Test description | 0.9.1-MSVC9-32bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 21.60 ms | Δ 47.15% | 31.46 Hz / 46.30 Hz | ∇ -32.04% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 20.51 ms | Δ 161.81% | 18.62 Hz / 48.75 Hz | ∇ -61.81% |
poses: CPose3D (+) CPose3D | 925.38 ns / 449.02 ns | Δ 106.09% | 1.08 MHz / 2.23 MHz | ∇ -51.48% |
poses: CPose3D.composeFrom() | 617.00 ns / 233.83 ns | Δ 163.87% | 1.62 MHz / 4.28 MHz | ∇ -62.10% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 10.67 ns | Δ 237.30% | 27.80 MHz / 93.76 MHz | ∇ -70.35% |
poses: CPose3D.composePoint() | 14.62 ns / 10.06 ns | Δ 45.26% | 68.42 MHz / 99.38 MHz | ∇ -31.16% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 37.71 ns | Δ 100.03% | 13.26 MHz / 26.52 MHz | ∇ -50.01% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 40.98 ns | Δ 37.84% | 17.70 MHz / 24.40 MHz | ∇ -27.45% |
poses: CPose2D (+) CPose2D | 121.60 ns / 78.17 ns | Δ 55.56% | 8.22 MHz / 12.79 MHz | ∇ -35.71% |
poses: CPose2D.composeFrom() | 66.63 ns / 62.17 ns | Δ 7.17% | 15.01 MHz / 16.08 MHz | ∇ -6.69% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 63.86 ns | Δ 46.77% | 10.67 MHz / 15.66 MHz | ∇ -31.87% |
poses: CPose2D.composePoint() | 62.24 ns / 61.98 ns | Δ 0.42% | 16.07 MHz / 16.13 MHz | ∇ -0.42% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 47.00 ns | Δ 114.34% | 9.93 MHz / 21.28 MHz | ∇ -53.34% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 39.80 ns | Δ 45.54% | 17.26 MHz / 25.13 MHz | ∇ -31.29% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 22.62 ns | Δ 171.13% | 16.31 MHz / 44.21 MHz | ∇ -63.12% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 18.93 ns | Δ 44.45% | 36.57 MHz / 52.83 MHz | ∇ -30.77% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 391.26 ns | Δ 48.41% | 1.72 MHz / 2.56 MHz | ∇ -32.62% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 18.05 ns | Δ 56.10% | 35.48 MHz / 55.39 MHz | ∇ -35.94% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 355.00 ns | Δ 42.72% | 1.97 MHz / 2.82 MHz | ∇ -29.93% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 173.19 ns | Δ 24.05% | 4.65 MHz / 5.77 MHz | ∇ -19.39% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 814.76 us | ∇ -99.81% | 642.96 KHz / 1.23 KHz | Δ 52285.30% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 821.91 us | ∇ -99.82% | 663.83 KHz / 1.22 KHz | Δ 54461.03% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 9.57 us | Δ 143.31% | 42.94 KHz / 104.48 KHz | ∇ -58.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 682.30 ns | Δ 140.36% | 609.77 KHz / 1.47 MHz | ∇ -58.40% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 533.80 ns | Δ 211.79% | 600.84 KHz / 1.87 MHz | ∇ -67.93% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 8.51 us | Δ 88.45% | 62.32 KHz / 117.45 KHz | ∇ -46.94% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 20.59 ns | Δ 92.58% | 25.22 MHz / 48.56 MHz | ∇ -48.07% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 22.60 ns | Δ 89.11% | 23.39 MHz / 44.24 MHz | ∇ -47.12% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 63.92 ns | Δ 138.23% | 6.57 MHz / 15.64 MHz | ∇ -58.02% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 65.22 ns | Δ 130.70% | 6.65 MHz / 15.33 MHz | ∇ -56.65% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.35 ns | Δ 852.70% | 303.37 MHz / 2.89 GHz | ∇ -89.50% |
matrix: unit, fix[double,3,3] | 3.48 ns / 1.19 ns | Δ 192.97% | 287.56 MHz / 842.46 MHz | ∇ -65.87% |
matrix: unit, fix[float,6,6] | 3.06 ns / 1.68 ns | Δ 81.71% | 327.19 MHz / 594.53 MHz | ∇ -44.97% |
