Test description | 0.9.4-GCC-64bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 19.99 ms | Δ 3.78% | 48.21 Hz / 50.03 Hz | ∇ -3.64% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 19.29 ms | ∇ -11.41% | 58.52 Hz / 51.84 Hz | Δ 12.89% |
poses: CPose3D (+) CPose3D | 29.76 ns / 42.85 ns | ∇ -30.55% | 33.60 MHz / 23.34 MHz | Δ 43.99% |
poses: CPose3D.composeFrom() | 21.90 ns / 37.80 ns | ∇ -42.06% | 45.66 MHz / 26.46 MHz | Δ 72.60% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 7.25 ns | ∇ -0.25% | 138.24 MHz / 137.89 MHz | Δ 0.25% |
poses: CPose3D.composePoint() | 11.67 ns / 11.91 ns | ∇ -1.98% | 85.68 MHz / 83.98 MHz | Δ 2.02% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 48.98 ns | ∇ -72.88% | 75.27 MHz / 20.42 MHz | Δ 268.67% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 34.95 ns | ∇ -29.96% | 40.85 MHz / 28.61 MHz | Δ 42.78% |
poses: CPose2D (+) CPose2D | 71.64 ns / 78.58 ns | ∇ -8.82% | 13.96 MHz / 12.73 MHz | Δ 9.68% |
poses: CPose2D.composeFrom() | 69.41 ns / 70.31 ns | ∇ -1.29% | 14.41 MHz / 14.22 MHz | Δ 1.31% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 61.33 ns | ∇ -0.90% | 16.45 MHz / 16.31 MHz | Δ 0.91% |
poses: CPose2D.composePoint() | 60.80 ns / 65.17 ns | ∇ -6.70% | 16.45 MHz / 15.35 MHz | Δ 7.18% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 44.66 ns | ∇ -9.38% | 24.71 MHz / 22.39 MHz | Δ 10.35% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 39.43 ns | ∇ -4.77% | 26.63 MHz / 25.36 MHz | Δ 5.01% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 18.24 ns | ∇ -4.65% | 57.51 MHz / 54.84 MHz | Δ 4.88% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 17.94 ns | ∇ -2.53% | 57.20 MHz / 55.75 MHz | Δ 2.60% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 55.43 ns | ∇ -40.52% | 30.33 MHz / 18.04 MHz | Δ 68.12% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 17.64 ns | Δ 8.31% | 52.34 MHz / 56.69 MHz | ∇ -7.67% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 16.70 ns | Δ 40.26% | 42.70 MHz / 59.89 MHz | ∇ -28.71% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 169.28 ns | Δ 2.03% | 5.79 MHz / 5.91 MHz | ∇ -1.99% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 760.96 us | ∇ -99.91% | 1.49 MHz / 1.31 KHz | Δ 113306.11% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 760.62 us | ∇ -99.91% | 1.53 MHz / 1.31 KHz | Δ 116559.13% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 9.47 us | ∇ -7.74% | 114.40 KHz / 105.55 KHz | Δ 8.39% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 545.30 ns | ∇ -16.72% | 2.20 MHz / 1.83 MHz | Δ 20.08% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 544.10 ns | ∇ -16.76% | 2.21 MHz / 1.84 MHz | Δ 20.14% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 8.11 us | ∇ -1.64% | 125.39 KHz / 123.33 KHz | Δ 1.66% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 20.92 ns | ∇ -15.69% | 56.71 MHz / 47.81 MHz | Δ 18.62% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 20.15 ns | ∇ -1.42% | 50.34 MHz / 49.63 MHz | Δ 1.44% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 54.04 ns | Δ 5.59% | 17.53 MHz / 18.51 MHz | ∇ -5.29% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 55.27 ns | Δ 8.56% | 16.67 MHz / 18.09 MHz | ∇ -7.89% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.89 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 842.46 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 0.00 ns / 1.70 ns | ∇ -100.00% | 1.#J THz / 588.93 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 2.77 ns | ∇ -100.00% | 1.#J THz / 360.36 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 73.10 ns | Δ 232.01% | 4.12 MHz / 13.68 MHz | ∇ -69.88% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 23.80 ns | ∇ -100.00% | 1.