Test description | 0.9.2-GCC-64bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 26.54 ms | ∇ -24.69% | 50.03 Hz / 37.68 Hz | Δ 32.78% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 32.17 ms | ∇ -40.04% | 51.84 Hz / 31.08 Hz | Δ 66.77% |
poses: CPose3D (+) CPose3D | 42.85 ns / 62.83 ns | ∇ -31.80% | 23.34 MHz / 15.92 MHz | Δ 46.62% |
poses: CPose3D.composeFrom() | 37.80 ns / 41.42 ns | ∇ -8.74% | 26.46 MHz / 24.14 MHz | Δ 9.57% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 18.89 ns | ∇ -61.61% | 137.89 MHz / 52.94 MHz | Δ 160.47% |
poses: CPose3D.composePoint() | 11.91 ns / 17.17 ns | ∇ -30.66% | 83.98 MHz / 58.23 MHz | Δ 44.23% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 88.79 ns | ∇ -44.83% | 20.42 MHz / 11.26 MHz | Δ 81.27% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 44.00 ns | ∇ -20.56% | 28.61 MHz / 22.73 MHz | Δ 25.89% |
poses: CPose2D (+) CPose2D | 78.58 ns / 72.08 ns | Δ 9.01% | 12.73 MHz / 13.87 MHz | ∇ -8.26% |
poses: CPose2D.composeFrom() | 70.31 ns / 63.27 ns | Δ 11.13% | 14.22 MHz / 15.81 MHz | ∇ -10.02% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 34.42 ns | Δ 78.19% | 16.31 MHz / 29.05 MHz | ∇ -43.88% |
poses: CPose2D.composePoint() | 65.17 ns / 26.02 ns | Δ 150.42% | 15.35 MHz / 38.43 MHz | ∇ -60.07% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 113.59 ns | ∇ -60.68% | 22.39 MHz / 8.80 MHz | Δ 154.35% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 82.72 ns | ∇ -52.33% | 25.36 MHz / 12.09 MHz | Δ 109.78% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 41.33 ns | ∇ -55.87% | 54.84 MHz / 24.20 MHz | Δ 126.62% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 31.13 ns | ∇ -42.38% | 55.75 MHz / 32.12 MHz | Δ 73.55% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 113.89 ns | ∇ -51.33% | 18.04 MHz / 8.78 MHz | Δ 105.48% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 33.95 ns | ∇ -48.04% | 56.69 MHz / 29.46 MHz | Δ 92.44% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 26.44 ns | ∇ -36.86% | 59.89 MHz / 37.82 MHz | Δ 58.37% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 97.31 ns | Δ 73.96% | 5.91 MHz / 10.28 MHz | ∇ -42.51% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 948.85 ns | Δ 80097.36% | 1.31 KHz / 1.05 MHz | ∇ -99.88% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 938.66 ns | Δ 80932.06% | 1.31 KHz / 1.07 MHz | ∇ -99.88% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 21.21 us | ∇ -55.33% | 105.55 KHz / 47.15 KHz | Δ 123.87% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 532.44 ns | Δ 2.41% | 1.83 MHz / 1.88 MHz | ∇ -2.36% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 528.23 ns | Δ 3.00% | 1.84 MHz / 1.89 MHz | ∇ -2.92% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 11.19 us | ∇ -27.56% | 123.33 KHz / 89.35 KHz | Δ 38.04% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 45.20 ns | ∇ -53.72% | 47.81 MHz / 22.13 MHz | Δ 116.07% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 45.86 ns | ∇ -56.06% | 49.63 MHz / 21.81 MHz | Δ 127.59% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 177.43 ns | ∇ -69.55% | 18.51 MHz / 5.64 MHz | Δ 228.36% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 169.52 ns | ∇ -67.40% | 18.09 MHz / 5.90 MHz | Δ 206.73% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.89 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 842.46 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 6.37 ns | ∇ -73.33% | 588.93 MHz / 157.06 MHz | Δ 274.97% |
