Test description | 0.9.4-MSVC10-32bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 26.54 ms | Δ 39.92% | 26.93 Hz / 37.68 Hz | ∇ -28.53% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 32.17 ms | Δ 12.94% | 27.52 Hz / 31.08 Hz | ∇ -11.46% |
poses: CPose3D (+) CPose3D | 197.08 ns / 62.83 ns | Δ 213.68% | 5.07 MHz / 15.92 MHz | ∇ -68.12% |
poses: CPose3D.composeFrom() | 33.62 ns / 41.42 ns | ∇ -18.82% | 29.74 MHz / 24.14 MHz | Δ 23.18% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 18.89 ns | Δ 33.06% | 39.79 MHz / 52.94 MHz | ∇ -24.85% |
poses: CPose3D.composePoint() | 21.31 ns / 17.17 ns | Δ 24.06% | 46.94 MHz / 58.23 MHz | ∇ -19.39% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 88.79 ns | Δ 1.32% | 11.12 MHz / 11.26 MHz | ∇ -1.31% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 44.00 ns | Δ 7.38% | 21.17 MHz / 22.73 MHz | ∇ -6.87% |
poses: CPose2D (+) CPose2D | 108.63 ns / 72.08 ns | Δ 50.70% | 9.21 MHz / 13.87 MHz | ∇ -33.64% |
poses: CPose2D.composeFrom() | 94.77 ns / 63.27 ns | Δ 49.79% | 10.55 MHz / 15.81 MHz | ∇ -33.24% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 34.42 ns | Δ 134.20% | 12.41 MHz / 29.05 MHz | ∇ -57.30% |
poses: CPose2D.composePoint() | 67.32 ns / 26.02 ns | Δ 158.70% | 14.85 MHz / 38.43 MHz | ∇ -61.35% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 113.59 ns | ∇ -28.42% | 12.30 MHz / 8.80 MHz | Δ 39.71% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 82.72 ns | ∇ -37.66% | 19.39 MHz / 12.09 MHz | Δ 60.41% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 41.33 ns | Δ 35.29% | 17.89 MHz / 24.20 MHz | ∇ -26.08% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 31.13 ns | Δ 5.14% | 30.55 MHz / 32.12 MHz | ∇ -4.89% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 113.89 ns | Δ 8.89% | 8.06 MHz / 8.78 MHz | ∇ -8.17% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 33.95 ns | ∇ -9.84% | 32.67 MHz / 29.46 MHz | Δ 10.92% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 26.44 ns | Δ 6.34% | 35.56 MHz / 37.82 MHz | ∇ -5.97% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 97.31 ns | Δ 122.83% | 4.61 MHz / 10.28 MHz | ∇ -55.12% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 948.85 ns | Δ 30.69% | 806.40 KHz / 1.05 MHz | ∇ -23.48% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 938.66 ns | Δ 27.50% | 835.55 KHz / 1.07 MHz | ∇ -21.57% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 21.21 us | ∇ -4.99% | 49.63 KHz / 47.15 KHz | Δ 5.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 532.44 ns | Δ 53.56% | 1.22 MHz / 1.88 MHz | ∇ -34.88% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 528.23 ns | Δ 55.88% | 1.21 MHz / 1.89 MHz | ∇ -35.85% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 11.19 us | Δ 70.56% | 52.39 KHz / 89.35 KHz | ∇ -41.37% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 45.20 ns | Δ 9.89% | 20.13 MHz / 22.13 MHz | ∇ -9.00% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 45.86 ns | Δ 11.01% | 19.64 MHz / 21.81 MHz | ∇ -9.92% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 177.43 ns | Δ 2.00% | 5.53 MHz / 5.64 MHz | ∇ -1.96% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 169.52 ns | Δ 4.94% | 5.62 MHz / 5.90 MHz | ∇ -4.71% |
