Test description | 0.9.2-MSVC9-32bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 20.74 ms | Δ 46.51% | 32.90 Hz / 48.21 Hz | ∇ -31.75% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 17.09 ms | Δ 207.68% | 19.02 Hz / 58.52 Hz | ∇ -67.50% |
poses: CPose3D (+) CPose3D | 264.70 ns / 29.76 ns | Δ 789.46% | 3.78 MHz / 33.60 MHz | ∇ -88.76% |
poses: CPose3D.composeFrom() | 98.01 ns / 21.90 ns | Δ 347.51% | 10.20 MHz / 45.66 MHz | ∇ -77.65% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 7.23 ns | Δ 285.16% | 35.89 MHz / 138.24 MHz | ∇ -74.04% |
poses: CPose3D.composePoint() | 19.17 ns / 11.67 ns | Δ 64.26% | 52.16 MHz / 85.68 MHz | ∇ -39.12% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 13.29 ns | Δ 288.80% | 19.36 MHz / 75.27 MHz | ∇ -74.28% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 24.48 ns | Δ 91.64% | 21.32 MHz / 40.85 MHz | ∇ -47.82% |
poses: CPose2D (+) CPose2D | 99.28 ns / 71.64 ns | Δ 38.57% | 10.07 MHz / 13.96 MHz | ∇ -27.84% |
poses: CPose2D.composeFrom() | 89.67 ns / 69.41 ns | Δ 29.20% | 11.15 MHz / 14.41 MHz | ∇ -22.60% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 60.78 ns | Δ 35.04% | 12.18 MHz / 16.45 MHz | ∇ -25.95% |
poses: CPose2D.composePoint() | 64.58 ns / 60.80 ns | Δ 6.22% | 15.49 MHz / 16.45 MHz | ∇ -5.85% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 40.47 ns | Δ 115.44% | 11.47 MHz / 24.71 MHz | ∇ -53.58% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 37.55 ns | Δ 52.18% | 17.50 MHz / 26.63 MHz | ∇ -34.29% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 17.39 ns | Δ 177.33% | 20.74 MHz / 57.51 MHz | ∇ -63.94% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 17.48 ns | Δ 69.53% | 33.74 MHz / 57.20 MHz | ∇ -41.01% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 32.97 ns | Δ 155.76% | 11.86 MHz / 30.33 MHz | ∇ -60.90% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 19.11 ns | Δ 60.78% | 32.55 MHz / 52.34 MHz | ∇ -37.80% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 23.42 ns | Δ 40.99% | 30.29 MHz / 42.70 MHz | ∇ -29.07% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 172.72 ns | Δ 19.67% | 4.84 MHz / 5.79 MHz | ∇ -16.44% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 671.00 ns | Δ 101.48% | 739.68 KHz / 1.49 MHz | ∇ -50.37% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 652.00 ns | Δ 115.38% | 712.12 KHz / 1.53 MHz | ∇ -53.57% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 8.74 us | Δ 164.80% | 43.20 KHz / 114.40 KHz | ∇ -62.24% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 454.10 ns | Δ 256.91% | 617.00 KHz / 2.20 MHz | ∇ -71.98% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 452.90 ns | Δ 259.80% | 613.67 KHz / 2.21 MHz | ∇ -72.21% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 7.98 us | Δ 98.35% | 63.21 KHz / 125.39 KHz | ∇ -49.58% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 17.64 ns | Δ 119.71% | 25.81 MHz / 56.71 MHz | ∇ -54.48% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 19.86 ns | Δ 94.79% | 25.85 MHz / 50.34 MHz | ∇ -48.66% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 57.06 ns | Δ 186.31% | 6.12 MHz / 17.53 MHz | ∇ -65.07% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 60.00 ns | Δ 255.10% | 4.69 MHz / 16.67 MHz | ∇ -71.84% |
