Test description | 0.9.2-GCC-64bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 31.56 ms | ∇ -36.66% | 50.03 Hz / 31.69 Hz | Δ 57.87% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 53.95 ms | ∇ -64.24% | 51.84 Hz / 18.54 Hz | Δ 179.63% |
poses: CPose3D (+) CPose3D | 42.85 ns / 194.14 ns | ∇ -77.93% | 23.34 MHz / 5.15 MHz | Δ 353.07% |
poses: CPose3D.composeFrom() | 37.80 ns / 34.65 ns | Δ 9.08% | 26.46 MHz / 28.86 MHz | ∇ -8.33% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 28.67 ns | ∇ -74.70% | 137.89 MHz / 34.88 MHz | Δ 295.29% |
poses: CPose3D.composePoint() | 11.91 ns / 18.49 ns | ∇ -35.60% | 83.98 MHz / 54.08 MHz | Δ 55.29% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 93.89 ns | ∇ -47.83% | 20.42 MHz / 10.65 MHz | Δ 91.68% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 44.39 ns | ∇ -21.26% | 28.61 MHz / 22.53 MHz | Δ 27.00% |
poses: CPose2D (+) CPose2D | 78.58 ns / 103.92 ns | ∇ -24.39% | 12.73 MHz / 9.62 MHz | Δ 32.26% |
poses: CPose2D.composeFrom() | 70.31 ns / 91.82 ns | ∇ -23.42% | 14.22 MHz / 10.89 MHz | Δ 30.59% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 140.37 ns | ∇ -56.31% | 16.31 MHz / 7.12 MHz | Δ 128.87% |
poses: CPose2D.composePoint() | 65.17 ns / 66.26 ns | ∇ -1.65% | 15.35 MHz / 15.09 MHz | Δ 1.68% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 93.35 ns | ∇ -52.16% | 22.39 MHz / 10.71 MHz | Δ 109.03% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 60.52 ns | ∇ -34.85% | 25.36 MHz / 16.52 MHz | Δ 53.49% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 116.72 ns | ∇ -84.38% | 54.84 MHz / 8.57 MHz | Δ 540.03% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 31.02 ns | ∇ -42.18% | 55.75 MHz / 32.23 MHz | Δ 72.95% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 126.78 ns | ∇ -56.28% | 18.04 MHz / 7.89 MHz | Δ 128.74% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 30.88 ns | ∇ -42.88% | 56.69 MHz / 32.38 MHz | Δ 75.06% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 33.42 ns | ∇ -50.03% | 59.89 MHz / 29.93 MHz | Δ 100.13% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 211.33 ns | ∇ -19.90% | 5.91 MHz / 4.73 MHz | Δ 24.84% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 19.45 us | Δ 3811.86% | 1.31 KHz / 51.41 KHz | ∇ -97.44% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 2.93 us | Δ 25840.64% | 1.31 KHz / 341.05 KHz | ∇ -99.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 34.64 us | ∇ -72.65% | 105.55 KHz / 28.87 KHz | Δ 265.59% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 860.26 ns | ∇ -36.61% | 1.83 MHz / 1.16 MHz | Δ 57.76% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 880.23 ns | ∇ -38.19% | 1.84 MHz / 1.14 MHz | Δ 61.78% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 21.76 us | ∇ -62.75% | 123.33 KHz / 45.95 KHz | Δ 168.42% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 44.99 ns | ∇ -53.50% | 47.81 MHz / 22.23 MHz | Δ 115.07% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 45.16 ns | ∇ -55.39% | 49.63 MHz / 22.14 MHz | Δ 124.14% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 160.84 ns | ∇ -66.40% | 18.51 MHz / 6.22 MHz | Δ 197.66% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 160.97 ns | ∇ -65.67% | 18.09 MHz / 6.21 MHz | Δ 191.25% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.89 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 842.46 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 6.73 ns | ∇ -74.79% | 588.93 MHz / 148.49 MHz | Δ 296.60% |
