Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 20.74 ms | ∇ -0.76% | 48.58 Hz / 48.21 Hz | Δ 0.77% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 17.09 ms | Δ 20.76% | 48.45 Hz / 58.52 Hz | ∇ -17.19% |
poses: CPose3D (+) CPose3D | 42.90 ns / 29.76 ns | Δ 44.15% | 23.31 MHz / 33.60 MHz | ∇ -30.63% |
poses: CPose3D.composeFrom() | 37.61 ns / 21.90 ns | Δ 71.74% | 26.59 MHz / 45.66 MHz | ∇ -41.77% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 7.23 ns | Δ 0.25% | 137.89 MHz / 138.24 MHz | ∇ -0.25% |
poses: CPose3D.composePoint() | 11.83 ns / 11.67 ns | Δ 1.35% | 84.53 MHz / 85.68 MHz | ∇ -1.34% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 13.29 ns | Δ 195.89% | 25.44 MHz / 75.27 MHz | ∇ -66.20% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 24.48 ns | Δ 42.59% | 28.65 MHz / 40.85 MHz | ∇ -29.87% |
poses: CPose2D (+) CPose2D | 76.08 ns / 71.64 ns | Δ 6.19% | 13.14 MHz / 13.96 MHz | ∇ -5.83% |
poses: CPose2D.composeFrom() | 61.61 ns / 69.41 ns | ∇ -11.23% | 16.23 MHz / 14.41 MHz | Δ 12.65% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 60.78 ns | ∇ -0.84% | 16.59 MHz / 16.45 MHz | Δ 0.85% |
poses: CPose2D.composePoint() | 62.26 ns / 60.80 ns | Δ 2.41% | 16.06 MHz / 16.45 MHz | ∇ -2.35% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 40.47 ns | Δ 1.28% | 24.40 MHz / 24.71 MHz | ∇ -1.27% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 37.55 ns | Δ 4.90% | 25.39 MHz / 26.63 MHz | ∇ -4.67% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 17.39 ns | Δ 5.27% | 54.63 MHz / 57.51 MHz | ∇ -5.00% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 17.48 ns | Δ 2.62% | 55.74 MHz / 57.20 MHz | ∇ -2.55% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 32.97 ns | Δ 68.21% | 18.03 MHz / 30.33 MHz | ∇ -40.55% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 19.11 ns | ∇ -7.57% | 56.63 MHz / 52.34 MHz | Δ 8.19% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 23.42 ns | ∇ -28.33% | 59.58 MHz / 42.70 MHz | Δ 39.53% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 172.72 ns | ∇ -1.94% | 5.90 MHz / 5.79 MHz | Δ 1.98% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 671.00 ns | Δ 118987.70% | 1.25 KHz / 1.49 MHz | ∇ -99.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 652.00 ns | Δ 123106.60% | 1.24 KHz / 1.53 MHz | ∇ -99.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 8.74 us | Δ 8.02% | 105.91 KHz / 114.40 KHz | ∇ -7.42% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 454.10 ns | Δ 42.90% | 1.54 MHz / 2.20 MHz | ∇ -30.02% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 452.90 ns | Δ 39.32% | 1.58 MHz / 2.21 MHz | ∇ -28.23% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 7.98 us | Δ 2.53% | 122.30 KHz / 125.39 KHz | ∇ -2.46% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 17.64 ns | Δ 38.51% | 40.94 MHz / 56.71 MHz | ∇ -27.81% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 19.86 ns | Δ 16.70% | 43.14 MHz / 50.34 MHz | ∇ -14.31% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 57.06 ns | Δ 4.29% | 16.81 MHz / 17.53 MHz | ∇ -4.12% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 60.00 ns | Δ 3.78% | 16.06 MHz / 16.67 MHz | ∇ -3.64% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.88 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 841.75 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.70 ns / 0.00 ns | Δ 1.#J% | 587.20 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 2.77 ns / 0.00 ns | Δ 1.#J% | 361.01 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 242.70 ns | ∇ -64.65% | 11.66 MHz / 4.12 MHz | Δ 182.87% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.00 ns | Δ 1.