Test description | 0.9.4-MSVC10-64bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 20.74 ms | Δ 27.95% | 37.68 Hz / 48.21 Hz | ∇ -21.84% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 17.09 ms | Δ 88.26% | 31.08 Hz / 58.52 Hz | ∇ -46.88% |
poses: CPose3D (+) CPose3D | 62.83 ns / 29.76 ns | Δ 111.12% | 15.92 MHz / 33.60 MHz | ∇ -52.63% |
poses: CPose3D.composeFrom() | 41.42 ns / 21.90 ns | Δ 89.13% | 24.14 MHz / 45.66 MHz | ∇ -47.13% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 7.23 ns | Δ 161.12% | 52.94 MHz / 138.24 MHz | ∇ -61.70% |
poses: CPose3D.composePoint() | 17.17 ns / 11.67 ns | Δ 47.14% | 58.23 MHz / 85.68 MHz | ∇ -32.04% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 13.29 ns | Δ 568.29% | 11.26 MHz / 75.27 MHz | ∇ -85.04% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 24.48 ns | Δ 79.74% | 22.73 MHz / 40.85 MHz | ∇ -44.36% |
poses: CPose2D (+) CPose2D | 72.08 ns / 71.64 ns | Δ 0.61% | 13.87 MHz / 13.96 MHz | ∇ -0.61% |
poses: CPose2D.composeFrom() | 63.27 ns / 69.41 ns | ∇ -8.84% | 15.81 MHz / 14.41 MHz | Δ 9.70% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 60.78 ns | ∇ -43.37% | 29.05 MHz / 16.45 MHz | Δ 76.58% |
poses: CPose2D.composePoint() | 26.02 ns / 60.80 ns | ∇ -57.20% | 38.43 MHz / 16.45 MHz | Δ 133.64% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 40.47 ns | Δ 180.68% | 8.80 MHz / 24.71 MHz | ∇ -64.37% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 37.55 ns | Δ 120.28% | 12.09 MHz / 26.63 MHz | ∇ -54.60% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 17.39 ns | Δ 137.67% | 24.20 MHz / 57.51 MHz | ∇ -57.93% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 17.48 ns | Δ 78.06% | 32.12 MHz / 57.20 MHz | ∇ -43.84% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 32.97 ns | Δ 245.45% | 8.78 MHz / 30.33 MHz | ∇ -71.05% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 19.11 ns | Δ 77.68% | 29.46 MHz / 52.34 MHz | ∇ -43.72% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 23.42 ns | Δ 12.91% | 37.82 MHz / 42.70 MHz | ∇ -11.43% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 172.72 ns | ∇ -43.66% | 10.28 MHz / 5.79 MHz | Δ 77.49% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 671.00 ns | Δ 41.41% | 1.05 MHz / 1.49 MHz | ∇ -29.28% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 652.00 ns | Δ 43.97% | 1.07 MHz / 1.53 MHz | ∇ -30.54% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 8.74 us | Δ 142.64% | 47.15 KHz / 114.40 KHz | ∇ -58.79% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 454.10 ns | Δ 17.25% | 1.88 MHz / 2.20 MHz | ∇ -14.71% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 452.90 ns | Δ 16.63% | 1.89 MHz / 2.21 MHz | ∇ -14.26% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 7.98 us | Δ 40.34% | 89.35 KHz / 125.39 KHz | ∇ -28.74% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 17.64 ns | Δ 156.29% | 22.13 MHz / 56.71 MHz | ∇ -60.98% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 19.86 ns | Δ 130.86% | 21.81 MHz / 50.34 MHz | ∇ -56.68% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 57.06 ns | Δ 210.98% | 5.64 MHz / 17.53 MHz | ∇ -67.84% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 60.00 ns | Δ 182.54% | 5.90 MHz / 16.67 MHz | ∇ -64.61% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 6.37 ns / 0.00 ns | Δ 1.