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 / 6.37 ns | Δ 4.14% | 150.81 MHz / 157.06 MHz | ∇ -3.98% |
matrix: unit, fix[double,6,6] | 8.86 ns / 7.86 ns | Δ 12.64% | 112.91 MHz / 127.19 MHz | ∇ -11.23% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 485.93 ns | Δ 39.99% | 1.47 MHz / 2.06 MHz | ∇ -28.57% |
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 / 528.41 ns | ∇ -13.26% | 2.18 MHz / 1.89 MHz | Δ 15.29% |
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 / 547.16 ns | Δ 24.36% | 1.47 MHz / 1.83 MHz | ∇ -19.59% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 2.36 ns | Δ 1398.08% | 28.34 MHz / 424.60 MHz | ∇ -93.32% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 391.50 ns | Δ 31.29% | 1.95 MHz / 2.55 MHz | ∇ -23.83% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 2.36 ns | Δ 44.23% | 294.39 MHz / 424.60 MHz | ∇ -30.67% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 2.74 us | Δ 88.81% | 193.06 KHz / 364.51 KHz | ∇ -47.04% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 2.08 us | Δ 118.69% | 219.44 KHz / 479.89 KHz | ∇ -54.27% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 3.47 us | Δ 9.39% | 263.78 KHz / 288.55 KHz | ∇ -8.58% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 2.38 us | Δ 22.66% | 342.06 KHz / 419.56 KHz | ∇ -18.47% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 1.09 us | Δ 38.42% | 665.44 KHz / 921.12 KHz | ∇ -27.76% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 22.19 ns | ∇ -57.14% | 105.14 MHz / 45.06 MHz | Δ 133.33% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 2.78 us | Δ 40.40% | 256.17 KHz / 359.66 KHz | ∇ -28.77% |
matrix: inv, fix[double] 6x6 | 3.54 us / 2.22 us | Δ 59.38% | 282.49 KHz / 450.23 KHz | ∇ -37.26% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 30.71 us | Δ 11.33% | 29.25 KHz / 32.56 KHz | ∇ -10.17% |
matrix: inv, fix[double] 20x20 | 29.35 us / 24.08 us | Δ 21.91% | 34.07 KHz / 41.53 KHz | ∇ -17.97% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 117.18 us | Δ 14.56% | 7.45 KHz / 8.53 KHz | ∇ -12.71% |
matrix: inv, fix[double] 40x40 | 126.45 us / 112.80 us | Δ 12.10% | 7.91 KHz / 8.86 KHz | ∇ -10.79% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 765.51 ns | ∇ -21.39% | 1.66 MHz / 1.31 MHz | Δ 27.22% |
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 / 822.31 ns | Δ 6.14% | 1.15 MHz / 1.22 MHz | ∇ -5.79% |
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 / 1.78 us | Δ 30.25% | 430.29 KHz / 560.47 KHz | ∇ -23.23% |
matrix: det, fix[double] 6x6 | 2.17 us / 1.51 us | Δ 43.59% | 460.60 KHz / 661.35 KHz | ∇ -30.36% |
matrix: det, dyn[double] 20x20 | 23.14 us / 18.54 us | Δ 24.80% | 43.22 KHz / 53.94 KHz | ∇ -19.87% |
matrix: det, fix[double] 20x20 | 21.38 us / 19.01 us | Δ 12.46% | 46.78 KHz / 52.61 KHz | ∇ -11.08% |
matrix: det, dyn[double] 40x40 | 92.83 us / 72.40 us | Δ 28.23% | 10.77 KHz / 13.81 KHz | ∇ -22.01% |
matrix: det, fix[double] 40x40 | 90.97 us / 67.43 us | Δ 34.91% | 10.99 KHz / 14.83 KHz | ∇ -25.88% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 606.90 ns | Δ 47.01% | 1.12 MHz / 1.65 MHz | ∇ -31.98% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 190.22 ns | Δ 30.95% | 4.01 MHz / 5.26 MHz | ∇ -23.64% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 31.59 us | Δ 30.20% | 24.32 KHz / 31.66 KHz | ∇ -23.19% |
