Test description | 0.9.2-MSVC9-32bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 31.56 ms | ∇ -3.69% | 32.90 Hz / 31.69 Hz | Δ 3.83% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 53.95 ms | ∇ -2.53% | 19.02 Hz / 18.54 Hz | Δ 2.59% |
poses: CPose3D (+) CPose3D | 264.70 ns / 194.14 ns | Δ 36.35% | 3.78 MHz / 5.15 MHz | ∇ -26.66% |
poses: CPose3D.composeFrom() | 98.01 ns / 34.65 ns | Δ 182.83% | 10.20 MHz / 28.86 MHz | ∇ -64.64% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 28.67 ns | ∇ -2.81% | 35.89 MHz / 34.88 MHz | Δ 2.89% |
poses: CPose3D.composePoint() | 19.17 ns / 18.49 ns | Δ 3.68% | 52.16 MHz / 54.08 MHz | ∇ -3.55% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 93.89 ns | ∇ -44.98% | 19.36 MHz / 10.65 MHz | Δ 81.76% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 44.39 ns | Δ 5.68% | 21.32 MHz / 22.53 MHz | ∇ -5.38% |
poses: CPose2D (+) CPose2D | 99.28 ns / 103.92 ns | ∇ -4.47% | 10.07 MHz / 9.62 MHz | Δ 4.68% |
poses: CPose2D.composeFrom() | 89.67 ns / 91.82 ns | ∇ -2.34% | 11.15 MHz / 10.89 MHz | Δ 2.39% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 140.37 ns | ∇ -41.53% | 12.18 MHz / 7.12 MHz | Δ 71.03% |
poses: CPose2D.composePoint() | 64.58 ns / 66.26 ns | ∇ -2.54% | 15.49 MHz / 15.09 MHz | Δ 2.60% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 93.35 ns | ∇ -6.60% | 11.47 MHz / 10.71 MHz | Δ 7.07% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 60.52 ns | ∇ -5.58% | 17.50 MHz / 16.52 MHz | Δ 5.91% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 116.72 ns | ∇ -58.68% | 20.74 MHz / 8.57 MHz | Δ 142.04% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 31.02 ns | ∇ -4.46% | 33.74 MHz / 32.23 MHz | Δ 4.66% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 126.78 ns | ∇ -33.49% | 11.86 MHz / 7.89 MHz | Δ 50.36% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 30.88 ns | ∇ -0.52% | 32.55 MHz / 32.38 MHz | Δ 0.52% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 33.42 ns | ∇ -1.19% | 30.29 MHz / 29.93 MHz | Δ 1.20% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 211.33 ns | ∇ -2.20% | 4.84 MHz / 4.73 MHz | Δ 2.25% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 19.45 us | ∇ -93.05% | 739.68 KHz / 51.41 KHz | Δ 1338.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 2.93 us | ∇ -52.11% | 712.12 KHz / 341.05 KHz | Δ 108.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 34.64 us | ∇ -33.17% | 43.20 KHz / 28.87 KHz | Δ 49.64% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 860.26 ns | Δ 88.40% | 617.00 KHz / 1.16 MHz | ∇ -46.92% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 880.23 ns | Δ 85.12% | 613.67 KHz / 1.14 MHz | ∇ -45.98% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 21.76 us | ∇ -27.31% | 63.21 KHz / 45.95 KHz | Δ 37.58% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 44.99 ns | ∇ -13.88% | 25.81 MHz / 22.23 MHz | Δ 16.11% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 45.16 ns | ∇ -14.33% | 25.85 MHz / 22.14 MHz | Δ 16.72% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 160.84 ns | Δ 1.56% | 6.12 MHz / 6.22 MHz | ∇ -1.54% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 160.97 ns | Δ 32.36% | 4.69 MHz / 6.21 MHz | ∇ -24.45% |
matrix: unit, fix[float,3,3] | 3.56 ns / 0.00 ns | Δ 1.#J% | 280.77 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.29 ns / 0.00 ns | Δ 1.#J% | 304.17 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 2.77 ns / 6.73 ns | ∇ -58.86% | 360.95 MHz / 148.49 MHz | Δ 143.08% |