matrix: unit, fix[double,6,6] | 2.77 ns / 7.86 ns | ∇ -64.70% | 360.36 MHz / 127.19 MHz | Δ 183.32% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 485.93 ns | ∇ -84.96% | 13.68 MHz / 2.06 MHz | Δ 564.75% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.05 ns | Δ 52448.71% | 42.02 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 528.41 ns | ∇ -86.30% | 13.81 MHz / 1.89 MHz | Δ 629.85% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 0.00 ns | Δ 1.#J% | 42.74 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 547.16 ns | ∇ -79.80% | 9.05 MHz / 1.83 MHz | Δ 395.17% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 2.36 ns | Δ 1814.95% | 22.17 MHz / 424.60 MHz | ∇ -94.78% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 391.50 ns | ∇ -70.29% | 8.60 MHz / 2.55 MHz | Δ 236.63% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 2.36 ns | Δ 1819.20% | 22.12 MHz / 424.60 MHz | ∇ -94.79% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 2.74 us | Δ 89.09% | 192.77 KHz / 364.51 KHz | ∇ -47.11% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 2.08 us | Δ 70.44% | 281.56 KHz / 479.89 KHz | ∇ -41.33% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 3.47 us | Δ 49.47% | 193.05 KHz / 288.55 KHz | ∇ -33.10% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 2.38 us | Δ 51.44% | 277.05 KHz / 419.56 KHz | ∇ -33.97% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / X | 3.00 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 21.00 ns / X | 47.62 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 329.00 ns / 1.09 us | ∇ -69.70% | 3.04 MHz / 921.12 KHz | Δ 229.98% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 22.19 ns | ∇ -5.37% | 47.62 MHz / 45.06 MHz | Δ 5.68% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / X | 821.69 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 468.00 ns / X | 2.14 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.20 us / 2.78 us | ∇ -56.81% | 832.64 KHz / 359.66 KHz | Δ 131.51% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 2.22 us | ∇ -73.98% | 1.73 MHz / 450.23 KHz | Δ 284.27% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / X | 39.62 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 12.60 us / X | 79.36 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.64 us / 30.71 us | ∇ -16.53% | 39.01 KHz / 32.56 KHz | Δ 19.80% |
matrix: inv, fix[double] 20x20 | 17.36 us / 24.08 us | ∇ -27.89% | 57.60 KHz / 41.53 KHz | Δ 38.68% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / X | 5.24 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 88.89 us / X | 11.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 189.04 us / 117.18 us | Δ 61.33% | 5.29 KHz / 8.53 KHz | ∇ -38.01% |
matrix: inv, fix[double] 40x40 | 121.47 us / 112.80 us | Δ 7.68% | 8.23 KHz / 8.86 KHz | ∇ -7.13% |
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 / 765.51 ns | ∇ -99.16% | 156.25 MHz / 1.31 MHz | Δ 11861.15% |
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 / 822.31 ns | ∇ -98.75% | 97.09 MHz / 1.22 MHz | Δ 7883.58% |
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 | 692.40 ns / X | 1.44 MHz / X | ||
matrix: det, fix[float ] 6x6 | 207.00 ns / X | 4.83 MHz / X | ||
matrix: det, dyn[double] 6x6 | 696.30 ns / 1.78 us | ∇ -60.97% | 1.44 MHz / 560.47 KHz | Δ 156.24% |
matrix: det, fix[double] 6x6 | 212.30 ns / 1.51 us | ∇ -85.96% | 4.71 MHz / 661.35 KHz | Δ 612.22% |
