Test description | 0.9.4-MSVC10-32bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 20.90 ms | Δ 77.71% | 26.93 Hz / 47.85 Hz | ∇ -43.73% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 18.76 ms | Δ 93.66% | 27.52 Hz / 53.30 Hz | ∇ -48.36% |
poses: CPose3D (+) CPose3D | 197.08 ns / 41.67 ns | Δ 372.94% | 5.07 MHz / 24.00 MHz | ∇ -78.86% |
poses: CPose3D.composeFrom() | 33.62 ns / 32.39 ns | Δ 3.81% | 29.74 MHz / 30.87 MHz | ∇ -3.67% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 8.02 ns | Δ 213.25% | 39.79 MHz / 124.63 MHz | ∇ -68.08% |
poses: CPose3D.composePoint() | 21.31 ns / 11.53 ns | Δ 84.72% | 46.94 MHz / 86.70 MHz | ∇ -45.86% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 18.18 ns | Δ 394.74% | 11.12 MHz / 54.99 MHz | ∇ -79.79% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 25.21 ns | Δ 87.38% | 21.17 MHz / 39.66 MHz | ∇ -46.63% |
poses: CPose2D (+) CPose2D | 108.63 ns / 72.10 ns | Δ 50.66% | 9.21 MHz / 13.87 MHz | ∇ -33.62% |
poses: CPose2D.composeFrom() | 94.77 ns / 69.22 ns | Δ 36.91% | 10.55 MHz / 14.45 MHz | ∇ -26.96% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 60.48 ns | Δ 33.27% | 12.41 MHz / 16.53 MHz | ∇ -24.96% |
poses: CPose2D.composePoint() | 67.32 ns / 60.01 ns | Δ 12.18% | 14.85 MHz / 16.66 MHz | ∇ -10.86% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 42.70 ns | Δ 90.41% | 12.30 MHz / 23.42 MHz | ∇ -47.48% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 38.27 ns | Δ 34.74% | 19.39 MHz / 26.13 MHz | ∇ -25.78% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 17.90 ns | Δ 212.28% | 17.89 MHz / 55.85 MHz | ∇ -67.98% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 18.44 ns | Δ 77.50% | 30.55 MHz / 54.23 MHz | ∇ -43.66% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 33.31 ns | Δ 272.29% | 8.06 MHz / 30.02 MHz | ∇ -73.14% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 19.52 ns | Δ 56.83% | 32.67 MHz / 51.24 MHz | ∇ -36.23% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 16.27 ns | Δ 72.80% | 35.56 MHz / 61.45 MHz | ∇ -42.13% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 169.77 ns | Δ 27.72% | 4.61 MHz / 5.89 MHz | ∇ -21.70% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 799.00 ns | Δ 55.20% | 806.40 KHz / 1.25 MHz | ∇ -35.57% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 788.50 ns | Δ 51.78% | 835.55 KHz / 1.27 MHz | ∇ -34.12% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 9.11 us | Δ 121.31% | 49.63 KHz / 109.83 KHz | ∇ -54.81% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 557.50 ns | Δ 46.65% | 1.22 MHz / 1.79 MHz | ∇ -31.81% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 558.50 ns | Δ 47.43% | 1.21 MHz / 1.79 MHz | ∇ -32.17% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 8.42 us | Δ 126.81% | 52.39 KHz / 118.81 KHz | ∇ -55.91% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 17.83 ns | Δ 178.50% | 20.13 MHz / 56.07 MHz | ∇ -64.09% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 19.48 ns | Δ 161.38% | 19.64 MHz / 51.35 MHz | ∇ -61.74% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 54.85 ns | Δ 229.99% | 5.53 MHz / 18.23 MHz | ∇ -69.70% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 55.93 ns | Δ 218.06% | 5.62 MHz / 17.88 MHz | ∇ -68.56% |
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 / 1.50 ns | Δ 342.63% | 150.81 MHz / 667.56 MHz | ∇ -77.41% |
matrix: unit, fix[double,6,6] | 8.86 ns / 5.61 ns | Δ 57.95% | 112.91 MHz / 178.35 MHz | ∇ -36.69% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 291.30 ns | Δ 133.53% | 1.47 MHz / 3.43 MHz | ∇ -57.18% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 292.50 ns | Δ 56.70% | 2.18 MHz / 3.42 MHz | ∇ -36.18% |
