Test description | 0.9.2-MSVC9-32bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 31.78 ms | ∇ -4.37% | 32.90 Hz / 31.46 Hz | Δ 4.57% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 53.70 ms | ∇ -2.09% | 19.02 Hz / 18.62 Hz | Δ 2.14% |
poses: CPose3D (+) CPose3D | 264.70 ns / 925.38 ns | ∇ -71.40% | 3.78 MHz / 1.08 MHz | Δ 249.59% |
poses: CPose3D.composeFrom() | 98.01 ns / 617.00 ns | ∇ -84.12% | 10.20 MHz / 1.62 MHz | Δ 529.56% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 35.98 ns | ∇ -22.55% | 35.89 MHz / 27.80 MHz | Δ 29.12% |
poses: CPose3D.composePoint() | 19.17 ns / 14.62 ns | Δ 31.18% | 52.16 MHz / 68.42 MHz | ∇ -23.77% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 75.43 ns | ∇ -31.52% | 19.36 MHz / 13.26 MHz | Δ 46.02% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 56.48 ns | ∇ -16.94% | 21.32 MHz / 17.70 MHz | Δ 20.40% |
poses: CPose2D (+) CPose2D | 99.28 ns / 121.60 ns | ∇ -18.36% | 10.07 MHz / 8.22 MHz | Δ 22.48% |
poses: CPose2D.composeFrom() | 89.67 ns / 66.63 ns | Δ 34.59% | 11.15 MHz / 15.01 MHz | ∇ -25.70% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 93.73 ns | ∇ -12.44% | 12.18 MHz / 10.67 MHz | Δ 14.21% |
poses: CPose2D.composePoint() | 64.58 ns / 62.24 ns | Δ 3.76% | 15.49 MHz / 16.07 MHz | ∇ -3.62% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 100.74 ns | ∇ -13.45% | 11.47 MHz / 9.93 MHz | Δ 15.54% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 57.92 ns | ∇ -1.35% | 17.50 MHz / 17.26 MHz | Δ 1.36% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 61.33 ns | ∇ -21.37% | 20.74 MHz / 16.31 MHz | Δ 27.18% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 27.34 ns | Δ 8.40% | 33.74 MHz / 36.57 MHz | ∇ -7.75% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 580.67 ns | ∇ -85.48% | 11.86 MHz / 1.72 MHz | Δ 588.67% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 28.18 ns | Δ 9.01% | 32.55 MHz / 35.48 MHz | ∇ -8.26% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 506.67 ns | ∇ -93.48% | 30.29 MHz / 1.97 MHz | Δ 1434.47% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 214.86 ns | ∇ -3.80% | 4.84 MHz / 4.65 MHz | Δ 3.95% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 1.56 us | ∇ -13.08% | 739.68 KHz / 642.96 KHz | Δ 15.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 1.51 us | ∇ -6.78% | 712.12 KHz / 663.83 KHz | Δ 7.27% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 23.29 us | ∇ -0.61% | 43.20 KHz / 42.94 KHz | Δ 0.61% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 1.64 us | ∇ -1.17% | 617.00 KHz / 609.77 KHz | Δ 1.19% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 1.66 us | ∇ -2.09% | 613.67 KHz / 600.84 KHz | Δ 2.14% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 16.05 us | ∇ -1.41% | 63.21 KHz / 62.32 KHz | Δ 1.43% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 39.66 ns | ∇ -2.29% | 25.81 MHz / 25.22 MHz | Δ 2.35% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 42.75 ns | ∇ -9.48% | 25.85 MHz / 23.39 MHz | Δ 10.48% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 152.29 ns | Δ 7.27% | 6.12 MHz / 6.57 MHz | ∇ -6.78% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 150.45 ns | Δ 41.61% | 4.69 MHz / 6.65 MHz | ∇ -29.38% |
matrix: unit, fix[float,3,3] | 3.56 ns / 3.30 ns | Δ 8.05% | 280.77 MHz / 303.37 MHz | ∇ -7.45% |