matrix: unit, fix[double,6,6] | 6.07 ns / 7.86 ns | ∇ -22.78% | 164.80 MHz / 127.26 MHz | Δ 29.50% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 550.79 ns | ∇ -69.38% | 5.93 MHz / 1.82 MHz | Δ 226.56% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 0.05 ns | Δ 241600.00% | 9.14 MHz / 22.08 GHz | ∇ -99.96% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 432.98 ns | ∇ -63.24% | 6.28 MHz / 2.31 MHz | Δ 172.05% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 0.00 ns | Δ 1.#J% | 11.42 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 660.53 ns | ∇ -58.77% | 3.67 MHz / 1.51 MHz | Δ 142.54% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 38.91 ns | Δ 388.47% | 5.26 MHz / 25.70 MHz | ∇ -79.53% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 474.65 ns | ∇ -48.21% | 4.07 MHz / 2.11 MHz | Δ 93.07% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 8.74 ns | Δ 1489.12% | 7.20 MHz / 114.40 MHz | ∇ -93.71% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 4.68 us | Δ 256.01% | 60.00 KHz / 213.59 KHz | ∇ -71.91% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 4.42 us | Δ 192.22% | 77.41 KHz / 226.20 KHz | ∇ -65.78% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 3.24 us | Δ 311.01% | 75.16 KHz / 308.92 KHz | ∇ -75.67% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 2.37 us | Δ 308.37% | 103.53 KHz / 422.77 KHz | ∇ -75.51% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / X | 685.70 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.78 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.47 us / 1.49 us | ∇ -1.37% | 681.67 KHz / 672.33 KHz | Δ 1.39% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 32.16 ns | ∇ -4.23% | 32.47 MHz / 31.10 MHz | Δ 4.41% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / X | 227.86 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.39 us / X | 718.96 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.05 us / 3.50 us | Δ 44.36% | 198.20 KHz / 286.11 KHz | ∇ -30.73% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 2.72 us | ∇ -65.23% | 1.06 MHz / 368.24 KHz | Δ 187.58% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / X | 12.41 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 39.77 us / X | 25.14 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 106.06 us / 31.87 us | Δ 232.74% | 9.43 KHz / 31.37 KHz | ∇ -69.95% |
matrix: inv, fix[double] 20x20 | 18.99 us / 28.91 us | ∇ -34.31% | 52.65 KHz / 34.58 KHz | Δ 52.23% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / X | 1.68 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 302.87 us / X | 3.30 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 805.07 us / 124.22 us | Δ 548.12% | 1.24 KHz / 8.05 KHz | ∇ -84.57% |
matrix: inv, fix[double] 40x40 | 129.27 us / 122.24 us | Δ 5.75% | 7.74 KHz / 8.18 KHz | ∇ -5.43% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / X | 125.45 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 2x2 | 8.47 ns / 647.62 ns | ∇ -98.69% | 118.07 MHz / 1.54 MHz | Δ 7546.52% |
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 / X | 48.00 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 969.59 ns | ∇ -98.36% | 62.90 MHz / 1.03 MHz | Δ 5999.15% |
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 / X | 438.79 KHz / X | ||
matrix: det, fix[float ] 6x6 | 455.22 ns / X | 2.20 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.27 us / 2.45 us | ∇ -7.53% | 440.64 KHz / 407.46 KHz | Δ 8.14% |
