Test description | 0.9.4-MSVC10-64bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 31.56 ms | ∇ -15.89% | 37.68 Hz / 31.69 Hz | Δ 18.89% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 53.95 ms | ∇ -40.36% | 31.08 Hz / 18.54 Hz | Δ 67.68% |
poses: CPose3D (+) CPose3D | 62.83 ns / 194.14 ns | ∇ -67.64% | 15.92 MHz / 5.15 MHz | Δ 209.00% |
poses: CPose3D.composeFrom() | 41.42 ns / 34.65 ns | Δ 19.53% | 24.14 MHz / 28.86 MHz | ∇ -16.34% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 28.67 ns | ∇ -34.11% | 52.94 MHz / 34.88 MHz | Δ 51.76% |
poses: CPose3D.composePoint() | 17.17 ns / 18.49 ns | ∇ -7.12% | 58.23 MHz / 54.08 MHz | Δ 7.67% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 93.89 ns | ∇ -5.43% | 11.26 MHz / 10.65 MHz | Δ 5.74% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 44.39 ns | ∇ -0.88% | 22.73 MHz / 22.53 MHz | Δ 0.88% |
poses: CPose2D (+) CPose2D | 72.08 ns / 103.92 ns | ∇ -30.64% | 13.87 MHz / 9.62 MHz | Δ 44.17% |
poses: CPose2D.composeFrom() | 63.27 ns / 91.82 ns | ∇ -31.09% | 15.81 MHz / 10.89 MHz | Δ 45.13% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 140.37 ns | ∇ -75.48% | 29.05 MHz / 7.12 MHz | Δ 307.82% |
poses: CPose2D.composePoint() | 26.02 ns / 66.26 ns | ∇ -60.73% | 38.43 MHz / 15.09 MHz | Δ 154.62% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 93.35 ns | Δ 21.68% | 8.80 MHz / 10.71 MHz | ∇ -17.82% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 60.52 ns | Δ 36.67% | 12.09 MHz / 16.52 MHz | ∇ -26.83% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 116.72 ns | ∇ -64.59% | 24.20 MHz / 8.57 MHz | Δ 182.42% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 31.02 ns | Δ 0.35% | 32.12 MHz / 32.23 MHz | ∇ -0.35% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 126.78 ns | ∇ -10.17% | 8.78 MHz / 7.89 MHz | Δ 11.32% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 30.88 ns | Δ 9.93% | 29.46 MHz / 32.38 MHz | ∇ -9.03% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 33.42 ns | ∇ -20.86% | 37.82 MHz / 29.93 MHz | Δ 26.37% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 211.33 ns | ∇ -53.95% | 10.28 MHz / 4.73 MHz | Δ 117.17% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 19.45 us | ∇ -95.12% | 1.05 MHz / 51.41 KHz | Δ 1950.11% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 2.93 us | ∇ -67.99% | 1.07 MHz / 341.05 KHz | Δ 212.37% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 34.64 us | ∇ -38.77% | 47.15 KHz / 28.87 KHz | Δ 63.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 860.26 ns | ∇ -38.11% | 1.88 MHz / 1.16 MHz | Δ 61.57% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 880.23 ns | ∇ -39.99% | 1.89 MHz / 1.14 MHz | Δ 66.64% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 21.76 us | ∇ -48.57% | 89.35 KHz / 45.95 KHz | Δ 94.45% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 44.99 ns | Δ 0.46% | 22.13 MHz / 22.23 MHz | ∇ -0.46% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 45.16 ns | Δ 1.54% | 21.81 MHz / 22.14 MHz | ∇ -1.51% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 160.84 ns | Δ 10.32% | 5.64 MHz / 6.22 MHz | ∇ -9.35% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 160.97 ns | Δ 5.31% | 5.90 MHz / 6.21 MHz | ∇ -5.04% |
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] | 6.37 ns / 6.73 ns | ∇ -5.45% | 157.06 MHz / 148.49 MHz | Δ 5.77% |
matrix: unit, fix[double,6,6] | 7.86 ns / 7.86 ns | Δ 0.05% | 127.19 MHz / 127.26 MHz | ∇ -0.05% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 550.79 ns | ∇ -11.77% | 2.06 MHz / 1.82 MHz | Δ 13.35% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.05 ns | Δ 0.00% | 22.08 GHz / 22.08 GHz | ∇ -0.00% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 432.98 ns | Δ 22.04% | 1.89 MHz / 2.31 MHz | ∇ -18.06% |