matrix: det, dyn[float ] 20x20 | 5.39 us / X | 185.56 KHz / X | ||
matrix: det, fix[float ] 20x20 | 3.90 us / X | 256.35 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.40 us / 18.54 us | ∇ -65.46% | 156.16 KHz / 53.94 KHz | Δ 189.50% |
matrix: det, fix[double] 20x20 | 4.72 us / 19.01 us | ∇ -75.16% | 211.77 KHz / 52.61 KHz | Δ 302.54% |
matrix: det, dyn[float ] 40x40 | 30.35 us / X | 32.95 KHz / X | ||
matrix: det, fix[float ] 40x40 | 26.47 us / X | 37.78 KHz / X | ||
matrix: det, dyn[double] 40x40 | 32.49 us / 72.40 us | ∇ -55.12% | 30.77 KHz / 13.81 KHz | Δ 122.80% |
matrix: det, fix[double] 40x40 | 27.34 us / 67.43 us | ∇ -59.46% | 36.58 KHz / 14.83 KHz | Δ 146.66% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 606.90 ns | ∇ -78.58% | 7.69 MHz / 1.65 MHz | Δ 366.85% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 190.22 ns | ∇ -26.40% | 7.14 MHz / 5.26 MHz | Δ 35.87% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 31.59 us | ∇ -41.37% | 54.00 KHz / 31.66 KHz | Δ 70.55% |
matrix: chol, fix[double] 40x40 | 16.55 us / 20.87 us | ∇ -20.68% | 60.42 KHz / 47.93 KHz | Δ 26.08% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 7.11 us | Δ 15.32% | 121.95 KHz / 140.63 KHz | ∇ -13.28% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 94.75 us | ∇ -12.51% | 12.06 KHz / 10.55 KHz | Δ 14.29% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 75.59 us | ∇ -30.28% | 18.98 KHz / 13.23 KHz | Δ 43.44% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 43.20 us | ∇ -10.68% | 25.91 KHz / 23.15 KHz | Δ 11.95% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 453.46 us | ∇ -9.63% | 2.44 KHz / 2.21 KHz | Δ 10.65% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 74.00 us | ∇ -4.39% | 14.13 KHz / 13.51 KHz | Δ 4.60% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 3.54 ms | Δ 142.01% | 116.60 Hz / 282.19 Hz | ∇ -58.68% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 178.69 us | ∇ -4.19% | 5.84 KHz / 5.60 KHz | Δ 4.37% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 22.29 ms | Δ 499.41% | 7.49 Hz / 44.87 Hz | ∇ -83.32% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 359.36 us | ∇ -4.87% | 2.93 KHz / 2.78 KHz | Δ 5.12% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 36.29 ms | Δ 876.92% | 2.82 Hz / 27.56 Hz | ∇ -89.76% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 411.86 us | ∇ -2.52% | 2.49 KHz / 2.43 KHz | Δ 2.58% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 54.34 ms | Δ 1322.91% | 1.29 Hz / 18.40 Hz | ∇ -92.97% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 488.10 us | ∇ -3.86% | 2.13 KHz / 2.05 KHz | Δ 4.02% |
gridmap2D: getCell | 0.00 ns / 4.13 ns | ∇ -100.00% | 10.00 THz / 242.07 MHz | Δ 4130920.52% |
gridmap2D: setCell | 2.58 ns / 5.65 ns | ∇ -54.35% | 388.02 MHz / 177.14 MHz | Δ 119.04% |
gridmap2D: updateCell | 7.84 ns / 6.93 ns | Δ 13.14% | 127.58 MHz / 144.35 MHz | ∇ -11.61% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.10% | 1.82 GHz / 833.40 MHz | Δ 117.89% |
gridmap2D: insert scan w/o widening | 102.06 us / 102.16 us | ∇ -0.10% | 9.80 KHz / 9.79 KHz | Δ 0.10% |
gridmap2D: insert scan with widening | 289.47 us / 276.88 us | Δ 4.55% | 3.45 KHz / 3.61 KHz | ∇ -4.35% |
gridmap2D: resize | 1.97 ms / 3.89 ms | ∇ -49.46% | 508.65 Hz / 257.06 Hz | Δ 97.87% |
gridmap2D: computeLikelihood | 15.74 us / 13.92 us | Δ 13.04% | 63.55 KHz / 71.84 KHz | ∇ -11.54% |