matrix: det, fix[double] 6x6 | 409.52 ns / 1.89 us | ∇ -78.30% | 2.44 MHz / 529.99 KHz | Δ 360.74% |
matrix: det, dyn[float ] 20x20 | 18.23 us / X | 54.86 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.64 us / X | 103.77 KHz / X | ||
matrix: det, dyn[double] 20x20 | 17.63 us / 22.48 us | ∇ -21.56% | 56.72 KHz / 44.49 KHz | Δ 27.49% |
matrix: det, fix[double] 20x20 | 6.19 us / 21.45 us | ∇ -71.15% | 161.63 KHz / 46.63 KHz | Δ 246.62% |
matrix: det, dyn[float ] 40x40 | 109.51 us / X | 9.13 KHz / X | ||
matrix: det, fix[float ] 40x40 | 61.78 us / X | 16.19 KHz / X | ||
matrix: det, dyn[double] 40x40 | 112.43 us / 80.28 us | Δ 40.05% | 8.89 KHz / 12.46 KHz | ∇ -28.60% |
matrix: det, fix[double] 40x40 | 35.24 us / 79.04 us | ∇ -55.42% | 28.38 KHz / 12.65 KHz | Δ 124.30% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 1.09 us | ∇ -84.23% | 5.81 MHz / 916.16 KHz | Δ 534.21% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 317.04 ns | ∇ -62.86% | 8.49 MHz / 3.15 MHz | Δ 169.23% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 75.74 us | ∇ -67.78% | 40.98 KHz / 13.20 KHz | Δ 210.36% |
matrix: chol, fix[double] 40x40 | 17.68 us / 55.31 us | ∇ -68.04% | 56.57 KHz / 18.08 KHz | Δ 212.89% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 16.89 us | ∇ -50.13% | 118.71 KHz / 59.19 KHz | Δ 100.54% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 247.29 us | ∇ -51.96% | 8.42 KHz / 4.04 KHz | Δ 108.16% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 180.76 us | ∇ -61.39% | 14.33 KHz / 5.53 KHz | Δ 158.99% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 91.89 us | ∇ -42.83% | 19.03 KHz / 10.88 KHz | Δ 74.91% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 765.78 us | ∇ -39.14% | 2.15 KHz / 1.31 KHz | Δ 64.30% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 116.55 us | ∇ -23.63% | 11.24 KHz / 8.58 KHz | Δ 30.94% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 4.08 ms | Δ 128.62% | 107.25 Hz / 245.20 Hz | ∇ -56.26% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 207.46 us | ∇ -3.01% | 4.97 KHz / 4.82 KHz | Δ 3.10% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 24.43 ms | Δ 465.05% | 7.24 Hz / 40.93 Hz | ∇ -82.30% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 403.40 us | ∇ -0.48% | 2.49 KHz / 2.48 KHz | Δ 0.49% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 40.20 ms | Δ 1028.36% | 2.20 Hz / 24.87 Hz | ∇ -91.14% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 479.83 us | ∇ -1.18% | 2.11 KHz / 2.08 KHz | Δ 1.19% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 59.95 ms | Δ 1476.65% | 1.06 Hz / 16.68 Hz | ∇ -93.66% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 560.09 us | ∇ -1.31% | 1.81 KHz / 1.79 KHz | Δ 1.32% |
gridmap2D: getCell | 5.57 ns / 5.69 ns | ∇ -2.17% | 179.64 MHz / 175.73 MHz | Δ 2.22% |
gridmap2D: setCell | 7.80 ns / 8.06 ns | ∇ -3.20% | 128.17 MHz / 124.07 MHz | Δ 3.31% |
gridmap2D: updateCell | 10.65 ns / 61.98 ns | ∇ -82.82% | 93.93 MHz / 16.13 MHz | Δ 482.18% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.25 ns | ∇ -4.31% | 834.82 MHz / 798.82 MHz | Δ 4.51% |
gridmap2D: insert scan w/o widening | 202.10 us / 208.84 us | ∇ -3.23% | 4.95 KHz / 4.79 KHz | Δ 3.34% |
gridmap2D: insert scan with widening | 338.79 us / 346.08 us | ∇ -2.11% | 2.95 KHz / 2.89 KHz | Δ 2.15% |
gridmap2D: resize | 3.58 ms / 2.81 ms | Δ 27.27% | 279.42 Hz / 355.60 Hz | ∇ -21.42% |