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 / 347.50 ns | Δ 95.81% | 1.47 MHz / 2.88 MHz | ∇ -48.93% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 0.00 ns | Δ 1.#J% | 28.34 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 340.40 ns | Δ 51.00% | 1.95 MHz / 2.94 MHz | ∇ -33.78% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 0.00 ns | Δ 1.#J% | 294.39 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 2.42 us | Δ 114.02% | 193.06 KHz / 413.19 KHz | ∇ -53.28% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 2.23 us | Δ 104.24% | 219.44 KHz / 448.19 KHz | ∇ -51.04% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 2.31 us | Δ 64.04% | 263.78 KHz / 432.69 KHz | ∇ -39.04% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 2.12 us | Δ 37.72% | 342.06 KHz / 471.08 KHz | ∇ -27.39% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 780.00 ns | Δ 92.66% | 665.44 KHz / 1.28 MHz | ∇ -48.10% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 0.00 ns | Δ 1.#J% | 105.14 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 1.97 us | Δ 97.95% | 256.17 KHz / 507.10 KHz | ∇ -49.48% |
matrix: inv, fix[double] 6x6 | 3.54 us / 1.60 us | Δ 121.11% | 282.49 KHz / 624.61 KHz | ∇ -54.77% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 16.08 us | Δ 112.63% | 29.25 KHz / 62.19 KHz | ∇ -52.97% |
matrix: inv, fix[double] 20x20 | 29.35 us / 14.48 us | Δ 102.76% | 34.07 KHz / 69.08 KHz | ∇ -50.68% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 65.78 us | Δ 104.05% | 7.45 KHz / 15.20 KHz | ∇ -50.99% |
matrix: inv, fix[double] 40x40 | 126.45 us / 64.13 us | Δ 97.18% | 7.91 KHz / 15.59 KHz | ∇ -49.28% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 212.60 ns | Δ 183.04% | 1.66 MHz / 4.70 MHz | ∇ -64.67% |
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 / 323.30 ns | Δ 169.97% | 1.15 MHz / 3.09 MHz | ∇ -62.96% |
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 / 774.90 ns | Δ 199.91% | 430.29 KHz / 1.29 MHz | ∇ -66.66% |
matrix: det, fix[double] 6x6 | 2.17 us / 592.30 ns | Δ 266.55% | 460.60 KHz / 1.69 MHz | ∇ -72.72% |
matrix: det, dyn[double] 20x20 | 23.14 us / 8.50 us | Δ 172.14% | 43.22 KHz / 117.63 KHz | ∇ -63.25% |
matrix: det, fix[double] 20x20 | 21.38 us / 7.72 us | Δ 176.91% | 46.78 KHz / 129.53 KHz | ∇ -63.89% |
matrix: det, dyn[double] 40x40 | 92.83 us / 32.23 us | Δ 188.07% | 10.77 KHz / 31.03 KHz | ∇ -65.29% |
matrix: det, fix[double] 40x40 | 90.97 us / 30.71 us | Δ 196.25% | 10.99 KHz / 32.57 KHz | ∇ -66.25% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 530.00 ns | Δ 68.35% | 1.12 MHz / 1.89 MHz | ∇ -40.60% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 130.00 ns | Δ 91.62% | 4.01 MHz / 7.69 MHz | ∇ -47.81% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 22.98 us | Δ 78.96% | 24.32 KHz / 43.52 KHz | ∇ -44.12% |
matrix: chol, fix[double] 40x40 | 26.92 us / 19.50 us | Δ 38.03% | 37.15 KHz / 51.28 KHz | ∇ -27.55% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 8.20 us | Δ 86.69% | 65.32 KHz / 121.95 KHz | ∇ -46.43% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 85.30 us | Δ 36.99% | 8.56 KHz / 11.72 KHz | ∇ -27.00% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 56.80 us | Δ 74.23% | 10.10 KHz / 17.61 KHz | ∇ -42.60% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 39.31 us | Δ 40.37% | 18.12 KHz / 25.44 KHz | ∇ -28.76% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 266.80 us | Δ 86.68% | 2.01 KHz / 3.75 KHz | ∇ -46.43% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 72.76 us | Δ 83.34% | 7.50 KHz / 13.74 KHz | ∇ -45.46% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 2.67 ms | Δ 86.99% | 200.30 Hz / 374.53 Hz | ∇ -46.52% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 176.19 us | Δ 38.47% | 4.10 KHz / 5.68 KHz | ∇ -27.78% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 20.73 ms | Δ 44.82% | 33.31 Hz / 48.23 Hz | ∇ -30.95% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 351.05 us | Δ 38.46% | 2.06 KHz / 2.85 KHz | ∇ -27.78% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 34.60 ms | Δ 50.11% | 19.25 Hz / 28.90 Hz | ∇ -33.38% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 415.89 us | Δ 40.37% | 1.71 KHz / 2.40 KHz | ∇ -28.76% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 50.32 ms | Δ 52.84% | 13.00 Hz / 19.87 Hz | ∇ -34.57% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 482.94 us | Δ 34.45% | 1.54 KHz / 2.07 KHz | ∇ -25.62% |
