Test description | 0.9.1-MSVC9-32bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 19.99 ms | Δ 59.00% | 31.46 Hz / 50.03 Hz | ∇ -37.11% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 19.29 ms | Δ 178.38% | 18.62 Hz / 51.84 Hz | ∇ -64.08% |
poses: CPose3D (+) CPose3D | 925.38 ns / 42.85 ns | Δ 2059.58% | 1.08 MHz / 23.34 MHz | ∇ -95.37% |
poses: CPose3D.composeFrom() | 617.00 ns / 37.80 ns | Δ 1532.29% | 1.62 MHz / 26.46 MHz | ∇ -93.87% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 7.25 ns | Δ 396.09% | 27.80 MHz / 137.89 MHz | ∇ -79.84% |
poses: CPose3D.composePoint() | 14.62 ns / 11.91 ns | Δ 22.74% | 68.42 MHz / 83.98 MHz | ∇ -18.53% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 48.98 ns | Δ 53.99% | 13.26 MHz / 20.42 MHz | ∇ -35.06% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 34.95 ns | Δ 61.60% | 17.70 MHz / 28.61 MHz | ∇ -38.12% |
poses: CPose2D (+) CPose2D | 121.60 ns / 78.58 ns | Δ 54.75% | 8.22 MHz / 12.73 MHz | ∇ -35.38% |
poses: CPose2D.composeFrom() | 66.63 ns / 70.31 ns | ∇ -5.24% | 15.01 MHz / 14.22 MHz | Δ 5.53% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 61.33 ns | Δ 52.83% | 10.67 MHz / 16.31 MHz | ∇ -34.57% |
poses: CPose2D.composePoint() | 62.24 ns / 65.17 ns | ∇ -4.49% | 16.07 MHz / 15.35 MHz | Δ 4.70% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 44.66 ns | Δ 125.57% | 9.93 MHz / 22.39 MHz | ∇ -55.67% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 39.43 ns | Δ 46.90% | 17.26 MHz / 25.36 MHz | ∇ -31.93% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 18.24 ns | Δ 236.31% | 16.31 MHz / 54.84 MHz | ∇ -70.27% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 17.94 ns | Δ 52.43% | 36.57 MHz / 55.75 MHz | ∇ -34.40% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 55.43 ns | Δ 947.65% | 1.72 MHz / 18.04 MHz | ∇ -90.45% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 17.64 ns | Δ 59.76% | 35.48 MHz / 56.69 MHz | ∇ -37.41% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 16.70 ns | Δ 2934.48% | 1.97 MHz / 59.89 MHz | ∇ -96.70% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 169.28 ns | Δ 26.92% | 4.65 MHz / 5.91 MHz | ∇ -21.21% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 760.96 us | ∇ -99.80% | 642.96 KHz / 1.31 KHz | Δ 48826.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 760.62 us | ∇ -99.80% | 663.83 KHz / 1.31 KHz | Δ 50392.33% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 9.47 us | Δ 145.81% | 42.94 KHz / 105.55 KHz | ∇ -59.32% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 545.30 ns | Δ 200.75% | 609.77 KHz / 1.83 MHz | ∇ -66.75% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 544.10 ns | Δ 205.89% | 600.84 KHz / 1.84 MHz | ∇ -67.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 8.11 us | Δ 97.90% | 62.32 KHz / 123.33 KHz | ∇ -49.47% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 20.92 ns | Δ 89.57% | 25.22 MHz / 47.81 MHz | ∇ -47.25% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 20.15 ns | Δ 112.15% | 23.39 MHz / 49.63 MHz | ∇ -52.86% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 54.04 ns | Δ 181.83% | 6.57 MHz / 18.51 MHz | ∇ -64.52% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 55.27 ns | Δ 172.23% | 6.65 MHz / 18.09 MHz | ∇ -63.27% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.35 ns | Δ 852.70% | 303.37 MHz / 2.89 GHz | ∇ -89.50% |
