Test description | 0.9.1-MSVC9-32bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 26.54 ms | Δ 19.75% | 31.46 Hz / 37.68 Hz | ∇ -16.49% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 32.17 ms | Δ 66.93% | 18.62 Hz / 31.08 Hz | ∇ -40.09% |
poses: CPose3D (+) CPose3D | 925.38 ns / 62.83 ns | Δ 1372.88% | 1.08 MHz / 15.92 MHz | ∇ -93.21% |
poses: CPose3D.composeFrom() | 617.00 ns / 41.42 ns | Δ 1389.67% | 1.62 MHz / 24.14 MHz | ∇ -93.29% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 18.89 ns | Δ 90.46% | 27.80 MHz / 52.94 MHz | ∇ -47.50% |
poses: CPose3D.composePoint() | 14.62 ns / 17.17 ns | ∇ -14.90% | 68.42 MHz / 58.23 MHz | Δ 17.51% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 88.79 ns | ∇ -15.05% | 13.26 MHz / 11.26 MHz | Δ 17.72% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 44.00 ns | Δ 28.37% | 17.70 MHz / 22.73 MHz | ∇ -22.10% |
poses: CPose2D (+) CPose2D | 121.60 ns / 72.08 ns | Δ 68.69% | 8.22 MHz / 13.87 MHz | ∇ -40.72% |
poses: CPose2D.composeFrom() | 66.63 ns / 63.27 ns | Δ 5.31% | 15.01 MHz / 15.81 MHz | ∇ -5.04% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 34.42 ns | Δ 172.33% | 10.67 MHz / 29.05 MHz | ∇ -63.28% |
poses: CPose2D.composePoint() | 62.24 ns / 26.02 ns | Δ 139.17% | 16.07 MHz / 38.43 MHz | ∇ -58.19% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 113.59 ns | ∇ -11.32% | 9.93 MHz / 8.80 MHz | Δ 12.76% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 82.72 ns | ∇ -29.97% | 17.26 MHz / 12.09 MHz | Δ 42.80% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 41.33 ns | Δ 48.40% | 16.31 MHz / 24.20 MHz | ∇ -32.62% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 31.13 ns | ∇ -12.17% | 36.57 MHz / 32.12 MHz | Δ 13.85% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 113.89 ns | Δ 409.86% | 1.72 MHz / 8.78 MHz | ∇ -80.39% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 33.95 ns | ∇ -16.98% | 35.48 MHz / 29.46 MHz | Δ 20.46% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 26.44 ns | Δ 1816.01% | 1.97 MHz / 37.82 MHz | ∇ -94.78% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 97.31 ns | Δ 120.80% | 4.65 MHz / 10.28 MHz | ∇ -54.71% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 948.85 ns | Δ 63.92% | 642.96 KHz / 1.05 MHz | ∇ -38.99% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 938.66 ns | Δ 60.48% | 663.83 KHz / 1.07 MHz | ∇ -37.69% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 21.21 us | Δ 9.80% | 42.94 KHz / 47.15 KHz | ∇ -8.93% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 532.44 ns | Δ 208.01% | 609.77 KHz / 1.88 MHz | ∇ -67.53% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 528.23 ns | Δ 215.08% | 600.84 KHz / 1.89 MHz | ∇ -68.26% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 11.19 us | Δ 43.37% | 62.32 KHz / 89.35 KHz | ∇ -30.25% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 45.20 ns | ∇ -12.26% | 25.22 MHz / 22.13 MHz | Δ 13.98% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 45.86 ns | ∇ -6.78% | 23.39 MHz / 21.81 MHz | Δ 7.28% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 177.43 ns | ∇ -14.17% | 6.57 MHz / 5.64 MHz | Δ 16.51% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 169.52 ns | ∇ -11.25% | 6.65 MHz / 5.90 MHz | Δ 12.67% |
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 / 6.37 ns | ∇ -52.00% | 327.19 MHz / 157.06 MHz | Δ 108.33% |
