Test description | 0.9.4-MSVC10-64bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 31.78 ms | ∇ -16.49% | 37.68 Hz / 31.46 Hz | Δ 19.75% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 53.70 ms | ∇ -40.09% | 31.08 Hz / 18.62 Hz | Δ 66.93% |
poses: CPose3D (+) CPose3D | 62.83 ns / 925.38 ns | ∇ -93.21% | 15.92 MHz / 1.08 MHz | Δ 1372.88% |
poses: CPose3D.composeFrom() | 41.42 ns / 617.00 ns | ∇ -93.29% | 24.14 MHz / 1.62 MHz | Δ 1389.67% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 35.98 ns | ∇ -47.50% | 52.94 MHz / 27.80 MHz | Δ 90.46% |
poses: CPose3D.composePoint() | 17.17 ns / 14.62 ns | Δ 17.51% | 58.23 MHz / 68.42 MHz | ∇ -14.90% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 75.43 ns | Δ 17.72% | 11.26 MHz / 13.26 MHz | ∇ -15.05% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 56.48 ns | ∇ -22.10% | 22.73 MHz / 17.70 MHz | Δ 28.37% |
poses: CPose2D (+) CPose2D | 72.08 ns / 121.60 ns | ∇ -40.72% | 13.87 MHz / 8.22 MHz | Δ 68.69% |
poses: CPose2D.composeFrom() | 63.27 ns / 66.63 ns | ∇ -5.04% | 15.81 MHz / 15.01 MHz | Δ 5.31% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 93.73 ns | ∇ -63.28% | 29.05 MHz / 10.67 MHz | Δ 172.33% |
poses: CPose2D.composePoint() | 26.02 ns / 62.24 ns | ∇ -58.19% | 38.43 MHz / 16.07 MHz | Δ 139.17% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 100.74 ns | Δ 12.76% | 8.80 MHz / 9.93 MHz | ∇ -11.32% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 57.92 ns | Δ 42.80% | 12.09 MHz / 17.26 MHz | ∇ -29.97% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 61.33 ns | ∇ -32.62% | 24.20 MHz / 16.31 MHz | Δ 48.40% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 27.34 ns | Δ 13.85% | 32.12 MHz / 36.57 MHz | ∇ -12.17% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 580.67 ns | ∇ -80.39% | 8.78 MHz / 1.72 MHz | Δ 409.86% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 28.18 ns | Δ 20.46% | 29.46 MHz / 35.48 MHz | ∇ -16.98% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 506.67 ns | ∇ -94.78% | 37.82 MHz / 1.97 MHz | Δ 1816.01% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 214.86 ns | ∇ -54.71% | 10.28 MHz / 4.65 MHz | Δ 120.80% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 1.56 us | ∇ -38.99% | 1.05 MHz / 642.96 KHz | Δ 63.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 1.51 us | ∇ -37.69% | 1.07 MHz / 663.83 KHz | Δ 60.48% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 23.29 us | ∇ -8.93% | 47.15 KHz / 42.94 KHz | Δ 9.80% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 1.64 us | ∇ -67.53% | 1.88 MHz / 609.77 KHz | Δ 208.01% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 1.66 us | ∇ -68.26% | 1.89 MHz / 600.84 KHz | Δ 215.08% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 16.05 us | ∇ -30.25% | 89.35 KHz / 62.32 KHz | Δ 43.37% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 39.66 ns | Δ 13.98% | 22.13 MHz / 25.22 MHz | ∇ -12.26% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 42.75 ns | Δ 7.28% | 21.81 MHz / 23.39 MHz | ∇ -6.78% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 152.29 ns | Δ 16.51% | 5.64 MHz / 6.57 MHz | ∇ -14.17% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 150.45 ns | Δ 12.67% | 5.90 MHz / 6.65 MHz | ∇ -11.25% |
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] | 6.37 ns / 3.06 ns | Δ 108.33% | 157.06 MHz / 327.19 MHz | ∇ -52.00% |
