Test description | 0.9.4-GCC-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 37.14 ms | ∇ -44.14% | 48.21 Hz / 26.93 Hz | Δ 79.02% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 36.34 ms | ∇ -52.97% | 58.52 Hz / 27.52 Hz | Δ 112.62% |
poses: CPose3D (+) CPose3D | 29.76 ns / 197.08 ns | ∇ -84.90% | 33.60 MHz / 5.07 MHz | Δ 562.22% |
poses: CPose3D.composeFrom() | 21.90 ns / 33.62 ns | ∇ -34.87% | 45.66 MHz / 29.74 MHz | Δ 53.54% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 25.13 ns | ∇ -71.22% | 138.24 MHz / 39.79 MHz | Δ 247.45% |
poses: CPose3D.composePoint() | 11.67 ns / 21.31 ns | ∇ -45.22% | 85.68 MHz / 46.94 MHz | Δ 82.54% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 89.96 ns | ∇ -85.23% | 75.27 MHz / 11.12 MHz | Δ 577.13% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 47.25 ns | ∇ -48.19% | 40.85 MHz / 21.17 MHz | Δ 93.00% |
poses: CPose2D (+) CPose2D | 71.64 ns / 108.63 ns | ∇ -34.05% | 13.96 MHz / 9.21 MHz | Δ 51.63% |
poses: CPose2D.composeFrom() | 69.41 ns / 94.77 ns | ∇ -26.76% | 14.41 MHz / 10.55 MHz | Δ 36.55% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 80.61 ns | ∇ -24.60% | 16.45 MHz / 12.41 MHz | Δ 32.63% |
poses: CPose2D.composePoint() | 60.80 ns / 67.32 ns | ∇ -9.69% | 16.45 MHz / 14.85 MHz | Δ 10.73% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 81.31 ns | ∇ -50.23% | 24.71 MHz / 12.30 MHz | Δ 100.91% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 51.56 ns | ∇ -27.18% | 26.63 MHz / 19.39 MHz | Δ 37.32% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 55.91 ns | ∇ -68.90% | 57.51 MHz / 17.89 MHz | Δ 221.55% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 32.73 ns | ∇ -46.58% | 57.20 MHz / 30.55 MHz | Δ 87.21% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 124.02 ns | ∇ -73.42% | 30.33 MHz / 8.06 MHz | Δ 276.18% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 30.61 ns | ∇ -37.57% | 52.34 MHz / 32.67 MHz | Δ 60.19% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 28.12 ns | ∇ -16.72% | 42.70 MHz / 35.56 MHz | Δ 20.07% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 216.84 ns | ∇ -20.35% | 5.79 MHz / 4.61 MHz | Δ 25.55% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 1.24 us | ∇ -45.89% | 1.49 MHz / 806.40 KHz | Δ 84.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 1.20 us | ∇ -45.52% | 1.53 MHz / 835.55 KHz | Δ 83.56% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 20.15 us | ∇ -56.62% | 114.40 KHz / 49.63 KHz | Δ 130.53% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 817.60 ns | ∇ -44.46% | 2.20 MHz / 1.22 MHz | Δ 80.05% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 823.40 ns | ∇ -45.00% | 2.21 MHz / 1.21 MHz | Δ 81.81% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 19.09 us | ∇ -58.22% | 125.39 KHz / 52.39 KHz | Δ 139.36% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 49.67 ns | ∇ -64.49% | 56.71 MHz / 20.13 MHz | Δ 181.64% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 50.90 ns | ∇ -60.98% | 50.34 MHz / 19.64 MHz | Δ 156.27% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 180.98 ns | ∇ -68.48% | 17.53 MHz / 5.53 MHz | Δ 217.21% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 177.90 ns | ∇ -66.27% | 16.67 MHz / 5.62 MHz | Δ 196.50% |
