Test description | 0.9.4-MSVC10-32bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 21.60 ms | Δ 71.94% | 26.93 Hz / 46.30 Hz | ∇ -41.84% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 20.51 ms | Δ 77.14% | 27.52 Hz / 48.75 Hz | ∇ -43.55% |
poses: CPose3D (+) CPose3D | 197.08 ns / 449.02 ns | ∇ -56.11% | 5.07 MHz / 2.23 MHz | Δ 127.84% |
poses: CPose3D.composeFrom() | 33.62 ns / 233.83 ns | ∇ -85.62% | 29.74 MHz / 4.28 MHz | Δ 595.42% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 10.67 ns | Δ 135.65% | 39.79 MHz / 93.76 MHz | ∇ -57.56% |
poses: CPose3D.composePoint() | 21.31 ns / 10.06 ns | Δ 111.75% | 46.94 MHz / 99.38 MHz | ∇ -52.77% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 37.71 ns | Δ 138.58% | 11.12 MHz / 26.52 MHz | ∇ -58.09% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 40.98 ns | Δ 15.30% | 21.17 MHz / 24.40 MHz | ∇ -13.27% |
poses: CPose2D (+) CPose2D | 108.63 ns / 78.17 ns | Δ 38.96% | 9.21 MHz / 12.79 MHz | ∇ -28.04% |
poses: CPose2D.composeFrom() | 94.77 ns / 62.17 ns | Δ 52.44% | 10.55 MHz / 16.08 MHz | ∇ -34.40% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 63.86 ns | Δ 26.22% | 12.41 MHz / 15.66 MHz | ∇ -20.77% |
poses: CPose2D.composePoint() | 67.32 ns / 61.98 ns | Δ 8.62% | 14.85 MHz / 16.13 MHz | ∇ -7.94% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 47.00 ns | Δ 72.99% | 12.30 MHz / 21.28 MHz | ∇ -42.19% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 39.80 ns | Δ 29.56% | 19.39 MHz / 25.13 MHz | ∇ -22.81% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 22.62 ns | Δ 147.17% | 17.89 MHz / 44.21 MHz | ∇ -59.54% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 18.93 ns | Δ 72.91% | 30.55 MHz / 52.83 MHz | ∇ -42.17% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 391.26 ns | ∇ -68.30% | 8.06 MHz / 2.56 MHz | Δ 215.49% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 18.05 ns | Δ 69.53% | 32.67 MHz / 55.39 MHz | ∇ -41.01% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 355.00 ns | ∇ -92.08% | 35.56 MHz / 2.82 MHz | Δ 1162.39% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 173.19 ns | Δ 25.20% | 4.61 MHz / 5.77 MHz | ∇ -20.13% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 814.76 us | ∇ -99.85% | 806.40 KHz / 1.23 KHz | Δ 65602.22% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 821.91 us | ∇ -99.85% | 835.55 KHz / 1.22 KHz | Δ 68574.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 9.57 us | Δ 110.54% | 49.63 KHz / 104.48 KHz | ∇ -52.50% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 682.30 ns | Δ 19.83% | 1.22 MHz / 1.47 MHz | ∇ -16.55% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 533.80 ns | Δ 54.25% | 1.21 MHz / 1.87 MHz | ∇ -35.17% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 8.51 us | Δ 124.20% | 52.39 KHz / 117.45 KHz | ∇ -55.40% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 20.59 ns | Δ 141.20% | 20.13 MHz / 48.56 MHz | ∇ -58.54% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 22.60 ns | Δ 125.20% | 19.64 MHz / 44.24 MHz | ∇ -55.59% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 63.92 ns | Δ 183.12% | 5.53 MHz / 15.64 MHz | ∇ -64.68% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 65.22 ns | Δ 172.78% | 5.62 MHz / 15.33 MHz | ∇ -63.34% |
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] | 6.63 ns / 1.68 ns | Δ 294.21% | 150.81 MHz / 594.53 MHz | ∇ -74.63% |
matrix: unit, fix[double,6,6] | 8.86 ns / 2.86 ns | Δ 209.55% | 112.91 MHz / 349.53 MHz | ∇ -67.70% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 73.50 ns | Δ 825.54% | 1.47 MHz / 13.61 MHz | ∇ -89.20% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 24.10 ns | ∇ -100.00% | 1.#J THz / 41.49 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 72.10 ns | Δ 535.71% | 2.18 MHz / 13.87 MHz | ∇ -84.27% |