#J% | 157.06 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 7.86 ns / 0.00 ns | Δ 1.#J% | 127.19 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 242.70 ns | Δ 100.22% | 2.06 MHz / 4.12 MHz | ∇ -50.05% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 231.60 ns | Δ 128.16% | 1.89 MHz / 4.32 MHz | ∇ -56.17% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 547.16 ns / 296.50 ns | Δ 84.54% | 1.83 MHz / 3.37 MHz | ∇ -45.81% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 0.10 ns | Δ 2255.15% | 424.60 MHz / 10.00 GHz | ∇ -95.75% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 259.20 ns | Δ 51.04% | 2.55 MHz / 3.86 MHz | ∇ -33.79% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 0.00 ns | Δ 1.#J% | 424.60 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 2.09 us | Δ 31.05% | 364.51 KHz / 477.69 KHz | ∇ -23.69% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 1.79 us | Δ 16.49% | 479.89 KHz / 559.03 KHz | ∇ -14.16% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 2.43 us | Δ 42.67% | 288.55 KHz / 411.68 KHz | ∇ -29.91% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 2.16 us | Δ 10.17% | 419.56 KHz / 462.21 KHz | ∇ -9.23% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 767.00 ns | Δ 41.54% | 921.12 KHz / 1.30 MHz | ∇ -29.35% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 0.00 ns | Δ 1.#J% | 45.06 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 1.78 us | Δ 56.20% | 359.66 KHz / 561.80 KHz | ∇ -35.98% |
matrix: inv, fix[double] 6x6 | 2.22 us / 1.73 us | Δ 28.54% | 450.23 KHz / 578.70 KHz | ∇ -22.20% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 16.27 us | Δ 88.80% | 32.56 KHz / 61.47 KHz | ∇ -47.03% |
matrix: inv, fix[double] 20x20 | 24.08 us / 13.44 us | Δ 79.16% | 41.53 KHz / 74.41 KHz | ∇ -44.18% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 68.00 us | Δ 72.30% | 8.53 KHz / 14.70 KHz | ∇ -41.96% |
matrix: inv, fix[double] 40x40 | 112.80 us / 63.01 us | Δ 79.04% | 8.86 KHz / 15.87 KHz | ∇ -44.15% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 209.40 ns | Δ 265.57% | 1.31 MHz / 4.78 MHz | ∇ -72.65% |
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 / 331.30 ns | Δ 148.21% | 1.22 MHz / 3.02 MHz | ∇ -59.71% |
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 / 943.70 ns | Δ 89.06% | 560.47 KHz / 1.06 MHz | ∇ -47.11% |
matrix: det, fix[double] 6x6 | 1.51 us / 575.90 ns | Δ 162.55% | 661.35 KHz / 1.74 MHz | ∇ -61.91% |
matrix: det, dyn[double] 20x20 | 18.54 us / 8.10 us | Δ 128.76% | 53.94 KHz / 123.40 KHz | ∇ -56.29% |
matrix: det, fix[double] 20x20 | 19.01 us / 7.48 us | Δ 153.98% | 52.61 KHz / 133.61 KHz | ∇ -60.63% |
matrix: det, dyn[double] 40x40 | 72.40 us / 30.87 us | Δ 134.50% | 13.81 KHz / 32.39 KHz | ∇ -57.36% |
matrix: det, fix[double] 40x40 | 67.43 us / 29.01 us | Δ 132.42% | 14.83 KHz / 34.47 KHz | ∇ -56.97% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 530.00 ns | Δ 14.51% | 1.65 MHz / 1.89 MHz | ∇ -12.67% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 120.00 ns | Δ 58.52% | 5.26 MHz / 8.33 MHz | ∇ -36.92% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 20.70 us | Δ 52.59% | 31.66 KHz / 48.31 KHz | ∇ -34.46% |
