Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 20.90 ms | ∇ -1.49% | 48.58 Hz / 47.85 Hz | Δ 1.52% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 18.76 ms | Δ 9.99% | 48.45 Hz / 53.30 Hz | ∇ -9.08% |
poses: CPose3D (+) CPose3D | 42.90 ns / 41.67 ns | Δ 2.95% | 23.31 MHz / 24.00 MHz | ∇ -2.87% |
poses: CPose3D.composeFrom() | 37.61 ns / 32.39 ns | Δ 16.12% | 26.59 MHz / 30.87 MHz | ∇ -13.88% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 8.02 ns | ∇ -9.62% | 137.89 MHz / 124.63 MHz | Δ 10.65% |
poses: CPose3D.composePoint() | 11.83 ns / 11.53 ns | Δ 2.57% | 84.53 MHz / 86.70 MHz | ∇ -2.50% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 18.18 ns | Δ 116.19% | 25.44 MHz / 54.99 MHz | ∇ -53.74% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 25.21 ns | Δ 38.44% | 28.65 MHz / 39.66 MHz | ∇ -27.77% |
poses: CPose2D (+) CPose2D | 76.08 ns / 72.10 ns | Δ 5.52% | 13.14 MHz / 13.87 MHz | ∇ -5.23% |
poses: CPose2D.composeFrom() | 61.61 ns / 69.22 ns | ∇ -11.00% | 16.23 MHz / 14.45 MHz | Δ 12.36% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 60.48 ns | ∇ -0.36% | 16.59 MHz / 16.53 MHz | Δ 0.37% |
poses: CPose2D.composePoint() | 62.26 ns / 60.01 ns | Δ 3.75% | 16.06 MHz / 16.66 MHz | ∇ -3.62% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 42.70 ns | ∇ -4.00% | 24.40 MHz / 23.42 MHz | Δ 4.17% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 38.27 ns | Δ 2.93% | 25.39 MHz / 26.13 MHz | ∇ -2.84% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 17.90 ns | Δ 2.23% | 54.63 MHz / 55.85 MHz | ∇ -2.19% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 18.44 ns | ∇ -2.70% | 55.74 MHz / 54.23 MHz | Δ 2.78% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 33.31 ns | Δ 66.47% | 18.03 MHz / 30.02 MHz | ∇ -39.93% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 19.52 ns | ∇ -9.51% | 56.63 MHz / 51.24 MHz | Δ 10.51% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 16.27 ns | Δ 3.14% | 59.58 MHz / 61.45 MHz | ∇ -3.04% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 169.77 ns | ∇ -0.24% | 5.90 MHz / 5.89 MHz | Δ 0.24% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 799.00 ns | Δ 99909.82% | 1.25 KHz / 1.25 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 788.50 ns | Δ 101777.87% | 1.24 KHz / 1.27 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 9.11 us | Δ 3.70% | 105.91 KHz / 109.83 KHz | ∇ -3.57% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 557.50 ns | Δ 16.39% | 1.54 MHz / 1.79 MHz | ∇ -14.09% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 558.50 ns | Δ 12.98% | 1.58 MHz / 1.79 MHz | ∇ -11.49% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 8.42 us | ∇ -2.85% | 122.30 KHz / 118.81 KHz | Δ 2.93% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 17.83 ns | Δ 36.97% | 40.94 MHz / 56.07 MHz | ∇ -26.99% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 19.48 ns | Δ 19.03% | 43.14 MHz / 51.35 MHz | ∇ -15.99% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 54.85 ns | Δ 8.49% | 16.81 MHz / 18.23 MHz | ∇ -7.83% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 55.93 ns | Δ 11.32% | 16.06 MHz / 17.88 MHz | ∇ -10.17% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.88 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 841.75 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 1.50 ns | Δ 13.68% | 587.20 MHz / 667.56 MHz | ∇ -12.04% |
