Test description | 0.9.4-GCC-64bit / 0.9.2-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 30.39 ms | ∇ -31.75% | 48.21 Hz / 32.90 Hz | Δ 46.51% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 52.58 ms | ∇ -67.50% | 58.52 Hz / 19.02 Hz | Δ 207.68% |
poses: CPose3D (+) CPose3D | 29.76 ns / 264.70 ns | ∇ -88.76% | 33.60 MHz / 3.78 MHz | Δ 789.46% |
poses: CPose3D.composeFrom() | 21.90 ns / 98.01 ns | ∇ -77.65% | 45.66 MHz / 10.20 MHz | Δ 347.51% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 27.86 ns | ∇ -74.04% | 138.24 MHz / 35.89 MHz | Δ 285.16% |
poses: CPose3D.composePoint() | 11.67 ns / 19.17 ns | ∇ -39.12% | 85.68 MHz / 52.16 MHz | Δ 64.26% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 51.66 ns | ∇ -74.28% | 75.27 MHz / 19.36 MHz | Δ 288.80% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 46.91 ns | ∇ -47.82% | 40.85 MHz / 21.32 MHz | Δ 91.64% |
poses: CPose2D (+) CPose2D | 71.64 ns / 99.28 ns | ∇ -27.84% | 13.96 MHz / 10.07 MHz | Δ 38.57% |
poses: CPose2D.composeFrom() | 69.41 ns / 89.67 ns | ∇ -22.60% | 14.41 MHz / 11.15 MHz | Δ 29.20% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 82.07 ns | ∇ -25.95% | 16.45 MHz / 12.18 MHz | Δ 35.04% |
poses: CPose2D.composePoint() | 60.80 ns / 64.58 ns | ∇ -5.85% | 16.45 MHz / 15.49 MHz | Δ 6.22% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 87.19 ns | ∇ -53.58% | 24.71 MHz / 11.47 MHz | Δ 115.44% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 57.14 ns | ∇ -34.29% | 26.63 MHz / 17.50 MHz | Δ 52.18% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 48.22 ns | ∇ -63.94% | 57.51 MHz / 20.74 MHz | Δ 177.33% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 29.64 ns | ∇ -41.01% | 57.20 MHz / 33.74 MHz | Δ 69.53% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 84.32 ns | ∇ -60.90% | 30.33 MHz / 11.86 MHz | Δ 155.76% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 30.72 ns | ∇ -37.80% | 52.34 MHz / 32.55 MHz | Δ 60.78% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 33.02 ns | ∇ -29.07% | 42.70 MHz / 30.29 MHz | Δ 40.99% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 206.69 ns | ∇ -16.44% | 5.79 MHz / 4.84 MHz | Δ 19.67% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 1.35 us | ∇ -50.37% | 1.49 MHz / 739.68 KHz | Δ 101.48% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 1.40 us | ∇ -53.57% | 1.53 MHz / 712.12 KHz | Δ 115.38% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 23.15 us | ∇ -62.24% | 114.40 KHz / 43.20 KHz | Δ 164.80% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 1.62 us | ∇ -71.98% | 2.20 MHz / 617.00 KHz | Δ 256.91% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 1.63 us | ∇ -72.21% | 2.21 MHz / 613.67 KHz | Δ 259.80% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 15.82 us | ∇ -49.58% | 125.39 KHz / 63.21 KHz | Δ 98.35% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 38.75 ns | ∇ -54.48% | 56.71 MHz / 25.81 MHz | Δ 119.71% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 38.69 ns | ∇ -48.66% | 50.34 MHz / 25.85 MHz | Δ 94.79% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 163.36 ns | ∇ -65.07% | 17.53 MHz / 6.12 MHz | Δ 186.31% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 213.06 ns | ∇ -71.84% | 16.67 MHz / 4.69 MHz | Δ 255.10% |
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] | 0.00 ns / 2.77 ns | ∇ -100.00% | 1.#J THz / 360.95 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 6.07 ns | ∇ -100.00% | 1.#J THz / 164.80 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 168.66 ns | Δ 43.90% | 4.12 MHz / 5.93 MHz | ∇ -30.51% |
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 | 231.60 ns / 159.15 ns | Δ 45.52% | 4.32 MHz / 6.28 MHz | ∇ -31.28% |
