Test description | 0.9.4-MSVC10-32bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 31.78 ms | Δ 16.84% | 26.93 Hz / 31.46 Hz | ∇ -14.42% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 53.70 ms | ∇ -32.34% | 27.52 Hz / 18.62 Hz | Δ 47.80% |
poses: CPose3D (+) CPose3D | 197.08 ns / 925.38 ns | ∇ -78.70% | 5.07 MHz / 1.08 MHz | Δ 369.56% |
poses: CPose3D.composeFrom() | 33.62 ns / 617.00 ns | ∇ -94.55% | 29.74 MHz / 1.62 MHz | Δ 1735.00% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 35.98 ns | ∇ -30.13% | 39.79 MHz / 27.80 MHz | Δ 43.13% |
poses: CPose3D.composePoint() | 21.31 ns / 14.62 ns | Δ 45.78% | 46.94 MHz / 68.42 MHz | ∇ -31.40% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 75.43 ns | Δ 19.27% | 11.12 MHz / 13.26 MHz | ∇ -16.16% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 56.48 ns | ∇ -16.35% | 21.17 MHz / 17.70 MHz | Δ 19.55% |
poses: CPose2D (+) CPose2D | 108.63 ns / 121.60 ns | ∇ -10.67% | 9.21 MHz / 8.22 MHz | Δ 11.94% |
poses: CPose2D.composeFrom() | 94.77 ns / 66.63 ns | Δ 42.24% | 10.55 MHz / 15.01 MHz | ∇ -29.70% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 93.73 ns | ∇ -14.00% | 12.41 MHz / 10.67 MHz | Δ 16.28% |
poses: CPose2D.composePoint() | 67.32 ns / 62.24 ns | Δ 8.17% | 14.85 MHz / 16.07 MHz | ∇ -7.55% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 100.74 ns | ∇ -19.29% | 12.30 MHz / 9.93 MHz | Δ 23.90% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 57.92 ns | ∇ -10.98% | 19.39 MHz / 17.26 MHz | Δ 12.33% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 61.33 ns | ∇ -8.84% | 17.89 MHz / 16.31 MHz | Δ 9.69% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 27.34 ns | Δ 19.70% | 30.55 MHz / 36.57 MHz | ∇ -16.46% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 580.67 ns | ∇ -78.64% | 8.06 MHz / 1.72 MHz | Δ 368.22% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 28.18 ns | Δ 8.60% | 32.67 MHz / 35.48 MHz | ∇ -7.92% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 506.67 ns | ∇ -94.45% | 35.56 MHz / 1.97 MHz | Δ 1701.71% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 214.86 ns | Δ 0.92% | 4.61 MHz / 4.65 MHz | ∇ -0.91% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 1.56 us | ∇ -20.27% | 806.40 KHz / 642.96 KHz | Δ 25.42% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 1.51 us | ∇ -20.55% | 835.55 KHz / 663.83 KHz | Δ 25.87% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 23.29 us | ∇ -13.47% | 49.63 KHz / 42.94 KHz | Δ 15.57% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 1.64 us | ∇ -50.15% | 1.22 MHz / 609.77 KHz | Δ 100.58% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 1.66 us | ∇ -50.53% | 1.21 MHz / 600.84 KHz | Δ 102.13% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 16.05 us | Δ 18.97% | 52.39 KHz / 62.32 KHz | ∇ -15.94% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 39.66 ns | Δ 25.25% | 20.13 MHz / 25.22 MHz | ∇ -20.16% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 42.75 ns | Δ 19.09% | 19.64 MHz / 23.39 MHz | ∇ -16.03% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 152.29 ns | Δ 18.84% | 5.53 MHz / 6.57 MHz | ∇ -15.86% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 150.45 ns | Δ 18.24% | 5.62 MHz / 6.65 MHz | ∇ -15.43% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.30 ns | ∇ -100.00% | 1.#J THz / 303.37 MHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.48 ns | ∇ -100.00% | 1.#J THz / 287.56 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.63 ns / 3.06 ns | Δ 116.95% | 150.81 MHz / 327.19 MHz | ∇ -53.91% |
