Test description | 0.9.4-MSVC10-64bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 20.59 ms | Δ 28.93% | 37.68 Hz / 48.58 Hz | ∇ -22.44% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 20.64 ms | Δ 55.89% | 31.08 Hz / 48.45 Hz | ∇ -35.85% |
poses: CPose3D (+) CPose3D | 62.83 ns / 42.90 ns | Δ 46.45% | 15.92 MHz / 23.31 MHz | ∇ -31.72% |
poses: CPose3D.composeFrom() | 41.42 ns / 37.61 ns | Δ 10.13% | 24.14 MHz / 26.59 MHz | ∇ -9.20% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 7.25 ns | Δ 160.47% | 52.94 MHz / 137.89 MHz | ∇ -61.61% |
poses: CPose3D.composePoint() | 17.17 ns / 11.83 ns | Δ 45.18% | 58.23 MHz / 84.53 MHz | ∇ -31.12% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 39.31 ns | Δ 125.86% | 11.26 MHz / 25.44 MHz | ∇ -55.72% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 34.91 ns | Δ 26.05% | 22.73 MHz / 28.65 MHz | ∇ -20.67% |
poses: CPose2D (+) CPose2D | 72.08 ns / 76.08 ns | ∇ -5.25% | 13.87 MHz / 13.14 MHz | Δ 5.55% |
poses: CPose2D.composeFrom() | 63.27 ns / 61.61 ns | Δ 2.69% | 15.81 MHz / 16.23 MHz | ∇ -2.62% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 60.26 ns | ∇ -42.89% | 29.05 MHz / 16.59 MHz | Δ 75.09% |
poses: CPose2D.composePoint() | 26.02 ns / 62.26 ns | ∇ -58.20% | 38.43 MHz / 16.06 MHz | Δ 139.26% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 40.99 ns | Δ 177.12% | 8.80 MHz / 24.40 MHz | ∇ -63.91% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 39.39 ns | Δ 109.99% | 12.09 MHz / 25.39 MHz | ∇ -52.38% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 18.30 ns | Δ 125.78% | 24.20 MHz / 54.63 MHz | ∇ -55.71% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 17.94 ns | Δ 73.51% | 32.12 MHz / 55.74 MHz | ∇ -42.37% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 55.46 ns | Δ 105.37% | 8.78 MHz / 18.03 MHz | ∇ -51.31% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 17.66 ns | Δ 92.22% | 29.46 MHz / 56.63 MHz | ∇ -47.98% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 16.78 ns | Δ 57.54% | 37.82 MHz / 59.58 MHz | ∇ -36.53% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 169.37 ns | ∇ -42.54% | 10.28 MHz / 5.90 MHz | Δ 74.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 799.08 us | ∇ -99.88% | 1.05 MHz / 1.25 KHz | Δ 84115.21% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 803.31 us | ∇ -99.88% | 1.07 MHz / 1.24 KHz | Δ 85479.97% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 9.44 us | Δ 124.62% | 47.15 KHz / 105.91 KHz | ∇ -55.48% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 648.90 ns | ∇ -17.95% | 1.88 MHz / 1.54 MHz | Δ 21.87% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 631.00 ns | ∇ -16.29% | 1.89 MHz / 1.58 MHz | Δ 19.45% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 8.18 us | Δ 36.88% | 89.35 KHz / 122.30 KHz | ∇ -26.94% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 24.43 ns | Δ 85.03% | 22.13 MHz / 40.94 MHz | ∇ -45.96% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 23.18 ns | Δ 97.82% | 21.81 MHz / 43.14 MHz | ∇ -49.45% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 59.50 ns | Δ 198.18% | 5.64 MHz / 16.81 MHz | ∇ -66.46% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 62.26 ns | Δ 172.25% | 5.90 MHz / 16.06 MHz | ∇ -63.27% |
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] | 6.37 ns / 1.70 ns | Δ 273.87% | 157.06 MHz / 587.20 MHz | ∇ -73.25% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.77 ns | Δ 183.83% | 127.19 MHz / 361.01 MHz | ∇ -64.77% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 85.80 ns | Δ 466.35% | 2.06 MHz / 11.66 MHz | ∇ -82.34% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 23.80 ns | ∇ -99.81% | 22.08 GHz / 42.02 MHz | Δ 52448.71% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 75.90 ns | Δ 596.20% | 1.89 MHz / 13.18 MHz | ∇ -85.64% |