matrix: unit, fix[double,6,6] | 6.65 ns / 2.86 ns | Δ 132.27% | 150.48 MHz / 349.53 MHz | ∇ -56.95% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 73.50 ns | Δ 128.31% | 5.96 MHz / 13.61 MHz | ∇ -56.20% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 24.10 ns | Δ 350.66% | 9.21 MHz / 41.49 MHz | ∇ -77.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 72.10 ns | Δ 120.37% | 6.29 MHz / 13.87 MHz | ∇ -54.62% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 23.50 ns | Δ 286.62% | 11.01 MHz / 42.55 MHz | ∇ -74.13% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 112.90 ns | Δ 141.34% | 3.67 MHz / 8.86 MHz | ∇ -58.56% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 45.00 ns | Δ 329.16% | 5.18 MHz / 22.22 MHz | ∇ -76.70% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 110.50 ns | Δ 116.21% | 4.19 MHz / 9.05 MHz | ∇ -53.75% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 45.10 ns | Δ 208.30% | 7.19 MHz / 22.17 MHz | ∇ -67.56% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 5.82 us | Δ 188.88% | 59.51 KHz / 171.91 KHz | ∇ -65.38% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 3.57 us | Δ 265.57% | 76.57 KHz / 279.91 KHz | ∇ -72.65% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 5.88 us | Δ 130.24% | 73.81 KHz / 169.93 KHz | ∇ -56.57% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 3.82 us | Δ 161.00% | 100.40 KHz / 262.04 KHz | ∇ -61.69% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / 449.00 ns | Δ 234.49% | 665.84 KHz / 2.23 MHz | ∇ -70.10% |
matrix: inv, fix[float ] 3x3 | 59.79 ns / 33.00 ns | Δ 81.17% | 16.73 MHz / 30.30 MHz | ∇ -44.80% |
matrix: inv, dyn[double] 3x3 | 1.53 us / 413.00 ns | Δ 270.89% | 652.84 KHz / 2.42 MHz | ∇ -73.04% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 22.00 ns | Δ 42.05% | 32.00 MHz / 45.45 MHz | ∇ -29.60% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / 1.31 us | Δ 285.81% | 197.26 KHz / 761.04 KHz | ∇ -74.08% |
matrix: inv, fix[float ] 6x6 | 1.33 us / 468.00 ns | Δ 185.11% | 749.46 KHz / 2.14 MHz | ∇ -64.93% |
matrix: inv, dyn[double] 6x6 | 5.08 us / 1.25 us | Δ 307.08% | 196.68 KHz / 800.64 KHz | ∇ -75.43% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 578.00 ns | Δ 60.32% | 1.08 MHz / 1.73 MHz | ∇ -37.63% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / 28.01 us | Δ 192.29% | 12.22 KHz / 35.71 KHz | ∇ -65.79% |
matrix: inv, fix[float ] 20x20 | 40.71 us / 12.67 us | Δ 221.28% | 24.56 KHz / 78.91 KHz | ∇ -68.87% |
matrix: inv, dyn[double] 20x20 | 108.60 us / 28.58 us | Δ 279.92% | 9.21 KHz / 34.98 KHz | ∇ -73.68% |
matrix: inv, fix[double] 20x20 | 19.22 us / 17.20 us | Δ 11.78% | 52.02 KHz / 58.15 KHz | ∇ -10.54% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / 205.67 us | Δ 196.19% | 1.64 KHz / 4.86 KHz | ∇ -66.24% |
matrix: inv, fix[float ] 40x40 | 307.68 us / 92.66 us | Δ 232.04% | 3.25 KHz / 10.79 KHz | ∇ -69.88% |
matrix: inv, dyn[double] 40x40 | 818.27 us / 200.95 us | Δ 307.21% | 1.22 KHz / 4.98 KHz | ∇ -75.44% |
matrix: inv, fix[double] 40x40 | 136.18 us / 134.50 us | Δ 1.25% | 7.34 KHz / 7.43 KHz | ∇ -1.23% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / 6.40 ns | Δ 42.95% | 109.30 MHz / 156.25 MHz | ∇ -30.05% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 2x2 | 9.56 ns / 8.80 ns | Δ 8.60% | 104.64 MHz / 113.64 MHz | ∇ -7.92% |
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 | 19.70 ns / 10.30 ns | Δ 91.28% | 50.76 MHz / 97.09 MHz | ∇ -47.72% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 15.90 ns / 10.30 ns | Δ 54.34% | 62.90 MHz / 97.09 MHz | ∇ -35.21% |
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 | 2.32 us / 931.50 ns | Δ 148.86% | 431.38 KHz / 1.07 MHz | ∇ -59.82% |
