ 39.16% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 111.16 ms | ∇ -20.58% | 11.33 Hz / 9.00 Hz | Δ 25.91% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 64.75 ms | ∇ -7.82% | 16.76 Hz / 15.44 Hz | Δ 8.49% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 50.46 ms | Δ 16.08% | 17.07 Hz / 19.82 Hz | ∇ -13.85% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.37 sec | Δ 9.65% | 668.02 mHz / 732.49 mHz | ∇ -8.80% |
feature_matching [640x480]: SURF | 621.62 ms / 602.11 ms | Δ 3.24% | 1.61 Hz / 1.66 Hz | ∇ -3.14% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 23.55 ms | ∇ -7.89% | 46.10 Hz / 42.46 Hz | Δ 8.57% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 15.71 ms | ∇ -19.54% | 79.13 Hz / 63.67 Hz | Δ 24.28% |
graph(2d): insertEdge x 1e3 | 301.62 us / 300.22 us | Δ 0.47% | 3.32 KHz / 3.33 KHz | ∇ -0.47% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 300.93 us | ∇ -0.69% | 3.35 KHz / 3.32 KHz | Δ 0.69% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 245.20 us | Δ 12.03% | 3.64 KHz / 4.08 KHz | ∇ -10.74% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 252.81 us | Δ 6.88% | 3.70 KHz / 3.96 KHz | ∇ -6.44% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 537.61 us | ∇ -22.64% | 2.40 KHz / 1.86 KHz | Δ 29.27% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 456.45 us | ∇ -10.92% | 2.46 KHz / 2.19 KHz | Δ 12.26% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 401.18 us | ∇ -5.89% | 2.65 KHz / 2.49 KHz | Δ 6.26% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 394.03 us | ∇ -3.70% | 2.64 KHz / 2.54 KHz | Δ 3.84% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 3.65 ms | Δ 13.33% | 241.59 Hz / 273.78 Hz | ∇ -11.76% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 3.70 ms | Δ 8.22% | 250.06 Hz / 270.61 Hz | ∇ -7.59% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 2.51 ms | Δ 17.44% | 339.77 Hz / 399.01 Hz | ∇ -14.85% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 2.55 ms | Δ 13.50% | 345.69 Hz / 392.34 Hz | ∇ -11.89% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 4.81 ms | ∇ -0.76% | 209.57 Hz / 207.97 Hz | Δ 0.77% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 4.86 ms | Δ 0.13% | 205.59 Hz / 205.85 Hz | ∇ -0.13% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 4.03 ms | Δ 0.65% | 246.64 Hz / 248.25 Hz | ∇ -0.65% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 4.00 ms | Δ 5.28% | 237.52 Hz / 250.07 Hz | ∇ -5.02% |
graph(3d): insertEdge x 1e3 | 381.69 us / 338.14 us | Δ 12.88% | 2.62 KHz / 2.96 KHz | ∇ -11.41% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 332.03 us | Δ 22.64% | 2.46 KHz / 3.01 KHz | ∇ -18.46% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 302.41 us | Δ 12.29% | 2.94 KHz / 3.31 KHz | ∇ -10.94% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 309.65 us | Δ 8.04% | 2.99 KHz / 3.23 KHz | ∇ -7.44% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 668.72 us | Δ 3.02% | 1.45 KHz / 1.50 KHz | ∇ -2.93% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 672.92 us | Δ 1.75% | 1.46 KHz / 1.49 KHz | ∇ -1.72% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 668.41 us | Δ 2.22% | 1.46 KHz / 1.50 KHz | ∇ -2.17% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 676.59 us | Δ 1.15% | 1.46 KHz / 1.48 KHz | ∇ -1.14% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 3.60 ms | Δ 7.83% | 257.39 Hz / 277.54 Hz | ∇ -7.26% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 3.62 ms | Δ 4.77% | 263.81 Hz / 276.39 Hz | ∇ -4.55% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 3.04 ms | Δ 17.96% | 278.91 Hz / 328.99 Hz | ∇ -15.22% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 3.02 ms | Δ 16.42% | 284.28 Hz / 330.96 Hz | ∇ -14.10% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 7.09 ms | Δ 10.04% | 128.15 Hz / 141.02 Hz | ∇ -9.13% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 7.08 ms | Δ 10.25% | 128.11 Hz / 141.24 Hz | ∇ -9.29% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 6.70 ms | Δ 11.92% | 133.45 Hz / 149.36 Hz | ∇ -10.65% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 6.88 ms | Δ 9.99% | 132.15 Hz / 145.34 Hz | ∇ -9.08% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 279.15 us | ∇ -23.64% | 4.69 KHz / 3.58 KHz | Δ 30.96% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 417.83 us | ∇ -25.43% | 3.21 KHz / 2.39 KHz | Δ 34.10% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 3.14 ms | ∇ -18.27% | 389.66 Hz / 318.46 Hz | Δ 22.36% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 3.68 ms | ∇ -26.68% | 370.20 Hz / 271.44 Hz | Δ 36.38% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 37.09 ms | ∇ -15.65% | 31.96 Hz / 26.96 Hz | Δ 18.56% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 42.65 ms | ∇ -22.82% | 30.38 Hz / 23.45 Hz | Δ 29.57% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 433.73 ms | ∇ -9.23% | 2.54 Hz / 2.31 Hz | Δ 10.17% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 470.84 ms | ∇ -18.10% | 2.59 Hz / 2.12 Hz | Δ 22.10% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 428.18 ms | ∇ -11.18% | 2.63 Hz / 2.34 Hz | Δ 12.59% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 465.28 ms | ∇ -19.01% | 2.65 Hz / 2.15 Hz | Δ 23.47% |