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 / 6.63 ns | ∇ -100.00% | 1.#J THz / 150.81 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 8.86 ns | ∇ -100.00% | 1.#J THz / 112.91 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 680.28 ns | ∇ -64.32% | 4.12 MHz / 1.47 MHz | Δ 180.29% |
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 / 458.35 ns | ∇ -49.47% | 4.32 MHz / 2.18 MHz | Δ 97.91% |
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 / 680.46 ns | ∇ -56.43% | 3.37 MHz / 1.47 MHz | Δ 129.50% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 35.28 ns | ∇ -99.72% | 10.00 GHz / 28.34 MHz | Δ 35181.93% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 514.01 ns | ∇ -49.57% | 3.86 MHz / 1.95 MHz | Δ 98.31% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 3.40 ns | ∇ -100.00% | 1.#J THz / 294.39 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 5.18 us | ∇ -59.58% | 477.69 KHz / 193.06 KHz | Δ 147.43% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 4.56 us | ∇ -60.75% | 559.03 KHz / 219.44 KHz | Δ 154.76% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 3.79 us | ∇ -35.93% | 411.68 KHz / 263.78 KHz | Δ 56.07% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 2.92 us | ∇ -26.00% | 462.21 KHz / 342.06 KHz | Δ 35.13% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 1.50 us | ∇ -48.96% | 1.30 MHz / 665.44 KHz | Δ 95.93% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 9.51 ns | ∇ -100.00% | 1.#J THz / 105.14 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 3.90 us | ∇ -54.40% | 561.80 KHz / 256.17 KHz | Δ 119.31% |
matrix: inv, fix[double] 6x6 | 1.73 us / 3.54 us | ∇ -51.19% | 578.70 KHz / 282.49 KHz | Δ 104.86% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 34.19 us | ∇ -52.42% | 61.47 KHz / 29.25 KHz | Δ 110.19% |
matrix: inv, fix[double] 20x20 | 13.44 us / 29.35 us | ∇ -54.21% | 74.41 KHz / 34.07 KHz | Δ 118.40% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 134.24 us | ∇ -49.34% | 14.70 KHz / 7.45 KHz | Δ 97.39% |
matrix: inv, fix[double] 40x40 | 63.01 us / 126.45 us | ∇ -50.17% | 15.87 KHz / 7.91 KHz | Δ 100.70% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 601.74 ns | ∇ -65.20% | 4.78 MHz / 1.66 MHz | Δ 187.36% |
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[double] 3x3 | 331.30 ns / 872.81 ns | ∇ -62.04% | 3.02 MHz / 1.15 MHz | Δ 163.45% |
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 / 2.32 us | ∇ -59.39% | 1.06 MHz / 430.29 KHz | Δ 146.26% |
matrix: det, fix[double] 6x6 | 575.90 ns / 2.17 us | ∇ -73.47% | 1.74 MHz / 460.60 KHz | Δ 276.99% |
matrix: det, dyn[double] 20x20 | 8.10 us / 23.14 us | ∇ -64.97% | 123.40 KHz / 43.22 KHz | Δ 185.49% |
matrix: det, fix[double] 20x20 | 7.48 us / 21.38 us | ∇ -64.99% | 133.61 KHz / 46.78 KHz | Δ 185.63% |
matrix: det, dyn[double] 40x40 | 30.87 us / 92.83 us | ∇ -66.74% | 32.39 KHz / 10.77 KHz | Δ 200.70% |
matrix: det, fix[double] 40x40 | 29.01 us / 90.97 us | ∇ -68.11% | 34.47 KHz / 10.99 KHz | Δ 213.56% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 892.24 ns | ∇ -40.60% | 1.89 MHz / 1.12 MHz | Δ 68.35% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 249.10 ns | ∇ -51.83% | 8.33 MHz / 4.01 MHz | Δ 107.59% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 41.12 us | ∇ -49.67% | 48.31 KHz / 24.32 KHz | Δ 98.67% |