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 | 547.16 ns / 660.53 ns | ∇ -17.16% | 1.83 MHz / 1.51 MHz | Δ 20.72% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 38.91 ns | ∇ -93.95% | 424.60 MHz / 25.70 MHz | Δ 1551.92% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 474.65 ns | ∇ -17.52% | 2.55 MHz / 2.11 MHz | Δ 21.24% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 8.74 ns | ∇ -73.06% | 424.60 MHz / 114.40 MHz | Δ 271.15% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 4.68 us | ∇ -41.40% | 364.51 KHz / 213.59 KHz | Δ 70.66% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 4.42 us | ∇ -52.86% | 479.89 KHz / 226.20 KHz | Δ 112.15% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 3.24 us | Δ 7.06% | 288.55 KHz / 308.92 KHz | ∇ -6.60% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 2.37 us | Δ 0.76% | 419.56 KHz / 422.77 KHz | ∇ -0.76% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 1.49 us | ∇ -27.01% | 921.12 KHz / 672.33 KHz | Δ 37.00% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 32.16 ns | ∇ -30.99% | 45.06 MHz / 31.10 MHz | Δ 44.90% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 3.50 us | ∇ -20.45% | 359.66 KHz / 286.11 KHz | Δ 25.70% |
matrix: inv, fix[double] 6x6 | 2.22 us / 2.72 us | ∇ -18.21% | 450.23 KHz / 368.24 KHz | Δ 22.27% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 31.87 us | ∇ -3.64% | 32.56 KHz / 31.37 KHz | Δ 3.78% |
matrix: inv, fix[double] 20x20 | 24.08 us / 28.91 us | ∇ -16.73% | 41.53 KHz / 34.58 KHz | Δ 20.09% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 124.22 us | ∇ -5.67% | 8.53 KHz / 8.05 KHz | Δ 6.01% |
matrix: inv, fix[double] 40x40 | 112.80 us / 122.24 us | ∇ -7.72% | 8.86 KHz / 8.18 KHz | Δ 8.37% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 647.62 ns | Δ 18.20% | 1.31 MHz / 1.54 MHz | ∇ -15.40% |
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 / 969.59 ns | ∇ -15.19% | 1.22 MHz / 1.03 MHz | Δ 17.91% |
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 / 2.45 us | ∇ -27.30% | 560.47 KHz / 407.46 KHz | Δ 37.55% |
matrix: det, fix[double] 6x6 | 1.51 us / 1.89 us | ∇ -19.86% | 661.35 KHz / 529.99 KHz | Δ 24.79% |
matrix: det, dyn[double] 20x20 | 18.54 us / 22.48 us | ∇ -17.52% | 53.94 KHz / 44.49 KHz | Δ 21.24% |
matrix: det, fix[double] 20x20 | 19.01 us / 21.45 us | ∇ -11.36% | 52.61 KHz / 46.63 KHz | Δ 12.82% |
matrix: det, dyn[double] 40x40 | 72.40 us / 80.28 us | ∇ -9.82% | 13.81 KHz / 12.46 KHz | Δ 10.88% |
matrix: det, fix[double] 40x40 | 67.43 us / 79.04 us | ∇ -14.69% | 14.83 KHz / 12.65 KHz | Δ 17.22% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 1.09 us | ∇ -44.40% | 1.65 MHz / 916.16 KHz | Δ 79.85% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 317.04 ns | ∇ -40.00% | 5.26 MHz / 3.15 MHz | Δ 66.67% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 75.74 us | ∇ -58.29% | 31.66 KHz / 13.20 KHz | Δ 139.78% |
matrix: chol, fix[double] 40x40 | 20.87 us / 55.31 us | ∇ -62.27% | 47.93 KHz / 18.08 KHz | Δ 165.07% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 16.89 us | ∇ -57.91% | 140.63 KHz / 59.19 KHz | Δ 137.58% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 247.29 us | ∇ -61.68% | 10.55 KHz / 4.04 KHz | Δ 160.99% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 180.76 us | ∇ -58.18% | 13.23 KHz / 5.53 KHz | Δ 139.12% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 91.89 us | ∇ -52.98% | 23.15 KHz / 10.88 KHz | Δ 112.69% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 765.78 us | ∇ -40.79% | 2.21 KHz / 1.31 KHz | Δ 68.88% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 116.55 us | ∇ -36.51% | 13.51 KHz / 8.58 KHz | Δ 57.49% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 4.08 ms | ∇ -13.11% | 282.19 Hz / 245.20 Hz | Δ 15.09% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 207.46 us | ∇ -13.87% | 5.60 KHz / 4.82 KHz | Δ 16.10% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 24.43 ms | ∇ -8.79% | 44.87 Hz / 40.93 Hz | Δ 9.64% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 403.40 us | ∇ -10.92% | 2.78 KHz / 2.48 KHz | Δ 12.25% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 40.20 ms | ∇ -9.74% | 27.56 Hz / 24.87 Hz | Δ 10.79% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 479.83 us | ∇ -14.16% | 2.43 KHz / 2.08 KHz | Δ 16.50% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 59.95 ms | ∇ -9.35% | 18.40 Hz / 16.68 Hz | Δ 10.31% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 560.09 us | ∇ -12.85% | 2.05 KHz / 1.79 KHz | Δ 14.75% |
