Test description | 0.9.4-MSVC10-32bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 37.14 ms / 19.99 ms | Δ 85.79% | 26.93 Hz / 50.03 Hz | ∇ -46.17% |
icp-slam (match grid): Run with sample dataset | 36.34 ms / 19.29 ms | Δ 88.35% | 27.52 Hz / 51.84 Hz | ∇ -46.91% |
poses: CPose3D (+) CPose3D | 197.08 ns / 42.85 ns | Δ 359.92% | 5.07 MHz / 23.34 MHz | ∇ -78.26% |
poses: CPose3D.composeFrom() | 33.62 ns / 37.80 ns | ∇ -11.05% | 29.74 MHz / 26.46 MHz | Δ 12.42% |
poses: CPose3D (+) CPoint3D | 25.13 ns / 7.25 ns | Δ 246.59% | 39.79 MHz / 137.89 MHz | ∇ -71.15% |
poses: CPose3D.composePoint() | 21.31 ns / 11.91 ns | Δ 78.92% | 46.94 MHz / 83.98 MHz | ∇ -44.11% |
poses: CPoint3D (-) CPose3D | 89.96 ns / 48.98 ns | Δ 83.67% | 11.12 MHz / 20.42 MHz | ∇ -45.55% |
poses: CPose3D.inverseComposePoint() | 47.25 ns / 34.95 ns | Δ 35.18% | 21.17 MHz / 28.61 MHz | ∇ -26.02% |
poses: CPose2D (+) CPose2D | 108.63 ns / 78.58 ns | Δ 38.25% | 9.21 MHz / 12.73 MHz | ∇ -27.66% |
poses: CPose2D.composeFrom() | 94.77 ns / 70.31 ns | Δ 34.79% | 10.55 MHz / 14.22 MHz | ∇ -25.81% |
poses: CPose2D (+) CPoint2D | 80.61 ns / 61.33 ns | Δ 31.43% | 12.41 MHz / 16.31 MHz | ∇ -23.92% |
poses: CPose2D.composePoint() | 67.32 ns / 65.17 ns | Δ 3.31% | 14.85 MHz / 15.35 MHz | ∇ -3.20% |
poses: CPose3DQuat (+) CPose3DQuat | 81.31 ns / 44.66 ns | Δ 82.06% | 12.30 MHz / 22.39 MHz | ∇ -45.07% |
poses: CPose3DQuat.composeFrom() | 51.56 ns / 39.43 ns | Δ 30.77% | 19.39 MHz / 25.36 MHz | ∇ -23.53% |
poses: CPose3DQuat (+) CPoint3D | 55.91 ns / 18.24 ns | Δ 206.59% | 17.89 MHz / 54.84 MHz | ∇ -67.38% |
poses: CPose3DQuat.composePoint() | 32.73 ns / 17.94 ns | Δ 82.47% | 30.55 MHz / 55.75 MHz | ∇ -45.20% |
poses: CPoint3D (-) CPose3DQuat | 124.02 ns / 55.43 ns | Δ 123.75% | 8.06 MHz / 18.04 MHz | ∇ -55.31% |
poses: CPose3DQuat.invcomposePoint() | 30.61 ns / 17.64 ns | Δ 73.50% | 32.67 MHz / 56.69 MHz | ∇ -42.36% |
poses: Conv CPose3DQuat <- CPose3D | 28.12 ns / 16.70 ns | Δ 68.42% | 35.56 MHz / 59.89 MHz | ∇ -40.63% |
poses: Conv CPose3D -> CPose3DQuat | 216.84 ns / 169.28 ns | Δ 28.10% | 4.61 MHz / 5.91 MHz | ∇ -21.93% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.24 us / 760.96 us | ∇ -99.84% | 806.40 KHz / 1.31 KHz | Δ 61263.57% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.20 us / 760.62 us | ∇ -99.84% | 835.55 KHz / 1.31 KHz | Δ 63453.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 20.15 us / 9.47 us | Δ 112.69% | 49.63 KHz / 105.55 KHz | ∇ -52.98% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 817.60 ns / 545.30 ns | Δ 49.94% | 1.22 MHz / 1.83 MHz | ∇ -33.30% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 823.40 ns / 544.10 ns | Δ 51.33% | 1.21 MHz / 1.84 MHz | ∇ -33.92% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 19.09 us / 8.11 us | Δ 135.44% | 52.39 KHz / 123.33 KHz | ∇ -57.53% |
