Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 26.54 ms | ∇ -22.44% | 48.58 Hz / 37.68 Hz | Δ 28.93% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 32.17 ms | ∇ -35.85% | 48.45 Hz / 31.08 Hz | Δ 55.89% |
poses: CPose3D (+) CPose3D | 42.90 ns / 62.83 ns | ∇ -31.72% | 23.31 MHz / 15.92 MHz | Δ 46.45% |
poses: CPose3D.composeFrom() | 37.61 ns / 41.42 ns | ∇ -9.20% | 26.59 MHz / 24.14 MHz | Δ 10.13% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 18.89 ns | ∇ -61.61% | 137.89 MHz / 52.94 MHz | Δ 160.47% |
poses: CPose3D.composePoint() | 11.83 ns / 17.17 ns | ∇ -31.12% | 84.53 MHz / 58.23 MHz | Δ 45.18% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 88.79 ns | ∇ -55.72% | 25.44 MHz / 11.26 MHz | Δ 125.86% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 44.00 ns | ∇ -20.67% | 28.65 MHz / 22.73 MHz | Δ 26.05% |
poses: CPose2D (+) CPose2D | 76.08 ns / 72.08 ns | Δ 5.55% | 13.14 MHz / 13.87 MHz | ∇ -5.25% |
poses: CPose2D.composeFrom() | 61.61 ns / 63.27 ns | ∇ -2.62% | 16.23 MHz / 15.81 MHz | Δ 2.69% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 34.42 ns | Δ 75.09% | 16.59 MHz / 29.05 MHz | ∇ -42.89% |
poses: CPose2D.composePoint() | 62.26 ns / 26.02 ns | Δ 139.26% | 16.06 MHz / 38.43 MHz | ∇ -58.20% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 113.59 ns | ∇ -63.91% | 24.40 MHz / 8.80 MHz | Δ 177.12% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 82.72 ns | ∇ -52.38% | 25.39 MHz / 12.09 MHz | Δ 109.99% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 41.33 ns | ∇ -55.71% | 54.63 MHz / 24.20 MHz | Δ 125.78% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 31.13 ns | ∇ -42.37% | 55.74 MHz / 32.12 MHz | Δ 73.51% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 113.89 ns | ∇ -51.31% | 18.03 MHz / 8.78 MHz | Δ 105.37% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 33.95 ns | ∇ -47.98% | 56.63 MHz / 29.46 MHz | Δ 92.22% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 26.44 ns | ∇ -36.53% | 59.58 MHz / 37.82 MHz | Δ 57.54% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 97.31 ns | Δ 74.05% | 5.90 MHz / 10.28 MHz | ∇ -42.54% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 948.85 ns | Δ 84115.21% | 1.25 KHz / 1.05 MHz | ∇ -99.88% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 938.66 ns | Δ 85479.97% | 1.24 KHz / 1.07 MHz | ∇ -99.88% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 21.21 us | ∇ -55.48% | 105.91 KHz / 47.15 KHz | Δ 124.62% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 532.44 ns | Δ 21.87% | 1.54 MHz / 1.88 MHz | ∇ -17.95% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 528.23 ns | Δ 19.45% | 1.58 MHz / 1.89 MHz | ∇ -16.29% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 11.19 us | ∇ -26.94% | 122.30 KHz / 89.35 KHz | Δ 36.88% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 45.20 ns | ∇ -45.96% | 40.94 MHz / 22.13 MHz | Δ 85.03% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 45.86 ns | ∇ -49.45% | 43.14 MHz / 21.81 MHz | Δ 97.82% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 177.43 ns | ∇ -66.46% | 16.81 MHz / 5.64 MHz | Δ 198.18% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 169.52 ns | ∇ -63.27% | 16.06 MHz / 5.90 MHz | Δ 172.25% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.88 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 841.75 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 6.37 ns | ∇ -73.25% | 587.20 MHz / 157.06 MHz | Δ 273.87% |
