Test description | 0.9.4-MSVC10-64bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 21.60 ms | Δ 22.89% | 37.68 Hz / 46.30 Hz | ∇ -18.62% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 20.51 ms | Δ 56.84% | 31.08 Hz / 48.75 Hz | ∇ -36.24% |
poses: CPose3D (+) CPose3D | 62.83 ns / 449.02 ns | ∇ -86.01% | 15.92 MHz / 2.23 MHz | Δ 614.68% |
poses: CPose3D.composeFrom() | 41.42 ns / 233.83 ns | ∇ -82.29% | 24.14 MHz / 4.28 MHz | Δ 464.55% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 10.67 ns | Δ 77.10% | 52.94 MHz / 93.76 MHz | ∇ -43.53% |
poses: CPose3D.composePoint() | 17.17 ns / 10.06 ns | Δ 70.69% | 58.23 MHz / 99.38 MHz | ∇ -41.41% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 37.71 ns | Δ 135.46% | 11.26 MHz / 26.52 MHz | ∇ -57.53% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 40.98 ns | Δ 7.38% | 22.73 MHz / 24.40 MHz | ∇ -6.87% |
poses: CPose2D (+) CPose2D | 72.08 ns / 78.17 ns | ∇ -7.79% | 13.87 MHz / 12.79 MHz | Δ 8.45% |
poses: CPose2D.composeFrom() | 63.27 ns / 62.17 ns | Δ 1.77% | 15.81 MHz / 16.08 MHz | ∇ -1.73% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 63.86 ns | ∇ -46.11% | 29.05 MHz / 15.66 MHz | Δ 85.55% |
poses: CPose2D.composePoint() | 26.02 ns / 61.98 ns | ∇ -58.01% | 38.43 MHz / 16.13 MHz | Δ 138.17% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 47.00 ns | Δ 141.68% | 8.80 MHz / 21.28 MHz | ∇ -58.62% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 39.80 ns | Δ 107.83% | 12.09 MHz / 25.13 MHz | ∇ -51.88% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 22.62 ns | Δ 82.70% | 24.20 MHz / 44.21 MHz | ∇ -45.27% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 18.93 ns | Δ 64.46% | 32.12 MHz / 52.83 MHz | ∇ -39.19% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 391.26 ns | ∇ -70.89% | 8.78 MHz / 2.56 MHz | Δ 243.54% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 18.05 ns | Δ 88.03% | 29.46 MHz / 55.39 MHz | ∇ -46.82% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 355.00 ns | ∇ -92.55% | 37.82 MHz / 2.82 MHz | Δ 1242.47% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 173.19 ns | ∇ -43.81% | 10.28 MHz / 5.77 MHz | Δ 77.98% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 814.76 us | ∇ -99.88% | 1.05 MHz / 1.23 KHz | Δ 85767.62% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 821.91 us | ∇ -99.89% | 1.07 MHz / 1.22 KHz | Δ 87461.67% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 9.57 us | Δ 121.60% | 47.15 KHz / 104.48 KHz | ∇ -54.87% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 682.30 ns | ∇ -21.96% | 1.88 MHz / 1.47 MHz | Δ 28.14% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 533.80 ns | ∇ -1.04% | 1.89 MHz / 1.87 MHz | Δ 1.05% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 8.51 us | Δ 31.45% | 89.35 KHz / 117.45 KHz | ∇ -23.92% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 20.59 ns | Δ 119.49% | 22.13 MHz / 48.56 MHz | ∇ -54.44% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 22.60 ns | Δ 102.87% | 21.81 MHz / 44.24 MHz | ∇ -50.71% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 63.92 ns | Δ 177.57% | 5.64 MHz / 15.64 MHz | ∇ -63.97% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 65.22 ns | Δ 159.93% | 5.90 MHz / 15.33 MHz | ∇ -61.53% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.89 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 842.46 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.37 ns / 1.68 ns | Δ 278.54% | 157.06 MHz / 594.53 MHz | ∇ -73.58% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.86 ns | Δ 174.80% | 127.19 MHz / 349.53 MHz | ∇ -63.61% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 73.50 ns | Δ 561.13% | 2.06 MHz / 13.61 MHz | ∇ -84.87% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 24.10 ns | ∇ -99.81% | 22.08 GHz / 41.49 MHz | Δ 53111.09% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 72.10 ns | Δ 632.89% | 1.89 MHz / 13.87 MHz | ∇ -86.36% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 547.16 ns / 112.90 ns | Δ 384.65% | 1.83 MHz / 8.86 MHz | ∇ -79.37% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 45.00 ns | ∇ -94.77% | 424.60 MHz / 22.22 MHz | Δ 1810.71% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 110.50 ns | Δ 254.30% | 2.55 MHz / 9.05 MHz | ∇ -71.78% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 45.10 ns | ∇ -94.78% | 424.60 MHz / 22.17 MHz | Δ 1814.95% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 5.82 us | ∇ -52.84% | 364.51 KHz / 171.91 KHz | Δ 112.03% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 3.57 us | ∇ -41.67% | 479.89 KHz / 279.91 KHz | Δ 71.45% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 5.88 us | ∇ -41.11% | 288.55 KHz / 169.93 KHz | Δ 69.80% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 3.82 us | ∇ -37.54% | 419.56 KHz / 262.04 KHz | Δ 60.11% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 413.00 ns | Δ 162.87% | 921.12 KHz / 2.42 MHz | ∇ -61.96% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 22.00 ns | Δ 0.88% | 45.06 MHz / 45.45 MHz | ∇ -0.87% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 1.25 us | Δ 122.61% | 359.66 KHz / 800.64 KHz | ∇ -55.08% |
matrix: inv, fix[double] 6x6 | 2.22 us / 578.00 ns | Δ 284.27% | 450.23 KHz / 1.73 MHz | ∇ -73.98% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 28.58 us | Δ 7.45% | 32.56 KHz / 34.98 KHz | ∇ -6.93% |
matrix: inv, fix[double] 20x20 | 24.08 us / 17.20 us | Δ 40.01% | 41.53 KHz / 58.15 KHz | ∇ -28.58% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 200.95 us | ∇ -41.69% | 8.53 KHz / 4.98 KHz | Δ 71.49% |
matrix: inv, fix[double] 40x40 | 112.80 us / 134.50 us | ∇ -16.13% | 8.86 KHz / 7.43 KHz | Δ 19.24% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 8.80 ns | Δ 8599.02% | 1.31 MHz / 113.64 MHz | ∇ -98.85% |
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 | 822.31 ns / 10.30 ns | Δ 7883.58% | 1.22 MHz / 97.09 MHz | ∇ -98.75% |
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 | 1.78 us / 739.10 ns | Δ 141.40% | 560.47 KHz / 1.35 MHz | ∇ -58.58% |
matrix: det, fix[double] 6x6 | 1.51 us / 219.80 ns | Δ 587.92% | 661.35 KHz / 4.55 MHz | ∇ -85.46% |
matrix: det, dyn[double] 20x20 | 18.54 us / 6.52 us | Δ 184.22% | 53.94 KHz / 153.32 KHz | ∇ -64.82% |
matrix: det, fix[double] 20x20 | 19.01 us / 4.73 us | Δ 302.10% | 52.61 KHz / 211.54 KHz | ∇ -75.13% |
matrix: det, dyn[double] 40x40 | 72.40 us / 32.40 us | Δ 123.48% | 13.81 KHz / 30.87 KHz | ∇ -55.25% |
matrix: det, fix[double] 40x40 | 67.43 us / 27.53 us | Δ 144.96% | 14.83 KHz / 36.33 KHz | ∇ -59.18% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 170.00 ns | Δ 257.00% | 1.65 MHz / 5.88 MHz | ∇ -71.99% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 130.00 ns | Δ 46.33% | 5.26 MHz / 7.69 MHz | ∇ -31.66% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 18.73 us | Δ 68.64% | 31.66 KHz / 53.39 KHz | ∇ -40.70% |
matrix: chol, fix[double] 40x40 | 20.87 us / 16.74 us | Δ 24.65% | 47.93 KHz / 59.74 KHz | ∇ -19.77% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 8.50 us | ∇ -16.34% | 140.63 KHz / 117.65 KHz | Δ 19.54% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 93.90 us | Δ 0.90% | 10.55 KHz / 10.65 KHz | ∇ -0.90% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 52.90 us | Δ 42.89% | 13.23 KHz / 18.90 KHz | ∇ -30.02% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 40.03 us | Δ 7.93% | 23.15 KHz / 24.98 KHz | ∇ -7.35% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 411.30 us | Δ 10.25% | 2.21 KHz / 2.43 KHz | ∇ -9.30% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 74.98 us | ∇ -1.31% | 13.51 KHz / 13.34 KHz | Δ 1.32% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 8.61 ms | ∇ -58.83% | 282.19 Hz / 116.18 Hz | Δ 142.89% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 185.35 us | ∇ -3.59% | 5.60 KHz / 5.40 KHz | Δ 3.73% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 135.40 ms | ∇ -83.54% | 44.87 Hz / 7.39 Hz | Δ 507.56% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 359.80 us | ∇ -0.12% | 2.78 KHz / 2.78 KHz | Δ 0.12% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 364.32 ms | ∇ -90.04% | 27.56 Hz / 2.74 Hz | Δ 904.00% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 426.39 us | ∇ -3.41% | 2.43 KHz / 2.35 KHz | Δ 3.53% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 800.16 ms | ∇ -93.21% | 18.40 Hz / 1.25 Hz | Δ 1372.44% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 497.60 us | ∇ -1.91% | 2.05 KHz / 2.01 KHz | Δ 1.95% |