matrix: unit, fix[double,6,6] | 8.86 ns / 6.65 ns | Δ 33.27% | 112.91 MHz / 150.48 MHz | ∇ -24.97% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 167.81 ns | Δ 305.39% | 1.47 MHz / 5.96 MHz | ∇ -75.33% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 108.61 ns | ∇ -100.00% | 1.#J THz / 9.21 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 158.88 ns | Δ 188.48% | 2.18 MHz / 6.29 MHz | ∇ -65.34% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 90.86 ns | ∇ -100.00% | 1.#J THz / 11.01 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 680.46 ns / 272.47 ns | Δ 149.73% | 1.47 MHz / 3.67 MHz | ∇ -59.96% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 193.12 ns | ∇ -81.73% | 28.34 MHz / 5.18 MHz | Δ 447.37% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 238.91 ns | Δ 115.15% | 1.95 MHz / 4.19 MHz | ∇ -53.52% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 139.05 ns | ∇ -97.56% | 294.39 MHz / 7.19 MHz | Δ 3993.37% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 16.80 us | ∇ -69.18% | 193.06 KHz / 59.51 KHz | Δ 224.42% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 13.06 us | ∇ -65.11% | 219.44 KHz / 76.57 KHz | Δ 186.60% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 13.55 us | ∇ -72.02% | 263.78 KHz / 73.81 KHz | Δ 257.40% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 9.96 us | ∇ -70.65% | 342.06 KHz / 100.40 KHz | Δ 240.70% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 1.53 us | ∇ -1.89% | 665.44 KHz / 652.84 KHz | Δ 1.93% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 31.25 ns | ∇ -69.57% | 105.14 MHz / 32.00 MHz | Δ 228.57% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 5.08 us | ∇ -23.22% | 256.17 KHz / 196.68 KHz | Δ 30.25% |
matrix: inv, fix[double] 6x6 | 3.54 us / 926.67 ns | Δ 282.01% | 282.49 KHz / 1.08 MHz | ∇ -73.82% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 108.60 us | ∇ -68.52% | 29.25 KHz / 9.21 KHz | Δ 217.61% |
matrix: inv, fix[double] 20x20 | 29.35 us / 19.22 us | Δ 52.70% | 34.07 KHz / 52.02 KHz | ∇ -34.51% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 818.27 us | ∇ -83.59% | 7.45 KHz / 1.22 KHz | Δ 509.57% |
matrix: inv, fix[double] 40x40 | 126.45 us / 136.18 us | ∇ -7.14% | 7.91 KHz / 7.34 KHz | Δ 7.69% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 9.56 ns | Δ 6196.63% | 1.66 MHz / 104.64 MHz | ∇ -98.41% |
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 / 15.90 ns | Δ 5390.27% | 1.15 MHz / 62.90 MHz | ∇ -98.18% |
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 / 2.38 us | ∇ -2.30% | 430.29 KHz / 420.40 KHz | Δ 2.35% |
matrix: det, fix[double] 6x6 | 2.17 us / 422.89 ns | Δ 413.39% | 460.60 KHz / 2.36 MHz | ∇ -80.52% |
matrix: det, dyn[double] 20x20 | 23.14 us / 18.19 us | Δ 27.22% | 43.22 KHz / 54.99 KHz | ∇ -21.40% |
matrix: det, fix[double] 20x20 | 21.38 us / 6.52 us | Δ 227.72% | 46.78 KHz / 153.30 KHz | ∇ -69.49% |
matrix: det, dyn[double] 40x40 | 92.83 us / 114.84 us | ∇ -19.17% | 10.77 KHz / 8.71 KHz | Δ 23.71% |
matrix: det, fix[double] 40x40 | 90.97 us / 36.00 us | Δ 152.68% | 10.99 KHz / 27.78 KHz | ∇ -60.42% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 185.70 ns | Δ 380.48% | 1.12 MHz / 5.39 MHz | ∇ -79.19% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 113.23 ns | Δ 120.00% | 4.01 MHz / 8.83 MHz | ∇ -54.55% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 24.43 us | Δ 68.33% | 24.32 KHz / 40.93 KHz | ∇ -40.59% |