matrix: unit, fix[double,6,6] | 2.77 ns / 7.86 ns | ∇ -64.69% | 360.36 MHz / 127.26 MHz | Δ 183.17% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 550.79 ns | ∇ -86.73% | 13.68 MHz / 1.82 MHz | Δ 653.47% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.05 ns | Δ 52448.95% | 42.02 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 432.98 ns | ∇ -83.28% | 13.81 MHz / 2.31 MHz | Δ 498.04% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 0.00 ns | Δ 1.#J% | 42.74 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 660.53 ns | ∇ -83.27% | 9.05 MHz / 1.51 MHz | Δ 497.76% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 38.91 ns | Δ 15.92% | 22.17 MHz / 25.70 MHz | ∇ -13.74% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 474.65 ns | ∇ -75.50% | 8.60 MHz / 2.11 MHz | Δ 308.13% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 8.74 ns | Δ 417.09% | 22.12 MHz / 114.40 MHz | ∇ -80.66% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 4.68 us | Δ 10.80% | 192.77 KHz / 213.59 KHz | ∇ -9.75% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 4.42 us | ∇ -19.66% | 281.56 KHz / 226.20 KHz | Δ 24.47% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 3.24 us | Δ 60.02% | 193.05 KHz / 308.92 KHz | ∇ -37.51% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 2.37 us | Δ 52.59% | 277.05 KHz / 422.77 KHz | ∇ -34.47% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / X | 3.00 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 21.00 ns / X | 47.62 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 329.00 ns / 1.49 us | ∇ -77.88% | 3.04 MHz / 672.33 KHz | Δ 352.09% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 32.16 ns | ∇ -34.69% | 47.62 MHz / 31.10 MHz | Δ 53.13% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / X | 821.69 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 468.00 ns / X | 2.14 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.20 us / 3.50 us | ∇ -65.64% | 832.64 KHz / 286.11 KHz | Δ 191.02% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 2.72 us | ∇ -78.72% | 1.73 MHz / 368.24 KHz | Δ 369.84% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / X | 39.62 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 12.60 us / X | 79.36 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.64 us / 31.87 us | ∇ -19.57% | 39.01 KHz / 31.37 KHz | Δ 24.33% |
matrix: inv, fix[double] 20x20 | 17.36 us / 28.91 us | ∇ -39.95% | 57.60 KHz / 34.58 KHz | Δ 66.54% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / X | 5.24 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 88.89 us / X | 11.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 189.04 us / 124.22 us | Δ 52.18% | 5.29 KHz / 8.05 KHz | ∇ -34.29% |
matrix: inv, fix[double] 40x40 | 121.47 us / 122.24 us | ∇ -0.64% | 8.23 KHz / 8.18 KHz | Δ 0.64% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 6.40 ns / 647.62 ns | ∇ -99.01% | 156.25 MHz / 1.54 MHz | Δ 10019.02% |
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 / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 969.59 ns | ∇ -98.94% | 97.09 MHz / 1.03 MHz | Δ 9313.51% |
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 / X | 1.44 MHz / X | ||
matrix: det, fix[float ] 6x6 | 207.00 ns / X | 4.83 MHz / X | ||
matrix: det, dyn[double] 6x6 | 696.30 ns / 2.45 us | ∇ -71.63% | 1.44 MHz / 407.46 KHz | Δ 252.47% |
matrix: det, fix[double] 6x6 | 212.30 ns / 1.89 us | ∇ -88.75% | 4.71 MHz / 529.99 KHz | Δ 788.76% |