pointmap: insert 100 scans | 3.04 ms / 1.87 ms | Δ 62.24% | 329.30 Hz / 534.24 Hz | ∇ -38.36% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 5.09 us | ∇ -15.14% | 231.48 KHz / 196.43 KHz | Δ 17.84% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 486.39 us | ∇ -27.61% | 2.84 KHz / 2.06 KHz | Δ 38.13% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.10 ms | ∇ -18.76% | 241.51 Hz / 196.20 Hz | Δ 23.10% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 5.56 us | ∇ -15.85% | 213.68 KHz / 179.80 KHz | Δ 18.84% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 467.24 us | ∇ -23.06% | 2.78 KHz / 2.14 KHz | Δ 29.96% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 5.18 ms | ∇ -22.27% | 248.28 Hz / 192.98 Hz | Δ 28.65% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.59 us | ∇ -11.87% | 711.74 KHz / 627.25 KHz | Δ 13.47% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 126.68 us | ∇ -23.26% | 10.29 KHz / 7.89 KHz | Δ 30.32% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 13.86 ms | ∇ -16.16% | 86.05 Hz / 72.14 Hz | Δ 19.28% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 6.54 ms | ∇ -14.52% | 178.77 Hz / 152.81 Hz | Δ 16.99% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 174.77 ms | ∇ -26.03% | 7.73 Hz / 5.72 Hz | Δ 35.18% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 6.88 ms | ∇ -17.70% | 176.53 Hz / 145.28 Hz | Δ 21.51% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 181.38 ms | ∇ -27.65% | 7.62 Hz / 5.51 Hz | Δ 38.22% |
random: drawUniform32bit | 14.50 ns / 9.54 ns | Δ 52.10% | 68.95 MHz / 104.87 MHz | ∇ -34.25% |
random: drawUniform | 14.50 ns / 9.69 ns | Δ 49.67% | 68.96 MHz / 103.21 MHz | ∇ -33.19% |
random: drawGaussian1D_normalized | 68.97 ns / 52.06 ns | Δ 32.48% | 14.50 MHz / 19.21 MHz | ∇ -24.52% |
random: drawGaussian1D | 68.98 ns / 50.73 ns | Δ 35.97% | 14.50 MHz / 19.71 MHz | ∇ -26.45% |
random: system rand() | 10.45 ns / 24.47 ns | ∇ -57.30% | 95.72 MHz / 40.87 MHz | Δ 134.21% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.24 us | Δ 5.24% | 765.12 KHz / 805.20 KHz | ∇ -4.98% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 3.19 us | ∇ -14.38% | 366.37 KHz / 313.70 KHz | Δ 16.79% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 130.03 ns | Δ 22.21% | 6.29 MHz / 7.69 MHz | ∇ -18.18% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 198.35 ns | Δ 19.69% | 4.21 MHz / 5.04 MHz | ∇ -16.45% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 451.66 ns | Δ 8.49% | 2.04 MHz / 2.21 MHz | ∇ -7.83% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 136.92 ns | Δ 20.26% | 6.07 MHz / 7.30 MHz | ∇ -16.85% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 213.52 ns | Δ 17.00% | 4.00 MHz / 4.68 MHz | ∇ -14.53% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 478.55 ns | Δ 7.55% | 1.94 MHz / 2.09 MHz | ∇ -7.02% |
random: permuteVector (len=10) | 296.20 ns / 244.07 ns | Δ 21.36% | 3.38 MHz / 4.10 MHz | ∇ -17.60% |
random: permuteVector (len=100) | 3.04 us / 3.12 us | ∇ -2.68% | 328.91 KHz / 320.11 KHz | Δ 2.75% |
random: permuteVector (len=1000) | 30.22 us / 30.82 us | ∇ -1.95% | 33.09 KHz / 32.44 KHz | Δ 1.99% |