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 | 680.46 ns / 112.90 ns | Δ 502.71% | 1.47 MHz / 8.86 MHz | ∇ -83.41% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 45.00 ns | ∇ -21.60% | 28.34 MHz / 22.22 MHz | Δ 27.54% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 110.50 ns | Δ 365.17% | 1.95 MHz / 9.05 MHz | ∇ -78.50% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 45.10 ns | ∇ -92.47% | 294.39 MHz / 22.17 MHz | Δ 1227.70% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 5.82 us | ∇ -10.95% | 193.06 KHz / 171.91 KHz | Δ 12.30% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 3.57 us | Δ 27.56% | 219.44 KHz / 279.91 KHz | ∇ -21.60% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 5.88 us | ∇ -35.58% | 263.78 KHz / 169.93 KHz | Δ 55.23% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 3.82 us | ∇ -23.39% | 342.06 KHz / 262.04 KHz | Δ 30.54% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 413.00 ns | Δ 263.87% | 665.44 KHz / 2.42 MHz | ∇ -72.52% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 22.00 ns | ∇ -56.77% | 105.14 MHz / 45.45 MHz | Δ 131.31% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 1.25 us | Δ 212.54% | 256.17 KHz / 800.64 KHz | ∇ -68.00% |
matrix: inv, fix[double] 6x6 | 3.54 us / 578.00 ns | Δ 512.45% | 282.49 KHz / 1.73 MHz | ∇ -83.67% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 28.58 us | Δ 19.62% | 29.25 KHz / 34.98 KHz | ∇ -16.40% |
matrix: inv, fix[double] 20x20 | 29.35 us / 17.20 us | Δ 70.69% | 34.07 KHz / 58.15 KHz | ∇ -41.41% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 200.95 us | ∇ -33.20% | 7.45 KHz / 4.98 KHz | Δ 49.69% |
matrix: inv, fix[double] 40x40 | 126.45 us / 134.50 us | ∇ -5.99% | 7.91 KHz / 7.43 KHz | Δ 6.37% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 8.80 ns | Δ 6737.96% | 1.66 MHz / 113.64 MHz | ∇ -98.54% |
matrix: det, fix[double] 2x2 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 872.81 ns / 10.30 ns | Δ 8373.87% | 1.15 MHz / 97.09 MHz | ∇ -98.82% |
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 | 2.32 us / 739.10 ns | Δ 214.43% | 430.29 KHz / 1.35 MHz | ∇ -68.20% |
matrix: det, fix[double] 6x6 | 2.17 us / 219.80 ns | Δ 887.75% | 460.60 KHz / 4.55 MHz | ∇ -89.88% |
matrix: det, dyn[double] 20x20 | 23.14 us / 6.52 us | Δ 254.71% | 43.22 KHz / 153.32 KHz | ∇ -71.81% |
matrix: det, fix[double] 20x20 | 21.38 us / 4.73 us | Δ 352.22% | 46.78 KHz / 211.54 KHz | ∇ -77.89% |
matrix: det, dyn[double] 40x40 | 92.83 us / 32.40 us | Δ 186.56% | 10.77 KHz / 30.87 KHz | ∇ -65.10% |
matrix: det, fix[double] 40x40 | 90.97 us / 27.53 us | Δ 230.48% | 10.99 KHz / 36.33 KHz | ∇ -69.74% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 170.00 ns | Δ 424.85% | 1.12 MHz / 5.88 MHz | ∇ -80.95% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 130.00 ns | Δ 91.62% | 4.01 MHz / 7.69 MHz | ∇ -47.81% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 18.73 us | Δ 119.56% | 24.32 KHz / 53.39 KHz | ∇ -54.46% |
matrix: chol, fix[double] 40x40 | 26.92 us / 16.74 us | Δ 60.79% | 37.15 KHz / 59.74 KHz | ∇ -37.81% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 8.50 us | Δ 80.10% | 65.32 KHz / 117.65 KHz | ∇ -44.48% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 93.90 us | Δ 24.44% | 8.56 KHz / 10.65 KHz | ∇ -19.64% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 52.90 us | Δ 87.07% | 10.10 KHz / 18.90 KHz | ∇ -46.54% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 40.03 us | Δ 37.84% | 18.12 KHz / 24.98 KHz | ∇ -27.45% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 411.30 us | Δ 21.10% | 2.01 KHz / 2.43 KHz | ∇ -17.42% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 74.98 us | Δ 77.91% | 7.50 KHz / 13.34 KHz | ∇ -43.79% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 8.61 ms | ∇ -41.99% | 200.30 Hz / 116.18 Hz | Δ 72.40% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 185.35 us | Δ 31.62% | 4.10 KHz / 5.40 KHz | ∇ -24.02% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 135.40 ms | ∇ -77.82% | 33.31 Hz / 7.39 Hz | Δ 350.95% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 359.80 us | Δ 35.10% | 2.06 KHz / 2.78 KHz | ∇ -25.98% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 364.32 ms | ∇ -85.74% | 19.25 Hz / 2.74 Hz | Δ 601.35% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 426.39 us | Δ 36.91% | 1.71 KHz / 2.35 KHz | ∇ -26.96% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 800.16 ms | ∇ -90.39% | 13.00 Hz / 1.25 Hz | Δ 940.45% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 497.60 us | Δ 30.49% | 1.54 KHz / 2.01 KHz | ∇ -23.36% |