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 | 547.16 ns / 118.10 ns | Δ 363.31% | 1.83 MHz / 8.47 MHz | ∇ -78.42% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 44.70 ns | ∇ -94.73% | 424.60 MHz / 22.37 MHz | Δ 1797.97% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 110.50 ns | Δ 254.30% | 2.55 MHz / 9.05 MHz | ∇ -71.78% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 45.20 ns | ∇ -94.79% | 424.60 MHz / 22.12 MHz | Δ 1819.20% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 5.44 us | ∇ -49.53% | 364.51 KHz / 183.95 KHz | Δ 98.16% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 3.78 us | ∇ -44.81% | 479.89 KHz / 264.87 KHz | Δ 81.18% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 5.54 us | ∇ -37.49% | 288.55 KHz / 180.38 KHz | Δ 59.97% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 4.07 us | ∇ -41.50% | 419.56 KHz / 245.43 KHz | Δ 70.95% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 644.00 ns | Δ 68.58% | 921.12 KHz / 1.55 MHz | ∇ -40.68% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 39.00 ns | ∇ -43.10% | 45.06 MHz / 25.64 MHz | Δ 75.73% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 1.26 us | Δ 120.49% | 359.66 KHz / 793.02 KHz | ∇ -54.65% |
matrix: inv, fix[double] 6x6 | 2.22 us / 575.00 ns | Δ 286.28% | 450.23 KHz / 1.74 MHz | ∇ -74.11% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 25.76 us | Δ 19.24% | 32.56 KHz / 38.83 KHz | ∇ -16.14% |
matrix: inv, fix[double] 20x20 | 24.08 us / 17.04 us | Δ 41.31% | 41.53 KHz / 58.69 KHz | ∇ -29.23% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 207.20 us | ∇ -43.45% | 8.53 KHz / 4.83 KHz | Δ 76.82% |
matrix: inv, fix[double] 40x40 | 112.80 us / 133.80 us | ∇ -15.69% | 8.86 KHz / 7.47 KHz | Δ 18.62% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 6.40 ns | Δ 11861.15% | 1.31 MHz / 156.25 MHz | ∇ -99.16% |
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 | 822.31 ns / 10.30 ns | Δ 7883.58% | 1.22 MHz / 97.09 MHz | ∇ -98.75% |
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 | 1.78 us / 730.30 ns | Δ 144.31% | 560.47 KHz / 1.37 MHz | ∇ -59.07% |
matrix: det, fix[double] 6x6 | 1.51 us / 212.10 ns | Δ 612.90% | 661.35 KHz / 4.71 MHz | ∇ -85.97% |
matrix: det, dyn[double] 20x20 | 18.54 us / 6.56 us | Δ 182.40% | 53.94 KHz / 152.33 KHz | ∇ -64.59% |
matrix: det, fix[double] 20x20 | 19.01 us / 5.04 us | Δ 277.09% | 52.61 KHz / 198.38 KHz | ∇ -73.48% |
matrix: det, dyn[double] 40x40 | 72.40 us / 39.41 us | Δ 83.70% | 13.81 KHz / 25.37 KHz | ∇ -45.56% |
matrix: det, fix[double] 40x40 | 67.43 us / 29.04 us | Δ 132.22% | 14.83 KHz / 34.44 KHz | ∇ -56.94% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 140.00 ns | Δ 333.50% | 1.65 MHz / 7.14 MHz | ∇ -76.93% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 160.00 ns | Δ 18.89% | 5.26 MHz / 6.25 MHz | ∇ -15.89% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 18.38 us | Δ 71.85% | 31.66 KHz / 54.41 KHz | ∇ -41.81% |
matrix: chol, fix[double] 40x40 | 20.87 us / 17.08 us | Δ 22.16% | 47.93 KHz / 58.55 KHz | ∇ -18.14% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 8.30 us | ∇ -14.33% | 140.63 KHz / 120.48 KHz | Δ 16.72% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 84.40 us | Δ 12.26% | 10.55 KHz / 11.85 KHz | ∇ -10.92% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 53.00 us | Δ 42.62% | 13.23 KHz / 18.87 KHz | ∇ -29.89% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 39.49 us | Δ 9.40% | 23.15 KHz / 25.32 KHz | ∇ -8.60% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 411.70 us | Δ 10.14% | 2.21 KHz / 2.43 KHz | ∇ -9.21% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 74.09 us | ∇ -0.12% | 13.51 KHz / 13.50 KHz | Δ 0.12% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 10.38 ms | ∇ -65.86% | 282.19 Hz / 96.33 Hz | Δ 192.94% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 248.74 us | ∇ -28.16% | 5.60 KHz / 4.02 KHz | Δ 39.20% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 370.64 ms | ∇ -93.99% | 44.87 Hz / 2.70 Hz | Δ 1563.11% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 353.56 us | Δ 1.64% | 2.78 KHz / 2.83 KHz | ∇ -1.62% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 365.56 ms | ∇ -90.07% | 27.56 Hz / 2.74 Hz | Δ 907.43% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 425.27 us | ∇ -3.15% | 2.43 KHz / 2.35 KHz | Δ 3.26% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 796.04 ms | ∇ -93.17% | 18.40 Hz / 1.26 Hz | Δ 1364.85% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 490.79 us | ∇ -0.55% | 2.05 KHz / 2.04 KHz | Δ 0.55% |