matrix: unit, dyn[float], 3x3 | 49.67 ns / 20.92 ns | Δ 137.44% | 20.13 MHz / 47.81 MHz | ∇ -57.88% |
matrix: unit, dyn[double], 3x3 | 50.90 ns / 20.15 ns | Δ 152.64% | 19.64 MHz / 49.63 MHz | ∇ -60.42% |
matrix: unit, dyn[float], 6x6 | 180.98 ns / 54.04 ns | Δ 234.94% | 5.53 MHz / 18.51 MHz | ∇ -70.14% |
matrix: unit, dyn[double], 6x6 | 177.90 ns / 55.27 ns | Δ 221.89% | 5.62 MHz / 18.09 MHz | ∇ -68.93% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.89 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 842.46 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.63 ns / 1.70 ns | Δ 290.50% | 150.81 MHz / 588.93 MHz | ∇ -74.39% |
matrix: unit, fix[double,6,6] | 8.86 ns / 2.77 ns | Δ 219.14% | 112.91 MHz / 360.36 MHz | ∇ -68.67% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 680.28 ns / 73.10 ns | Δ 830.61% | 1.47 MHz / 13.68 MHz | ∇ -89.25% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 23.80 ns | ∇ -100.00% | 1.#J THz / 42.02 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 458.35 ns / 72.40 ns | Δ 533.08% | 2.18 MHz / 13.81 MHz | ∇ -84.20% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.40 ns | ∇ -100.00% | 1.#J THz / 42.74 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 680.46 ns / 110.50 ns | Δ 515.80% | 1.47 MHz / 9.05 MHz | ∇ -83.76% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 35.28 ns / 45.10 ns | ∇ -21.77% | 28.34 MHz / 22.17 MHz | Δ 27.83% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 514.01 ns / 116.30 ns | Δ 341.97% | 1.95 MHz / 8.60 MHz | ∇ -77.37% |
matrix: multiply, fix[double], 3x6 * 6x3 | 3.40 ns / 45.20 ns | ∇ -92.48% | 294.39 MHz / 22.12 MHz | Δ 1230.65% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.18 us / 5.19 us | ∇ -0.15% | 193.06 KHz / 192.77 KHz | Δ 0.15% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.56 us / 3.55 us | Δ 28.31% | 219.44 KHz / 281.56 KHz | ∇ -22.06% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.79 us / 5.18 us | ∇ -26.81% | 263.78 KHz / 193.05 KHz | Δ 36.64% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.92 us / 3.61 us | ∇ -19.00% | 342.06 KHz / 277.05 KHz | Δ 23.46% |
matrix: inv, dyn[double] 3x3 | 1.50 us / 329.00 ns | Δ 356.77% | 665.44 KHz / 3.04 MHz | ∇ -78.11% |
matrix: inv, fix[double] 3x3 | 9.51 ns / 21.00 ns | ∇ -54.71% | 105.14 MHz / 47.62 MHz | Δ 120.79% |
matrix: inv, dyn[double] 6x6 | 3.90 us / 1.20 us | Δ 225.03% | 256.17 KHz / 832.64 KHz | ∇ -69.23% |
matrix: inv, fix[double] 6x6 | 3.54 us / 578.00 ns | Δ 512.45% | 282.49 KHz / 1.73 MHz | ∇ -83.67% |
matrix: inv, dyn[double] 20x20 | 34.19 us / 25.64 us | Δ 33.37% | 29.25 KHz / 39.01 KHz | ∇ -25.02% |
matrix: inv, fix[double] 20x20 | 29.35 us / 17.36 us | Δ 69.05% | 34.07 KHz / 57.60 KHz | ∇ -40.85% |
