Test description | 0.9.1-MSVC9-32bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 37.14 ms | ∇ -14.42% | 31.46 Hz / 26.93 Hz | Δ 16.84% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 36.34 ms | Δ 47.80% | 18.62 Hz / 27.52 Hz | ∇ -32.34% |
poses: CPose3D (+) CPose3D | 925.38 ns / 197.08 ns | Δ 369.56% | 1.08 MHz / 5.07 MHz | ∇ -78.70% |
poses: CPose3D.composeFrom() | 617.00 ns / 33.62 ns | Δ 1735.00% | 1.62 MHz / 29.74 MHz | ∇ -94.55% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 25.13 ns | Δ 43.13% | 27.80 MHz / 39.79 MHz | ∇ -30.13% |
poses: CPose3D.composePoint() | 14.62 ns / 21.31 ns | ∇ -31.40% | 68.42 MHz / 46.94 MHz | Δ 45.78% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 89.96 ns | ∇ -16.16% | 13.26 MHz / 11.12 MHz | Δ 19.27% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 47.25 ns | Δ 19.55% | 17.70 MHz / 21.17 MHz | ∇ -16.35% |
poses: CPose2D (+) CPose2D | 121.60 ns / 108.63 ns | Δ 11.94% | 8.22 MHz / 9.21 MHz | ∇ -10.67% |
poses: CPose2D.composeFrom() | 66.63 ns / 94.77 ns | ∇ -29.70% | 15.01 MHz / 10.55 MHz | Δ 42.24% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 80.61 ns | Δ 16.28% | 10.67 MHz / 12.41 MHz | ∇ -14.00% |
poses: CPose2D.composePoint() | 62.24 ns / 67.32 ns | ∇ -7.55% | 16.07 MHz / 14.85 MHz | Δ 8.17% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 81.31 ns | Δ 23.90% | 9.93 MHz / 12.30 MHz | ∇ -19.29% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 51.56 ns | Δ 12.33% | 17.26 MHz / 19.39 MHz | ∇ -10.98% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 55.91 ns | Δ 9.69% | 16.31 MHz / 17.89 MHz | ∇ -8.84% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 32.73 ns | ∇ -16.46% | 36.57 MHz / 30.55 MHz | Δ 19.70% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 124.02 ns | Δ 368.22% | 1.72 MHz / 8.06 MHz | ∇ -78.64% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 30.61 ns | ∇ -7.92% | 35.48 MHz / 32.67 MHz | Δ 8.60% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 28.12 ns | Δ 1701.71% | 1.97 MHz / 35.56 MHz | ∇ -94.45% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 216.84 ns | ∇ -0.91% | 4.65 MHz / 4.61 MHz | Δ 0.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 1.24 us | Δ 25.42% | 642.96 KHz / 806.40 KHz | ∇ -20.27% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 1.20 us | Δ 25.87% | 663.83 KHz / 835.55 KHz | ∇ -20.55% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 20.15 us | Δ 15.57% | 42.94 KHz / 49.63 KHz | ∇ -13.47% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 817.60 ns | Δ 100.58% | 609.77 KHz / 1.22 MHz | ∇ -50.15% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 823.40 ns | Δ 102.13% | 600.84 KHz / 1.21 MHz | ∇ -50.53% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 19.09 us | ∇ -15.94% | 62.32 KHz / 52.39 KHz | Δ 18.97% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 49.67 ns | ∇ -20.16% | 25.22 MHz / 20.13 MHz | Δ 25.25% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 50.90 ns | ∇ -16.03% | 23.39 MHz / 19.64 MHz | Δ 19.09% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 180.98 ns | ∇ -15.86% | 6.57 MHz / 5.53 MHz | Δ 18.84% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 177.90 ns | ∇ -15.43% | 6.65 MHz / 5.62 MHz | Δ 18.24% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.00 ns | Δ 1.#J% | 303.37 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.48 ns / 0.00 ns | Δ 1.#J% | 287.56 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 3.06 ns / 6.63 ns | ∇ -53.91% | 327.19 MHz / 150.81 MHz | Δ 116.95% |