#J THz / 42.02 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 231.60 ns / 72.40 ns | Δ 219.89% | 4.32 MHz / 13.81 MHz | ∇ -68.74% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.40 ns | ∇ -100.00% | 1.#J THz / 42.74 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 296.50 ns / 110.50 ns | Δ 168.33% | 3.37 MHz / 9.05 MHz | ∇ -62.73% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 45.10 ns | ∇ -99.78% | 10.00 GHz / 22.17 MHz | Δ 45000.00% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 116.30 ns | Δ 122.87% | 3.86 MHz / 8.60 MHz | ∇ -55.13% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 45.20 ns | ∇ -100.00% | 1.#J THz / 22.12 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 5.19 us | ∇ -59.64% | 477.69 KHz / 192.77 KHz | Δ 147.80% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 3.55 us | ∇ -49.64% | 559.03 KHz / 281.56 KHz | Δ 98.55% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 5.18 us | ∇ -53.11% | 411.68 KHz / 193.05 KHz | Δ 113.25% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 3.61 us | ∇ -40.06% | 462.21 KHz / 277.05 KHz | Δ 66.83% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 329.00 ns | Δ 133.13% | 1.30 MHz / 3.04 MHz | ∇ -57.11% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 21.00 ns | ∇ -100.00% | 1.#J THz / 47.62 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 1.20 us | Δ 48.21% | 561.80 KHz / 832.64 KHz | ∇ -32.53% |
matrix: inv, fix[double] 6x6 | 1.73 us / 578.00 ns | Δ 198.96% | 578.70 KHz / 1.73 MHz | ∇ -66.55% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 25.64 us | ∇ -36.55% | 61.47 KHz / 39.01 KHz | Δ 57.60% |
matrix: inv, fix[double] 20x20 | 13.44 us / 17.36 us | ∇ -22.60% | 74.41 KHz / 57.60 KHz | Δ 29.19% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 189.04 us | ∇ -64.03% | 14.70 KHz / 5.29 KHz | Δ 177.98% |
matrix: inv, fix[double] 40x40 | 63.01 us / 121.47 us | ∇ -48.13% | 15.87 KHz / 8.23 KHz | Δ 92.79% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 6.40 ns | Δ 3171.88% | 4.78 MHz / 156.25 MHz | ∇ -96.94% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 331.30 ns / 10.30 ns | Δ 3116.50% | 3.02 MHz / 97.09 MHz | ∇ -96.89% |
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 | 943.70 ns / 696.30 ns | Δ 35.53% | 1.06 MHz / 1.44 MHz | ∇ -26.22% |
matrix: det, fix[double] 6x6 | 575.90 ns / 212.30 ns | Δ 171.27% | 1.74 MHz / 4.71 MHz | ∇ -63.14% |
matrix: det, dyn[double] 20x20 | 8.10 us / 6.40 us | Δ 26.55% | 123.40 KHz / 156.16 KHz | ∇ -20.98% |
matrix: det, fix[double] 20x20 | 7.48 us / 4.72 us | Δ 58.50% | 133.61 KHz / 211.77 KHz | ∇ -36.91% |
matrix: det, dyn[double] 40x40 | 30.87 us / 32.49 us | ∇ -4.99% | 32.39 KHz / 30.77 KHz | Δ 5.26% |
matrix: det, fix[double] 40x40 | 29.01 us / 27.34 us | Δ 6.13% | 34.47 KHz / 36.58 KHz | ∇ -5.77% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 130.00 ns | Δ 307.69% | 1.89 MHz / 7.69 MHz | ∇ -75.47% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 140.00 ns | ∇ -14.29% | 8.33 MHz / 7.14 MHz | Δ 16.67% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 18.52 us | Δ 11.77% | 48.31 KHz / 54.00 KHz | ∇ -10.53% |