matrix: chol, fix[double] 40x40 | 16.54 us / 26.92 us | ∇ -38.55% | 60.46 KHz / 37.15 KHz | Δ 62.74% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 15.31 us | ∇ -20.31% | 81.97 KHz / 65.32 KHz | Δ 25.48% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 116.85 us | ∇ -24.95% | 11.40 KHz / 8.56 KHz | Δ 33.24% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 98.96 us | ∇ -47.76% | 19.34 KHz / 10.10 KHz | Δ 91.41% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 55.18 us | ∇ -30.64% | 26.13 KHz / 18.12 KHz | Δ 44.18% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 498.07 us | ∇ -48.70% | 3.91 KHz / 2.01 KHz | Δ 94.94% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 133.40 us | ∇ -46.82% | 14.10 KHz / 7.50 KHz | Δ 88.04% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 4.99 ms | ∇ -44.92% | 363.64 Hz / 200.30 Hz | Δ 81.55% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 243.96 us | ∇ -30.64% | 5.91 KHz / 4.10 KHz | Δ 44.17% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 30.03 ms | ∇ -26.53% | 45.33 Hz / 33.31 Hz | Δ 36.11% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 486.08 us | ∇ -30.13% | 2.94 KHz / 2.06 KHz | Δ 43.13% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 51.94 ms | ∇ -29.41% | 27.27 Hz / 19.25 Hz | Δ 41.67% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 583.78 us | ∇ -31.07% | 2.49 KHz / 1.71 KHz | Δ 45.08% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 76.91 ms | ∇ -29.96% | 18.57 Hz / 13.00 Hz | Δ 42.78% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 649.31 us | ∇ -26.57% | 2.10 KHz / 1.54 KHz | Δ 36.18% |
gridmap2D: getCell | 0.00 ns / 6.44 ns | ∇ -100.00% | 1.#J THz / 155.25 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 9.52 ns | ∇ -71.57% | 369.33 MHz / 105.00 MHz | Δ 251.73% |
gridmap2D: updateCell | 6.04 ns / 9.85 ns | ∇ -38.68% | 165.59 MHz / 101.55 MHz | Δ 63.07% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 1.47 ns | ∇ -58.27% | 1.63 GHz / 679.40 MHz | Δ 139.64% |
gridmap2D: insert scan w/o widening | 99.83 us / 225.20 us | ∇ -55.67% | 10.02 KHz / 4.44 KHz | Δ 125.58% |
gridmap2D: insert scan with widening | 293.13 us / 365.80 us | ∇ -19.87% | 3.41 KHz / 2.73 KHz | Δ 24.79% |
gridmap2D: resize | 630.00 us / 2.56 ms | ∇ -75.43% | 1.59 KHz / 389.96 Hz | Δ 307.05% |
gridmap2D: computeLikelihood | 17.81 us / 21.14 us | ∇ -15.75% | 56.14 KHz / 47.30 KHz | Δ 18.70% |
pointmap: insert 100 scans | 1.01 ms / 3.27 ms | ∇ -69.14% | 990.80 Hz / 305.75 Hz | Δ 224.06% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 6.03 us | ∇ -25.08% | 221.24 KHz / 165.76 KHz | Δ 33.47% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 579.42 us | ∇ -37.10% | 2.74 KHz / 1.73 KHz | Δ 58.99% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 6.14 ms | ∇ -28.63% | 228.21 Hz / 162.87 Hz | Δ 40.12% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 6.68 us | ∇ -22.81% | 193.80 KHz / 149.59 KHz | Δ 29.55% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 519.96 us | ∇ -28.37% | 2.68 KHz / 1.92 KHz | Δ 39.61% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 6.64 ms | ∇ -36.71% | 238.06 Hz / 150.68 Hz | Δ 57.99% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.95 