Test description | 0.9.4-GCC-64bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 20.90 ms | ∇ -0.74% | 48.21 Hz / 47.85 Hz | Δ 0.74% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 18.76 ms | ∇ -8.92% | 58.52 Hz / 53.30 Hz | Δ 9.79% |
poses: CPose3D (+) CPose3D | 29.76 ns / 41.67 ns | ∇ -28.58% | 33.60 MHz / 24.00 MHz | Δ 40.02% |
poses: CPose3D.composeFrom() | 21.90 ns / 32.39 ns | ∇ -32.39% | 45.66 MHz / 30.87 MHz | Δ 47.90% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 8.02 ns | ∇ -9.85% | 138.24 MHz / 124.63 MHz | Δ 10.92% |
poses: CPose3D.composePoint() | 11.67 ns / 11.53 ns | Δ 1.20% | 85.68 MHz / 86.70 MHz | ∇ -1.18% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 18.18 ns | ∇ -26.94% | 75.27 MHz / 54.99 MHz | Δ 36.87% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 25.21 ns | ∇ -2.91% | 40.85 MHz / 39.66 MHz | Δ 3.00% |
poses: CPose2D (+) CPose2D | 71.64 ns / 72.10 ns | ∇ -0.64% | 13.96 MHz / 13.87 MHz | Δ 0.64% |
poses: CPose2D.composeFrom() | 69.41 ns / 69.22 ns | Δ 0.27% | 14.41 MHz / 14.45 MHz | ∇ -0.27% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 60.48 ns | Δ 0.48% | 16.45 MHz / 16.53 MHz | ∇ -0.48% |
poses: CPose2D.composePoint() | 60.80 ns / 60.01 ns | Δ 1.31% | 16.45 MHz / 16.66 MHz | ∇ -1.30% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 42.70 ns | ∇ -5.22% | 24.71 MHz / 23.42 MHz | Δ 5.51% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 38.27 ns | ∇ -1.88% | 26.63 MHz / 26.13 MHz | Δ 1.92% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 17.90 ns | ∇ -2.88% | 57.51 MHz / 55.85 MHz | Δ 2.97% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 18.44 ns | ∇ -5.18% | 57.20 MHz / 54.23 MHz | Δ 5.47% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 33.31 ns | ∇ -1.03% | 30.33 MHz / 30.02 MHz | Δ 1.04% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 19.52 ns | ∇ -2.10% | 52.34 MHz / 51.24 MHz | Δ 2.15% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 16.27 ns | Δ 43.91% | 42.70 MHz / 61.45 MHz | ∇ -30.51% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 169.77 ns | Δ 1.73% | 5.79 MHz / 5.89 MHz | ∇ -1.70% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 799.00 ns | ∇ -16.02% | 1.49 MHz / 1.25 MHz | Δ 19.08% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 788.50 ns | ∇ -17.31% | 1.53 MHz / 1.27 MHz | Δ 20.94% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 9.11 us | ∇ -4.00% | 114.40 KHz / 109.83 KHz | Δ 4.16% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 557.50 ns | ∇ -18.55% | 2.20 MHz / 1.79 MHz | Δ 22.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 558.50 ns | ∇ -18.91% | 2.21 MHz / 1.79 MHz | Δ 23.32% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 8.42 us | ∇ -5.24% | 125.39 KHz / 118.81 KHz | Δ 5.53% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 17.83 ns | ∇ -1.12% | 56.71 MHz / 56.07 MHz | Δ 1.13% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 19.48 ns | Δ 1.99% | 50.34 MHz / 51.35 MHz | ∇ -1.95% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 54.85 ns | Δ 4.03% | 17.53 MHz / 18.23 MHz | ∇ -3.87% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 55.93 ns | Δ 7.27% | 16.67 MHz / 17.88 MHz | ∇ -6.78% |
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] | 0.00 ns / 1.50 ns | ∇ -100.00% | 1.#J THz / 667.56 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 5.61 ns | ∇ -100.00% | 1.#J THz / 178.35 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 291.30 ns | ∇ -16.68% | 4.12 MHz / 3.43 MHz | Δ 20.02% |
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 | 231.60 ns / 292.50 ns | ∇ -20.82% | 4.32 MHz / 3.42 MHz | Δ 26.30% |