matrix: chol, fix[double] 40x40 | 16.54 us / 16.55 us | ∇ -0.06% | 60.46 KHz / 60.42 KHz | Δ 0.06% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 8.20 us | Δ 48.78% | 81.97 KHz / 121.95 KHz | ∇ -32.79% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 82.90 us | Δ 5.79% | 11.40 KHz / 12.06 KHz | ∇ -5.47% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 52.70 us | ∇ -1.90% | 19.34 KHz / 18.98 KHz | Δ 1.93% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 38.59 us | ∇ -0.83% | 26.13 KHz / 25.91 KHz | Δ 0.84% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 409.80 us | ∇ -37.65% | 3.91 KHz / 2.44 KHz | Δ 60.39% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 70.75 us | Δ 0.27% | 14.10 KHz / 14.13 KHz | ∇ -0.27% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 8.58 ms | ∇ -67.93% | 363.64 Hz / 116.60 Hz | Δ 211.85% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 171.20 us | ∇ -1.16% | 5.91 KHz / 5.84 KHz | Δ 1.17% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 133.58 ms | ∇ -83.49% | 45.33 Hz / 7.49 Hz | Δ 505.55% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 341.85 us | ∇ -0.66% | 2.94 KHz / 2.93 KHz | Δ 0.66% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 354.49 ms | ∇ -89.66% | 27.27 Hz / 2.82 Hz | Δ 866.79% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 401.50 us | Δ 0.22% | 2.49 KHz / 2.49 KHz | ∇ -0.22% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 773.25 ms | ∇ -93.03% | 18.57 Hz / 1.29 Hz | Δ 1335.59% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 469.25 us | Δ 1.61% | 2.10 KHz / 2.13 KHz | ∇ -1.59% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 10.00 THz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 2.58 ns | Δ 5.06% | 369.33 MHz / 388.02 MHz | ∇ -4.82% |
gridmap2D: updateCell | 6.04 ns / 7.84 ns | ∇ -22.95% | 165.59 MHz / 127.58 MHz | Δ 29.79% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 0.55 ns | Δ 11.53% | 1.63 GHz / 1.82 GHz | ∇ -10.34% |
gridmap2D: insert scan w/o widening | 99.83 us / 102.06 us | ∇ -2.18% | 10.02 KHz / 9.80 KHz | Δ 2.23% |
gridmap2D: insert scan with widening | 293.13 us / 289.47 us | Δ 1.26% | 3.41 KHz / 3.45 KHz | ∇ -1.25% |
gridmap2D: resize | 630.00 us / 1.97 ms | ∇ -67.96% | 1.59 KHz / 508.65 Hz | Δ 212.06% |
gridmap2D: computeLikelihood | 17.81 us / 15.74 us | Δ 13.19% | 56.14 KHz / 63.55 KHz | ∇ -11.65% |
pointmap: insert 100 scans | 1.01 ms / 3.04 ms | ∇ -66.76% | 990.80 Hz / 329.30 Hz | Δ 200.88% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 4.32 us | Δ 4.63% | 221.24 KHz / 231.48 KHz | ∇ -4.42% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 352.12 us | Δ 3.50% | 2.74 KHz / 2.84 KHz | ∇ -3.38% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 4.14 ms | Δ 5.83% | 228.21 Hz / 241.51 Hz | ∇ -5.51% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 4.68 us | Δ 10.26% | 193.80 KHz / 213.68 KHz | ∇ -9.30% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 359.52 us | Δ 3.59% | 2.68 KHz / 2.78 KHz | ∇ -3.47% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 4.03 ms | Δ 4.29% | 238.06 Hz / 248.28 Hz | ∇ -4.11% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.41 us | Δ 1.14% | 703.73 KHz / 711.74 KHz | ∇ -1.13% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 97.21 us | Δ 4.78% | 9.82 KHz / 10.29 KHz | ∇ -4.56% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 11.62 ms | Δ 4.74% | 82.15 Hz / 86.05 Hz | ∇ -4.53% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 5.59 ms | Δ 0.86% | 177.25 Hz / 178.77 Hz | ∇ -0.85% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 129.28 ms | Δ 2.69% | 7.53 Hz / 7.73 Hz | ∇ -2.62% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 5.66 ms | Δ 0.85% | 175.04 Hz / 176.53 Hz | ∇ -0.85% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 131.22 ms | Δ 2.68% | 7.42 Hz / 7.62 Hz | ∇ -2.61% |
random: drawUniform32bit | 14.55 ns / 14.50 ns | Δ 0.29% | 68.75 MHz / 68.95 MHz | ∇ -0.29% |
random: drawUniform | 14.56 ns / 14.50 ns | Δ 0.39% | 68.69 MHz / 68.96 MHz | ∇ -0.39% |