gridmap2D: getCell | 4.13 ns / 5.69 ns | ∇ -27.41% | 242.07 MHz / 175.73 MHz | Δ 37.75% |
gridmap2D: setCell | 5.65 ns / 8.06 ns | ∇ -29.96% | 177.14 MHz / 124.07 MHz | Δ 42.78% |
gridmap2D: updateCell | 6.93 ns / 61.98 ns | ∇ -88.82% | 144.35 MHz / 16.13 MHz | Δ 794.65% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.25 ns | ∇ -4.15% | 833.40 MHz / 798.82 MHz | Δ 4.33% |
gridmap2D: insert scan w/o widening | 102.16 us / 208.84 us | ∇ -51.08% | 9.79 KHz / 4.79 KHz | Δ 104.43% |
gridmap2D: insert scan with widening | 276.88 us / 346.08 us | ∇ -20.00% | 3.61 KHz / 2.89 KHz | Δ 24.99% |
gridmap2D: resize | 3.89 ms / 2.81 ms | Δ 38.33% | 257.06 Hz / 355.60 Hz | ∇ -27.71% |
gridmap2D: computeLikelihood | 13.92 us / 18.33 us | ∇ -24.04% | 71.84 KHz / 54.57 KHz | Δ 31.65% |
pointmap: insert 100 scans | 1.87 ms / 6.61 ms | ∇ -71.67% | 534.24 Hz / 151.33 Hz | Δ 253.03% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 6.03 us | ∇ -15.62% | 196.43 KHz / 165.76 KHz | Δ 18.50% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 536.01 us | ∇ -9.26% | 2.06 KHz / 1.87 KHz | Δ 10.20% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 5.64 ms | ∇ -9.70% | 196.20 Hz / 177.17 Hz | Δ 10.74% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 7.70 us | ∇ -27.76% | 179.80 KHz / 129.88 KHz | Δ 38.44% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 528.60 us | ∇ -11.61% | 2.14 KHz / 1.89 KHz | Δ 13.13% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 5.81 ms | ∇ -10.81% | 192.98 Hz / 172.12 Hz | Δ 12.12% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 2.13 us | ∇ -25.23% | 627.25 KHz / 468.98 KHz | Δ 33.75% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 145.70 us | ∇ -13.05% | 7.89 KHz / 6.86 KHz | Δ 15.01% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 15.49 ms | ∇ -10.50% | 72.14 Hz / 64.56 Hz | Δ 11.73% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 8.93 ms | ∇ -26.76% | 152.81 Hz / 111.93 Hz | Δ 36.53% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 200.06 ms | ∇ -12.64% | 5.72 Hz / 5.00 Hz | Δ 14.47% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 8.97 ms | ∇ -23.30% | 145.28 Hz / 111.43 Hz | Δ 30.38% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 201.21 ms | ∇ -9.86% | 5.51 Hz / 4.97 Hz | Δ 10.94% |
random: drawUniform32bit | 9.54 ns / 7.76 ns | Δ 22.94% | 104.87 MHz / 128.93 MHz | ∇ -18.66% |
random: drawUniform | 9.69 ns / 7.61 ns | Δ 27.32% | 103.21 MHz / 131.41 MHz | ∇ -21.46% |
random: drawGaussian1D_normalized | 52.06 ns / 51.84 ns | Δ 0.44% | 19.21 MHz / 19.29 MHz | ∇ -0.44% |
random: drawGaussian1D | 50.73 ns / 52.02 ns | ∇ -2.48% | 19.71 MHz / 19.22 MHz | Δ 2.54% |
random: system rand() | 24.47 ns / 27.43 ns | ∇ -10.80% | 40.87 MHz / 36.46 MHz | Δ 12.10% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 4.97 us | ∇ -74.99% | 805.20 KHz / 201.38 KHz | Δ 299.84% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 10.68 us | ∇ -70.14% | 313.70 KHz / 93.66 KHz | Δ 234.93% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 153.63 ns | ∇ -15.36% | 7.69 MHz / 6.51 MHz | Δ 18.15% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 250.07 ns | ∇ -20.68% | 5.04 MHz / 4.00 MHz | Δ 26.07% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 664.62 ns | ∇ -32.04% | 2.21 MHz / 1.50 MHz | Δ 47.15% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 153.22 ns | ∇ -10.64% | 7.30 MHz / 6.53 MHz | Δ 11.90% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 253.40 ns | ∇ -15.74% | 4.68 MHz / 3.95 MHz | Δ 18.68% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 622.96 ns | ∇ -23.18% | 2.09 MHz / 1.61 MHz | Δ 30.18% |
