Test description | 0.9.4-GCC-64bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 20.59 ms | Δ 0.77% | 48.21 Hz / 48.58 Hz | ∇ -0.76% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 20.64 ms | ∇ -17.19% | 58.52 Hz / 48.45 Hz | Δ 20.76% |
poses: CPose3D (+) CPose3D | 29.76 ns / 42.90 ns | ∇ -30.63% | 33.60 MHz / 23.31 MHz | Δ 44.15% |
poses: CPose3D.composeFrom() | 21.90 ns / 37.61 ns | ∇ -41.77% | 45.66 MHz / 26.59 MHz | Δ 71.74% |
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 / 11.83 ns | ∇ -1.34% | 85.68 MHz / 84.53 MHz | Δ 1.35% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 39.31 ns | ∇ -66.20% | 75.27 MHz / 25.44 MHz | Δ 195.89% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 34.91 ns | ∇ -29.87% | 40.85 MHz / 28.65 MHz | Δ 42.59% |
poses: CPose2D (+) CPose2D | 71.64 ns / 76.08 ns | ∇ -5.83% | 13.96 MHz / 13.14 MHz | Δ 6.19% |
poses: CPose2D.composeFrom() | 69.41 ns / 61.61 ns | Δ 12.65% | 14.41 MHz / 16.23 MHz | ∇ -11.23% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 60.26 ns | Δ 0.85% | 16.45 MHz / 16.59 MHz | ∇ -0.84% |
poses: CPose2D.composePoint() | 60.80 ns / 62.26 ns | ∇ -2.35% | 16.45 MHz / 16.06 MHz | Δ 2.41% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 40.99 ns | ∇ -1.27% | 24.71 MHz / 24.40 MHz | Δ 1.28% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 39.39 ns | ∇ -4.67% | 26.63 MHz / 25.39 MHz | Δ 4.90% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 18.30 ns | ∇ -5.00% | 57.51 MHz / 54.63 MHz | Δ 5.27% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 17.94 ns | ∇ -2.55% | 57.20 MHz / 55.74 MHz | Δ 2.62% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 55.46 ns | ∇ -40.55% | 30.33 MHz / 18.03 MHz | Δ 68.21% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 17.66 ns | Δ 8.19% | 52.34 MHz / 56.63 MHz | ∇ -7.57% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 16.78 ns | Δ 39.53% | 42.70 MHz / 59.58 MHz | ∇ -28.33% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 169.37 ns | Δ 1.98% | 5.79 MHz / 5.90 MHz | ∇ -1.94% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 799.08 us | ∇ -99.92% | 1.49 MHz / 1.25 KHz | Δ 118987.70% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 803.31 us | ∇ -99.92% | 1.53 MHz / 1.24 KHz | Δ 123106.60% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 9.44 us | ∇ -7.42% | 114.40 KHz / 105.91 KHz | Δ 8.02% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 648.90 ns | ∇ -30.02% | 2.20 MHz / 1.54 MHz | Δ 42.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 631.00 ns | ∇ -28.23% | 2.21 MHz / 1.58 MHz | Δ 39.32% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 8.18 us | ∇ -2.46% | 125.39 KHz / 122.30 KHz | Δ 2.53% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 24.43 ns | ∇ -27.81% | 56.71 MHz / 40.94 MHz | Δ 38.51% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 23.18 ns | ∇ -14.31% | 50.34 MHz / 43.14 MHz | Δ 16.70% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 59.50 ns | ∇ -4.12% | 17.53 MHz / 16.81 MHz | Δ 4.29% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 62.26 ns | ∇ -3.64% | 16.67 MHz / 16.06 MHz | Δ 3.78% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.88 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 841.75 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 0.00 ns / 1.70 ns | ∇ -100.00% | 1.#J THz / 587.20 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 2.77 ns | ∇ -100.00% | 1.#J THz / 361.01 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 85.80 ns | Δ 182.87% | 4.12 MHz / 11.66 MHz | ∇ -64.65% |