gridmap2D: getCell | 4.13 ns / 0.00 ns | Δ 1.#J% | 242.07 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 5.65 ns / 2.58 ns | Δ 118.90% | 177.14 MHz / 387.76 MHz | ∇ -54.32% |
gridmap2D: updateCell | 6.93 ns / 7.44 ns | ∇ -6.95% | 144.35 MHz / 134.32 MHz | Δ 7.47% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.55 ns | Δ 117.81% | 833.40 MHz / 1.82 GHz | ∇ -54.09% |
gridmap2D: insert scan w/o widening | 102.16 us / 101.23 us | Δ 0.92% | 9.79 KHz / 9.88 KHz | ∇ -0.91% |
gridmap2D: insert scan with widening | 276.88 us / 291.30 us | ∇ -4.95% | 3.61 KHz / 3.43 KHz | Δ 5.21% |
gridmap2D: resize | 3.89 ms / 1.89 ms | Δ 106.04% | 257.06 Hz / 529.66 Hz | ∇ -51.47% |
gridmap2D: computeLikelihood | 13.92 us / 16.46 us | ∇ -15.42% | 71.84 KHz / 60.76 KHz | Δ 18.23% |
pointmap: insert 100 scans | 1.87 ms / 3.10 ms | ∇ -39.63% | 534.24 Hz / 322.50 Hz | Δ 65.66% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 4.28 us | Δ 18.94% | 196.43 KHz / 233.64 KHz | ∇ -15.93% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 355.52 us | Δ 36.81% | 2.06 KHz / 2.81 KHz | ∇ -26.91% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 4.16 ms | Δ 22.45% | 196.20 Hz / 240.24 Hz | ∇ -18.33% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 4.76 us | Δ 16.84% | 179.80 KHz / 210.08 KHz | ∇ -14.42% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 363.20 us | Δ 28.65% | 2.14 KHz / 2.75 KHz | ∇ -22.27% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 4.09 ms | Δ 26.59% | 192.98 Hz / 244.29 Hz | ∇ -21.00% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.38 us | Δ 15.36% | 627.25 KHz / 723.59 KHz | ∇ -13.31% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 100.93 us | Δ 25.51% | 7.89 KHz / 9.91 KHz | ∇ -20.33% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 11.91 ms | Δ 16.37% | 72.14 Hz / 83.95 Hz | ∇ -14.07% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 5.62 ms | Δ 16.49% | 152.81 Hz / 178.01 Hz | ∇ -14.16% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 130.76 ms | Δ 33.65% | 5.72 Hz / 7.65 Hz | ∇ -25.18% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 5.67 ms | Δ 21.39% | 145.28 Hz / 176.35 Hz | ∇ -17.62% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 132.64 ms | Δ 36.75% | 5.51 Hz / 7.54 Hz | ∇ -26.87% |
random: drawUniform32bit | 9.54 ns / 14.57 ns | ∇ -34.56% | 104.87 MHz / 68.63 MHz | Δ 52.81% |
random: drawUniform | 9.69 ns / 14.62 ns | ∇ -33.72% | 103.21 MHz / 68.41 MHz | Δ 50.88% |
random: drawGaussian1D_normalized | 52.06 ns / 68.70 ns | ∇ -24.22% | 19.21 MHz / 14.56 MHz | Δ 31.96% |
random: drawGaussian1D | 50.73 ns / 68.68 ns | ∇ -26.14% | 19.71 MHz / 14.56 MHz | Δ 35.39% |
random: system rand() | 24.47 ns / 10.45 ns | Δ 134.09% | 40.87 MHz / 95.67 MHz | ∇ -57.28% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 1.31 us | ∇ -5.02% | 805.20 KHz / 764.77 KHz | Δ 5.29% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 2.79 us | Δ 14.42% | 313.70 KHz / 358.92 KHz | ∇ -12.60% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 158.26 ns | ∇ -17.84% | 7.69 MHz / 6.32 MHz | Δ 21.71% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 236.42 ns | ∇ -16.10% | 5.04 MHz / 4.23 MHz | Δ 19.19% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 489.37 ns | ∇ -7.70% | 2.21 MHz / 2.04 MHz | Δ 8.35% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 164.61 ns | ∇ -16.82% | 7.30 MHz / 6.07 MHz | Δ 20.22% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 248.12 ns | ∇ -13.95% | 4.68 MHz / 4.03 MHz | Δ 16.21% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 514.83 ns | ∇ -7.05% | 2.09 MHz / 1.94 MHz | Δ 7.58% |
random: permuteVector (len=10) | 244.07 ns / 317.50 ns | ∇ -23.13% | 4.10 MHz / 3.15 MHz | Δ 30.08% |
random: permuteVector (len=100) | 3.12 us / 3.06 us | Δ 2.01% | 320.11 KHz / 326.54 KHz | ∇ -1.97% |