us | ∇ -27.31% | 703.73 KHz / 511.57 KHz | Δ 37.56% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 167.14 us | ∇ -39.06% | 9.82 KHz / 5.98 KHz | Δ 64.10% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 17.45 ms | ∇ -30.26% | 82.15 Hz / 57.30 Hz | Δ 43.38% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 9.11 ms | ∇ -38.09% | 177.25 Hz / 109.75 Hz | Δ 61.51% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 210.71 ms | ∇ -36.99% | 7.53 Hz / 4.75 Hz | Δ 58.72% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 8.38 ms | ∇ -31.80% | 175.04 Hz / 119.37 Hz | Δ 46.63% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 198.71 ms | ∇ -32.20% | 7.42 Hz / 5.03 Hz | Δ 47.48% |
random: drawUniform32bit | 14.55 ns / 7.57 ns | Δ 92.16% | 68.75 MHz / 132.11 MHz | ∇ -47.96% |
random: drawUniform | 14.56 ns / 7.60 ns | Δ 91.51% | 68.69 MHz / 131.54 MHz | ∇ -47.78% |
random: drawGaussian1D_normalized | 66.87 ns / 58.48 ns | Δ 14.35% | 14.96 MHz / 17.10 MHz | ∇ -12.55% |
random: drawGaussian1D | 66.81 ns / 57.62 ns | Δ 15.93% | 14.97 MHz / 17.35 MHz | ∇ -13.74% |
random: system rand() | 10.63 ns / 29.43 ns | ∇ -63.89% | 94.11 MHz / 33.98 MHz | Δ 176.94% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 2.95 us | ∇ -69.36% | 1.11 MHz / 339.21 KHz | Δ 226.34% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 3.53 us | ∇ -54.44% | 621.01 KHz / 282.92 KHz | Δ 119.50% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 145.71 ns | ∇ -0.73% | 6.91 MHz / 6.86 MHz | Δ 0.73% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 227.37 ns | ∇ -3.47% | 4.56 MHz / 4.40 MHz | Δ 3.59% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 514.56 ns | ∇ -8.12% | 2.12 MHz / 1.94 MHz | Δ 8.83% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 170.42 ns | ∇ -10.63% | 6.57 MHz / 5.87 MHz | Δ 11.90% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 283.60 ns | ∇ -17.12% | 4.25 MHz / 3.53 MHz | Δ 20.66% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 661.22 ns | ∇ -25.65% | 2.03 MHz / 1.51 MHz | Δ 34.50% |
random: permuteVector (len=10) | 243.60 ns / 304.45 ns | ∇ -19.99% | 4.11 MHz / 3.28 MHz | Δ 24.98% |
random: permuteVector (len=100) | 2.99 us / 3.47 us | ∇ -13.90% | 334.99 KHz / 288.42 KHz | Δ 16.14% |
random: permuteVector (len=1000) | 29.51 us / 37.99 us | ∇ -22.30% | 33.88 KHz / 26.33 KHz | Δ 28.70% |
math: round | 0.10 ns / 0.00 ns | Δ 2189944.78% | 10.08 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 33.06 ms | Δ 1.72% | 29.74 Hz / 30.25 Hz | ∇ -1.69% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 50.64 ms | ∇ -1.56% | 20.06 Hz / 19.75 Hz | Δ 1.59% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 82.66 ms | ∇ -15.81% | 14.37 Hz / 12.10 Hz | Δ 18.78% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 27.36 ms | Δ 12.02% | 32.63 Hz / 36.56 Hz | ∇ -10.73% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 43.25 ms | Δ 1.51% | 22.78 Hz / 23.12 Hz | ∇ -1.48% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 66.55 ms | ∇ -6.05% | 15.99 Hz / 15.03 Hz | Δ 6.44% |
images: Gauss filter (640x480) | 3.81 ms / 5.57 ms | ∇ -31.69% | 262.76 Hz / 179.49 Hz | Δ 46.39% |
images: Gauss filter (800x600) | 5.96 ms / 8.84 ms | ∇ -32.56% | 167.70 Hz / 113.10 Hz | Δ 48.28% |