gridmap2D: getCell | 6.44 ns / 0.00 ns | Δ 1.#J% | 155.25 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 9.52 ns / 2.61 ns | Δ 265.35% | 105.00 MHz / 383.63 MHz | ∇ -72.63% |
gridmap2D: updateCell | 9.85 ns / 6.99 ns | Δ 40.84% | 101.55 MHz / 143.02 MHz | ∇ -29.00% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 0.51 ns | Δ 187.25% | 679.40 MHz / 1.95 GHz | ∇ -65.19% |
gridmap2D: insert scan w/o widening | 225.20 us / 102.59 us | Δ 119.52% | 4.44 KHz / 9.75 KHz | ∇ -54.45% |
gridmap2D: insert scan with widening | 365.80 us / 284.11 us | Δ 28.75% | 2.73 KHz / 3.52 KHz | ∇ -22.33% |
gridmap2D: resize | 2.56 ms / 722.00 us | Δ 255.18% | 389.96 Hz / 1.39 KHz | ∇ -71.85% |
gridmap2D: computeLikelihood | 21.14 us / 15.69 us | Δ 34.72% | 47.30 KHz / 63.72 KHz | ∇ -25.77% |
pointmap: insert 100 scans | 3.27 ms / 2.97 ms | Δ 10.24% | 305.75 Hz / 337.06 Hz | ∇ -9.29% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.36 us | Δ 38.37% | 165.76 KHz / 229.36 KHz | ∇ -27.73% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 357.08 us | Δ 62.27% | 1.73 KHz / 2.80 KHz | ∇ -38.37% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 4.19 ms | Δ 46.51% | 162.87 Hz / 238.61 Hz | ∇ -31.74% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 4.72 us | Δ 41.63% | 149.59 KHz / 211.86 KHz | ∇ -29.39% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 362.68 us | Δ 43.37% | 1.92 KHz / 2.76 KHz | ∇ -30.25% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 4.10 ms | Δ 61.99% | 150.68 Hz / 244.09 Hz | ∇ -38.27% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.39 us | Δ 40.83% | 511.57 KHz / 720.46 KHz | ∇ -28.99% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 101.86 us | Δ 64.09% | 5.98 KHz / 9.82 KHz | ∇ -39.06% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 11.78 ms | Δ 48.22% | 57.30 Hz / 84.92 Hz | ∇ -32.53% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 5.62 ms | Δ 62.05% | 109.75 Hz / 177.84 Hz | ∇ -38.29% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 130.59 ms | Δ 61.36% | 4.75 Hz / 7.66 Hz | ∇ -38.03% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 5.69 ms | Δ 47.21% | 119.37 Hz / 175.73 Hz | ∇ -32.07% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 132.22 ms | Δ 50.29% | 5.03 Hz / 7.56 Hz | ∇ -33.46% |
random: drawUniform32bit | 7.57 ns / 15.67 ns | ∇ -51.69% | 132.11 MHz / 63.82 MHz | Δ 106.99% |
random: drawUniform | 7.60 ns / 15.66 ns | ∇ -51.44% | 131.54 MHz / 63.88 MHz | Δ 105.94% |
random: drawGaussian1D_normalized | 58.48 ns / 69.89 ns | ∇ -16.34% | 17.10 MHz / 14.31 MHz | Δ 19.53% |
random: drawGaussian1D | 57.62 ns / 69.86 ns | ∇ -17.51% | 17.35 MHz / 14.32 MHz | Δ 21.23% |
random: system rand() | 29.43 ns / 12.21 ns | Δ 140.93% | 33.98 MHz / 81.87 MHz | ∇ -58.49% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 2.70 us | Δ 9.22% | 339.21 KHz / 370.49 KHz | ∇ -8.44% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 5.71 us | ∇ -38.10% | 282.92 KHz / 175.14 KHz | Δ 61.54% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 148.19 ns | ∇ -1.67% | 6.86 MHz / 6.75 MHz | Δ 1.70% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 232.46 ns | ∇ -2.19% | 4.40 MHz / 4.30 MHz | Δ 2.24% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 489.71 ns | Δ 5.07% | 1.94 MHz / 2.04 MHz | ∇ -4.83% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 159.54 ns | Δ 6.82% | 5.87 MHz / 6.27 MHz | ∇ -6.38% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 247.75 ns | Δ 14.47% | 3.53 MHz / 4.04 MHz | ∇ -12.64% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 521.91 ns | Δ 26.69% | 1.51 MHz / 1.92 MHz | ∇ -21.07% |