matrix: chol, fix[double] 40x40 | 20.87 us / 16.54 us | Δ 26.15% | 47.93 KHz / 60.46 KHz | ∇ -20.73% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 12.20 us | ∇ -41.72% | 140.63 KHz / 81.97 KHz | Δ 71.57% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 87.70 us | Δ 8.04% | 10.55 KHz / 11.40 KHz | ∇ -7.44% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 51.70 us | Δ 46.21% | 13.23 KHz / 19.34 KHz | ∇ -31.61% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 38.27 us | Δ 12.89% | 23.15 KHz / 26.13 KHz | ∇ -11.42% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 255.50 us | Δ 77.48% | 2.21 KHz / 3.91 KHz | ∇ -43.66% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 70.94 us | Δ 4.32% | 13.51 KHz / 14.10 KHz | ∇ -4.14% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 2.75 ms | Δ 28.86% | 282.19 Hz / 363.64 Hz | ∇ -22.40% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 169.22 us | Δ 5.59% | 5.60 KHz / 5.91 KHz | ∇ -5.30% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 22.06 ms | Δ 1.02% | 44.87 Hz / 45.33 Hz | ∇ -1.01% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 339.61 us | Δ 5.82% | 2.78 KHz / 2.94 KHz | ∇ -5.50% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 36.67 ms | ∇ -1.04% | 27.56 Hz / 27.27 Hz | Δ 1.05% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 402.38 us | Δ 2.36% | 2.43 KHz / 2.49 KHz | ∇ -2.30% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 53.86 ms | Δ 0.89% | 18.40 Hz / 18.57 Hz | ∇ -0.88% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 476.81 us | Δ 2.37% | 2.05 KHz / 2.10 KHz | ∇ -2.31% |
gridmap2D: getCell | 4.13 ns / 0.00 ns | Δ 1.#J% | 242.07 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 5.65 ns / 2.71 ns | Δ 108.49% | 177.14 MHz / 369.33 MHz | ∇ -52.04% |
gridmap2D: updateCell | 6.93 ns / 6.04 ns | Δ 14.72% | 144.35 MHz / 165.59 MHz | ∇ -12.83% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.61 ns | Δ 95.36% | 833.40 MHz / 1.63 GHz | ∇ -48.81% |
gridmap2D: insert scan w/o widening | 102.16 us / 99.83 us | Δ 2.33% | 9.79 KHz / 10.02 KHz | ∇ -2.28% |
gridmap2D: insert scan with widening | 276.88 us / 293.13 us | ∇ -5.54% | 3.61 KHz / 3.41 KHz | Δ 5.87% |
gridmap2D: resize | 3.89 ms / 630.00 us | Δ 517.47% | 257.06 Hz / 1.59 KHz | ∇ -83.80% |
gridmap2D: computeLikelihood | 13.92 us / 17.81 us | ∇ -21.85% | 71.84 KHz / 56.14 KHz | Δ 27.95% |
pointmap: insert 100 scans | 1.87 ms / 1.01 ms | Δ 85.46% | 534.24 Hz / 990.80 Hz | ∇ -46.08% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 4.52 us | Δ 12.63% | 196.43 KHz / 221.24 KHz | ∇ -11.21% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 364.44 us | Δ 33.46% | 2.06 KHz / 2.74 KHz | ∇ -25.07% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 4.38 ms | Δ 16.32% | 196.20 Hz / 228.21 Hz | ∇ -14.03% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 5.16 us | Δ 7.79% | 179.80 KHz / 193.80 KHz | ∇ -7.22% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 372.44 us | Δ 25.45% | 2.14 KHz / 2.68 KHz | ∇ -20.29% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 4.20 ms | Δ 23.36% | 192.98 Hz / 238.06 Hz | ∇ -18.94% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.42 us | Δ 12.19% | 627.25 KHz / 