matrix: inv, dyn[double] 40x40 | 134.24 us / 189.04 us | ∇ -28.99% | 7.45 KHz / 5.29 KHz | Δ 40.82% |
matrix: inv, fix[double] 40x40 | 126.45 us / 121.47 us | Δ 4.10% | 7.91 KHz / 8.23 KHz | ∇ -3.94% |
matrix: det, dyn[double] 2x2 | 601.74 ns / 6.40 ns | Δ 9302.19% | 1.66 MHz / 156.25 MHz | ∇ -98.94% |
matrix: det, fix[double] 2x2 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 872.81 ns / 10.30 ns | Δ 8373.87% | 1.15 MHz / 97.09 MHz | ∇ -98.82% |
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 | 2.32 us / 696.30 ns | Δ 233.76% | 430.29 KHz / 1.44 MHz | ∇ -70.04% |
matrix: det, fix[double] 6x6 | 2.17 us / 212.30 ns | Δ 922.65% | 460.60 KHz / 4.71 MHz | ∇ -90.22% |
matrix: det, dyn[double] 20x20 | 23.14 us / 6.40 us | Δ 261.29% | 43.22 KHz / 156.16 KHz | ∇ -72.32% |
matrix: det, fix[double] 20x20 | 21.38 us / 4.72 us | Δ 352.72% | 46.78 KHz / 211.77 KHz | ∇ -77.91% |
matrix: det, dyn[double] 40x40 | 92.83 us / 32.49 us | Δ 185.69% | 10.77 KHz / 30.77 KHz | ∇ -65.00% |
matrix: det, fix[double] 40x40 | 90.97 us / 27.34 us | Δ 232.77% | 10.99 KHz / 36.58 KHz | ∇ -69.95% |
matrix: chol, dyn[double] 4x4 | 892.24 ns / 130.00 ns | Δ 586.34% | 1.12 MHz / 7.69 MHz | ∇ -85.43% |
matrix: chol, fix[double] 4x4 | 249.10 ns / 140.00 ns | Δ 77.93% | 4.01 MHz / 7.14 MHz | ∇ -43.80% |
matrix: chol, dyn[double] 40x40 | 41.12 us / 18.52 us | Δ 122.05% | 24.32 KHz / 54.00 KHz | ∇ -54.97% |
matrix: chol, fix[double] 40x40 | 26.92 us / 16.55 us | Δ 62.64% | 37.15 KHz / 60.42 KHz | ∇ -38.51% |
matrix: chol, sparse [2x2;2x2] | 15.31 us / 8.20 us | Δ 86.69% | 65.32 KHz / 121.95 KHz | ∇ -46.43% |
matrix: chol, sparse [30x30;10x10] | 116.85 us / 82.90 us | Δ 40.95% | 8.56 KHz / 12.06 KHz | ∇ -29.06% |
matrix: chol, dyn[double] 10x[6x6] | 98.96 us / 52.70 us | Δ 87.78% | 10.10 KHz / 18.98 KHz | ∇ -46.75% |
matrix: chol, sparse 10x[6x6] | 55.18 us / 38.59 us | Δ 42.99% | 18.12 KHz / 25.91 KHz | ∇ -30.06% |
matrix: chol, dyn[double] 20x[6x6] | 498.07 us / 409.80 us | Δ 21.54% | 2.01 KHz / 2.44 KHz | ∇ -17.72% |
matrix: chol, sparse 20x[6x6] | 133.40 us / 70.75 us | Δ 88.55% | 7.50 KHz / 14.13 KHz | ∇ -46.96% |
matrix: chol, dyn[double] 50x[6x6] | 4.99 ms / 8.58 ms | ∇ -41.78% | 200.30 Hz / 116.60 Hz | Δ 71.77% |
matrix: chol, sparse 50x[6x6] | 243.96 us / 171.20 us | Δ 42.50% | 4.10 KHz / 5.84 KHz | ∇ -29.83% |
matrix: chol, dyn[double] 100x[6x6] | 30.03 ms / 133.58 ms | ∇ -77.52% | 33.31 Hz / 7.49 Hz | Δ 344.90% |
matrix: chol, sparse 100x[6x6] | 486.08 us / 341.85 us | Δ 42.19% | 2.06 KHz / 2.93 KHz | ∇ -29.67% |
matrix: chol, dyn[double] 120x[6x6] | 51.94 ms / 354.49 ms | ∇ -85.35% | 19.25 Hz / 2.82 Hz | Δ 582.43% |
matrix: chol, sparse 120x[6x6] | 583.78 us / 401.50 us | Δ 45.40% | 1.71 KHz / 2.49 KHz | ∇ -31.22% |