matrix: chol, fix[double] 40x40 | 26.92 us / 20.87 us | Δ 29.00% | 37.15 KHz / 47.93 KHz | ∇ -22.48% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 7.11 us | Δ 115.29% | 65.32 KHz / 140.63 KHz | ∇ -53.55% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 94.75 us | Δ 23.33% | 8.56 KHz / 10.55 KHz | ∇ -18.91% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 75.59 us | Δ 30.92% | 10.10 KHz / 13.23 KHz | ∇ -23.62% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 43.20 us | Δ 27.72% | 18.12 KHz / 23.15 KHz | ∇ -21.70% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 453.46 us | Δ 9.84% | 2.01 KHz / 2.21 KHz | ∇ -8.96% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 74.00 us | Δ 80.26% | 7.50 KHz / 13.51 KHz | ∇ -44.53% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 3.54 ms | Δ 40.89% | 200.30 Hz / 282.19 Hz | ∇ -29.02% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 178.69 us | Δ 36.53% | 4.10 KHz / 5.60 KHz | ∇ -26.76% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 22.29 ms | Δ 34.73% | 33.31 Hz / 44.87 Hz | ∇ -25.78% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 359.36 us | Δ 35.26% | 2.06 KHz / 2.78 KHz | ∇ -26.07% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 36.29 ms | Δ 43.15% | 19.25 Hz / 27.56 Hz | ∇ -30.14% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 411.86 us | Δ 41.74% | 1.71 KHz / 2.43 KHz | ∇ -29.45% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 54.34 ms | Δ 41.52% | 13.00 Hz / 18.40 Hz | ∇ -29.34% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 488.10 us | Δ 33.03% | 1.54 KHz / 2.05 KHz | ∇ -24.83% |
gridmap2D: getCell | 6.44 ns / 4.13 ns | Δ 55.92% | 155.25 MHz / 242.07 MHz | ∇ -35.87% |
gridmap2D: setCell | 9.52 ns / 5.65 ns | Δ 68.70% | 105.00 MHz / 177.14 MHz | ∇ -40.72% |
gridmap2D: updateCell | 9.85 ns / 6.93 ns | Δ 42.15% | 101.55 MHz / 144.35 MHz | ∇ -29.65% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 1.20 ns | Δ 22.67% | 679.40 MHz / 833.40 MHz | ∇ -18.48% |
gridmap2D: insert scan w/o widening | 225.20 us / 102.16 us | Δ 120.44% | 4.44 KHz / 9.79 KHz | ∇ -54.64% |
gridmap2D: insert scan with widening | 365.80 us / 276.88 us | Δ 32.11% | 2.73 KHz / 3.61 KHz | ∇ -24.31% |
gridmap2D: resize | 2.56 ms / 3.89 ms | ∇ -34.08% | 389.96 Hz / 257.06 Hz | Δ 51.70% |
gridmap2D: computeLikelihood | 21.14 us / 13.92 us | Δ 51.88% | 47.30 KHz / 71.84 KHz | ∇ -34.16% |
pointmap: insert 100 scans | 3.27 ms / 1.87 ms | Δ 74.73% | 305.75 Hz / 534.24 Hz | ∇ -42.77% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 5.09 us | Δ 18.51% | 165.76 KHz / 196.43 KHz | ∇ -15.62% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 486.39 us | Δ 19.13% | 1.73 KHz / 2.06 KHz | ∇ -16.06% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 5.10 ms | Δ 20.46% | 162.87 Hz / 196.20 Hz | ∇ -16.99% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 5.56 us | Δ 20.20% | 149.59 KHz / 179.80 KHz | ∇ -16.80% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 467.24 us | Δ 11.28% | 1.92 KHz / 2.14 KHz | ∇ -10.14% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 5.18 ms | Δ 28.07% | 150.68 Hz / 192.98 Hz | ∇ -21.92% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.59 