gridmap2D: getCell | 4.13 ns / 0.00 ns | Δ 1.#J% | 242.07 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 5.65 ns / 2.58 ns | Δ 118.57% | 177.14 MHz / 387.19 MHz | ∇ -54.25% |
gridmap2D: updateCell | 6.93 ns / 7.47 ns | ∇ -7.31% | 144.35 MHz / 133.80 MHz | Δ 7.88% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.55 ns | Δ 119.80% | 833.40 MHz / 1.83 GHz | ∇ -54.50% |
gridmap2D: insert scan w/o widening | 102.16 us / 104.80 us | ∇ -2.52% | 9.79 KHz / 9.54 KHz | Δ 2.58% |
gridmap2D: insert scan with widening | 276.88 us / 295.32 us | ∇ -6.25% | 3.61 KHz / 3.39 KHz | Δ 6.66% |
gridmap2D: resize | 3.89 ms / 1.83 ms | Δ 113.04% | 257.06 Hz / 547.65 Hz | ∇ -53.06% |
gridmap2D: computeLikelihood | 13.92 us / 16.65 us | ∇ -16.40% | 71.84 KHz / 60.06 KHz | Δ 19.61% |
pointmap: insert 100 scans | 1.87 ms / 3.11 ms | ∇ -39.87% | 534.24 Hz / 321.23 Hz | Δ 66.31% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 4.28 us | Δ 18.94% | 196.43 KHz / 233.64 KHz | ∇ -15.93% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 354.96 us | Δ 37.03% | 2.06 KHz / 2.82 KHz | ∇ -27.02% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 4.14 ms | Δ 23.18% | 196.20 Hz / 241.67 Hz | ∇ -18.82% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 4.28 us | Δ 29.95% | 179.80 KHz / 233.64 KHz | ∇ -23.05% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 361.24 us | Δ 29.34% | 2.14 KHz / 2.77 KHz | ∇ -22.69% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 4.09 ms | Δ 26.78% | 192.98 Hz / 244.66 Hz | ∇ -21.12% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.37 us | Δ 16.54% | 627.25 KHz / 730.99 KHz | ∇ -14.19% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 98.96 us | Δ 28.00% | 7.89 KHz / 10.10 KHz | ∇ -21.88% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 11.96 ms | Δ 15.94% | 72.14 Hz / 83.64 Hz | ∇ -13.75% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 5.60 ms | Δ 16.81% | 152.81 Hz / 178.50 Hz | ∇ -14.39% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 129.56 ms | Δ 34.89% | 5.72 Hz / 7.72 Hz | ∇ -25.87% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 5.65 ms | Δ 21.72% | 145.28 Hz / 176.84 Hz | ∇ -17.84% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 132.43 ms | Δ 36.96% | 5.51 Hz / 7.55 Hz | ∇ -26.99% |
random: drawUniform32bit | 9.54 ns / 15.70 ns | ∇ -39.26% | 104.87 MHz / 63.70 MHz | Δ 64.64% |
random: drawUniform | 9.69 ns / 15.69 ns | ∇ -38.26% | 103.21 MHz / 63.72 MHz | Δ 61.98% |
random: drawGaussian1D_normalized | 52.06 ns / 70.40 ns | ∇ -26.05% | 19.21 MHz / 14.20 MHz | Δ 35.22% |
random: drawGaussian1D | 50.73 ns / 70.38 ns | ∇ -27.91% | 19.71 MHz / 14.21 MHz | Δ 38.72% |
random: system rand() | 24.47 ns / 11.07 ns | Δ 121.12% | 40.87 MHz / 90.37 MHz | ∇ -54.78% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 1.33 us | ∇ -6.61% | 805.20 KHz / 751.96 KHz | Δ 7.08% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 3.04 us | Δ 4.88% | 313.70 KHz / 328.99 KHz | ∇ -4.65% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 162.81 ns | ∇ -20.14% | 7.69 MHz / 6.14 MHz | Δ 25.21% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 245.58 ns | ∇ -19.23% | 5.04 MHz / 4.07 MHz | Δ 23.81% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 514.74 ns | ∇ -12.25% | 2.21 MHz / 1.94 MHz | Δ 13.96% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 173.84 ns | ∇ -21.23% | 7.30 MHz / 5.75 MHz | Δ 26.96% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 259.42 ns | ∇ -17.70% | 4.68 MHz / 3.85 MHz | Δ 21.50% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 523.99 ns | ∇ -8.67% | 2.09 MHz / 1.91 MHz | Δ 9.49% |
