Test description | 0.9.1-MSVC9-32bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 20.74 ms | Δ 53.22% | 31.46 Hz / 48.21 Hz | ∇ -34.73% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 17.09 ms | Δ 214.25% | 18.62 Hz / 58.52 Hz | ∇ -68.18% |
poses: CPose3D (+) CPose3D | 925.38 ns / 29.76 ns | Δ 3009.48% | 1.08 MHz / 33.60 MHz | ∇ -96.78% |
poses: CPose3D.composeFrom() | 617.00 ns / 21.90 ns | Δ 2717.37% | 1.62 MHz / 45.66 MHz | ∇ -96.45% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 7.23 ns | Δ 397.32% | 27.80 MHz / 138.24 MHz | ∇ -79.89% |
poses: CPose3D.composePoint() | 14.62 ns / 11.67 ns | Δ 25.22% | 68.42 MHz / 85.68 MHz | ∇ -20.14% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 13.29 ns | Δ 467.72% | 13.26 MHz / 75.27 MHz | ∇ -82.39% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 24.48 ns | Δ 130.73% | 17.70 MHz / 40.85 MHz | ∇ -56.66% |
poses: CPose2D (+) CPose2D | 121.60 ns / 71.64 ns | Δ 69.73% | 8.22 MHz / 13.96 MHz | ∇ -41.08% |
poses: CPose2D.composeFrom() | 66.63 ns / 69.41 ns | ∇ -4.01% | 15.01 MHz / 14.41 MHz | Δ 4.17% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 60.78 ns | Δ 54.23% | 10.67 MHz / 16.45 MHz | ∇ -35.16% |
poses: CPose2D.composePoint() | 62.24 ns / 60.80 ns | Δ 2.37% | 16.07 MHz / 16.45 MHz | ∇ -2.31% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 40.47 ns | Δ 148.92% | 9.93 MHz / 24.71 MHz | ∇ -59.83% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 37.55 ns | Δ 54.26% | 17.26 MHz / 26.63 MHz | ∇ -35.17% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 17.39 ns | Δ 252.71% | 16.31 MHz / 57.51 MHz | ∇ -71.65% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 17.48 ns | Δ 56.39% | 36.57 MHz / 57.20 MHz | ∇ -36.06% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 32.97 ns | Δ 1661.31% | 1.72 MHz / 30.33 MHz | ∇ -94.32% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 19.11 ns | Δ 47.50% | 35.48 MHz / 52.34 MHz | ∇ -32.20% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 23.42 ns | Δ 2063.39% | 1.97 MHz / 42.70 MHz | ∇ -95.38% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 172.72 ns | Δ 24.40% | 4.65 MHz / 5.79 MHz | ∇ -19.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 671.00 ns | Δ 131.79% | 642.96 KHz / 1.49 MHz | ∇ -56.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 652.00 ns | Δ 131.04% | 663.83 KHz / 1.53 MHz | ∇ -56.72% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 8.74 us | Δ 166.42% | 42.94 KHz / 114.40 KHz | ∇ -62.47% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 454.10 ns | Δ 261.15% | 609.77 KHz / 2.20 MHz | ∇ -72.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 452.90 ns | Δ 267.48% | 600.84 KHz / 2.21 MHz | ∇ -72.79% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 7.98 us | Δ 101.19% | 62.32 KHz / 125.39 KHz | ∇ -50.30% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 17.64 ns | Δ 124.87% | 25.22 MHz / 56.71 MHz | ∇ -55.53% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 19.86 ns | Δ 115.20% | 23.39 MHz / 50.34 MHz | ∇ -53.53% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 57.06 ns | Δ 166.91% | 6.57 MHz / 17.53 MHz | ∇ -62.53% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 60.00 ns | Δ 150.76% | 6.65 MHz / 16.67 MHz | ∇ -60.12% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.00 ns | Δ 1.#J% | 303.37 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 3.48 ns / 0.00 ns | Δ 1.#J% | 287.56 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 3.06 ns / 0.00 ns | Δ 1.#J% | 327.19 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 6.65 ns / 0.00 ns | Δ 1.