matrix: unit, fix[double,6,6] | 7.86 ns / 6.65 ns | Δ 18.31% | 127.19 MHz / 150.48 MHz | ∇ -15.48% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 167.81 ns | Δ 189.58% | 2.06 MHz / 5.96 MHz | ∇ -65.47% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 108.61 ns | ∇ -99.96% | 22.08 GHz / 9.21 MHz | Δ 239702.06% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 158.88 ns | Δ 232.58% | 1.89 MHz / 6.29 MHz | ∇ -69.93% |
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 | 547.16 ns / 272.47 ns | Δ 100.81% | 1.83 MHz / 3.67 MHz | ∇ -50.20% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 193.12 ns | ∇ -98.78% | 424.60 MHz / 5.18 MHz | Δ 8100.07% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 238.91 ns | Δ 63.87% | 2.55 MHz / 4.19 MHz | ∇ -38.97% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 139.05 ns | ∇ -98.31% | 424.60 MHz / 7.19 MHz | Δ 5803.90% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 16.80 us | ∇ -83.67% | 364.51 KHz / 59.51 KHz | Δ 512.52% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 13.06 us | ∇ -84.04% | 479.89 KHz / 76.57 KHz | Δ 526.76% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 13.55 us | ∇ -74.42% | 288.55 KHz / 73.81 KHz | Δ 290.96% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 9.96 us | ∇ -76.07% | 419.56 KHz / 100.40 KHz | Δ 317.89% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 1.53 us | ∇ -29.13% | 921.12 KHz / 652.84 KHz | Δ 41.09% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 31.25 ns | ∇ -28.99% | 45.06 MHz / 32.00 MHz | Δ 40.82% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 5.08 us | ∇ -45.31% | 359.66 KHz / 196.68 KHz | Δ 82.87% |
matrix: inv, fix[double] 6x6 | 2.22 us / 926.67 ns | Δ 139.69% | 450.23 KHz / 1.08 MHz | ∇ -58.28% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 108.60 us | ∇ -71.72% | 32.56 KHz / 9.21 KHz | Δ 253.59% |
matrix: inv, fix[double] 20x20 | 24.08 us / 19.22 us | Δ 25.26% | 41.53 KHz / 52.02 KHz | ∇ -20.16% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 818.27 us | ∇ -85.68% | 8.53 KHz / 1.22 KHz | Δ 598.33% |
matrix: inv, fix[double] 40x40 | 112.80 us / 136.18 us | ∇ -17.16% | 8.86 KHz / 7.34 KHz | Δ 20.72% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 9.56 ns | Δ 7910.36% | 1.31 MHz / 104.64 MHz | ∇ -98.75% |
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 / 15.90 ns | Δ 5072.61% | 1.22 MHz / 62.90 MHz | ∇ -98.07% |
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 / 2.38 us | ∇ -24.99% | 560.47 KHz / 420.40 KHz | Δ 33.32% |
matrix: det, fix[double] 6x6 | 1.51 us / 422.89 ns | Δ 257.55% | 661.35 KHz / 2.36 MHz | ∇ -72.03% |
matrix: det, dyn[double] 20x20 | 18.54 us / 18.19 us | Δ 1.94% | 53.94 KHz / 54.99 KHz | ∇ -1.90% |
matrix: det, fix[double] 20x20 | 19.01 us / 6.52 us | Δ 191.40% | 52.61 KHz / 153.30 KHz | ∇ -65.68% |
matrix: det, dyn[double] 40x40 | 72.40 us / 114.84 us | ∇ -36.96% | 13.81 KHz / 8.71 KHz | Δ 58.63% |
matrix: det, fix[double] 40x40 | 67.43 us / 36.00 us | Δ 87.29% | 14.83 KHz / 27.78 KHz | ∇ -46.61% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 185.70 ns | Δ 226.83% | 1.65 MHz / 5.39 MHz | ∇ -69.40% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 113.23 ns | Δ 68.00% | 5.26 MHz / 8.83 MHz | ∇ -40.48% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 24.43 us | Δ 29.29% | 31.66 KHz / 40.93 KHz | ∇ -22.65% |