random: permuteVector (len=10) | 244.07 ns / 288.60 ns | ∇ -15.43% | 4.10 MHz / 3.47 MHz | Δ 18.24% |
random: permuteVector (len=100) | 3.12 us / 3.07 us | Δ 1.72% | 320.11 KHz / 325.61 KHz | ∇ -1.69% |
random: permuteVector (len=1000) | 30.82 us / 30.26 us | Δ 1.87% | 32.44 KHz / 33.05 KHz | ∇ -1.84% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 9.77 GHz | Δ 2260156.92% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 31.77 ms | ∇ -5.97% | 33.48 Hz / 31.48 Hz | Δ 6.35% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 45.70 ms | ∇ -5.94% | 23.26 Hz / 21.88 Hz | Δ 6.31% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 73.33 ms | ∇ -5.87% | 14.49 Hz / 13.64 Hz | Δ 6.24% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 27.15 ms | ∇ -15.82% | 43.75 Hz / 36.83 Hz | Δ 18.80% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 40.31 ms | ∇ -12.67% | 28.41 Hz / 24.81 Hz | Δ 14.50% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 64.44 ms | ∇ -11.09% | 17.45 Hz / 15.52 Hz | Δ 12.47% |
images: Gauss filter (640x480) | 4.45 ms / 4.52 ms | ∇ -1.52% | 224.70 Hz / 221.30 Hz | Δ 1.54% |
images: Gauss filter (800x600) | 8.06 ms / 7.35 ms | Δ 9.59% | 124.15 Hz / 136.05 Hz | ∇ -8.75% |
images: Gauss filter (1024x768) | 13.86 ms / 11.22 ms | Δ 23.52% | 72.16 Hz / 89.13 Hz | ∇ -19.04% |
images: Half sample GRAY (160x120) | 1.32 us / X | 755.28 KHz / X | ||
images: Half sample GRAY (320x240) | 4.41 us / X | 226.69 KHz / X | ||
images: Half sample GRAY (640x480) | 18.51 us / X | 54.02 KHz / X | ||
images: Half sample GRAY (800x600) | 29.74 us / X | 33.62 KHz / X | ||
images: Half sample GRAY (1024x768) | 52.65 us / X | 18.99 KHz / X | ||
images: Half sample GRAY (1280x1024) | 107.42 us / X | 9.31 KHz / X | ||
images: Half sample RGB (160x120) | 9.33 us / X | 107.15 KHz / X | ||
images: Half sample RGB (320x240) | 11.01 us / X | 90.82 KHz / X | ||
images: Half sample RGB (640x480) | 53.51 us / X | 18.69 KHz / X | ||
images: Half sample RGB (800x600) | 126.28 us / X | 7.92 KHz / X | ||
images: Half sample RGB (1024x768) | 248.04 us / X | 4.03 KHz / X | ||
images: Half sample RGB (1280x1024) | 667.92 us / X | 1.50 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.83 us / X | 546.97 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 6.09 us / X | 164.16 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 28.72 us / X | 34.81 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 44.06 us / X | 22.70 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 78.59 us / X | 12.72 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 168.62 us / X | 5.93 KHz / X | ||
images: Half sample smooth RGB (160x120) | 88.54 us / X | 11.29 KHz / X | ||
images: Half sample smooth RGB (320x240) | 381.77 us / X | 2.62 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.50 ms / X | 665.62 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.40 ms / X | 417.30 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.77 ms / X | 265.35 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.50 ms / X | 153.82 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.84 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.89 us / X | 345.89 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 10.09 us / X | 99.10 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.97 us / X | 25.02 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 172.29 us / X | 5.80 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 303.41 us / X | 3.30 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 645.96 us / X | 1.55 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / X | 569.41 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 6.32 us | Δ 173.54% | 57.84 KHz / 158.23 KHz | ∇ -63.44% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 4.78 us | Δ 244.90% | 60.66 KHz / 209.21 KHz | ∇ -71.01% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 2.14 us | Δ 354.18% | 102.89 KHz / 467.29 KHz | ∇ -77.98% |
feature_extraction [640x480]: Harris | 31.46 ms / 28.31 ms | Δ 11.11% | 31.79 Hz / 35.32 Hz | ∇ -10.00% |