us | Δ 22.61% | 511.57 KHz / 627.25 KHz | ∇ -18.44% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 126.68 us | Δ 31.94% | 5.98 KHz / 7.89 KHz | ∇ -24.21% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 13.86 ms | Δ 25.91% | 57.30 Hz / 72.14 Hz | ∇ -20.58% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 6.54 ms | Δ 39.24% | 109.75 Hz / 152.81 Hz | ∇ -28.18% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 174.77 ms | Δ 20.57% | 4.75 Hz / 5.72 Hz | ∇ -17.06% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 6.88 ms | Δ 21.70% | 119.37 Hz / 145.28 Hz | ∇ -17.83% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 181.38 ms | Δ 9.56% | 5.03 Hz / 5.51 Hz | ∇ -8.73% |
random: drawUniform32bit | 7.57 ns / 9.54 ns | ∇ -20.61% | 132.11 MHz / 104.87 MHz | Δ 25.97% |
random: drawUniform | 7.60 ns / 9.69 ns | ∇ -21.54% | 131.54 MHz / 103.21 MHz | Δ 27.45% |
random: drawGaussian1D_normalized | 58.48 ns / 52.06 ns | Δ 12.32% | 17.10 MHz / 19.21 MHz | ∇ -10.97% |
random: drawGaussian1D | 57.62 ns / 50.73 ns | Δ 13.58% | 17.35 MHz / 19.71 MHz | ∇ -11.96% |
random: system rand() | 29.43 ns / 24.47 ns | Δ 20.27% | 33.98 MHz / 40.87 MHz | ∇ -16.85% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 1.24 us | Δ 137.38% | 339.21 KHz / 805.20 KHz | ∇ -57.87% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 3.19 us | Δ 10.88% | 282.92 KHz / 313.70 KHz | ∇ -9.81% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 130.03 ns | Δ 12.06% | 6.86 MHz / 7.69 MHz | ∇ -10.77% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 198.35 ns | Δ 14.63% | 4.40 MHz / 5.04 MHz | ∇ -12.76% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 451.66 ns | Δ 13.92% | 1.94 MHz / 2.21 MHz | ∇ -12.22% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 136.92 ns | Δ 24.46% | 5.87 MHz / 7.30 MHz | ∇ -19.65% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 213.52 ns | Δ 32.83% | 3.53 MHz / 4.68 MHz | ∇ -24.71% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 478.55 ns | Δ 38.17% | 1.51 MHz / 2.09 MHz | ∇ -27.63% |
random: permuteVector (len=10) | 304.45 ns / 244.07 ns | Δ 24.74% | 3.28 MHz / 4.10 MHz | ∇ -19.83% |
random: permuteVector (len=100) | 3.47 us / 3.12 us | Δ 10.99% | 288.42 KHz / 320.11 KHz | ∇ -9.90% |
random: permuteVector (len=1000) | 37.99 us / 30.82 us | Δ 23.23% | 26.33 KHz / 32.44 KHz | ∇ -18.85% |
math: round | 0.00 ns / 0.00 ns | ∇ 0.00% | 220.79 THz / 220.79 THz | ∇ 0.00% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 29.87 ms | Δ 10.68% | 30.25 Hz / 33.48 Hz | ∇ -9.65% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 42.98 ms | Δ 17.81% | 19.75 Hz / 23.26 Hz | ∇ -15.12% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 69.03 ms | Δ 19.75% | 12.10 Hz / 14.49 Hz | ∇ -16.49% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 22.86 ms | Δ 19.68% | 36.56 Hz / 43.75 Hz | ∇ -16.45% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 35.20 ms | Δ 22.86% | 23.12 Hz / 28.41 Hz | ∇ -18.61% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 57.29 ms | Δ 16.17% | 15.03 Hz / 17.45 Hz | ∇ -13.92% |
images: Gauss filter (640x480) | 5.57 ms / 4.45 ms | Δ 25.19% | 179.49 Hz / 224.70 Hz | ∇ -20.12% |
images: Gauss filter (800x600) | 8.84 ms / 8.06 ms | Δ 9.77% | 113.10 Hz / 124.15 Hz | ∇ -8.90% |