matrix: det, fix[float ] 6x6 | 434.76 ns / 215.70 ns | Δ 101.56% | 2.30 MHz / 4.64 MHz | ∇ -50.39% |
matrix: det, dyn[double] 6x6 | 2.38 us / 739.10 ns | Δ 221.83% | 420.40 KHz / 1.35 MHz | ∇ -68.93% |
matrix: det, fix[double] 6x6 | 422.89 ns / 219.80 ns | Δ 92.40% | 2.36 MHz / 4.55 MHz | ∇ -48.02% |
matrix: det, dyn[float ] 20x20 | 18.34 us / 5.64 us | Δ 225.12% | 54.54 KHz / 177.30 KHz | ∇ -69.24% |
matrix: det, fix[float ] 20x20 | 9.85 us / 4.05 us | Δ 143.01% | 101.56 KHz / 246.81 KHz | ∇ -58.85% |
matrix: det, dyn[double] 20x20 | 18.19 us / 6.52 us | Δ 178.82% | 54.99 KHz / 153.32 KHz | ∇ -64.13% |
matrix: det, fix[double] 20x20 | 6.52 us / 4.73 us | Δ 37.99% | 153.30 KHz / 211.54 KHz | ∇ -27.53% |
matrix: det, dyn[float ] 40x40 | 111.92 us / 30.83 us | Δ 262.99% | 8.93 KHz / 32.43 KHz | ∇ -72.45% |
matrix: det, fix[float ] 40x40 | 63.43 us / 25.85 us | Δ 145.32% | 15.77 KHz / 38.68 KHz | ∇ -59.24% |
matrix: det, dyn[double] 40x40 | 114.84 us / 32.40 us | Δ 254.50% | 8.71 KHz / 30.87 KHz | ∇ -71.79% |
matrix: det, fix[double] 40x40 | 36.00 us / 27.53 us | Δ 30.79% | 27.78 KHz / 36.33 KHz | ∇ -23.54% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 170.00 ns | Δ 9.23% | 5.39 MHz / 5.88 MHz | ∇ -8.45% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 130.00 ns | ∇ -12.90% | 8.83 MHz / 7.69 MHz | Δ 14.81% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 18.73 us | Δ 30.43% | 40.93 KHz / 53.39 KHz | ∇ -23.33% |
matrix: chol, fix[double] 40x40 | 17.73 us / 16.74 us | Δ 5.92% | 56.40 KHz / 59.74 KHz | ∇ -5.59% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 8.50 us | Δ 26.82% | 92.77 KHz / 117.65 KHz | ∇ -21.15% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 93.90 us | Δ 25.55% | 8.48 KHz / 10.65 KHz | ∇ -20.35% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 52.90 us | Δ 33.31% | 14.18 KHz / 18.90 KHz | ∇ -24.98% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 40.03 us | Δ 31.37% | 19.02 KHz / 24.98 KHz | ∇ -23.88% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 411.30 us | Δ 19.40% | 2.04 KHz / 2.43 KHz | ∇ -16.25% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 74.98 us | Δ 14.47% | 11.65 KHz / 13.34 KHz | ∇ -12.64% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 8.61 ms | Δ 9.73% | 105.88 Hz / 116.18 Hz | ∇ -8.87% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 185.35 us | Δ 10.34% | 4.89 KHz / 5.40 KHz | ∇ -9.37% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 135.40 ms | Δ 10.88% | 6.66 Hz / 7.39 Hz | ∇ -9.81% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 359.80 us | Δ 15.50% | 2.41 KHz / 2.78 KHz | ∇ -13.42% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 364.32 ms | Δ 26.66% | 2.17 Hz / 2.74 Hz | ∇ -21.05% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 426.39 us | Δ 13.73% | 2.06 KHz / 2.35 KHz | ∇ -12.07% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 800.16 ms | Δ 18.41% | 1.06 Hz / 1.25 Hz | ∇ -15.55% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 497.60 us | Δ 17.85% | 1.71 KHz / 2.01 KHz | ∇ -15.15% |
gridmap2D: getCell | 5.77 ns / 0.00 ns | Δ 1.#J% | 173.23 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 7.96 ns / 2.58 ns | Δ 208.18% | 125.64 MHz / 387.19 MHz | ∇ -67.55% |
gridmap2D: updateCell | 10.80 ns / 7.47 ns | Δ 44.52% | 92.58 MHz / 133.80 MHz | ∇ -30.81% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 0.55 ns | Δ 121.61% | 826.59 MHz / 1.83 GHz | ∇ -54.88% |
gridmap2D: insert scan w/o widening | 204.23 us / 104.80 us | Δ 94.89% | 4.90 KHz / 9.54 KHz | ∇ -48.69% |
