Test description | 0.9.2-GCC-64bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 20.74 ms | ∇ -3.64% | 50.03 Hz / 48.21 Hz | Δ 3.78% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 17.09 ms | Δ 12.89% | 51.84 Hz / 58.52 Hz | ∇ -11.41% |
poses: CPose3D (+) CPose3D | 42.85 ns / 29.76 ns | Δ 43.99% | 23.34 MHz / 33.60 MHz | ∇ -30.55% |
poses: CPose3D.composeFrom() | 37.80 ns / 21.90 ns | Δ 72.60% | 26.46 MHz / 45.66 MHz | ∇ -42.06% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 7.23 ns | Δ 0.25% | 137.89 MHz / 138.24 MHz | ∇ -0.25% |
poses: CPose3D.composePoint() | 11.91 ns / 11.67 ns | Δ 2.02% | 83.98 MHz / 85.68 MHz | ∇ -1.98% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 13.29 ns | Δ 268.67% | 20.42 MHz / 75.27 MHz | ∇ -72.88% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 24.48 ns | Δ 42.78% | 28.61 MHz / 40.85 MHz | ∇ -29.96% |
poses: CPose2D (+) CPose2D | 78.58 ns / 71.64 ns | Δ 9.68% | 12.73 MHz / 13.96 MHz | ∇ -8.82% |
poses: CPose2D.composeFrom() | 70.31 ns / 69.41 ns | Δ 1.31% | 14.22 MHz / 14.41 MHz | ∇ -1.29% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 60.78 ns | Δ 0.91% | 16.31 MHz / 16.45 MHz | ∇ -0.90% |
poses: CPose2D.composePoint() | 65.17 ns / 60.80 ns | Δ 7.18% | 15.35 MHz / 16.45 MHz | ∇ -6.70% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 40.47 ns | Δ 10.35% | 22.39 MHz / 24.71 MHz | ∇ -9.38% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 37.55 ns | Δ 5.01% | 25.36 MHz / 26.63 MHz | ∇ -4.77% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 17.39 ns | Δ 4.88% | 54.84 MHz / 57.51 MHz | ∇ -4.65% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 17.48 ns | Δ 2.60% | 55.75 MHz / 57.20 MHz | ∇ -2.53% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 32.97 ns | Δ 68.12% | 18.04 MHz / 30.33 MHz | ∇ -40.52% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 19.11 ns | ∇ -7.67% | 56.69 MHz / 52.34 MHz | Δ 8.31% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 23.42 ns | ∇ -28.71% | 59.89 MHz / 42.70 MHz | Δ 40.26% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 172.72 ns | ∇ -1.99% | 5.91 MHz / 5.79 MHz | Δ 2.03% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 671.00 ns | Δ 113306.11% | 1.31 KHz / 1.49 MHz | ∇ -99.91% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 652.00 ns | Δ 116559.13% | 1.31 KHz / 1.53 MHz | ∇ -99.91% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 8.74 us | Δ 8.39% | 105.55 KHz / 114.40 KHz | ∇ -7.74% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 454.10 ns | Δ 20.08% | 1.83 MHz / 2.20 MHz | ∇ -16.72% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 452.90 ns | Δ 20.14% | 1.84 MHz / 2.21 MHz | ∇ -16.76% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 7.98 us | Δ 1.66% | 123.33 KHz / 125.39 KHz | ∇ -1.64% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 17.64 ns | Δ 18.62% | 47.81 MHz / 56.71 MHz | ∇ -15.69% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 19.86 ns | Δ 1.44% | 49.63 MHz / 50.34 MHz | ∇ -1.42% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 57.06 ns | ∇ -5.29% | 18.51 MHz / 17.53 MHz | Δ 5.59% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 60.00 ns | ∇ -7.89% | 18.09 MHz / 16.67 MHz | Δ 8.56% |
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 / 0.00 ns | Δ 1.#J% | 588.93 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 2.77 ns / 0.00 ns | Δ 1.#J% | 360.36 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 242.70 ns | ∇ -69.88% | 13.68 MHz / 4.12 MHz | Δ 232.01% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.00 ns | Δ 1.#J% | 42.02 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 231.60 ns | ∇ -68.74% | 13.81 MHz / 4.32 MHz | Δ 219.89% |