matrix: unit, fix[float,3,3] | 3.56 ns / 0.00 ns | Δ 1.#J% | 280.77 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.29 ns / 0.00 ns | Δ 1.#J% | 304.17 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 2.77 ns / 0.00 ns | Δ 1.#J% | 360.95 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 6.07 ns / 0.00 ns | Δ 1.#J% | 164.80 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 242.70 ns | ∇ -30.51% | 5.93 MHz / 4.12 MHz | Δ 43.90% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 0.00 ns | Δ 1.#J% | 9.14 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 231.60 ns | ∇ -31.28% | 6.28 MHz / 4.32 MHz | Δ 45.52% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 0.00 ns | Δ 1.#J% | 11.42 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 296.50 ns | ∇ -8.15% | 3.67 MHz / 3.37 MHz | Δ 8.87% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 0.10 ns | Δ 189941.48% | 5.26 MHz / 10.00 GHz | ∇ -99.95% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 259.20 ns | ∇ -5.15% | 4.07 MHz / 3.86 MHz | Δ 5.43% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 0.00 ns | Δ 1.#J% | 7.20 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 2.09 us | Δ 696.21% | 60.00 KHz / 477.69 KHz | ∇ -87.44% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 1.79 us | Δ 622.21% | 77.41 KHz / 559.03 KHz | ∇ -86.15% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 2.43 us | Δ 447.72% | 75.16 KHz / 411.68 KHz | ∇ -81.74% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 2.16 us | Δ 346.47% | 103.53 KHz / 462.21 KHz | ∇ -77.60% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / X | 685.70 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.78 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.47 us / 767.00 ns | Δ 91.26% | 681.67 KHz / 1.30 MHz | ∇ -47.72% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 0.00 ns | Δ 1.#J% | 32.47 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / X | 227.86 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.39 us / X | 718.96 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.05 us / 1.78 us | Δ 183.45% | 198.20 KHz / 561.80 KHz | ∇ -64.72% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 1.73 us | ∇ -45.35% | 1.06 MHz / 578.70 KHz | Δ 82.99% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / X | 12.41 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 39.77 us / X | 25.14 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 106.06 us / 16.27 us | Δ 551.98% | 9.43 KHz / 61.47 KHz | ∇ -84.66% |
matrix: inv, fix[double] 20x20 | 18.99 us / 13.44 us | Δ 41.33% | 52.65 KHz / 74.41 KHz | ∇ -29.25% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / X | 1.68 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 302.87 us / X | 3.30 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 805.07 us / 68.00 us | Δ 1083.84% | 1.24 KHz / 14.70 KHz | ∇ -91.55% |
matrix: inv, fix[double] 40x40 | 129.27 us / 63.01 us | Δ 105.17% | 7.74 KHz / 15.87 KHz | ∇ -51.26% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / X | 125.45 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 2x2 | 8.47 ns / 209.40 ns | ∇ -95.96% | 118.07 MHz / 4.78 MHz | Δ 2372.42% |
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 | 20.83 ns / X | 48.00 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 331.30 ns | ∇ -95.20% | 62.90 MHz / 3.02 MHz | Δ 1984.02% |
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 | 2.28 us / X | 438.79 KHz / X | ||
matrix: det, fix[float ] 6x6 | 455.22 ns / X | 2.20 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.27 us / 943.70 ns | Δ 140.48% | 440.64 KHz / 1.06 MHz | ∇ -58.42% |
