Test description | 0.9.2-GCC-64bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 21.60 ms | ∇ -7.45% | 50.03 Hz / 46.30 Hz | Δ 8.05% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 20.51 ms | ∇ -5.95% | 51.84 Hz / 48.75 Hz | Δ 6.33% |
poses: CPose3D (+) CPose3D | 42.85 ns / 449.02 ns | ∇ -90.46% | 23.34 MHz / 2.23 MHz | Δ 947.89% |
poses: CPose3D.composeFrom() | 37.80 ns / 233.83 ns | ∇ -83.83% | 26.46 MHz / 4.28 MHz | Δ 518.60% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 10.67 ns | ∇ -32.01% | 137.89 MHz / 93.76 MHz | Δ 47.08% |
poses: CPose3D.composePoint() | 11.91 ns / 10.06 ns | Δ 18.35% | 83.98 MHz / 99.38 MHz | ∇ -15.50% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 37.71 ns | Δ 29.90% | 20.42 MHz / 26.52 MHz | ∇ -23.02% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 40.98 ns | ∇ -14.70% | 28.61 MHz / 24.40 MHz | Δ 17.24% |
poses: CPose2D (+) CPose2D | 78.58 ns / 78.17 ns | Δ 0.52% | 12.73 MHz / 12.79 MHz | ∇ -0.52% |
poses: CPose2D.composeFrom() | 70.31 ns / 62.17 ns | Δ 13.10% | 14.22 MHz / 16.08 MHz | ∇ -11.58% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 63.86 ns | ∇ -3.97% | 16.31 MHz / 15.66 MHz | Δ 4.13% |
poses: CPose2D.composePoint() | 65.17 ns / 61.98 ns | Δ 5.14% | 15.35 MHz / 16.13 MHz | ∇ -4.89% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 47.00 ns | ∇ -4.98% | 22.39 MHz / 21.28 MHz | Δ 5.24% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 39.80 ns | ∇ -0.93% | 25.36 MHz / 25.13 MHz | Δ 0.94% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 22.62 ns | ∇ -19.38% | 54.84 MHz / 44.21 MHz | Δ 24.04% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 18.93 ns | ∇ -5.24% | 55.75 MHz / 52.83 MHz | Δ 5.53% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 391.26 ns | ∇ -85.83% | 18.04 MHz / 2.56 MHz | Δ 605.91% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 18.05 ns | ∇ -2.29% | 56.69 MHz / 55.39 MHz | Δ 2.35% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 355.00 ns | ∇ -95.30% | 59.89 MHz / 2.82 MHz | Δ 2026.14% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 173.19 ns | ∇ -2.26% | 5.91 MHz / 5.77 MHz | Δ 2.31% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 814.76 us | ∇ -6.60% | 1.31 KHz / 1.23 KHz | Δ 7.07% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 821.91 us | ∇ -7.46% | 1.31 KHz / 1.22 KHz | Δ 8.06% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 9.57 us | ∇ -1.01% | 105.55 KHz / 104.48 KHz | Δ 1.02% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 682.30 ns | ∇ -20.08% | 1.83 MHz / 1.47 MHz | Δ 25.12% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 533.80 ns | Δ 1.93% | 1.84 MHz / 1.87 MHz | ∇ -1.89% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 8.51 us | ∇ -4.78% | 123.33 KHz / 117.45 KHz | Δ 5.01% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 20.59 ns | Δ 1.58% | 47.81 MHz / 48.56 MHz | ∇ -1.56% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 22.60 ns | ∇ -10.86% | 49.63 MHz / 44.24 MHz | Δ 12.18% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 63.92 ns | ∇ -15.47% | 18.51 MHz / 15.64 MHz | Δ 18.30% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 65.22 ns | ∇ -15.26% | 18.09 MHz / 15.33 MHz | Δ 18.00% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.35 ns | ∇ 0.00% | 2.89 GHz / 2.89 GHz | ∇ 0.00% |
matrix: unit, fix[double,3,3] | 1.19 ns / 1.19 ns | ∇ 0.00% | 842.46 MHz / 842.46 MHz | ∇ 0.00% |
matrix: unit, fix[float,6,6] | 1.70 ns / 1.68 ns | Δ 0.95% | 588.93 MHz / 594.53 MHz | ∇ -0.94% |