matrix: det, dyn[float ] 20x20 | 5.39 us / X | 185.56 KHz / X | ||
matrix: det, fix[float ] 20x20 | 3.90 us / X | 256.35 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.40 us / 22.48 us | ∇ -71.51% | 156.16 KHz / 44.49 KHz | Δ 250.98% |
matrix: det, fix[double] 20x20 | 4.72 us / 21.45 us | ∇ -77.98% | 211.77 KHz / 46.63 KHz | Δ 354.16% |
matrix: det, dyn[float ] 40x40 | 30.35 us / X | 32.95 KHz / X | ||
matrix: det, fix[float ] 40x40 | 26.47 us / X | 37.78 KHz / X | ||
matrix: det, dyn[double] 40x40 | 32.49 us / 80.28 us | ∇ -59.52% | 30.77 KHz / 12.46 KHz | Δ 147.05% |
matrix: det, fix[double] 40x40 | 27.34 us / 79.04 us | ∇ -65.41% | 36.58 KHz / 12.65 KHz | Δ 189.13% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 1.09 us | ∇ -88.09% | 7.69 MHz / 916.16 KHz | Δ 739.63% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 317.04 ns | ∇ -55.84% | 7.14 MHz / 3.15 MHz | Δ 126.46% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 75.74 us | ∇ -75.55% | 54.00 KHz / 13.20 KHz | Δ 308.94% |
matrix: chol, fix[double] 40x40 | 16.55 us / 55.31 us | ∇ -70.08% | 60.42 KHz / 18.08 KHz | Δ 234.20% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 16.89 us | ∇ -51.46% | 121.95 KHz / 59.19 KHz | Δ 106.02% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 247.29 us | ∇ -66.48% | 12.06 KHz / 4.04 KHz | Δ 198.30% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 180.76 us | ∇ -70.84% | 18.98 KHz / 5.53 KHz | Δ 242.99% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 91.89 us | ∇ -58.00% | 25.91 KHz / 10.88 KHz | Δ 138.12% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 765.78 us | ∇ -46.49% | 2.44 KHz / 1.31 KHz | Δ 86.87% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 116.55 us | ∇ -39.30% | 14.13 KHz / 8.58 KHz | Δ 64.73% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 4.08 ms | Δ 110.28% | 116.60 Hz / 245.20 Hz | ∇ -52.45% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 207.46 us | ∇ -17.48% | 5.84 KHz / 4.82 KHz | Δ 21.18% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 24.43 ms | Δ 446.70% | 7.49 Hz / 40.93 Hz | ∇ -81.71% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 403.40 us | ∇ -15.26% | 2.93 KHz / 2.48 KHz | Δ 18.00% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 40.20 ms | Δ 781.77% | 2.82 Hz / 24.87 Hz | ∇ -88.66% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 479.83 us | ∇ -16.32% | 2.49 KHz / 2.08 KHz | Δ 19.51% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 59.95 ms | Δ 1189.87% | 1.29 Hz / 16.68 Hz | ∇ -92.25% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 560.09 us | ∇ -16.22% | 2.13 KHz / 1.79 KHz | Δ 19.36% |
gridmap2D: getCell | 0.00 ns / 5.69 ns | ∇ -100.00% | 10.00 THz / 175.73 MHz | Δ 5690410.47% |
gridmap2D: setCell | 2.58 ns / 8.06 ns | ∇ -68.03% | 388.02 MHz / 124.07 MHz | Δ 212.74% |
gridmap2D: updateCell | 7.84 ns / 61.98 ns | ∇ -87.35% | 127.58 MHz / 16.13 MHz | Δ 690.76% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.25 ns | ∇ -56.01% | 1.82 GHz / 798.82 MHz | Δ 127.32% |
gridmap2D: insert scan w/o widening | 102.06 us / 208.84 us | ∇ -51.13% | 9.80 KHz / 4.79 KHz | Δ 104.64% |
gridmap2D: insert scan with widening | 289.47 us / 346.08 us | ∇ -16.36% | 3.45 KHz / 2.89 KHz | Δ 19.56% |
gridmap2D: resize | 1.97 ms / 2.81 ms | ∇ -30.09% | 508.65 Hz / 355.60 Hz | Δ 43.04% |
gridmap2D: computeLikelihood | 15.74 us / 18.33 us | ∇ -14.13% | 63.55 KHz / 54.57 KHz | Δ 16.46% |