random: permuteVector (len=1000) | 30.82 us / 30.27 us | Δ 1.84% | 32.44 KHz / 33.04 KHz | ∇ -1.80% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188399.22% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 27.27 ms | Δ 9.54% | 33.48 Hz / 36.67 Hz | ∇ -8.71% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 43.27 ms | ∇ -0.66% | 23.26 Hz / 23.11 Hz | Δ 0.67% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 74.67 ms | ∇ -7.56% | 14.49 Hz / 13.39 Hz | Δ 8.18% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 26.31 ms | ∇ -13.12% | 43.75 Hz / 38.01 Hz | Δ 15.10% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 40.92 ms | ∇ -13.96% | 28.41 Hz / 24.44 Hz | Δ 16.23% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 62.56 ms | ∇ -8.42% | 17.45 Hz / 15.99 Hz | Δ 9.19% |
images: Gauss filter (640x480) | 4.45 ms / 4.48 ms | ∇ -0.75% | 224.70 Hz / 223.01 Hz | Δ 0.76% |
images: Gauss filter (800x600) | 8.06 ms / 7.46 ms | Δ 7.99% | 124.15 Hz / 134.07 Hz | ∇ -7.40% |
images: Gauss filter (1024x768) | 13.86 ms / 12.41 ms | Δ 11.65% | 72.16 Hz / 80.57 Hz | ∇ -10.43% |
images: Half sample GRAY (160x120) | 1.32 us / X | 755.28 KHz / X | ||
images: Half sample GRAY (320x240) | 4.41 us / X | 226.69 KHz / X | ||
images: Half sample GRAY (640x480) | 18.51 us / X | 54.02 KHz / X | ||
images: Half sample GRAY (800x600) | 29.74 us / X | 33.62 KHz / X | ||
images: Half sample GRAY (1024x768) | 52.65 us / X | 18.99 KHz / X | ||
images: Half sample GRAY (1280x1024) | 107.42 us / X | 9.31 KHz / X | ||
images: Half sample RGB (160x120) | 9.33 us / X | 107.15 KHz / X | ||
images: Half sample RGB (320x240) | 11.01 us / X | 90.82 KHz / X | ||
images: Half sample RGB (640x480) | 53.51 us / X | 18.69 KHz / X | ||
images: Half sample RGB (800x600) | 126.28 us / X | 7.92 KHz / X | ||
images: Half sample RGB (1024x768) | 248.04 us / X | 4.03 KHz / X | ||
images: Half sample RGB (1280x1024) | 667.92 us / X | 1.50 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.83 us / X | 546.97 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 6.09 us / X | 164.16 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 28.72 us / X | 34.81 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 44.06 us / X | 22.70 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 78.59 us / X | 12.72 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 168.62 us / X | 5.93 KHz / X | ||
images: Half sample smooth RGB (160x120) | 88.54 us / X | 11.29 KHz / X | ||
images: Half sample smooth RGB (320x240) | 381.77 us / X | 2.62 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.50 ms / X | 665.62 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.40 ms / X | 417.30 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.77 ms / X | 265.35 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.50 ms / X | 153.82 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.84 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.89 us / X | 345.89 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 10.09 us / X | 99.10 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.97 us / X | 25.02 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 172.29 us / X | 5.80 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 303.41 us / X | 3.30 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 645.96 us / X | 1.55 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / X | 569.41 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 5.15 us | Δ 235.68% | 57.84 KHz / 194.17 KHz | ∇ -70.21% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 4.35 us | Δ 278.99% | 60.66 KHz / 229.89 KHz | ∇ -73.61% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 2.12 us | Δ 358.47% | 102.89 KHz / 471.70 KHz | ∇ -78.19% |
feature_extraction [640x480]: Harris | 31.46 ms / 33.18 ms | ∇ -5.19% | 31.79 Hz / 30.14 Hz | Δ 5.47% |
feature_extraction [640x480]: KLT | 30.94 ms / 29.64 ms | Δ 4.42% | 32.32 Hz / 33.74 Hz | ∇ -4.23% |
feature_extraction [640x480]: SIFT | 653.53 ms / 637.68 ms | Δ 2.49% | 1.53 Hz / 1.57 Hz | ∇ -2.43% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 173.14 ms | Δ 21.51% | 4.75 Hz / 5.78 Hz | ∇ -17.70% |
feature_extraction [640x480]: SURF | 243.66 ms / 202.84 ms | Δ 20.13% | 4.10 Hz / 4.93 Hz | ∇ -16.75% |