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 | 296.50 ns / 272.34 ns | Δ 8.87% | 3.37 MHz / 3.67 MHz | ∇ -8.15% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 190.04 ns | ∇ -99.95% | 10.00 GHz / 5.26 MHz | Δ 189941.48% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 245.84 ns | Δ 5.43% | 3.86 MHz / 4.07 MHz | ∇ -5.15% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 138.91 ns | ∇ -100.00% | 1.#J THz / 7.20 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 16.67 us | ∇ -87.44% | 477.69 KHz / 60.00 KHz | Δ 696.21% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 12.92 us | ∇ -86.15% | 559.03 KHz / 77.41 KHz | Δ 622.21% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 13.30 us | ∇ -81.74% | 411.68 KHz / 75.16 KHz | Δ 447.72% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 9.66 us | ∇ -77.60% | 462.21 KHz / 103.53 KHz | Δ 346.47% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 1.47 us | ∇ -47.72% | 1.30 MHz / 681.67 KHz | Δ 91.26% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 30.80 ns | ∇ -100.00% | 1.#J THz / 32.47 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 5.05 us | ∇ -64.72% | 561.80 KHz / 198.20 KHz | Δ 183.45% |
matrix: inv, fix[double] 6x6 | 1.73 us / 944.32 ns | Δ 82.99% | 578.70 KHz / 1.06 MHz | ∇ -45.35% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 106.06 us | ∇ -84.66% | 61.47 KHz / 9.43 KHz | Δ 551.98% |
matrix: inv, fix[double] 20x20 | 13.44 us / 18.99 us | ∇ -29.25% | 74.41 KHz / 52.65 KHz | Δ 41.33% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 805.07 us | ∇ -91.55% | 14.70 KHz / 1.24 KHz | Δ 1083.84% |
matrix: inv, fix[double] 40x40 | 63.01 us / 129.27 us | ∇ -51.26% | 15.87 KHz / 7.74 KHz | Δ 105.17% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 8.47 ns | Δ 2372.42% | 4.78 MHz / 118.07 MHz | ∇ -95.96% |
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 / 15.90 ns | Δ 1984.02% | 3.02 MHz / 62.90 MHz | ∇ -95.20% |
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 / 2.27 us | ∇ -58.42% | 1.06 MHz / 440.64 KHz | Δ 140.48% |
matrix: det, fix[double] 6x6 | 575.90 ns / 409.52 ns | Δ 40.63% | 1.74 MHz / 2.44 MHz | ∇ -28.89% |
matrix: det, dyn[double] 20x20 | 8.10 us / 17.63 us | ∇ -54.03% | 123.40 KHz / 56.72 KHz | Δ 117.54% |
matrix: det, fix[double] 20x20 | 7.48 us / 6.19 us | Δ 20.97% | 133.61 KHz / 161.63 KHz | ∇ -17.33% |
matrix: det, dyn[double] 40x40 | 30.87 us / 112.43 us | ∇ -72.54% | 32.39 KHz / 8.89 KHz | Δ 264.17% |
matrix: det, fix[double] 40x40 | 29.01 us / 35.24 us | ∇ -17.67% | 34.47 KHz / 28.38 KHz | Δ 21.46% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 172.11 ns | Δ 207.95% | 1.89 MHz / 5.81 MHz | ∇ -67.53% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 117.76 ns | Δ 1.90% | 8.33 MHz / 8.49 MHz | ∇ -1.87% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 24.40 us | ∇ -15.17% | 48.31 KHz / 40.98 KHz | Δ 17.89% |
matrix: chol, fix[double] 40x40 | 16.54 us / 17.68 us | ∇ -6.43% | 60.46 KHz / 56.57 KHz | Δ 6.87% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 8.42 us | Δ 44.82% | 81.97 KHz / 118.71 KHz | ∇ -30.95% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 118.80 us | ∇ -26.18% | 11.40 KHz / 8.42 KHz | Δ 35.46% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 69.79 us | ∇ -25.92% | 19.34 KHz / 14.33 KHz | Δ 35.00% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 52.54 us | ∇ -27.16% | 26.13 KHz / 19.03 KHz | Δ 37.28% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 466.09 us | ∇ -45.18% | 3.91 KHz / 2.15 KHz | Δ 82.42% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 89.01 us | ∇ -20.30% | 14.10 KHz / 11.24 KHz | Δ 25.47% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 9.32 ms | ∇ -70.51% | 363.64 Hz / 107.25 Hz | Δ 239.05% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 201.22 us | ∇ -15.90% | 5.91 KHz / 4.97 KHz | Δ 18.91% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 138.07 ms | ∇ -84.02% | 45.33 Hz / 7.24 Hz | Δ 525.87% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 401.45 us | ∇ -15.40% | 2.94 KHz / 2.49 KHz | Δ 18.21% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 453.62 ms | ∇ -91.92% | 27.27 Hz / 2.20 Hz | Δ 1137.15% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 474.18 us | ∇ -15.14% | 2.49 KHz / 2.11 KHz | Δ 17.84% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 945.16 ms | ∇ -94.30% | 18.57 Hz / 1.06 Hz | Δ 1654.77% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 552.77 us | ∇ -13.74% | 2.10 KHz / 1.81 KHz | Δ 15.93% |