gridmap2D: insert scan with widening | 344.40 us / 295.32 us | Δ 16.62% | 2.90 KHz / 3.39 KHz | ∇ -14.25% |
gridmap2D: resize | 2.62 ms / 1.83 ms | Δ 43.39% | 381.93 Hz / 547.65 Hz | ∇ -30.26% |
gridmap2D: computeLikelihood | 18.59 us / 16.65 us | Δ 11.64% | 53.79 KHz / 60.06 KHz | ∇ -10.43% |
pointmap: insert 100 scans | 5.62 ms / 3.11 ms | Δ 80.45% | 178.02 Hz / 321.23 Hz | ∇ -44.58% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 4.28 us | Δ 45.19% | 160.93 KHz / 233.64 KHz | ∇ -31.12% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 354.96 us | Δ 44.19% | 1.95 KHz / 2.82 KHz | ∇ -30.65% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 4.14 ms | Δ 35.11% | 178.86 Hz / 241.67 Hz | ∇ -25.99% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 4.28 us | Δ 68.89% | 138.34 KHz / 233.64 KHz | ∇ -40.79% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 361.24 us | Δ 44.81% | 1.91 KHz / 2.77 KHz | ∇ -30.94% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 4.09 ms | Δ 41.25% | 173.21 Hz / 244.66 Hz | ∇ -29.20% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.37 us | Δ 50.08% | 487.07 KHz / 730.99 KHz | ∇ -33.37% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 98.96 us | Δ 42.26% | 7.10 KHz / 10.10 KHz | ∇ -29.71% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 11.96 ms | Δ 26.90% | 65.91 Hz / 83.64 Hz | ∇ -21.20% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 5.60 ms | Δ 55.20% | 115.01 Hz / 178.50 Hz | ∇ -35.57% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 129.56 ms | Δ 51.63% | 5.09 Hz / 7.72 Hz | ∇ -34.05% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 5.65 ms | Δ 54.31% | 114.60 Hz / 176.84 Hz | ∇ -35.20% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 132.43 ms | Δ 49.88% | 5.04 Hz / 7.55 Hz | ∇ -33.28% |
random: drawUniform32bit | 7.29 ns / 15.70 ns | ∇ -53.54% | 137.11 MHz / 63.70 MHz | Δ 115.25% |
random: drawUniform | 7.33 ns / 15.69 ns | ∇ -53.32% | 136.49 MHz / 63.72 MHz | Δ 114.21% |
random: drawGaussian1D_normalized | 51.27 ns / 70.40 ns | ∇ -27.17% | 19.50 MHz / 14.20 MHz | Δ 37.30% |
random: drawGaussian1D | 51.74 ns / 70.38 ns | ∇ -26.48% | 19.33 MHz / 14.21 MHz | Δ 36.02% |
random: system rand() | 29.39 ns / 11.07 ns | Δ 165.56% | 34.03 MHz / 90.37 MHz | ∇ -62.34% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 1.33 us | Δ 98.68% | 378.48 KHz / 751.96 KHz | ∇ -49.67% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 3.04 us | Δ 180.77% | 117.18 KHz / 328.99 KHz | ∇ -64.38% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 162.81 ns | Δ 32.16% | 4.65 MHz / 6.14 MHz | ∇ -24.33% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 245.58 ns | Δ 46.58% | 2.78 MHz / 4.07 MHz | ∇ -31.78% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 514.74 ns | Δ 42.23% | 1.37 MHz / 1.94 MHz | ∇ -29.69% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 173.84 ns | Δ 22.87% | 4.68 MHz / 5.75 MHz | ∇ -18.61% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 259.42 ns | Δ 30.79% | 2.95 MHz / 3.85 MHz | ∇ -23.54% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 523.99 ns | Δ 45.22% | 1.31 MHz / 1.91 MHz | ∇ -31.14% |
random: permuteVector (len=10) | 411.34 ns / 288.60 ns | Δ 42.53% | 2.43 MHz / 3.47 MHz | ∇ -29.84% |
random: permuteVector (len=100) | 3.59 us / 3.07 us | Δ 16.83% | 278.70 KHz / 325.61 KHz | ∇ -14.41% |