math: round | 0.10 ns / 0.00 ns | Δ 2188178.43% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 29.87 ms | Δ 17.38% | 28.52 Hz / 33.48 Hz | ∇ -14.80% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 42.98 ms | Δ 13.91% | 20.42 Hz / 23.26 Hz | ∇ -12.21% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 69.03 ms | Δ 8.15% | 13.40 Hz / 14.49 Hz | ∇ -7.53% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 22.86 ms | Δ 31.10% | 33.37 Hz / 43.75 Hz | ∇ -23.72% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 35.20 ms | Δ 21.54% | 23.37 Hz / 28.41 Hz | ∇ -17.72% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 57.29 ms | Δ 11.97% | 15.59 Hz / 17.45 Hz | ∇ -10.69% |
images: Gauss filter (640x480) | 3.90 ms / 4.45 ms | ∇ -12.33% | 256.30 Hz / 224.70 Hz | Δ 14.06% |
images: Gauss filter (800x600) | 6.21 ms / 8.06 ms | ∇ -22.89% | 160.99 Hz / 124.15 Hz | Δ 29.68% |
images: Gauss filter (1024x768) | 10.55 ms / 13.86 ms | ∇ -23.83% | 94.74 Hz / 72.16 Hz | Δ 31.29% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 17.29 us | ∇ -70.73% | 197.63 KHz / 57.84 KHz | Δ 241.65% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 16.49 us | ∇ -73.92% | 232.56 KHz / 60.66 KHz | Δ 283.40% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 9.72 us | ∇ -78.39% | 476.19 KHz / 102.89 KHz | Δ 362.83% |
feature_extraction [640x480]: Harris | 24.28 ms / 31.46 ms | ∇ -22.84% | 41.19 Hz / 31.79 Hz | Δ 29.59% |
feature_extraction [640x480]: KLT | 24.43 ms / 30.94 ms | ∇ -21.06% | 40.94 Hz / 32.32 Hz | Δ 26.69% |
feature_extraction [640x480]: SIFT | 610.42 ms / 653.53 ms | ∇ -6.60% | 1.64 Hz / 1.53 Hz | Δ 7.06% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 210.38 ms | ∇ -20.25% | 5.96 Hz / 4.75 Hz | Δ 25.40% |
feature_extraction [640x480]: SURF | 197.61 ms / 243.66 ms | ∇ -18.90% | 5.06 Hz / 4.10 Hz | Δ 23.30% |
feature_extraction [640x480]: FAST | 5.24 ms / 6.32 ms | ∇ -17.04% | 190.68 Hz / 158.19 Hz | Δ 20.53% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 45.12 ms | Δ 32.94% | 16.67 Hz / 22.16 Hz | ∇ -24.78% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 46.60 ms | ∇ -12.27% | 24.46 Hz / 21.46 Hz | Δ 13.99% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 40.89 ms | ∇ -13.19% | 28.17 Hz / 24.46 Hz | Δ 15.20% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.28 sec | ∇ -5.96% | 828.07 mHz / 778.73 mHz | Δ 6.34% |
feature_matching [640x480]: SURF | 379.92 ms / 502.54 ms | ∇ -24.40% | 2.63 Hz / 1.99 Hz | Δ 32.28% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 19.71 ms | ∇ -18.50% | 62.26 Hz / 50.74 Hz | Δ 22.70% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 13.01 ms | ∇ -17.51% | 93.18 Hz / 76.86 Hz | Δ 21.23% |
graph(2d): insertEdge x 1e3 | 117.65 us / 236.53 us | ∇ -50.26% | 8.50 KHz / 4.23 KHz | Δ 101.05% |
graph(2d,vec): insertEdge x 1e3 | 105.13 us / 246.73 us | ∇ -57.39% | 9.51 KHz / 4.05 KHz | Δ 134.70% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 218.81 us | ∇ -61.07% | 11.74 KHz / 4.57 KHz | Δ 156.86% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 209.21 us | ∇ -59.63% | 11.84 KHz / 4.78 KHz | Δ 147.69% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 329.87 us | ∇ -47.70% | 5.80 KHz / 3.03 KHz | Δ 91.20% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 303.60 us | ∇ -38.09% | 5.32 KHz / 3.29 KHz | Δ 61.52% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 280.10 us | ∇ -39.80% | 5.93 KHz / 3.57 KHz | Δ 66.12% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 284.27 us | ∇ -41.12% | 5.97 KHz / 3.52 KHz | Δ 69.83% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 2.72 ms | ∇ -36.64% | 579.22 Hz / 367.00 Hz | Δ 57.83% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 2.73 ms | ∇ -46.91% | 690.59 Hz / 366.67 Hz | Δ 