#J% | 150.48 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 242.70 ns | ∇ -30.86% | 5.96 MHz / 4.12 MHz | Δ 44.63% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 0.00 ns | Δ 1.#J% | 9.21 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 231.60 ns | ∇ -31.40% | 6.29 MHz / 4.32 MHz | Δ 45.77% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 0.00 ns | Δ 1.#J% | 11.01 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 296.50 ns | ∇ -8.10% | 3.67 MHz / 3.37 MHz | Δ 8.82% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 0.10 ns | Δ 193023.81% | 5.18 MHz / 10.00 GHz | ∇ -99.95% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 259.20 ns | ∇ -7.83% | 4.19 MHz / 3.86 MHz | Δ 8.49% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 0.00 ns | Δ 1.#J% | 7.19 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 2.09 us | Δ 702.71% | 59.51 KHz / 477.69 KHz | ∇ -87.54% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 1.79 us | Δ 630.12% | 76.57 KHz / 559.03 KHz | ∇ -86.30% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 2.43 us | Δ 457.78% | 73.81 KHz / 411.68 KHz | ∇ -82.07% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 2.16 us | Δ 360.38% | 100.40 KHz / 462.21 KHz | ∇ -78.28% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / X | 665.84 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.79 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.53 us / 767.00 ns | Δ 99.71% | 652.84 KHz / 1.30 MHz | ∇ -49.93% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 0.00 ns | Δ 1.#J% | 32.00 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / X | 197.26 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.33 us / X | 749.46 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.08 us / 1.78 us | Δ 185.64% | 196.68 KHz / 561.80 KHz | ∇ -64.99% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 1.73 us | ∇ -46.37% | 1.08 MHz / 578.70 KHz | Δ 86.47% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / X | 12.22 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 40.71 us / X | 24.56 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 108.60 us / 16.27 us | Δ 567.59% | 9.21 KHz / 61.47 KHz | ∇ -85.02% |
matrix: inv, fix[double] 20x20 | 19.22 us / 13.44 us | Δ 43.03% | 52.02 KHz / 74.41 KHz | ∇ -30.08% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / X | 1.64 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 307.68 us / X | 3.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 818.27 us / 68.00 us | Δ 1103.25% | 1.22 KHz / 14.70 KHz | ∇ -91.69% |
matrix: inv, fix[double] 40x40 | 136.18 us / 63.01 us | Δ 116.14% | 7.34 KHz / 15.87 KHz | ∇ -53.73% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / X | 109.30 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 9.56 ns / 209.40 ns | ∇ -95.44% | 104.64 MHz / 4.78 MHz | Δ 2091.17% |
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 | 19.70 ns / X | 50.76 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 331.30 ns | ∇ -95.20% | 62.90 MHz / 3.02 MHz | Δ 1983.99% |
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 | 2.32 us / X | 431.38 KHz / X | ||
matrix: det, fix[float ] 6x6 | 434.76 ns / X | 2.30 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.38 us / 943.70 ns | Δ 152.06% | 420.40 KHz / 1.06 MHz | ∇ -60.33% |
matrix: det, fix[double] 6x6 | 422.89 ns / 575.90 ns | ∇ -26.57% | 2.36 MHz / 1.74 MHz | Δ 36.18% |
matrix: det, dyn[float ] 20x20 | 18.34 us / X | 54.54 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.85 us / X | 101.56 KHz / X | ||
matrix: det, dyn[double] 20x20 | 18.19 us / 8.10 us | Δ 124.41% | 54.99 KHz / 123.40 KHz | ∇ -55.44% |