matrix: unit, fix[double,6,6] | 2.77 ns / 7.86 ns | ∇ -64.77% | 361.01 MHz / 127.19 MHz | Δ 183.83% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 485.93 ns | ∇ -82.34% | 11.66 MHz / 2.06 MHz | Δ 466.35% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.05 ns | Δ 52448.71% | 42.02 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 528.41 ns | ∇ -85.64% | 13.18 MHz / 1.89 MHz | Δ 596.20% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ 1.#J% | 42.55 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 547.16 ns | ∇ -78.42% | 8.47 MHz / 1.83 MHz | Δ 363.31% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 2.36 ns | Δ 1797.97% | 22.37 MHz / 424.60 MHz | ∇ -94.73% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 391.50 ns | ∇ -71.78% | 9.05 MHz / 2.55 MHz | Δ 254.30% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 2.36 ns | Δ 1819.20% | 22.12 MHz / 424.60 MHz | ∇ -94.79% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 2.74 us | Δ 98.16% | 183.95 KHz / 364.51 KHz | ∇ -49.53% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 2.08 us | Δ 81.18% | 264.87 KHz / 479.89 KHz | ∇ -44.81% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 3.47 us | Δ 59.97% | 180.38 KHz / 288.55 KHz | ∇ -37.49% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 2.38 us | Δ 70.95% | 245.43 KHz / 419.56 KHz | ∇ -41.50% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / X | 1.58 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 35.00 ns / X | 28.57 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 644.00 ns / 1.09 us | ∇ -40.68% | 1.55 MHz / 921.12 KHz | Δ 68.58% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 22.19 ns | Δ 75.73% | 25.64 MHz / 45.06 MHz | ∇ -43.10% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / X | 421.76 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 812.00 ns / X | 1.23 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.26 us / 2.78 us | ∇ -54.65% | 793.02 KHz / 359.66 KHz | Δ 120.49% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 2.22 us | ∇ -74.11% | 1.74 MHz / 450.23 KHz | Δ 286.28% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / X | 38.55 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 14.15 us / X | 70.70 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.76 us / 30.71 us | ∇ -16.14% | 38.83 KHz / 32.56 KHz | Δ 19.24% |
matrix: inv, fix[double] 20x20 | 17.04 us / 24.08 us | ∇ -29.23% | 58.69 KHz / 41.53 KHz | Δ 41.31% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / X | 4.88 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 93.29 us / X | 10.72 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 207.20 us / 117.18 us | Δ 76.82% | 4.83 KHz / 8.53 KHz | ∇ -43.45% |
matrix: inv, fix[double] 40x40 | 133.80 us / 112.80 us | Δ 18.62% | 7.47 KHz / 8.86 KHz | ∇ -15.69% |
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 / 765.51 ns | ∇ -99.16% | 156.25 MHz / 1.31 MHz | Δ 11861.15% |
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 / 822.31 ns | ∇ -98.75% | 97.09 MHz / 1.22 MHz | Δ 7883.58% |
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 | 653.50 ns / X | 1.53 MHz / X | ||
matrix: det, fix[float ] 6x6 | 210.00 ns / X | 4.76 MHz / X | ||
matrix: det, dyn[double] 6x6 | 730.30 ns / 1.78 us | ∇ -59.07% | 1.37 MHz / 560.47 KHz | Δ 144.31% |
matrix: det, fix[double] 6x6 | 212.10 ns / 1.51 us | ∇ -85.97% | 4.71 MHz / 661.35 KHz | Δ 612.90% |
matrix: det, dyn[float ] 20x20 | 5.70 us / X | 175.40 KHz / X | ||
matrix: det, fix[float ] 20x20 | 4.20 us / X | 237.92 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.56 us / 18.54 us | ∇ -64.59% | 152.33 KHz / 53.94 KHz | Δ 182.40% |
matrix: det, fix[double] 20x20 | 5.04 us / 19.01 us | ∇ -73.48% | 198.38 KHz / 52.61 KHz | Δ 277.09% |
