Test description | 0.9.2-MSVC9-32bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 37.14 ms | ∇ -18.16% | 32.90 Hz / 26.93 Hz | Δ 22.19% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 36.34 ms | Δ 44.71% | 19.02 Hz / 27.52 Hz | ∇ -30.89% |
poses: CPose3D (+) CPose3D | 264.70 ns / 197.08 ns | Δ 34.32% | 3.78 MHz / 5.07 MHz | ∇ -25.55% |
poses: CPose3D.composeFrom() | 98.01 ns / 33.62 ns | Δ 191.47% | 10.20 MHz / 29.74 MHz | ∇ -65.69% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 25.13 ns | Δ 10.85% | 35.89 MHz / 39.79 MHz | ∇ -9.79% |
poses: CPose3D.composePoint() | 19.17 ns / 21.31 ns | ∇ -10.01% | 52.16 MHz / 46.94 MHz | Δ 11.13% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 89.96 ns | ∇ -42.58% | 19.36 MHz / 11.12 MHz | Δ 74.16% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 47.25 ns | ∇ -0.71% | 21.32 MHz / 21.17 MHz | Δ 0.71% |
poses: CPose2D (+) CPose2D | 99.28 ns / 108.63 ns | ∇ -8.61% | 10.07 MHz / 9.21 MHz | Δ 9.42% |
poses: CPose2D.composeFrom() | 89.67 ns / 94.77 ns | ∇ -5.38% | 11.15 MHz / 10.55 MHz | Δ 5.69% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 80.61 ns | Δ 1.81% | 12.18 MHz / 12.41 MHz | ∇ -1.78% |
poses: CPose2D.composePoint() | 64.58 ns / 67.32 ns | ∇ -4.08% | 15.49 MHz / 14.85 MHz | Δ 4.25% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 81.31 ns | Δ 7.24% | 11.47 MHz / 12.30 MHz | ∇ -6.75% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 51.56 ns | Δ 10.82% | 17.50 MHz / 19.39 MHz | ∇ -9.76% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 55.91 ns | ∇ -13.75% | 20.74 MHz / 17.89 MHz | Δ 15.94% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 32.73 ns | ∇ -9.44% | 33.74 MHz / 30.55 MHz | Δ 10.42% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 124.02 ns | ∇ -32.01% | 11.86 MHz / 8.06 MHz | Δ 47.08% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 30.61 ns | Δ 0.37% | 32.55 MHz / 32.67 MHz | ∇ -0.37% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 28.12 ns | Δ 17.42% | 30.29 MHz / 35.56 MHz | ∇ -14.83% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 216.84 ns | ∇ -4.68% | 4.84 MHz / 4.61 MHz | Δ 4.91% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 1.24 us | Δ 9.02% | 739.68 KHz / 806.40 KHz | ∇ -8.27% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 1.20 us | Δ 17.33% | 712.12 KHz / 835.55 KHz | ∇ -14.77% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 20.15 us | Δ 14.87% | 43.20 KHz / 49.63 KHz | ∇ -12.94% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 817.60 ns | Δ 98.23% | 617.00 KHz / 1.22 MHz | ∇ -49.55% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 823.40 ns | Δ 97.90% | 613.67 KHz / 1.21 MHz | ∇ -49.47% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 19.09 us | ∇ -17.13% | 63.21 KHz / 52.39 KHz | Δ 20.67% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 49.67 ns | ∇ -21.99% | 25.81 MHz / 20.13 MHz | Δ 28.19% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 50.90 ns | ∇ -23.99% | 25.85 MHz / 19.64 MHz | Δ 31.56% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 180.98 ns | ∇ -9.74% | 6.12 MHz / 5.53 MHz | Δ 10.79% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 177.90 ns | Δ 19.76% | 4.69 MHz / 5.62 MHz | ∇ -16.50% |
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 / 6.63 ns | ∇ -58.22% | 360.95 MHz / 150.81 MHz | Δ 139.33% |
matrix: unit, fix[double,6,6] | 6.07 ns / 8.86 ns | ∇ -31.48% | 164.80 MHz / 112.91 MHz | Δ 45.95% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 680.28 ns | ∇ -75.21% | 5.93 MHz / 1.47 MHz | Δ 303.33% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 0.00 ns | Δ 1.#J% | 9.14 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 458.35 ns | ∇ -65.28% | 6.28 MHz / 2.18 MHz | Δ 187.99% |