gridmap2D: computeLikelihood | 18.09 us / 18.33 us | ∇ -1.29% | 55.28 KHz / 54.57 KHz | Δ 1.31% |
pointmap: insert 100 scans | 5.50 ms / 6.61 ms | ∇ -16.84% | 181.98 Hz / 151.33 Hz | Δ 20.25% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 6.03 us | Δ 4.20% | 159.07 KHz / 165.76 KHz | ∇ -4.03% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 536.01 us | ∇ -2.86% | 1.92 KHz / 1.87 KHz | Δ 2.94% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 5.64 ms | ∇ -2.48% | 181.67 Hz / 177.17 Hz | Δ 2.54% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 7.70 us | ∇ -16.00% | 154.62 KHz / 129.88 KHz | Δ 19.05% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 528.60 us | ∇ -0.38% | 1.90 KHz / 1.89 KHz | Δ 0.38% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 5.81 ms | ∇ -3.04% | 177.52 Hz / 172.12 Hz | Δ 3.13% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 2.13 us | ∇ -4.38% | 490.44 KHz / 468.98 KHz | Δ 4.58% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 145.70 us | ∇ -5.42% | 7.26 KHz / 6.86 KHz | Δ 5.74% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 15.49 ms | ∇ -3.91% | 67.19 Hz / 64.56 Hz | Δ 4.07% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 8.93 ms | ∇ -4.08% | 116.69 Hz / 111.93 Hz | Δ 4.25% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 200.06 ms | ∇ -4.21% | 5.22 Hz / 5.00 Hz | Δ 4.40% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 8.97 ms | ∇ -3.75% | 115.78 Hz / 111.43 Hz | Δ 3.90% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 201.21 ms | ∇ -3.14% | 5.13 Hz / 4.97 Hz | Δ 3.24% |
random: drawUniform32bit | 7.21 ns / 7.76 ns | ∇ -7.03% | 138.68 MHz / 128.93 MHz | Δ 7.57% |
random: drawUniform | 7.18 ns / 7.61 ns | ∇ -5.62% | 139.23 MHz / 131.41 MHz | Δ 5.95% |
random: drawGaussian1D_normalized | 51.37 ns / 51.84 ns | ∇ -0.90% | 19.47 MHz / 19.29 MHz | Δ 0.90% |
random: drawGaussian1D | 51.39 ns / 52.02 ns | ∇ -1.22% | 19.46 MHz / 19.22 MHz | Δ 1.23% |
random: system rand() | 28.61 ns / 27.43 ns | Δ 4.31% | 34.95 MHz / 36.46 MHz | ∇ -4.14% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 4.97 us | ∇ -48.58% | 391.65 KHz / 201.38 KHz | Δ 94.48% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 10.68 us | ∇ -21.73% | 119.66 KHz / 93.66 KHz | Δ 27.76% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 153.63 ns | Δ 39.26% | 4.67 MHz / 6.51 MHz | ∇ -28.19% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 250.07 ns | Δ 29.84% | 3.08 MHz / 4.00 MHz | ∇ -22.98% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 664.62 ns | Δ 24.84% | 1.21 MHz / 1.50 MHz | ∇ -19.90% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 153.22 ns | Δ 40.25% | 4.65 MHz / 6.53 MHz | ∇ -28.70% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 253.40 ns | Δ 44.04% | 2.74 MHz / 3.95 MHz | ∇ -30.57% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 622.96 ns | Δ 22.02% | 1.32 MHz / 1.61 MHz | ∇ -18.04% |
random: permuteVector (len=10) | 420.57 ns / 342.58 ns | Δ 22.77% | 2.38 MHz / 2.92 MHz | ∇ -18.54% |
random: permuteVector (len=100) | 3.56 us / 3.62 us | ∇ -1.63% | 281.12 KHz / 276.54 KHz | Δ 1.66% |
random: permuteVector (len=1000) | 33.55 us / 35.68 us | ∇ -5.97% | 29.80 KHz / 28.03 KHz | Δ 6.35% |