matrix: chol, dyn[double] 140x[6x6] | 76.91 ms / 773.25 ms | ∇ -90.05% | 13.00 Hz / 1.29 Hz | Δ 905.45% |
matrix: chol, sparse 140x[6x6] | 649.31 us / 469.25 us | Δ 38.37% | 1.54 KHz / 2.13 KHz | ∇ -27.73% |
gridmap2D: getCell | 6.44 ns / 0.00 ns | Δ 6441049.15% | 155.25 MHz / 10.00 THz | ∇ -100.00% |
gridmap2D: setCell | 9.52 ns / 2.58 ns | Δ 269.53% | 105.00 MHz / 388.02 MHz | ∇ -72.94% |
gridmap2D: updateCell | 9.85 ns / 7.84 ns | Δ 25.64% | 101.55 MHz / 127.58 MHz | ∇ -20.41% |
gridmap2D: updateCell_fast_occupied | 1.47 ns / 0.55 ns | Δ 167.27% | 679.40 MHz / 1.82 GHz | ∇ -62.59% |
gridmap2D: insert scan w/o widening | 225.20 us / 102.06 us | Δ 120.66% | 4.44 KHz / 9.80 KHz | ∇ -54.68% |
gridmap2D: insert scan with widening | 365.80 us / 289.47 us | Δ 26.37% | 2.73 KHz / 3.45 KHz | ∇ -20.87% |
gridmap2D: resize | 2.56 ms / 1.97 ms | Δ 30.44% | 389.96 Hz / 508.65 Hz | ∇ -23.33% |
gridmap2D: computeLikelihood | 21.14 us / 15.74 us | Δ 34.36% | 47.30 KHz / 63.55 KHz | ∇ -25.57% |
pointmap: insert 100 scans | 3.27 ms / 3.04 ms | Δ 7.70% | 305.75 Hz / 329.30 Hz | ∇ -7.15% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.32 us | Δ 39.65% | 165.76 KHz / 231.48 KHz | ∇ -28.39% |
pointmap: build 2D kd-tree of 100 scan | 579.42 us / 352.12 us | Δ 64.55% | 1.73 KHz / 2.84 KHz | ∇ -39.23% |
pointmap: build 2D kd-tree of 1000 scan | 6.14 ms / 4.14 ms | Δ 48.29% | 162.87 Hz / 241.51 Hz | ∇ -32.56% |
pointmap: build 3D kd-tree of 1 scan | 6.68 us / 4.68 us | Δ 42.84% | 149.59 KHz / 213.68 KHz | ∇ -29.99% |
pointmap: build 3D kd-tree of 100 scan | 519.96 us / 359.52 us | Δ 44.63% | 1.92 KHz / 2.78 KHz | ∇ -30.86% |
pointmap: build 3D kd-tree of 1000 scan | 6.64 ms / 4.03 ms | Δ 64.77% | 150.68 Hz / 248.28 Hz | ∇ -39.31% |
pointmap: kd-tree 2d query on 10 scans | 1.95 us / 1.41 us | Δ 39.13% | 511.57 KHz / 711.74 KHz | ∇ -28.12% |
pointmap: kd-tree 2d query on 1000 scans | 167.14 us / 97.21 us | Δ 71.94% | 5.98 KHz / 10.29 KHz | ∇ -41.84% |
pointmap: kd-tree 2d query on 10000 scans | 17.45 ms / 11.62 ms | Δ 50.18% | 57.30 Hz / 86.05 Hz | ∇ -33.41% |
pointmap: (insert scan+2D kd-tree query) x 10 | 9.11 ms / 5.59 ms | Δ 62.90% | 109.75 Hz / 178.77 Hz | ∇ -38.61% |
pointmap: (insert scan+2D kd-tree query) x 50 | 210.71 ms / 129.28 ms | Δ 62.98% | 4.75 Hz / 7.73 Hz | ∇ -38.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.38 ms / 5.66 ms | Δ 47.88% | 119.37 Hz / 176.53 Hz | ∇ -32.38% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.71 ms / 131.22 ms | Δ 51.44% | 5.03 Hz / 7.62 Hz | ∇ -33.97% |
random: drawUniform32bit | 7.57 ns / 14.50 ns | ∇ -47.81% | 132.11 MHz / 68.95 MHz | Δ 91.59% |
random: drawUniform | 7.60 ns / 14.50 ns | ∇ -47.58% | 131.54 MHz / 68.96 MHz | Δ 90.76% |
random: drawGaussian1D_normalized | 58.48 ns / 68.97 ns | ∇ -15.22% | 17.10 MHz / 14.50 MHz | Δ 17.95% |