gridmap2D: getCell | 6.44 ns / 0.00 ns | Δ 1.#J% | 155.25 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 9.52 ns / 2.58 ns | Δ 268.74% | 105.00 MHz / 387.19 MHz | ∇ -72.88% |
gridmap2D: updateCell | 9.85 ns / 7.47 ns | Δ 31.76% | 101.55 MHz / 133.80 MHz | ∇ -24.10% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 0.55 ns | Δ 169.62% | 679.40 MHz / 1.83 GHz | ∇ -62.91% |
gridmap2D: insert scan w/o widening | 225.20 us / 104.80 us | Δ 114.89% | 4.44 KHz / 9.54 KHz | ∇ -53.46% |
gridmap2D: insert scan with widening | 365.80 us / 295.32 us | Δ 23.86% | 2.73 KHz / 3.39 KHz | ∇ -19.27% |
gridmap2D: resize | 2.56 ms / 1.83 ms | Δ 40.44% | 389.96 Hz / 547.65 Hz | ∇ -28.79% |
gridmap2D: computeLikelihood | 21.14 us / 16.65 us | Δ 26.98% | 47.30 KHz / 60.06 KHz | ∇ -21.25% |
pointmap: insert 100 scans | 3.27 ms / 3.11 ms | Δ 5.07% | 305.75 Hz / 321.23 Hz | ∇ -4.82% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.28 us | Δ 40.95% | 165.76 KHz / 233.64 KHz | ∇ -29.05% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 354.96 us | Δ 63.24% | 1.73 KHz / 2.82 KHz | ∇ -38.74% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 4.14 ms | Δ 48.38% | 162.87 Hz / 241.67 Hz | ∇ -32.61% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 4.28 us | Δ 56.19% | 149.59 KHz / 233.64 KHz | ∇ -35.98% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 361.24 us | Δ 43.94% | 1.92 KHz / 2.77 KHz | ∇ -30.53% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 4.09 ms | Δ 62.37% | 150.68 Hz / 244.66 Hz | ∇ -38.41% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.37 us | Δ 42.89% | 511.57 KHz / 730.99 KHz | ∇ -30.02% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 98.96 us | Δ 68.89% | 5.98 KHz / 10.10 KHz | ∇ -40.79% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 11.96 ms | Δ 45.98% | 57.30 Hz / 83.64 Hz | ∇ -31.50% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 5.60 ms | Δ 62.65% | 109.75 Hz / 178.50 Hz | ∇ -38.52% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 129.56 ms | Δ 62.64% | 4.75 Hz / 7.72 Hz | ∇ -38.51% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 5.65 ms | Δ 48.14% | 119.37 Hz / 176.84 Hz | ∇ -32.49% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 132.43 ms | Δ 50.06% | 5.03 Hz / 7.55 Hz | ∇ -33.36% |
random: drawUniform32bit | 7.57 ns / 15.70 ns | ∇ -51.78% | 132.11 MHz / 63.70 MHz | Δ 107.40% |
random: drawUniform | 7.60 ns / 15.69 ns | ∇ -51.56% | 131.54 MHz / 63.72 MHz | Δ 106.45% |
random: drawGaussian1D_normalized | 58.48 ns / 70.40 ns | ∇ -16.94% | 17.10 MHz / 14.20 MHz | Δ 20.39% |
random: drawGaussian1D | 57.62 ns / 70.38 ns | ∇ -18.12% | 17.35 MHz / 14.21 MHz | Δ 22.13% |
random: system rand() | 29.43 ns / 11.07 ns | Δ 165.94% | 33.98 MHz / 90.37 MHz | ∇ -62.40% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 1.33 us | Δ 121.68% | 339.21 KHz / 751.96 KHz | ∇ -54.89% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 3.04 us | Δ 16.28% | 282.92 KHz / 328.99 KHz | ∇ -14.00% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 162.81 ns | ∇ -10.50% | 6.86 MHz / 6.14 MHz | Δ 11.73% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 245.58 ns | ∇ -7.42% | 4.40 MHz / 4.07 MHz | Δ 8.01% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 514.74 ns | ∇ -0.04% | 1.94 MHz / 1.94 MHz | Δ 0.04% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 173.84 ns | ∇ -1.97% | 5.87 MHz / 5.75 MHz | Δ 2.01% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 259.42 ns | Δ 9.32% | 3.53 MHz / 3.85 MHz | ∇ -8.53% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 523.99 ns | Δ 26.19% | 1.51 MHz / 1.91 MHz | ∇ -20.75% |
random: permuteVector (len=10) | 304.45 ns / 288.60 ns | Δ 5.49% | 3.28 MHz / 3.47 MHz | ∇ -5.21% |