matrix: det, fix[double] 20x20 | 6.52 us / 7.48 us | ∇ -12.84% | 153.30 KHz / 133.61 KHz | Δ 14.74% |
matrix: det, dyn[float ] 40x40 | 111.92 us / X | 8.93 KHz / X | ||
matrix: det, fix[float ] 40x40 | 63.43 us / X | 15.77 KHz / X | ||
matrix: det, dyn[double] 40x40 | 114.84 us / 30.87 us | Δ 272.00% | 8.71 KHz / 32.39 KHz | ∇ -73.12% |
matrix: det, fix[double] 40x40 | 36.00 us / 29.01 us | Δ 24.10% | 27.78 KHz / 34.47 KHz | ∇ -19.42% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 530.00 ns | ∇ -64.96% | 5.39 MHz / 1.89 MHz | Δ 185.41% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 120.00 ns | ∇ -5.64% | 8.83 MHz / 8.33 MHz | Δ 5.98% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 20.70 us | Δ 18.02% | 40.93 KHz / 48.31 KHz | ∇ -15.27% |
matrix: chol, fix[double] 40x40 | 17.73 us / 16.54 us | Δ 7.20% | 56.40 KHz / 60.46 KHz | ∇ -6.72% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 12.20 us | ∇ -11.64% | 92.77 KHz / 81.97 KHz | Δ 13.18% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 87.70 us | Δ 34.43% | 8.48 KHz / 11.40 KHz | ∇ -25.61% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 51.70 us | Δ 36.40% | 14.18 KHz / 19.34 KHz | ∇ -26.69% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 38.27 us | Δ 37.41% | 19.02 KHz / 26.13 KHz | ∇ -27.23% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 255.50 us | Δ 92.21% | 2.04 KHz / 3.91 KHz | ∇ -47.97% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 70.94 us | Δ 20.99% | 11.65 KHz / 14.10 KHz | ∇ -17.35% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 2.75 ms | Δ 243.45% | 105.88 Hz / 363.64 Hz | ∇ -70.88% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 169.22 us | Δ 20.86% | 4.89 KHz / 5.91 KHz | ∇ -17.26% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 22.06 ms | Δ 580.56% | 6.66 Hz / 45.33 Hz | ∇ -85.31% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 339.61 us | Δ 22.37% | 2.41 KHz / 2.94 KHz | ∇ -18.28% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 36.67 ms | Δ 1158.46% | 2.17 Hz / 27.27 Hz | ∇ -92.05% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 402.38 us | Δ 20.51% | 2.06 KHz / 2.49 KHz | ∇ -17.02% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 53.86 ms | Δ 1659.01% | 1.06 Hz / 18.57 Hz | ∇ -94.31% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 476.81 us | Δ 22.99% | 1.71 KHz / 2.10 KHz | ∇ -18.69% |
gridmap2D: getCell | 5.77 ns / 0.00 ns | Δ 1.#J% | 173.23 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 7.96 ns / 2.71 ns | Δ 193.96% | 125.64 MHz / 369.33 MHz | ∇ -65.98% |
gridmap2D: updateCell | 10.80 ns / 6.04 ns | Δ 78.86% | 92.58 MHz / 165.59 MHz | ∇ -44.09% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 0.61 ns | Δ 96.97% | 826.59 MHz / 1.63 GHz | ∇ -49.23% |
gridmap2D: insert scan w/o widening | 204.23 us / 99.83 us | Δ 104.58% | 4.90 KHz / 10.02 KHz | ∇ -51.12% |
gridmap2D: insert scan with widening | 344.40 us / 293.13 us | Δ 17.49% | 2.90 KHz / 3.41 KHz | ∇ -14.89% |
gridmap2D: resize | 2.62 ms / 630.00 us | Δ 315.61% | 381.93 Hz / 1.59 KHz | ∇ -75.94% |
gridmap2D: computeLikelihood | 18.59 us / 17.81 us | Δ 4.37% | 53.79 KHz / 56.14 KHz | ∇ -4.19% |