matrix: unit, fix[double,3,3] | 3.29 ns / 3.48 ns | ∇ -5.46% | 304.17 MHz / 287.56 MHz | Δ 5.77% |
matrix: unit, fix[float,6,6] | 2.77 ns / 3.06 ns | ∇ -9.35% | 360.95 MHz / 327.19 MHz | Δ 10.32% |
matrix: unit, fix[double,6,6] | 6.07 ns / 6.65 ns | ∇ -8.68% | 164.80 MHz / 150.48 MHz | Δ 9.51% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 167.81 ns | Δ 0.51% | 5.93 MHz / 5.96 MHz | ∇ -0.51% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 108.61 ns | Δ 0.79% | 9.14 MHz / 9.21 MHz | ∇ -0.78% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 158.88 ns | Δ 0.17% | 6.28 MHz / 6.29 MHz | ∇ -0.17% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 90.86 ns | ∇ -3.59% | 11.42 MHz / 11.01 MHz | Δ 3.72% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 272.47 ns | ∇ -0.05% | 3.67 MHz / 3.67 MHz | Δ 0.05% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 193.12 ns | ∇ -1.60% | 5.26 MHz / 5.18 MHz | Δ 1.62% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 238.91 ns | Δ 2.90% | 4.07 MHz / 4.19 MHz | ∇ -2.82% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 139.05 ns | ∇ -0.10% | 7.20 MHz / 7.19 MHz | Δ 0.10% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 16.80 us | ∇ -0.81% | 60.00 KHz / 59.51 KHz | Δ 0.82% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 13.06 us | ∇ -1.08% | 77.41 KHz / 76.57 KHz | Δ 1.10% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 13.55 us | ∇ -1.80% | 75.16 KHz / 73.81 KHz | Δ 1.84% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 9.96 us | ∇ -3.02% | 103.53 KHz / 100.40 KHz | Δ 3.11% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / 1.50 us | ∇ -2.90% | 685.70 KHz / 665.84 KHz | Δ 2.98% |
matrix: inv, fix[float ] 3x3 | 59.78 ns / 59.79 ns | ∇ -0.00% | 16.73 MHz / 16.73 MHz | Δ 0.00% |
matrix: inv, dyn[double] 3x3 | 1.47 us / 1.53 us | ∇ -4.23% | 681.67 KHz / 652.84 KHz | Δ 4.42% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 31.25 ns | ∇ -1.45% | 32.47 MHz / 32.00 MHz | Δ 1.47% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / 5.07 us | ∇ -13.43% | 227.86 KHz / 197.26 KHz | Δ 15.51% |
matrix: inv, fix[float ] 6x6 | 1.39 us / 1.33 us | Δ 4.24% | 718.96 KHz / 749.46 KHz | ∇ -4.07% |
matrix: inv, dyn[double] 6x6 | 5.05 us / 5.08 us | ∇ -0.77% | 198.20 KHz / 196.68 KHz | Δ 0.77% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 926.67 ns | Δ 1.90% | 1.06 MHz / 1.08 MHz | ∇ -1.87% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / 81.86 us | ∇ -1.59% | 12.41 KHz / 12.22 KHz | Δ 1.61% |
matrix: inv, fix[float ] 20x20 | 39.77 us / 40.71 us | ∇ -2.30% | 25.14 KHz / 24.56 KHz | Δ 2.36% |
matrix: inv, dyn[double] 20x20 | 106.06 us / 108.60 us | ∇ -2.34% | 9.43 KHz / 9.21 KHz | Δ 2.39% |
matrix: inv, fix[double] 20x20 | 18.99 us / 19.22 us | ∇ -1.19% | 52.65 KHz / 52.02 KHz | Δ 1.20% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / 609.15 us | ∇ -2.43% | 1.68 KHz / 1.64 KHz | Δ 2.49% |
matrix: inv, fix[float ] 40x40 | 302.87 us / 307.68 us | ∇ -1.56% | 3.30 KHz / 3.25 KHz | Δ 1.59% |
matrix: inv, dyn[double] 40x40 | 805.07 us / 818.27 us | ∇ -1.61% | 1.24 KHz / 1.22 KHz | Δ 1.64% |
matrix: inv, fix[double] 40x40 | 129.27 us / 136.18 us | ∇ -5.07% | 7.74 KHz / 7.34 KHz | Δ 5.34% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / 9.15 ns | ∇ -12.87% | 125.45 MHz / 109.30 MHz | Δ 14.77% |