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 / 75.90 ns | Δ 205.14% | 4.32 MHz / 13.18 MHz | ∇ -67.23% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 296.50 ns / 118.10 ns | Δ 151.06% | 3.37 MHz / 8.47 MHz | ∇ -60.17% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 44.70 ns | ∇ -99.78% | 10.00 GHz / 22.37 MHz | Δ 44600.00% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 110.50 ns | Δ 134.57% | 3.86 MHz / 9.05 MHz | ∇ -57.37% |
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 / 5.44 us | ∇ -61.49% | 477.69 KHz / 183.95 KHz | Δ 159.68% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 3.78 us | ∇ -52.62% | 559.03 KHz / 264.87 KHz | Δ 111.06% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 5.54 us | ∇ -56.19% | 411.68 KHz / 180.38 KHz | Δ 128.23% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 4.07 us | ∇ -46.90% | 462.21 KHz / 245.43 KHz | Δ 88.32% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 644.00 ns | Δ 19.10% | 1.30 MHz / 1.55 MHz | ∇ -16.04% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 39.00 ns | ∇ -100.00% | 1.#J THz / 25.64 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 1.26 us | Δ 41.16% | 561.80 KHz / 793.02 KHz | ∇ -29.16% |
matrix: inv, fix[double] 6x6 | 1.73 us / 575.00 ns | Δ 200.52% | 578.70 KHz / 1.74 MHz | ∇ -66.72% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 25.76 us | ∇ -36.84% | 61.47 KHz / 38.83 KHz | Δ 58.33% |
matrix: inv, fix[double] 20x20 | 13.44 us / 17.04 us | ∇ -21.12% | 74.41 KHz / 58.69 KHz | Δ 26.78% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 207.20 us | ∇ -67.18% | 14.70 KHz / 4.83 KHz | Δ 204.68% |
matrix: inv, fix[double] 40x40 | 63.01 us / 133.80 us | ∇ -52.91% | 15.87 KHz / 7.47 KHz | Δ 112.37% |
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 / 730.30 ns | Δ 29.22% | 1.06 MHz / 1.37 MHz | ∇ -22.61% |
matrix: det, fix[double] 6x6 | 575.90 ns / 212.10 ns | Δ 171.52% | 1.74 MHz / 4.71 MHz | ∇ -63.17% |
matrix: det, dyn[double] 20x20 | 8.10 us / 6.56 us | Δ 23.45% | 123.40 KHz / 152.33 KHz | ∇ -18.99% |
matrix: det, fix[double] 20x20 | 7.48 us / 5.04 us | Δ 48.47% | 133.61 KHz / 198.38 KHz | ∇ -32.65% |
matrix: det, dyn[double] 40x40 | 30.87 us / 39.41 us | ∇ -21.67% | 32.39 KHz / 25.37 KHz | Δ 27.66% |
matrix: det, fix[double] 40x40 | 29.01 us / 29.04 us | ∇ -0.09% | 34.47 KHz / 34.44 KHz | Δ 0.09% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 140.00 ns | Δ 278.57% | 1.89 MHz / 7.14 MHz | ∇ -73.58% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 160.00 ns | ∇ -25.00% | 8.33 MHz / 6.25 MHz | Δ 33.33% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 18.38 us | Δ 12.62% | 48.31 KHz / 54.41 KHz | ∇ -11.21% |
matrix: chol, fix[double] 40x40 | 16.54 us / 17.08 us | ∇ -3.16% | 60.46 KHz / 58.55 KHz | Δ 3.26% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 8.30 us | Δ 46.99% | 81.97 KHz / 120.48 KHz | ∇ -31.97% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 84.40 us | Δ 3.91% | 11.40 KHz / 11.85 KHz | ∇ -3.76% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 53.00 us | ∇ -2.45% | 19.34 KHz / 18.87 KHz | Δ 2.51% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 39.49 us | ∇ -3.09% | 26.13 KHz / 25.32 KHz | Δ 3.19% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 411.70 us | ∇ -37.94% | 3.91 KHz / 2.43 KHz | Δ 61.14% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 74.09 us | ∇ -4.25% | 14.10 KHz / 13.50 KHz | Δ 4.44% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 10.38 ms | ∇ -73.51% | 363.64 Hz / 96.33 Hz | Δ 