matrix: unit, fix[double,6,6] | 6.65 ns / 7.86 ns | ∇ -15.48% | 150.48 MHz / 127.19 MHz | Δ 18.31% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 485.93 ns | ∇ -65.47% | 5.96 MHz / 2.06 MHz | Δ 189.58% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 0.05 ns | Δ 239702.06% | 9.21 MHz / 22.08 GHz | ∇ -99.96% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 528.41 ns | ∇ -69.93% | 6.29 MHz / 1.89 MHz | Δ 232.58% |
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 / 547.16 ns | ∇ -50.20% | 3.67 MHz / 1.83 MHz | Δ 100.81% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 2.36 ns | Δ 8100.07% | 5.18 MHz / 424.60 MHz | ∇ -98.78% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 391.50 ns | ∇ -38.97% | 4.19 MHz / 2.55 MHz | Δ 63.87% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 2.36 ns | Δ 5803.90% | 7.19 MHz / 424.60 MHz | ∇ -98.31% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 2.74 us | Δ 512.52% | 59.51 KHz / 364.51 KHz | ∇ -83.67% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 2.08 us | Δ 526.76% | 76.57 KHz / 479.89 KHz | ∇ -84.04% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 3.47 us | Δ 290.96% | 73.81 KHz / 288.55 KHz | ∇ -74.42% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 2.38 us | Δ 317.89% | 100.40 KHz / 419.56 KHz | ∇ -76.07% |
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 / 1.09 us | Δ 41.09% | 652.84 KHz / 921.12 KHz | ∇ -29.13% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 22.19 ns | Δ 40.82% | 32.00 MHz / 45.06 MHz | ∇ -28.99% |
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 / 2.78 us | Δ 82.87% | 196.68 KHz / 359.66 KHz | ∇ -45.31% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 2.22 us | ∇ -58.28% | 1.08 MHz / 450.23 KHz | Δ 139.69% |
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 / 30.71 us | Δ 253.59% | 9.21 KHz / 32.56 KHz | ∇ -71.72% |
matrix: inv, fix[double] 20x20 | 19.22 us / 24.08 us | ∇ -20.16% | 52.02 KHz / 41.53 KHz | Δ 25.26% |
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 / 117.18 us | Δ 598.33% | 1.22 KHz / 8.53 KHz | ∇ -85.68% |
matrix: inv, fix[double] 40x40 | 136.18 us / 112.80 us | Δ 20.72% | 7.34 KHz / 8.86 KHz | ∇ -17.16% |
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 / 765.51 ns | ∇ -98.75% | 104.64 MHz / 1.31 MHz | Δ 7910.36% |
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 / 822.31 ns | ∇ -98.07% | 62.90 MHz / 1.22 MHz | Δ 5072.61% |
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 / 1.78 us | Δ 33.32% | 420.40 KHz / 560.47 KHz | ∇ -24.99% |
matrix: det, fix[double] 6x6 | 422.89 ns / 1.51 us | ∇ -72.03% | 2.36 MHz / 661.35 KHz | Δ 257.55% |
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 / 18.54 us | ∇ -1.90% | 54.99 KHz / 53.94 KHz | Δ 1.94% |
matrix: det, fix[double] 20x20 | 6.52 us / 19.01 us | ∇ -65.68% | 153.30 KHz / 52.61 KHz | Δ 191.40% |
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 / 72.40 us | Δ 58.63% | 8.71 KHz / 13.81 KHz | ∇ -36.96% |
matrix: det, fix[double] 40x40 | 36.00 us / 67.43 us | ∇ -46.61% | 27.78 KHz / 14.83 KHz | Δ 87.29% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 606.90 ns | ∇ -69.40% | 5.39 MHz / 1.65 MHz | Δ 226.83% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 190.22 ns | ∇ -40.48% | 8.83 MHz / 5.26 MHz | Δ 68.00% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 31.59 us | ∇ -22.65% | 40.93 KHz / 31.66 KHz | Δ 29.29% |