matrix: det, fix[float ] 2x2 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 2x2 | 8.47 ns / 9.56 ns | ∇ -11.38% | 118.07 MHz / 104.64 MHz | Δ 12.84% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 3x3 | 20.83 ns / 19.70 ns | Δ 5.75% | 48.00 MHz / 50.76 MHz | ∇ -5.43% |
matrix: det, fix[float ] 3x3 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 15.90 ns / 15.90 ns | ∇ -0.00% | 62.90 MHz / 62.90 MHz | Δ 0.00% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 6x6 | 2.28 us / 2.32 us | ∇ -1.69% | 438.79 KHz / 431.38 KHz | Δ 1.72% |
matrix: det, fix[float ] 6x6 | 455.22 ns / 434.76 ns | Δ 4.71% | 2.20 MHz / 2.30 MHz | ∇ -4.50% |
matrix: det, dyn[double] 6x6 | 2.27 us / 2.38 us | ∇ -4.59% | 440.64 KHz / 420.40 KHz | Δ 4.82% |
matrix: det, fix[double] 6x6 | 409.52 ns / 422.89 ns | ∇ -3.16% | 2.44 MHz / 2.36 MHz | Δ 3.26% |
matrix: det, dyn[float ] 20x20 | 18.23 us / 18.34 us | ∇ -0.59% | 54.86 KHz / 54.54 KHz | Δ 0.60% |
matrix: det, fix[float ] 20x20 | 9.64 us / 9.85 us | ∇ -2.13% | 103.77 KHz / 101.56 KHz | Δ 2.17% |
matrix: det, dyn[double] 20x20 | 17.63 us / 18.19 us | ∇ -3.06% | 56.72 KHz / 54.99 KHz | Δ 3.15% |
matrix: det, fix[double] 20x20 | 6.19 us / 6.52 us | ∇ -5.15% | 161.63 KHz / 153.30 KHz | Δ 5.43% |
matrix: det, dyn[float ] 40x40 | 109.51 us / 111.92 us | ∇ -2.15% | 9.13 KHz / 8.93 KHz | Δ 2.20% |
matrix: det, fix[float ] 40x40 | 61.78 us / 63.43 us | ∇ -2.59% | 16.19 KHz / 15.77 KHz | Δ 2.66% |
matrix: det, dyn[double] 40x40 | 112.43 us / 114.84 us | ∇ -2.10% | 8.89 KHz / 8.71 KHz | Δ 2.15% |
matrix: det, fix[double] 40x40 | 35.24 us / 36.00 us | ∇ -2.12% | 28.38 KHz / 27.78 KHz | Δ 2.17% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 185.70 ns | ∇ -7.32% | 5.81 MHz / 5.39 MHz | Δ 7.90% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 113.23 ns | Δ 4.00% | 8.49 MHz / 8.83 MHz | ∇ -3.84% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 24.43 us | ∇ -0.11% | 40.98 KHz / 40.93 KHz | Δ 0.11% |
matrix: chol, fix[double] 40x40 | 17.68 us / 17.73 us | ∇ -0.31% | 56.57 KHz / 56.40 KHz | Δ 0.31% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 10.78 us | ∇ -21.85% | 118.71 KHz / 92.77 KHz | Δ 27.96% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 117.89 us | Δ 0.77% | 8.42 KHz / 8.48 KHz | ∇ -0.76% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 70.52 us | ∇ -1.03% | 14.33 KHz / 14.18 KHz | Δ 1.04% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 52.59 us | ∇ -0.10% | 19.03 KHz / 19.02 KHz | Δ 0.10% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 491.10 us | ∇ -5.09% | 2.15 KHz / 2.04 KHz | Δ 5.37% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 85.83 us | Δ 3.70% | 11.24 KHz / 11.65 KHz | ∇ -3.57% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 9.44 ms | ∇ -1.28% | 107.25 Hz / 105.88 Hz | Δ 1.30% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 204.52 us | ∇ -1.62% | 4.97 KHz / 4.89 KHz | Δ 1.64% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 150.13 ms | ∇ -8.04% | 7.24 Hz / 6.66 Hz | Δ 8.74% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 415.58 us | ∇ -3.40% | 2.49 KHz / 2.41 KHz | Δ 3.52% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 461.43 ms | ∇ -1.69% | 2.20 Hz / 2.17 Hz | Δ 1.72% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 484.92 us | ∇ -2.22% | 2.11 KHz / 2.06 KHz | Δ 2.27% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 947.45 ms | ∇ -0.24% | 1.06 Hz / 1.06 Hz | Δ 0.24% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 586.44 us | ∇ -5.74% | 1.81 KHz / 1.71 KHz | Δ 6.09% |