math: round | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 220.79 THz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 28.08 ms | Δ 1.12% | 35.21 Hz / 35.61 Hz | ∇ -1.11% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 42.80 ms | Δ 2.14% | 22.88 Hz / 23.37 Hz | ∇ -2.10% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 69.14 ms | Δ 1.50% | 14.25 Hz / 14.46 Hz | ∇ -1.48% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 23.76 ms | Δ 1.48% | 41.48 Hz / 42.09 Hz | ∇ -1.46% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 37.25 ms | ∇ -0.60% | 27.01 Hz / 26.85 Hz | Δ 0.61% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 59.86 ms | ∇ -0.58% | 16.80 Hz / 16.71 Hz | Δ 0.59% |
images: Gauss filter (640x480) | 5.29 ms / 7.21 ms | ∇ -26.57% | 188.95 Hz / 138.75 Hz | Δ 36.18% |
images: Gauss filter (800x600) | 8.36 ms / 8.67 ms | ∇ -3.61% | 119.64 Hz / 115.32 Hz | Δ 3.75% |
images: Gauss filter (1024x768) | 13.88 ms / 14.94 ms | ∇ -7.11% | 72.06 Hz / 66.93 Hz | Δ 7.65% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 25.26 us | ∇ -26.23% | 53.67 KHz / 39.59 KHz | Δ 35.56% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 24.29 us | ∇ -26.37% | 55.91 KHz / 41.17 KHz | Δ 35.81% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 13.82 us | ∇ -63.42% | 197.84 KHz / 72.37 KHz | Δ 173.39% |
feature_extraction [640x480]: Harris | 33.27 ms / 53.60 ms | ∇ -37.94% | 30.06 Hz / 18.66 Hz | Δ 61.12% |
feature_extraction [640x480]: KLT | 31.21 ms / 32.67 ms | ∇ -4.45% | 32.04 Hz / 30.61 Hz | Δ 4.66% |
feature_extraction [640x480]: SIFT | 675.81 ms / 724.51 ms | ∇ -6.72% | 1.48 Hz / 1.38 Hz | Δ 7.21% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 217.33 ms | ∇ -0.07% | 4.60 Hz / 4.60 Hz | Δ 0.07% |
feature_extraction [640x480]: SURF | 316.97 ms / 320.21 ms | ∇ -1.01% | 3.15 Hz / 3.12 Hz | Δ 1.02% |
feature_extraction [640x480]: FAST | 7.82 ms / 9.58 ms | ∇ -18.40% | 127.91 Hz / 104.37 Hz | Δ 22.55% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 111.16 ms | ∇ -7.00% | 9.67 Hz / 9.00 Hz | Δ 7.52% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 64.75 ms | ∇ -13.14% | 17.78 Hz / 15.44 Hz | Δ 15.13% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 50.46 ms | ∇ -5.76% | 21.03 Hz / 19.82 Hz | Δ 6.12% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.37 sec | ∇ -1.79% | 745.82 mHz / 732.49 mHz | Δ 1.82% |
feature_matching [640x480]: SURF | 606.64 ms / 602.11 ms | Δ 0.75% | 1.65 Hz / 1.66 Hz | ∇ -0.75% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 23.55 ms | ∇ -5.04% | 44.72 Hz / 42.46 Hz | Δ 5.31% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 15.71 ms | ∇ -4.53% | 66.69 Hz / 63.67 Hz | Δ 4.74% |
graph(2d): insertEdge x 1e3 | 313.03 us / 300.22 us | Δ 4.27% | 3.19 KHz / 3.33 KHz | ∇ -4.09% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 300.93 us | Δ 2.16% | 3.25 KHz / 3.32 KHz | ∇ -2.12% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 245.20 us | ∇ -9.20% | 4.49 KHz / 4.08 KHz | Δ 10.13% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 252.81 us | ∇ -11.84% | 4.49 KHz / 3.96 KHz | Δ 13.43% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 537.61 us | ∇ -3.85% | 1.93 KHz / 1.86 KHz | Δ 4.00% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 456.45 us | Δ 13.31% | 1.93 KHz / 2.19 KHz | ∇ -11.74% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 401.18 us | Δ 1.19% | 2.46 KHz / 2.49 KHz | ∇ -1.18% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 394.03 us | Δ 2.40% | 2.48 KHz / 2.54 KHz | ∇ -2.34% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 3.65 ms | ∇ -7.91% | 297.28 Hz / 273.78 Hz | Δ 8.59% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 3.70 ms | ∇ -9.42% | 