matrix: chol, fix[double] 40x40 | 20.87 us / 17.73 us | Δ 17.67% | 47.93 KHz / 56.40 KHz | ∇ -15.02% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 10.78 us | ∇ -34.03% | 140.63 KHz / 92.77 KHz | Δ 51.59% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 117.89 us | ∇ -19.63% | 10.55 KHz / 8.48 KHz | Δ 24.43% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 70.52 us | Δ 7.19% | 13.23 KHz / 14.18 KHz | ∇ -6.71% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 52.59 us | ∇ -17.85% | 23.15 KHz / 19.02 KHz | Δ 21.72% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 491.10 us | ∇ -7.66% | 2.21 KHz / 2.04 KHz | Δ 8.30% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 85.83 us | ∇ -13.78% | 13.51 KHz / 11.65 KHz | Δ 15.98% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 9.44 ms | ∇ -62.48% | 282.19 Hz / 105.88 Hz | Δ 166.53% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 204.52 us | ∇ -12.63% | 5.60 KHz / 4.89 KHz | Δ 14.46% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 150.13 ms | ∇ -85.16% | 44.87 Hz / 6.66 Hz | Δ 573.66% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 415.58 us | ∇ -13.53% | 2.78 KHz / 2.41 KHz | Δ 15.64% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 461.43 ms | ∇ -92.14% | 27.56 Hz / 2.17 Hz | Δ 1171.64% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 484.92 us | ∇ -15.07% | 2.43 KHz / 2.06 KHz | Δ 17.74% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 947.45 ms | ∇ -94.26% | 18.40 Hz / 1.06 Hz | Δ 1643.47% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 586.44 us | ∇ -16.77% | 2.05 KHz / 1.71 KHz | Δ 20.15% |
gridmap2D: getCell | 4.13 ns / 5.77 ns | ∇ -28.44% | 242.07 MHz / 173.23 MHz | Δ 39.74% |
gridmap2D: setCell | 5.65 ns / 7.96 ns | ∇ -29.08% | 177.14 MHz / 125.64 MHz | Δ 41.00% |
gridmap2D: updateCell | 6.93 ns / 10.80 ns | ∇ -35.86% | 144.35 MHz / 92.58 MHz | Δ 55.92% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 1.21 ns | ∇ -0.82% | 833.40 MHz / 826.59 MHz | Δ 0.82% |
gridmap2D: insert scan w/o widening | 102.16 us / 204.23 us | ∇ -49.98% | 9.79 KHz / 4.90 KHz | Δ 99.92% |
gridmap2D: insert scan with widening | 276.88 us / 344.40 us | ∇ -19.61% | 3.61 KHz / 2.90 KHz | Δ 24.39% |
gridmap2D: resize | 3.89 ms / 2.62 ms | Δ 48.57% | 257.06 Hz / 381.93 Hz | ∇ -32.69% |
gridmap2D: computeLikelihood | 13.92 us / 18.59 us | ∇ -25.12% | 71.84 KHz / 53.79 KHz | Δ 33.54% |
pointmap: insert 100 scans | 1.87 ms / 5.62 ms | ∇ -66.68% | 534.24 Hz / 178.02 Hz | Δ 200.10% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 6.21 us | ∇ -18.08% | 196.43 KHz / 160.93 KHz | Δ 22.07% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 511.81 us | ∇ -4.97% | 2.06 KHz / 1.95 KHz | Δ 5.23% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 5.59 ms | ∇ -8.83% | 196.20 Hz / 178.86 Hz | Δ 9.69% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 7.23 us | ∇ -23.06% | 179.80 KHz / 138.34 KHz | Δ 29.97% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 523.10 us | ∇ -10.68% | 2.14 KHz / 1.91 KHz | Δ 11.95% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 5.77 ms | ∇ -10.24% | 192.98 Hz / 173.21 Hz | Δ 11.41% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 2.05 us | ∇ -22.35% | 627.25 KHz / 487.07 KHz | Δ 28.78% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 140.79 us | ∇ -10.02% | 7.89 KHz / 7.10 KHz | Δ 11.14% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 15.17 ms | ∇ -8.64% | 72.14 Hz / 65.91 Hz | Δ 9.45% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 8.69 ms | ∇ -24.74% | 152.81 Hz / 115.01 Hz | Δ 32.87% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 196.44 ms | ∇ -11.03% | 5.72 Hz / 5.09 Hz | Δ 12.40% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 8.73 ms | ∇ -21.12% | 145.28 Hz / 114.60 Hz | Δ 26.78% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 198.48 ms | ∇ -8.62% | 5.51 Hz / 5.04 Hz | Δ 9.43% |