pointmap: insert 100 scans | 5.62 ms / 1.01 ms | Δ 456.57% | 178.02 Hz / 990.80 Hz | ∇ -82.03% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 4.52 us | Δ 37.48% | 160.93 KHz / 221.24 KHz | ∇ -27.26% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 364.44 us | Δ 40.44% | 1.95 KHz / 2.74 KHz | ∇ -28.79% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 4.38 ms | Δ 27.59% | 178.86 Hz / 228.21 Hz | ∇ -21.62% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 5.16 us | Δ 40.09% | 138.34 KHz / 193.80 KHz | ∇ -28.62% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 372.44 us | Δ 40.45% | 1.91 KHz / 2.68 KHz | ∇ -28.80% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 4.20 ms | Δ 37.44% | 173.21 Hz / 238.06 Hz | ∇ -27.24% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.42 us | Δ 44.48% | 487.07 KHz / 703.73 KHz | ∇ -30.79% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 101.86 us | Δ 38.22% | 7.10 KHz / 9.82 KHz | ∇ -27.65% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 12.17 ms | Δ 24.65% | 65.91 Hz / 82.15 Hz | ∇ -19.77% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 5.64 ms | Δ 54.12% | 115.01 Hz / 177.25 Hz | ∇ -35.11% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 132.76 ms | Δ 47.97% | 5.09 Hz / 7.53 Hz | ∇ -32.42% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 5.71 ms | Δ 52.75% | 114.60 Hz / 175.04 Hz | ∇ -34.53% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 134.74 ms | Δ 47.31% | 5.04 Hz / 7.42 Hz | ∇ -32.12% |
random: drawUniform32bit | 7.29 ns / 14.55 ns | ∇ -49.86% | 137.11 MHz / 68.75 MHz | Δ 99.43% |
random: drawUniform | 7.33 ns / 14.56 ns | ∇ -49.68% | 136.49 MHz / 68.69 MHz | Δ 98.71% |
random: drawGaussian1D_normalized | 51.27 ns / 66.87 ns | ∇ -23.32% | 19.50 MHz / 14.96 MHz | Δ 30.41% |
random: drawGaussian1D | 51.74 ns / 66.81 ns | ∇ -22.56% | 19.33 MHz / 14.97 MHz | Δ 29.12% |
random: system rand() | 29.39 ns / 10.63 ns | Δ 176.55% | 34.03 MHz / 94.11 MHz | ∇ -63.84% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 903.36 ns | Δ 192.48% | 378.48 KHz / 1.11 MHz | ∇ -65.81% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 1.61 us | Δ 429.98% | 117.18 KHz / 621.01 KHz | ∇ -81.13% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 144.65 ns | Δ 48.74% | 4.65 MHz / 6.91 MHz | ∇ -32.77% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 219.48 ns | Δ 64.02% | 2.78 MHz / 4.56 MHz | ∇ -39.03% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 472.80 ns | Δ 54.85% | 1.37 MHz / 2.12 MHz | ∇ -35.42% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 152.29 ns | Δ 40.25% | 4.68 MHz / 6.57 MHz | ∇ -28.70% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 235.04 ns | Δ 44.36% | 2.95 MHz / 4.25 MHz | ∇ -30.73% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 491.60 ns | Δ 54.78% | 1.31 MHz / 2.03 MHz | ∇ -35.39% |
random: permuteVector (len=10) | 411.34 ns / 243.60 ns | Δ 68.86% | 2.43 MHz / 4.11 MHz | ∇ -40.78% |
random: permuteVector (len=100) | 3.59 us / 2.99 us | Δ 20.20% | 278.70 KHz / 334.99 KHz | ∇ -16.80% |
random: permuteVector (len=1000) | 34.34 us / 29.51 us | Δ 16.34% | 29.12 KHz / 33.88 KHz | ∇ -14.04% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 10.08 GHz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 33.63 ms | ∇ -16.96% | 35.81 Hz / 29.74 Hz | Δ 20.42% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 49.85 ms | ∇ -12.67% | 22.97 Hz / 20.06 Hz | Δ 14.51% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 69.59 ms | Δ 1.68% | 14.13 Hz / 14.37 Hz | ∇ -1.65% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 30.64 ms | ∇ -23.53% | 42.67 Hz / 32.63 Hz | Δ 30.76% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 43.91 ms | ∇ -16.83% | 27.39 Hz / 22.78 Hz | Δ 20.24% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 62.52 ms | ∇ -4.33% | 16.72 Hz / 15.99 Hz | Δ 4.53% |
images: Gauss filter (640x480) | 6.68 ms / 3.81 ms | Δ 75.48% | 149.74 Hz / 262.76 Hz | ∇ -43.01% |