gridmap2D: getCell | 0.00 ns / 5.57 ns | ∇ -100.00% | 1.#J THz / 179.64 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 7.80 ns | ∇ -65.30% | 369.33 MHz / 128.17 MHz | Δ 188.15% |
gridmap2D: updateCell | 6.04 ns / 10.65 ns | ∇ -43.28% | 165.59 MHz / 93.93 MHz | Δ 76.29% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 1.20 ns | ∇ -48.73% | 1.63 GHz / 834.82 MHz | Δ 95.03% |
gridmap2D: insert scan w/o widening | 99.83 us / 202.10 us | ∇ -50.60% | 10.02 KHz / 4.95 KHz | Δ 102.44% |
gridmap2D: insert scan with widening | 293.13 us / 338.79 us | ∇ -13.48% | 3.41 KHz / 2.95 KHz | Δ 15.58% |
gridmap2D: resize | 630.00 us / 3.58 ms | ∇ -82.40% | 1.59 KHz / 279.42 Hz | Δ 468.08% |
gridmap2D: computeLikelihood | 17.81 us / 18.09 us | ∇ -1.54% | 56.14 KHz / 55.28 KHz | Δ 1.56% |
pointmap: insert 100 scans | 1.01 ms / 5.50 ms | ∇ -81.63% | 990.80 Hz / 181.98 Hz | Δ 444.47% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 6.29 us | ∇ -28.10% | 221.24 KHz / 159.07 KHz | Δ 39.08% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 520.70 us | ∇ -30.01% | 2.74 KHz / 1.92 KHz | Δ 42.88% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 5.50 ms | ∇ -20.39% | 228.21 Hz / 181.67 Hz | Δ 25.61% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 6.47 us | ∇ -20.22% | 193.80 KHz / 154.62 KHz | Δ 25.34% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 526.59 us | ∇ -29.27% | 2.68 KHz / 1.90 KHz | Δ 41.39% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 5.63 ms | ∇ -25.43% | 238.06 Hz / 177.52 Hz | Δ 34.11% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 2.04 us | ∇ -30.31% | 703.73 KHz / 490.44 KHz | Δ 43.49% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 137.79 us | ∇ -26.08% | 9.82 KHz / 7.26 KHz | Δ 35.28% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 14.88 ms | ∇ -18.21% | 82.15 Hz / 67.19 Hz | Δ 22.26% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 8.57 ms | ∇ -34.17% | 177.25 Hz / 116.69 Hz | Δ 51.90% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 191.63 ms | ∇ -30.72% | 7.53 Hz / 5.22 Hz | Δ 44.34% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 8.64 ms | ∇ -33.86% | 175.04 Hz / 115.78 Hz | Δ 51.19% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 194.89 ms | ∇ -30.87% | 7.42 Hz / 5.13 Hz | Δ 44.65% |
random: drawUniform32bit | 14.55 ns / 7.21 ns | Δ 101.73% | 68.75 MHz / 138.68 MHz | ∇ -50.43% |
random: drawUniform | 14.56 ns / 7.18 ns | Δ 102.70% | 68.69 MHz / 139.23 MHz | ∇ -50.67% |
random: drawGaussian1D_normalized | 66.87 ns / 51.37 ns | Δ 30.16% | 14.96 MHz / 19.47 MHz | ∇ -23.17% |
random: drawGaussian1D | 66.81 ns / 51.39 ns | Δ 30.01% | 14.97 MHz / 19.46 MHz | ∇ -23.08% |
random: system rand() | 10.63 ns / 28.61 ns | ∇ -62.86% | 94.11 MHz / 34.95 MHz | Δ 169.27% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 2.55 us | ∇ -64.62% | 1.11 MHz / 391.65 KHz | Δ 182.64% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 8.36 us | ∇ -80.73% | 621.01 KHz / 119.66 KHz | Δ 418.97% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 213.95 ns | ∇ -32.39% | 6.91 MHz / 4.67 MHz | Δ 47.90% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 324.69 ns | ∇ -32.40% | 4.56 MHz / 3.08 MHz | Δ 47.94% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 829.70 ns | ∇ -43.02% | 2.12 MHz / 1.21 MHz | Δ 75.49% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 214.89 ns | ∇ -29.13% | 6.57 MHz / 4.65 MHz | Δ 41.10% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 364.99 ns | ∇ -35.61% | 4.25 MHz / 2.74 MHz | Δ 55.29% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 760.13 ns | ∇ -35.33% | 2.03 MHz / 1.32 MHz | Δ 54.62% |