random: permuteVector (len=100) | 3.47 us / 3.07 us | Δ 12.89% | 288.42 KHz / 325.61 KHz | ∇ -11.42% |
random: permuteVector (len=1000) | 37.99 us / 30.26 us | Δ 25.54% | 26.33 KHz / 33.05 KHz | ∇ -20.34% |
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%) | 33.06 ms / 31.77 ms | Δ 4.07% | 30.25 Hz / 31.48 Hz | ∇ -3.91% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 45.70 ms | Δ 10.81% | 19.75 Hz / 21.88 Hz | ∇ -9.76% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 73.33 ms | Δ 12.72% | 12.10 Hz / 13.64 Hz | ∇ -11.28% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 27.15 ms | Δ 0.75% | 36.56 Hz / 36.83 Hz | ∇ -0.74% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 40.31 ms | Δ 7.30% | 23.12 Hz / 24.81 Hz | ∇ -6.81% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 64.44 ms | Δ 3.28% | 15.03 Hz / 15.52 Hz | ∇ -3.18% |
images: Gauss filter (640x480) | 5.57 ms / 4.52 ms | Δ 23.29% | 179.49 Hz / 221.30 Hz | ∇ -18.89% |
images: Gauss filter (800x600) | 8.84 ms / 7.35 ms | Δ 20.29% | 113.10 Hz / 136.05 Hz | ∇ -16.87% |
images: Gauss filter (1024x768) | 14.37 ms / 11.22 ms | Δ 28.11% | 69.58 Hz / 89.13 Hz | ∇ -21.94% |
images: Half sample GRAY (160x120) | 1.63 us / X | 612.18 KHz / X | ||
images: Half sample GRAY (320x240) | 4.13 us / X | 241.92 KHz / X | ||
images: Half sample GRAY (640x480) | 19.15 us / X | 52.22 KHz / X | ||
images: Half sample GRAY (800x600) | 31.65 us / X | 31.59 KHz / X | ||
images: Half sample GRAY (1024x768) | 50.27 us / X | 19.89 KHz / X | ||
images: Half sample GRAY (1280x1024) | 87.87 us / X | 11.38 KHz / X | ||
images: Half sample RGB (160x120) | 3.54 us / X | 282.58 KHz / X | ||
images: Half sample RGB (320x240) | 11.27 us / X | 88.76 KHz / X | ||
images: Half sample RGB (640x480) | 57.50 us / X | 17.39 KHz / X | ||
images: Half sample RGB (800x600) | 80.68 us / X | 12.39 KHz / X | ||
images: Half sample RGB (1024x768) | 391.11 us / X | 2.56 KHz / X | ||
images: Half sample RGB (1280x1024) | 826.49 us / X | 1.21 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 2.87 us / X | 348.99 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 8.64 us / X | 115.70 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 29.52 us / X | 33.88 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 66.07 us / X | 15.14 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 90.65 us / X | 11.03 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 132.57 us / X | 7.54 KHz / X | ||
images: Half sample smooth RGB (160x120) | 202.00 us / X | 4.95 KHz / X | ||
images: Half sample smooth RGB (320x240) | 779.03 us / X | 1.28 KHz / X | ||
images: Half sample smooth RGB (640x480) | 3.10 ms / X | 323.08 Hz / X | ||
images: Half sample smooth RGB (800x600) | 4.82 ms / X | 207.41 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 8.63 ms / X | 115.89 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 14.76 ms / X | 67.77 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 6.40 us / X | 156.37 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 4.33 us / X | 230.95 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 11.84 us / X | 84.43 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 44.50 us / X | 22.47 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 191.53 us / X | 5.22 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 350.56 us / X | 2.85 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 968.81 us / X | 1.03 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / X | 584.85 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 6.32 us | Δ 247.57% | 45.52 KHz / 158.23 KHz | ∇ -71.23% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 4.78 us | Δ 360.40% | 45.44 KHz / 209.21 KHz | ∇ -78.28% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 2.14 us | Δ 493.87% | 78.69 KHz / 467.29 KHz | ∇ -83.16% |
feature_extraction [640x480]: Harris | 38.32 ms / 28.31 ms | Δ 35.33% | 26.10 Hz / 35.32 Hz | ∇ -26.11% |