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 / 296.50 ns | ∇ -62.73% | 9.05 MHz / 3.37 MHz | Δ 168.33% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 0.10 ns | Δ 45000.00% | 22.17 MHz / 10.00 GHz | ∇ -99.78% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 259.20 ns | ∇ -55.13% | 8.60 MHz / 3.86 MHz | Δ 122.87% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 0.00 ns | Δ 1.#J% | 22.12 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 2.09 us | Δ 147.80% | 192.77 KHz / 477.69 KHz | ∇ -59.64% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 1.79 us | Δ 98.55% | 281.56 KHz / 559.03 KHz | ∇ -49.64% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 2.43 us | Δ 113.25% | 193.05 KHz / 411.68 KHz | ∇ -53.11% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 2.16 us | Δ 66.83% | 277.05 KHz / 462.21 KHz | ∇ -40.06% |
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 / 767.00 ns | ∇ -57.11% | 3.04 MHz / 1.30 MHz | Δ 133.13% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 0.00 ns | Δ 1.#J% | 47.62 MHz / 1.#J THz | ∇ -1.#J% |
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 / 1.78 us | ∇ -32.53% | 832.64 KHz / 561.80 KHz | Δ 48.21% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 1.73 us | ∇ -66.55% | 1.73 MHz / 578.70 KHz | Δ 198.96% |
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 / 16.27 us | Δ 57.60% | 39.01 KHz / 61.47 KHz | ∇ -36.55% |
matrix: inv, fix[double] 20x20 | 17.36 us / 13.44 us | Δ 29.19% | 57.60 KHz / 74.41 KHz | ∇ -22.60% |
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 / 68.00 us | Δ 177.98% | 5.29 KHz / 14.70 KHz | ∇ -64.03% |
matrix: inv, fix[double] 40x40 | 121.47 us / 63.01 us | Δ 92.79% | 8.23 KHz / 15.87 KHz | ∇ -48.13% |
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 / 209.40 ns | ∇ -96.94% | 156.25 MHz / 4.78 MHz | Δ 3171.87% |
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 / 331.30 ns | ∇ -96.89% | 97.09 MHz / 3.02 MHz | Δ 3116.50% |
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 / 943.70 ns | ∇ -26.22% | 1.44 MHz / 1.06 MHz | Δ 35.53% |
matrix: det, fix[double] 6x6 | 212.30 ns / 575.90 ns | ∇ -63.14% | 4.71 MHz / 1.74 MHz | Δ 171.27% |
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 / 8.10 us | ∇ -20.98% | 156.16 KHz / 123.40 KHz | Δ 26.55% |
matrix: det, fix[double] 20x20 | 4.72 us / 7.48 us | ∇ -36.91% | 211.77 KHz / 133.61 KHz | Δ 58.50% |
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 / 30.87 us | Δ 5.26% | 30.77 KHz / 32.39 KHz | ∇ -4.99% |
matrix: det, fix[double] 40x40 | 27.34 us / 29.01 us | ∇ -5.77% | 36.58 KHz / 34.47 KHz | Δ 6.13% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 530.00 ns | ∇ -75.47% | 7.69 MHz / 1.89 MHz | Δ 307.69% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 120.00 ns | Δ 16.67% | 7.14 MHz / 8.33 MHz | ∇ -14.29% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 20.70 us | ∇ -10.53% | 54.00 KHz / 48.31 KHz | Δ 11.77% |
matrix: chol, fix[double] 40x40 | 16.55 us / 16.54 us | Δ 0.06% | 60.42 KHz / 60.46 KHz | ∇ -0.06% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 12.20 us | ∇ -32.79% | 121.95 KHz / 81.97 KHz | Δ 48.78% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 87.70 us | ∇ -5.47% | 12.06 KHz / 11.40 KHz | Δ 5.79% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 51.70 us | Δ 1.93% | 18.98 KHz / 19.34 KHz | ∇ -1.90% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 38.27 us | Δ 0.84% | 25.91 KHz / 26.13 KHz | ∇ -0.83% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 255.50 us | Δ 60.39% | 2.44 KHz / 3.91 KHz | ∇ -37.65% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 70.94 us | ∇ -0.27% | 14.13 KHz / 14.10 KHz | Δ 0.27% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 2.75 ms | Δ 211.85% | 116.60 Hz / 363.64 Hz | ∇ -67.93% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 169.22 us | Δ 1.17% | 5.84 KHz / 5.91 KHz | ∇ -1.16% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 22.06 ms | Δ 505.55% | 7.49 Hz / 45.33 Hz | ∇ -83.49% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 339.61 us | Δ 0.66% | 2.93 KHz / 2.94 KHz | ∇ -0.66% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 36.67 ms | Δ 866.79% | 2.82 Hz / 27.27 Hz | ∇ -89.66% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 402.38 us | ∇ -0.22% | 2.49 KHz / 2.49 KHz | Δ 0.22% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 53.86 ms | Δ 1335.59% | 1.29 Hz / 18.57 Hz | ∇ -93.03% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 476.81 us | ∇ -1.59% | 2.13 KHz / 2.10 KHz | Δ 1.61% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | Δ 1.