random: permuteVector (len=10) | 304.45 ns / 251.30 ns | Δ 21.15% | 3.28 MHz / 3.98 MHz | ∇ -17.46% |
random: permuteVector (len=100) | 3.47 us / 3.02 us | Δ 14.92% | 288.42 KHz / 331.46 KHz | ∇ -12.98% |
random: permuteVector (len=1000) | 37.99 us / 30.36 us | Δ 25.10% | 26.33 KHz / 32.93 KHz | ∇ -20.06% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188178.43% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 34.14 ms | ∇ -3.17% | 30.25 Hz / 29.29 Hz | Δ 3.27% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 49.83 ms | Δ 1.62% | 19.75 Hz / 20.07 Hz | ∇ -1.60% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 80.71 ms | Δ 2.41% | 12.10 Hz / 12.39 Hz | ∇ -2.36% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 29.36 ms | ∇ -6.84% | 36.56 Hz / 34.05 Hz | Δ 7.34% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 42.45 ms | Δ 1.90% | 23.12 Hz / 23.56 Hz | ∇ -1.87% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 65.41 ms | Δ 1.75% | 15.03 Hz / 15.29 Hz | ∇ -1.72% |
images: Gauss filter (640x480) | 5.57 ms / 4.66 ms | Δ 19.45% | 179.49 Hz / 214.40 Hz | ∇ -16.28% |
images: Gauss filter (800x600) | 8.84 ms / 5.98 ms | Δ 47.75% | 113.10 Hz / 167.10 Hz | ∇ -32.32% |
images: Gauss filter (1024x768) | 14.37 ms / 10.42 ms | Δ 37.88% | 69.58 Hz / 95.93 Hz | ∇ -27.47% |
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 / 11.35 us | Δ 93.54% | 45.52 KHz / 88.11 KHz | ∇ -48.33% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 9.96 us | Δ 120.95% | 45.44 KHz / 100.40 KHz | ∇ -54.74% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 5.52 us | Δ 130.23% | 78.69 KHz / 181.16 KHz | ∇ -56.57% |
feature_extraction [640x480]: Harris | 38.32 ms / 32.25 ms | Δ 18.80% | 26.10 Hz / 31.01 Hz | ∇ -15.83% |
feature_extraction [640x480]: KLT | 37.22 ms / 25.60 ms | Δ 45.35% | 26.87 Hz / 39.06 Hz | ∇ -31.20% |
feature_extraction [640x480]: SIFT | 739.68 ms / 630.91 ms | Δ 17.24% | 1.35 Hz / 1.59 Hz | ∇ -14.71% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 164.09 ms | Δ 41.97% | 4.29 Hz / 6.09 Hz | ∇ -29.56% |
feature_extraction [640x480]: SURF | 309.97 ms / 207.64 ms | Δ 49.28% | 3.23 Hz / 4.82 Hz | ∇ -33.01% |
feature_extraction [640x480]: FAST | 6.88 ms / 7.60 ms | ∇ -9.42% | 145.25 Hz / 131.57 Hz | Δ 10.39% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 60.60 ms | Δ 45.67% | 11.33 Hz / 16.50 Hz | ∇ -31.35% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 43.99 ms | Δ 35.68% | 16.76 Hz / 22.73 Hz | ∇ -26.30% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 36.29 ms | Δ 61.41% | 17.07 Hz / 27.56 Hz | ∇ -38.05% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.20 sec | Δ 24.92% | 668.02 mHz / 834.47 mHz | ∇ -19.95% |
feature_matching [640x480]: SURF | 621.62 ms / 379.83 ms | Δ 63.66% | 1.61 Hz / 2.63 Hz | ∇ -38.90% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 16.04 ms | Δ 35.28% | 46.10 Hz / 62.36 Hz | ∇ -26.08% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 10.85 ms | Δ 16.44% | 79.13 Hz / 92.14 Hz | ∇ -14.12% |
graph(2d): insertEdge x 1e3 | 301.62 us / 119.99 us | Δ 151.37% | 3.32 KHz / 8.33 KHz | ∇ -60.22% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 107.18 us | Δ 178.84% | 3.35 KHz / 9.33 KHz | ∇ -64.14% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 84.03 us | Δ 226.89% | 3.64 KHz / 11.90 KHz | ∇ -69.41% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 83.37 us | Δ 224.10% | 3.70 KHz / 11.99 KHz | ∇ -69.14% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 170.61 us | Δ 143.75% | 2.40 KHz / 5.86 KHz | ∇ -58.97% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 181.61 us | Δ 123.88% | 2.46 KHz / 5.51 KHz | ∇ -55.33% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 