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 | 296.50 ns / 347.50 ns | ∇ -14.68% | 3.37 MHz / 2.88 MHz | Δ 17.20% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 0.00 ns | Δ 1.#J% | 10.00 GHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 340.40 ns | ∇ -23.85% | 3.86 MHz / 2.94 MHz | Δ 31.33% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 2.42 us | ∇ -13.50% | 477.69 KHz / 413.19 KHz | Δ 15.61% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 2.23 us | ∇ -19.83% | 559.03 KHz / 448.19 KHz | Δ 24.73% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 2.31 us | Δ 5.11% | 411.68 KHz / 432.69 KHz | ∇ -4.86% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 2.12 us | Δ 1.92% | 462.21 KHz / 471.08 KHz | ∇ -1.88% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 780.00 ns | ∇ -1.67% | 1.30 MHz / 1.28 MHz | Δ 1.69% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 1.97 us | ∇ -9.74% | 561.80 KHz / 507.10 KHz | Δ 10.79% |
matrix: inv, fix[double] 6x6 | 1.73 us / 1.60 us | Δ 7.93% | 578.70 KHz / 624.61 KHz | ∇ -7.35% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 16.08 us | Δ 1.16% | 61.47 KHz / 62.19 KHz | ∇ -1.15% |
matrix: inv, fix[double] 20x20 | 13.44 us / 14.48 us | ∇ -7.16% | 74.41 KHz / 69.08 KHz | Δ 7.72% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 65.78 us | Δ 3.37% | 14.70 KHz / 15.20 KHz | ∇ -3.26% |
matrix: inv, fix[double] 40x40 | 63.01 us / 64.13 us | ∇ -1.75% | 15.87 KHz / 15.59 KHz | Δ 1.78% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 212.60 ns | ∇ -1.51% | 4.78 MHz / 4.70 MHz | Δ 1.53% |
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 / 323.30 ns | Δ 2.47% | 3.02 MHz / 3.09 MHz | ∇ -2.41% |
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 / 774.90 ns | Δ 21.78% | 1.06 MHz / 1.29 MHz | ∇ -17.89% |
matrix: det, fix[double] 6x6 | 575.90 ns / 592.30 ns | ∇ -2.77% | 1.74 MHz / 1.69 MHz | Δ 2.85% |
matrix: det, dyn[double] 20x20 | 8.10 us / 8.50 us | ∇ -4.68% | 123.40 KHz / 117.63 KHz | Δ 4.91% |
matrix: det, fix[double] 20x20 | 7.48 us / 7.72 us | ∇ -3.05% | 133.61 KHz / 129.53 KHz | Δ 3.15% |
matrix: det, dyn[double] 40x40 | 30.87 us / 32.23 us | ∇ -4.20% | 32.39 KHz / 31.03 KHz | Δ 4.38% |
matrix: det, fix[double] 40x40 | 29.01 us / 30.71 us | ∇ -5.52% | 34.47 KHz / 32.57 KHz | Δ 5.84% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 530.00 ns | ∇ 0.00% | 1.89 MHz / 1.89 MHz | ∇ 0.00% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 130.00 ns | ∇ -7.69% | 8.33 MHz / 7.69 MHz | Δ 8.33% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 22.98 us | ∇ -9.92% | 48.31 KHz / 43.52 KHz | Δ 11.01% |
matrix: chol, fix[double] 40x40 | 16.54 us / 19.50 us | ∇ -15.18% | 60.46 KHz / 51.28 KHz | Δ 17.90% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 8.20 us | Δ 48.78% | 81.97 KHz / 121.95 KHz | ∇ -32.79% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 85.30 us | Δ 2.81% | 11.40 KHz / 11.72 KHz | ∇ -2.74% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 56.80 us | ∇ -8.98% | 19.34 KHz / 17.61 KHz | Δ 9.86% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 39.31 us | ∇ -2.65% | 26.13 KHz / 25.44 KHz | Δ 2.72% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 266.80 us | ∇ -4.24% | 3.91 KHz / 3.75 KHz | Δ 4.42% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 72.76 us | ∇ -2.50% | 14.10 KHz / 13.74 KHz | Δ 2.57% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 2.67 ms | Δ 3.00% | 363.64 Hz / 374.53 Hz | ∇ -2.91% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 176.19 us | ∇ -3.96% | 5.91 KHz / 5.68 KHz | Δ 4.12% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 20.73 ms | Δ 6.40% | 45.33 Hz / 48.23 Hz | ∇ -6.02% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 351.05 us | ∇ -3.26% | 2.94 KHz / 2.85 KHz | Δ 3.37% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 34.60 ms | Δ 5.96% | 27.27 Hz / 28.90 Hz | ∇ -5.63% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 415.89 us | ∇ -3.25% | 2.49 KHz / 2.40 KHz | Δ 3.36% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 50.32 ms | Δ 7.04% | 18.57 Hz / 19.87 Hz | ∇ -6.58% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 482.94 us | ∇ -1.27% | 2.10 KHz / 2.07 KHz | Δ 1.29% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.71 ns / 2.61 ns | Δ 3.87% | 369.33 MHz / 383.63 MHz | ∇ -3.73% |