gridmap2D: getCell | 5.57 ns / 5.77 ns | ∇ -3.57% | 179.64 MHz / 173.23 MHz | Δ 3.70% |
gridmap2D: setCell | 7.80 ns / 7.96 ns | ∇ -1.98% | 128.17 MHz / 125.64 MHz | Δ 2.02% |
gridmap2D: updateCell | 10.65 ns / 10.80 ns | ∇ -1.44% | 93.93 MHz / 92.58 MHz | Δ 1.46% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.21 ns | ∇ -0.99% | 834.82 MHz / 826.59 MHz | Δ 1.00% |
gridmap2D: insert scan w/o widening | 202.10 us / 204.23 us | ∇ -1.04% | 4.95 KHz / 4.90 KHz | Δ 1.06% |
gridmap2D: insert scan with widening | 338.79 us / 344.40 us | ∇ -1.63% | 2.95 KHz / 2.90 KHz | Δ 1.66% |
gridmap2D: resize | 3.58 ms / 2.62 ms | Δ 36.69% | 279.42 Hz / 381.93 Hz | ∇ -26.84% |
gridmap2D: computeLikelihood | 18.09 us / 18.59 us | ∇ -2.69% | 55.28 KHz / 53.79 KHz | Δ 2.76% |
pointmap: insert 100 scans | 5.50 ms / 5.62 ms | ∇ -2.17% | 181.98 Hz / 178.02 Hz | Δ 2.22% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 6.21 us | Δ 1.16% | 159.07 KHz / 160.93 KHz | ∇ -1.15% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 511.81 us | Δ 1.74% | 1.92 KHz / 1.95 KHz | ∇ -1.71% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 5.59 ms | ∇ -1.55% | 181.67 Hz / 178.86 Hz | Δ 1.57% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 7.23 us | ∇ -10.53% | 154.62 KHz / 138.34 KHz | Δ 11.77% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 523.10 us | Δ 0.67% | 1.90 KHz / 1.91 KHz | ∇ -0.66% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 5.77 ms | ∇ -2.42% | 177.52 Hz / 173.21 Hz | Δ 2.48% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 2.05 us | ∇ -0.69% | 490.44 KHz / 487.07 KHz | Δ 0.69% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 140.79 us | ∇ -2.13% | 7.26 KHz / 7.10 KHz | Δ 2.17% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 15.17 ms | ∇ -1.91% | 67.19 Hz / 65.91 Hz | Δ 1.95% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 8.69 ms | ∇ -1.44% | 116.69 Hz / 115.01 Hz | Δ 1.46% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 196.44 ms | ∇ -2.45% | 5.22 Hz / 5.09 Hz | Δ 2.51% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 8.73 ms | ∇ -1.02% | 115.78 Hz / 114.60 Hz | Δ 1.03% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 198.48 ms | ∇ -1.81% | 5.13 Hz / 5.04 Hz | Δ 1.84% |
random: drawUniform32bit | 7.21 ns / 7.29 ns | ∇ -1.14% | 138.68 MHz / 137.11 MHz | Δ 1.15% |
random: drawUniform | 7.18 ns / 7.33 ns | ∇ -1.97% | 139.23 MHz / 136.49 MHz | Δ 2.01% |
random: drawGaussian1D_normalized | 51.37 ns / 51.27 ns | Δ 0.19% | 19.47 MHz / 19.50 MHz | ∇ -0.19% |
random: drawGaussian1D | 51.39 ns / 51.74 ns | ∇ -0.68% | 19.46 MHz / 19.33 MHz | Δ 0.68% |
random: system rand() | 28.61 ns / 29.39 ns | ∇ -2.63% | 34.95 MHz / 34.03 MHz | Δ 2.70% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 2.64 us | ∇ -3.36% | 391.65 KHz / 378.48 KHz | Δ 3.48% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 8.53 us | ∇ -2.08% | 119.66 KHz / 117.18 KHz | Δ 2.12% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 215.16 ns | ∇ -0.56% | 4.67 MHz / 4.65 MHz | Δ 0.57% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 359.98 ns | ∇ -9.80% | 3.08 MHz / 2.78 MHz | Δ 10.87% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 732.12 ns | Δ 13.33% | 1.21 MHz / 1.37 MHz | ∇ -11.76% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 213.59 ns | Δ 0.61% | 4.65 MHz / 4.68 MHz | ∇ -0.61% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 339.30 ns | Δ 7.57% | 2.74 MHz / 2.95 MHz | ∇ -7.04% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 760.92 ns | ∇ -0.10% | 1.32 MHz / 1.31 MHz | Δ 0.10% |