random: permuteVector (len=1000) | 34.34 us / 30.26 us | Δ 13.48% | 29.12 KHz / 33.05 KHz | ∇ -11.88% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 9.77 GHz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 31.77 ms | ∇ -12.10% | 35.81 Hz / 31.48 Hz | Δ 13.76% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 45.70 ms | ∇ -4.74% | 22.97 Hz / 21.88 Hz | Δ 4.98% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 73.33 ms | ∇ -3.51% | 14.13 Hz / 13.64 Hz | Δ 3.64% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 27.15 ms | ∇ -13.70% | 42.67 Hz / 36.83 Hz | Δ 15.87% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 40.31 ms | ∇ -9.41% | 27.39 Hz / 24.81 Hz | Δ 10.39% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 64.44 ms | ∇ -7.18% | 16.72 Hz / 15.52 Hz | Δ 7.73% |
images: Gauss filter (640x480) | 6.68 ms / 4.52 ms | Δ 47.79% | 149.74 Hz / 221.30 Hz | ∇ -32.34% |
images: Gauss filter (800x600) | 8.62 ms / 7.35 ms | Δ 17.26% | 116.03 Hz / 136.05 Hz | ∇ -14.72% |
images: Gauss filter (1024x768) | 14.49 ms / 11.22 ms | Δ 29.16% | 69.01 Hz / 89.13 Hz | ∇ -22.57% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 6.32 us | Δ 234.24% | 47.34 KHz / 158.23 KHz | ∇ -70.08% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 4.78 us | Δ 305.07% | 51.65 KHz / 209.21 KHz | ∇ -75.31% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 2.14 us | Δ 191.43% | 160.34 KHz / 467.29 KHz | ∇ -65.69% |
feature_extraction [640x480]: Harris | 40.83 ms / 28.31 ms | Δ 44.19% | 24.49 Hz / 35.32 Hz | ∇ -30.65% |
feature_extraction [640x480]: KLT | 33.62 ms / 27.34 ms | Δ 22.95% | 29.75 Hz / 36.57 Hz | ∇ -18.66% |
feature_extraction [640x480]: SIFT | 705.28 ms / 641.91 ms | Δ 9.87% | 1.42 Hz / 1.56 Hz | ∇ -8.98% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 170.65 ms | Δ 25.53% | 4.67 Hz / 5.86 Hz | ∇ -20.34% |
feature_extraction [640x480]: SURF | 326.57 ms / 201.21 ms | Δ 62.30% | 3.06 Hz / 4.97 Hz | ∇ -38.39% |
feature_extraction [640x480]: FAST | 7.69 ms / 5.22 ms | Δ 47.22% | 130.08 Hz / 191.49 Hz | ∇ -32.07% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 60.81 ms | Δ 74.15% | 9.44 Hz / 16.44 Hz | ∇ -42.58% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 43.26 ms | Δ 33.32% | 17.34 Hz / 23.12 Hz | ∇ -24.99% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 39.91 ms | Δ 25.95% | 19.89 Hz / 25.06 Hz | ∇ -20.60% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.28 sec | Δ 8.11% | 724.62 mHz / 783.36 mHz | ∇ -7.50% |
feature_matching [640x480]: SURF | 618.66 ms / 386.18 ms | Δ 60.20% | 1.62 Hz / 2.59 Hz | ∇ -37.58% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 16.12 ms | Δ 37.16% | 45.22 Hz / 62.03 Hz | ∇ -27.09% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 10.93 ms | Δ 33.39% | 68.57 Hz / 91.46 Hz | ∇ -25.03% |
graph(2d): insertEdge x 1e3 | 354.58 us / X | 2.82 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / X | 3.52 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 549.28 us / X | 1.82 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / X | 2.21 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.86 ms / X | 259.12 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / X | 347.75 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / X | 174.28 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / X | 225.33 Hz / X | ||
graph(3d): insertEdge x 1e3 | 1.35 ms / X | 743.07 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / X | 917.96 Hz / X | ||
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / X | 573.66 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / X | 683.28 Hz / X | ||
graph(3d): insertEdge x 1e4 | 13.92 ms / X | 71.86 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / X | 89.92 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / X | 56.89 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / X | 70.81 Hz / X |