matrix: chol, fix[double] 40x40 | 17.73 us / 20.87 us | ∇ -15.02% | 56.40 KHz / 47.93 KHz | Δ 17.67% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 7.11 us | Δ 51.59% | 92.77 KHz / 140.63 KHz | ∇ -34.03% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 94.75 us | Δ 24.43% | 8.48 KHz / 10.55 KHz | ∇ -19.63% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 75.59 us | ∇ -6.71% | 14.18 KHz / 13.23 KHz | Δ 7.19% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 43.20 us | Δ 21.72% | 19.02 KHz / 23.15 KHz | ∇ -17.85% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 453.46 us | Δ 8.30% | 2.04 KHz / 2.21 KHz | ∇ -7.66% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 74.00 us | Δ 15.98% | 11.65 KHz / 13.51 KHz | ∇ -13.78% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 3.54 ms | Δ 166.53% | 105.88 Hz / 282.19 Hz | ∇ -62.48% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 178.69 us | Δ 14.46% | 4.89 KHz / 5.60 KHz | ∇ -12.63% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 22.29 ms | Δ 573.66% | 6.66 Hz / 44.87 Hz | ∇ -85.16% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 359.36 us | Δ 15.64% | 2.41 KHz / 2.78 KHz | ∇ -13.53% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 36.29 ms | Δ 1171.64% | 2.17 Hz / 27.56 Hz | ∇ -92.14% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 411.86 us | Δ 17.74% | 2.06 KHz / 2.43 KHz | ∇ -15.07% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 54.34 ms | Δ 1643.47% | 1.06 Hz / 18.40 Hz | ∇ -94.26% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 488.10 us | Δ 20.15% | 1.71 KHz / 2.05 KHz | ∇ -16.77% |
gridmap2D: getCell | 5.77 ns / 4.13 ns | Δ 39.74% | 173.23 MHz / 242.07 MHz | ∇ -28.44% |
gridmap2D: setCell | 7.96 ns / 5.65 ns | Δ 41.00% | 125.64 MHz / 177.14 MHz | ∇ -29.08% |
gridmap2D: updateCell | 10.80 ns / 6.93 ns | Δ 55.92% | 92.58 MHz / 144.35 MHz | ∇ -35.86% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 1.20 ns | Δ 0.82% | 826.59 MHz / 833.40 MHz | ∇ -0.82% |
gridmap2D: insert scan w/o widening | 204.23 us / 102.16 us | Δ 99.92% | 4.90 KHz / 9.79 KHz | ∇ -49.98% |
gridmap2D: insert scan with widening | 344.40 us / 276.88 us | Δ 24.39% | 2.90 KHz / 3.61 KHz | ∇ -19.61% |
gridmap2D: resize | 2.62 ms / 3.89 ms | ∇ -32.69% | 381.93 Hz / 257.06 Hz | Δ 48.57% |
gridmap2D: computeLikelihood | 18.59 us / 13.92 us | Δ 33.54% | 53.79 KHz / 71.84 KHz | ∇ -25.12% |
pointmap: insert 100 scans | 5.62 ms / 1.87 ms | Δ 200.10% | 178.02 Hz / 534.24 Hz | ∇ -66.68% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 5.09 us | Δ 22.07% | 160.93 KHz / 196.43 KHz | ∇ -18.08% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 486.39 us | Δ 5.23% | 1.95 KHz / 2.06 KHz | ∇ -4.97% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 5.10 ms | Δ 9.69% | 178.86 Hz / 196.20 Hz | ∇ -8.83% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 5.56 us | Δ 29.97% | 138.34 KHz / 179.80 KHz | ∇ -23.06% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 467.24 us | Δ 11.95% | 1.91 KHz / 2.14 KHz | ∇ -10.68% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 5.18 ms | Δ 11.41% | 173.21 Hz / 192.98 Hz | ∇ -10.24% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.59 