images: Gauss filter (1024x768) | 14.37 ms / 13.86 ms | Δ 3.72% | 69.58 Hz / 72.16 Hz | ∇ -3.58% |
images: Half sample GRAY (160x120) | 1.63 us / 1.32 us | Δ 23.38% | 612.18 KHz / 755.28 KHz | ∇ -18.95% |
images: Half sample GRAY (320x240) | 4.13 us / 4.41 us | ∇ -6.30% | 241.92 KHz / 226.69 KHz | Δ 6.72% |
images: Half sample GRAY (640x480) | 19.15 us / 18.51 us | Δ 3.44% | 52.22 KHz / 54.02 KHz | ∇ -3.33% |
images: Half sample GRAY (800x600) | 31.65 us / 29.74 us | Δ 6.43% | 31.59 KHz / 33.62 KHz | ∇ -6.04% |
images: Half sample GRAY (1024x768) | 50.27 us / 52.65 us | ∇ -4.51% | 19.89 KHz / 18.99 KHz | Δ 4.72% |
images: Half sample GRAY (1280x1024) | 87.87 us / 107.42 us | ∇ -18.20% | 11.38 KHz / 9.31 KHz | Δ 22.25% |
images: Half sample RGB (160x120) | 3.54 us / 9.33 us | ∇ -62.08% | 282.58 KHz / 107.15 KHz | Δ 163.74% |
images: Half sample RGB (320x240) | 11.27 us / 11.01 us | Δ 2.33% | 88.76 KHz / 90.82 KHz | ∇ -2.28% |
images: Half sample RGB (640x480) | 57.50 us / 53.51 us | Δ 7.46% | 17.39 KHz / 18.69 KHz | ∇ -6.94% |
images: Half sample RGB (800x600) | 80.68 us / 126.28 us | ∇ -36.11% | 12.39 KHz / 7.92 KHz | Δ 56.51% |
images: Half sample RGB (1024x768) | 391.11 us / 248.04 us | Δ 57.68% | 2.56 KHz / 4.03 KHz | ∇ -36.58% |
images: Half sample RGB (1280x1024) | 826.49 us / 667.92 us | Δ 23.74% | 1.21 KHz / 1.50 KHz | ∇ -19.19% |
images: Half sample smooth GRAY (160x120) | 2.87 us / 1.83 us | Δ 56.73% | 348.99 KHz / 546.97 KHz | ∇ -36.20% |
images: Half sample smooth GRAY (320x240) | 8.64 us / 6.09 us | Δ 41.88% | 115.70 KHz / 164.16 KHz | ∇ -29.52% |
images: Half sample smooth GRAY (640x480) | 29.52 us / 28.72 us | Δ 2.76% | 33.88 KHz / 34.81 KHz | ∇ -2.69% |
images: Half sample smooth GRAY (800x600) | 66.07 us / 44.06 us | Δ 49.96% | 15.14 KHz / 22.70 KHz | ∇ -33.32% |
images: Half sample smooth GRAY (1024x768) | 90.65 us / 78.59 us | Δ 15.35% | 11.03 KHz / 12.72 KHz | ∇ -13.31% |
images: Half sample smooth GRAY (1280x1024) | 132.57 us / 168.62 us | ∇ -21.38% | 7.54 KHz / 5.93 KHz | Δ 27.19% |
images: Half sample smooth RGB (160x120) | 202.00 us / 88.54 us | Δ 128.13% | 4.95 KHz / 11.29 KHz | ∇ -56.17% |
images: Half sample smooth RGB (320x240) | 779.03 us / 381.77 us | Δ 104.06% | 1.28 KHz / 2.62 KHz | ∇ -50.99% |
images: Half sample smooth RGB (640x480) | 3.10 ms / 1.50 ms | Δ 106.02% | 323.08 Hz / 665.62 Hz | ∇ -51.46% |
images: Half sample smooth RGB (800x600) | 4.82 ms / 2.40 ms | Δ 101.19% | 207.41 Hz / 417.30 Hz | ∇ -50.30% |
images: Half sample smooth RGB (1024x768) | 8.63 ms / 3.77 ms | Δ 128.98% | 115.89 Hz / 265.35 Hz | ∇ -56.33% |
images: Half sample smooth RGB (1280x1024) | 14.76 ms / 6.50 ms | Δ 126.96% | 67.77 Hz / 153.82 Hz | ∇ -55.94% |
images: RGB->GRAY 8u (40x30) | 6.40 us / 3.88 us | Δ 64.89% | 156.37 KHz / 257.84 KHz | ∇ -39.35% |
images: RGB->GRAY 8u (80x60) | 4.33 us / 2.89 us | Δ 49.77% | 230.95 KHz / 345.89 KHz | ∇ -33.23% |
images: RGB->GRAY 8u (160x120) | 11.84 us / 10.09 us | Δ 17.37% | 84.43 KHz / 99.10 KHz | ∇ -14.80% |
images: RGB->GRAY 8u (320x240) | 44.50 us / 39.97 us | Δ 11.35% | 22.47 KHz / 25.02 KHz | ∇ -10.19% |
images: RGB->GRAY 8u (640x480) | 191.53 us / 172.29 us | Δ 11.17% | 5.22 KHz / 5.80 KHz | ∇ -10.05% |