feature_extraction [640x480]: KLT | 30.94 ms / 27.34 ms | Δ 13.18% | 32.32 Hz / 36.57 Hz | ∇ -11.64% |
feature_extraction [640x480]: SIFT | 653.53 ms / 641.91 ms | Δ 1.81% | 1.53 Hz / 1.56 Hz | ∇ -1.78% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 170.65 ms | Δ 23.28% | 4.75 Hz / 5.86 Hz | ∇ -18.88% |
feature_extraction [640x480]: SURF | 243.66 ms / 201.21 ms | Δ 21.10% | 4.10 Hz / 4.97 Hz | ∇ -17.42% |
feature_extraction [640x480]: FAST | 6.32 ms / 5.22 ms | Δ 21.05% | 158.19 Hz / 191.49 Hz | ∇ -17.39% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 60.81 ms | ∇ -25.80% | 22.16 Hz / 16.44 Hz | Δ 34.78% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 43.26 ms | Δ 7.71% | 21.46 Hz / 23.12 Hz | ∇ -7.16% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 39.91 ms | Δ 2.45% | 24.46 Hz / 25.06 Hz | ∇ -2.39% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | Δ 0.59% | 778.73 mHz / 783.36 mHz | ∇ -0.59% |
feature_matching [640x480]: SURF | 502.54 ms / 386.18 ms | Δ 30.13% | 1.99 Hz / 2.59 Hz | ∇ -23.16% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 16.12 ms | Δ 22.25% | 50.74 Hz / 62.03 Hz | ∇ -18.20% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 10.93 ms | Δ 18.99% | 76.86 Hz / 91.46 Hz | ∇ -15.96% |
graph(2d): insertEdge x 1e3 | 236.53 us / X | 4.23 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 246.73 us / X | 4.05 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / X | 4.57 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / X | 4.78 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 329.87 us / X | 3.03 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / X | 3.29 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / X | 3.57 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / X | 3.52 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.72 ms / X | 367.00 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / X | 366.67 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / X | 512.34 Hz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / X | 519.87 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / X | 311.68 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / X | 308.83 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / X | 309.95 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / X | 314.97 Hz / X | ||
graph(3d): insertEdge x 1e3 | 274.22 us / X | 3.65 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 264.66 us / X | 3.78 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / X | 3.79 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / X | 3.74 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 589.01 us / X | 1.70 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / X | 1.68 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / X | 1.78 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / X | 1.79 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.23 ms / X | 309.17 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / X | 319.30 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / X | 381.66 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.76 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / X | 163.57 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / X | 178.36 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / X | 192.01 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / X | 192.88 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 156.43 us / X | 6.39 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / X | 5.20 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.18 ms / X | 459.11 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / X | 555.25 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 26.67 ms / X | 37.50 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / X | 43.80 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 307.16 ms / X | 3.26 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / X | 3.75 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 302.10 ms / X | 3.31 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / X | 3.81 Hz / X |