298.76 Hz / 270.61 Hz | Δ 10.41% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 2.51 ms | ∇ -11.43% | 450.51 Hz / 399.01 Hz | Δ 12.91% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 2.55 ms | ∇ -12.86% | 450.21 Hz / 392.34 Hz | Δ 14.75% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 4.81 ms | Δ 13.42% | 183.37 Hz / 207.97 Hz | ∇ -11.83% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 4.86 ms | Δ 11.93% | 183.91 Hz / 205.85 Hz | ∇ -10.66% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 4.03 ms | Δ 1.02% | 245.74 Hz / 248.25 Hz | ∇ -1.01% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 4.00 ms | Δ 1.45% | 246.50 Hz / 250.07 Hz | ∇ -1.42% |
graph(3d): insertEdge x 1e3 | 447.20 us / 338.14 us | Δ 32.25% | 2.24 KHz / 2.96 KHz | ∇ -24.39% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 332.03 us | Δ 33.16% | 2.26 KHz / 3.01 KHz | ∇ -24.90% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 302.41 us | Δ 14.64% | 2.88 KHz / 3.31 KHz | ∇ -12.77% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 309.65 us | Δ 12.13% | 2.88 KHz / 3.23 KHz | ∇ -10.81% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 668.72 us | Δ 41.17% | 1.06 KHz / 1.50 KHz | ∇ -29.16% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 672.92 us | Δ 45.35% | 1.02 KHz / 1.49 KHz | ∇ -31.20% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 668.41 us | Δ 18.67% | 1.26 KHz / 1.50 KHz | ∇ -15.73% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 676.59 us | Δ 17.28% | 1.26 KHz / 1.48 KHz | ∇ -14.74% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 3.60 ms | Δ 28.24% | 216.43 Hz / 277.54 Hz | ∇ -22.02% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 3.62 ms | Δ 27.56% | 216.67 Hz / 276.39 Hz | ∇ -21.61% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 3.04 ms | Δ 14.52% | 287.28 Hz / 328.99 Hz | ∇ -12.68% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 3.02 ms | Δ 14.98% | 287.84 Hz / 330.96 Hz | ∇ -13.03% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 7.09 ms | Δ 48.83% | 94.75 Hz / 141.02 Hz | ∇ -32.81% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 7.08 ms | Δ 37.73% | 102.54 Hz / 141.24 Hz | ∇ -27.40% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 6.70 ms | Δ 18.46% | 126.08 Hz / 149.36 Hz | ∇ -15.59% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 6.88 ms | Δ 15.41% | 125.93 Hz / 145.34 Hz | ∇ -13.35% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 279.15 us | ∇ -6.08% | 3.81 KHz / 3.58 KHz | Δ 6.47% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 417.83 us | ∇ -12.96% | 2.75 KHz / 2.39 KHz | Δ 14.89% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 3.14 ms | ∇ -5.26% | 336.14 Hz / 318.46 Hz | Δ 5.55% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 3.68 ms | ∇ -10.64% | 303.75 Hz / 271.44 Hz | Δ 11.90% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 37.09 ms | ∇ -7.77% | 29.23 Hz / 26.96 Hz | Δ 8.42% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 42.65 ms | ∇ -10.60% | 26.23 Hz / 23.45 Hz | Δ 11.86% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 433.73 ms | ∇ -10.19% | 2.57 Hz / 2.31 Hz | Δ 11.34% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 470.84 ms | ∇ -8.96% | 2.33 Hz / 2.12 Hz | Δ 9.84% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 428.18 ms | ∇ -10.76% | 2.62 Hz / 2.34 Hz | Δ 12.06% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 465.28 ms | ∇ -10.28% | 2.40 Hz / 2.15 Hz | Δ 11.46% |