Test description | 0.9.4-GCC-64bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 31.78 ms | ∇ -34.73% | 48.21 Hz / 31.46 Hz | Δ 53.22% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 53.70 ms | ∇ -68.18% | 58.52 Hz / 18.62 Hz | Δ 214.25% |
poses: CPose3D (+) CPose3D | 29.76 ns / 925.38 ns | ∇ -96.78% | 33.60 MHz / 1.08 MHz | Δ 3009.48% |
poses: CPose3D.composeFrom() | 21.90 ns / 617.00 ns | ∇ -96.45% | 45.66 MHz / 1.62 MHz | Δ 2717.37% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 35.98 ns | ∇ -79.89% | 138.24 MHz / 27.80 MHz | Δ 397.32% |
poses: CPose3D.composePoint() | 11.67 ns / 14.62 ns | ∇ -20.14% | 85.68 MHz / 68.42 MHz | Δ 25.22% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 75.43 ns | ∇ -82.39% | 75.27 MHz / 13.26 MHz | Δ 467.72% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 56.48 ns | ∇ -56.66% | 40.85 MHz / 17.70 MHz | Δ 130.73% |
poses: CPose2D (+) CPose2D | 71.64 ns / 121.60 ns | ∇ -41.08% | 13.96 MHz / 8.22 MHz | Δ 69.73% |
poses: CPose2D.composeFrom() | 69.41 ns / 66.63 ns | Δ 4.17% | 14.41 MHz / 15.01 MHz | ∇ -4.01% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 93.73 ns | ∇ -35.16% | 16.45 MHz / 10.67 MHz | Δ 54.23% |
poses: CPose2D.composePoint() | 60.80 ns / 62.24 ns | ∇ -2.31% | 16.45 MHz / 16.07 MHz | Δ 2.37% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 100.74 ns | ∇ -59.83% | 24.71 MHz / 9.93 MHz | Δ 148.92% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 57.92 ns | ∇ -35.17% | 26.63 MHz / 17.26 MHz | Δ 54.26% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 61.33 ns | ∇ -71.65% | 57.51 MHz / 16.31 MHz | Δ 252.71% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 27.34 ns | ∇ -36.06% | 57.20 MHz / 36.57 MHz | Δ 56.39% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 580.67 ns | ∇ -94.32% | 30.33 MHz / 1.72 MHz | Δ 1661.31% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 28.18 ns | ∇ -32.20% | 52.34 MHz / 35.48 MHz | Δ 47.50% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 506.67 ns | ∇ -95.38% | 42.70 MHz / 1.97 MHz | Δ 2063.39% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 214.86 ns | ∇ -19.61% | 5.79 MHz / 4.65 MHz | Δ 24.40% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 1.56 us | ∇ -56.86% | 1.49 MHz / 642.96 KHz | Δ 131.79% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 1.51 us | ∇ -56.72% | 1.53 MHz / 663.83 KHz | Δ 131.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 23.29 us | ∇ -62.47% | 114.40 KHz / 42.94 KHz | Δ 166.42% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 1.64 us | ∇ -72.31% | 2.20 MHz / 609.77 KHz | Δ 261.15% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 1.66 us | ∇ -72.79% | 2.21 MHz / 600.84 KHz | Δ 267.48% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 16.05 us | ∇ -50.30% | 125.39 KHz / 62.32 KHz | Δ 101.19% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 39.66 ns | ∇ -55.53% | 56.71 MHz / 25.22 MHz | Δ 124.87% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 42.75 ns | ∇ -53.53% | 50.34 MHz / 23.39 MHz | Δ 115.20% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 152.29 ns | ∇ -62.53% | 17.53 MHz / 6.57 MHz | Δ 166.91% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 150.45 ns | ∇ -60.12% | 16.67 MHz / 6.65 MHz | Δ 150.76% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.30 ns | ∇ -100.00% | 1.#J THz / 303.37 MHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.48 ns | ∇ -100.00% | 1.#J THz / 287.56 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 0.00 ns / 3.06 ns | ∇ -100.00% | 1.#J THz / 327.19 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 6.65 ns | ∇ -100.00% | 1.