matrix: det, dyn[float ] 40x40 | 32.38 us / X | 30.89 KHz / X | ||
matrix: det, fix[float ] 40x40 | 27.92 us / X | 35.82 KHz / X | ||
matrix: det, dyn[double] 40x40 | 39.41 us / 72.40 us | ∇ -45.56% | 25.37 KHz / 13.81 KHz | Δ 83.70% |
matrix: det, fix[double] 40x40 | 29.04 us / 67.43 us | ∇ -56.94% | 34.44 KHz / 14.83 KHz | Δ 132.22% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 606.90 ns | ∇ -76.93% | 7.14 MHz / 1.65 MHz | Δ 333.50% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 190.22 ns | ∇ -15.89% | 6.25 MHz / 5.26 MHz | Δ 18.89% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 31.59 us | ∇ -41.81% | 54.41 KHz / 31.66 KHz | Δ 71.85% |
matrix: chol, fix[double] 40x40 | 17.08 us / 20.87 us | ∇ -18.14% | 58.55 KHz / 47.93 KHz | Δ 22.16% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 7.11 us | Δ 16.72% | 120.48 KHz / 140.63 KHz | ∇ -14.33% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 94.75 us | ∇ -10.92% | 11.85 KHz / 10.55 KHz | Δ 12.26% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 75.59 us | ∇ -29.89% | 18.87 KHz / 13.23 KHz | Δ 42.62% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 43.20 us | ∇ -8.60% | 25.32 KHz / 23.15 KHz | Δ 9.40% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 453.46 us | ∇ -9.21% | 2.43 KHz / 2.21 KHz | Δ 10.14% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 74.00 us | Δ 0.12% | 13.50 KHz / 13.51 KHz | ∇ -0.12% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 3.54 ms | Δ 192.94% | 96.33 Hz / 282.19 Hz | ∇ -65.86% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 178.69 us | Δ 39.20% | 4.02 KHz / 5.60 KHz | ∇ -28.16% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 22.29 ms | Δ 1563.11% | 2.70 Hz / 44.87 Hz | ∇ -93.99% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 359.36 us | ∇ -1.62% | 2.83 KHz / 2.78 KHz | Δ 1.64% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 36.29 ms | Δ 907.43% | 2.74 Hz / 27.56 Hz | ∇ -90.07% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 411.86 us | Δ 3.26% | 2.35 KHz / 2.43 KHz | ∇ -3.15% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 54.34 ms | Δ 1364.85% | 1.26 Hz / 18.40 Hz | ∇ -93.17% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 488.10 us | Δ 0.55% | 2.04 KHz / 2.05 KHz | ∇ -0.55% |
gridmap2D: getCell | 0.00 ns / 4.13 ns | ∇ -100.00% | 1.#J THz / 242.07 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 5.65 ns | ∇ -54.32% | 387.76 MHz / 177.14 MHz | Δ 118.90% |
gridmap2D: updateCell | 7.44 ns / 6.93 ns | Δ 7.47% | 134.32 MHz / 144.35 MHz | ∇ -6.95% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.09% | 1.82 GHz / 833.40 MHz | Δ 117.81% |
gridmap2D: insert scan w/o widening | 101.23 us / 102.16 us | ∇ -0.91% | 9.88 KHz / 9.79 KHz | Δ 0.92% |
gridmap2D: insert scan with widening | 291.30 us / 276.88 us | Δ 5.21% | 3.43 KHz / 3.61 KHz | ∇ -4.95% |
gridmap2D: resize | 1.89 ms / 3.89 ms | ∇ -51.47% | 529.66 Hz / 257.06 Hz | Δ 106.04% |
gridmap2D: computeLikelihood | 16.46 us / 13.92 us | Δ 18.23% | 60.76 KHz / 71.84 KHz | ∇ -15.42% |
pointmap: insert 100 scans | 3.10 ms / 1.87 ms | Δ 65.66% | 322.50 Hz / 534.24 Hz | ∇ -39.63% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 5.09 us | ∇ -15.93% | 233.64 KHz / 196.43 KHz | Δ 18.94% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 486.39 us | ∇ -26.91% | 2.81 KHz / 2.06 KHz | Δ 36.81% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 5.10 ms | ∇ -18.33% | 240.24 Hz / 196.20 Hz | Δ 22.45% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 5.56 us | ∇ -14.42% | 210.08 KHz / 179.80 KHz | Δ 