feature_extraction [640x480]: KLT | 37.22 ms / 27.34 ms | Δ 36.12% | 26.87 Hz / 36.57 Hz | ∇ -26.53% |
feature_extraction [640x480]: SIFT | 739.68 ms / 641.91 ms | Δ 15.23% | 1.35 Hz / 1.56 Hz | ∇ -13.22% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 170.65 ms | Δ 36.50% | 4.29 Hz / 5.86 Hz | ∇ -26.74% |
feature_extraction [640x480]: SURF | 309.97 ms / 201.21 ms | Δ 54.05% | 3.23 Hz / 4.97 Hz | ∇ -35.09% |
feature_extraction [640x480]: FAST | 6.88 ms / 5.22 ms | Δ 31.84% | 145.25 Hz / 191.49 Hz | ∇ -24.15% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 60.81 ms | Δ 45.18% | 11.33 Hz / 16.44 Hz | ∇ -31.12% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 43.26 ms | Δ 37.96% | 16.76 Hz / 23.12 Hz | ∇ -27.52% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 39.91 ms | Δ 46.75% | 17.07 Hz / 25.06 Hz | ∇ -31.86% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.28 sec | Δ 17.27% | 668.02 mHz / 783.36 mHz | ∇ -14.72% |
feature_matching [640x480]: SURF | 621.62 ms / 386.18 ms | Δ 60.97% | 1.61 Hz / 2.59 Hz | ∇ -37.88% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 16.12 ms | Δ 34.55% | 46.10 Hz / 62.03 Hz | ∇ -25.68% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 10.93 ms | Δ 15.58% | 79.13 Hz / 91.46 Hz | ∇ -13.48% |
graph(2d): insertEdge x 1e3 | 301.62 us / X | 3.32 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 298.86 us / X | 3.35 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / X | 3.64 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / X | 3.70 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 415.87 us / X | 2.40 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / X | 2.46 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / X | 2.65 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / X | 2.64 KHz / X | ||
graph(2d): insertEdge x 1e4 | 4.14 ms / X | 241.59 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / X | 250.06 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / X | 339.77 Hz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / X | 345.69 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / X | 209.57 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.59 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / X | 246.64 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / X | 237.52 Hz / X | ||
graph(3d): insertEdge x 1e3 | 381.69 us / X | 2.62 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 407.21 us / X | 2.46 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / X | 2.94 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / X | 2.99 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 688.91 us / X | 1.45 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / X | 1.46 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / X | 1.46 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / X | 1.46 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.89 ms / X | 257.39 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / X | 263.81 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / X | 278.91 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / X | 284.28 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / X | 128.15 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / X | 128.11 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / X | 133.45 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / X | 132.15 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 213.16 us / X | 4.69 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / X | 3.21 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.57 ms / X | 389.66 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / X | 370.20 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 31.29 ms / X | 31.96 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / X | 30.38 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 393.68 ms / X | 2.54 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / X | 2.59 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 380.30 ms / X | 2.63 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / X | 2.65 Hz / X |