#J THz / 150.48 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 167.81 ns | Δ 44.63% | 4.12 MHz / 5.96 MHz | ∇ -30.86% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 108.61 ns | ∇ -100.00% | 1.#J THz / 9.21 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 231.60 ns / 158.88 ns | Δ 45.77% | 4.32 MHz / 6.29 MHz | ∇ -31.40% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 90.86 ns | ∇ -100.00% | 1.#J THz / 11.01 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 296.50 ns / 272.47 ns | Δ 8.82% | 3.37 MHz / 3.67 MHz | ∇ -8.10% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 193.12 ns | ∇ -99.95% | 10.00 GHz / 5.18 MHz | Δ 193023.81% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 238.91 ns | Δ 8.49% | 3.86 MHz / 4.19 MHz | ∇ -7.83% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 139.05 ns | ∇ -100.00% | 1.#J THz / 7.19 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 16.80 us | ∇ -87.54% | 477.69 KHz / 59.51 KHz | Δ 702.71% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 13.06 us | ∇ -86.30% | 559.03 KHz / 76.57 KHz | Δ 630.12% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 13.55 us | ∇ -82.07% | 411.68 KHz / 73.81 KHz | Δ 457.78% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 9.96 us | ∇ -78.28% | 462.21 KHz / 100.40 KHz | Δ 360.38% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 1.53 us | ∇ -49.93% | 1.30 MHz / 652.84 KHz | Δ 99.71% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 31.25 ns | ∇ -100.00% | 1.#J THz / 32.00 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 5.08 us | ∇ -64.99% | 561.80 KHz / 196.68 KHz | Δ 185.64% |
matrix: inv, fix[double] 6x6 | 1.73 us / 926.67 ns | Δ 86.47% | 578.70 KHz / 1.08 MHz | ∇ -46.37% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 108.60 us | ∇ -85.02% | 61.47 KHz / 9.21 KHz | Δ 567.59% |
matrix: inv, fix[double] 20x20 | 13.44 us / 19.22 us | ∇ -30.08% | 74.41 KHz / 52.02 KHz | Δ 43.03% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 818.27 us | ∇ -91.69% | 14.70 KHz / 1.22 KHz | Δ 1103.25% |
matrix: inv, fix[double] 40x40 | 63.01 us / 136.18 us | ∇ -53.73% | 15.87 KHz / 7.34 KHz | Δ 116.14% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 9.56 ns | Δ 2091.17% | 4.78 MHz / 104.64 MHz | ∇ -95.44% |
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 / 15.90 ns | Δ 1983.99% | 3.02 MHz / 62.90 MHz | ∇ -95.20% |
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 / 2.38 us | ∇ -60.33% | 1.06 MHz / 420.40 KHz | Δ 152.06% |
matrix: det, fix[double] 6x6 | 575.90 ns / 422.89 ns | Δ 36.18% | 1.74 MHz / 2.36 MHz | ∇ -26.57% |
matrix: det, dyn[double] 20x20 | 8.10 us / 18.19 us | ∇ -55.44% | 123.40 KHz / 54.99 KHz | Δ 124.41% |
matrix: det, fix[double] 20x20 | 7.48 us / 6.52 us | Δ 14.74% | 133.61 KHz / 153.30 KHz | ∇ -12.84% |
matrix: det, dyn[double] 40x40 | 30.87 us / 114.84 us | ∇ -73.12% | 32.39 KHz / 8.71 KHz | Δ 272.00% |
matrix: det, fix[double] 40x40 | 29.01 us / 36.00 us | ∇ -19.42% | 34.47 KHz / 27.78 KHz | Δ 24.10% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 185.70 ns | Δ 185.41% | 1.89 MHz / 5.39 MHz | ∇ -64.96% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 113.23 ns | Δ 5.98% | 8.33 MHz / 8.83 MHz | ∇ -5.64% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 24.43 us | ∇ -15.27% | 48.31 KHz / 40.93 KHz | Δ 18.02% |