random: drawGaussian1D_normalized | 66.87 ns / 68.97 ns | ∇ -3.05% | 14.96 MHz / 14.50 MHz | Δ 3.15% |
random: drawGaussian1D | 66.81 ns / 68.98 ns | ∇ -3.15% | 14.97 MHz / 14.50 MHz | Δ 3.25% |
random: system rand() | 10.63 ns / 10.45 ns | Δ 1.71% | 94.11 MHz / 95.72 MHz | ∇ -1.68% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 1.31 us | ∇ -30.88% | 1.11 MHz / 765.12 KHz | Δ 44.68% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 2.73 us | ∇ -41.00% | 621.01 KHz / 366.37 KHz | Δ 69.50% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 158.91 ns | ∇ -8.97% | 6.91 MHz / 6.29 MHz | Δ 9.86% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 237.40 ns | ∇ -7.55% | 4.56 MHz / 4.21 MHz | Δ 8.17% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 490.03 ns | ∇ -3.52% | 2.12 MHz / 2.04 MHz | Δ 3.65% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 164.67 ns | ∇ -7.52% | 6.57 MHz / 6.07 MHz | Δ 8.13% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 249.81 ns | ∇ -5.92% | 4.25 MHz / 4.00 MHz | Δ 6.29% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 514.70 ns | ∇ -4.49% | 2.03 MHz / 1.94 MHz | Δ 4.70% |
random: permuteVector (len=10) | 243.60 ns / 296.20 ns | ∇ -17.76% | 4.11 MHz / 3.38 MHz | Δ 21.59% |
random: permuteVector (len=100) | 2.99 us / 3.04 us | ∇ -1.81% | 334.99 KHz / 328.91 KHz | Δ 1.85% |
random: permuteVector (len=1000) | 29.51 us / 30.22 us | ∇ -2.34% | 33.88 KHz / 33.09 KHz | Δ 2.40% |
math: round | 0.10 ns / 0.10 ns | Δ 0.08% | 10.08 GHz / 10.09 GHz | ∇ -0.08% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 35.06 ms | ∇ -4.09% | 29.74 Hz / 28.52 Hz | Δ 4.26% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 48.96 ms | Δ 1.81% | 20.06 Hz / 20.42 Hz | ∇ -1.78% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 74.65 ms | ∇ -6.78% | 14.37 Hz / 13.40 Hz | Δ 7.27% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 29.96 ms | Δ 2.27% | 32.63 Hz / 33.37 Hz | ∇ -2.22% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 42.79 ms | Δ 2.61% | 22.78 Hz / 23.37 Hz | ∇ -2.55% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 64.15 ms | ∇ -2.53% | 15.99 Hz / 15.59 Hz | Δ 2.60% |
images: Gauss filter (640x480) | 3.81 ms / 3.90 ms | ∇ -2.46% | 262.76 Hz / 256.30 Hz | Δ 2.52% |
images: Gauss filter (800x600) | 5.96 ms / 6.21 ms | ∇ -4.00% | 167.70 Hz / 160.99 Hz | Δ 4.17% |
images: Gauss filter (1024x768) | 10.46 ms / 10.55 ms | ∇ -0.90% | 95.61 Hz / 94.74 Hz | Δ 0.91% |
images: Half sample GRAY (160x120) | 1.04 us / X | 961.54 KHz / X | ||
images: Half sample GRAY (320x240) | 2.91 us / X | 344.04 KHz / X | ||
images: Half sample GRAY (640x480) | 14.63 us / X | 68.35 KHz / X | ||
images: Half sample GRAY (800x600) | 27.61 us / X | 36.21 KHz / X | ||
images: Half sample GRAY (1024x768) | 43.98 us / X | 22.74 KHz / X | ||
images: Half sample GRAY (1280x1024) | 84.93 us / X | 11.77 KHz / X | ||
images: Half sample RGB (160x120) | 2.35 us / X | 426.14 KHz / X | ||
images: Half sample RGB (320x240) | 8.97 us / X | 111.44 KHz / X | ||
images: Half sample RGB (640x480) | 49.58 us / X | 20.17 KHz / X | ||
images: Half sample RGB (800x600) | 83.52 us / X | 11.97 KHz / X | ||
images: Half sample RGB (1024x768) | 175.02 us / X | 5.71 KHz / X | ||
images: Half sample RGB (1280x1024) | 434.33 us / X | 2.30 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.52 us / X | 656.46 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 5.05 us / X | 197.89 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 27.35 us / X | 36.57 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 41.00 us / X | 24.39 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 70.54 us / X | 14.18 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 147.17 us / X | 6.80 KHz / X | ||