16.84% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 467.24 us | ∇ -22.27% | 2.75 KHz / 2.14 KHz | Δ 28.65% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.18 ms | ∇ -21.00% | 244.29 Hz / 192.98 Hz | Δ 26.59% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.59 us | ∇ -13.31% | 723.59 KHz / 627.25 KHz | Δ 15.36% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 126.68 us | ∇ -20.33% | 9.91 KHz / 7.89 KHz | Δ 25.51% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 13.86 ms | ∇ -14.07% | 83.95 Hz / 72.14 Hz | Δ 16.37% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 6.54 ms | ∇ -14.16% | 178.01 Hz / 152.81 Hz | Δ 16.49% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 174.77 ms | ∇ -25.18% | 7.65 Hz / 5.72 Hz | Δ 33.65% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 6.88 ms | ∇ -17.62% | 176.35 Hz / 145.28 Hz | Δ 21.39% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 181.38 ms | ∇ -26.87% | 7.54 Hz / 5.51 Hz | Δ 36.75% |
random: drawUniform32bit | 14.57 ns / 9.54 ns | Δ 52.81% | 68.63 MHz / 104.87 MHz | ∇ -34.56% |
random: drawUniform | 14.62 ns / 9.69 ns | Δ 50.88% | 68.41 MHz / 103.21 MHz | ∇ -33.72% |
random: drawGaussian1D_normalized | 68.70 ns / 52.06 ns | Δ 31.96% | 14.56 MHz / 19.21 MHz | ∇ -24.22% |
random: drawGaussian1D | 68.68 ns / 50.73 ns | Δ 35.39% | 14.56 MHz / 19.71 MHz | ∇ -26.14% |
random: system rand() | 10.45 ns / 24.47 ns | ∇ -57.28% | 95.67 MHz / 40.87 MHz | Δ 134.09% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.24 us | Δ 5.29% | 764.77 KHz / 805.20 KHz | ∇ -5.02% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 3.19 us | ∇ -12.60% | 358.92 KHz / 313.70 KHz | Δ 14.42% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 130.03 ns | Δ 21.71% | 6.32 MHz / 7.69 MHz | ∇ -17.84% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 198.35 ns | Δ 19.19% | 4.23 MHz / 5.04 MHz | ∇ -16.10% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 451.66 ns | Δ 8.35% | 2.04 MHz / 2.21 MHz | ∇ -7.70% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 136.92 ns | Δ 20.22% | 6.07 MHz / 7.30 MHz | ∇ -16.82% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 213.52 ns | Δ 16.21% | 4.03 MHz / 4.68 MHz | ∇ -13.95% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 478.55 ns | Δ 7.58% | 1.94 MHz / 2.09 MHz | ∇ -7.05% |
random: permuteVector (len=10) | 317.50 ns / 244.07 ns | Δ 30.08% | 3.15 MHz / 4.10 MHz | ∇ -23.13% |
random: permuteVector (len=100) | 3.06 us / 3.12 us | ∇ -1.97% | 326.54 KHz / 320.11 KHz | Δ 2.01% |
random: permuteVector (len=1000) | 30.27 us / 30.82 us | ∇ -1.80% | 33.04 KHz / 32.44 KHz | Δ 1.84% |
math: round | 0.10 ns / 0.00 ns | Δ 2188399.22% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 29.87 ms | ∇ -8.71% | 36.67 Hz / 33.48 Hz | Δ 9.54% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 42.98 ms | Δ 0.67% | 23.11 Hz / 23.26 Hz | ∇ -0.66% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 69.03 ms | Δ 8.18% | 13.39 Hz / 14.49 Hz | ∇ -7.56% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 22.86 ms | Δ 15.10% | 38.01 Hz / 43.75 Hz | ∇ -13.12% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 35.20 ms | Δ 16.23% | 24.44 Hz / 28.41 Hz | ∇ -13.96% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 57.29 ms | Δ 9.19% | 15.99 Hz / 17.45 Hz | ∇ -8.42% |
images: Gauss filter (640x480) | 4.48 ms / 4.45 ms | Δ 0.76% | 223.01 Hz / 224.70 Hz | ∇ -0.75% |
images: Gauss filter (800x600) | 7.46 ms / 8.06 ms | ∇ -7.40% | 134.07 Hz / 124.15 Hz | Δ 7.99% |