#J% | 10.00 THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.71 ns | ∇ -4.82% | 388.02 MHz / 369.33 MHz | Δ 5.06% |
gridmap2D: updateCell | 7.84 ns / 6.04 ns | Δ 29.79% | 127.58 MHz / 165.59 MHz | ∇ -22.95% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.61 ns | ∇ -10.34% | 1.82 GHz / 1.63 GHz | Δ 11.53% |
gridmap2D: insert scan w/o widening | 102.06 us / 99.83 us | Δ 2.23% | 9.80 KHz / 10.02 KHz | ∇ -2.18% |
gridmap2D: insert scan with widening | 289.47 us / 293.13 us | ∇ -1.25% | 3.45 KHz / 3.41 KHz | Δ 1.26% |
gridmap2D: resize | 1.97 ms / 630.00 us | Δ 212.06% | 508.65 Hz / 1.59 KHz | ∇ -67.96% |
gridmap2D: computeLikelihood | 15.74 us / 17.81 us | ∇ -11.65% | 63.55 KHz / 56.14 KHz | Δ 13.19% |
pointmap: insert 100 scans | 3.04 ms / 1.01 ms | Δ 200.88% | 329.30 Hz / 990.80 Hz | ∇ -66.76% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 4.52 us | ∇ -4.42% | 231.48 KHz / 221.24 KHz | Δ 4.63% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 364.44 us | ∇ -3.38% | 2.84 KHz / 2.74 KHz | Δ 3.50% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.38 ms | ∇ -5.51% | 241.51 Hz / 228.21 Hz | Δ 5.83% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 5.16 us | ∇ -9.30% | 213.68 KHz / 193.80 KHz | Δ 10.26% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 372.44 us | ∇ -3.47% | 2.78 KHz / 2.68 KHz | Δ 3.59% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 4.20 ms | ∇ -4.11% | 248.28 Hz / 238.06 Hz | Δ 4.29% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.42 us | ∇ -1.13% | 711.74 KHz / 703.73 KHz | Δ 1.14% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 101.86 us | ∇ -4.56% | 10.29 KHz / 9.82 KHz | Δ 4.78% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 12.17 ms | ∇ -4.53% | 86.05 Hz / 82.15 Hz | Δ 4.74% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 5.64 ms | ∇ -0.85% | 178.77 Hz / 177.25 Hz | Δ 0.86% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 132.76 ms | ∇ -2.62% | 7.73 Hz / 7.53 Hz | Δ 2.69% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 5.71 ms | ∇ -0.85% | 176.53 Hz / 175.04 Hz | Δ 0.85% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 134.74 ms | ∇ -2.61% | 7.62 Hz / 7.42 Hz | Δ 2.68% |
random: drawUniform32bit | 14.50 ns / 14.55 ns | ∇ -0.29% | 68.95 MHz / 68.75 MHz | Δ 0.29% |
random: drawUniform | 14.50 ns / 14.56 ns | ∇ -0.39% | 68.96 MHz / 68.69 MHz | Δ 0.39% |
random: drawGaussian1D_normalized | 68.97 ns / 66.87 ns | Δ 3.15% | 14.50 MHz / 14.96 MHz | ∇ -3.05% |
random: drawGaussian1D | 68.98 ns / 66.81 ns | Δ 3.25% | 14.50 MHz / 14.97 MHz | ∇ -3.15% |
random: system rand() | 10.45 ns / 10.63 ns | ∇ -1.68% | 95.72 MHz / 94.11 MHz | Δ 1.71% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 903.36 ns | Δ 44.68% | 765.12 KHz / 1.11 MHz | ∇ -30.88% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 1.61 us | Δ 69.50% | 366.37 KHz / 621.01 KHz | ∇ -41.00% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 144.65 ns | Δ 9.86% | 6.29 MHz / 6.91 MHz | ∇ -8.97% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 219.48 ns | Δ 8.17% | 4.21 MHz / 4.56 MHz | ∇ -7.55% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 472.80 ns | Δ 3.65% | 2.04 MHz / 2.12 MHz | ∇ -3.52% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 152.29 ns | Δ 8.13% | 6.07 MHz / 6.57 MHz | ∇ -7.52% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 235.04 ns | Δ 6.29% | 4.00 MHz / 4.25 MHz | ∇ -5.92% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 491.60 ns | Δ 4.70% | 1.94 MHz / 2.03 MHz | ∇ -4.49% |