random: permuteVector (len=10) | 243.60 ns / 420.57 ns | ∇ -42.08% | 4.11 MHz / 2.38 MHz | Δ 72.65% |
random: permuteVector (len=100) | 2.99 us / 3.56 us | ∇ -16.08% | 334.99 KHz / 281.12 KHz | Δ 19.16% |
random: permuteVector (len=1000) | 29.51 us / 33.55 us | ∇ -12.03% | 33.88 KHz / 29.80 KHz | Δ 13.68% |
math: round | 0.10 ns / 0.00 ns | Δ 1.#J% | 10.08 GHz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 28.40 ms | Δ 18.41% | 29.74 Hz / 35.21 Hz | ∇ -15.55% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 43.71 ms | Δ 14.03% | 20.06 Hz / 22.88 Hz | ∇ -12.31% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 70.17 ms | ∇ -0.83% | 14.37 Hz / 14.25 Hz | Δ 0.84% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 24.11 ms | Δ 27.09% | 32.63 Hz / 41.48 Hz | ∇ -21.32% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 37.02 ms | Δ 18.58% | 22.78 Hz / 27.01 Hz | ∇ -15.67% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 59.51 ms | Δ 5.07% | 15.99 Hz / 16.80 Hz | ∇ -4.83% |
images: Gauss filter (640x480) | 3.81 ms / 5.29 ms | ∇ -28.09% | 262.76 Hz / 188.95 Hz | Δ 39.06% |
images: Gauss filter (800x600) | 5.96 ms / 8.36 ms | ∇ -28.66% | 167.70 Hz / 119.64 Hz | Δ 40.17% |
images: Gauss filter (1024x768) | 10.46 ms / 13.88 ms | ∇ -24.63% | 95.61 Hz / 72.06 Hz | Δ 32.69% |
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 / 18.63 us | ∇ -31.89% | 78.80 KHz / 53.67 KHz | Δ 46.83% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 17.89 us | ∇ -44.93% | 101.52 KHz / 55.91 KHz | Δ 81.58% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 5.05 us | Δ 3.67% | 190.84 KHz / 197.84 KHz | ∇ -3.54% |
feature_extraction [640x480]: Harris | 21.14 ms / 33.27 ms | ∇ -36.46% | 47.31 Hz / 30.06 Hz | Δ 57.37% |
feature_extraction [640x480]: KLT | 21.45 ms / 31.21 ms | ∇ -31.27% | 46.61 Hz / 32.04 Hz | Δ 45.50% |
feature_extraction [640x480]: SIFT | 591.25 ms / 675.81 ms | ∇ -12.51% | 1.69 Hz / 1.48 Hz | Δ 14.30% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 217.19 ms | ∇ -25.04% | 6.14 Hz / 4.60 Hz | Δ 33.40% |
feature_extraction [640x480]: SURF | 197.33 ms / 316.97 ms | ∇ -37.74% | 5.07 Hz / 3.15 Hz | Δ 60.63% |
feature_extraction [640x480]: FAST | 6.89 ms / 7.82 ms | ∇ -11.88% | 145.15 Hz / 127.91 Hz | Δ 13.48% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 103.38 ms | ∇ -38.19% | 15.65 Hz / 9.67 Hz | Δ 61.79% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 56.24 ms | ∇ -31.48% | 25.95 Hz / 17.78 Hz | Δ 45.93% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 47.55 ms | ∇ -29.36% | 29.77 Hz / 21.03 Hz | Δ 41.56% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.34 sec | ∇ -13.62% | 863.45 mHz / 745.82 mHz | Δ 15.77% |
feature_matching [640x480]: SURF | 375.89 ms / 606.64 ms | ∇ -38.04% | 2.66 Hz / 1.65 Hz | Δ 61.39% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 22.36 ms | ∇ -28.96% | 62.95 Hz / 44.72 Hz | Δ 40.76% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 15.00 ms | ∇ -30.11% | 95.42 Hz / 66.69 Hz | Δ 43.08% |
graph(2d): insertEdge x 1e3 | 158.24 us / 313.03 us | ∇ -49.45% | 6.32 KHz / 3.19 KHz | Δ 97.82% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 307.43 us | ∇ -56.51% | 7.48 KHz / 3.25 KHz | Δ 129.96% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 222.64 us | ∇ -62.08% | 11.84 KHz / 4.49 KHz | Δ 163.71% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 222.87 us | ∇ -63.31% | 12.23 KHz / 4.49 KHz | Δ 172.54% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 516.93 us | ∇ -59.92% | 4.83 KHz / 1.93 KHz | Δ 149.52% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 517.18 us | ∇ -55.03% | 4.30 KHz / 1.93 KHz | Δ 