images: Gauss filter (800x600) | 8.62 ms / 5.96 ms | Δ 44.54% | 116.03 Hz / 167.70 Hz | ∇ -30.81% |
images: Gauss filter (1024x768) | 14.49 ms / 10.46 ms | Δ 38.54% | 69.01 Hz / 95.61 Hz | ∇ -27.82% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 12.69 us | Δ 66.46% | 47.34 KHz / 78.80 KHz | ∇ -39.93% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 9.85 us | Δ 96.57% | 51.65 KHz / 101.52 KHz | ∇ -49.13% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 5.24 us | Δ 19.02% | 160.34 KHz / 190.84 KHz | ∇ -15.98% |
feature_extraction [640x480]: Harris | 40.83 ms / 21.14 ms | Δ 93.13% | 24.49 Hz / 47.31 Hz | ∇ -48.22% |
feature_extraction [640x480]: KLT | 33.62 ms / 21.45 ms | Δ 56.69% | 29.75 Hz / 46.61 Hz | ∇ -36.18% |
feature_extraction [640x480]: SIFT | 705.28 ms / 591.25 ms | Δ 19.29% | 1.42 Hz / 1.69 Hz | ∇ -16.17% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 162.82 ms | Δ 31.57% | 4.67 Hz / 6.14 Hz | ∇ -23.99% |
feature_extraction [640x480]: SURF | 326.57 ms / 197.33 ms | Δ 65.49% | 3.06 Hz / 5.07 Hz | ∇ -39.58% |
feature_extraction [640x480]: FAST | 7.69 ms / 6.89 ms | Δ 11.59% | 130.08 Hz / 145.15 Hz | ∇ -10.38% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 63.90 ms | Δ 65.74% | 9.44 Hz / 15.65 Hz | ∇ -39.66% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 38.54 ms | Δ 49.66% | 17.34 Hz / 25.95 Hz | ∇ -33.18% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 33.59 ms | Δ 49.65% | 19.89 Hz / 29.77 Hz | ∇ -33.18% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.16 sec | Δ 19.16% | 724.62 mHz / 863.45 mHz | ∇ -16.08% |
feature_matching [640x480]: SURF | 618.66 ms / 375.89 ms | Δ 64.59% | 1.62 Hz / 2.66 Hz | ∇ -39.24% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 15.89 ms | Δ 39.19% | 45.22 Hz / 62.95 Hz | ∇ -28.15% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 10.48 ms | Δ 39.16% | 68.57 Hz / 95.42 Hz | ∇ -28.14% |
graph(2d): insertEdge x 1e3 | 354.58 us / 158.24 us | Δ 124.08% | 2.82 KHz / 6.32 KHz | ∇ -55.37% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 84.43 us | Δ 236.43% | 3.52 KHz / 11.84 KHz | ∇ -70.28% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 207.17 us | Δ 165.14% | 1.82 KHz / 4.83 KHz | ∇ -62.28% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 246.74 us | Δ 83.51% | 2.21 KHz / 4.05 KHz | ∇ -45.51% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 2.08 ms | Δ 85.26% | 259.12 Hz / 480.05 Hz | ∇ -46.02% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 870.19 us | Δ 230.46% | 347.75 Hz / 1.15 KHz | ∇ -69.74% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 2.34 ms | Δ 145.09% | 174.28 Hz / 427.14 Hz | ∇ -59.20% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 2.13 ms | Δ 108.74% | 225.33 Hz / 470.35 Hz | ∇ -52.09% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 220.82 us | Δ 509.46% | 743.07 Hz / 4.53 KHz | ∇ -83.59% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 183.18 us | Δ 494.70% | 917.96 Hz / 5.46 KHz | ∇ -83.18% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 532.35 us | Δ 227.45% | 573.66 Hz / 1.88 KHz | ∇ -69.46% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 487.59 us | Δ 200.15% | 683.28 Hz / 2.05 KHz | ∇ -66.68% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 2.78 ms | Δ 400.32% | 71.86 Hz / 359.55 Hz | ∇ -80.01% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 2.09 ms | Δ 431.15% | 89.92 Hz / 477.61 Hz | ∇ -81.17% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 7.36 ms | Δ 138.72% | 56.89 Hz / 135.81 Hz | ∇ -58.11% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 5.29 ms | Δ 167.21% | 70.81 Hz / 189.20 Hz | ∇ -62.58% |