matrix: det, fix[double] 6x6 | 409.52 ns / 575.90 ns | ∇ -28.89% | 2.44 MHz / 1.74 MHz | Δ 40.63% |
matrix: det, dyn[float ] 20x20 | 18.23 us / X | 54.86 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.64 us / X | 103.77 KHz / X | ||
matrix: det, dyn[double] 20x20 | 17.63 us / 8.10 us | Δ 117.54% | 56.72 KHz / 123.40 KHz | ∇ -54.03% |
matrix: det, fix[double] 20x20 | 6.19 us / 7.48 us | ∇ -17.33% | 161.63 KHz / 133.61 KHz | Δ 20.97% |
matrix: det, dyn[float ] 40x40 | 109.51 us / X | 9.13 KHz / X | ||
matrix: det, fix[float ] 40x40 | 61.78 us / X | 16.19 KHz / X | ||
matrix: det, dyn[double] 40x40 | 112.43 us / 30.87 us | Δ 264.17% | 8.89 KHz / 32.39 KHz | ∇ -72.54% |
matrix: det, fix[double] 40x40 | 35.24 us / 29.01 us | Δ 21.46% | 28.38 KHz / 34.47 KHz | ∇ -17.67% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 530.00 ns | ∇ -67.53% | 5.81 MHz / 1.89 MHz | Δ 207.95% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 120.00 ns | ∇ -1.87% | 8.49 MHz / 8.33 MHz | Δ 1.90% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 20.70 us | Δ 17.89% | 40.98 KHz / 48.31 KHz | ∇ -15.17% |
matrix: chol, fix[double] 40x40 | 17.68 us / 16.54 us | Δ 6.87% | 56.57 KHz / 60.46 KHz | ∇ -6.43% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 12.20 us | ∇ -30.95% | 118.71 KHz / 81.97 KHz | Δ 44.82% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 87.70 us | Δ 35.46% | 8.42 KHz / 11.40 KHz | ∇ -26.18% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 51.70 us | Δ 35.00% | 14.33 KHz / 19.34 KHz | ∇ -25.92% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 38.27 us | Δ 37.28% | 19.03 KHz / 26.13 KHz | ∇ -27.16% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 255.50 us | Δ 82.42% | 2.15 KHz / 3.91 KHz | ∇ -45.18% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 70.94 us | Δ 25.47% | 11.24 KHz / 14.10 KHz | ∇ -20.30% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 2.75 ms | Δ 239.05% | 107.25 Hz / 363.64 Hz | ∇ -70.51% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 169.22 us | Δ 18.91% | 4.97 KHz / 5.91 KHz | ∇ -15.90% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 22.06 ms | Δ 525.87% | 7.24 Hz / 45.33 Hz | ∇ -84.02% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 339.61 us | Δ 18.21% | 2.49 KHz / 2.94 KHz | ∇ -15.40% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 36.67 ms | Δ 1137.15% | 2.20 Hz / 27.27 Hz | ∇ -91.92% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 402.38 us | Δ 17.84% | 2.11 KHz / 2.49 KHz | ∇ -15.14% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 53.86 ms | Δ 1654.77% | 1.06 Hz / 18.57 Hz | ∇ -94.30% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 476.81 us | Δ 15.93% | 1.81 KHz / 2.10 KHz | ∇ -13.74% |
gridmap2D: getCell | 5.57 ns / 0.00 ns | Δ 1.#J% | 179.64 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 7.80 ns / 2.71 ns | Δ 188.15% | 128.17 MHz / 369.33 MHz | ∇ -65.30% |
gridmap2D: updateCell | 10.65 ns / 6.04 ns | Δ 76.29% | 93.93 MHz / 165.59 MHz | ∇ -43.28% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.61 ns | Δ 95.03% | 834.82 MHz / 1.63 GHz | ∇ -48.73% |
gridmap2D: insert scan w/o widening | 202.10 us / 99.83 us | Δ 102.44% | 4.95 KHz / 10.02 KHz | ∇ -50.60% |
gridmap2D: insert scan with widening | 338.79 us / 293.13 us | Δ 15.58% | 2.95 KHz / 3.41 KHz | ∇ -13.48% |
gridmap2D: resize | 3.58 ms / 630.00 us | Δ 468.08% | 279.42 Hz / 1.59 KHz | ∇ -82.40% |
gridmap2D: computeLikelihood | 18.09 us / 17.81 us | Δ 1.56% | 55.28 KHz / 56.14 KHz | ∇ -1.54% |