179.02 us | Δ 110.89% | 2.65 KHz / 5.59 KHz | ∇ -52.58% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 178.59 us | Δ 112.47% | 2.64 KHz / 5.60 KHz | ∇ -52.94% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 1.58 ms | Δ 161.60% | 241.59 Hz / 632.00 Hz | ∇ -61.77% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 1.26 ms | Δ 216.26% | 250.06 Hz / 790.83 Hz | ∇ -68.38% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 863.38 us | Δ 240.89% | 339.77 Hz / 1.16 KHz | ∇ -70.67% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 846.12 us | Δ 241.89% | 345.69 Hz / 1.18 KHz | ∇ -70.75% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 1.96 ms | Δ 143.28% | 209.57 Hz / 509.85 Hz | ∇ -58.90% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.25 ms | Δ 116.56% | 205.59 Hz / 445.23 Hz | ∇ -53.82% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 1.95 ms | Δ 107.47% | 246.64 Hz / 511.72 Hz | ∇ -51.80% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 1.95 ms | Δ 115.85% | 237.52 Hz / 512.69 Hz | ∇ -53.67% |
graph(3d): insertEdge x 1e3 | 381.69 us / 169.26 us | Δ 125.50% | 2.62 KHz / 5.91 KHz | ∇ -55.65% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 168.78 us | Δ 141.27% | 2.46 KHz / 5.93 KHz | ∇ -58.55% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 153.69 us | Δ 120.94% | 2.94 KHz / 6.51 KHz | ∇ -54.74% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 154.19 us | Δ 116.97% | 2.99 KHz / 6.49 KHz | ∇ -53.91% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 471.95 us | Δ 45.97% | 1.45 KHz / 2.12 KHz | ∇ -31.49% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 479.58 us | Δ 42.77% | 1.46 KHz / 2.09 KHz | ∇ -29.96% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 441.33 us | Δ 54.81% | 1.46 KHz / 2.27 KHz | ∇ -35.41% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 445.05 us | Δ 53.77% | 1.46 KHz / 2.25 KHz | ∇ -34.97% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 2.46 ms | Δ 58.15% | 257.39 Hz / 407.06 Hz | ∇ -36.77% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 2.46 ms | Δ 54.09% | 263.81 Hz / 406.51 Hz | ∇ -35.10% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 1.70 ms | Δ 110.98% | 278.91 Hz / 588.45 Hz | ∇ -52.60% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 1.70 ms | Δ 106.83% | 284.28 Hz / 587.97 Hz | ∇ -51.65% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 6.68 ms | Δ 16.75% | 128.15 Hz / 149.62 Hz | ∇ -14.35% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 6.75 ms | Δ 15.57% | 128.11 Hz / 148.06 Hz | ∇ -13.47% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 4.59 ms | Δ 63.41% | 133.45 Hz / 218.07 Hz | ∇ -38.80% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 4.58 ms | Δ 65.40% | 132.15 Hz / 218.58 Hz | ∇ -39.54% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 89.04 us | Δ 139.38% | 4.69 KHz / 11.23 KHz | ∇ -58.23% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 75.33 us | Δ 313.65% | 3.21 KHz / 13.28 KHz | ∇ -75.82% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 1.11 ms | Δ 131.85% | 389.66 Hz / 903.43 Hz | ∇ -56.87% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 711.20 us | Δ 279.82% | 370.20 Hz / 1.41 KHz | ∇ -73.67% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 18.54 ms | Δ 68.75% | 31.96 Hz / 53.94 Hz | ∇ -40.74% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 9.76 ms | Δ 237.40% | 30.38 Hz / 102.51 Hz | ∇ -70.36% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 252.57 ms | Δ 55.87% | 2.54 Hz / 3.96 Hz | ∇ -35.84% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 112.23 ms | Δ 243.58% | 2.59 Hz / 8.91 Hz | ∇ -70.89% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 256.02 ms | Δ 48.54% | 2.63 Hz / 3.91 Hz | ∇ -32.68% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 106.16 ms | Δ 254.97% | 2.65 Hz / 9.42 Hz | ∇ -71.83% |