277.48% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 248.74 us | ∇ -31.97% | 5.91 KHz / 4.02 KHz | Δ 46.99% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 370.64 ms | ∇ -94.05% | 45.33 Hz / 2.70 Hz | Δ 1580.16% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 353.56 us | ∇ -3.95% | 2.94 KHz / 2.83 KHz | Δ 4.11% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 365.56 ms | ∇ -89.97% | 27.27 Hz / 2.74 Hz | Δ 896.99% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 425.27 us | ∇ -5.38% | 2.49 KHz / 2.35 KHz | Δ 5.69% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 796.04 ms | ∇ -93.23% | 18.57 Hz / 1.26 Hz | Δ 1377.91% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 490.79 us | ∇ -2.85% | 2.10 KHz / 2.04 KHz | Δ 2.93% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.71 ns / 2.58 ns | Δ 4.99% | 369.33 MHz / 387.76 MHz | ∇ -4.75% |
gridmap2D: updateCell | 6.04 ns / 7.44 ns | ∇ -18.89% | 165.59 MHz / 134.32 MHz | Δ 23.28% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 0.55 ns | Δ 11.49% | 1.63 GHz / 1.82 GHz | ∇ -10.31% |
gridmap2D: insert scan w/o widening | 99.83 us / 101.23 us | ∇ -1.38% | 10.02 KHz / 9.88 KHz | Δ 1.40% |
gridmap2D: insert scan with widening | 293.13 us / 291.30 us | Δ 0.63% | 3.41 KHz / 3.43 KHz | ∇ -0.62% |
gridmap2D: resize | 630.00 us / 1.89 ms | ∇ -66.63% | 1.59 KHz / 529.66 Hz | Δ 199.68% |
gridmap2D: computeLikelihood | 17.81 us / 16.46 us | Δ 8.22% | 56.14 KHz / 60.76 KHz | ∇ -7.60% |
pointmap: insert 100 scans | 1.01 ms / 3.10 ms | ∇ -67.45% | 990.80 Hz / 322.50 Hz | Δ 207.23% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 4.28 us | Δ 5.61% | 221.24 KHz / 233.64 KHz | ∇ -5.31% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 355.52 us | Δ 2.51% | 2.74 KHz / 2.81 KHz | ∇ -2.45% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 4.16 ms | Δ 5.27% | 228.21 Hz / 240.24 Hz | ∇ -5.01% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 4.76 us | Δ 8.40% | 193.80 KHz / 210.08 KHz | ∇ -7.75% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 363.20 us | Δ 2.54% | 2.68 KHz / 2.75 KHz | ∇ -2.48% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 4.09 ms | Δ 2.61% | 238.06 Hz / 244.29 Hz | ∇ -2.55% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.38 us | Δ 2.82% | 703.73 KHz / 723.59 KHz | ∇ -2.74% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 100.93 us | Δ 0.92% | 9.82 KHz / 9.91 KHz | ∇ -0.91% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 11.91 ms | Δ 2.19% | 82.15 Hz / 83.95 Hz | ∇ -2.14% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 5.62 ms | Δ 0.43% | 177.25 Hz / 178.01 Hz | ∇ -0.43% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 130.76 ms | Δ 1.53% | 7.53 Hz / 7.65 Hz | ∇ -1.51% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 5.67 ms | Δ 0.75% | 175.04 Hz / 176.35 Hz | ∇ -0.74% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 132.64 ms | Δ 1.58% | 7.42 Hz / 7.54 Hz | ∇ -1.56% |
random: drawUniform32bit | 14.55 ns / 14.57 ns | ∇ -0.17% | 68.75 MHz / 68.63 MHz | Δ 0.18% |
random: drawUniform | 14.56 ns / 14.62 ns | ∇ -0.41% | 68.69 MHz / 68.41 MHz | Δ 0.41% |
random: drawGaussian1D_normalized | 66.87 ns / 68.70 ns | ∇ -2.67% | 14.96 MHz / 14.56 MHz | Δ 2.74% |
random: drawGaussian1D | 66.81 ns / 68.68 ns | ∇ -2.73% | 14.97 MHz / 14.56 MHz | Δ 2.81% |