random: drawUniform32bit | 9.54 ns / 7.29 ns | Δ 30.74% | 104.87 MHz / 137.11 MHz | ∇ -23.51% |
random: drawUniform | 9.69 ns / 7.33 ns | Δ 32.25% | 103.21 MHz / 136.49 MHz | ∇ -24.38% |
random: drawGaussian1D_normalized | 52.06 ns / 51.27 ns | Δ 1.54% | 19.21 MHz / 19.50 MHz | ∇ -1.51% |
random: drawGaussian1D | 50.73 ns / 51.74 ns | ∇ -1.94% | 19.71 MHz / 19.33 MHz | Δ 1.98% |
random: system rand() | 24.47 ns / 29.39 ns | ∇ -16.73% | 40.87 MHz / 34.03 MHz | Δ 20.10% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 2.64 us | ∇ -53.00% | 805.20 KHz / 378.48 KHz | Δ 112.74% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 8.53 us | ∇ -62.65% | 313.70 KHz / 117.18 KHz | Δ 167.71% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 215.16 ns | ∇ -39.57% | 7.69 MHz / 4.65 MHz | Δ 65.48% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 359.98 ns | ∇ -44.90% | 5.04 MHz / 2.78 MHz | Δ 81.49% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 732.12 ns | ∇ -38.31% | 2.21 MHz / 1.37 MHz | Δ 62.09% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 213.59 ns | ∇ -35.89% | 7.30 MHz / 4.68 MHz | Δ 55.99% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 339.30 ns | ∇ -37.07% | 4.68 MHz / 2.95 MHz | Δ 58.91% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 760.92 ns | ∇ -37.11% | 2.09 MHz / 1.31 MHz | Δ 59.00% |
random: permuteVector (len=10) | 244.07 ns / 411.34 ns | ∇ -40.66% | 4.10 MHz / 2.43 MHz | Δ 68.53% |
random: permuteVector (len=100) | 3.12 us / 3.59 us | ∇ -12.94% | 320.11 KHz / 278.70 KHz | Δ 14.86% |
random: permuteVector (len=1000) | 30.82 us / 34.34 us | ∇ -10.23% | 32.44 KHz / 29.12 KHz | Δ 11.40% |
math: round | 0.00 ns / 0.00 ns | Δ 1.#J% | 220.79 THz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 27.92 ms | Δ 6.97% | 33.48 Hz / 35.81 Hz | ∇ -6.51% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 43.53 ms | ∇ -1.26% | 23.26 Hz / 22.97 Hz | Δ 1.27% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 70.76 ms | ∇ -2.45% | 14.49 Hz / 14.13 Hz | Δ 2.51% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 23.43 ms | ∇ -2.46% | 43.75 Hz / 42.67 Hz | Δ 2.53% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 36.52 ms | ∇ -3.59% | 28.41 Hz / 27.39 Hz | Δ 3.72% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 59.82 ms | ∇ -4.22% | 17.45 Hz / 16.72 Hz | Δ 4.40% |
images: Gauss filter (640x480) | 4.45 ms / 6.68 ms | ∇ -33.36% | 224.70 Hz / 149.74 Hz | Δ 50.07% |
images: Gauss filter (800x600) | 8.06 ms / 8.62 ms | ∇ -6.54% | 124.15 Hz / 116.03 Hz | Δ 7.00% |
images: Gauss filter (1024x768) | 13.86 ms / 14.49 ms | ∇ -4.37% | 72.16 Hz / 69.01 Hz | Δ 4.56% |
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 / 21.12 us | ∇ -18.16% | 57.84 KHz / 47.34 KHz | Δ 22.19% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 19.36 us | ∇ -14.85% | 60.66 KHz / 51.65 KHz | Δ 17.45% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 6.24 us | Δ 55.84% | 102.89 KHz / 160.34 KHz | ∇ -35.83% |
feature_extraction [640x480]: Harris | 31.46 ms / 40.83 ms | ∇ -22.94% | 31.79 Hz / 24.49 Hz | Δ 29.77% |
feature_extraction [640x480]: KLT | 30.94 ms / 33.62 ms | ∇ -7.95% | 32.32 Hz / 29.75 Hz | Δ 8.63% |
feature_extraction [640x480]: SIFT | 653.53 ms / 705.28 ms | ∇ -7.34% | 1.53 Hz / 1.42 Hz | Δ 7.92% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 214.22 ms | ∇ -1.79% | 4.75 Hz / 4.67 Hz | Δ 1.82% |
feature_extraction [640x480]: SURF | 243.66 ms / 326.57 ms | ∇ -25.39% | 4.10 Hz / 3.06 Hz | Δ 34.03% |