matrix: chol, fix[double] 40x40 | 16.54 us / 17.73 us | ∇ -6.72% | 60.46 KHz / 56.40 KHz | Δ 7.20% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 10.78 us | Δ 13.18% | 81.97 KHz / 92.77 KHz | ∇ -11.64% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 117.89 us | ∇ -25.61% | 11.40 KHz / 8.48 KHz | Δ 34.43% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 70.52 us | ∇ -26.69% | 19.34 KHz / 14.18 KHz | Δ 36.40% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 52.59 us | ∇ -27.23% | 26.13 KHz / 19.02 KHz | Δ 37.41% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 491.10 us | ∇ -47.97% | 3.91 KHz / 2.04 KHz | Δ 92.21% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 85.83 us | ∇ -17.35% | 14.10 KHz / 11.65 KHz | Δ 20.99% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 9.44 ms | ∇ -70.88% | 363.64 Hz / 105.88 Hz | Δ 243.45% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 204.52 us | ∇ -17.26% | 5.91 KHz / 4.89 KHz | Δ 20.86% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 150.13 ms | ∇ -85.31% | 45.33 Hz / 6.66 Hz | Δ 580.56% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 415.58 us | ∇ -18.28% | 2.94 KHz / 2.41 KHz | Δ 22.37% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 461.43 ms | ∇ -92.05% | 27.27 Hz / 2.17 Hz | Δ 1158.46% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 484.92 us | ∇ -17.02% | 2.49 KHz / 2.06 KHz | Δ 20.51% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 947.45 ms | ∇ -94.31% | 18.57 Hz / 1.06 Hz | Δ 1659.01% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 586.44 us | ∇ -18.69% | 2.10 KHz / 1.71 KHz | Δ 22.99% |
gridmap2D: getCell | 0.00 ns / 5.77 ns | ∇ -100.00% | 1.#J THz / 173.23 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 7.96 ns | ∇ -65.98% | 369.33 MHz / 125.64 MHz | Δ 193.96% |
gridmap2D: updateCell | 6.04 ns / 10.80 ns | ∇ -44.09% | 165.59 MHz / 92.58 MHz | Δ 78.86% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 1.21 ns | ∇ -49.23% | 1.63 GHz / 826.59 MHz | Δ 96.97% |
gridmap2D: insert scan w/o widening | 99.83 us / 204.23 us | ∇ -51.12% | 10.02 KHz / 4.90 KHz | Δ 104.58% |
gridmap2D: insert scan with widening | 293.13 us / 344.40 us | ∇ -14.89% | 3.41 KHz / 2.90 KHz | Δ 17.49% |
gridmap2D: resize | 630.00 us / 2.62 ms | ∇ -75.94% | 1.59 KHz / 381.93 Hz | Δ 315.61% |
gridmap2D: computeLikelihood | 17.81 us / 18.59 us | ∇ -4.19% | 56.14 KHz / 53.79 KHz | Δ 4.37% |
pointmap: insert 100 scans | 1.01 ms / 5.62 ms | ∇ -82.03% | 990.80 Hz / 178.02 Hz | Δ 456.57% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 6.21 us | ∇ -27.26% | 221.24 KHz / 160.93 KHz | Δ 37.48% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 511.81 us | ∇ -28.79% | 2.74 KHz / 1.95 KHz | Δ 40.44% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 5.59 ms | ∇ -21.62% | 228.21 Hz / 178.86 Hz | Δ 27.59% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 7.23 us | ∇ -28.62% | 193.80 KHz / 138.34 KHz | Δ 40.09% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 523.10 us | ∇ -28.80% | 2.68 KHz / 1.91 KHz | Δ 40.45% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 5.77 ms | ∇ -27.24% | 238.06 Hz / 173.21 Hz | Δ 37.44% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 2.05 us | ∇ -30.79% | 703.73 KHz / 487.07 KHz | Δ 44.48% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 140.79 us | ∇ -27.65% | 9.82 KHz / 7.10 KHz | Δ 38.22% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 15.17 ms | ∇ -19.77% | 82.15 Hz / 65.91 Hz | Δ 24.65% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 8.69 ms | ∇ -35.11% | 177.25 Hz / 115.01 Hz | Δ 54.12% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 196.44 ms | ∇ -32.42% | 7.53 Hz / 5.09 Hz | Δ 47.97% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 8.73 ms | ∇ -34.53% | 175.04 Hz / 114.60 Hz | Δ 52.75% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 198.48 ms | ∇ -32.12% | 7.42 Hz / 5.04 Hz | Δ 47.31% |