matrix: unit, fix[double,6,6] | 6.65 ns / 8.86 ns | ∇ -24.97% | 150.48 MHz / 112.91 MHz | Δ 33.27% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 680.28 ns | ∇ -75.33% | 5.96 MHz / 1.47 MHz | Δ 305.39% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 0.00 ns | Δ 1.#J% | 9.21 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 458.35 ns | ∇ -65.34% | 6.29 MHz / 2.18 MHz | Δ 188.48% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 0.00 ns | Δ 1.#J% | 11.01 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 680.46 ns | ∇ -59.96% | 3.67 MHz / 1.47 MHz | Δ 149.73% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 35.28 ns | Δ 447.37% | 5.18 MHz / 28.34 MHz | ∇ -81.73% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 514.01 ns | ∇ -53.52% | 4.19 MHz / 1.95 MHz | Δ 115.15% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 3.40 ns | Δ 3993.37% | 7.19 MHz / 294.39 MHz | ∇ -97.56% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 5.18 us | Δ 224.42% | 59.51 KHz / 193.06 KHz | ∇ -69.18% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 4.56 us | Δ 186.60% | 76.57 KHz / 219.44 KHz | ∇ -65.11% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 3.79 us | Δ 257.40% | 73.81 KHz / 263.78 KHz | ∇ -72.02% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 2.92 us | Δ 240.70% | 100.40 KHz / 342.06 KHz | ∇ -70.65% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / X | 665.84 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.79 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.53 us / 1.50 us | Δ 1.93% | 652.84 KHz / 665.44 KHz | ∇ -1.89% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 9.51 ns | Δ 228.57% | 32.00 MHz / 105.14 MHz | ∇ -69.57% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / X | 197.26 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.33 us / X | 749.46 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.08 us / 3.90 us | Δ 30.25% | 196.68 KHz / 256.17 KHz | ∇ -23.22% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 3.54 us | ∇ -73.82% | 1.08 MHz / 282.49 KHz | Δ 282.01% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / X | 12.22 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 40.71 us / X | 24.56 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 108.60 us / 34.19 us | Δ 217.61% | 9.21 KHz / 29.25 KHz | ∇ -68.52% |
matrix: inv, fix[double] 20x20 | 19.22 us / 29.35 us | ∇ -34.51% | 52.02 KHz / 34.07 KHz | Δ 52.70% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / X | 1.64 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 307.68 us / X | 3.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 818.27 us / 134.24 us | Δ 509.57% | 1.22 KHz / 7.45 KHz | ∇ -83.59% |
matrix: inv, fix[double] 40x40 | 136.18 us / 126.45 us | Δ 7.69% | 7.34 KHz / 7.91 KHz | ∇ -7.14% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / X | 109.30 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 9.56 ns / 601.74 ns | ∇ -98.41% | 104.64 MHz / 1.66 MHz | Δ 6196.63% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: det, dyn[float ] 3x3 | 19.70 ns / X | 50.76 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 872.81 ns | ∇ -98.18% | 62.90 MHz / 1.15 MHz | Δ 5390.27% |
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 / X | 431.38 KHz / X | ||
matrix: det, fix[float ] 6x6 | 434.76 ns / X | 2.30 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.38 us / 2.32 us | Δ 2.35% | 420.40 KHz / 430.29 KHz | ∇ -2.30% |
matrix: det, fix[double] 6x6 | 422.89 ns / 2.17 us | ∇ -80.52% | 2.36 MHz / 460.60 KHz | Δ 413.39% |
matrix: det, dyn[float ] 20x20 | 18.34 us / X | 54.54 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.85 us / X | 101.56 KHz / X | ||