random: drawGaussian1D | 57.62 ns / 68.98 ns | ∇ -16.46% | 17.35 MHz / 14.50 MHz | Δ 19.71% |
random: system rand() | 29.43 ns / 10.45 ns | Δ 181.69% | 33.98 MHz / 95.72 MHz | ∇ -64.50% |
random: drawGaussianMultivariate(fixed 3x3) | 2.95 us / 1.31 us | Δ 125.56% | 339.21 KHz / 765.12 KHz | ∇ -55.67% |
random: drawGaussianMultivariate(dyn 3x3) | 3.53 us / 2.73 us | Δ 29.50% | 282.92 KHz / 366.37 KHz | ∇ -22.78% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 145.71 ns / 158.91 ns | ∇ -8.31% | 6.86 MHz / 6.29 MHz | Δ 9.06% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 227.37 ns / 237.40 ns | ∇ -4.23% | 4.40 MHz / 4.21 MHz | Δ 4.41% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.56 ns / 490.03 ns | Δ 5.00% | 1.94 MHz / 2.04 MHz | ∇ -4.77% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 170.42 ns / 164.67 ns | Δ 3.49% | 5.87 MHz / 6.07 MHz | ∇ -3.37% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 283.60 ns / 249.81 ns | Δ 13.53% | 3.53 MHz / 4.00 MHz | ∇ -11.91% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 661.22 ns / 514.70 ns | Δ 28.47% | 1.51 MHz / 1.94 MHz | ∇ -22.16% |
random: permuteVector (len=10) | 304.45 ns / 296.20 ns | Δ 2.78% | 3.28 MHz / 3.38 MHz | ∇ -2.71% |
random: permuteVector (len=100) | 3.47 us / 3.04 us | Δ 14.04% | 288.42 KHz / 328.91 KHz | ∇ -12.31% |
random: permuteVector (len=1000) | 37.99 us / 30.22 us | Δ 25.68% | 26.33 KHz / 33.09 KHz | ∇ -20.44% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188178.43% |
images: Save as JPEG (640x480, quality=95%) | 33.06 ms / 35.06 ms | ∇ -5.70% | 30.25 Hz / 28.52 Hz | Δ 6.05% |
images: Save as JPEG (800x600, quality=95%) | 50.64 ms / 48.96 ms | Δ 3.42% | 19.75 Hz / 20.42 Hz | ∇ -3.31% |
images: Save as JPEG (1024x768, quality=95%) | 82.66 ms / 74.65 ms | Δ 10.73% | 12.10 Hz / 13.40 Hz | ∇ -9.69% |
images: Save as JPEG (640x480, quality=75%) | 27.36 ms / 29.96 ms | ∇ -8.70% | 36.56 Hz / 33.37 Hz | Δ 9.53% |
images: Save as JPEG (800x600, quality=75%) | 43.25 ms / 42.79 ms | Δ 1.09% | 23.12 Hz / 23.37 Hz | ∇ -1.08% |
images: Save as JPEG (1024x768, quality=75%) | 66.55 ms / 64.15 ms | Δ 3.75% | 15.03 Hz / 15.59 Hz | ∇ -3.61% |
images: Gauss filter (640x480) | 5.57 ms / 3.90 ms | Δ 42.79% | 179.49 Hz / 256.30 Hz | ∇ -29.97% |
images: Gauss filter (800x600) | 8.84 ms / 6.21 ms | Δ 42.34% | 113.10 Hz / 160.99 Hz | ∇ -29.75% |
images: Gauss filter (1024x768) | 14.37 ms / 10.55 ms | Δ 36.17% | 69.58 Hz / 94.74 Hz | ∇ -26.56% |
images: Half sample GRAY (160x120) | 1.63 us / X | 612.18 KHz / X | ||
images: Half sample GRAY (320x240) | 4.13 us / X | 241.92 KHz / X | ||
images: Half sample GRAY (640x480) | 19.15 us / X | 52.22 KHz / X | ||
images: Half sample GRAY (800x600) | 31.65 us / X | 31.59 KHz / X | ||