matrix: unit, fix[double,6,6] | 2.77 ns / 2.86 ns | ∇ -3.01% | 360.36 MHz / 349.53 MHz | Δ 3.10% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 73.50 ns | ∇ -0.54% | 13.68 MHz / 13.61 MHz | Δ 0.55% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 24.10 ns | ∇ -1.24% | 42.02 MHz / 41.49 MHz | Δ 1.26% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 72.10 ns | Δ 0.42% | 13.81 MHz / 13.87 MHz | ∇ -0.41% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 23.50 ns | ∇ -0.43% | 42.74 MHz / 42.55 MHz | Δ 0.43% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 112.90 ns | ∇ -2.13% | 9.05 MHz / 8.86 MHz | Δ 2.17% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 45.00 ns | Δ 0.22% | 22.17 MHz / 22.22 MHz | ∇ -0.22% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 110.50 ns | Δ 5.25% | 8.60 MHz / 9.05 MHz | ∇ -4.99% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 45.10 ns | Δ 0.22% | 22.12 MHz / 22.17 MHz | ∇ -0.22% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 5.82 us | ∇ -10.82% | 192.77 KHz / 171.91 KHz | Δ 12.14% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 3.57 us | ∇ -0.59% | 281.56 KHz / 279.91 KHz | Δ 0.59% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 5.88 us | ∇ -11.98% | 193.05 KHz / 169.93 KHz | Δ 13.60% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 3.82 us | ∇ -5.42% | 277.05 KHz / 262.04 KHz | Δ 5.73% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / 449.00 ns | ∇ -25.84% | 3.00 MHz / 2.23 MHz | Δ 34.83% |
matrix: inv, fix[float ] 3x3 | 21.00 ns / 33.00 ns | ∇ -36.36% | 47.62 MHz / 30.30 MHz | Δ 57.14% |
matrix: inv, dyn[double] 3x3 | 329.00 ns / 413.00 ns | ∇ -20.34% | 3.04 MHz / 2.42 MHz | Δ 25.53% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 22.00 ns | ∇ -4.55% | 47.62 MHz / 45.45 MHz | Δ 4.76% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / 1.31 us | ∇ -7.38% | 821.69 KHz / 761.04 KHz | Δ 7.97% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 468.00 ns | ∇ 0.00% | 2.14 MHz / 2.14 MHz | ∇ 0.00% |
matrix: inv, dyn[double] 6x6 | 1.20 us / 1.25 us | ∇ -3.84% | 832.64 KHz / 800.64 KHz | Δ 4.00% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 578.00 ns | ∇ 0.00% | 1.73 MHz / 1.73 MHz | ∇ 0.00% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / 28.01 us | ∇ -9.88% | 39.62 KHz / 35.71 KHz | Δ 10.97% |
matrix: inv, fix[float ] 20x20 | 12.60 us / 12.67 us | ∇ -0.56% | 79.36 KHz / 78.91 KHz | Δ 0.56% |
matrix: inv, dyn[double] 20x20 | 25.64 us / 28.58 us | ∇ -10.31% | 39.01 KHz / 34.98 KHz | Δ 11.50% |
matrix: inv, fix[double] 20x20 | 17.36 us / 17.20 us | Δ 0.97% | 57.60 KHz / 58.15 KHz | ∇ -0.96% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / 205.67 us | ∇ -7.20% | 5.24 KHz / 4.86 KHz | Δ 7.76% |
matrix: inv, fix[float ] 40x40 | 88.89 us / 92.66 us | ∇ -4.07% | 11.25 KHz / 10.79 KHz | Δ 4.25% |
matrix: inv, dyn[double] 40x40 | 189.04 us / 200.95 us | ∇ -5.93% | 5.29 KHz / 4.98 KHz | Δ 6.30% |
matrix: inv, fix[double] 40x40 | 121.47 us / 134.50 us | ∇ -9.69% | 8.23 KHz / 7.43 KHz | Δ 10.73% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 2x2 | 6.40 ns / 8.80 ns | ∇ -27.27% | 156.25 MHz / 113.64 MHz | Δ 37.50% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 931.50 ns | ∇ -25.67% | 1.44 MHz / 1.07 MHz | Δ 34.53% |
matrix: det, fix[float ] 6x6 | 207.00 ns / 215.70 ns | ∇ -4.03% | 4.83 MHz / 4.64 MHz | Δ 4.20% |
matrix: det, dyn[double] 6x6 | 696.30 ns / 739.10 ns | ∇ -5.79% | 1.44 MHz / 1.35 MHz | Δ 6.15% |
matrix: det, fix[double] 6x6 | 212.30 ns / 219.80 ns | ∇ -3.41% | 4.71 MHz / 4.55 MHz | Δ 3.53% |
matrix: det, dyn[float ] 20x20 | 5.39 us / 5.64 us | ∇ -4.45% | 185.56 KHz / 177.30 KHz | Δ 4.66% |
matrix: det, fix[float ] 20x20 | 3.90 us / 4.05 us | ∇ -3.72% | 256.35 KHz / 246.81 KHz | Δ 3.87% |
matrix: det, dyn[double] 20x20 | 6.40 us / 6.52 us | ∇ -1.82% | 156.16 KHz / 153.32 KHz | Δ 1.86% |
matrix: det, fix[double] 20x20 | 4.72 us / 4.73 us | ∇ -0.11% | 211.77 KHz / 211.54 KHz | Δ 0.11% |
matrix: det, dyn[float ] 40x40 | 30.35 us / 30.83 us | ∇ -1.57% | 32.95 KHz / 32.43 KHz | Δ 1.59% |
matrix: det, fix[float ] 40x40 | 26.47 us / 25.85 us | Δ 2.39% | 37.78 KHz / 38.68 KHz | ∇ -2.33% |