random: permuteVector (len=10) | 244.07 ns / 342.58 ns | ∇ -28.75% | 4.10 MHz / 2.92 MHz | Δ 40.36% |
random: permuteVector (len=100) | 3.12 us / 3.62 us | ∇ -13.61% | 320.11 KHz / 276.54 KHz | Δ 15.76% |
random: permuteVector (len=1000) | 30.82 us / 35.68 us | ∇ -13.61% | 32.44 KHz / 28.03 KHz | Δ 15.76% |
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%) | 29.87 ms / 28.08 ms | Δ 6.36% | 33.48 Hz / 35.61 Hz | ∇ -5.98% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 42.80 ms | Δ 0.44% | 23.26 Hz / 23.37 Hz | ∇ -0.44% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 69.14 ms | ∇ -0.16% | 14.49 Hz / 14.46 Hz | Δ 0.16% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 23.76 ms | ∇ -3.80% | 43.75 Hz / 42.09 Hz | Δ 3.95% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 37.25 ms | ∇ -5.49% | 28.41 Hz / 26.85 Hz | Δ 5.81% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 59.86 ms | ∇ -4.28% | 17.45 Hz / 16.71 Hz | Δ 4.48% |
images: Gauss filter (640x480) | 4.45 ms / 7.21 ms | ∇ -38.25% | 224.70 Hz / 138.75 Hz | Δ 61.95% |
images: Gauss filter (800x600) | 8.06 ms / 8.67 ms | ∇ -7.11% | 124.15 Hz / 115.32 Hz | Δ 7.66% |
images: Gauss filter (1024x768) | 13.86 ms / 14.94 ms | ∇ -7.25% | 72.16 Hz / 66.93 Hz | Δ 7.81% |
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 / 25.26 us | ∇ -31.56% | 57.84 KHz / 39.59 KHz | Δ 46.11% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 24.29 us | ∇ -32.13% | 60.66 KHz / 41.17 KHz | Δ 47.33% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 13.82 us | ∇ -29.66% | 102.89 KHz / 72.37 KHz | Δ 42.17% |
feature_extraction [640x480]: Harris | 31.46 ms / 53.60 ms | ∇ -41.31% | 31.79 Hz / 18.66 Hz | Δ 70.38% |
feature_extraction [640x480]: KLT | 30.94 ms / 32.67 ms | ∇ -5.28% | 32.32 Hz / 30.61 Hz | Δ 5.57% |
feature_extraction [640x480]: SIFT | 653.53 ms / 724.51 ms | ∇ -9.80% | 1.53 Hz / 1.38 Hz | Δ 10.86% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 217.33 ms | ∇ -3.20% | 4.75 Hz / 4.60 Hz | Δ 3.30% |
feature_extraction [640x480]: SURF | 243.66 ms / 320.21 ms | ∇ -23.91% | 4.10 Hz / 3.12 Hz | Δ 31.42% |
feature_extraction [640x480]: FAST | 6.32 ms / 9.58 ms | ∇ -34.02% | 158.19 Hz / 104.37 Hz | Δ 51.57% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 111.16 ms | ∇ -59.41% | 22.16 Hz / 9.00 Hz | Δ 146.37% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 64.75 ms | ∇ -28.03% | 21.46 Hz / 15.44 Hz | Δ 38.96% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 50.46 ms | ∇ -18.96% | 24.46 Hz / 19.82 Hz | Δ 23.40% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.37 sec | ∇ -5.94% | 778.73 mHz / 732.49 mHz | Δ 6.31% |
feature_matching [640x480]: SURF | 502.54 ms / 602.11 ms | ∇ -16.54% | 1.99 Hz / 1.66 Hz | Δ 19.81% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 23.55 ms | ∇ -16.31% | 50.74 Hz / 42.46 Hz | Δ 19.49% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 15.71 ms | ∇ -17.16% | 76.86 Hz / 63.67 Hz | Δ 20.72% |
graph(2d): insertEdge x 1e3 | 236.53 us / 300.22 us | ∇ -21.21% | 4.23 KHz / 3.33 KHz | Δ 26.93% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 300.93 us | ∇ -18.01% | 4.05 KHz / 3.32 KHz | Δ 21.97% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 245.20 us | ∇ -10.76% | 4.57 KHz / 4.08 KHz | Δ 12.06% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 252.81 us | ∇ -17.25% | 4.78 KHz / 3.96 KHz | Δ 20.84% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 537.61 us | ∇ -38.64% | 3.03 KHz / 1.86 KHz | Δ 62.98% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 456.45 us | ∇ -33.49% | 3.29 KHz / 2.19 KHz | Δ 