88.34% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 1.95 ms | ∇ -54.67% | 1.13 KHz / 512.34 Hz | Δ 120.62% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 1.92 ms | ∇ -55.18% | 1.16 KHz / 519.87 Hz | Δ 123.10% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 3.21 ms | ∇ -38.48% | 506.65 Hz / 311.68 Hz | Δ 62.55% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 3.24 ms | ∇ -28.80% | 433.74 Hz / 308.83 Hz | Δ 40.45% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 3.23 ms | ∇ -42.40% | 538.12 Hz / 309.95 Hz | Δ 73.62% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 3.17 ms | ∇ -41.49% | 538.35 Hz / 314.97 Hz | Δ 70.92% |
graph(3d): insertEdge x 1e3 | 177.23 us / 274.22 us | ∇ -35.37% | 5.64 KHz / 3.65 KHz | Δ 54.73% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 264.66 us | ∇ -32.61% | 5.61 KHz / 3.78 KHz | Δ 48.39% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 263.97 us | ∇ -40.20% | 6.33 KHz / 3.79 KHz | Δ 67.22% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 267.33 us | ∇ -40.32% | 6.27 KHz / 3.74 KHz | Δ 67.57% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 589.01 us | ∇ -13.92% | 1.97 KHz / 1.70 KHz | Δ 16.18% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 596.64 us | ∇ -14.61% | 1.96 KHz / 1.68 KHz | Δ 17.11% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 562.97 us | ∇ -15.92% | 2.11 KHz / 1.78 KHz | Δ 18.93% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 559.03 us | ∇ -15.20% | 2.11 KHz / 1.79 KHz | Δ 17.92% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 3.23 ms | ∇ -23.59% | 404.60 Hz / 309.17 Hz | Δ 30.87% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 3.13 ms | ∇ -20.73% | 402.82 Hz / 319.30 Hz | Δ 26.16% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 2.62 ms | ∇ -33.10% | 570.48 Hz / 381.66 Hz | Δ 49.48% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 2.55 ms | ∇ -30.58% | 565.81 Hz / 392.76 Hz | Δ 44.06% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 6.11 ms | ∇ -9.61% | 180.97 Hz / 163.57 Hz | Δ 10.64% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 5.61 ms | ∇ -0.74% | 179.70 Hz / 178.36 Hz | Δ 0.75% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 5.21 ms | ∇ -6.86% | 206.16 Hz / 192.01 Hz | Δ 7.37% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 5.18 ms | ∇ -6.42% | 206.11 Hz / 192.88 Hz | Δ 6.86% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 156.43 us | ∇ -38.60% | 10.41 KHz / 6.39 KHz | Δ 62.87% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 192.33 us | ∇ -58.20% | 12.44 KHz / 5.20 KHz | Δ 139.26% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.18 ms | ∇ -48.13% | 885.05 Hz / 459.11 Hz | Δ 92.78% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 1.80 ms | ∇ -55.36% | 1.24 KHz / 555.25 Hz | Δ 123.99% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 26.67 ms | ∇ -28.25% | 52.26 Hz / 37.50 Hz | Δ 39.37% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 22.83 ms | ∇ -57.74% | 103.63 Hz / 43.80 Hz | Δ 136.61% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 307.16 ms | ∇ -5.47% | 3.44 Hz / 3.26 Hz | Δ 5.78% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 266.80 ms | ∇ -55.87% | 8.49 Hz / 3.75 Hz | Δ 126.62% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 302.10 ms | ∇ -10.98% | 3.72 Hz / 3.31 Hz | Δ 12.33% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 262.78 ms | ∇ -60.79% | 9.70 Hz / 3.81 Hz | Δ 155.01% |