images: Gauss filter (1024x768) | 12.41 ms / 13.86 ms | ∇ -10.43% | 80.57 Hz / 72.16 Hz | Δ 11.65% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 17.29 us | ∇ -70.21% | 194.17 KHz / 57.84 KHz | Δ 235.68% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 16.49 us | ∇ -73.61% | 229.89 KHz / 60.66 KHz | Δ 278.99% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 9.72 us | ∇ -78.19% | 471.70 KHz / 102.89 KHz | Δ 358.47% |
feature_extraction [640x480]: Harris | 33.18 ms / 31.46 ms | Δ 5.47% | 30.14 Hz / 31.79 Hz | ∇ -5.19% |
feature_extraction [640x480]: KLT | 29.64 ms / 30.94 ms | ∇ -4.23% | 33.74 Hz / 32.32 Hz | Δ 4.42% |
feature_extraction [640x480]: SIFT | 637.68 ms / 653.53 ms | ∇ -2.43% | 1.57 Hz / 1.53 Hz | Δ 2.49% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 210.38 ms | ∇ -17.70% | 5.78 Hz / 4.75 Hz | Δ 21.51% |
feature_extraction [640x480]: SURF | 202.84 ms / 243.66 ms | ∇ -16.75% | 4.93 Hz / 4.10 Hz | Δ 20.13% |
feature_extraction [640x480]: FAST | 5.10 ms / 6.32 ms | ∇ -19.26% | 195.94 Hz / 158.19 Hz | Δ 23.86% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 45.12 ms | Δ 35.69% | 16.33 Hz / 22.16 Hz | ∇ -26.30% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 46.60 ms | ∇ -5.79% | 22.78 Hz / 21.46 Hz | Δ 6.15% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 40.89 ms | ∇ -6.28% | 26.09 Hz / 24.46 Hz | Δ 6.70% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | ∇ -0.53% | 782.87 mHz / 778.73 mHz | Δ 0.53% |
feature_matching [640x480]: SURF | 387.99 ms / 502.54 ms | ∇ -22.79% | 2.58 Hz / 1.99 Hz | Δ 29.52% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 19.71 ms | ∇ -20.19% | 63.57 Hz / 50.74 Hz | Δ 25.29% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 13.01 ms | ∇ -18.84% | 94.70 Hz / 76.86 Hz | Δ 23.21% |
graph(2d): insertEdge x 1e3 | 104.46 us / 236.53 us | ∇ -55.84% | 9.57 KHz / 4.23 KHz | Δ 126.43% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 218.81 us | ∇ -61.07% | 11.74 KHz / 4.57 KHz | Δ 156.85% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 329.87 us | ∇ -59.18% | 7.43 KHz / 3.03 KHz | Δ 144.98% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 280.10 us | ∇ -57.20% | 8.34 KHz / 3.57 KHz | Δ 133.63% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 2.72 ms | ∇ -49.17% | 721.96 Hz / 367.00 Hz | Δ 96.72% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 1.95 ms | ∇ -56.24% | 1.17 KHz / 512.34 Hz | Δ 128.54% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 3.21 ms | ∇ -49.87% | 621.80 Hz / 311.68 Hz | Δ 99.50% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 3.23 ms | ∇ -62.78% | 832.81 Hz / 309.95 Hz | Δ 168.69% |
graph(3d): insertEdge x 1e3 | 132.91 us / 274.22 us | ∇ -51.53% | 7.52 KHz / 3.65 KHz | Δ 106.32% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 263.97 us | ∇ -58.67% | 9.17 KHz / 3.79 KHz | Δ 141.93% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 589.01 us | ∇ -40.62% | 2.86 KHz / 1.70 KHz | Δ 68.41% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 562.97 us | ∇ -42.88% | 3.11 KHz / 1.78 KHz | Δ 75.08% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 3.23 ms | ∇ -41.57% | 529.10 Hz / 309.17 Hz | Δ 71.13% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 2.62 ms | ∇ -58.07% | 910.25 Hz / 381.66 Hz | Δ 138.50% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 6.11 ms | ∇ -23.99% | 215.20 Hz / 163.57 Hz | Δ 31.56% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 5.21 ms | ∇ -22.20% | 246.81 Hz / 192.01 Hz | Δ 28.54% |
graph(3d,map): dijkstra 1e2 nodes | 94.48 us / X | 10.58 KHz / X | ||
graph(3d,map): dijkstra 1e3 nodes | 1.16 ms / X | 860.07 Hz / X | ||
graph(3d,map): dijkstra 1e4 nodes | 19.13 ms / X | 52.28 Hz / X |