images: RGB->GRAY 8u (800x600) | 350.56 us / 303.41 us | Δ 15.54% | 2.85 KHz / 3.30 KHz | ∇ -13.45% |
images: RGB->GRAY 8u (1024x768) | 968.81 us / 645.96 us | Δ 49.98% | 1.03 KHz / 1.55 KHz | ∇ -33.32% |
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / 1.76 ms | ∇ -2.64% | 584.85 Hz / 569.41 Hz | Δ 2.71% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 17.29 us | Δ 27.06% | 45.52 KHz / 57.84 KHz | ∇ -21.30% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 16.49 us | Δ 33.49% | 45.44 KHz / 60.66 KHz | ∇ -25.09% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 9.72 us | Δ 30.75% | 78.69 KHz / 102.89 KHz | ∇ -23.52% |
feature_extraction [640x480]: Harris | 38.32 ms / 31.46 ms | Δ 21.80% | 26.10 Hz / 31.79 Hz | ∇ -17.90% |
feature_extraction [640x480]: KLT | 37.22 ms / 30.94 ms | Δ 20.27% | 26.87 Hz / 32.32 Hz | ∇ -16.85% |
feature_extraction [640x480]: SIFT | 739.68 ms / 653.53 ms | Δ 13.18% | 1.35 Hz / 1.53 Hz | ∇ -11.65% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 210.38 ms | Δ 10.73% | 4.29 Hz / 4.75 Hz | ∇ -9.69% |
feature_extraction [640x480]: SURF | 309.97 ms / 243.66 ms | Δ 27.21% | 3.23 Hz / 4.10 Hz | ∇ -21.39% |
feature_extraction [640x480]: FAST | 6.88 ms / 6.32 ms | Δ 8.91% | 145.25 Hz / 158.19 Hz | ∇ -8.18% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 45.12 ms | Δ 95.67% | 11.33 Hz / 22.16 Hz | ∇ -48.89% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 46.60 ms | Δ 28.09% | 16.76 Hz / 21.46 Hz | ∇ -21.93% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 40.89 ms | Δ 43.23% | 17.07 Hz / 24.46 Hz | ∇ -30.18% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.28 sec | Δ 16.57% | 668.02 mHz / 778.73 mHz | ∇ -14.22% |
feature_matching [640x480]: SURF | 621.62 ms / 502.54 ms | Δ 23.69% | 1.61 Hz / 1.99 Hz | ∇ -19.16% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 19.71 ms | Δ 10.06% | 46.10 Hz / 50.74 Hz | ∇ -9.14% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 13.01 ms | ∇ -2.87% | 79.13 Hz / 76.86 Hz | Δ 2.95% |
graph(2d): insertEdge x 1e3 | 301.62 us / 236.53 us | Δ 27.52% | 3.32 KHz / 4.23 KHz | ∇ -21.58% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 246.73 us | Δ 21.13% | 3.35 KHz / 4.05 KHz | ∇ -17.44% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 218.81 us | Δ 25.54% | 3.64 KHz / 4.57 KHz | ∇ -20.34% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 209.21 us | Δ 29.15% | 3.70 KHz / 4.78 KHz | ∇ -22.57% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 329.87 us | Δ 26.07% | 2.40 KHz / 3.03 KHz | ∇ -20.68% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 303.60 us | Δ 33.92% | 2.46 KHz / 3.29 KHz | ∇ -25.33% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 280.10 us | Δ 34.79% | 2.65 KHz / 3.57 KHz | ∇ -25.81% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 284.27 us | Δ 33.48% | 2.64 KHz / 3.52 KHz | ∇ -25.08% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 2.72 ms | Δ 51.91% | 241.59 Hz / 367.00 Hz | ∇ -34.17% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 2.73 ms | Δ 46.63% | 250.06 Hz / 366.67 Hz | ∇ -31.80% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 1.95 ms | Δ 50.79% | 339.77 Hz / 512.34 Hz | ∇ -33.68% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 1.92 ms | Δ 50.39% | 345.69 Hz / 519.87 Hz | ∇ -33.51% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 3.21 ms | Δ 48.72% | 209.57 Hz / 311.68 Hz | ∇ -32.76% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 3.24 ms | Δ 50.22% | 205.59 Hz / 308.83 Hz | ∇ -33.43% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 3.23 ms | Δ 25.67% | 246.64 Hz / 309.95 Hz | ∇ -20.42% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 3.17 ms | Δ 32.61% | 237.52 Hz / 314.97 Hz | ∇ -24.59% |