images: Half sample GRAY (1024x768) | 50.27 us / X | 19.89 KHz / X | ||
images: Half sample GRAY (1280x1024) | 87.87 us / X | 11.38 KHz / X | ||
images: Half sample RGB (160x120) | 3.54 us / X | 282.58 KHz / X | ||
images: Half sample RGB (320x240) | 11.27 us / X | 88.76 KHz / X | ||
images: Half sample RGB (640x480) | 57.50 us / X | 17.39 KHz / X | ||
images: Half sample RGB (800x600) | 80.68 us / X | 12.39 KHz / X | ||
images: Half sample RGB (1024x768) | 391.11 us / X | 2.56 KHz / X | ||
images: Half sample RGB (1280x1024) | 826.49 us / X | 1.21 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 2.87 us / X | 348.99 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 8.64 us / X | 115.70 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 29.52 us / X | 33.88 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 66.07 us / X | 15.14 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 90.65 us / X | 11.03 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 132.57 us / X | 7.54 KHz / X | ||
images: Half sample smooth RGB (160x120) | 202.00 us / X | 4.95 KHz / X | ||
images: Half sample smooth RGB (320x240) | 779.03 us / X | 1.28 KHz / X | ||
images: Half sample smooth RGB (640x480) | 3.10 ms / X | 323.08 Hz / X | ||
images: Half sample smooth RGB (800x600) | 4.82 ms / X | 207.41 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 8.63 ms / X | 115.89 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 14.76 ms / X | 67.77 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 6.40 us / X | 156.37 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 4.33 us / X | 230.95 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 11.84 us / X | 84.43 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 44.50 us / X | 22.47 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 191.53 us / X | 5.22 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 350.56 us / X | 2.85 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 968.81 us / X | 1.03 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 1.71 ms / X | 584.85 Hz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.97 us / 5.06 us | Δ 334.12% | 45.52 KHz / 197.63 KHz | ∇ -76.96% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 22.01 us / 4.30 us | Δ 411.79% | 45.44 KHz / 232.56 KHz | ∇ -80.46% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 12.71 us / 2.10 us | Δ 505.18% | 78.69 KHz / 476.19 KHz | ∇ -83.48% |
feature_extraction [640x480]: Harris | 38.32 ms / 24.28 ms | Δ 57.84% | 26.10 Hz / 41.19 Hz | ∇ -36.65% |
feature_extraction [640x480]: KLT | 37.22 ms / 24.43 ms | Δ 52.36% | 26.87 Hz / 40.94 Hz | ∇ -34.37% |
feature_extraction [640x480]: SIFT | 739.68 ms / 610.42 ms | Δ 21.17% | 1.35 Hz / 1.64 Hz | ∇ -17.47% |