matrix: det, dyn[double] 40x40 | 32.49 us / 32.40 us | Δ 0.31% | 30.77 KHz / 30.87 KHz | ∇ -0.30% |
matrix: det, fix[double] 40x40 | 27.34 us / 27.53 us | ∇ -0.69% | 36.58 KHz / 36.33 KHz | Δ 0.69% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 170.00 ns | ∇ -23.53% | 7.69 MHz / 5.88 MHz | Δ 30.77% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 130.00 ns | Δ 7.69% | 7.14 MHz / 7.69 MHz | ∇ -7.14% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 18.73 us | ∇ -1.12% | 54.00 KHz / 53.39 KHz | Δ 1.13% |
matrix: chol, fix[double] 40x40 | 16.55 us / 16.74 us | ∇ -1.14% | 60.42 KHz / 59.74 KHz | Δ 1.15% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.50 us | ∇ -3.53% | 121.95 KHz / 117.65 KHz | Δ 3.66% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 93.90 us | ∇ -11.71% | 12.06 KHz / 10.65 KHz | Δ 13.27% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 52.90 us | ∇ -0.38% | 18.98 KHz / 18.90 KHz | Δ 0.38% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 40.03 us | ∇ -3.60% | 25.91 KHz / 24.98 KHz | Δ 3.73% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 411.30 us | ∇ -0.36% | 2.44 KHz / 2.43 KHz | Δ 0.37% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 74.98 us | ∇ -5.64% | 14.13 KHz / 13.34 KHz | Δ 5.98% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 8.61 ms | ∇ -0.36% | 116.60 Hz / 116.18 Hz | Δ 0.36% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 185.35 us | ∇ -7.63% | 5.84 KHz / 5.40 KHz | Δ 8.27% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 135.40 ms | ∇ -1.34% | 7.49 Hz / 7.39 Hz | Δ 1.36% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 359.80 us | ∇ -4.99% | 2.93 KHz / 2.78 KHz | Δ 5.25% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 364.32 ms | ∇ -2.70% | 2.82 Hz / 2.74 Hz | Δ 2.77% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 426.39 us | ∇ -5.84% | 2.49 KHz / 2.35 KHz | Δ 6.20% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 800.16 ms | ∇ -3.36% | 1.29 Hz / 1.25 Hz | Δ 3.48% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 497.60 us | ∇ -5.70% | 2.13 KHz / 2.01 KHz | Δ 6.04% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | Δ 1.#J% | 10.00 THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | ∇ -0.21% | 388.02 MHz / 387.19 MHz | Δ 0.21% |
gridmap2D: updateCell | 7.84 ns / 7.47 ns | Δ 4.87% | 127.58 MHz / 133.80 MHz | ∇ -4.64% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | Δ 0.88% | 1.82 GHz / 1.83 GHz | ∇ -0.87% |
gridmap2D: insert scan w/o widening | 102.06 us / 104.80 us | ∇ -2.62% | 9.80 KHz / 9.54 KHz | Δ 2.69% |
gridmap2D: insert scan with widening | 289.47 us / 295.32 us | ∇ -1.98% | 3.45 KHz / 3.39 KHz | Δ 2.02% |
gridmap2D: resize | 1.97 ms / 1.83 ms | Δ 7.67% | 508.65 Hz / 547.65 Hz | ∇ -7.12% |
gridmap2D: computeLikelihood | 15.74 us / 16.65 us | ∇ -5.49% | 63.55 KHz / 60.06 KHz | Δ 5.81% |
pointmap: insert 100 scans | 3.04 ms / 3.11 ms | ∇ -2.45% | 329.30 Hz / 321.23 Hz | Δ 2.51% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 4.28 us | Δ 0.93% | 231.48 KHz / 233.64 KHz | ∇ -0.93% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 354.96 us | ∇ -0.80% | 2.84 KHz / 2.82 KHz | Δ 0.81% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.14 ms | Δ 0.06% | 241.51 Hz / 241.67 Hz | ∇ -0.06% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 4.28 us | Δ 9.35% | 213.68 KHz / 233.64 KHz | ∇ -8.55% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 361.24 us | ∇ -0.48% | 2.78 KHz / 2.77 KHz | Δ 0.48% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 4.09 ms | ∇ -1.46% | 248.28 Hz / 244.66 Hz | Δ 1.48% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.37 us | Δ 2.70% | 711.74 KHz / 730.99 KHz | ∇ -2.63% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 98.96 us | ∇ -1.77% | 10.29 KHz / 10.10 KHz | Δ 1.81% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 11.96 ms | ∇ -2.80% | 86.05 Hz / 83.64 Hz | Δ 2.88% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 5.60 ms | ∇ -0.15% | 178.77 Hz / 178.50 Hz | Δ 0.15% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 129.56 ms | ∇ -0.21% | 7.73 Hz / 7.72 Hz | Δ 0.21% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 5.65 ms | Δ 0.17% | 176.53 Hz / 176.84 Hz | ∇ -0.17% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 132.43 ms | ∇ -0.91% | 7.62 Hz / 7.55 Hz | Δ 0.92% |