images: Half sample smooth RGB (160x120) | 87.34 us / X | 11.45 KHz / X | ||
images: Half sample smooth RGB (320x240) | 341.55 us / X | 2.93 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.35 ms / X | 740.73 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.13 ms / X | 468.44 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.55 ms / X | 281.93 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.52 ms / X | 153.40 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.95 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.78 us / X | 359.28 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 9.91 us / X | 100.91 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.89 us / X | 25.07 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 157.22 us / X | 6.36 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 266.94 us / X | 3.75 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 485.16 us / X | 2.06 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 926.17 us / X | 1.08 KHz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 12.69 us / 5.06 us | Δ 150.79% | 78.80 KHz / 197.63 KHz | ∇ -60.13% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 4.30 us | Δ 129.07% | 101.52 KHz / 232.56 KHz | ∇ -56.35% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 2.10 us | Δ 149.52% | 190.84 KHz / 476.19 KHz | ∇ -59.92% |
feature_extraction [640x480]: Harris | 21.14 ms / 24.28 ms | ∇ -12.92% | 47.31 Hz / 41.19 Hz | Δ 14.84% |
feature_extraction [640x480]: KLT | 21.45 ms / 24.43 ms | ∇ -12.17% | 46.61 Hz / 40.94 Hz | Δ 13.86% |
feature_extraction [640x480]: SIFT | 591.25 ms / 610.42 ms | ∇ -3.14% | 1.69 Hz / 1.64 Hz | Δ 3.24% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 167.77 ms | ∇ -2.95% | 6.14 Hz / 5.96 Hz | Δ 3.04% |
feature_extraction [640x480]: SURF | 197.33 ms / 197.61 ms | ∇ -0.14% | 5.07 Hz / 5.06 Hz | Δ 0.14% |
feature_extraction [640x480]: FAST | 6.89 ms / 5.24 ms | Δ 31.37% | 145.15 Hz / 190.68 Hz | ∇ -23.88% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 59.98 ms | Δ 6.53% | 15.65 Hz / 16.67 Hz | ∇ -6.13% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 40.88 ms | ∇ -5.73% | 25.95 Hz / 24.46 Hz | Δ 6.07% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 35.50 ms | ∇ -5.37% | 29.77 Hz / 28.17 Hz | Δ 5.67% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.21 sec | ∇ -4.10% | 863.45 mHz / 828.07 mHz | Δ 4.27% |
feature_matching [640x480]: SURF | 375.89 ms / 379.92 ms | ∇ -1.06% | 2.66 Hz / 2.63 Hz | Δ 1.07% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 16.06 ms | ∇ -1.10% | 62.95 Hz / 62.26 Hz | Δ 1.11% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 10.73 ms | ∇ -2.35% | 95.42 Hz / 93.18 Hz | Δ 2.41% |
graph(2d): insertEdge x 1e3 | 158.24 us / 117.65 us | Δ 34.50% | 6.32 KHz / 8.50 KHz | ∇ -25.65% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 105.13 us | Δ 27.17% | 7.48 KHz / 9.51 KHz | ∇ -21.37% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 85.19 us | ∇ -0.89% | 11.84 KHz / 11.74 KHz | Δ 0.90% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 84.46 us | ∇ -3.18% | 12.23 KHz / 11.84 KHz | Δ 3.29% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 172.53 us | Δ 20.08% | 4.83 KHz / 5.80 KHz | ∇ -16.72% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 187.97 us | Δ 23.73% | 4.30 KHz / 5.32 KHz | ∇ -19.18% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 168.61 us | Δ 46.34% | 4.05 KHz / 5.93 KHz | ∇ -31.67% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 167.39 us | Δ 15.06% | 5.19 KHz / 5.97 KHz | ∇ -13.09% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 1.73 ms | Δ 20.66% | 480.05 Hz / 579.22 Hz | ∇ -17.12% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 1.45 ms | Δ 11.65% | 618.53 Hz / 690.59 Hz | ∇ -10.43% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 884.69 us | ∇ -1.64% | 1.15 KHz / 1.13 KHz | Δ 1.67% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 862.22 us | ∇ -1.77% | 1.18 KHz / 1.16 KHz | Δ 1.81% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 1.97 ms | Δ 18.61% | 427.14 Hz / 506.65 Hz | ∇ -15.69% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 2.31 ms | Δ 21.82% | 356.06 Hz / 433.74 Hz | ∇ -17.91% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 1.86 ms | Δ 14.41% | 470.35 Hz / 538.12 Hz | ∇ -12.59% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 1.86 ms | Δ 14.76% | 469.13 Hz / 538.35 Hz | ∇ -12.86% |
graph(3d): insertEdge x 1e3 | 220.82 us / 177.23 us | Δ 24.59% | 4.53 KHz / 5.64 KHz | ∇ -19.74% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 178.36 us | Δ 24.36% | 4.51 KHz / 5.61 KHz | ∇ -19.59% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 157.86 us | Δ 16.04% | 5.46 KHz / 6.33 KHz | ∇ -13.82% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 159.54 us | Δ 16.91% | 5.36 KHz / 6.27 KHz | ∇ -14.46% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 507.00 us | Δ 5.00% | 1.88 KHz / 1.97 KHz | ∇ -4.76% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 509.46 us | Δ 5.60% | 1.86 KHz / 1.96 KHz | ∇ -5.30% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 473.36 us | Δ 3.01% | 2.05 KHz / 2.11 KHz | ∇ -2.92% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 474.07 us | Δ 4.10% | 2.03 KHz / 2.11 KHz | ∇ -3.94% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 2.47 ms | Δ 12.53% | 359.55 Hz / 404.60 Hz | ∇ -11.13% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 2.48 ms | Δ 11.74% | 360.52 Hz / 402.82 Hz | ∇ -10.50% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 1.75 ms | Δ 19.44% | 477.61 Hz / 570.48 Hz | ∇ -16.28% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 1.77 ms | Δ 16.16% | 487.11 Hz / 565.81 Hz | ∇ -13.91% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 5.53 ms | Δ 33.25% | 135.81 Hz / 180.97 Hz | ∇ -24.95% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 5.56 ms | Δ 25.29% | 143.42 Hz / 179.70 Hz | ∇ -20.19% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 4.85 ms | Δ 8.96% | 189.20 Hz / 206.16 Hz | ∇ -8.23% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 4.85 ms | Δ 13.07% | 182.28 Hz / 206.11 Hz | ∇ -11.56% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 96.04 us | ∇ -5.72% | 11.04 KHz / 10.41 KHz | Δ 6.06% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 80.39 us | Δ 3.88% | 11.98 KHz / 12.44 KHz | ∇ -3.73% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 1.13 ms | Δ 0.32% | 882.20 Hz / 885.05 Hz | ∇ -0.32% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 804.04 us | ∇ -4.52% | 1.30 KHz / 1.24 KHz | Δ 4.74% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 19.14 ms | Δ 10.37% | 47.35 Hz / 52.26 Hz | ∇ -9.39% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 9.65 ms | Δ 12.56% | 92.06 Hz / 103.63 Hz | ∇ -11.16% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 290.37 ms | Δ 17.56% | 2.93 Hz / 3.44 Hz | ∇ -14.93% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 117.73 ms | Δ 21.06% | 7.02 Hz / 8.49 Hz | ∇ -17.40% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 268.93 ms | Δ 19.09% | 3.12 Hz / 3.72 Hz | ∇ -16.03% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 103.05 ms | Δ 29.71% | 7.48 Hz / 9.70 Hz | ∇ -22.90% |