matrix: chol, fix[double] 40x40 | 26.92 us / 17.73 us | Δ 51.80% | 37.15 KHz / 56.40 KHz | ∇ -34.12% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 10.78 us | Δ 42.02% | 65.32 KHz / 92.77 KHz | ∇ -29.59% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 117.89 us | ∇ -0.88% | 8.56 KHz / 8.48 KHz | Δ 0.89% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 70.52 us | Δ 40.33% | 10.10 KHz / 14.18 KHz | ∇ -28.74% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 52.59 us | Δ 4.93% | 18.12 KHz / 19.02 KHz | ∇ -4.69% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 491.10 us | Δ 1.42% | 2.01 KHz / 2.04 KHz | ∇ -1.40% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 85.83 us | Δ 55.42% | 7.50 KHz / 11.65 KHz | ∇ -35.66% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 9.44 ms | ∇ -47.14% | 200.30 Hz / 105.88 Hz | Δ 89.18% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 204.52 us | Δ 19.28% | 4.10 KHz / 4.89 KHz | ∇ -16.17% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 150.13 ms | ∇ -80.00% | 33.31 Hz / 6.66 Hz | Δ 400.01% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 415.58 us | Δ 16.96% | 2.06 KHz / 2.41 KHz | ∇ -14.50% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 461.43 ms | ∇ -88.74% | 19.25 Hz / 2.17 Hz | Δ 788.31% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 484.92 us | Δ 20.39% | 1.71 KHz / 2.06 KHz | ∇ -16.93% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 947.45 ms | ∇ -91.88% | 13.00 Hz / 1.06 Hz | Δ 1131.96% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 586.44 us | Δ 10.72% | 1.54 KHz / 1.71 KHz | ∇ -9.68% |
gridmap2D: getCell | 6.44 ns / 5.77 ns | Δ 11.58% | 155.25 MHz / 173.23 MHz | ∇ -10.38% |
gridmap2D: setCell | 9.52 ns / 7.96 ns | Δ 19.65% | 105.00 MHz / 125.64 MHz | ∇ -16.42% |
gridmap2D: updateCell | 9.85 ns / 10.80 ns | ∇ -8.83% | 101.55 MHz / 92.58 MHz | Δ 9.69% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 1.21 ns | Δ 21.66% | 679.40 MHz / 826.59 MHz | ∇ -17.81% |
gridmap2D: insert scan w/o widening | 225.20 us / 204.23 us | Δ 10.26% | 4.44 KHz / 4.90 KHz | ∇ -9.31% |
gridmap2D: insert scan with widening | 365.80 us / 344.40 us | Δ 6.21% | 2.73 KHz / 2.90 KHz | ∇ -5.85% |
gridmap2D: resize | 2.56 ms / 2.62 ms | ∇ -2.06% | 389.96 Hz / 381.93 Hz | Δ 2.10% |
gridmap2D: computeLikelihood | 21.14 us / 18.59 us | Δ 13.73% | 47.30 KHz / 53.79 KHz | ∇ -12.07% |
pointmap: insert 100 scans | 3.27 ms / 5.62 ms | ∇ -41.78% | 305.75 Hz / 178.02 Hz | Δ 71.75% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.21 us | ∇ -2.92% | 165.76 KHz / 160.93 KHz | Δ 3.00% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 511.81 us | Δ 13.21% | 1.73 KHz / 1.95 KHz | ∇ -11.67% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 5.59 ms | Δ 9.82% | 162.87 Hz / 178.86 Hz | ∇ -8.94% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 7.23 us | ∇ -7.52% | 149.59 KHz / 138.34 KHz | Δ 8.13% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 523.10 us | ∇ -0.60% | 1.92 KHz / 1.91 KHz | Δ 0.60% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 5.77 ms | Δ 14.95% | 150.68 Hz / 173.21 Hz | ∇ -13.01% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 2.05 us | ∇ -4.79% | 511.57 KHz / 487.07 KHz | Δ 5.03% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 140.79 us | Δ 18.72% | 5.98 KHz / 7.10 KHz | ∇ -15.77% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 15.17 ms | Δ 15.03% | 57.30 Hz / 65.91 Hz | ∇ -13.07% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 8.69 ms | Δ 4.80% | 109.75 Hz / 115.01 Hz | ∇ -4.58% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 196.44 ms | Δ 7.26% | 4.75 Hz / 5.09 Hz | ∇ -6.77% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 8.73 ms | ∇ -4.00% | 119.37 Hz / 114.60 Hz | Δ 4.17% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 198.48 ms | Δ 0.12% | 5.03 Hz / 5.04 Hz | ∇ -0.12% |