images: Gauss filter (1024x768) | 10.46 ms / 14.37 ms | ∇ -27.23% | 95.61 Hz / 69.58 Hz | Δ 37.41% |
images: Half sample GRAY (160x120) | 1.04 us / 1.63 us | ∇ -36.33% | 961.54 KHz / 612.18 KHz | Δ 57.07% |
images: Half sample GRAY (320x240) | 2.91 us / 4.13 us | ∇ -29.68% | 344.04 KHz / 241.92 KHz | Δ 42.21% |
images: Half sample GRAY (640x480) | 14.63 us / 19.15 us | ∇ -23.60% | 68.35 KHz / 52.22 KHz | Δ 30.89% |
images: Half sample GRAY (800x600) | 27.61 us / 31.65 us | ∇ -12.77% | 36.21 KHz / 31.59 KHz | Δ 14.63% |
images: Half sample GRAY (1024x768) | 43.98 us / 50.27 us | ∇ -12.51% | 22.74 KHz / 19.89 KHz | Δ 14.30% |
images: Half sample GRAY (1280x1024) | 84.93 us / 87.87 us | ∇ -3.35% | 11.77 KHz / 11.38 KHz | Δ 3.46% |
images: Half sample RGB (160x120) | 2.35 us / 3.54 us | ∇ -33.69% | 426.14 KHz / 282.58 KHz | Δ 50.80% |
images: Half sample RGB (320x240) | 8.97 us / 11.27 us | ∇ -20.36% | 111.44 KHz / 88.76 KHz | Δ 25.56% |
images: Half sample RGB (640x480) | 49.58 us / 57.50 us | ∇ -13.78% | 20.17 KHz / 17.39 KHz | Δ 15.98% |
images: Half sample RGB (800x600) | 83.52 us / 80.68 us | Δ 3.51% | 11.97 KHz / 12.39 KHz | ∇ -3.39% |
images: Half sample RGB (1024x768) | 175.02 us / 391.11 us | ∇ -55.25% | 5.71 KHz / 2.56 KHz | Δ 123.47% |
images: Half sample RGB (1280x1024) | 434.33 us / 826.49 us | ∇ -47.45% | 2.30 KHz / 1.21 KHz | Δ 90.29% |
images: Half sample smooth GRAY (160x120) | 1.52 us / 2.87 us | ∇ -46.84% | 656.46 KHz / 348.99 KHz | Δ 88.10% |
images: Half sample smooth GRAY (320x240) | 5.05 us / 8.64 us | ∇ -41.53% | 197.89 KHz / 115.70 KHz | Δ 71.04% |
images: Half sample smooth GRAY (640x480) | 27.35 us / 29.52 us | ∇ -7.35% | 36.57 KHz / 33.88 KHz | Δ 7.93% |
images: Half sample smooth GRAY (800x600) | 41.00 us / 66.07 us | ∇ -37.94% | 24.39 KHz / 15.14 KHz | Δ 61.14% |
images: Half sample smooth GRAY (1024x768) | 70.54 us / 90.65 us | ∇ -22.18% | 14.18 KHz / 11.03 KHz | Δ 28.51% |
images: Half sample smooth GRAY (1280x1024) | 147.17 us / 132.57 us | Δ 11.01% | 6.80 KHz / 7.54 KHz | ∇ -9.92% |
images: Half sample smooth RGB (160x120) | 87.34 us / 202.00 us | ∇ -56.76% | 11.45 KHz / 4.95 KHz | Δ 131.28% |
images: Half sample smooth RGB (320x240) | 341.55 us / 779.03 us | ∇ -56.16% | 2.93 KHz / 1.28 KHz | Δ 128.08% |
images: Half sample smooth RGB (640x480) | 1.35 ms / 3.10 ms | ∇ -56.38% | 740.73 Hz / 323.08 Hz | Δ 129.27% |
images: Half sample smooth RGB (800x600) | 2.13 ms / 4.82 ms | ∇ -55.72% | 468.44 Hz / 207.41 Hz | Δ 125.85% |
images: Half sample smooth RGB (1024x768) | 3.55 ms / 8.63 ms | ∇ -58.90% | 281.93 Hz / 115.89 Hz | Δ 143.28% |
images: Half sample smooth RGB (1280x1024) | 6.52 ms / 14.76 ms | ∇ -55.82% | 153.40 Hz / 67.77 Hz | Δ 126.34% |
images: RGB->GRAY 8u (40x30) | 3.88 us / 6.40 us | ∇ -39.38% | 257.95 KHz / 156.37 KHz | Δ 64.96% |
images: RGB->GRAY 8u (80x60) | 2.78 us / 4.33 us | ∇ -35.72% | 359.28 KHz / 230.95 KHz | Δ 55.56% |
images: RGB->GRAY 8u (160x120) | 9.91 us / 11.84 us | ∇ -16.33% | 100.91 KHz / 84.43 KHz | Δ 19.51% |
images: RGB->GRAY 8u (320x240) | 39.89 us / 44.50 us | ∇ -10.36% | 25.07 KHz / 22.47 KHz | Δ 11.56% |
images: RGB->GRAY 8u (640x480) | 157.22 us / 191.53 us | ∇ -17.91% | 6.36 KHz / 5.22 KHz | Δ 21.82% |