matrix: unit, fix[double,3,3] | 3.48 ns / 1.19 ns | Δ 192.97% | 287.56 MHz / 842.46 MHz | ∇ -65.87% |
matrix: unit, fix[float,6,6] | 3.06 ns / 1.70 ns | Δ 79.99% | 327.19 MHz / 588.93 MHz | ∇ -44.44% |
matrix: unit, fix[double,6,6] | 6.65 ns / 2.77 ns | Δ 139.47% | 150.48 MHz / 360.36 MHz | ∇ -58.24% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 73.10 ns | Δ 129.56% | 5.96 MHz / 13.68 MHz | ∇ -56.44% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 23.80 ns | Δ 356.34% | 9.21 MHz / 42.02 MHz | ∇ -78.09% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 72.40 ns | Δ 119.45% | 6.29 MHz / 13.81 MHz | ∇ -54.43% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 23.40 ns | Δ 288.27% | 11.01 MHz / 42.74 MHz | ∇ -74.24% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 110.50 ns | Δ 146.58% | 3.67 MHz / 9.05 MHz | ∇ -59.45% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 45.10 ns | Δ 328.21% | 5.18 MHz / 22.17 MHz | ∇ -76.65% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 116.30 ns | Δ 105.43% | 4.19 MHz / 8.60 MHz | ∇ -51.32% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 45.20 ns | Δ 207.62% | 7.19 MHz / 22.12 MHz | ∇ -67.49% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 5.19 us | Δ 223.94% | 59.51 KHz / 192.77 KHz | ∇ -69.13% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 3.55 us | Δ 267.72% | 76.57 KHz / 281.56 KHz | ∇ -72.81% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 5.18 us | Δ 161.57% | 73.81 KHz / 193.05 KHz | ∇ -61.77% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 3.61 us | Δ 175.95% | 100.40 KHz / 277.05 KHz | ∇ -63.76% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / 333.00 ns | Δ 351.01% | 665.84 KHz / 3.00 MHz | ∇ -77.83% |
matrix: inv, fix[float ] 3x3 | 59.79 ns / 21.00 ns | Δ 184.69% | 16.73 MHz / 47.62 MHz | ∇ -64.87% |
matrix: inv, dyn[double] 3x3 | 1.53 us / 329.00 ns | Δ 365.58% | 652.84 KHz / 3.04 MHz | ∇ -78.52% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 21.00 ns | Δ 48.82% | 32.00 MHz / 47.62 MHz | ∇ -32.80% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / 1.22 us | Δ 316.56% | 197.26 KHz / 821.69 KHz | ∇ -75.99% |
matrix: inv, fix[float ] 6x6 | 1.33 us / 468.00 ns | Δ 185.11% | 749.46 KHz / 2.14 MHz | ∇ -64.93% |
matrix: inv, dyn[double] 6x6 | 5.08 us / 1.20 us | Δ 323.35% | 196.68 KHz / 832.64 KHz | ∇ -76.38% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 578.00 ns | Δ 60.32% | 1.08 MHz / 1.73 MHz | ∇ -37.63% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / 25.24 us | Δ 224.35% | 12.22 KHz / 39.62 KHz | ∇ -69.17% |
matrix: inv, fix[float ] 20x20 | 40.71 us / 12.60 us | Δ 223.09% | 24.56 KHz / 79.36 KHz | ∇ -69.05% |
matrix: inv, dyn[double] 20x20 | 108.60 us / 25.64 us | Δ 323.59% | 9.21 KHz / 39.01 KHz | ∇ -76.39% |