random: drawUniform32bit | 14.55 ns / 7.29 ns | Δ 99.43% | 68.75 MHz / 137.11 MHz | ∇ -49.86% |
random: drawUniform | 14.56 ns / 7.33 ns | Δ 98.71% | 68.69 MHz / 136.49 MHz | ∇ -49.68% |
random: drawGaussian1D_normalized | 66.87 ns / 51.27 ns | Δ 30.41% | 14.96 MHz / 19.50 MHz | ∇ -23.32% |
random: drawGaussian1D | 66.81 ns / 51.74 ns | Δ 29.12% | 14.97 MHz / 19.33 MHz | ∇ -22.56% |
random: system rand() | 10.63 ns / 29.39 ns | ∇ -63.84% | 94.11 MHz / 34.03 MHz | Δ 176.55% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 2.64 us | ∇ -65.81% | 1.11 MHz / 378.48 KHz | Δ 192.48% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 8.53 us | ∇ -81.13% | 621.01 KHz / 117.18 KHz | Δ 429.98% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 215.16 ns | ∇ -32.77% | 6.91 MHz / 4.65 MHz | Δ 48.74% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 359.98 ns | ∇ -39.03% | 4.56 MHz / 2.78 MHz | Δ 64.02% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 732.12 ns | ∇ -35.42% | 2.12 MHz / 1.37 MHz | Δ 54.85% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 213.59 ns | ∇ -28.70% | 6.57 MHz / 4.68 MHz | Δ 40.25% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 339.30 ns | ∇ -30.73% | 4.25 MHz / 2.95 MHz | Δ 44.36% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 760.92 ns | ∇ -35.39% | 2.03 MHz / 1.31 MHz | Δ 54.78% |
random: permuteVector (len=10) | 243.60 ns / 411.34 ns | ∇ -40.78% | 4.11 MHz / 2.43 MHz | Δ 68.86% |
random: permuteVector (len=100) | 2.99 us / 3.59 us | ∇ -16.80% | 334.99 KHz / 278.70 KHz | Δ 20.20% |
random: permuteVector (len=1000) | 29.51 us / 34.34 us | ∇ -14.04% | 33.88 KHz / 29.12 KHz | Δ 16.34% |
math: round | 0.10 ns / 0.00 ns | Δ 1.#J% | 10.08 GHz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 27.92 ms | Δ 20.42% | 29.74 Hz / 35.81 Hz | ∇ -16.96% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 43.53 ms | Δ 14.51% | 20.06 Hz / 22.97 Hz | ∇ -12.67% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 70.76 ms | ∇ -1.65% | 14.37 Hz / 14.13 Hz | Δ 1.68% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 23.43 ms | Δ 30.76% | 32.63 Hz / 42.67 Hz | ∇ -23.53% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 36.52 ms | Δ 20.24% | 22.78 Hz / 27.39 Hz | ∇ -16.83% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 59.82 ms | Δ 4.53% | 15.99 Hz / 16.72 Hz | ∇ -4.33% |
images: Gauss filter (640x480) | 3.81 ms / 6.68 ms | ∇ -43.01% | 262.76 Hz / 149.74 Hz | Δ 75.48% |
images: Gauss filter (800x600) | 5.96 ms / 8.62 ms | ∇ -30.81% | 167.70 Hz / 116.03 Hz | Δ 44.54% |
images: Gauss filter (1024x768) | 10.46 ms / 14.49 ms | ∇ -27.82% | 95.61 Hz / 69.01 Hz | Δ 38.54% |
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 / 21.12 us | ∇ -39.93% | 78.80 KHz / 47.34 KHz | Δ 66.46% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 19.36 us | ∇ -49.13% | 101.52 KHz / 51.65 KHz | Δ 96.57% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 6.24 us | ∇ -15.98% | 190.84 KHz / 160.34 KHz | Δ 19.02% |
feature_extraction [640x480]: Harris | 21.14 ms / 40.83 ms | ∇ -48.22% | 47.31 Hz / 24.49 Hz | Δ 93.13% |
feature_extraction [640x480]: KLT | 21.45 ms / 33.62 ms | ∇ -36.18% | 46.61 Hz / 29.75 Hz | Δ 56.69% |
feature_extraction [640x480]: SIFT | 591.25 ms / 705.28 ms | ∇ -16.17% | 1.69 Hz / 1.42 Hz | Δ 19.29% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 214.22 ms | ∇ -23.99% | 6.14 Hz / 4.67 Hz | Δ 31.57% |
feature_extraction [640x480]: SURF | 197.33 ms / 326.57 ms | ∇ -39.58% | 5.07 Hz / 3.06 Hz | Δ 65.49% |