matrix: unit, fix[double,6,6] | 2.77 ns / 5.61 ns | ∇ -50.60% | 361.01 MHz / 178.35 MHz | Δ 102.42% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 291.30 ns | ∇ -70.55% | 11.66 MHz / 3.43 MHz | Δ 239.51% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.00 ns | Δ 1.#J% | 42.02 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 292.50 ns | ∇ -74.05% | 13.18 MHz / 3.42 MHz | Δ 285.38% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ 1.#J% | 42.55 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 347.50 ns | ∇ -66.01% | 8.47 MHz / 2.88 MHz | Δ 194.24% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 0.00 ns | Δ 1.#J% | 22.37 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 340.40 ns | ∇ -67.54% | 9.05 MHz / 2.94 MHz | Δ 208.05% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 0.00 ns | Δ 1.#J% | 22.12 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 2.42 us | Δ 124.62% | 183.95 KHz / 413.19 KHz | ∇ -55.48% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 2.23 us | Δ 69.21% | 264.87 KHz / 448.19 KHz | ∇ -40.90% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 2.31 us | Δ 139.89% | 180.38 KHz / 432.69 KHz | ∇ -58.31% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 2.12 us | Δ 91.94% | 245.43 KHz / 471.08 KHz | ∇ -47.90% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / X | 1.58 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 35.00 ns / X | 28.57 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 644.00 ns / 780.00 ns | ∇ -17.44% | 1.55 MHz / 1.28 MHz | Δ 21.12% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 0.00 ns | Δ 1.#J% | 25.64 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / X | 421.76 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 812.00 ns / X | 1.23 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.26 us / 1.97 us | ∇ -36.05% | 793.02 KHz / 507.10 KHz | Δ 56.38% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 1.60 us | ∇ -64.08% | 1.74 MHz / 624.61 KHz | Δ 178.43% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / X | 38.55 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 14.15 us / X | 70.70 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.76 us / 16.08 us | Δ 60.17% | 38.83 KHz / 62.19 KHz | ∇ -37.57% |
matrix: inv, fix[double] 20x20 | 17.04 us / 14.48 us | Δ 17.70% | 58.69 KHz / 69.08 KHz | ∇ -15.04% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / X | 4.88 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 93.29 us / X | 10.72 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 207.20 us / 65.78 us | Δ 214.96% | 4.83 KHz / 15.20 KHz | ∇ -68.25% |
matrix: inv, fix[double] 40x40 | 133.80 us / 64.13 us | Δ 108.64% | 7.47 KHz / 15.59 KHz | ∇ -52.07% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 6.40 ns / 212.60 ns | ∇ -96.99% | 156.25 MHz / 4.70 MHz | Δ 3221.88% |
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 | 10.30 ns / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 323.30 ns | ∇ -96.81% | 97.09 MHz / 3.09 MHz | Δ 3038.83% |
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 | 653.50 ns / X | 1.53 MHz / X | ||
matrix: det, fix[float ] 6x6 | 210.00 ns / X | 4.76 MHz / X | ||
matrix: det, dyn[double] 6x6 | 730.30 ns / 774.90 ns | ∇ -5.76% | 1.37 MHz / 1.29 MHz | Δ 6.11% |
matrix: det, fix[double] 6x6 | 212.10 ns / 592.30 ns | ∇ -64.19% | 4.71 MHz / 1.69 MHz | Δ 179.26% |
matrix: det, dyn[float ] 20x20 | 5.70 us / X | 175.40 KHz / X | ||
matrix: det, fix[float ] 20x20 | 4.20 us / X | 237.92 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.56 us / 8.50 us | ∇ -22.78% | 152.33 KHz / 117.63 KHz | Δ 29.50% |
matrix: det, fix[double] 20x20 | 5.04 us / 7.72 us | ∇ -34.71% | 198.38 KHz / 129.53 KHz | Δ 53.15% |