random: permuteVector (len=10) | 420.57 ns / 411.34 ns | Δ 2.24% | 2.38 MHz / 2.43 MHz | ∇ -2.20% |
random: permuteVector (len=100) | 3.56 us / 3.59 us | ∇ -0.86% | 281.12 KHz / 278.70 KHz | Δ 0.87% |
random: permuteVector (len=1000) | 33.55 us / 34.34 us | ∇ -2.28% | 29.80 KHz / 29.12 KHz | Δ 2.34% |
math: round | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 27.92 ms | Δ 1.70% | 35.21 Hz / 35.81 Hz | ∇ -1.67% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 43.53 ms | Δ 0.42% | 22.88 Hz / 22.97 Hz | ∇ -0.42% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 70.76 ms | ∇ -0.83% | 14.25 Hz / 14.13 Hz | Δ 0.83% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 23.43 ms | Δ 2.89% | 41.48 Hz / 42.67 Hz | ∇ -2.80% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 36.52 ms | Δ 1.39% | 27.01 Hz / 27.39 Hz | ∇ -1.37% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 59.82 ms | ∇ -0.52% | 16.80 Hz / 16.72 Hz | Δ 0.52% |
images: Gauss filter (640x480) | 5.29 ms / 6.68 ms | ∇ -20.75% | 188.95 Hz / 149.74 Hz | Δ 26.19% |
images: Gauss filter (800x600) | 8.36 ms / 8.62 ms | ∇ -3.02% | 119.64 Hz / 116.03 Hz | Δ 3.11% |
images: Gauss filter (1024x768) | 13.88 ms / 14.49 ms | ∇ -4.22% | 72.06 Hz / 69.01 Hz | Δ 4.41% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 21.12 us | ∇ -11.79% | 53.67 KHz / 47.34 KHz | Δ 13.37% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 19.36 us | ∇ -7.63% | 55.91 KHz / 51.65 KHz | Δ 8.26% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 6.24 us | ∇ -18.96% | 197.84 KHz / 160.34 KHz | Δ 23.39% |
feature_extraction [640x480]: Harris | 33.27 ms / 40.83 ms | ∇ -18.52% | 30.06 Hz / 24.49 Hz | Δ 22.72% |
feature_extraction [640x480]: KLT | 31.21 ms / 33.62 ms | ∇ -7.14% | 32.04 Hz / 29.75 Hz | Δ 7.69% |
feature_extraction [640x480]: SIFT | 675.81 ms / 705.28 ms | ∇ -4.18% | 1.48 Hz / 1.42 Hz | Δ 4.36% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 214.22 ms | Δ 1.39% | 4.60 Hz / 4.67 Hz | ∇ -1.37% |
feature_extraction [640x480]: SURF | 316.97 ms / 326.57 ms | ∇ -2.94% | 3.15 Hz / 3.06 Hz | Δ 3.03% |
feature_extraction [640x480]: FAST | 7.82 ms / 7.69 ms | Δ 1.70% | 127.91 Hz / 130.08 Hz | ∇ -1.67% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 105.90 ms | ∇ -2.38% | 9.67 Hz / 9.44 Hz | Δ 2.44% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 57.67 ms | ∇ -2.49% | 17.78 Hz / 17.34 Hz | Δ 2.55% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 50.27 ms | ∇ -5.41% | 21.03 Hz / 19.89 Hz | Δ 5.72% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.38 sec | ∇ -2.84% | 745.82 mHz / 724.62 mHz | Δ 2.93% |
feature_matching [640x480]: SURF | 606.64 ms / 618.66 ms | ∇ -1.94% | 1.65 Hz / 1.62 Hz | Δ 1.98% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 22.11 ms | Δ 1.13% | 44.72 Hz / 45.22 Hz | ∇ -1.12% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 14.58 ms | Δ 2.82% | 66.69 Hz / 68.57 Hz | ∇ -2.74% |