random: system rand() | 10.63 ns / 10.45 ns | Δ 1.66% | 94.11 MHz / 95.67 MHz | ∇ -1.63% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 1.31 us | ∇ -30.91% | 1.11 MHz / 764.77 KHz | Δ 44.75% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 2.79 us | ∇ -42.20% | 621.01 KHz / 358.92 KHz | Δ 73.02% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 158.26 ns | ∇ -8.60% | 6.91 MHz / 6.32 MHz | Δ 9.41% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 236.42 ns | ∇ -7.17% | 4.56 MHz / 4.23 MHz | Δ 7.72% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 489.37 ns | ∇ -3.39% | 2.12 MHz / 2.04 MHz | Δ 3.51% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 164.61 ns | ∇ -7.48% | 6.57 MHz / 6.07 MHz | Δ 8.09% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 248.12 ns | ∇ -5.27% | 4.25 MHz / 4.03 MHz | Δ 5.57% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 514.83 ns | ∇ -4.51% | 2.03 MHz / 1.94 MHz | Δ 4.73% |
random: permuteVector (len=10) | 243.60 ns / 317.50 ns | ∇ -23.28% | 4.11 MHz / 3.15 MHz | Δ 30.34% |
random: permuteVector (len=100) | 2.99 us / 3.06 us | ∇ -2.52% | 334.99 KHz / 326.54 KHz | Δ 2.59% |
random: permuteVector (len=1000) | 29.51 us / 30.27 us | ∇ -2.49% | 33.88 KHz / 33.04 KHz | Δ 2.55% |
math: round | 0.10 ns / 0.10 ns | Δ 0.07% | 10.08 GHz / 10.09 GHz | ∇ -0.07% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 27.27 ms | Δ 23.32% | 29.74 Hz / 36.67 Hz | ∇ -18.91% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 43.27 ms | Δ 15.20% | 20.06 Hz / 23.11 Hz | ∇ -13.19% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 74.67 ms | ∇ -6.81% | 14.37 Hz / 13.39 Hz | Δ 7.30% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 26.31 ms | Δ 16.48% | 32.63 Hz / 38.01 Hz | ∇ -14.15% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 40.92 ms | Δ 7.30% | 22.78 Hz / 24.44 Hz | ∇ -6.81% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 62.56 ms | ∇ -0.05% | 15.99 Hz / 15.99 Hz | Δ 0.05% |
images: Gauss filter (640x480) | 3.81 ms / 4.48 ms | ∇ -15.13% | 262.76 Hz / 223.01 Hz | Δ 17.82% |
images: Gauss filter (800x600) | 5.96 ms / 7.46 ms | ∇ -20.06% | 167.70 Hz / 134.07 Hz | Δ 25.09% |
images: Gauss filter (1024x768) | 10.46 ms / 12.41 ms | ∇ -15.73% | 95.61 Hz / 80.57 Hz | Δ 18.67% |
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 / 5.15 us | Δ 146.41% | 78.80 KHz / 194.17 KHz | ∇ -59.42% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 4.35 us | Δ 126.44% | 101.52 KHz / 229.89 KHz | ∇ -55.84% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 2.12 us | Δ 147.17% | 190.84 KHz / 471.70 KHz | ∇ -59.54% |
feature_extraction [640x480]: Harris | 21.14 ms / 33.18 ms | ∇ -36.29% | 47.31 Hz / 30.14 Hz | Δ 56.96% |
feature_extraction [640x480]: KLT | 21.45 ms / 29.64 ms | ∇ -27.61% | 46.61 Hz / 33.74 Hz | Δ 38.14% |
feature_extraction [640x480]: SIFT | 591.25 ms / 637.68 ms | ∇ -7.28% | 1.69 Hz / 1.57 Hz | Δ 7.85% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 173.14 ms | ∇ -5.96% | 6.14 Hz / 5.78 Hz | Δ 6.34% |
feature_extraction [640x480]: SURF | 197.33 ms / 202.84 ms | ∇ -2.72% | 5.07 Hz / 4.93 Hz | Δ 2.79% |
feature_extraction [640x480]: FAST | 6.89 ms / 5.10 ms | Δ 34.99% | 145.15 Hz / 195.94 Hz | ∇ -25.92% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 61.22 ms | Δ 4.37% | 15.65 Hz / 16.33 Hz | ∇ -4.19% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 43.90 ms | ∇ -12.21% | 25.95 Hz / 22.78 Hz | Δ 13.91% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 38.32 ms | ∇ -12.35% | 29.77 Hz / 26.09 Hz | Δ 14.09% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.28 sec | ∇ -9.33% | 863.45 mHz / 782.87 mHz | Δ 10.29% |
feature_matching [640x480]: SURF | 375.89 ms / 387.99 ms | ∇ -3.12% | 2.66 Hz / 2.58 Hz | Δ 3.22% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 15.73 ms | Δ 1.00% | 62.95 Hz / 63.57 Hz | ∇ -0.99% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 10.56 ms | ∇ -0.76% | 95.42 Hz / 94.70 Hz | Δ 0.76% |