pointmap: insert 100 scans | 3.04 ms / 6.61 ms | ∇ -54.04% | 329.30 Hz / 151.33 Hz | Δ 117.60% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 6.03 us | ∇ -28.39% | 231.48 KHz / 165.76 KHz | Δ 39.65% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 536.01 us | ∇ -34.31% | 2.84 KHz / 1.87 KHz | Δ 52.22% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.64 ms | ∇ -26.64% | 241.51 Hz / 177.17 Hz | Δ 36.32% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 7.70 us | ∇ -39.22% | 213.68 KHz / 129.88 KHz | Δ 64.52% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 528.60 us | ∇ -31.99% | 2.78 KHz / 1.89 KHz | Δ 47.03% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 5.81 ms | ∇ -30.67% | 248.28 Hz / 172.12 Hz | Δ 44.24% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 2.13 us | ∇ -34.11% | 711.74 KHz / 468.98 KHz | Δ 51.77% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 145.70 us | ∇ -33.28% | 10.29 KHz / 6.86 KHz | Δ 49.88% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 15.49 ms | ∇ -24.97% | 86.05 Hz / 64.56 Hz | Δ 33.27% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 8.93 ms | ∇ -37.39% | 178.77 Hz / 111.93 Hz | Δ 59.72% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 200.06 ms | ∇ -35.38% | 7.73 Hz / 5.00 Hz | Δ 54.74% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 8.97 ms | ∇ -36.88% | 176.53 Hz / 111.43 Hz | Δ 58.42% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 201.21 ms | ∇ -34.78% | 7.62 Hz / 4.97 Hz | Δ 53.34% |
random: drawUniform32bit | 14.50 ns / 7.76 ns | Δ 86.99% | 68.95 MHz / 128.93 MHz | ∇ -46.52% |
random: drawUniform | 14.50 ns / 7.61 ns | Δ 90.57% | 68.96 MHz / 131.41 MHz | ∇ -47.52% |
random: drawGaussian1D_normalized | 68.97 ns / 51.84 ns | Δ 33.06% | 14.50 MHz / 19.29 MHz | ∇ -24.85% |
random: drawGaussian1D | 68.98 ns / 52.02 ns | Δ 32.60% | 14.50 MHz / 19.22 MHz | ∇ -24.58% |
random: system rand() | 10.45 ns / 27.43 ns | ∇ -61.91% | 95.72 MHz / 36.46 MHz | Δ 162.56% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 4.97 us | ∇ -73.68% | 765.12 KHz / 201.38 KHz | Δ 279.93% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 10.68 us | ∇ -74.44% | 366.37 KHz / 93.66 KHz | Δ 291.18% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 153.63 ns | Δ 3.44% | 6.29 MHz / 6.51 MHz | ∇ -3.32% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 250.07 ns | ∇ -5.07% | 4.21 MHz / 4.00 MHz | Δ 5.34% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 664.62 ns | ∇ -26.27% | 2.04 MHz / 1.50 MHz | Δ 35.63% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 153.22 ns | Δ 7.47% | 6.07 MHz / 6.53 MHz | ∇ -6.95% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 253.40 ns | ∇ -1.42% | 4.00 MHz / 3.95 MHz | Δ 1.44% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 622.96 ns | ∇ -17.38% | 1.94 MHz / 1.61 MHz | Δ 21.03% |
random: permuteVector (len=10) | 296.20 ns / 342.58 ns | ∇ -13.54% | 3.38 MHz / 2.92 MHz | Δ 15.66% |
random: permuteVector (len=100) | 3.04 us / 3.62 us | ∇ -15.93% | 328.91 KHz / 276.54 KHz | Δ 18.94% |
random: permuteVector (len=1000) | 30.22 us / 35.68 us | ∇ -15.30% | 33.09 KHz / 28.03 KHz | Δ 18.06% |