50.34% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 401.18 us | ∇ -30.18% | 3.57 KHz / 2.49 KHz | Δ 43.23% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 394.03 us | ∇ -27.85% | 3.52 KHz / 2.54 KHz | Δ 38.61% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 3.65 ms | ∇ -25.40% | 367.00 Hz / 273.78 Hz | Δ 34.05% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 3.70 ms | ∇ -26.20% | 366.67 Hz / 270.61 Hz | Δ 35.50% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.51 ms | ∇ -22.12% | 512.34 Hz / 399.01 Hz | Δ 28.40% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 2.55 ms | ∇ -24.53% | 519.87 Hz / 392.34 Hz | Δ 32.50% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 4.81 ms | ∇ -33.27% | 311.68 Hz / 207.97 Hz | Δ 49.87% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 4.86 ms | ∇ -33.35% | 308.83 Hz / 205.85 Hz | Δ 50.03% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 4.03 ms | ∇ -19.91% | 309.95 Hz / 248.25 Hz | Δ 24.85% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 4.00 ms | ∇ -20.61% | 314.97 Hz / 250.07 Hz | Δ 25.95% |
graph(3d): insertEdge x 1e3 | 274.22 us / 338.14 us | ∇ -18.90% | 3.65 KHz / 2.96 KHz | Δ 23.31% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 332.03 us | ∇ -20.29% | 3.78 KHz / 3.01 KHz | Δ 25.46% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 302.41 us | ∇ -12.71% | 3.79 KHz / 3.31 KHz | Δ 14.56% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 309.65 us | ∇ -13.67% | 3.74 KHz / 3.23 KHz | Δ 15.83% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 668.72 us | ∇ -11.92% | 1.70 KHz / 1.50 KHz | Δ 13.53% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 672.92 us | ∇ -11.34% | 1.68 KHz / 1.49 KHz | Δ 12.79% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 668.41 us | ∇ -15.78% | 1.78 KHz / 1.50 KHz | Δ 18.73% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 676.59 us | ∇ -17.38% | 1.79 KHz / 1.48 KHz | Δ 21.03% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 3.60 ms | ∇ -10.23% | 309.17 Hz / 277.54 Hz | Δ 11.40% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 3.62 ms | ∇ -13.44% | 319.30 Hz / 276.39 Hz | Δ 15.53% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 3.04 ms | ∇ -13.80% | 381.66 Hz / 328.99 Hz | Δ 16.01% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 3.02 ms | ∇ -15.74% | 392.76 Hz / 330.96 Hz | Δ 18.67% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 7.09 ms | ∇ -13.78% | 163.57 Hz / 141.02 Hz | Δ 15.99% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 7.08 ms | ∇ -20.81% | 178.36 Hz / 141.24 Hz | Δ 26.29% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 6.70 ms | ∇ -22.21% | 192.01 Hz / 149.36 Hz | Δ 28.56% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 6.88 ms | ∇ -24.65% | 192.88 Hz / 145.34 Hz | Δ 32.71% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 279.15 us | ∇ -43.96% | 6.39 KHz / 3.58 KHz | Δ 78.45% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 417.83 us | ∇ -53.97% | 5.20 KHz / 2.39 KHz | Δ 117.25% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 3.14 ms | ∇ -30.64% | 459.11 Hz / 318.46 Hz | Δ 44.17% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 3.68 ms | ∇ -51.11% | 555.25 Hz / 271.44 Hz | Δ 104.56% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 37.09 ms | ∇ -28.10% | 37.50 Hz / 26.96 Hz | Δ 39.09% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 42.65 ms | ∇ -46.46% | 43.80 Hz / 23.45 Hz | Δ 86.78% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 433.73 ms | ∇ -29.18% | 3.26 Hz / 2.31 Hz | Δ 41.21% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 470.84 ms | ∇ -43.34% | 3.75 Hz / 2.12 Hz | Δ 76.48% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 428.18 ms | ∇ -29.44% | 3.31 Hz / 2.34 Hz | Δ 41.73% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 465.28 ms | ∇ -43.52% | 3.81 Hz / 2.15 Hz | Δ 77.06% |