#J% | 42.02 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 231.60 ns | ∇ -67.23% | 13.18 MHz / 4.32 MHz | Δ 205.14% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ 1.#J% | 42.55 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 296.50 ns | ∇ -60.17% | 8.47 MHz / 3.37 MHz | Δ 151.06% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 0.10 ns | Δ 44600.00% | 22.37 MHz / 10.00 GHz | ∇ -99.78% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 259.20 ns | ∇ -57.37% | 9.05 MHz / 3.86 MHz | Δ 134.57% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 0.00 ns | Δ 1.#J% | 22.12 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 2.09 us | Δ 159.68% | 183.95 KHz / 477.69 KHz | ∇ -61.49% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 1.79 us | Δ 111.06% | 264.87 KHz / 559.03 KHz | ∇ -52.62% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 2.43 us | Δ 128.23% | 180.38 KHz / 411.68 KHz | ∇ -56.19% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 2.16 us | Δ 88.32% | 245.43 KHz / 462.21 KHz | ∇ -46.90% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / X | 1.58 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 35.00 ns / X | 28.57 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 644.00 ns / 767.00 ns | ∇ -16.04% | 1.55 MHz / 1.30 MHz | Δ 19.10% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 0.00 ns | Δ 1.#J% | 25.64 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / X | 421.76 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 812.00 ns / X | 1.23 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.26 us / 1.78 us | ∇ -29.16% | 793.02 KHz / 561.80 KHz | Δ 41.16% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 1.73 us | ∇ -66.72% | 1.74 MHz / 578.70 KHz | Δ 200.52% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / X | 38.55 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 14.15 us / X | 70.70 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.76 us / 16.27 us | Δ 58.33% | 38.83 KHz / 61.47 KHz | ∇ -36.84% |
matrix: inv, fix[double] 20x20 | 17.04 us / 13.44 us | Δ 26.78% | 58.69 KHz / 74.41 KHz | ∇ -21.12% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / X | 4.88 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 93.29 us / X | 10.72 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 207.20 us / 68.00 us | Δ 204.68% | 4.83 KHz / 14.70 KHz | ∇ -67.18% |
matrix: inv, fix[double] 40x40 | 133.80 us / 63.01 us | Δ 112.37% | 7.47 KHz / 15.87 KHz | ∇ -52.91% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 6.40 ns / 209.40 ns | ∇ -96.94% | 156.25 MHz / 4.78 MHz | Δ 3171.87% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 3x3 | 10.30 ns / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 331.30 ns | ∇ -96.89% | 97.09 MHz / 3.02 MHz | Δ 3116.50% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 6x6 | 653.50 ns / X | 1.53 MHz / X | ||
matrix: det, fix[float ] 6x6 | 210.00 ns / X | 4.76 MHz / X | ||
matrix: det, dyn[double] 6x6 | 730.30 ns / 943.70 ns | ∇ -22.61% | 1.37 MHz / 1.06 MHz | Δ 29.22% |
matrix: det, fix[double] 6x6 | 212.10 ns / 575.90 ns | ∇ -63.17% | 4.71 MHz / 1.74 MHz | Δ 171.52% |
matrix: det, dyn[float ] 20x20 | 5.70 us / X | 175.40 KHz / X | ||
matrix: det, fix[float ] 20x20 | 4.20 us / X | 237.92 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.56 us / 8.10 us | ∇ -18.99% | 152.33 KHz / 123.40 KHz | Δ 23.45% |
matrix: det, fix[double] 20x20 | 5.04 us / 7.48 us | ∇ -32.65% | 198.38 KHz / 133.61 KHz | Δ 48.47% |