matrix: inv, fix[double] 20x20 | 19.22 us / 17.36 us | Δ 10.71% | 52.02 KHz / 57.60 KHz | ∇ -9.68% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / 190.86 us | Δ 219.16% | 1.64 KHz / 5.24 KHz | ∇ -68.67% |
matrix: inv, fix[float ] 40x40 | 307.68 us / 88.89 us | Δ 246.15% | 3.25 KHz / 11.25 KHz | ∇ -71.11% |
matrix: inv, dyn[double] 40x40 | 818.27 us / 189.04 us | Δ 332.86% | 1.22 KHz / 5.29 KHz | ∇ -76.90% |
matrix: inv, fix[double] 40x40 | 136.18 us / 121.47 us | Δ 12.11% | 7.34 KHz / 8.23 KHz | ∇ -10.80% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / 6.40 ns | Δ 42.95% | 109.30 MHz / 156.25 MHz | ∇ -30.05% |
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 | 9.56 ns / 6.40 ns | Δ 49.32% | 104.64 MHz / 156.25 MHz | ∇ -33.03% |
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 | 19.70 ns / 10.30 ns | Δ 91.28% | 50.76 MHz / 97.09 MHz | ∇ -47.72% |
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 | 15.90 ns / 10.30 ns | Δ 54.34% | 62.90 MHz / 97.09 MHz | ∇ -35.21% |
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 | 2.32 us / 692.40 ns | Δ 234.79% | 431.38 KHz / 1.44 MHz | ∇ -70.13% |
matrix: det, fix[float ] 6x6 | 434.76 ns / 207.00 ns | Δ 110.03% | 2.30 MHz / 4.83 MHz | ∇ -52.39% |
matrix: det, dyn[double] 6x6 | 2.38 us / 696.30 ns | Δ 241.62% | 420.40 KHz / 1.44 MHz | ∇ -70.73% |
matrix: det, fix[double] 6x6 | 422.89 ns / 212.30 ns | Δ 99.19% | 2.36 MHz / 4.71 MHz | ∇ -49.80% |
matrix: det, dyn[float ] 20x20 | 18.34 us / 5.39 us | Δ 240.26% | 54.54 KHz / 185.56 KHz | ∇ -70.61% |
matrix: det, fix[float ] 20x20 | 9.85 us / 3.90 us | Δ 152.41% | 101.56 KHz / 256.35 KHz | ∇ -60.38% |
matrix: det, dyn[double] 20x20 | 18.19 us / 6.40 us | Δ 183.99% | 54.99 KHz / 156.16 KHz | ∇ -64.79% |
matrix: det, fix[double] 20x20 | 6.52 us / 4.72 us | Δ 38.14% | 153.30 KHz / 211.77 KHz | ∇ -27.61% |
matrix: det, dyn[float ] 40x40 | 111.92 us / 30.35 us | Δ 268.77% | 8.93 KHz / 32.95 KHz | ∇ -72.88% |
matrix: det, fix[float ] 40x40 | 63.43 us / 26.47 us | Δ 139.60% | 15.77 KHz / 37.78 KHz | ∇ -58.26% |
matrix: det, dyn[double] 40x40 | 114.84 us / 32.49 us | Δ 253.42% | 8.71 KHz / 30.77 KHz | ∇ -71.71% |
matrix: det, fix[double] 40x40 | 36.00 us / 27.34 us | Δ 31.70% | 27.78 KHz / 36.58 KHz | ∇ -24.07% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 130.00 ns | Δ 42.84% | 5.39 MHz / 7.69 MHz | ∇ -29.99% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 140.00 ns | ∇ -19.12% | 8.83 MHz / 7.14 MHz | Δ 23.64% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 18.52 us | Δ 31.91% | 40.93 KHz / 54.00 KHz | ∇ -24.19% |
matrix: chol, fix[double] 40x40 | 17.73 us / 16.55 us | Δ 7.14% | 56.40 KHz / 60.42 KHz | ∇ -6.66% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 8.20 us | Δ 31.46% | 92.77 KHz / 121.95 KHz | ∇ -23.93% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 82.90 us | Δ 42.21% | 8.48 KHz / 12.06 KHz | ∇ -29.68% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 52.70 us | Δ 33.81% | 14.18 KHz / 18.98 KHz | ∇ -25.27% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 38.59 us | Δ 36.27% | 19.02 KHz / 25.91 KHz | ∇ -26.62% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 409.80 us | Δ 19.84% | 2.04 KHz / 2.44 KHz | ∇ -16.55% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 70.75 us | Δ 21.31% | 11.65 KHz / 14.13 KHz | ∇ -17.57% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 8.58 ms | Δ 10.13% | 105.88 Hz / 116.60 Hz | ∇ -9.20% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 171.20 us | Δ 19.46% | 4.89 KHz / 5.84 KHz | ∇ -16.29% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 133.58 ms | Δ 12.39% | 6.66 Hz / 7.49 Hz | ∇ -11.02% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 341.85 us | Δ 21.57% | 2.41 KHz / 2.93 KHz | ∇ -17.74% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 354.49 ms | Δ 30.17% | 2.17 Hz / 2.82 Hz | ∇ -23.18% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 401.50 us | Δ 20.78% | 2.06 KHz / 2.49 KHz | ∇ -17.20% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 773.25 ms | Δ 22.53% | 1.06 Hz / 1.29 Hz | ∇ -18.39% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 469.25 us | Δ 24.97% | 1.71 KHz / 2.13 KHz | ∇ -19.98% |
gridmap2D: getCell | 5.77 ns / 0.00 ns | Δ 5772734.94% | 173.23 MHz / 10.00 THz | ∇ -100.00% |
gridmap2D: setCell | 7.96 ns / 2.58 ns | Δ 208.84% | 125.64 MHz / 388.02 MHz | ∇ -67.62% |
gridmap2D: updateCell | 10.80 ns / 7.84 ns | Δ 37.81% | 92.58 MHz / 127.58 MHz | ∇ -27.44% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 0.55 ns | Δ 119.68% | 826.59 MHz / 1.82 GHz | ∇ -54.48% |
gridmap2D: insert scan w/o widening | 204.23 us / 102.06 us | Δ 100.12% | 4.90 KHz / 9.80 KHz | ∇ -50.03% |
gridmap2D: insert scan with widening | 344.40 us / 289.47 us | Δ 18.98% | 2.90 KHz / 3.45 KHz | ∇ -15.95% |
gridmap2D: resize | 2.62 ms / 1.97 ms | Δ 33.18% | 381.93 Hz / 508.65 Hz | ∇ -24.91% |
gridmap2D: computeLikelihood | 18.59 us / 15.74 us | Δ 18.13% | 53.79 KHz / 63.55 KHz | ∇ -15.35% |
pointmap: insert 100 scans | 5.62 ms / 3.04 ms | Δ 84.98% | 178.02 Hz / 329.30 Hz | ∇ -45.94% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 4.32 us | Δ 43.84% | 160.93 KHz / 231.48 KHz | ∇ -30.48% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 352.12 us | Δ 45.35% | 1.95 KHz / 2.84 KHz | ∇ -31.20% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 4.14 ms | Δ 35.03% | 178.86 Hz / 241.51 Hz | ∇ -25.94% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 4.68 us | Δ 54.46% | 138.34 KHz / 213.68 KHz | ∇ -35.26% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 359.52 us | Δ 45.50% | 1.91 KHz / 2.78 KHz | ∇ -31.27% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 4.03 ms | Δ 43.34% | 173.21 Hz / 248.28 Hz | ∇ -30.23% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.41 us | Δ 46.13% | 487.07 KHz / 711.74 KHz | ∇ -31.57% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 97.21 us | Δ 44.83% | 7.10 KHz / 10.29 KHz | ∇ -30.95% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 11.62 ms | Δ 30.56% | 65.91 Hz / 86.05 Hz | ∇ -23.41% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 5.59 ms | Δ 55.44% | 115.01 Hz / 178.77 Hz | ∇ -35.67% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 129.28 ms | Δ 51.95% | 5.09 Hz / 7.73 Hz | ∇ -34.19% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 5.66 ms | Δ 54.05% | 114.60 Hz / 176.53 Hz | ∇ -35.09% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 131.22 ms | Δ 51.26% | 5.04 Hz / 7.62 Hz | ∇ -33.89% |