matrix: det, dyn[float ] 40x40 | 32.38 us / X | 30.89 KHz / X | ||
matrix: det, fix[float ] 40x40 | 27.92 us / X | 35.82 KHz / X | ||
matrix: det, dyn[double] 40x40 | 39.41 us / 32.23 us | Δ 22.30% | 25.37 KHz / 31.03 KHz | ∇ -18.23% |
matrix: det, fix[double] 40x40 | 29.04 us / 30.71 us | ∇ -5.44% | 34.44 KHz / 32.57 KHz | Δ 5.75% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 530.00 ns | ∇ -73.58% | 7.14 MHz / 1.89 MHz | Δ 278.57% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 130.00 ns | Δ 23.08% | 6.25 MHz / 7.69 MHz | ∇ -18.75% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 22.98 us | ∇ -20.02% | 54.41 KHz / 43.52 KHz | Δ 25.03% |
matrix: chol, fix[double] 40x40 | 17.08 us / 19.50 us | ∇ -12.41% | 58.55 KHz / 51.28 KHz | Δ 14.17% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 8.20 us | Δ 1.22% | 120.48 KHz / 121.95 KHz | ∇ -1.20% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 85.30 us | ∇ -1.06% | 11.85 KHz / 11.72 KHz | Δ 1.07% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 56.80 us | ∇ -6.69% | 18.87 KHz / 17.61 KHz | Δ 7.17% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 39.31 us | Δ 0.46% | 25.32 KHz / 25.44 KHz | ∇ -0.46% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 266.80 us | Δ 54.31% | 2.43 KHz / 3.75 KHz | ∇ -35.20% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 72.76 us | Δ 1.83% | 13.50 KHz / 13.74 KHz | ∇ -1.80% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 2.67 ms | Δ 288.79% | 96.33 Hz / 374.53 Hz | ∇ -74.28% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 176.19 us | Δ 41.18% | 4.02 KHz / 5.68 KHz | ∇ -29.17% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 20.73 ms | Δ 1687.74% | 2.70 Hz / 48.23 Hz | ∇ -94.41% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 351.05 us | Δ 0.71% | 2.83 KHz / 2.85 KHz | ∇ -0.71% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 34.60 ms | Δ 956.42% | 2.74 Hz / 28.90 Hz | ∇ -90.53% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 415.89 us | Δ 2.26% | 2.35 KHz / 2.40 KHz | ∇ -2.21% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 50.32 ms | Δ 1481.98% | 1.26 Hz / 19.87 Hz | ∇ -93.68% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 482.94 us | Δ 1.63% | 2.04 KHz / 2.07 KHz | ∇ -1.60% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.61 ns | ∇ -1.07% | 387.76 MHz / 383.63 MHz | Δ 1.08% |
gridmap2D: updateCell | 7.44 ns / 6.99 ns | Δ 6.48% | 134.32 MHz / 143.02 MHz | ∇ -6.08% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.51 ns | Δ 7.51% | 1.82 GHz / 1.95 GHz | ∇ -6.99% |
gridmap2D: insert scan w/o widening | 101.23 us / 102.59 us | ∇ -1.33% | 9.88 KHz / 9.75 KHz | Δ 1.34% |
gridmap2D: insert scan with widening | 291.30 us / 284.11 us | Δ 2.53% | 3.43 KHz / 3.52 KHz | ∇ -2.47% |
gridmap2D: resize | 1.89 ms / 722.00 us | Δ 161.50% | 529.66 Hz / 1.39 KHz | ∇ -61.76% |
gridmap2D: computeLikelihood | 16.46 us / 15.69 us | Δ 4.87% | 60.76 KHz / 63.72 KHz | ∇ -4.64% |
pointmap: insert 100 scans | 3.10 ms / 2.97 ms | Δ 4.51% | 322.50 Hz / 337.06 Hz | ∇ -4.32% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.36 us | ∇ -1.83% | 233.64 KHz / 229.36 KHz | Δ 1.87% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 357.08 us | ∇ -0.44% | 2.81 KHz / 2.80 KHz | Δ 0.44% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 4.19 ms | ∇ -0.68% | 240.24 Hz / 238.61 Hz | Δ 0.68% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 4.72 us | Δ 0.85% | 210.08 KHz / 211.86 KHz | ∇ -0.84% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 362.68 us | Δ 0.14% | 2.75 