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 / 680.46 ns | ∇ -59.98% | 3.67 MHz / 1.47 MHz | Δ 149.86% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 35.28 ns | Δ 438.64% | 5.26 MHz / 28.34 MHz | ∇ -81.43% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 514.01 ns | ∇ -52.17% | 4.07 MHz / 1.95 MHz | Δ 109.08% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 3.40 ns | Δ 3989.31% | 7.20 MHz / 294.39 MHz | ∇ -97.55% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 5.18 us | Δ 221.79% | 60.00 KHz / 193.06 KHz | ∇ -68.92% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 4.56 us | Δ 183.49% | 77.41 KHz / 219.44 KHz | ∇ -64.73% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 3.79 us | Δ 250.95% | 75.16 KHz / 263.78 KHz | ∇ -71.51% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 2.92 us | Δ 230.41% | 103.53 KHz / 342.06 KHz | ∇ -69.73% |
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 / 1.50 us | ∇ -2.38% | 681.67 KHz / 665.44 KHz | Δ 2.44% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 9.51 ns | Δ 223.81% | 32.47 MHz / 105.14 MHz | ∇ -69.12% |
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 / 3.90 us | Δ 29.25% | 198.20 KHz / 256.17 KHz | ∇ -22.63% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 3.54 us | ∇ -73.32% | 1.06 MHz / 282.49 KHz | Δ 274.87% |
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 / 34.19 us | Δ 210.19% | 9.43 KHz / 29.25 KHz | ∇ -67.76% |
matrix: inv, fix[double] 20x20 | 18.99 us / 29.35 us | ∇ -35.29% | 52.65 KHz / 34.07 KHz | Δ 54.53% |
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 / 134.24 us | Δ 499.74% | 1.24 KHz / 7.45 KHz | ∇ -83.33% |
matrix: inv, fix[double] 40x40 | 129.27 us / 126.45 us | Δ 2.23% | 7.74 KHz / 7.91 KHz | ∇ -2.18% |
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 / 601.74 ns | ∇ -98.59% | 118.07 MHz / 1.66 MHz | Δ 7004.85% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 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 / 872.81 ns | ∇ -98.18% | 62.90 MHz / 1.15 MHz | Δ 5390.34% |
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 / 2.32 us | ∇ -2.35% | 440.64 KHz / 430.29 KHz | Δ 2.41% |
matrix: det, fix[double] 6x6 | 409.52 ns / 2.17 us | ∇ -81.14% | 2.44 MHz / 460.60 KHz | Δ 430.15% |
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 / 23.14 us | ∇ -23.80% | 56.72 KHz / 43.22 KHz | Δ 31.23% |
matrix: det, fix[double] 20x20 | 6.19 us / 21.38 us | ∇ -71.06% | 161.63 KHz / 46.78 KHz | Δ 245.52% |
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 / 92.83 us | Δ 21.11% | 8.89 KHz / 10.77 KHz | ∇ -17.43% |
matrix: det, fix[double] 40x40 | 35.24 us / 90.97 us | ∇ -61.26% | 28.38 KHz / 10.99 KHz | Δ 158.16% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 892.24 ns | ∇ -80.71% | 5.81 MHz / 1.12 MHz | Δ 418.42% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 249.10 ns | ∇ -52.73% | 8.49 MHz / 4.01 MHz | Δ 111.54% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 41.12 us | ∇ -40.66% | 40.98 KHz / 24.32 KHz | Δ 68.52% |
matrix: chol, fix[double] 40x40 | 17.68 us / 26.92 us | ∇ -34.33% | 56.57 KHz / 37.15 KHz | Δ 52.27% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 15.31 us | ∇ -44.97% | 118.71 KHz / 65.32 KHz | Δ 81.72% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 116.85 us | Δ 1.67% | 8.42 KHz / 8.56 KHz | ∇ -1.64% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 98.96 us | ∇ -29.47% | 14.33 KHz / 10.10 KHz | Δ 41.79% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 55.18 us | ∇ -4.79% | 19.03 KHz / 18.12 KHz | Δ 5.03% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 498.07 us | ∇ -6.42% | 2.15 KHz / 2.01 KHz | Δ 6.86% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 133.40 us | ∇ -33.28% | 11.24 KHz / 7.50 KHz | Δ 49.87% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 4.99 ms | Δ 86.75% | 107.25 Hz / 200.30 Hz | ∇ -46.45% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 243.96 us | ∇ -17.52% | 4.97 KHz / 4.10 KHz | Δ 21.24% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 30.03 ms | Δ 359.83% | 7.24 Hz / 33.31 Hz | ∇ -78.25% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 486.08 us | ∇ -17.41% | 2.49 KHz / 2.06 KHz | Δ 21.08% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 51.94 ms | Δ 773.27% | 2.20 Hz / 19.25 Hz | ∇ -88.55% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 583.78 us | ∇ -18.77% | 2.11 KHz / 1.71 KHz | Δ 23.11% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 76.91 ms | Δ 1128.99% | 1.06 Hz / 13.00 Hz | ∇ -91.86% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 649.31 us | ∇ -14.87% | 1.81 KHz / 1.54 KHz | Δ 17.46% |
gridmap2D: getCell | 5.57 ns / 6.44 ns | ∇ -13.57% | 179.64 MHz / 155.25 MHz | Δ 15.71% |
gridmap2D: setCell | 7.80 ns / 9.52 ns | ∇ -18.08% | 128.17 MHz / 105.00 MHz | Δ 22.07% |
gridmap2D: updateCell | 10.65 ns / 9.85 ns | Δ 8.11% | 93.93 MHz / 101.55 MHz | ∇ -7.50% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.47 ns | ∇ -18.62% | 834.82 MHz / 679.40 MHz | Δ 22.88% |
gridmap2D: insert scan w/o widening | 202.10 us / 225.20 us | ∇ -10.26% | 4.95 KHz / 4.44 KHz | Δ 11.43% |
gridmap2D: insert scan with widening | 338.79 us / 365.80 us | ∇ -7.38% | 2.95 KHz / 2.73 KHz | Δ 7.97% |
gridmap2D: resize | 3.58 ms / 2.56 ms | Δ 39.56% | 279.42 Hz / 389.96 Hz | ∇ -28.35% |
gridmap2D: computeLikelihood | 18.09 us / 21.14 us | ∇ -14.44% | 55.28 KHz / 47.30 KHz | Δ 16.88% |
pointmap: insert 100 scans | 5.50 ms / 3.27 ms | Δ 68.01% | 181.98 Hz / 305.75 Hz | ∇ -40.48% |
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 / 579.42 us | ∇ -10.13% | 1.92 KHz / 1.73 KHz | Δ 11.28% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 6.14 ms | ∇ -10.35% | 181.67 Hz / 162.87 Hz | Δ 11.55% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 6.68 us | ∇ -3.25% | 154.62 KHz / 149.59 KHz | Δ 3.36% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 519.96 us | Δ 1.27% | 1.90 KHz / 1.92 KHz | ∇ -1.26% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 6.64 ms | ∇ -15.12% | 177.52 Hz / 150.68 Hz | Δ 17.81% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.95 us | Δ 4.31% | 490.44 KHz / 511.57 KHz | ∇ -4.13% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 167.14 us | ∇ -17.56% | 7.26 KHz / 5.98 KHz | Δ 21.30% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 17.45 ms | ∇ -14.73% | 67.19 Hz / 57.30 Hz | Δ 17.28% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 9.11 ms | ∇ -5.95% | 116.69 Hz / 109.75 Hz | Δ 6.33% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 210.71 ms | ∇ -9.06% | 5.22 Hz / 4.75 Hz | Δ 9.96% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 8.38 ms | Δ 3.11% | 115.78 Hz / 119.37 Hz | ∇ -3.01% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 198.71 ms | ∇ -1.92% | 5.13 Hz / 5.03 Hz | Δ 1.96% |
random: drawUniform32bit | 7.21 ns / 7.57 ns | ∇ -4.74% | 138.68 MHz / 132.11 MHz | Δ 4.98% |
random: drawUniform | 7.18 ns / 7.60 ns | ∇ -5.52% | 139.23 MHz / 131.54 MHz | Δ 5.84% |
random: drawGaussian1D_normalized | 51.37 ns / 58.48 ns | ∇ -12.15% | 19.47 MHz / 17.10 MHz | Δ 13.83% |
random: drawGaussian1D | 51.39 ns / 57.62 ns | ∇ -10.82% | 19.46 MHz / 17.35 MHz | Δ 12.14% |
random: system rand() | 28.61 ns / 29.43 ns | ∇ -2.77% | 34.95 MHz / 33.98 MHz | Δ 2.85% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 2.95 us | ∇ -13.39% | 391.65 KHz / 339.21 KHz | Δ 15.46% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 3.53 us | Δ 136.44% | 119.66 KHz / 282.92 KHz | ∇ -57.71% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 145.71 ns | Δ 46.83% | 4.67 MHz / 6.86 MHz | ∇ -31.89% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 227.37 ns | Δ 42.81% | 3.08 MHz / 4.40 MHz | ∇ -29.97% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 514.56 ns | Δ 61.25% | 1.21 MHz / 1.94 MHz | ∇ -37.98% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 170.42 ns | Δ 26.10% | 4.65 MHz / 5.87 MHz | ∇ -20.70% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 283.60 ns | Δ 28.70% | 2.74 MHz / 3.53 MHz | ∇ -22.30% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 661.22 ns | Δ 14.96% | 1.32 MHz / 1.51 MHz | ∇ -13.01% |