feature_extraction [640x480]: FAST | 6.32 ms / 5.10 ms | Δ 23.86% | 158.19 Hz / 195.94 Hz | ∇ -19.26% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 61.22 ms | ∇ -26.30% | 22.16 Hz / 16.33 Hz | Δ 35.69% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 43.90 ms | Δ 6.15% | 21.46 Hz / 22.78 Hz | ∇ -5.79% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 38.32 ms | Δ 6.70% | 24.46 Hz / 26.09 Hz | ∇ -6.28% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | Δ 0.53% | 778.73 mHz / 782.87 mHz | ∇ -0.53% |
feature_matching [640x480]: SURF | 502.54 ms / 387.99 ms | Δ 29.52% | 1.99 Hz / 2.58 Hz | ∇ -22.79% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 15.73 ms | Δ 25.29% | 50.74 Hz / 63.57 Hz | ∇ -20.19% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 10.56 ms | Δ 23.21% | 76.86 Hz / 94.70 Hz | ∇ -18.84% |
graph(2d): insertEdge x 1e3 | 236.53 us / 104.46 us | Δ 126.43% | 4.23 KHz / 9.57 KHz | ∇ -55.84% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / X | 4.05 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 85.19 us | Δ 156.85% | 4.57 KHz / 11.74 KHz | ∇ -61.07% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / X | 4.78 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 134.65 us | Δ 144.98% | 3.03 KHz / 7.43 KHz | ∇ -59.18% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / X | 3.29 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 119.89 us | Δ 133.63% | 3.57 KHz / 8.34 KHz | ∇ -57.20% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / X | 3.52 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.72 ms / 1.39 ms | Δ 96.72% | 367.00 Hz / 721.96 Hz | ∇ -49.17% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / X | 366.67 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 854.04 us | Δ 128.54% | 512.34 Hz / 1.17 KHz | ∇ -56.24% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / X | 519.87 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 1.61 ms | Δ 99.50% | 311.68 Hz / 621.80 Hz | ∇ -49.87% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / X | 308.83 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 1.20 ms | Δ 168.69% | 309.95 Hz / 832.81 Hz | ∇ -62.78% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / X | 314.97 Hz / X | ||
graph(3d): insertEdge x 1e3 | 274.22 us / 132.91 us | Δ 106.32% | 3.65 KHz / 7.52 KHz | ∇ -51.53% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / X | 3.78 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 109.11 us | Δ 141.93% | 3.79 KHz / 9.17 KHz | ∇ -58.67% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / X | 3.74 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 349.74 us | Δ 68.41% | 1.70 KHz / 2.86 KHz | ∇ -40.62% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / X | 1.68 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 321.54 us | Δ 75.08% | 1.78 KHz / 3.11 KHz | ∇ -42.88% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / X | 1.79 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.23 ms / 1.89 ms | Δ 71.13% | 309.17 Hz / 529.10 Hz | ∇ -41.57% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / X | 319.30 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 1.10 ms | Δ 138.50% | 381.66 Hz / 910.25 Hz | ∇ -58.07% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.76 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 4.65 ms | Δ 31.56% | 163.57 Hz / 215.20 Hz | ∇ -23.99% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / X | 178.36 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 4.05 ms | Δ 28.54% | 192.01 Hz / 246.81 Hz | ∇ -22.20% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / X | 192.88 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 156.43 us / X | 6.39 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / X | 5.20 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.18 ms / X | 459.11 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / X | 555.25 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 26.67 ms / X | 37.50 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / X | 43.80 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 307.16 ms / X | 3.26 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / X | 3.75 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 302.10 ms / X | 3.31 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / X | 3.81 Hz / X |