703.73 KHz | ∇ -10.87% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 101.86 us | Δ 24.37% | 7.89 KHz / 9.82 KHz | ∇ -19.59% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 12.17 ms | Δ 13.88% | 72.14 Hz / 82.15 Hz | ∇ -12.19% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 5.64 ms | Δ 15.99% | 152.81 Hz / 177.25 Hz | ∇ -13.79% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 132.76 ms | Δ 31.64% | 5.72 Hz / 7.53 Hz | ∇ -24.04% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 5.71 ms | Δ 20.48% | 145.28 Hz / 175.04 Hz | ∇ -17.00% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 134.74 ms | Δ 34.61% | 5.51 Hz / 7.42 Hz | ∇ -25.71% |
random: drawUniform32bit | 9.54 ns / 14.55 ns | ∇ -34.45% | 104.87 MHz / 68.75 MHz | Δ 52.54% |
random: drawUniform | 9.69 ns / 14.56 ns | ∇ -33.45% | 103.21 MHz / 68.69 MHz | Δ 50.26% |
random: drawGaussian1D_normalized | 52.06 ns / 66.87 ns | ∇ -22.14% | 19.21 MHz / 14.96 MHz | Δ 28.44% |
random: drawGaussian1D | 50.73 ns / 66.81 ns | ∇ -24.06% | 19.71 MHz / 14.97 MHz | Δ 31.68% |
random: system rand() | 24.47 ns / 10.63 ns | Δ 130.27% | 40.87 MHz / 94.11 MHz | ∇ -56.57% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 903.36 ns | Δ 37.48% | 805.20 KHz / 1.11 MHz | ∇ -27.26% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 1.61 us | Δ 97.97% | 313.70 KHz / 621.01 KHz | ∇ -49.49% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 144.65 ns | ∇ -10.11% | 7.69 MHz / 6.91 MHz | Δ 11.25% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 219.48 ns | ∇ -9.62% | 5.04 MHz / 4.56 MHz | Δ 10.65% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 472.80 ns | ∇ -4.47% | 2.21 MHz / 2.12 MHz | Δ 4.68% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 152.29 ns | ∇ -10.09% | 7.30 MHz / 6.57 MHz | Δ 11.22% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 235.04 ns | ∇ -9.16% | 4.68 MHz / 4.25 MHz | Δ 10.08% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 491.60 ns | ∇ -2.65% | 2.09 MHz / 2.03 MHz | Δ 2.73% |
random: permuteVector (len=10) | 244.07 ns / 243.60 ns | Δ 0.19% | 4.10 MHz / 4.11 MHz | ∇ -0.19% |
random: permuteVector (len=100) | 3.12 us / 2.99 us | Δ 4.65% | 320.11 KHz / 334.99 KHz | ∇ -4.44% |
random: permuteVector (len=1000) | 30.82 us / 29.51 us | Δ 4.44% | 32.44 KHz / 33.88 KHz | ∇ -4.25% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.08 GHz | Δ 2189944.78% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 33.63 ms | ∇ -11.17% | 33.48 Hz / 29.74 Hz | Δ 12.58% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 49.85 ms | ∇ -13.77% | 23.26 Hz / 20.06 Hz | Δ 15.97% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 69.59 ms | ∇ -0.81% | 14.49 Hz / 14.37 Hz | Δ 0.82% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 30.64 ms | ∇ -25.41% | 43.75 Hz / 32.63 Hz | Δ 34.07% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 43.91 ms | ∇ -19.82% | 28.41 Hz / 22.78 Hz | Δ 24.71% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 62.52 ms | ∇ -8.37% | 17.45 Hz / 15.99 Hz | Δ 9.13% |
images: Gauss filter (640x480) | 4.45 ms / 3.81 ms | Δ 16.93% | 224.70 Hz / 262.76 Hz | ∇ -14.48% |
images: Gauss filter (800x600) | 8.06 ms / 5.96 ms | Δ 35.09% | 124.15 Hz / 167.70 Hz | ∇ -25.97% |