feature_extraction [640x480]: FAST | 6.89 ms / 7.69 ms | ∇ -10.38% | 145.15 Hz / 130.08 Hz | Δ 11.59% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 105.90 ms | ∇ -39.66% | 15.65 Hz / 9.44 Hz | Δ 65.74% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 57.67 ms | ∇ -33.18% | 25.95 Hz / 17.34 Hz | Δ 49.66% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 50.27 ms | ∇ -33.18% | 29.77 Hz / 19.89 Hz | Δ 49.65% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.38 sec | ∇ -16.08% | 863.45 mHz / 724.62 mHz | Δ 19.16% |
feature_matching [640x480]: SURF | 375.89 ms / 618.66 ms | ∇ -39.24% | 2.66 Hz / 1.62 Hz | Δ 64.59% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 22.11 ms | ∇ -28.15% | 62.95 Hz / 45.22 Hz | Δ 39.19% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 14.58 ms | ∇ -28.14% | 95.42 Hz / 68.57 Hz | Δ 39.16% |
graph(2d): insertEdge x 1e3 | 158.24 us / 354.58 us | ∇ -55.37% | 6.32 KHz / 2.82 KHz | Δ 124.08% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / X | 7.48 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 284.04 us | ∇ -70.28% | 11.84 KHz / 3.52 KHz | Δ 236.43% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / X | 12.23 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 549.28 us | ∇ -62.28% | 4.83 KHz / 1.82 KHz | Δ 165.14% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / X | 4.30 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 452.79 us | ∇ -45.51% | 4.05 KHz / 2.21 KHz | Δ 83.51% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / X | 5.19 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.08 ms / 3.86 ms | ∇ -46.02% | 480.05 Hz / 259.12 Hz | Δ 85.26% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / X | 618.53 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 2.88 ms | ∇ -69.74% | 1.15 KHz / 347.75 Hz | Δ 230.46% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 5.74 ms | ∇ -59.20% | 427.14 Hz / 174.28 Hz | Δ 145.09% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / X | 356.06 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 4.44 ms | ∇ -52.09% | 470.35 Hz / 225.33 Hz | Δ 108.74% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / X | 469.13 Hz / X | ||
graph(3d): insertEdge x 1e3 | 220.82 us / 1.35 ms | ∇ -83.59% | 4.53 KHz / 743.07 Hz | Δ 509.46% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / X | 4.51 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 1.09 ms | ∇ -83.18% | 5.46 KHz / 917.96 Hz | Δ 494.70% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / X | 5.36 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 1.74 ms | ∇ -69.46% | 1.88 KHz / 573.66 Hz | Δ 227.45% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / X | 1.86 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 1.46 ms | ∇ -66.68% | 2.05 KHz / 683.28 Hz | Δ 200.15% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / X | 2.03 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.78 ms / 13.92 ms | ∇ -80.01% | 359.55 Hz / 71.86 Hz | Δ 400.32% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / X | 360.52 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 11.12 ms | ∇ -81.17% | 477.61 Hz / 89.92 Hz | Δ 431.15% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / X | 487.11 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 17.58 ms | ∇ -58.11% | 135.81 Hz / 56.89 Hz | Δ 138.72% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / X | 143.42 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 14.12 ms | ∇ -62.58% | 189.20 Hz / 70.81 Hz | Δ 167.21% |
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 |