math: round | 0.10 ns / 0.00 ns | Δ 2188188.34% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 28.08 ms | Δ 24.84% | 28.52 Hz / 35.61 Hz | ∇ -19.90% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 42.80 ms | Δ 14.41% | 20.42 Hz / 23.37 Hz | ∇ -12.59% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 69.14 ms | Δ 7.98% | 13.40 Hz / 14.46 Hz | ∇ -7.39% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 23.76 ms | Δ 26.12% | 33.37 Hz / 42.09 Hz | ∇ -20.71% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 37.25 ms | Δ 14.87% | 23.37 Hz / 26.85 Hz | ∇ -12.94% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 59.86 ms | Δ 7.17% | 15.59 Hz / 16.71 Hz | ∇ -6.69% |
images: Gauss filter (640x480) | 3.90 ms / 7.21 ms | ∇ -45.86% | 256.30 Hz / 138.75 Hz | Δ 84.72% |
images: Gauss filter (800x600) | 6.21 ms / 8.67 ms | ∇ -28.37% | 160.99 Hz / 115.32 Hz | Δ 39.61% |
images: Gauss filter (1024x768) | 10.55 ms / 14.94 ms | ∇ -29.35% | 94.74 Hz / 66.93 Hz | Δ 41.55% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 25.26 us | ∇ -79.97% | 197.63 KHz / 39.59 KHz | Δ 399.19% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 24.29 us | ∇ -82.30% | 232.56 KHz / 41.17 KHz | Δ 464.87% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 13.82 us | ∇ -84.80% | 476.19 KHz / 72.37 KHz | Δ 558.02% |
feature_extraction [640x480]: Harris | 24.28 ms / 53.60 ms | ∇ -54.71% | 41.19 Hz / 18.66 Hz | Δ 120.80% |
feature_extraction [640x480]: KLT | 24.43 ms / 32.67 ms | ∇ -25.23% | 40.94 Hz / 30.61 Hz | Δ 33.74% |
feature_extraction [640x480]: SIFT | 610.42 ms / 724.51 ms | ∇ -15.75% | 1.64 Hz / 1.38 Hz | Δ 18.69% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 217.33 ms | ∇ -22.80% | 5.96 Hz / 4.60 Hz | Δ 29.54% |
feature_extraction [640x480]: SURF | 197.61 ms / 320.21 ms | ∇ -38.29% | 5.06 Hz / 3.12 Hz | Δ 62.04% |
feature_extraction [640x480]: FAST | 5.24 ms / 9.58 ms | ∇ -45.26% | 190.68 Hz / 104.37 Hz | Δ 82.69% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 111.16 ms | ∇ -46.04% | 16.67 Hz / 9.00 Hz | Δ 85.32% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 64.75 ms | ∇ -36.87% | 24.46 Hz / 15.44 Hz | Δ 58.39% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 50.46 ms | ∇ -29.65% | 28.17 Hz / 19.82 Hz | Δ 42.15% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.37 sec | ∇ -11.54% | 828.07 mHz / 732.49 mHz | Δ 13.05% |
feature_matching [640x480]: SURF | 379.92 ms / 602.11 ms | ∇ -36.90% | 2.63 Hz / 1.66 Hz | Δ 58.49% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 23.55 ms | ∇ -31.79% | 62.26 Hz / 42.46 Hz | Δ 46.61% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 15.71 ms | ∇ -31.67% | 93.18 Hz / 63.67 Hz | Δ 46.35% |
graph(2d): insertEdge x 1e3 | 117.65 us / 300.22 us | ∇ -60.81% | 8.50 KHz / 3.33 KHz | Δ 155.18% |
graph(2d,vec): insertEdge x 1e3 | 105.13 us / 300.93 us | ∇ -65.07% | 9.51 KHz / 3.32 KHz | Δ 186.26% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 245.20 us | ∇ -65.26% | 11.74 KHz / 4.08 KHz | Δ 187.85% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 252.81 us | ∇ -66.59% | 11.84 KHz / 3.96 KHz | Δ 199.31% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 537.61 us | ∇ -67.91% | 5.80 KHz / 1.86 KHz | Δ 211.61% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 456.45 us | ∇ -58.82% | 5.32 KHz / 2.19 KHz | Δ 142.83% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 401.18 us | ∇ -57.97% | 5.93 KHz / 2.49 KHz | Δ 137.94% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 394.03 us | ∇ -57.52% | 5.97 KHz / 2.54 KHz | Δ 135.40% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 3.65 ms | ∇ -52.73% | 579.22 Hz / 273.78 Hz | Δ 111.57% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 3.70 ms | ∇ -60.82% | 690.59 Hz / 270.61 Hz | Δ 