gridmap2D: updateCell | 6.04 ns / 6.99 ns | ∇ -13.63% | 165.59 MHz / 143.02 MHz | Δ 15.78% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 0.51 ns | Δ 19.87% | 1.63 GHz / 1.95 GHz | ∇ -16.57% |
gridmap2D: insert scan w/o widening | 99.83 us / 102.59 us | ∇ -2.68% | 10.02 KHz / 9.75 KHz | Δ 2.76% |
gridmap2D: insert scan with widening | 293.13 us / 284.11 us | Δ 3.17% | 3.41 KHz / 3.52 KHz | ∇ -3.08% |
gridmap2D: resize | 630.00 us / 722.00 us | ∇ -12.74% | 1.59 KHz / 1.39 KHz | Δ 14.60% |
gridmap2D: computeLikelihood | 17.81 us / 15.69 us | Δ 13.49% | 56.14 KHz / 63.72 KHz | ∇ -11.89% |
pointmap: insert 100 scans | 1.01 ms / 2.97 ms | ∇ -65.98% | 990.80 Hz / 337.06 Hz | Δ 193.96% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 4.36 us | Δ 3.67% | 221.24 KHz / 229.36 KHz | ∇ -3.54% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 357.08 us | Δ 2.06% | 2.74 KHz / 2.80 KHz | ∇ -2.02% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 4.19 ms | Δ 4.56% | 228.21 Hz / 238.61 Hz | ∇ -4.36% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 4.72 us | Δ 9.32% | 193.80 KHz / 211.86 KHz | ∇ -8.53% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 362.68 us | Δ 2.69% | 2.68 KHz / 2.76 KHz | ∇ -2.62% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 4.10 ms | Δ 2.53% | 238.06 Hz / 244.09 Hz | ∇ -2.47% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.39 us | Δ 2.38% | 703.73 KHz / 720.46 KHz | ∇ -2.32% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 101.86 us | ∇ -0.01% | 9.82 KHz / 9.82 KHz | Δ 0.01% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 11.78 ms | Δ 3.37% | 82.15 Hz / 84.92 Hz | ∇ -3.26% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 5.62 ms | Δ 0.33% | 177.25 Hz / 177.84 Hz | ∇ -0.33% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 130.59 ms | Δ 1.66% | 7.53 Hz / 7.66 Hz | ∇ -1.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 5.69 ms | Δ 0.39% | 175.04 Hz / 175.73 Hz | ∇ -0.39% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 132.22 ms | Δ 1.90% | 7.42 Hz / 7.56 Hz | ∇ -1.87% |
random: drawUniform32bit | 14.55 ns / 15.67 ns | ∇ -7.17% | 68.75 MHz / 63.82 MHz | Δ 7.72% |
random: drawUniform | 14.56 ns / 15.66 ns | ∇ -7.01% | 68.69 MHz / 63.88 MHz | Δ 7.53% |
random: drawGaussian1D_normalized | 66.87 ns / 69.89 ns | ∇ -4.33% | 14.96 MHz / 14.31 MHz | Δ 4.53% |
random: drawGaussian1D | 66.81 ns / 69.86 ns | ∇ -4.37% | 14.97 MHz / 14.32 MHz | Δ 4.57% |
random: system rand() | 10.63 ns / 12.21 ns | ∇ -13.00% | 94.11 MHz / 81.87 MHz | Δ 14.95% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 2.70 us | ∇ -66.53% | 1.11 MHz / 370.49 KHz | Δ 198.79% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 5.71 us | ∇ -71.80% | 621.01 KHz / 175.14 KHz | Δ 254.58% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 148.19 ns | ∇ -2.38% | 6.91 MHz / 6.75 MHz | Δ 2.44% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 232.46 ns | ∇ -5.58% | 4.56 MHz / 4.30 MHz | Δ 5.91% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 489.71 ns | ∇ -3.45% | 2.12 MHz / 2.04 MHz | Δ 3.58% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 159.54 ns | ∇ -4.54% | 6.57 MHz / 6.27 MHz | Δ 4.76% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 247.75 ns | ∇ -5.13% | 4.25 MHz / 4.04 MHz | Δ 5.41% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 521.91 ns | ∇ -5.81% | 2.03 MHz / 1.92 MHz | Δ 6.17% |