random: drawUniform32bit | 14.50 ns / 15.70 ns | ∇ -7.62% | 68.95 MHz / 63.70 MHz | Δ 8.25% |
random: drawUniform | 14.50 ns / 15.69 ns | ∇ -7.60% | 68.96 MHz / 63.72 MHz | Δ 8.22% |
random: drawGaussian1D_normalized | 68.97 ns / 70.40 ns | ∇ -2.03% | 14.50 MHz / 14.20 MHz | Δ 2.07% |
random: drawGaussian1D | 68.98 ns / 70.38 ns | ∇ -1.98% | 14.50 MHz / 14.21 MHz | Δ 2.02% |
random: system rand() | 10.45 ns / 11.07 ns | ∇ -5.59% | 95.72 MHz / 90.37 MHz | Δ 5.92% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.33 us | ∇ -1.72% | 765.12 KHz / 751.96 KHz | Δ 1.75% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 3.04 us | ∇ -10.20% | 366.37 KHz / 328.99 KHz | Δ 11.36% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 162.81 ns | ∇ -2.39% | 6.29 MHz / 6.14 MHz | Δ 2.45% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 245.58 ns | ∇ -3.33% | 4.21 MHz / 4.07 MHz | Δ 3.45% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 514.74 ns | ∇ -4.80% | 2.04 MHz / 1.94 MHz | Δ 5.04% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 173.84 ns | ∇ -5.27% | 6.07 MHz / 5.75 MHz | Δ 5.57% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 259.42 ns | ∇ -3.70% | 4.00 MHz / 3.85 MHz | Δ 3.85% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 523.99 ns | ∇ -1.77% | 1.94 MHz / 1.91 MHz | Δ 1.80% |
random: permuteVector (len=10) | 296.20 ns / 288.60 ns | Δ 2.63% | 3.38 MHz / 3.47 MHz | ∇ -2.57% |
random: permuteVector (len=100) | 3.04 us / 3.07 us | ∇ -1.01% | 328.91 KHz / 325.61 KHz | Δ 1.02% |
random: permuteVector (len=1000) | 30.22 us / 30.26 us | ∇ -0.12% | 33.09 KHz / 33.05 KHz | Δ 0.12% |
math: round | 0.10 ns / 0.10 ns | ∇ -3.18% | 10.09 GHz / 9.77 GHz | Δ 3.29% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 31.77 ms | Δ 10.36% | 28.52 Hz / 31.48 Hz | ∇ -9.39% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 45.70 ms | Δ 7.14% | 20.42 Hz / 21.88 Hz | ∇ -6.67% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 73.33 ms | Δ 1.79% | 13.40 Hz / 13.64 Hz | ∇ -1.76% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 27.15 ms | Δ 10.35% | 33.37 Hz / 36.83 Hz | ∇ -9.38% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 40.31 ms | Δ 6.15% | 23.37 Hz / 24.81 Hz | ∇ -5.79% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 64.44 ms | ∇ -0.45% | 15.59 Hz / 15.52 Hz | Δ 0.45% |
images: Gauss filter (640x480) | 3.90 ms / 4.52 ms | ∇ -13.66% | 256.30 Hz / 221.30 Hz | Δ 15.82% |
images: Gauss filter (800x600) | 6.21 ms / 7.35 ms | ∇ -15.49% | 160.99 Hz / 136.05 Hz | Δ 18.33% |
images: Gauss filter (1024x768) | 10.55 ms / 11.22 ms | ∇ -5.92% | 94.74 Hz / 89.13 Hz | Δ 6.29% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 6.32 us | ∇ -19.94% | 197.63 KHz / 158.23 KHz | Δ 24.90% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 4.78 us | ∇ -10.04% | 232.56 KHz / 209.21 KHz | Δ 11.16% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 2.14 us | ∇ -1.87% | 476.19 KHz / 467.29 KHz | Δ 1.90% |
feature_extraction [640x480]: Harris | 24.28 ms / 28.31 ms | ∇ -14.26% | 41.19 Hz / 35.32 Hz | Δ 16.63% |
feature_extraction [640x480]: KLT | 24.43 ms / 27.34 ms | ∇ -10.66% | 40.94 Hz / 36.57 Hz | Δ 11.93% |
feature_extraction [640x480]: SIFT | 610.42 ms / 641.91 ms | ∇ -4.91% | 1.64 Hz / 1.56 Hz | Δ 5.16% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 170.65 ms | ∇ -1.69% | 5.96 Hz / 5.86 Hz | Δ 1.72% |