us | Δ 28.78% | 487.07 KHz / 627.25 KHz | ∇ -22.35% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 126.68 us | Δ 11.14% | 7.10 KHz / 7.89 KHz | ∇ -10.02% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 13.86 ms | Δ 9.45% | 65.91 Hz / 72.14 Hz | ∇ -8.64% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 6.54 ms | Δ 32.87% | 115.01 Hz / 152.81 Hz | ∇ -24.74% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 174.77 ms | Δ 12.40% | 5.09 Hz / 5.72 Hz | ∇ -11.03% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 6.88 ms | Δ 26.78% | 114.60 Hz / 145.28 Hz | ∇ -21.12% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 181.38 ms | Δ 9.43% | 5.04 Hz / 5.51 Hz | ∇ -8.62% |
random: drawUniform32bit | 7.29 ns / 9.54 ns | ∇ -23.51% | 137.11 MHz / 104.87 MHz | Δ 30.74% |
random: drawUniform | 7.33 ns / 9.69 ns | ∇ -24.38% | 136.49 MHz / 103.21 MHz | Δ 32.25% |
random: drawGaussian1D_normalized | 51.27 ns / 52.06 ns | ∇ -1.51% | 19.50 MHz / 19.21 MHz | Δ 1.54% |
random: drawGaussian1D | 51.74 ns / 50.73 ns | Δ 1.98% | 19.33 MHz / 19.71 MHz | ∇ -1.94% |
random: system rand() | 29.39 ns / 24.47 ns | Δ 20.10% | 34.03 MHz / 40.87 MHz | ∇ -16.73% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 1.24 us | Δ 112.74% | 378.48 KHz / 805.20 KHz | ∇ -53.00% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 3.19 us | Δ 167.71% | 117.18 KHz / 313.70 KHz | ∇ -62.65% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 130.03 ns | Δ 65.48% | 4.65 MHz / 7.69 MHz | ∇ -39.57% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 198.35 ns | Δ 81.49% | 2.78 MHz / 5.04 MHz | ∇ -44.90% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 451.66 ns | Δ 62.09% | 1.37 MHz / 2.21 MHz | ∇ -38.31% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 136.92 ns | Δ 55.99% | 4.68 MHz / 7.30 MHz | ∇ -35.89% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 213.52 ns | Δ 58.91% | 2.95 MHz / 4.68 MHz | ∇ -37.07% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 478.55 ns | Δ 59.00% | 1.31 MHz / 2.09 MHz | ∇ -37.11% |
random: permuteVector (len=10) | 411.34 ns / 244.07 ns | Δ 68.53% | 2.43 MHz / 4.10 MHz | ∇ -40.66% |
random: permuteVector (len=100) | 3.59 us / 3.12 us | Δ 14.86% | 278.70 KHz / 320.11 KHz | ∇ -12.94% |
random: permuteVector (len=1000) | 34.34 us / 30.82 us | Δ 11.40% | 29.12 KHz / 32.44 KHz | ∇ -10.23% |
math: round | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 220.79 THz | Δ 1.#J% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 29.87 ms | ∇ -6.51% | 35.81 Hz / 33.48 Hz | Δ 6.97% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 42.98 ms | Δ 1.27% | 22.97 Hz / 23.26 Hz | ∇ -1.26% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 69.03 ms | Δ 2.51% | 14.13 Hz / 14.49 Hz | ∇ -2.45% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 22.86 ms | Δ 2.53% | 42.67 Hz / 43.75 Hz | ∇ -2.46% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 35.20 ms | Δ 3.72% | 27.39 Hz / 28.41 Hz | ∇ -3.59% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 57.29 ms | Δ 4.40% | 16.72 Hz / 17.45 Hz | ∇ -4.22% |
images: Gauss filter (640x480) | 6.68 ms / 4.45 ms | Δ 50.07% | 149.74 Hz / 224.70 Hz | ∇ -33.36% |
images: Gauss filter (800x600) | 8.62 ms / 8.06 ms | Δ 7.00% | 116.03 Hz / 124.15 Hz | ∇ -6.54% |