pointmap: insert 100 scans | 5.50 ms / 1.01 ms | Δ 444.47% | 181.98 Hz / 990.80 Hz | ∇ -81.63% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 4.52 us | Δ 39.08% | 159.07 KHz / 221.24 KHz | ∇ -28.10% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 364.44 us | Δ 42.88% | 1.92 KHz / 2.74 KHz | ∇ -30.01% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 4.38 ms | Δ 25.61% | 181.67 Hz / 228.21 Hz | ∇ -20.39% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 5.16 us | Δ 25.34% | 154.62 KHz / 193.80 KHz | ∇ -20.22% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 372.44 us | Δ 41.39% | 1.90 KHz / 2.68 KHz | ∇ -29.27% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 4.20 ms | Δ 34.11% | 177.52 Hz / 238.06 Hz | ∇ -25.43% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.42 us | Δ 43.49% | 490.44 KHz / 703.73 KHz | ∇ -30.31% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 101.86 us | Δ 35.28% | 7.26 KHz / 9.82 KHz | ∇ -26.08% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 12.17 ms | Δ 22.26% | 67.19 Hz / 82.15 Hz | ∇ -18.21% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 5.64 ms | Δ 51.90% | 116.69 Hz / 177.25 Hz | ∇ -34.17% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 132.76 ms | Δ 44.34% | 5.22 Hz / 7.53 Hz | ∇ -30.72% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 5.71 ms | Δ 51.19% | 115.78 Hz / 175.04 Hz | ∇ -33.86% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 134.74 ms | Δ 44.65% | 5.13 Hz / 7.42 Hz | ∇ -30.87% |
random: drawUniform32bit | 7.21 ns / 14.55 ns | ∇ -50.43% | 138.68 MHz / 68.75 MHz | Δ 101.73% |
random: drawUniform | 7.18 ns / 14.56 ns | ∇ -50.67% | 139.23 MHz / 68.69 MHz | Δ 102.70% |
random: drawGaussian1D_normalized | 51.37 ns / 66.87 ns | ∇ -23.17% | 19.47 MHz / 14.96 MHz | Δ 30.16% |
random: drawGaussian1D | 51.39 ns / 66.81 ns | ∇ -23.08% | 19.46 MHz / 14.97 MHz | Δ 30.01% |
random: system rand() | 28.61 ns / 10.63 ns | Δ 169.27% | 34.95 MHz / 94.11 MHz | ∇ -62.86% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 903.36 ns | Δ 182.64% | 391.65 KHz / 1.11 MHz | ∇ -64.62% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 1.61 us | Δ 418.97% | 119.66 KHz / 621.01 KHz | ∇ -80.73% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 144.65 ns | Δ 47.90% | 4.67 MHz / 6.91 MHz | ∇ -32.39% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 219.48 ns | Δ 47.94% | 3.08 MHz / 4.56 MHz | ∇ -32.40% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 472.80 ns | Δ 75.49% | 1.21 MHz / 2.12 MHz | ∇ -43.02% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 152.29 ns | Δ 41.10% | 4.65 MHz / 6.57 MHz | ∇ -29.13% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 235.04 ns | Δ 55.29% | 2.74 MHz / 4.25 MHz | ∇ -35.61% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 491.60 ns | Δ 54.62% | 1.32 MHz / 2.03 MHz | ∇ -35.33% |
random: permuteVector (len=10) | 420.57 ns / 243.60 ns | Δ 72.65% | 2.38 MHz / 4.11 MHz | ∇ -42.08% |
random: permuteVector (len=100) | 3.56 us / 2.99 us | Δ 19.16% | 281.12 KHz / 334.99 KHz | ∇ -16.08% |
random: permuteVector (len=1000) | 33.55 us / 29.51 us | Δ 13.68% | 29.80 KHz / 33.88 KHz | ∇ -12.03% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 10.08 GHz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 33.63 ms | ∇ -15.55% | 35.21 Hz / 29.74 Hz | Δ 18.41% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 49.85 ms | ∇ -12.31% | 22.88 Hz / 20.06 Hz | Δ 14.03% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 69.59 ms | Δ 0.84% | 14.25 Hz / 14.37 Hz | ∇ -0.83% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 30.64 ms | ∇ -21.32% | 41.48 Hz / 32.63 Hz | Δ 27.09% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 43.91 ms | ∇ -15.67% | 27.01 Hz / 22.78 Hz | Δ 18.58% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 62.52 ms | ∇ -4.83% | 16.80 Hz / 15.99 Hz | Δ 5.07% |