KHz / 2.76 KHz | ∇ -0.14% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.10 ms | ∇ -0.08% | 244.29 Hz / 244.09 Hz | Δ 0.08% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.39 us | ∇ -0.43% | 723.59 KHz / 720.46 KHz | Δ 0.43% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 101.86 us | ∇ -0.92% | 9.91 KHz / 9.82 KHz | Δ 0.92% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 11.78 ms | Δ 1.16% | 83.95 Hz / 84.92 Hz | ∇ -1.15% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.62 ms | ∇ -0.09% | 178.01 Hz / 177.84 Hz | Δ 0.09% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 130.59 ms | Δ 0.13% | 7.65 Hz / 7.66 Hz | ∇ -0.13% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 5.69 ms | ∇ -0.36% | 176.35 Hz / 175.73 Hz | Δ 0.36% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 132.22 ms | Δ 0.31% | 7.54 Hz / 7.56 Hz | ∇ -0.31% |
random: drawUniform32bit | 14.57 ns / 15.67 ns | ∇ -7.01% | 68.63 MHz / 63.82 MHz | Δ 7.53% |
random: drawUniform | 14.62 ns / 15.66 ns | ∇ -6.62% | 68.41 MHz / 63.88 MHz | Δ 7.09% |
random: drawGaussian1D_normalized | 68.70 ns / 69.89 ns | ∇ -1.71% | 14.56 MHz / 14.31 MHz | Δ 1.74% |
random: drawGaussian1D | 68.68 ns / 69.86 ns | ∇ -1.68% | 14.56 MHz / 14.32 MHz | Δ 1.71% |
random: system rand() | 10.45 ns / 12.21 ns | ∇ -14.42% | 95.67 MHz / 81.87 MHz | Δ 16.85% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.70 us | ∇ -51.56% | 764.77 KHz / 370.49 KHz | Δ 106.42% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 5.71 us | ∇ -51.20% | 358.92 KHz / 175.14 KHz | Δ 104.94% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 148.19 ns | Δ 6.80% | 6.32 MHz / 6.75 MHz | ∇ -6.37% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 232.46 ns | Δ 1.70% | 4.23 MHz / 4.30 MHz | ∇ -1.68% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 489.71 ns | ∇ -0.07% | 2.04 MHz / 2.04 MHz | Δ 0.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 159.54 ns | Δ 3.18% | 6.07 MHz / 6.27 MHz | ∇ -3.08% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 247.75 ns | Δ 0.15% | 4.03 MHz / 4.04 MHz | ∇ -0.15% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 521.91 ns | ∇ -1.36% | 1.94 MHz / 1.92 MHz | Δ 1.38% |
random: permuteVector (len=10) | 317.50 ns / 251.30 ns | Δ 26.34% | 3.15 MHz / 3.98 MHz | ∇ -20.85% |
random: permuteVector (len=100) | 3.06 us / 3.02 us | Δ 1.50% | 326.54 KHz / 331.46 KHz | ∇ -1.48% |
random: permuteVector (len=1000) | 30.27 us / 30.36 us | ∇ -0.31% | 33.04 KHz / 32.93 KHz | Δ 0.32% |
math: round | 0.10 ns / 0.10 ns | Δ 0.01% | 10.09 GHz / 10.09 GHz | ∇ -0.01% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 34.14 ms | ∇ -20.13% | 36.67 Hz / 29.29 Hz | Δ 25.20% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 49.83 ms | ∇ -13.16% | 23.11 Hz / 20.07 Hz | Δ 15.15% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 80.71 ms | ∇ -7.48% | 13.39 Hz / 12.39 Hz | Δ 8.09% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 29.36 ms | ∇ -10.41% | 38.01 Hz / 34.05 Hz | Δ 11.62% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 42.45 ms | ∇ -3.60% | 24.44 Hz / 23.56 Hz | Δ 3.74% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 65.41 ms | ∇ -4.36% | 15.99 Hz / 15.29 Hz | Δ 4.55% |
images: Gauss filter (640x480) | 4.48 ms / 4.66 ms | ∇ -3.86% | 223.01 Hz / 214.40 Hz | Δ 4.02% |
images: Gauss filter (800x600) | 7.46 ms / 5.98 ms | Δ 24.64% | 134.07 Hz / 167.10 Hz | ∇ -19.77% |