random: permuteVector (len=10) | 420.57 ns / 304.45 ns | Δ 38.14% | 2.38 MHz / 3.28 MHz | ∇ -27.61% |
random: permuteVector (len=100) | 3.56 us / 3.47 us | Δ 2.60% | 281.12 KHz / 288.42 KHz | ∇ -2.53% |
random: permuteVector (len=1000) | 33.55 us / 37.99 us | ∇ -11.67% | 29.80 KHz / 26.33 KHz | Δ 13.21% |
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 / 33.06 ms | ∇ -14.10% | 35.21 Hz / 30.25 Hz | Δ 16.41% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 50.64 ms | ∇ -13.67% | 22.88 Hz / 19.75 Hz | Δ 15.84% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 82.66 ms | ∇ -15.10% | 14.25 Hz / 12.10 Hz | Δ 17.79% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 27.36 ms | ∇ -11.86% | 41.48 Hz / 36.56 Hz | Δ 13.46% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 43.25 ms | ∇ -14.40% | 27.01 Hz / 23.12 Hz | Δ 16.82% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 66.55 ms | ∇ -10.59% | 16.80 Hz / 15.03 Hz | Δ 11.84% |
images: Gauss filter (640x480) | 5.29 ms / 5.57 ms | ∇ -5.01% | 188.95 Hz / 179.49 Hz | Δ 5.27% |
images: Gauss filter (800x600) | 8.36 ms / 8.84 ms | ∇ -5.47% | 119.64 Hz / 113.10 Hz | Δ 5.78% |
images: Gauss filter (1024x768) | 13.88 ms / 14.37 ms | ∇ -3.44% | 72.06 Hz / 69.58 Hz | Δ 3.56% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 21.97 us | ∇ -15.18% | 53.67 KHz / 45.52 KHz | Δ 17.89% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 22.01 us | ∇ -18.73% | 55.91 KHz / 45.44 KHz | Δ 23.04% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 12.71 us | ∇ -60.23% | 197.84 KHz / 78.69 KHz | Δ 151.43% |
feature_extraction [640x480]: Harris | 33.27 ms / 38.32 ms | ∇ -13.18% | 30.06 Hz / 26.10 Hz | Δ 15.18% |
feature_extraction [640x480]: KLT | 31.21 ms / 37.22 ms | ∇ -16.13% | 32.04 Hz / 26.87 Hz | Δ 19.23% |
feature_extraction [640x480]: SIFT | 675.81 ms / 739.68 ms | ∇ -8.63% | 1.48 Hz / 1.35 Hz | Δ 9.45% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 232.95 ms | ∇ -6.77% | 4.60 Hz / 4.29 Hz | Δ 7.26% |
feature_extraction [640x480]: SURF | 316.97 ms / 309.97 ms | Δ 2.26% | 3.15 Hz / 3.23 Hz | ∇ -2.21% |
feature_extraction [640x480]: FAST | 7.82 ms / 6.88 ms | Δ 13.56% | 127.91 Hz / 145.25 Hz | ∇ -11.94% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 88.28 ms | Δ 17.10% | 9.67 Hz / 11.33 Hz | ∇ -14.60% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 59.68 ms | ∇ -5.77% | 17.78 Hz / 16.76 Hz | Δ 6.12% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 58.57 ms | ∇ -18.81% | 21.03 Hz / 17.07 Hz | Δ 23.18% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.50 sec | ∇ -10.43% | 745.82 mHz / 668.02 mHz | Δ 11.65% |
feature_matching [640x480]: SURF | 606.64 ms / 621.62 ms | ∇ -2.41% | 1.65 Hz / 1.61 Hz | Δ 2.47% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 21.69 ms | Δ 3.09% | 44.72 Hz / 46.10 Hz | ∇ -3.00% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 12.64 ms | Δ 18.65% | 66.69 Hz / 79.13 Hz | ∇ -15.72% |
graph(2d): insertEdge x 1e3 | 313.03 us / 301.62 us | Δ 3.78% | 3.19 KHz / 3.32 KHz | ∇ -3.65% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 298.86 us | Δ 2.87% | 3.25 KHz / 3.35 KHz | ∇ -2.79% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 274.69 us | ∇ -18.95% | 4.49 KHz / 3.64 KHz | Δ 23.38% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 270.21 us | ∇ -17.52% | 4.49 KHz / 3.70 KHz | Δ 21.24% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 415.87 us | Δ 24.30% | 1.93 KHz / 2.40 KHz | ∇ -19.55% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 406.59 us | Δ 27.20% | 1.93 KHz / 2.46 