matrix: det, dyn[double] 20x20 | 18.19 us / 23.14 us | ∇ -21.40% | 54.99 KHz / 43.22 KHz | Δ 27.22% |
matrix: det, fix[double] 20x20 | 6.52 us / 21.38 us | ∇ -69.49% | 153.30 KHz / 46.78 KHz | Δ 227.72% |
matrix: det, dyn[float ] 40x40 | 111.92 us / X | 8.93 KHz / X | ||
matrix: det, fix[float ] 40x40 | 63.43 us / X | 15.77 KHz / X | ||
matrix: det, dyn[double] 40x40 | 114.84 us / 92.83 us | Δ 23.71% | 8.71 KHz / 10.77 KHz | ∇ -19.17% |
matrix: det, fix[double] 40x40 | 36.00 us / 90.97 us | ∇ -60.42% | 27.78 KHz / 10.99 KHz | Δ 152.68% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 892.24 ns | ∇ -79.19% | 5.39 MHz / 1.12 MHz | Δ 380.48% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 249.10 ns | ∇ -54.55% | 8.83 MHz / 4.01 MHz | Δ 120.00% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 41.12 us | ∇ -40.59% | 40.93 KHz / 24.32 KHz | Δ 68.33% |
matrix: chol, fix[double] 40x40 | 17.73 us / 26.92 us | ∇ -34.12% | 56.40 KHz / 37.15 KHz | Δ 51.80% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 15.31 us | ∇ -29.59% | 92.77 KHz / 65.32 KHz | Δ 42.02% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 116.85 us | Δ 0.89% | 8.48 KHz / 8.56 KHz | ∇ -0.88% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 98.96 us | ∇ -28.74% | 14.18 KHz / 10.10 KHz | Δ 40.33% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 55.18 us | ∇ -4.69% | 19.02 KHz / 18.12 KHz | Δ 4.93% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 498.07 us | ∇ -1.40% | 2.04 KHz / 2.01 KHz | Δ 1.42% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 133.40 us | ∇ -35.66% | 11.65 KHz / 7.50 KHz | Δ 55.42% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 4.99 ms | Δ 89.18% | 105.88 Hz / 200.30 Hz | ∇ -47.14% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 243.96 us | ∇ -16.17% | 4.89 KHz / 4.10 KHz | Δ 19.28% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 30.03 ms | Δ 400.01% | 6.66 Hz / 33.31 Hz | ∇ -80.00% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 486.08 us | ∇ -14.50% | 2.41 KHz / 2.06 KHz | Δ 16.96% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 51.94 ms | Δ 788.31% | 2.17 Hz / 19.25 Hz | ∇ -88.74% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 583.78 us | ∇ -16.93% | 2.06 KHz / 1.71 KHz | Δ 20.39% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 76.91 ms | Δ 1131.96% | 1.06 Hz / 13.00 Hz | ∇ -91.88% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 649.31 us | ∇ -9.68% | 1.71 KHz / 1.54 KHz | Δ 10.72% |
gridmap2D: getCell | 5.77 ns / 6.44 ns | ∇ -10.38% | 173.23 MHz / 155.25 MHz | Δ 11.58% |
gridmap2D: setCell | 7.96 ns / 9.52 ns | ∇ -16.42% | 125.64 MHz / 105.00 MHz | Δ 19.65% |
gridmap2D: updateCell | 10.80 ns / 9.85 ns | Δ 9.69% | 92.58 MHz / 101.55 MHz | ∇ -8.83% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 1.47 ns | ∇ -17.81% | 826.59 MHz / 679.40 MHz | Δ 21.66% |
gridmap2D: insert scan w/o widening | 204.23 us / 225.20 us | ∇ -9.31% | 4.90 KHz / 4.44 KHz | Δ 10.26% |
gridmap2D: insert scan with widening | 344.40 us / 365.80 us | ∇ -5.85% | 2.90 KHz / 2.73 KHz | Δ 6.21% |
gridmap2D: resize | 2.62 ms / 2.56 ms | Δ 2.10% | 381.93 Hz / 389.96 Hz | ∇ -2.06% |
gridmap2D: computeLikelihood | 18.59 us / 21.14 us | ∇ -12.07% | 53.79 KHz / 47.30 KHz | Δ 13.73% |