random: permuteVector (len=10) | 296.20 ns / 243.60 ns | Δ 21.59% | 3.38 MHz / 4.11 MHz | ∇ -17.76% |
random: permuteVector (len=100) | 3.04 us / 2.99 us | Δ 1.85% | 328.91 KHz / 334.99 KHz | ∇ -1.81% |
random: permuteVector (len=1000) | 30.22 us / 29.51 us | Δ 2.40% | 33.09 KHz / 33.88 KHz | ∇ -2.34% |
math: round | 0.10 ns / 0.10 ns | ∇ -0.08% | 10.09 GHz / 10.08 GHz | Δ 0.08% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 33.63 ms | Δ 4.26% | 28.52 Hz / 29.74 Hz | ∇ -4.09% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 49.85 ms | ∇ -1.78% | 20.42 Hz / 20.06 Hz | Δ 1.81% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 69.59 ms | Δ 7.27% | 13.40 Hz / 14.37 Hz | ∇ -6.78% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 30.64 ms | ∇ -2.22% | 33.37 Hz / 32.63 Hz | Δ 2.27% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 43.91 ms | ∇ -2.55% | 23.37 Hz / 22.78 Hz | Δ 2.61% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 62.52 ms | Δ 2.60% | 15.59 Hz / 15.99 Hz | ∇ -2.53% |
images: Gauss filter (640x480) | 3.90 ms / 3.81 ms | Δ 2.52% | 256.30 Hz / 262.76 Hz | ∇ -2.46% |
images: Gauss filter (800x600) | 6.21 ms / 5.96 ms | Δ 4.17% | 160.99 Hz / 167.70 Hz | ∇ -4.00% |
images: Gauss filter (1024x768) | 10.55 ms / 10.46 ms | Δ 0.91% | 94.74 Hz / 95.61 Hz | ∇ -0.90% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 12.69 us | ∇ -60.13% | 197.63 KHz / 78.80 KHz | Δ 150.79% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 9.85 us | ∇ -56.35% | 232.56 KHz / 101.52 KHz | Δ 129.07% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 5.24 us | ∇ -59.92% | 476.19 KHz / 190.84 KHz | Δ 149.52% |
feature_extraction [640x480]: Harris | 24.28 ms / 21.14 ms | Δ 14.84% | 41.19 Hz / 47.31 Hz | ∇ -12.92% |
feature_extraction [640x480]: KLT | 24.43 ms / 21.45 ms | Δ 13.86% | 40.94 Hz / 46.61 Hz | ∇ -12.17% |
feature_extraction [640x480]: SIFT | 610.42 ms / 591.25 ms | Δ 3.24% | 1.64 Hz / 1.69 Hz | ∇ -3.14% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 162.82 ms | Δ 3.04% | 5.96 Hz / 6.14 Hz | ∇ -2.95% |
feature_extraction [640x480]: SURF | 197.61 ms / 197.33 ms | Δ 0.14% | 5.06 Hz / 5.07 Hz | ∇ -0.14% |
feature_extraction [640x480]: FAST | 5.24 ms / 6.89 ms | ∇ -23.88% | 190.68 Hz / 145.15 Hz | Δ 31.37% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 63.90 ms | ∇ -6.13% | 16.67 Hz / 15.65 Hz | Δ 6.53% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 38.54 ms | Δ 6.07% | 24.46 Hz / 25.95 Hz | ∇ -5.73% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 33.59 ms | Δ 5.67% | 28.17 Hz / 29.77 Hz | ∇ -5.37% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.16 sec | Δ 4.27% | 828.07 mHz / 863.45 mHz | ∇ -4.10% |
feature_matching [640x480]: SURF | 379.92 ms / 375.89 ms | Δ 1.07% | 2.63 Hz / 2.66 Hz | ∇ -1.06% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 15.89 ms | Δ 1.11% | 62.26 Hz / 62.95 Hz | ∇ -1.10% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 10.48 ms | Δ 2.41% | 93.18 Hz / 95.42 Hz | ∇ -2.35% |
graph(2d): insertEdge x 1e3 | 117.65 us / 158.24 us | ∇ -25.65% | 8.50 KHz / 6.32 KHz | Δ 34.50% |