155.20% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 2.51 ms | ∇ -64.70% | 1.13 KHz / 399.01 Hz | Δ 183.28% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 2.55 ms | ∇ -66.17% | 1.16 KHz / 392.34 Hz | Δ 195.61% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 4.81 ms | ∇ -58.95% | 506.65 Hz / 207.97 Hz | Δ 143.61% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 4.86 ms | ∇ -52.54% | 433.74 Hz / 205.85 Hz | Δ 110.71% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.03 ms | ∇ -53.87% | 538.12 Hz / 248.25 Hz | Δ 116.76% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.00 ms | ∇ -53.55% | 538.35 Hz / 250.07 Hz | Δ 115.28% |
graph(3d): insertEdge x 1e3 | 177.23 us / 338.14 us | ∇ -47.59% | 5.64 KHz / 2.96 KHz | Δ 90.79% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 332.03 us | ∇ -46.28% | 5.61 KHz / 3.01 KHz | Δ 86.16% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 302.41 us | ∇ -47.80% | 6.33 KHz / 3.31 KHz | Δ 91.57% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 309.65 us | ∇ -48.48% | 6.27 KHz / 3.23 KHz | Δ 94.09% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 668.72 us | ∇ -24.18% | 1.97 KHz / 1.50 KHz | Δ 31.90% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 672.92 us | ∇ -24.29% | 1.96 KHz / 1.49 KHz | Δ 32.08% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 668.41 us | ∇ -29.18% | 2.11 KHz / 1.50 KHz | Δ 41.21% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 676.59 us | ∇ -29.93% | 2.11 KHz / 1.48 KHz | Δ 42.72% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 3.60 ms | ∇ -31.40% | 404.60 Hz / 277.54 Hz | Δ 45.78% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 3.62 ms | ∇ -31.39% | 402.82 Hz / 276.39 Hz | Δ 45.75% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 3.04 ms | ∇ -42.33% | 570.48 Hz / 328.99 Hz | Δ 73.40% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 3.02 ms | ∇ -41.51% | 565.81 Hz / 330.96 Hz | Δ 70.96% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 7.09 ms | ∇ -22.07% | 180.97 Hz / 141.02 Hz | Δ 28.32% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 7.08 ms | ∇ -21.40% | 179.70 Hz / 141.24 Hz | Δ 27.23% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 6.70 ms | ∇ -27.55% | 206.16 Hz / 149.36 Hz | Δ 38.03% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 6.88 ms | ∇ -29.48% | 206.11 Hz / 145.34 Hz | Δ 41.81% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 279.15 us | ∇ -65.59% | 10.41 KHz / 3.58 KHz | Δ 190.64% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 417.83 us | ∇ -80.76% | 12.44 KHz / 2.39 KHz | Δ 419.78% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 3.14 ms | ∇ -64.02% | 885.05 Hz / 318.46 Hz | Δ 177.92% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 3.68 ms | ∇ -78.17% | 1.24 KHz / 271.44 Hz | Δ 358.19% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 37.09 ms | ∇ -48.41% | 52.26 Hz / 26.96 Hz | Δ 93.84% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 42.65 ms | ∇ -77.37% | 103.63 Hz / 23.45 Hz | Δ 341.93% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 433.73 ms | ∇ -33.05% | 3.44 Hz / 2.31 Hz | Δ 49.37% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 470.84 ms | ∇ -75.00% | 8.49 Hz / 2.12 Hz | Δ 299.93% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 428.18 ms | ∇ -37.19% | 3.72 Hz / 2.34 Hz | Δ 59.21% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 465.28 ms | ∇ -77.85% | 9.70 Hz / 2.15 Hz | Δ 351.53% |