feature_extraction [640x480]: SIFT desc. | 232.95 ms / 167.77 ms | Δ 38.85% | 4.29 Hz / 5.96 Hz | ∇ -27.98% |
feature_extraction [640x480]: SURF | 309.97 ms / 197.61 ms | Δ 56.86% | 3.23 Hz / 5.06 Hz | ∇ -36.25% |
feature_extraction [640x480]: FAST | 6.88 ms / 5.24 ms | Δ 31.28% | 145.25 Hz / 190.68 Hz | ∇ -23.82% |
feature_extraction [640x480]: Spin desc. | 88.28 ms / 59.98 ms | Δ 47.18% | 11.33 Hz / 16.67 Hz | ∇ -32.06% |
feature_matching [640x480]: Harris + CC | 59.68 ms / 40.88 ms | Δ 46.00% | 16.76 Hz / 24.46 Hz | ∇ -31.51% |
feature_matching [640x480]: Harris + SAD | 58.57 ms / 35.50 ms | Δ 65.00% | 17.07 Hz / 28.17 Hz | ∇ -39.40% |
feature_matching [640x480]: SIFT | 1.50 sec / 1.21 sec | Δ 23.96% | 668.02 mHz / 828.07 mHz | ∇ -19.33% |
feature_matching [640x480]: SURF | 621.62 ms / 379.92 ms | Δ 63.62% | 1.61 Hz / 2.63 Hz | ∇ -38.88% |
feature_matching [640x480]: FAST + CC | 21.69 ms / 16.06 ms | Δ 35.05% | 46.10 Hz / 62.26 Hz | ∇ -25.95% |
feature_matching [640x480]: FAST + SAD | 12.64 ms / 10.73 ms | Δ 17.76% | 79.13 Hz / 93.18 Hz | ∇ -15.08% |
graph(2d): insertEdge x 1e3 | 301.62 us / 117.65 us | Δ 156.37% | 3.32 KHz / 8.50 KHz | ∇ -60.99% |
graph(2d,vec): insertEdge x 1e3 | 298.86 us / 105.13 us | Δ 184.29% | 3.35 KHz / 9.51 KHz | ∇ -64.82% |
graph(2d): insertEdgeAtEnd x 1e3 | 274.69 us / 85.19 us | Δ 222.46% | 3.64 KHz / 11.74 KHz | ∇ -68.99% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 270.21 us / 84.46 us | Δ 219.91% | 3.70 KHz / 11.84 KHz | ∇ -68.74% |
graph(2d pdf): insertEdge x 1e3 | 415.87 us / 172.53 us | Δ 141.04% | 2.40 KHz / 5.80 KHz | ∇ -58.51% |
graph(2d pdf,vec): insertEdge x 1e3 | 406.59 us / 187.97 us | Δ 116.31% | 2.46 KHz / 5.32 KHz | ∇ -53.77% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 377.54 us / 168.61 us | Δ 123.92% | 2.65 KHz / 5.93 KHz | ∇ -55.34% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 379.45 us / 167.39 us | Δ 126.69% | 2.64 KHz / 5.97 KHz | ∇ -55.89% |
graph(2d): insertEdge x 1e4 | 4.14 ms / 1.73 ms | Δ 139.76% | 241.59 Hz / 579.22 Hz | ∇ -58.29% |
graph(2d,vec): insertEdge x 1e4 | 4.00 ms / 1.45 ms | Δ 176.17% | 250.06 Hz / 690.59 Hz | ∇ -63.79% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.94 ms / 884.69 us | Δ 232.68% | 339.77 Hz / 1.13 KHz | ∇ -69.94% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.89 ms / 862.22 us | Δ 235.51% | 345.69 Hz / 1.16 KHz | ∇ -70.19% |
graph(2d pdf): insertEdge x 1e4 | 4.77 ms / 1.97 ms | Δ 141.75% | 209.57 Hz / 506.65 Hz | ∇ -58.64% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.31 ms | Δ 110.98% | 205.59 Hz / 433.74 Hz | ∇ -52.60% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 1.86 ms | Δ 118.18% | 246.64 Hz / 538.12 Hz | ∇ -54.17% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.21 ms / 1.86 ms | Δ 126.65% | 237.52 Hz / 538.35 Hz | ∇ -55.88% |