graph(2d,vec): insertEdge x 1e3 | 105.13 us / 133.69 us | ∇ -21.37% | 9.51 KHz / 7.48 KHz | Δ 27.17% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 84.43 us | Δ 0.90% | 11.74 KHz / 11.84 KHz | ∇ -0.89% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 81.78 us | Δ 3.29% | 11.84 KHz / 12.23 KHz | ∇ -3.18% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 207.17 us | ∇ -16.72% | 5.80 KHz / 4.83 KHz | Δ 20.08% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 232.57 us | ∇ -19.18% | 5.32 KHz / 4.30 KHz | Δ 23.73% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 246.74 us | ∇ -31.67% | 5.93 KHz / 4.05 KHz | Δ 46.34% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 192.59 us | ∇ -13.09% | 5.97 KHz / 5.19 KHz | Δ 15.06% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 2.08 ms | ∇ -17.12% | 579.22 Hz / 480.05 Hz | Δ 20.66% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 1.62 ms | ∇ -10.43% | 690.59 Hz / 618.53 Hz | Δ 11.65% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 870.19 us | Δ 1.67% | 1.13 KHz / 1.15 KHz | ∇ -1.64% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 846.92 us | Δ 1.81% | 1.16 KHz / 1.18 KHz | ∇ -1.77% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 2.34 ms | ∇ -15.69% | 506.65 Hz / 427.14 Hz | Δ 18.61% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 2.81 ms | ∇ -17.91% | 433.74 Hz / 356.06 Hz | Δ 21.82% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 2.13 ms | ∇ -12.59% | 538.12 Hz / 470.35 Hz | Δ 14.41% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 2.13 ms | ∇ -12.86% | 538.35 Hz / 469.13 Hz | Δ 14.76% |
graph(3d): insertEdge x 1e3 | 177.23 us / 220.82 us | ∇ -19.74% | 5.64 KHz / 4.53 KHz | Δ 24.59% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 221.81 us | ∇ -19.59% | 5.61 KHz / 4.51 KHz | Δ 24.36% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 183.18 us | ∇ -13.82% | 6.33 KHz / 5.46 KHz | Δ 16.04% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 186.52 us | ∇ -14.46% | 6.27 KHz / 5.36 KHz | Δ 16.91% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 532.35 us | ∇ -4.76% | 1.97 KHz / 1.88 KHz | Δ 5.00% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 537.98 us | ∇ -5.30% | 1.96 KHz / 1.86 KHz | Δ 5.60% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 487.59 us | ∇ -2.92% | 2.11 KHz / 2.05 KHz | Δ 3.01% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 493.50 us | ∇ -3.94% | 2.11 KHz / 2.03 KHz | Δ 4.10% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 2.78 ms | ∇ -11.13% | 404.60 Hz / 359.55 Hz | Δ 12.53% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 2.77 ms | ∇ -10.50% | 402.82 Hz / 360.52 Hz | Δ 11.74% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 2.09 ms | ∇ -16.28% | 570.48 Hz / 477.61 Hz | Δ 19.44% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 2.05 ms | ∇ -13.91% | 565.81 Hz / 487.11 Hz | Δ 16.16% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 7.36 ms | ∇ -24.95% | 180.97 Hz / 135.81 Hz | Δ 33.25% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 6.97 ms | ∇ -20.19% | 179.70 Hz / 143.42 Hz | Δ 25.29% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 5.29 ms | ∇ -8.23% | 206.16 Hz / 189.20 Hz | Δ 8.96% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 5.49 ms | ∇ -11.56% | 206.11 Hz / 182.28 Hz | Δ 13.07% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 90.55 us | Δ 6.06% | 10.41 KHz / 11.04 KHz | ∇ -5.72% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 83.50 us | ∇ -3.73% | 12.44 KHz / 11.98 KHz | Δ 3.88% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 1.13 ms | ∇ -0.32% | 885.05 Hz / 882.20 Hz | Δ 0.32% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 767.67 us | Δ 4.74% | 1.24 KHz / 1.30 KHz | ∇ -4.52% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 21.12 ms | ∇ -9.39% | 52.26 Hz / 47.35 Hz | Δ 10.37% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 10.86 ms | ∇ -11.16% | 103.63 Hz / 92.06 Hz | Δ 12.56% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 341.35 ms | ∇ -14.93% | 3.44 Hz / 2.93 Hz | Δ 17.56% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 142.53 ms | ∇ -17.40% | 8.49 Hz / 7.02 Hz | Δ 21.06% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 320.28 ms | ∇ -16.03% | 3.72 Hz / 3.12 Hz | Δ 19.09% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 133.66 ms | ∇ -22.90% | 9.70 Hz / 7.48 Hz | Δ 29.71% |