images: Gauss filter (640x480) | 5.29 ms / 3.81 ms | Δ 39.06% | 188.95 Hz / 262.76 Hz | ∇ -28.09% |
images: Gauss filter (800x600) | 8.36 ms / 5.96 ms | Δ 40.17% | 119.64 Hz / 167.70 Hz | ∇ -28.66% |
images: Gauss filter (1024x768) | 13.88 ms / 10.46 ms | Δ 32.69% | 72.06 Hz / 95.61 Hz | ∇ -24.63% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 12.69 us | Δ 46.83% | 53.67 KHz / 78.80 KHz | ∇ -31.89% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 9.85 us | Δ 81.58% | 55.91 KHz / 101.52 KHz | ∇ -44.93% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 5.24 us | ∇ -3.54% | 197.84 KHz / 190.84 KHz | Δ 3.67% |
feature_extraction [640x480]: Harris | 33.27 ms / 21.14 ms | Δ 57.37% | 30.06 Hz / 47.31 Hz | ∇ -36.46% |
feature_extraction [640x480]: KLT | 31.21 ms / 21.45 ms | Δ 45.50% | 32.04 Hz / 46.61 Hz | ∇ -31.27% |
feature_extraction [640x480]: SIFT | 675.81 ms / 591.25 ms | Δ 14.30% | 1.48 Hz / 1.69 Hz | ∇ -12.51% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 162.82 ms | Δ 33.40% | 4.60 Hz / 6.14 Hz | ∇ -25.04% |
feature_extraction [640x480]: SURF | 316.97 ms / 197.33 ms | Δ 60.63% | 3.15 Hz / 5.07 Hz | ∇ -37.74% |
feature_extraction [640x480]: FAST | 7.82 ms / 6.89 ms | Δ 13.48% | 127.91 Hz / 145.15 Hz | ∇ -11.88% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 63.90 ms | Δ 61.79% | 9.67 Hz / 15.65 Hz | ∇ -38.19% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 38.54 ms | Δ 45.93% | 17.78 Hz / 25.95 Hz | ∇ -31.48% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 33.59 ms | Δ 41.56% | 21.03 Hz / 29.77 Hz | ∇ -29.36% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.16 sec | Δ 15.77% | 745.82 mHz / 863.45 mHz | ∇ -13.62% |
feature_matching [640x480]: SURF | 606.64 ms / 375.89 ms | Δ 61.39% | 1.65 Hz / 2.66 Hz | ∇ -38.04% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 15.89 ms | Δ 40.76% | 44.72 Hz / 62.95 Hz | ∇ -28.96% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 10.48 ms | Δ 43.08% | 66.69 Hz / 95.42 Hz | ∇ -30.11% |
graph(2d): insertEdge x 1e3 | 313.03 us / 158.24 us | Δ 97.82% | 3.19 KHz / 6.32 KHz | ∇ -49.45% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 133.69 us | Δ 129.96% | 3.25 KHz / 7.48 KHz | ∇ -56.51% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 84.43 us | Δ 163.71% | 4.49 KHz / 11.84 KHz | ∇ -62.08% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 81.78 us | Δ 172.54% | 4.49 KHz / 12.23 KHz | ∇ -63.31% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 207.17 us | Δ 149.52% | 1.93 KHz / 4.83 KHz | ∇ -59.92% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 232.57 us | Δ 122.37% | 1.93 KHz / 4.30 KHz | ∇ -55.03% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 246.74 us | Δ 64.53% | 2.46 KHz / 4.05 KHz | ∇ -39.22% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 192.59 us | Δ 109.50% | 2.48 KHz / 5.19 KHz | ∇ -52.27% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 2.08 ms | Δ 61.48% | 297.28 Hz / 480.05 Hz | ∇ -38.07% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 1.62 ms | Δ 107.03% | 298.76 Hz / 618.53 Hz | ∇ -51.70% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 870.19 us | Δ 155.08% | 450.51 Hz / 1.15 KHz | ∇ -60.80% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 846.92 us | Δ 162.27% | 450.21 Hz / 1.18 KHz | ∇ -61.87% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 2.34 ms | Δ 132.94% | 183.37 Hz / 427.14 Hz | ∇ -57.07% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 2.81 ms | Δ 93.61% | 183.91 Hz / 356.06 Hz | ∇ -48.35% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 2.13 ms | Δ 91.40% | 245.74 Hz / 470.35 Hz | ∇ -47.75% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 2.13 ms | Δ 90.31% | 246.50 Hz / 469.13 Hz | ∇ -47.45% |
graph(3d): insertEdge x 1e3 | 447.20 us / 220.82 us | Δ 102.52% | 2.24 KHz / 4.53 KHz | ∇ -50.62% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 221.81 us | Δ 99.32% | 2.26 KHz / 4.51 KHz | ∇ -49.83% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 183.18 us | Δ 89.26% | 2.88 KHz / 5.46 KHz | ∇ -47.16% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 186.52 us | Δ 86.15% | 2.88 KHz / 5.36 KHz | ∇ -46.28% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 532.35 us | Δ 77.33% | 1.06 KHz / 1.88 KHz | ∇ -43.61% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 537.98 us | Δ 81.81% | 1.02 KHz / 1.86 KHz | ∇ -45.00% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 487.59 us | Δ 62.67% | 1.26 KHz / 2.05 KHz | ∇ -38.53% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 493.50 us | Δ 60.80% | 1.26 KHz / 2.03 KHz | ∇ -37.81% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 2.78 ms | Δ 66.13% | 216.43 Hz / 359.55 Hz | ∇ -39.81% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 2.77 ms | Δ 66.39% | 216.67 Hz / 360.52 Hz | ∇ -39.90% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 2.09 ms | Δ 66.25% | 287.28 Hz / 477.61 Hz | ∇ -39.85% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 2.05 ms | Δ 69.23% | 287.84 Hz / 487.11 Hz | ∇ -40.91% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 7.36 ms | Δ 43.33% | 94.75 Hz / 135.81 Hz | ∇ -30.23% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 6.97 ms | Δ 39.86% | 102.54 Hz / 143.42 Hz | ∇ -28.50% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 5.29 ms | Δ 50.06% | 126.08 Hz / 189.20 Hz | ∇ -33.36% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 5.49 ms | Δ 44.75% | 125.93 Hz / 182.28 Hz | ∇ -30.91% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 90.55 us | Δ 189.53% | 3.81 KHz / 11.04 KHz | ∇ -65.46% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 83.50 us | Δ 335.52% | 2.75 KHz / 11.98 KHz | ∇ -77.04% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 1.13 ms | Δ 162.45% | 336.14 Hz / 882.20 Hz | ∇ -61.90% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 767.67 us | Δ 328.86% | 303.75 Hz / 1.30 KHz | ∇ -76.68% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 21.12 ms | Δ 61.99% | 29.23 Hz / 47.35 Hz | ∇ -38.27% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 10.86 ms | Δ 250.98% | 26.23 Hz / 92.06 Hz | ∇ -71.51% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 341.35 ms | Δ 14.12% | 2.57 Hz / 2.93 Hz | ∇ -12.37% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 142.53 ms | Δ 200.73% | 2.33 Hz / 7.02 Hz | ∇ -66.75% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 320.28 ms | Δ 19.30% | 2.62 Hz / 3.12 Hz | ∇ -16.18% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 133.66 ms | Δ 212.33% | 2.40 Hz / 7.48 Hz | ∇ -67.98% |