pointmap: insert 100 scans | 5.62 ms / 3.27 ms | Δ 71.75% | 178.02 Hz / 305.75 Hz | ∇ -41.78% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 6.03 us | Δ 3.00% | 160.93 KHz / 165.76 KHz | ∇ -2.92% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 579.42 us | ∇ -11.67% | 1.95 KHz / 1.73 KHz | Δ 13.21% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 6.14 ms | ∇ -8.94% | 178.86 Hz / 162.87 Hz | Δ 9.82% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 6.68 us | Δ 8.13% | 138.34 KHz / 149.59 KHz | ∇ -7.52% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 519.96 us | Δ 0.60% | 1.91 KHz / 1.92 KHz | ∇ -0.60% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 6.64 ms | ∇ -13.01% | 173.21 Hz / 150.68 Hz | Δ 14.95% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.95 us | Δ 5.03% | 487.07 KHz / 511.57 KHz | ∇ -4.79% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 167.14 us | ∇ -15.77% | 7.10 KHz / 5.98 KHz | Δ 18.72% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 17.45 ms | ∇ -13.07% | 65.91 Hz / 57.30 Hz | Δ 15.03% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 9.11 ms | ∇ -4.58% | 115.01 Hz / 109.75 Hz | Δ 4.80% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 210.71 ms | ∇ -6.77% | 5.09 Hz / 4.75 Hz | Δ 7.26% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 8.38 ms | Δ 4.17% | 114.60 Hz / 119.37 Hz | ∇ -4.00% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 198.71 ms | ∇ -0.12% | 5.04 Hz / 5.03 Hz | Δ 0.12% |
random: drawUniform32bit | 7.29 ns / 7.57 ns | ∇ -3.65% | 137.11 MHz / 132.11 MHz | Δ 3.79% |
random: drawUniform | 7.33 ns / 7.60 ns | ∇ -3.62% | 136.49 MHz / 131.54 MHz | Δ 3.76% |
random: drawGaussian1D_normalized | 51.27 ns / 58.48 ns | ∇ -12.32% | 19.50 MHz / 17.10 MHz | Δ 14.05% |
random: drawGaussian1D | 51.74 ns / 57.62 ns | ∇ -10.22% | 19.33 MHz / 17.35 MHz | Δ 11.38% |
random: system rand() | 29.39 ns / 29.43 ns | ∇ -0.14% | 34.03 MHz / 33.98 MHz | Δ 0.14% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 2.95 us | ∇ -10.38% | 378.48 KHz / 339.21 KHz | Δ 11.58% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 3.53 us | Δ 141.45% | 117.18 KHz / 282.92 KHz | ∇ -58.58% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 145.71 ns | Δ 47.66% | 4.65 MHz / 6.86 MHz | ∇ -32.28% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 227.37 ns | Δ 58.33% | 2.78 MHz / 4.40 MHz | ∇ -36.84% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 514.56 ns | Δ 42.28% | 1.37 MHz / 1.94 MHz | ∇ -29.72% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 170.42 ns | Δ 25.33% | 4.68 MHz / 5.87 MHz | ∇ -20.21% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 283.60 ns | Δ 19.64% | 2.95 MHz / 3.53 MHz | ∇ -16.41% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 661.22 ns | Δ 15.08% | 1.31 MHz / 1.51 MHz | ∇ -13.10% |
random: permuteVector (len=10) | 411.34 ns / 304.45 ns | Δ 35.11% | 2.43 MHz / 3.28 MHz | ∇ -25.99% |
random: permuteVector (len=100) | 3.59 us / 3.47 us | Δ 3.49% | 278.70 KHz / 288.42 KHz | ∇ -3.37% |
random: permuteVector (len=1000) | 34.34 us / 37.99 us | ∇ -9.61% | 29.12 KHz / 26.33 KHz | Δ 10.63% |
math: round | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 220.79 THz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 33.06 ms | ∇ -15.54% | 35.81 Hz / 30.25 Hz | Δ 18.39% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 50.64 ms | ∇ -14.03% | 22.97 Hz / 19.75 Hz | Δ 16.32% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 82.66 ms | ∇ -14.40% | 14.13 Hz / 12.10 Hz | Δ 16.82% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 27.36 ms | ∇ -14.34% | 42.67 Hz / 36.56 Hz | Δ 16.74% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 43.25 ms | ∇ -15.58% | 27.39 Hz / 23.12 Hz | Δ 18.45% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 66.55 ms | ∇ -10.12% | 16.72 Hz / 15.03 Hz | Δ 11.27% |
images: Gauss filter (640x480) | 6.68 ms / 5.57 ms | Δ 19.87% | 149.74 Hz / 179.49 Hz | ∇ -16.58% |