feature_extraction [640x480]: FAST | 6.32 ms / 7.69 ms | ∇ -17.77% | 158.19 Hz / 130.08 Hz | Δ 21.62% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 105.90 ms | ∇ -57.40% | 22.16 Hz / 9.44 Hz | Δ 134.72% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 57.67 ms | ∇ -19.21% | 21.46 Hz / 17.34 Hz | Δ 23.77% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 50.27 ms | ∇ -18.66% | 24.46 Hz / 19.89 Hz | Δ 22.94% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.38 sec | ∇ -6.95% | 778.73 mHz / 724.62 mHz | Δ 7.47% |
feature_matching [640x480]: SURF | 502.54 ms / 618.66 ms | ∇ -18.77% | 1.99 Hz / 1.62 Hz | Δ 23.11% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 22.11 ms | ∇ -10.87% | 50.74 Hz / 45.22 Hz | Δ 12.19% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 14.58 ms | ∇ -10.79% | 76.86 Hz / 68.57 Hz | Δ 12.10% |
graph(2d): insertEdge x 1e3 | 236.53 us / 354.58 us | ∇ -33.29% | 4.23 KHz / 2.82 KHz | Δ 49.91% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / X | 4.05 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 284.04 us | ∇ -22.96% | 4.57 KHz / 3.52 KHz | Δ 29.81% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / X | 4.78 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 549.28 us | ∇ -39.95% | 3.03 KHz / 1.82 KHz | Δ 66.52% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / X | 3.29 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 452.79 us | ∇ -38.14% | 3.57 KHz / 2.21 KHz | Δ 61.66% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / X | 3.52 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.72 ms / 3.86 ms | ∇ -29.40% | 367.00 Hz / 259.12 Hz | Δ 41.63% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / X | 366.67 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.88 ms | ∇ -32.12% | 512.34 Hz / 347.75 Hz | Δ 47.33% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / X | 519.87 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 5.74 ms | ∇ -44.08% | 311.68 Hz / 174.28 Hz | Δ 78.84% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / X | 308.83 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 4.44 ms | ∇ -27.30% | 309.95 Hz / 225.33 Hz | Δ 37.55% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / X | 314.97 Hz / X | ||
graph(3d): insertEdge x 1e3 | 274.22 us / 1.35 ms | ∇ -79.62% | 3.65 KHz / 743.07 Hz | Δ 390.76% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / X | 3.78 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 1.09 ms | ∇ -75.77% | 3.79 KHz / 917.96 Hz | Δ 312.68% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / X | 3.74 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 1.74 ms | ∇ -66.21% | 1.70 KHz / 573.66 Hz | Δ 195.95% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / X | 1.68 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 1.46 ms | ∇ -61.53% | 1.78 KHz / 683.28 Hz | Δ 159.97% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / X | 1.79 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.23 ms / 13.92 ms | ∇ -76.76% | 309.17 Hz / 71.86 Hz | Δ 330.21% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / X | 319.30 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 11.12 ms | ∇ -76.44% | 381.66 Hz / 89.92 Hz | Δ 324.43% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.76 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 17.58 ms | ∇ -65.22% | 163.57 Hz / 56.89 Hz | Δ 187.53% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / X | 178.36 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 14.12 ms | ∇ -63.12% | 192.01 Hz / 70.81 Hz | Δ 171.17% |
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 |