feature_extraction [640x480]: SURF | 197.61 ms / 201.21 ms | ∇ -1.79% | 5.06 Hz / 4.97 Hz | Δ 1.82% |
feature_extraction [640x480]: FAST | 5.24 ms / 5.22 ms | Δ 0.43% | 190.68 Hz / 191.49 Hz | ∇ -0.43% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 60.81 ms | ∇ -1.36% | 16.67 Hz / 16.44 Hz | Δ 1.38% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 43.26 ms | ∇ -5.51% | 24.46 Hz / 23.12 Hz | Δ 5.83% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 39.91 ms | ∇ -11.06% | 28.17 Hz / 25.06 Hz | Δ 12.44% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.28 sec | ∇ -5.40% | 828.07 mHz / 783.36 mHz | Δ 5.71% |
feature_matching [640x480]: SURF | 379.92 ms / 386.18 ms | ∇ -1.62% | 2.63 Hz / 2.59 Hz | Δ 1.65% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 16.12 ms | ∇ -0.37% | 62.26 Hz / 62.03 Hz | Δ 0.37% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 10.93 ms | ∇ -1.85% | 93.18 Hz / 91.46 Hz | Δ 1.88% |
graph(2d): insertEdge x 1e3 | 117.65 us / X | 8.50 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 105.13 us / X | 9.51 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / X | 11.74 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / X | 11.84 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 172.53 us / X | 5.80 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / X | 5.32 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / X | 5.93 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / X | 5.97 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.73 ms / X | 579.22 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / X | 690.59 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / X | 1.13 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / X | 1.16 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / X | 506.65 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / X | 433.74 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / X | 538.12 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / X | 538.35 Hz / X | ||
graph(3d): insertEdge x 1e3 | 177.23 us / X | 5.64 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 178.36 us / X | 5.61 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / X | 6.33 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / X | 6.27 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 507.00 us / X | 1.97 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / X | 1.96 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / X | 2.11 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / X | 2.11 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.47 ms / X | 404.60 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / X | 402.82 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / X | 570.48 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / X | 565.81 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / X | 180.97 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / X | 179.70 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / X | 206.16 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / X | 206.11 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 96.04 us / X | 10.41 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / X | 12.44 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.13 ms / X | 885.05 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / X | 1.24 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 19.14 ms / X | 52.26 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / X | 103.63 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 290.37 ms / X | 3.44 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / X | 8.49 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 268.93 ms / X | 3.72 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / X | 9.70 Hz / X |