random: drawUniform32bit | 7.57 ns / 7.29 ns | Δ 3.79% | 132.11 MHz / 137.11 MHz | ∇ -3.65% |
random: drawUniform | 7.60 ns / 7.33 ns | Δ 3.76% | 131.54 MHz / 136.49 MHz | ∇ -3.62% |
random: drawGaussian1D_normalized | 58.48 ns / 51.27 ns | Δ 14.05% | 17.10 MHz / 19.50 MHz | ∇ -12.32% |
random: drawGaussian1D | 57.62 ns / 51.74 ns | Δ 11.38% | 17.35 MHz / 19.33 MHz | ∇ -10.22% |
random: system rand() | 29.43 ns / 29.39 ns | Δ 0.14% | 33.98 MHz / 34.03 MHz | ∇ -0.14% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 2.64 us | Δ 11.58% | 339.21 KHz / 378.48 KHz | ∇ -10.38% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 8.53 us | ∇ -58.58% | 282.92 KHz / 117.18 KHz | Δ 141.45% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 215.16 ns | ∇ -32.28% | 6.86 MHz / 4.65 MHz | Δ 47.66% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 359.98 ns | ∇ -36.84% | 4.40 MHz / 2.78 MHz | Δ 58.33% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 732.12 ns | ∇ -29.72% | 1.94 MHz / 1.37 MHz | Δ 42.28% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 213.59 ns | ∇ -20.21% | 5.87 MHz / 4.68 MHz | Δ 25.33% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 339.30 ns | ∇ -16.41% | 3.53 MHz / 2.95 MHz | Δ 19.64% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 760.92 ns | ∇ -13.10% | 1.51 MHz / 1.31 MHz | Δ 15.08% |
random: permuteVector (len=10) | 304.45 ns / 411.34 ns | ∇ -25.99% | 3.28 MHz / 2.43 MHz | Δ 35.11% |
random: permuteVector (len=100) | 3.47 us / 3.59 us | ∇ -3.37% | 288.42 KHz / 278.70 KHz | Δ 3.49% |
random: permuteVector (len=1000) | 37.99 us / 34.34 us | Δ 10.63% | 26.33 KHz / 29.12 KHz | ∇ -9.61% |
math: round | 0.00 ns / 0.00 ns | Δ 1.#J% | 220.79 THz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 27.92 ms | Δ 18.39% | 30.25 Hz / 35.81 Hz | ∇ -15.54% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 43.53 ms | Δ 16.32% | 19.75 Hz / 22.97 Hz | ∇ -14.03% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 70.76 ms | Δ 16.82% | 12.10 Hz / 14.13 Hz | ∇ -14.40% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 23.43 ms | Δ 16.74% | 36.56 Hz / 42.67 Hz | ∇ -14.34% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 36.52 ms | Δ 18.45% | 23.12 Hz / 27.39 Hz | ∇ -15.58% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 59.82 ms | Δ 11.27% | 15.03 Hz / 16.72 Hz | ∇ -10.12% |
images: Gauss filter (640x480) | 5.57 ms / 6.68 ms | ∇ -16.58% | 179.49 Hz / 149.74 Hz | Δ 19.87% |
images: Gauss filter (800x600) | 8.84 ms / 8.62 ms | Δ 2.59% | 113.10 Hz / 116.03 Hz | ∇ -2.52% |
images: Gauss filter (1024x768) | 14.37 ms / 14.49 ms | ∇ -0.81% | 69.58 Hz / 69.01 Hz | Δ 0.82% |
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 / 21.12 us | Δ 3.99% | 45.52 KHz / 47.34 KHz | ∇ -3.83% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 19.36 us | Δ 13.66% | 45.44 KHz / 51.65 KHz | ∇ -12.02% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 6.24 us | Δ 103.77% | 78.69 KHz / 160.34 KHz | ∇ -50.93% |
feature_extraction [640x480]: Harris | 38.32 ms / 40.83 ms | ∇ -6.15% | 26.10 Hz / 24.49 Hz | Δ 6.55% |
feature_extraction [640x480]: KLT | 37.22 ms / 33.62 ms | Δ 10.71% | 26.87 Hz / 29.75 Hz | ∇ -9.67% |
feature_extraction [640x480]: SIFT | 739.68 ms / 705.28 ms | Δ 4.88% | 1.35 Hz / 1.42 Hz | ∇ -4.65% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 214.22 ms | Δ 8.75% | 4.29 Hz / 4.67 Hz | ∇ -8.04% |
feature_extraction [640x480]: SURF | 309.97 ms / 326.57 ms | ∇ -5.08% | 3.23 Hz / 3.06 Hz | Δ 5.36% |