graph(3d): insertEdge x 1e3 | 381.69 us / 274.22 us | Δ 39.19% | 2.62 KHz / 3.65 KHz | ∇ -28.16% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 264.66 us | Δ 53.86% | 2.46 KHz / 3.78 KHz | ∇ -35.01% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 263.97 us | Δ 28.64% | 2.94 KHz / 3.79 KHz | ∇ -22.26% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 267.33 us | Δ 25.14% | 2.99 KHz / 3.74 KHz | ∇ -20.09% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 589.01 us | Δ 16.96% | 1.45 KHz / 1.70 KHz | ∇ -14.50% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 596.64 us | Δ 14.76% | 1.46 KHz / 1.68 KHz | ∇ -12.86% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 562.97 us | Δ 21.36% | 1.46 KHz / 1.78 KHz | ∇ -17.60% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 559.03 us | Δ 22.42% | 1.46 KHz / 1.79 KHz | ∇ -18.32% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 3.23 ms | Δ 20.12% | 257.39 Hz / 309.17 Hz | ∇ -16.75% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 3.13 ms | Δ 21.04% | 263.81 Hz / 319.30 Hz | ∇ -17.38% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 2.62 ms | Δ 36.84% | 278.91 Hz / 381.66 Hz | ∇ -26.92% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 2.55 ms | Δ 38.16% | 284.28 Hz / 392.76 Hz | ∇ -27.62% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 6.11 ms | Δ 27.63% | 128.15 Hz / 163.57 Hz | ∇ -21.65% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 5.61 ms | Δ 39.23% | 128.11 Hz / 178.36 Hz | ∇ -28.17% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 5.21 ms | Δ 43.88% | 133.45 Hz / 192.01 Hz | ∇ -30.50% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 5.18 ms | Δ 45.96% | 132.15 Hz / 192.88 Hz | ∇ -31.49% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 156.43 us | Δ 36.27% | 4.69 KHz / 6.39 KHz | ∇ -26.61% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 192.33 us | Δ 62.01% | 3.21 KHz / 5.20 KHz | ∇ -38.28% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 2.18 ms | Δ 17.82% | 389.66 Hz / 459.11 Hz | ∇ -15.13% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 1.80 ms | Δ 49.99% | 370.20 Hz / 555.25 Hz | ∇ -33.33% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 26.67 ms | Δ 17.31% | 31.96 Hz / 37.50 Hz | ∇ -14.76% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 22.83 ms | Δ 44.16% | 30.38 Hz / 43.80 Hz | ∇ -30.63% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 307.16 ms | Δ 28.17% | 2.54 Hz / 3.26 Hz | ∇ -21.98% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 266.80 ms | Δ 44.53% | 2.59 Hz / 3.75 Hz | ∇ -30.81% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 302.10 ms | Δ 25.88% | 2.63 Hz / 3.31 Hz | ∇ -20.56% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 262.78 ms | Δ 43.40% | 2.65 Hz / 3.81 Hz | ∇ -30.27% |