graph(3d): insertEdge x 1e3 | 381.69 us / 177.23 us | Δ 115.36% | 2.62 KHz / 5.64 KHz | ∇ -53.57% |
graph(3d,vec): insertEdge x 1e3 | 407.21 us / 178.36 us | Δ 128.31% | 2.46 KHz / 5.61 KHz | ∇ -56.20% |
graph(3d): insertEdgeAtEnd x 1e3 | 339.57 us / 157.86 us | Δ 115.11% | 2.94 KHz / 6.33 KHz | ∇ -53.51% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 334.55 us / 159.54 us | Δ 109.70% | 2.99 KHz / 6.27 KHz | ∇ -52.31% |
graph(3d pdf): insertEdge x 1e3 | 688.91 us / 507.00 us | Δ 35.88% | 1.45 KHz / 1.97 KHz | ∇ -26.41% |
graph(3d pdf,vec): insertEdge x 1e3 | 684.69 us / 509.46 us | Δ 34.39% | 1.46 KHz / 1.96 KHz | ∇ -25.59% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 683.24 us / 473.36 us | Δ 44.34% | 1.46 KHz / 2.11 KHz | ∇ -30.72% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 684.37 us / 474.07 us | Δ 44.36% | 1.46 KHz / 2.11 KHz | ∇ -30.73% |
graph(3d): insertEdge x 1e4 | 3.89 ms / 2.47 ms | Δ 57.19% | 257.39 Hz / 404.60 Hz | ∇ -36.38% |
graph(3d,vec): insertEdge x 1e4 | 3.79 ms / 2.48 ms | Δ 52.70% | 263.81 Hz / 402.82 Hz | ∇ -34.51% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.59 ms / 1.75 ms | Δ 104.54% | 278.91 Hz / 570.48 Hz | ∇ -51.11% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.52 ms / 1.77 ms | Δ 99.03% | 284.28 Hz / 565.81 Hz | ∇ -49.76% |
graph(3d pdf): insertEdge x 1e4 | 7.80 ms / 5.53 ms | Δ 41.21% | 128.15 Hz / 180.97 Hz | ∇ -29.18% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.81 ms / 5.56 ms | Δ 40.27% | 128.11 Hz / 179.70 Hz | ∇ -28.71% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.49 ms / 4.85 ms | Δ 54.49% | 133.45 Hz / 206.16 Hz | ∇ -35.27% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.57 ms / 4.85 ms | Δ 55.97% | 132.15 Hz / 206.11 Hz | ∇ -35.88% |
graph(3d): dijkstra 1e2 nodes | 213.16 us / 96.04 us | Δ 121.94% | 4.69 KHz / 10.41 KHz | ∇ -54.94% |
graph(3d,vec): dijkstra 1e2 nodes | 311.59 us / 80.39 us | Δ 287.62% | 3.21 KHz / 12.44 KHz | ∇ -74.20% |
graph(3d): dijkstra 1e3 nodes | 2.57 ms / 1.13 ms | Δ 127.13% | 389.66 Hz / 885.05 Hz | ∇ -55.97% |
graph(3d,vec): dijkstra 1e3 nodes | 2.70 ms / 804.04 us | Δ 235.96% | 370.20 Hz / 1.24 KHz | ∇ -70.23% |
graph(3d): dijkstra 1e4 nodes | 31.29 ms / 19.14 ms | Δ 63.50% | 31.96 Hz / 52.26 Hz | ∇ -38.84% |
graph(3d,vec): dijkstra 1e4 nodes | 32.92 ms / 9.65 ms | Δ 241.09% | 30.38 Hz / 103.63 Hz | ∇ -70.68% |
graph(3d): dijkstra 1e5 nodes | 393.68 ms / 290.37 ms | Δ 35.58% | 2.54 Hz / 3.44 Hz | ∇ -26.24% |
graph(3d,vec): dijkstra 1e5 nodes | 385.61 ms / 117.73 ms | Δ 227.54% | 2.59 Hz / 8.49 Hz | ∇ -69.47% |
graph(2d): dijkstra 1e5 nodes | 380.30 ms / 268.93 ms | Δ 41.41% | 2.63 Hz / 3.72 Hz | ∇ -29.28% |
graph(2d,vec): dijkstra 1e5 nodes | 376.84 ms / 103.05 ms | Δ 265.70% | 2.65 Hz / 9.70 Hz | ∇ -72.66% |