images: RGB->GRAY 8u (800x600) | 266.94 us / 350.56 us | ∇ -23.85% | 3.75 KHz / 2.85 KHz | Δ 31.32% |
images: RGB->GRAY 8u (1024x768) | 485.16 us / 968.81 us | ∇ -49.92% | 2.06 KHz / 1.03 KHz | Δ 99.69% |
images: RGB->GRAY 8u (1280x1024) | 926.17 us / 1.71 ms | ∇ -45.83% | 1.08 KHz / 584.85 Hz | Δ 84.61% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 12.69 us / 21.97 us | ∇ -42.23% | 78.80 KHz / 45.52 KHz | Δ 73.10% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 22.01 us | ∇ -55.24% | 101.52 KHz / 45.44 KHz | Δ 123.42% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 12.71 us | ∇ -58.77% | 190.84 KHz / 78.69 KHz | Δ 142.53% |
feature_extraction [640x480]: Harris | 21.14 ms / 38.32 ms | ∇ -44.83% | 47.31 Hz / 26.10 Hz | Δ 81.26% |
feature_extraction [640x480]: KLT | 21.45 ms / 37.22 ms | ∇ -42.36% | 46.61 Hz / 26.87 Hz | Δ 73.48% |
feature_extraction [640x480]: SIFT | 591.25 ms / 739.68 ms | ∇ -20.07% | 1.69 Hz / 1.35 Hz | Δ 25.11% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 232.95 ms | ∇ -30.11% | 6.14 Hz / 4.29 Hz | Δ 43.07% |
feature_extraction [640x480]: SURF | 197.33 ms / 309.97 ms | ∇ -36.34% | 5.07 Hz / 3.23 Hz | Δ 57.08% |
feature_extraction [640x480]: FAST | 6.89 ms / 6.88 ms | Δ 0.07% | 145.15 Hz / 145.25 Hz | ∇ -0.07% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 88.28 ms | ∇ -27.62% | 15.65 Hz / 11.33 Hz | Δ 38.16% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 59.68 ms | ∇ -35.43% | 25.95 Hz / 16.76 Hz | Δ 54.87% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 58.57 ms | ∇ -42.65% | 29.77 Hz / 17.07 Hz | Δ 74.36% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.50 sec | ∇ -22.63% | 863.45 mHz / 668.02 mHz | Δ 29.25% |
feature_matching [640x480]: SURF | 375.89 ms / 621.62 ms | ∇ -39.53% | 2.66 Hz / 1.61 Hz | Δ 65.37% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 21.69 ms | ∇ -26.76% | 62.95 Hz / 46.10 Hz | Δ 36.54% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 12.64 ms | ∇ -17.07% | 95.42 Hz / 79.13 Hz | Δ 20.59% |
graph(2d): insertEdge x 1e3 | 158.24 us / 301.62 us | ∇ -47.54% | 6.32 KHz / 3.32 KHz | Δ 90.61% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 298.86 us | ∇ -55.27% | 7.48 KHz / 3.35 KHz | Δ 123.55% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 274.69 us | ∇ -69.27% | 11.84 KHz / 3.64 KHz | Δ 225.37% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 270.21 us | ∇ -69.74% | 12.23 KHz / 3.70 KHz | Δ 230.42% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 415.87 us | ∇ -50.18% | 4.83 KHz / 2.40 KHz | Δ 100.74% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 406.59 us | ∇ -42.80% | 4.30 KHz / 2.46 KHz | Δ 74.82% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 377.54 us | ∇ -34.64% | 4.05 KHz / 2.65 KHz | Δ 53.01% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 379.45 us | ∇ -49.24% | 5.19 KHz / 2.64 KHz | Δ 97.02% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 4.14 ms | ∇ -49.67% | 480.05 Hz / 241.59 Hz | Δ 98.71% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 4.00 ms | ∇ -59.57% | 618.53 Hz / 250.06 Hz | Δ 147.36% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 2.94 ms | ∇ -70.43% | 1.15 KHz / 339.77 Hz | Δ 238.23% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 2.89 ms | ∇ -70.72% | 1.18 KHz / 345.69 Hz | Δ 241.57% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 4.77 ms | ∇ -50.94% | 427.14 Hz / 209.57 Hz | Δ 103.82% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 4.86 ms | ∇ -42.26% | 356.06 Hz / 205.59 Hz | Δ 73.19% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.05 ms | ∇ -47.56% | 470.35 Hz / 246.64 Hz | Δ 90.70% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.21 ms | ∇ -49.37% | 469.13 Hz / 237.52 Hz | Δ 97.51% |