122.37% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 405.97 us | ∇ -39.22% | 4.05 KHz / 2.46 KHz | Δ 64.53% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 403.48 us | ∇ -52.27% | 5.19 KHz / 2.48 KHz | Δ 109.50% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 3.36 ms | ∇ -38.07% | 480.05 Hz / 297.28 Hz | Δ 61.48% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 3.35 ms | ∇ -51.70% | 618.53 Hz / 298.76 Hz | Δ 107.03% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 2.22 ms | ∇ -60.80% | 1.15 KHz / 450.51 Hz | Δ 155.08% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 2.22 ms | ∇ -61.87% | 1.18 KHz / 450.21 Hz | Δ 162.27% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 5.45 ms | ∇ -57.07% | 427.14 Hz / 183.37 Hz | Δ 132.94% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 5.44 ms | ∇ -48.35% | 356.06 Hz / 183.91 Hz | Δ 93.61% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.07 ms | ∇ -47.75% | 470.35 Hz / 245.74 Hz | Δ 91.40% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.06 ms | ∇ -47.45% | 469.13 Hz / 246.50 Hz | Δ 90.31% |
graph(3d): insertEdge x 1e3 | 220.82 us / 447.20 us | ∇ -50.62% | 4.53 KHz / 2.24 KHz | Δ 102.52% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 442.12 us | ∇ -49.83% | 4.51 KHz / 2.26 KHz | Δ 99.32% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 346.69 us | ∇ -47.16% | 5.46 KHz / 2.88 KHz | Δ 89.26% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 347.20 us | ∇ -46.28% | 5.36 KHz / 2.88 KHz | Δ 86.15% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 944.03 us | ∇ -43.61% | 1.88 KHz / 1.06 KHz | Δ 77.33% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 978.08 us | ∇ -45.00% | 1.86 KHz / 1.02 KHz | Δ 81.81% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 793.19 us | ∇ -38.53% | 2.05 KHz / 1.26 KHz | Δ 62.67% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 793.52 us | ∇ -37.81% | 2.03 KHz / 1.26 KHz | Δ 60.80% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 4.62 ms | ∇ -39.81% | 359.55 Hz / 216.43 Hz | Δ 66.13% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 4.62 ms | ∇ -39.90% | 360.52 Hz / 216.67 Hz | Δ 66.39% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 3.48 ms | ∇ -39.85% | 477.61 Hz / 287.28 Hz | Δ 66.25% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 3.47 ms | ∇ -40.91% | 487.11 Hz / 287.84 Hz | Δ 69.23% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 10.55 ms | ∇ -30.23% | 135.81 Hz / 94.75 Hz | Δ 43.33% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 9.75 ms | ∇ -28.50% | 143.42 Hz / 102.54 Hz | Δ 39.86% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 7.93 ms | ∇ -33.36% | 189.20 Hz / 126.08 Hz | Δ 50.06% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 7.94 ms | ∇ -30.91% | 182.28 Hz / 125.93 Hz | Δ 44.75% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 262.18 us | ∇ -65.46% | 11.04 KHz / 3.81 KHz | Δ 189.53% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 363.67 us | ∇ -77.04% | 11.98 KHz / 2.75 KHz | Δ 335.52% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.97 ms | ∇ -61.90% | 882.20 Hz / 336.14 Hz | Δ 162.45% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 3.29 ms | ∇ -76.68% | 1.30 KHz / 303.75 Hz | Δ 328.86% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 34.21 ms | ∇ -38.27% | 47.35 Hz / 29.23 Hz | Δ 61.99% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 38.12 ms | ∇ -71.51% | 92.06 Hz / 26.23 Hz | Δ 250.98% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 389.54 ms | ∇ -12.37% | 2.93 Hz / 2.57 Hz | Δ 14.12% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 428.64 ms | ∇ -66.75% | 7.02 Hz / 2.33 Hz | Δ 200.73% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 382.11 ms | ∇ -16.18% | 3.12 Hz / 2.62 Hz | Δ 19.30% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 417.45 ms | ∇ -67.98% | 7.48 Hz / 2.40 Hz | Δ 212.33% |