matrix: det, dyn[float ] 40x40 | 32.38 us / X | 30.89 KHz / X | ||
matrix: det, fix[float ] 40x40 | 27.92 us / X | 35.82 KHz / X | ||
matrix: det, dyn[double] 40x40 | 39.41 us / 30.87 us | Δ 27.66% | 25.37 KHz / 32.39 KHz | ∇ -21.67% |
matrix: det, fix[double] 40x40 | 29.04 us / 29.01 us | Δ 0.09% | 34.44 KHz / 34.47 KHz | ∇ -0.09% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 530.00 ns | ∇ -73.58% | 7.14 MHz / 1.89 MHz | Δ 278.57% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 120.00 ns | Δ 33.33% | 6.25 MHz / 8.33 MHz | ∇ -25.00% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 20.70 us | ∇ -11.21% | 54.41 KHz / 48.31 KHz | Δ 12.62% |
matrix: chol, fix[double] 40x40 | 17.08 us / 16.54 us | Δ 3.26% | 58.55 KHz / 60.46 KHz | ∇ -3.16% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 12.20 us | ∇ -31.97% | 120.48 KHz / 81.97 KHz | Δ 46.99% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 87.70 us | ∇ -3.76% | 11.85 KHz / 11.40 KHz | Δ 3.91% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 51.70 us | Δ 2.51% | 18.87 KHz / 19.34 KHz | ∇ -2.45% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 38.27 us | Δ 3.19% | 25.32 KHz / 26.13 KHz | ∇ -3.09% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 255.50 us | Δ 61.14% | 2.43 KHz / 3.91 KHz | ∇ -37.94% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 70.94 us | Δ 4.44% | 13.50 KHz / 14.10 KHz | ∇ -4.25% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 2.75 ms | Δ 277.48% | 96.33 Hz / 363.64 Hz | ∇ -73.51% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 169.22 us | Δ 46.99% | 4.02 KHz / 5.91 KHz | ∇ -31.97% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 22.06 ms | Δ 1580.16% | 2.70 Hz / 45.33 Hz | ∇ -94.05% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 339.61 us | Δ 4.11% | 2.83 KHz / 2.94 KHz | ∇ -3.95% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 36.67 ms | Δ 896.99% | 2.74 Hz / 27.27 Hz | ∇ -89.97% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 402.38 us | Δ 5.69% | 2.35 KHz / 2.49 KHz | ∇ -5.38% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 53.86 ms | Δ 1377.91% | 1.26 Hz / 18.57 Hz | ∇ -93.23% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 476.81 us | Δ 2.93% | 2.04 KHz / 2.10 KHz | ∇ -2.85% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.71 ns | ∇ -4.75% | 387.76 MHz / 369.33 MHz | Δ 4.99% |
gridmap2D: updateCell | 7.44 ns / 6.04 ns | Δ 23.28% | 134.32 MHz / 165.59 MHz | ∇ -18.89% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.61 ns | ∇ -10.31% | 1.82 GHz / 1.63 GHz | Δ 11.49% |
gridmap2D: insert scan w/o widening | 101.23 us / 99.83 us | Δ 1.40% | 9.88 KHz / 10.02 KHz | ∇ -1.38% |
gridmap2D: insert scan with widening | 291.30 us / 293.13 us | ∇ -0.62% | 3.43 KHz / 3.41 KHz | Δ 0.63% |
gridmap2D: resize | 1.89 ms / 630.00 us | Δ 199.68% | 529.66 Hz / 1.59 KHz | ∇ -66.63% |
gridmap2D: computeLikelihood | 16.46 us / 17.81 us | ∇ -7.60% | 60.76 KHz / 56.14 KHz | Δ 8.22% |
pointmap: insert 100 scans | 3.10 ms / 1.01 ms | Δ 207.23% | 322.50 Hz / 990.80 Hz | ∇ -67.45% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.52 us | ∇ -5.31% | 233.64 KHz / 221.24 KHz | Δ 5.61% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 364.44 us | ∇ -2.45% | 2.81 KHz / 2.74 KHz | Δ 2.51% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 4.38 ms | ∇ -5.01% | 240.24 Hz / 228.21 Hz | Δ 5.27% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 5.16 us | ∇ -7.75% | 210.08 KHz / 193.80 KHz | Δ 8.40% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 372.44 us | ∇ -2.48% | 2.75 KHz / 2.68 KHz | Δ 2.54% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.20 ms | ∇ -2.55% | 244.29 Hz / 238.06 Hz | Δ 2.61% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.42 us | ∇ -2.74% | 723.59 KHz / 703.73 KHz | Δ 2.82% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 101.86 us | ∇ -0.91% | 9.91 KHz / 9.82 KHz | Δ 0.92% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 12.17 ms | ∇ -2.14% | 83.95 Hz / 82.15 Hz | Δ 2.19% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.64 ms | ∇ -0.43% | 178.01 Hz / 177.25 Hz | Δ 0.43% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 132.76 ms | ∇ -1.51% | 7.65 Hz / 7.53 Hz | Δ 1.53% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 5.71 ms | ∇ -0.74% | 176.35 Hz / 175.04 Hz | Δ 0.75% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 134.74 ms | ∇ -1.56% | 7.54 Hz / 7.42 Hz | Δ 1.58% |
random: drawUniform32bit | 14.57 ns / 14.55 ns | Δ 0.18% | 68.63 MHz / 68.75 MHz | ∇ -0.17% |
random: drawUniform | 14.62 ns / 14.56 ns | Δ 0.41% | 68.41 MHz / 68.69 MHz | ∇ -0.41% |
random: drawGaussian1D_normalized | 68.70 ns / 66.87 ns | Δ 2.74% | 14.56 MHz / 14.96 MHz | ∇ -2.67% |
random: drawGaussian1D | 68.68 ns / 66.81 ns | Δ 2.81% | 14.56 MHz / 14.97 MHz | ∇ -2.73% |
random: system rand() | 10.45 ns / 10.63 ns | ∇ -1.63% | 95.67 MHz / 94.11 MHz | Δ 1.66% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 903.36 ns | Δ 44.75% | 764.77 KHz / 1.11 MHz | ∇ -30.91% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 1.61 us | Δ 73.02% | 358.92 KHz / 621.01 KHz | ∇ -42.20% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 144.65 ns | Δ 9.41% | 6.32 MHz / 6.91 MHz | ∇ -8.60% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 219.48 ns | Δ 7.72% | 4.23 MHz / 4.56 MHz | ∇ -7.17% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 472.80 ns | Δ 3.51% | 2.04 MHz / 2.12 MHz | ∇ -3.39% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 152.29 ns | Δ 8.09% | 6.07 MHz / 6.57 MHz | ∇ -7.48% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 235.04 ns | Δ 5.57% | 4.03 MHz / 4.25 MHz | ∇ -5.27% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 491.60 ns | Δ 4.73% | 1.94 MHz / 2.03 MHz | ∇ -4.51% |
random: permuteVector (len=10) | 317.50 ns / 243.60 ns | Δ 30.34% | 3.15 MHz / 4.11 MHz | ∇ -23.28% |
random: permuteVector (len=100) | 3.06 us / 2.99 us | Δ 2.59% | 326.54 KHz / 334.99 KHz | ∇ -2.52% |
random: permuteVector (len=1000) | 30.27 us / 29.51 us | Δ 2.55% | 33.04 KHz / 33.88 KHz | ∇ -2.49% |
math: round | 0.10 ns / 0.10 ns | ∇ -0.07% | 10.09 GHz / 10.08 GHz | Δ 0.07% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 33.63 ms | ∇ -18.91% | 36.67 Hz / 29.74 Hz | Δ 23.32% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 49.85 ms | ∇ -13.19% | 23.11 Hz / 20.06 Hz | Δ 15.20% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 69.59 ms | Δ 7.30% | 13.39 Hz / 14.37 Hz | ∇ -6.81% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 30.64 ms | ∇ -14.15% | 38.01 Hz / 32.63 Hz | Δ 16.48% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 43.91 ms | ∇ -6.81% | 24.44 Hz / 22.78 Hz | Δ 7.30% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 62.52 ms | Δ 0.05% | 15.99 Hz / 15.99 Hz | ∇ -0.05% |
images: Gauss filter (640x480) | 4.48 ms / 3.81 ms | Δ 17.82% | 223.01 Hz / 262.76 Hz | ∇ -15.13% |
images: Gauss filter (800x600) | 7.46 ms / 5.96 ms | Δ 25.09% | 134.07 Hz / 167.70 Hz | ∇ -20.06% |