graph(3d): insertEdge x 1e3 | 220.82 us / 381.69 us | ∇ -42.15% | 4.53 KHz / 2.62 KHz | Δ 72.85% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 407.21 us | ∇ -45.53% | 4.51 KHz / 2.46 KHz | Δ 83.58% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 339.57 us | ∇ -46.06% | 5.46 KHz / 2.94 KHz | Δ 85.38% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 334.55 us | ∇ -44.25% | 5.36 KHz / 2.99 KHz | Δ 79.37% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 688.91 us | ∇ -22.73% | 1.88 KHz / 1.45 KHz | Δ 29.41% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 684.69 us | ∇ -21.43% | 1.86 KHz / 1.46 KHz | Δ 27.27% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 683.24 us | ∇ -28.63% | 2.05 KHz / 1.46 KHz | Δ 40.12% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 684.37 us | ∇ -27.89% | 2.03 KHz / 1.46 KHz | Δ 38.68% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 3.89 ms | ∇ -28.41% | 359.55 Hz / 257.39 Hz | Δ 39.69% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 3.79 ms | ∇ -26.82% | 360.52 Hz / 263.81 Hz | Δ 36.66% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 3.59 ms | ∇ -41.60% | 477.61 Hz / 278.91 Hz | Δ 71.25% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 3.52 ms | ∇ -41.64% | 487.11 Hz / 284.28 Hz | Δ 71.35% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 7.80 ms | ∇ -5.63% | 135.81 Hz / 128.15 Hz | Δ 5.97% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 7.81 ms | ∇ -10.68% | 143.42 Hz / 128.11 Hz | Δ 11.95% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 7.49 ms | ∇ -29.47% | 189.20 Hz / 133.45 Hz | Δ 41.78% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 7.57 ms | ∇ -27.50% | 182.28 Hz / 132.15 Hz | Δ 37.94% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 213.16 us | ∇ -57.52% | 11.04 KHz / 4.69 KHz | Δ 135.39% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 311.59 us | ∇ -73.20% | 11.98 KHz / 3.21 KHz | Δ 273.15% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.57 ms | ∇ -55.83% | 882.20 Hz / 389.66 Hz | Δ 126.40% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 2.70 ms | ∇ -71.58% | 1.30 KHz / 370.20 Hz | Δ 251.88% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 31.29 ms | ∇ -32.49% | 47.35 Hz / 31.96 Hz | Δ 48.14% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 32.92 ms | ∇ -67.00% | 92.06 Hz / 30.38 Hz | Δ 203.03% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 393.68 ms | ∇ -13.29% | 2.93 Hz / 2.54 Hz | Δ 15.33% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 385.61 ms | ∇ -63.04% | 7.02 Hz / 2.59 Hz | Δ 170.55% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 380.30 ms | ∇ -15.78% | 3.12 Hz / 2.63 Hz | Δ 18.74% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 376.84 ms | ∇ -64.53% | 7.48 Hz / 2.65 Hz | Δ 181.94% |