images: Gauss filter (800x600) | 8.62 ms / 8.84 ms | ∇ -2.52% | 116.03 Hz / 113.10 Hz | Δ 2.59% |
images: Gauss filter (1024x768) | 14.49 ms / 14.37 ms | Δ 0.82% | 69.01 Hz / 69.58 Hz | ∇ -0.81% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 21.97 us | ∇ -3.83% | 47.34 KHz / 45.52 KHz | Δ 3.99% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 22.01 us | ∇ -12.02% | 51.65 KHz / 45.44 KHz | Δ 13.66% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 12.71 us | ∇ -50.93% | 160.34 KHz / 78.69 KHz | Δ 103.77% |
feature_extraction [640x480]: Harris | 40.83 ms / 38.32 ms | Δ 6.55% | 24.49 Hz / 26.10 Hz | ∇ -6.15% |
feature_extraction [640x480]: KLT | 33.62 ms / 37.22 ms | ∇ -9.67% | 29.75 Hz / 26.87 Hz | Δ 10.71% |
feature_extraction [640x480]: SIFT | 705.28 ms / 739.68 ms | ∇ -4.65% | 1.42 Hz / 1.35 Hz | Δ 4.88% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 232.95 ms | ∇ -8.04% | 4.67 Hz / 4.29 Hz | Δ 8.75% |
feature_extraction [640x480]: SURF | 326.57 ms / 309.97 ms | Δ 5.36% | 3.06 Hz / 3.23 Hz | ∇ -5.08% |
feature_extraction [640x480]: FAST | 7.69 ms / 6.88 ms | Δ 11.67% | 130.08 Hz / 145.25 Hz | ∇ -10.45% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 88.28 ms | Δ 19.96% | 9.44 Hz / 11.33 Hz | ∇ -16.64% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 59.68 ms | ∇ -3.37% | 17.34 Hz / 16.76 Hz | Δ 3.48% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 58.57 ms | ∇ -14.17% | 19.89 Hz / 17.07 Hz | Δ 16.51% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.50 sec | ∇ -7.81% | 724.62 mHz / 668.02 mHz | Δ 8.47% |
feature_matching [640x480]: SURF | 618.66 ms / 621.62 ms | ∇ -0.48% | 1.62 Hz / 1.61 Hz | Δ 0.48% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 21.69 ms | Δ 1.94% | 45.22 Hz / 46.10 Hz | ∇ -1.90% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 12.64 ms | Δ 15.40% | 68.57 Hz / 79.13 Hz | ∇ -13.35% |
graph(2d): insertEdge x 1e3 | 354.58 us / 301.62 us | Δ 17.56% | 2.82 KHz / 3.32 KHz | ∇ -14.94% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 274.69 us | Δ 3.40% | 3.52 KHz / 3.64 KHz | ∇ -3.29% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 415.87 us | Δ 32.08% | 1.82 KHz / 2.40 KHz | ∇ -24.29% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 377.54 us | Δ 19.93% | 2.21 KHz / 2.65 KHz | ∇ -16.62% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 4.14 ms | ∇ -6.77% | 259.12 Hz / 241.59 Hz | Δ 7.26% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 2.94 ms | ∇ -2.30% | 347.75 Hz / 339.77 Hz | Δ 2.35% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 4.77 ms | Δ 20.25% | 174.28 Hz / 209.57 Hz | ∇ -16.84% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 4.05 ms | Δ 9.46% | 225.33 Hz / 246.64 Hz | ∇ -8.64% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 381.69 us | Δ 252.58% | 743.07 Hz / 2.62 KHz | ∇ -71.64% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 339.57 us | Δ 220.81% | 917.96 Hz / 2.94 KHz | ∇ -68.83% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 688.91 us | Δ 153.04% | 573.66 Hz / 1.45 KHz | ∇ -60.48% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 683.24 us | Δ 114.20% | 683.28 Hz / 1.46 KHz | ∇ -53.32% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 3.89 ms | Δ 258.16% | 71.86 Hz / 257.39 Hz | ∇ -72.08% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 3.59 ms | Δ 210.17% | 89.92 Hz / 278.91 Hz | ∇ -67.76% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 7.80 ms | Δ 125.27% | 56.89 Hz / 128.15 Hz | ∇ -55.61% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 7.49 ms | Δ 88.47% | 70.81 Hz / 133.45 Hz | ∇ -46.94% |