random: permuteVector (len=10) | 243.60 ns / 251.30 ns | ∇ -3.06% | 4.11 MHz / 3.98 MHz | Δ 3.16% |
random: permuteVector (len=100) | 2.99 us / 3.02 us | ∇ -1.05% | 334.99 KHz / 331.46 KHz | Δ 1.07% |
random: permuteVector (len=1000) | 29.51 us / 30.36 us | ∇ -2.80% | 33.88 KHz / 32.93 KHz | Δ 2.88% |
math: round | 0.10 ns / 0.10 ns | Δ 0.08% | 10.08 GHz / 10.09 GHz | ∇ -0.08% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 34.14 ms | ∇ -1.50% | 29.74 Hz / 29.29 Hz | Δ 1.53% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 49.83 ms | Δ 0.04% | 20.06 Hz / 20.07 Hz | ∇ -0.04% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 80.71 ms | ∇ -13.78% | 14.37 Hz / 12.39 Hz | Δ 15.98% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 29.36 ms | Δ 4.35% | 32.63 Hz / 34.05 Hz | ∇ -4.17% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 42.45 ms | Δ 3.44% | 22.78 Hz / 23.56 Hz | ∇ -3.32% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 65.41 ms | ∇ -4.41% | 15.99 Hz / 15.29 Hz | Δ 4.61% |
images: Gauss filter (640x480) | 3.81 ms / 4.66 ms | ∇ -18.40% | 262.76 Hz / 214.40 Hz | Δ 22.55% |
images: Gauss filter (800x600) | 5.96 ms / 5.98 ms | ∇ -0.36% | 167.70 Hz / 167.10 Hz | Δ 0.36% |
images: Gauss filter (1024x768) | 10.46 ms / 10.42 ms | Δ 0.34% | 95.61 Hz / 95.93 Hz | ∇ -0.34% |
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 / 11.35 us | Δ 11.81% | 78.80 KHz / 88.11 KHz | ∇ -10.56% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 9.96 us | ∇ -1.10% | 101.52 KHz / 100.40 KHz | Δ 1.12% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 5.52 us | ∇ -5.07% | 190.84 KHz / 181.16 KHz | Δ 5.34% |
feature_extraction [640x480]: Harris | 21.14 ms / 32.25 ms | ∇ -34.46% | 47.31 Hz / 31.01 Hz | Δ 52.58% |
feature_extraction [640x480]: KLT | 21.45 ms / 25.60 ms | ∇ -16.21% | 46.61 Hz / 39.06 Hz | Δ 19.35% |
feature_extraction [640x480]: SIFT | 591.25 ms / 630.91 ms | ∇ -6.29% | 1.69 Hz / 1.59 Hz | Δ 6.71% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 164.09 ms | ∇ -0.77% | 6.14 Hz / 6.09 Hz | Δ 0.78% |
feature_extraction [640x480]: SURF | 197.33 ms / 207.64 ms | ∇ -4.96% | 5.07 Hz / 4.82 Hz | Δ 5.22% |
feature_extraction [640x480]: FAST | 6.89 ms / 7.60 ms | ∇ -9.35% | 145.15 Hz / 131.57 Hz | Δ 10.32% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 60.60 ms | Δ 5.43% | 15.65 Hz / 16.50 Hz | ∇ -5.15% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 43.99 ms | ∇ -12.39% | 25.95 Hz / 22.73 Hz | Δ 14.15% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 36.29 ms | ∇ -7.43% | 29.77 Hz / 27.56 Hz | Δ 8.02% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.20 sec | ∇ -3.36% | 863.45 mHz / 834.47 mHz | Δ 3.47% |
feature_matching [640x480]: SURF | 375.89 ms / 379.83 ms | ∇ -1.04% | 2.66 Hz / 2.63 Hz | Δ 1.05% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 16.04 ms | ∇ -0.93% | 62.95 Hz / 62.36 Hz | Δ 0.93% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 10.85 ms | ∇ -3.44% | 95.42 Hz / 92.14 Hz | Δ 3.56% |
graph(2d): insertEdge x 1e3 | 158.24 us / 119.99 us | Δ 31.88% | 6.32 KHz / 8.33 KHz | ∇ -24.17% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 107.18 us | Δ 24.73% | 7.48 KHz / 9.33 KHz | ∇ -19.83% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 84.03 us | Δ 0.47% | 11.84 KHz / 11.90 KHz | ∇ -0.47% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 83.37 us | ∇ -1.91% | 12.23 KHz / 11.99 KHz | Δ 1.95% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 170.61 us | Δ 21.43% | 4.83 KHz / 5.86 KHz | ∇ -17.64% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 181.61 us | Δ 28.06% | 4.30 KHz / 5.51 KHz | ∇ -21.91% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 179.02 us | Δ 37.83% | 4.05 