images: Gauss filter (1024x768) | 12.41 ms / 10.42 ms | Δ 19.07% | 80.57 Hz / 95.93 Hz | ∇ -16.01% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 11.35 us | ∇ -54.63% | 194.17 KHz / 88.11 KHz | Δ 120.39% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 9.96 us | ∇ -56.33% | 229.89 KHz / 100.40 KHz | Δ 128.97% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 5.52 us | ∇ -61.59% | 471.70 KHz / 181.16 KHz | Δ 160.38% |
feature_extraction [640x480]: Harris | 33.18 ms / 32.25 ms | Δ 2.88% | 30.14 Hz / 31.01 Hz | ∇ -2.80% |
feature_extraction [640x480]: KLT | 29.64 ms / 25.60 ms | Δ 15.75% | 33.74 Hz / 39.06 Hz | ∇ -13.60% |
feature_extraction [640x480]: SIFT | 637.68 ms / 630.91 ms | Δ 1.07% | 1.57 Hz / 1.59 Hz | ∇ -1.06% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 164.09 ms | Δ 5.52% | 5.78 Hz / 6.09 Hz | ∇ -5.23% |
feature_extraction [640x480]: SURF | 202.84 ms / 207.64 ms | ∇ -2.31% | 4.93 Hz / 4.82 Hz | Δ 2.37% |
feature_extraction [640x480]: FAST | 5.10 ms / 7.60 ms | ∇ -32.85% | 195.94 Hz / 131.57 Hz | Δ 48.92% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 60.60 ms | Δ 1.01% | 16.33 Hz / 16.50 Hz | ∇ -1.00% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 43.99 ms | ∇ -0.21% | 22.78 Hz / 22.73 Hz | Δ 0.21% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 36.29 ms | Δ 5.61% | 26.09 Hz / 27.56 Hz | ∇ -5.32% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.20 sec | Δ 6.59% | 782.87 mHz / 834.47 mHz | ∇ -6.18% |
feature_matching [640x480]: SURF | 387.99 ms / 379.83 ms | Δ 2.15% | 2.58 Hz / 2.63 Hz | ∇ -2.10% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 16.04 ms | ∇ -1.90% | 63.57 Hz / 62.36 Hz | Δ 1.94% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 10.85 ms | ∇ -2.70% | 94.70 Hz / 92.14 Hz | Δ 2.78% |
graph(2d): insertEdge x 1e3 | 104.46 us / 119.99 us | ∇ -12.94% | 9.57 KHz / 8.33 KHz | Δ 14.87% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 84.03 us | Δ 1.38% | 11.74 KHz / 11.90 KHz | ∇ -1.36% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 170.61 us | ∇ -21.08% | 7.43 KHz / 5.86 KHz | Δ 26.71% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 179.02 us | ∇ -33.03% | 8.34 KHz / 5.59 KHz | Δ 49.32% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 1.58 ms | ∇ -12.46% | 721.96 Hz / 632.00 Hz | Δ 14.23% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 863.38 us | ∇ -1.08% | 1.17 KHz / 1.16 KHz | Δ 1.09% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 1.96 ms | ∇ -18.00% | 621.80 Hz / 509.85 Hz | Δ 21.96% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 1.95 ms | ∇ -38.55% | 832.81 Hz / 511.72 Hz | Δ 62.75% |
graph(3d): insertEdge x 1e3 | 132.91 us / 169.26 us | ∇ -21.48% | 7.52 KHz / 5.91 KHz | Δ 27.35% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 153.69 us | ∇ -29.01% | 9.17 KHz / 6.51 KHz | Δ 40.86% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 471.95 us | ∇ -25.89% | 2.86 KHz / 2.12 KHz | Δ 34.94% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 441.33 us | ∇ -27.14% | 3.11 KHz / 2.27 KHz | Δ 37.26% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 2.46 ms | ∇ -23.07% | 529.10 Hz / 407.06 Hz | Δ 29.98% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 1.70 ms | ∇ -35.35% | 910.25 Hz / 588.45 Hz | Δ 54.69% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 6.68 ms | ∇ -30.47% | 215.20 Hz / 149.62 Hz | Δ 43.83% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 4.59 ms | ∇ -11.64% | 246.81 Hz / 218.07 Hz | Δ 13.18% |
graph(3d,map): dijkstra 1e2 nodes | 94.48 us / X | 10.58 KHz / X | ||
graph(3d,map): dijkstra 1e3 nodes | 1.16 ms / X | 860.07 Hz / X | ||
graph(3d,map): dijkstra 1e4 nodes | 19.13 ms / X | 52.28 Hz / X |