images: Gauss filter (1024x768) | 12.41 ms / 10.46 ms | Δ 18.67% | 80.57 Hz / 95.61 Hz | ∇ -15.73% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 12.69 us | ∇ -59.42% | 194.17 KHz / 78.80 KHz | Δ 146.41% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 9.85 us | ∇ -55.84% | 229.89 KHz / 101.52 KHz | Δ 126.44% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 5.24 us | ∇ -59.54% | 471.70 KHz / 190.84 KHz | Δ 147.17% |
feature_extraction [640x480]: Harris | 33.18 ms / 21.14 ms | Δ 56.96% | 30.14 Hz / 47.31 Hz | ∇ -36.29% |
feature_extraction [640x480]: KLT | 29.64 ms / 21.45 ms | Δ 38.14% | 33.74 Hz / 46.61 Hz | ∇ -27.61% |
feature_extraction [640x480]: SIFT | 637.68 ms / 591.25 ms | Δ 7.85% | 1.57 Hz / 1.69 Hz | ∇ -7.28% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 162.82 ms | Δ 6.34% | 5.78 Hz / 6.14 Hz | ∇ -5.96% |
feature_extraction [640x480]: SURF | 202.84 ms / 197.33 ms | Δ 2.79% | 4.93 Hz / 5.07 Hz | ∇ -2.72% |
feature_extraction [640x480]: FAST | 5.10 ms / 6.89 ms | ∇ -25.92% | 195.94 Hz / 145.15 Hz | Δ 34.99% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 63.90 ms | ∇ -4.19% | 16.33 Hz / 15.65 Hz | Δ 4.37% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 38.54 ms | Δ 13.91% | 22.78 Hz / 25.95 Hz | ∇ -12.21% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 33.59 ms | Δ 14.09% | 26.09 Hz / 29.77 Hz | ∇ -12.35% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.16 sec | Δ 10.29% | 782.87 mHz / 863.45 mHz | ∇ -9.33% |
feature_matching [640x480]: SURF | 387.99 ms / 375.89 ms | Δ 3.22% | 2.58 Hz / 2.66 Hz | ∇ -3.12% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 15.89 ms | ∇ -0.99% | 63.57 Hz / 62.95 Hz | Δ 1.00% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 10.48 ms | Δ 0.76% | 94.70 Hz / 95.42 Hz | ∇ -0.76% |
graph(2d): insertEdge x 1e3 | 104.46 us / 158.24 us | ∇ -33.99% | 9.57 KHz / 6.32 KHz | Δ 51.49% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 84.43 us | Δ 0.90% | 11.74 KHz / 11.84 KHz | ∇ -0.90% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 207.17 us | ∇ -35.00% | 7.43 KHz / 4.83 KHz | Δ 53.86% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 246.74 us | ∇ -51.41% | 8.34 KHz / 4.05 KHz | Δ 105.81% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 2.08 ms | ∇ -33.51% | 721.96 Hz / 480.05 Hz | Δ 50.39% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 870.19 us | ∇ -1.86% | 1.17 KHz / 1.15 KHz | Δ 1.89% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 2.34 ms | ∇ -31.31% | 621.80 Hz / 427.14 Hz | Δ 45.57% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 2.13 ms | ∇ -43.52% | 832.81 Hz / 470.35 Hz | Δ 77.06% |
graph(3d): insertEdge x 1e3 | 132.91 us / 220.82 us | ∇ -39.81% | 7.52 KHz / 4.53 KHz | Δ 66.14% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 183.18 us | ∇ -40.44% | 9.17 KHz / 5.46 KHz | Δ 67.89% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 532.35 us | ∇ -34.30% | 2.86 KHz / 1.88 KHz | Δ 52.21% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 487.59 us | ∇ -34.06% | 3.11 KHz / 2.05 KHz | Δ 51.64% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 2.78 ms | ∇ -32.04% | 529.10 Hz / 359.55 Hz | Δ 47.16% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 2.09 ms | ∇ -47.53% | 910.25 Hz / 477.61 Hz | Δ 90.58% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 7.36 ms | ∇ -36.89% | 215.20 Hz / 135.81 Hz | Δ 58.46% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 5.29 ms | ∇ -23.34% | 246.81 Hz / 189.20 Hz | Δ 30.45% |
graph(3d,map): dijkstra 1e2 nodes | 94.48 us / X | 10.58 KHz / X | ||
graph(3d,map): dijkstra 1e3 nodes | 1.16 ms / X | 860.07 Hz / X | ||
graph(3d,map): dijkstra 1e4 nodes | 19.13 ms / X | 52.28 Hz / X |