random: drawUniform32bit | 7.29 ns / 14.50 ns | ∇ -49.71% | 137.11 MHz / 68.95 MHz | Δ 98.85% |
random: drawUniform | 7.33 ns / 14.50 ns | ∇ -49.48% | 136.49 MHz / 68.96 MHz | Δ 97.94% |
random: drawGaussian1D_normalized | 51.27 ns / 68.97 ns | ∇ -25.66% | 19.50 MHz / 14.50 MHz | Δ 34.52% |
random: drawGaussian1D | 51.74 ns / 68.98 ns | ∇ -25.00% | 19.33 MHz / 14.50 MHz | Δ 33.32% |
random: system rand() | 29.39 ns / 10.45 ns | Δ 181.29% | 34.03 MHz / 95.72 MHz | ∇ -64.45% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 1.31 us | Δ 102.15% | 378.48 KHz / 765.12 KHz | ∇ -50.53% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 2.73 us | Δ 212.67% | 117.18 KHz / 366.37 KHz | ∇ -68.02% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 158.91 ns | Δ 35.40% | 4.65 MHz / 6.29 MHz | ∇ -26.14% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 237.40 ns | Δ 51.64% | 2.78 MHz / 4.21 MHz | ∇ -34.05% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 490.03 ns | Δ 49.40% | 1.37 MHz / 2.04 MHz | ∇ -33.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 164.67 ns | Δ 29.71% | 4.68 MHz / 6.07 MHz | ∇ -22.90% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 249.81 ns | Δ 35.82% | 2.95 MHz / 4.00 MHz | ∇ -26.37% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 514.70 ns | Δ 47.84% | 1.31 MHz / 1.94 MHz | ∇ -32.36% |
random: permuteVector (len=10) | 411.34 ns / 296.20 ns | Δ 38.87% | 2.43 MHz / 3.38 MHz | ∇ -27.99% |
random: permuteVector (len=100) | 3.59 us / 3.04 us | Δ 18.02% | 278.70 KHz / 328.91 KHz | ∇ -15.27% |
random: permuteVector (len=1000) | 34.34 us / 30.22 us | Δ 13.61% | 29.12 KHz / 33.09 KHz | ∇ -11.98% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 10.09 GHz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 35.06 ms | ∇ -20.35% | 35.81 Hz / 28.52 Hz | Δ 25.55% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 48.96 ms | ∇ -11.09% | 22.97 Hz / 20.42 Hz | Δ 12.47% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 74.65 ms | ∇ -5.21% | 14.13 Hz / 13.40 Hz | Δ 5.50% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 29.96 ms | ∇ -21.79% | 42.67 Hz / 33.37 Hz | Δ 27.87% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 42.79 ms | ∇ -14.66% | 27.39 Hz / 23.37 Hz | Δ 17.18% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 64.15 ms | ∇ -6.76% | 16.72 Hz / 15.59 Hz | Δ 7.24% |
images: Gauss filter (640x480) | 6.68 ms / 3.90 ms | Δ 71.17% | 149.74 Hz / 256.30 Hz | ∇ -41.58% |
images: Gauss filter (800x600) | 8.62 ms / 6.21 ms | Δ 38.75% | 116.03 Hz / 160.99 Hz | ∇ -27.93% |
images: Gauss filter (1024x768) | 14.49 ms / 10.55 ms | Δ 37.28% | 69.01 Hz / 94.74 Hz | ∇ -27.16% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 5.06 us | Δ 317.47% | 47.34 KHz / 197.63 KHz | ∇ -76.05% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 4.30 us | Δ 350.28% | 51.65 KHz / 232.56 KHz | ∇ -77.79% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 2.10 us | Δ 196.98% | 160.34 KHz / 476.19 KHz | ∇ -66.33% |