KHz / 5.59 KHz | ∇ -27.45% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 178.59 us | Δ 7.84% | 5.19 KHz / 5.60 KHz | ∇ -7.27% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 1.58 ms | Δ 31.65% | 480.05 Hz / 632.00 Hz | ∇ -24.04% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 1.26 ms | Δ 27.86% | 618.53 Hz / 790.83 Hz | ∇ -21.79% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 863.38 us | Δ 0.79% | 1.15 KHz / 1.16 KHz | ∇ -0.78% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 846.12 us | Δ 0.09% | 1.18 KHz / 1.18 KHz | ∇ -0.09% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 1.96 ms | Δ 19.36% | 427.14 Hz / 509.85 Hz | ∇ -16.22% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 2.25 ms | Δ 25.04% | 356.06 Hz / 445.23 Hz | ∇ -20.03% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 1.95 ms | Δ 8.80% | 470.35 Hz / 511.72 Hz | ∇ -8.08% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 1.95 ms | Δ 9.29% | 469.13 Hz / 512.69 Hz | ∇ -8.50% |
graph(3d): insertEdge x 1e3 | 220.82 us / 169.26 us | Δ 30.46% | 4.53 KHz / 5.91 KHz | ∇ -23.35% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 168.78 us | Δ 31.43% | 4.51 KHz / 5.93 KHz | ∇ -23.91% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 153.69 us | Δ 19.19% | 5.46 KHz / 6.51 KHz | ∇ -16.10% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 154.19 us | Δ 20.97% | 5.36 KHz / 6.49 KHz | ∇ -17.33% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 471.95 us | Δ 12.80% | 1.88 KHz / 2.12 KHz | ∇ -11.35% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 479.58 us | Δ 12.18% | 1.86 KHz / 2.09 KHz | ∇ -10.86% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 441.33 us | Δ 10.48% | 2.05 KHz / 2.27 KHz | ∇ -9.49% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 445.05 us | Δ 10.88% | 2.03 KHz / 2.25 KHz | ∇ -9.82% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 2.46 ms | Δ 13.21% | 359.55 Hz / 407.06 Hz | ∇ -11.67% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 2.46 ms | Δ 12.76% | 360.52 Hz / 406.51 Hz | ∇ -11.31% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 1.70 ms | Δ 23.21% | 477.61 Hz / 588.45 Hz | ∇ -18.83% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 1.70 ms | Δ 20.71% | 487.11 Hz / 587.97 Hz | ∇ -17.15% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 6.68 ms | Δ 10.17% | 135.81 Hz / 149.62 Hz | ∇ -9.23% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 6.75 ms | Δ 3.23% | 143.42 Hz / 148.06 Hz | ∇ -3.13% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 4.59 ms | Δ 15.26% | 189.20 Hz / 218.07 Hz | ∇ -13.24% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 4.58 ms | Δ 19.91% | 182.28 Hz / 218.58 Hz | ∇ -16.60% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 89.04 us | Δ 1.70% | 11.04 KHz / 11.23 KHz | ∇ -1.67% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 75.33 us | Δ 10.85% | 11.98 KHz / 13.28 KHz | ∇ -9.79% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 1.11 ms | Δ 2.41% | 882.20 Hz / 903.43 Hz | ∇ -2.35% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 711.20 us | Δ 7.94% | 1.30 KHz / 1.41 KHz | ∇ -7.36% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 18.54 ms | Δ 13.92% | 47.35 Hz / 53.94 Hz | ∇ -12.22% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 9.76 ms | Δ 11.34% | 92.06 Hz / 102.51 Hz | ∇ -10.19% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 252.57 ms | Δ 35.15% | 2.93 Hz / 3.96 Hz | ∇ -26.01% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 112.23 ms | Δ 26.99% | 7.02 Hz / 8.91 Hz | ∇ -21.26% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 256.02 ms | Δ 25.10% | 3.12 Hz / 3.91 Hz | ∇ -20.07% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 106.16 ms | Δ 25.90% | 7.48 Hz / 9.42 Hz | ∇ -20.57% |