images: Gauss filter (1024x768) | 13.86 ms / 10.46 ms | Δ 32.49% | 72.16 Hz / 95.61 Hz | ∇ -24.52% |
images: Half sample GRAY (160x120) | 1.32 us / 1.04 us | Δ 27.31% | 755.28 KHz / 961.54 KHz | ∇ -21.45% |
images: Half sample GRAY (320x240) | 4.41 us / 2.91 us | Δ 51.77% | 226.69 KHz / 344.04 KHz | ∇ -34.11% |
images: Half sample GRAY (640x480) | 18.51 us / 14.63 us | Δ 26.53% | 54.02 KHz / 68.35 KHz | ∇ -20.97% |
images: Half sample GRAY (800x600) | 29.74 us / 27.61 us | Δ 7.71% | 33.62 KHz / 36.21 KHz | ∇ -7.15% |
images: Half sample GRAY (1024x768) | 52.65 us / 43.98 us | Δ 19.70% | 18.99 KHz / 22.74 KHz | ∇ -16.46% |
images: Half sample GRAY (1280x1024) | 107.42 us / 84.93 us | Δ 26.48% | 9.31 KHz / 11.77 KHz | ∇ -20.94% |
images: Half sample RGB (160x120) | 9.33 us / 2.35 us | Δ 297.71% | 107.15 KHz / 426.14 KHz | ∇ -74.86% |
images: Half sample RGB (320x240) | 11.01 us / 8.97 us | Δ 22.70% | 90.82 KHz / 111.44 KHz | ∇ -18.50% |
images: Half sample RGB (640x480) | 53.51 us / 49.58 us | Δ 7.93% | 18.69 KHz / 20.17 KHz | ∇ -7.34% |
images: Half sample RGB (800x600) | 126.28 us / 83.52 us | Δ 51.20% | 7.92 KHz / 11.97 KHz | ∇ -33.86% |
images: Half sample RGB (1024x768) | 248.04 us / 175.02 us | Δ 41.72% | 4.03 KHz / 5.71 KHz | ∇ -29.44% |
images: Half sample RGB (1280x1024) | 667.92 us / 434.33 us | Δ 53.78% | 1.50 KHz / 2.30 KHz | ∇ -34.97% |
images: Half sample smooth GRAY (160x120) | 1.83 us / 1.52 us | Δ 20.02% | 546.97 KHz / 656.46 KHz | ∇ -16.68% |
images: Half sample smooth GRAY (320x240) | 6.09 us / 5.05 us | Δ 20.55% | 164.16 KHz / 197.89 KHz | ∇ -17.05% |
images: Half sample smooth GRAY (640x480) | 28.72 us / 27.35 us | Δ 5.04% | 34.81 KHz / 36.57 KHz | ∇ -4.79% |
images: Half sample smooth GRAY (800x600) | 44.06 us / 41.00 us | Δ 7.45% | 22.70 KHz / 24.39 KHz | ∇ -6.93% |
images: Half sample smooth GRAY (1024x768) | 78.59 us / 70.54 us | Δ 11.41% | 12.72 KHz / 14.18 KHz | ∇ -10.24% |
images: Half sample smooth GRAY (1280x1024) | 168.62 us / 147.17 us | Δ 14.58% | 5.93 KHz / 6.80 KHz | ∇ -12.72% |
images: Half sample smooth RGB (160x120) | 88.54 us / 87.34 us | Δ 1.38% | 11.29 KHz / 11.45 KHz | ∇ -1.36% |
images: Half sample smooth RGB (320x240) | 381.77 us / 341.55 us | Δ 11.77% | 2.62 KHz / 2.93 KHz | ∇ -10.53% |
images: Half sample smooth RGB (640x480) | 1.50 ms / 1.35 ms | Δ 11.29% | 665.62 Hz / 740.73 Hz | ∇ -10.14% |
images: Half sample smooth RGB (800x600) | 2.40 ms / 2.13 ms | Δ 12.26% | 417.30 Hz / 468.44 Hz | ∇ -10.92% |
images: Half sample smooth RGB (1024x768) | 3.77 ms / 3.55 ms | Δ 6.25% | 265.35 Hz / 281.93 Hz | ∇ -5.88% |
images: Half sample smooth RGB (1280x1024) | 6.50 ms / 6.52 ms | ∇ -0.27% | 153.82 Hz / 153.40 Hz | Δ 0.27% |
images: RGB->GRAY 8u (40x30) | 3.88 us / 3.88 us | Δ 0.05% | 257.84 KHz / 257.95 KHz | ∇ -0.05% |
images: RGB->GRAY 8u (80x60) | 2.89 us / 2.78 us | Δ 3.87% | 345.89 KHz / 359.28 KHz | ∇ -3.73% |
images: RGB->GRAY 8u (160x120) | 10.09 us / 9.91 us | Δ 1.83% | 99.10 KHz / 100.91 KHz | ∇ -1.79% |
images: RGB->GRAY 8u (320x240) | 39.97 us / 39.89 us | Δ 0.19% | 25.02 KHz / 25.07 KHz | ∇ -0.19% |
images: RGB->GRAY 8u (640x480) | 172.29 us / 157.22 us | Δ 9.58% | 5.80 KHz / 6.36 KHz | ∇ -8.74% |