KHz | ∇ -21.38% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 377.54 us | Δ 7.53% | 2.46 KHz / 2.65 KHz | ∇ -7.00% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 379.45 us | Δ 6.33% | 2.48 KHz / 2.64 KHz | ∇ -5.96% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 4.14 ms | ∇ -18.74% | 297.28 Hz / 241.59 Hz | Δ 23.05% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 4.00 ms | ∇ -16.30% | 298.76 Hz / 250.06 Hz | Δ 19.48% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 2.94 ms | ∇ -24.58% | 450.51 Hz / 339.77 Hz | Δ 32.60% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 2.89 ms | ∇ -23.22% | 450.21 Hz / 345.69 Hz | Δ 30.24% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 4.77 ms | Δ 14.29% | 183.37 Hz / 209.57 Hz | ∇ -12.50% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 4.86 ms | Δ 11.79% | 183.91 Hz / 205.59 Hz | ∇ -10.54% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 4.05 ms | Δ 0.37% | 245.74 Hz / 246.64 Hz | ∇ -0.37% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 4.21 ms | ∇ -3.64% | 246.50 Hz / 237.52 Hz | Δ 3.78% |
graph(3d): insertEdge x 1e3 | 447.20 us / 381.69 us | Δ 17.16% | 2.24 KHz / 2.62 KHz | ∇ -14.65% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 407.21 us | Δ 8.57% | 2.26 KHz / 2.46 KHz | ∇ -7.90% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 339.57 us | Δ 2.10% | 2.88 KHz / 2.94 KHz | ∇ -2.05% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 334.55 us | Δ 3.78% | 2.88 KHz / 2.99 KHz | ∇ -3.64% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 688.91 us | Δ 37.03% | 1.06 KHz / 1.45 KHz | ∇ -27.02% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 684.69 us | Δ 42.85% | 1.02 KHz / 1.46 KHz | ∇ -30.00% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 683.24 us | Δ 16.09% | 1.26 KHz / 1.46 KHz | ∇ -13.86% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 684.37 us | Δ 15.95% | 1.26 KHz / 1.46 KHz | ∇ -13.76% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 3.89 ms | Δ 18.93% | 216.43 Hz / 257.39 Hz | ∇ -15.92% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 3.79 ms | Δ 21.76% | 216.67 Hz / 263.81 Hz | ∇ -17.87% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 3.59 ms | ∇ -2.92% | 287.28 Hz / 278.91 Hz | Δ 3.00% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 3.52 ms | ∇ -1.24% | 287.84 Hz / 284.28 Hz | Δ 1.25% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 7.80 ms | Δ 35.25% | 94.75 Hz / 128.15 Hz | ∇ -26.06% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 7.81 ms | Δ 24.93% | 102.54 Hz / 128.11 Hz | ∇ -19.96% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 7.49 ms | Δ 5.85% | 126.08 Hz / 133.45 Hz | ∇ -5.52% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 7.57 ms | Δ 4.94% | 125.93 Hz / 132.15 Hz | ∇ -4.70% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 213.16 us | Δ 23.00% | 3.81 KHz / 4.69 KHz | ∇ -18.70% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 311.59 us | Δ 16.71% | 2.75 KHz / 3.21 KHz | ∇ -14.32% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 2.57 ms | Δ 15.92% | 336.14 Hz / 389.66 Hz | ∇ -13.74% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 2.70 ms | Δ 21.88% | 303.75 Hz / 370.20 Hz | ∇ -17.95% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 31.29 ms | Δ 9.35% | 29.23 Hz / 31.96 Hz | ∇ -8.55% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 32.92 ms | Δ 15.83% | 26.23 Hz / 30.38 Hz | ∇ -13.66% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 393.68 ms | ∇ -1.05% | 2.57 Hz / 2.54 Hz | Δ 1.06% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 385.61 ms | Δ 11.16% | 2.33 Hz / 2.59 Hz | ∇ -10.04% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 380.30 ms | Δ 0.48% | 2.62 Hz / 2.63 Hz | ∇ -0.47% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 376.84 ms | Δ 10.78% | 2.40 Hz / 2.65 Hz | ∇ -9.73% |