graph(2d): insertEdge x 1e3 | 313.03 us / 354.58 us | ∇ -11.72% | 3.19 KHz / 2.82 KHz | Δ 13.27% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / X | 3.25 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 284.04 us | ∇ -21.62% | 4.49 KHz / 3.52 KHz | Δ 27.58% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / X | 4.49 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 549.28 us | ∇ -5.89% | 1.93 KHz / 1.82 KHz | Δ 6.26% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / X | 1.93 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 452.79 us | ∇ -10.34% | 2.46 KHz / 2.21 KHz | Δ 11.53% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / X | 2.48 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.36 ms / 3.86 ms | ∇ -12.84% | 297.28 Hz / 259.12 Hz | Δ 14.73% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / X | 298.76 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 2.88 ms | ∇ -22.81% | 450.51 Hz / 347.75 Hz | Δ 29.55% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / X | 450.21 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 5.74 ms | ∇ -4.96% | 183.37 Hz / 174.28 Hz | Δ 5.22% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / X | 183.91 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 4.44 ms | ∇ -8.30% | 245.74 Hz / 225.33 Hz | Δ 9.06% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / X | 246.50 Hz / X | ||
graph(3d): insertEdge x 1e3 | 447.20 us / 1.35 ms | ∇ -66.77% | 2.24 KHz / 743.07 Hz | Δ 200.94% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / X | 2.26 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 1.09 ms | ∇ -68.18% | 2.88 KHz / 917.96 Hz | Δ 214.22% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / X | 2.88 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 1.74 ms | ∇ -45.85% | 1.06 KHz / 573.66 Hz | Δ 84.66% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / X | 1.02 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 1.46 ms | ∇ -45.80% | 1.26 KHz / 683.28 Hz | Δ 84.51% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / X | 1.26 KHz / X | ||
graph(3d): insertEdge x 1e4 | 4.62 ms / 13.92 ms | ∇ -66.79% | 216.43 Hz / 71.86 Hz | Δ 201.16% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / X | 216.67 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 11.12 ms | ∇ -68.70% | 287.28 Hz / 89.92 Hz | Δ 219.48% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / X | 287.84 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 17.58 ms | ∇ -39.96% | 94.75 Hz / 56.89 Hz | Δ 66.56% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / X | 102.54 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 14.12 ms | ∇ -43.84% | 126.08 Hz / 70.81 Hz | Δ 78.06% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / X | 125.93 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 262.18 us / X | 3.81 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / X | 2.75 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.97 ms / X | 336.14 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / X | 303.75 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 34.21 ms / X | 29.23 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / X | 26.23 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 389.54 ms / X | 2.57 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / X | 2.33 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 382.11 ms / X | 2.62 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / X | 2.40 Hz / X |