images: RGB->GRAY 8u (800x600) | 303.41 us / 266.94 us | Δ 13.66% | 3.30 KHz / 3.75 KHz | ∇ -12.02% |
images: RGB->GRAY 8u (1024x768) | 645.96 us / 485.16 us | Δ 33.14% | 1.55 KHz / 2.06 KHz | ∇ -24.89% |
images: RGB->GRAY 8u (1280x1024) | 1.76 ms / 926.17 us | Δ 89.62% | 569.41 Hz / 1.08 KHz | ∇ -47.26% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 17.29 us / 12.69 us | Δ 36.23% | 57.84 KHz / 78.80 KHz | ∇ -26.60% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 9.85 us | Δ 67.37% | 60.66 KHz / 101.52 KHz | ∇ -40.25% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 5.24 us | Δ 85.49% | 102.89 KHz / 190.84 KHz | ∇ -46.09% |
feature_extraction [640x480]: Harris | 31.46 ms / 21.14 ms | Δ 48.82% | 31.79 Hz / 47.31 Hz | ∇ -32.81% |
feature_extraction [640x480]: KLT | 30.94 ms / 21.45 ms | Δ 44.24% | 32.32 Hz / 46.61 Hz | ∇ -30.67% |
feature_extraction [640x480]: SIFT | 653.53 ms / 591.25 ms | Δ 10.53% | 1.53 Hz / 1.69 Hz | ∇ -9.53% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 162.82 ms | Δ 29.21% | 4.75 Hz / 6.14 Hz | ∇ -22.61% |
feature_extraction [640x480]: SURF | 243.66 ms / 197.33 ms | Δ 23.48% | 4.10 Hz / 5.07 Hz | ∇ -19.01% |
feature_extraction [640x480]: FAST | 6.32 ms / 6.89 ms | ∇ -8.25% | 158.19 Hz / 145.15 Hz | Δ 8.99% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 63.90 ms | ∇ -29.39% | 22.16 Hz / 15.65 Hz | Δ 41.62% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 38.54 ms | Δ 20.91% | 21.46 Hz / 25.95 Hz | ∇ -17.30% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 33.59 ms | Δ 21.73% | 24.46 Hz / 29.77 Hz | ∇ -17.85% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.16 sec | Δ 10.88% | 778.73 mHz / 863.45 mHz | ∇ -9.81% |
feature_matching [640x480]: SURF | 502.54 ms / 375.89 ms | Δ 33.69% | 1.99 Hz / 2.66 Hz | ∇ -25.20% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 15.89 ms | Δ 24.06% | 50.74 Hz / 62.95 Hz | ∇ -19.39% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 10.48 ms | Δ 24.15% | 76.86 Hz / 95.42 Hz | ∇ -19.45% |
graph(2d): insertEdge x 1e3 | 236.53 us / 158.24 us | Δ 49.47% | 4.23 KHz / 6.32 KHz | ∇ -33.10% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 133.69 us | Δ 84.56% | 4.05 KHz / 7.48 KHz | ∇ -45.82% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 84.43 us | Δ 159.18% | 4.57 KHz / 11.84 KHz | ∇ -61.42% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 81.78 us | Δ 155.83% | 4.78 KHz / 12.23 KHz | ∇ -60.91% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 207.17 us | Δ 59.23% | 3.03 KHz / 4.83 KHz | ∇ -37.20% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 232.57 us | Δ 30.54% | 3.29 KHz / 4.30 KHz | ∇ -23.40% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 246.74 us | Δ 13.52% | 3.57 KHz / 4.05 KHz | ∇ -11.91% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 192.59 us | Δ 47.60% | 3.52 KHz / 5.19 KHz | ∇ -32.25% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 2.08 ms | Δ 30.80% | 367.00 Hz / 480.05 Hz | ∇ -23.55% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 1.62 ms | Δ 68.69% | 366.67 Hz / 618.53 Hz | ∇ -40.72% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 870.19 us | Δ 124.30% | 512.34 Hz / 1.15 KHz | ∇ -55.42% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 846.92 us | Δ 127.13% | 519.87 Hz / 1.18 KHz | ∇ -55.97% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 2.34 ms | Δ 37.04% | 311.68 Hz / 427.14 Hz | ∇ -27.03% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 2.81 ms | Δ 15.29% | 308.83 Hz / 356.06 Hz | ∇ -13.26% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 2.13 ms | Δ 51.75% | 309.95 Hz / 470.35 Hz | ∇ -34.10% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 2.13 ms | Δ 48.94% | 314.97 Hz / 469.13 Hz | ∇ -32.86% |