feature_extraction [640x480]: FAST | 6.88 ms / 7.69 ms | ∇ -10.45% | 145.25 Hz / 130.08 Hz | Δ 11.67% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 105.90 ms | ∇ -16.64% | 11.33 Hz / 9.44 Hz | Δ 19.96% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 57.67 ms | Δ 3.48% | 16.76 Hz / 17.34 Hz | ∇ -3.37% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 50.27 ms | Δ 16.51% | 17.07 Hz / 19.89 Hz | ∇ -14.17% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.38 sec | Δ 8.47% | 668.02 mHz / 724.62 mHz | ∇ -7.81% |
feature_matching [640x480]: SURF | 621.62 ms / 618.66 ms | Δ 0.48% | 1.61 Hz / 1.62 Hz | ∇ -0.48% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 22.11 ms | ∇ -1.90% | 46.10 Hz / 45.22 Hz | Δ 1.94% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 14.58 ms | ∇ -13.35% | 79.13 Hz / 68.57 Hz | Δ 15.40% |
graph(2d): insertEdge x 1e3 | 301.62 us / 354.58 us | ∇ -14.94% | 3.32 KHz / 2.82 KHz | Δ 17.56% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / X | 3.35 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 284.04 us | ∇ -3.29% | 3.64 KHz / 3.52 KHz | Δ 3.40% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / X | 3.70 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 549.28 us | ∇ -24.29% | 2.40 KHz / 1.82 KHz | Δ 32.08% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / X | 2.46 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 452.79 us | ∇ -16.62% | 2.65 KHz / 2.21 KHz | Δ 19.93% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / X | 2.64 KHz / X | ||
graph(2d): insertEdge x 1e4 | 4.14 ms / 3.86 ms | Δ 7.26% | 241.59 Hz / 259.12 Hz | ∇ -6.77% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / X | 250.06 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 2.88 ms | Δ 2.35% | 339.77 Hz / 347.75 Hz | ∇ -2.30% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / X | 345.69 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 5.74 ms | ∇ -16.84% | 209.57 Hz / 174.28 Hz | Δ 20.25% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.59 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 4.44 ms | ∇ -8.64% | 246.64 Hz / 225.33 Hz | Δ 9.46% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / X | 237.52 Hz / X | ||
graph(3d): insertEdge x 1e3 | 381.69 us / 1.35 ms | ∇ -71.64% | 2.62 KHz / 743.07 Hz | Δ 252.58% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / X | 2.46 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 1.09 ms | ∇ -68.83% | 2.94 KHz / 917.96 Hz | Δ 220.81% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / X | 2.99 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 1.74 ms | ∇ -60.48% | 1.45 KHz / 573.66 Hz | Δ 153.04% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / X | 1.46 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 1.46 ms | ∇ -53.32% | 1.46 KHz / 683.28 Hz | Δ 114.20% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / X | 1.46 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.89 ms / 13.92 ms | ∇ -72.08% | 257.39 Hz / 71.86 Hz | Δ 258.16% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / X | 263.81 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 11.12 ms | ∇ -67.76% | 278.91 Hz / 89.92 Hz | Δ 210.17% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / X | 284.28 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 17.58 ms | ∇ -55.61% | 128.15 Hz / 56.89 Hz | Δ 125.27% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / X | 128.11 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 14.12 ms | ∇ -46.94% | 133.45 Hz / 70.81 Hz | Δ 88.47% |
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 |