feature_extraction [640x480]: Harris | 40.83 ms / 24.28 ms | Δ 68.18% | 24.49 Hz / 41.19 Hz | ∇ -40.54% |
feature_extraction [640x480]: KLT | 33.62 ms / 24.43 ms | Δ 37.62% | 29.75 Hz / 40.94 Hz | ∇ -27.34% |
feature_extraction [640x480]: SIFT | 705.28 ms / 610.42 ms | Δ 15.54% | 1.42 Hz / 1.64 Hz | ∇ -13.45% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 167.77 ms | Δ 27.68% | 4.67 Hz / 5.96 Hz | ∇ -21.68% |
feature_extraction [640x480]: SURF | 326.57 ms / 197.61 ms | Δ 65.26% | 3.06 Hz / 5.06 Hz | ∇ -39.49% |
feature_extraction [640x480]: FAST | 7.69 ms / 5.24 ms | Δ 46.59% | 130.08 Hz / 190.68 Hz | ∇ -31.78% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 59.98 ms | Δ 76.56% | 9.44 Hz / 16.67 Hz | ∇ -43.36% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 40.88 ms | Δ 41.09% | 17.34 Hz / 24.46 Hz | ∇ -29.12% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 35.50 ms | Δ 41.62% | 19.89 Hz / 28.17 Hz | ∇ -29.39% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.21 sec | Δ 14.28% | 724.62 mHz / 828.07 mHz | ∇ -12.49% |
feature_matching [640x480]: SURF | 618.66 ms / 379.92 ms | Δ 62.84% | 1.62 Hz / 2.63 Hz | ∇ -38.59% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 16.06 ms | Δ 37.66% | 45.22 Hz / 62.26 Hz | ∇ -27.36% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 10.73 ms | Δ 35.90% | 68.57 Hz / 93.18 Hz | ∇ -26.41% |
graph(2d): insertEdge x 1e3 | 354.58 us / 117.65 us | Δ 201.39% | 2.82 KHz / 8.50 KHz | ∇ -66.82% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 85.19 us | Δ 233.43% | 3.52 KHz / 11.74 KHz | ∇ -70.01% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 172.53 us | Δ 218.37% | 1.82 KHz / 5.80 KHz | ∇ -68.59% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 168.61 us | Δ 168.55% | 2.21 KHz / 5.93 KHz | ∇ -62.76% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 1.73 ms | Δ 123.53% | 259.12 Hz / 579.22 Hz | ∇ -55.26% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 884.69 us | Δ 225.04% | 347.75 Hz / 1.13 KHz | ∇ -69.23% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 1.97 ms | Δ 190.71% | 174.28 Hz / 506.65 Hz | ∇ -65.60% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 1.86 ms | Δ 138.82% | 225.33 Hz / 538.12 Hz | ∇ -58.13% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 177.23 us | Δ 659.34% | 743.07 Hz / 5.64 KHz | ∇ -86.83% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 157.86 us | Δ 590.08% | 917.96 Hz / 6.33 KHz | ∇ -85.51% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 507.00 us | Δ 243.83% | 573.66 Hz / 1.97 KHz | ∇ -70.92% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 473.36 us | Δ 209.18% | 683.28 Hz / 2.11 KHz | ∇ -67.66% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 2.47 ms | Δ 463.00% | 71.86 Hz / 404.60 Hz | ∇ -82.24% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 1.75 ms | Δ 534.42% | 89.92 Hz / 570.48 Hz | ∇ -84.24% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 5.53 ms | Δ 218.11% | 56.89 Hz / 180.97 Hz | ∇ -68.56% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 4.85 ms | Δ 191.16% | 70.81 Hz / 206.16 Hz | ∇ -65.65% |