graph(3d): insertEdge x 1e3 | 274.22 us / 220.82 us | Δ 24.19% | 3.65 KHz / 4.53 KHz | ∇ -19.48% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 221.81 us | Δ 19.32% | 3.78 KHz / 4.51 KHz | ∇ -16.19% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 183.18 us | Δ 44.10% | 3.79 KHz / 5.46 KHz | ∇ -30.61% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 186.52 us | Δ 43.33% | 3.74 KHz / 5.36 KHz | ∇ -30.23% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 532.35 us | Δ 10.64% | 1.70 KHz / 1.88 KHz | ∇ -9.62% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 537.98 us | Δ 10.90% | 1.68 KHz / 1.86 KHz | ∇ -9.83% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 487.59 us | Δ 15.46% | 1.78 KHz / 2.05 KHz | ∇ -13.39% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 493.50 us | Δ 13.28% | 1.79 KHz / 2.03 KHz | ∇ -11.72% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 2.78 ms | Δ 16.30% | 309.17 Hz / 359.55 Hz | ∇ -14.01% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 2.77 ms | Δ 12.91% | 319.30 Hz / 360.52 Hz | ∇ -11.43% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 2.09 ms | Δ 25.14% | 381.66 Hz / 477.61 Hz | ∇ -20.09% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 2.05 ms | Δ 24.02% | 392.76 Hz / 487.11 Hz | ∇ -19.37% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 7.36 ms | ∇ -16.97% | 163.57 Hz / 135.81 Hz | Δ 20.44% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 6.97 ms | ∇ -19.59% | 178.36 Hz / 143.42 Hz | Δ 24.36% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 5.29 ms | ∇ -1.46% | 192.01 Hz / 189.20 Hz | Δ 1.48% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 5.49 ms | ∇ -5.49% | 192.88 Hz / 182.28 Hz | Δ 5.81% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 90.55 us | Δ 72.74% | 6.39 KHz / 11.04 KHz | ∇ -42.11% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 83.50 us | Δ 130.32% | 5.20 KHz / 11.98 KHz | ∇ -56.58% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 1.13 ms | Δ 92.16% | 459.11 Hz / 882.20 Hz | ∇ -47.96% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 767.67 us | Δ 134.60% | 555.25 Hz / 1.30 KHz | ∇ -57.38% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 21.12 ms | Δ 26.27% | 37.50 Hz / 47.35 Hz | ∇ -20.81% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 10.86 ms | Δ 110.21% | 43.80 Hz / 92.06 Hz | ∇ -52.43% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 341.35 ms | ∇ -10.02% | 3.26 Hz / 2.93 Hz | Δ 11.13% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 142.53 ms | Δ 87.19% | 3.75 Hz / 7.02 Hz | ∇ -46.58% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 320.28 ms | ∇ -5.68% | 3.31 Hz / 3.12 Hz | Δ 6.02% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 133.66 ms | Δ 96.61% | 3.81 Hz / 7.48 Hz | ∇ -49.14% |