graph(2d): insertEdge x 1e3 | 158.24 us / 104.46 us | Δ 51.49% | 6.32 KHz / 9.57 KHz | ∇ -33.99% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / X | 7.48 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 85.19 us | ∇ -0.90% | 11.84 KHz / 11.74 KHz | Δ 0.90% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / X | 12.23 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 134.65 us | Δ 53.86% | 4.83 KHz / 7.43 KHz | ∇ -35.00% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / X | 4.30 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 119.89 us | Δ 105.81% | 4.05 KHz / 8.34 KHz | ∇ -51.41% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / X | 5.19 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.08 ms / 1.39 ms | Δ 50.39% | 480.05 Hz / 721.96 Hz | ∇ -33.51% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / X | 618.53 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 854.04 us | Δ 1.89% | 1.15 KHz / 1.17 KHz | ∇ -1.86% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 1.61 ms | Δ 45.57% | 427.14 Hz / 621.80 Hz | ∇ -31.31% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / X | 356.06 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 1.20 ms | Δ 77.06% | 470.35 Hz / 832.81 Hz | ∇ -43.52% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / X | 469.13 Hz / X | ||
graph(3d): insertEdge x 1e3 | 220.82 us / 132.91 us | Δ 66.14% | 4.53 KHz / 7.52 KHz | ∇ -39.81% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / X | 4.51 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 109.11 us | Δ 67.89% | 5.46 KHz / 9.17 KHz | ∇ -40.44% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / X | 5.36 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 349.74 us | Δ 52.21% | 1.88 KHz / 2.86 KHz | ∇ -34.30% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / X | 1.86 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 321.54 us | Δ 51.64% | 2.05 KHz / 3.11 KHz | ∇ -34.06% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / X | 2.03 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.78 ms / 1.89 ms | Δ 47.16% | 359.55 Hz / 529.10 Hz | ∇ -32.04% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / X | 360.52 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 1.10 ms | Δ 90.58% | 477.61 Hz / 910.25 Hz | ∇ -47.53% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / X | 487.11 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 4.65 ms | Δ 58.46% | 135.81 Hz / 215.20 Hz | ∇ -36.89% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / X | 143.42 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 4.05 ms | Δ 30.45% | 189.20 Hz / 246.81 Hz | ∇ -23.34% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / X | 182.28 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 90.55 us / X | 11.04 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / X | 11.98 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.13 ms / X | 882.20 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / X | 1.30 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 21.12 ms / X | 47.35 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / X | 92.06 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 341.35 ms / X | 2.93 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / X | 7.02 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 320.28 ms / X | 3.12 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / X | 7.48 Hz / X |