images: Gauss filter (1024x768) | 14.49 ms / 13.86 ms | Δ 4.56% | 69.01 Hz / 72.16 Hz | ∇ -4.37% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 17.29 us | Δ 22.19% | 47.34 KHz / 57.84 KHz | ∇ -18.16% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 16.49 us | Δ 17.45% | 51.65 KHz / 60.66 KHz | ∇ -14.85% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 9.72 us | ∇ -35.83% | 160.34 KHz / 102.89 KHz | Δ 55.84% |
feature_extraction [640x480]: Harris | 40.83 ms / 31.46 ms | Δ 29.77% | 24.49 Hz / 31.79 Hz | ∇ -22.94% |
feature_extraction [640x480]: KLT | 33.62 ms / 30.94 ms | Δ 8.63% | 29.75 Hz / 32.32 Hz | ∇ -7.95% |
feature_extraction [640x480]: SIFT | 705.28 ms / 653.53 ms | Δ 7.92% | 1.42 Hz / 1.53 Hz | ∇ -7.34% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 210.38 ms | Δ 1.82% | 4.67 Hz / 4.75 Hz | ∇ -1.79% |
feature_extraction [640x480]: SURF | 326.57 ms / 243.66 ms | Δ 34.03% | 3.06 Hz / 4.10 Hz | ∇ -25.39% |
feature_extraction [640x480]: FAST | 7.69 ms / 6.32 ms | Δ 21.62% | 130.08 Hz / 158.19 Hz | ∇ -17.77% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 45.12 ms | Δ 134.72% | 9.44 Hz / 22.16 Hz | ∇ -57.40% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 46.60 ms | Δ 23.77% | 17.34 Hz / 21.46 Hz | ∇ -19.21% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 40.89 ms | Δ 22.94% | 19.89 Hz / 24.46 Hz | ∇ -18.66% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.28 sec | Δ 7.47% | 724.62 mHz / 778.73 mHz | ∇ -6.95% |
feature_matching [640x480]: SURF | 618.66 ms / 502.54 ms | Δ 23.11% | 1.62 Hz / 1.99 Hz | ∇ -18.77% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 19.71 ms | Δ 12.19% | 45.22 Hz / 50.74 Hz | ∇ -10.87% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 13.01 ms | Δ 12.10% | 68.57 Hz / 76.86 Hz | ∇ -10.79% |
graph(2d): insertEdge x 1e3 | 354.58 us / 236.53 us | Δ 49.91% | 2.82 KHz / 4.23 KHz | ∇ -33.29% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 218.81 us | Δ 29.81% | 3.52 KHz / 4.57 KHz | ∇ -22.96% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 329.87 us | Δ 66.52% | 1.82 KHz / 3.03 KHz | ∇ -39.95% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 280.10 us | Δ 61.66% | 2.21 KHz / 3.57 KHz | ∇ -38.14% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 2.72 ms | Δ 41.63% | 259.12 Hz / 367.00 Hz | ∇ -29.40% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 1.95 ms | Δ 47.33% | 347.75 Hz / 512.34 Hz | ∇ -32.12% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 3.21 ms | Δ 78.84% | 174.28 Hz / 311.68 Hz | ∇ -44.08% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 3.23 ms | Δ 37.55% | 225.33 Hz / 309.95 Hz | ∇ -27.30% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 274.22 us | Δ 390.76% | 743.07 Hz / 3.65 KHz | ∇ -79.62% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 263.97 us | Δ 312.68% | 917.96 Hz / 3.79 KHz | ∇ -75.77% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 589.01 us | Δ 195.95% | 573.66 Hz / 1.70 KHz | ∇ -66.21% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 562.97 us | Δ 159.97% | 683.28 Hz / 1.78 KHz | ∇ -61.53% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 3.23 ms | Δ 330.21% | 71.86 Hz / 309.17 Hz | ∇ -76.76% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 2.62 ms | Δ 324.43% | 89.92 Hz / 381.66 Hz | ∇ -76.44% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 6.11 ms | Δ 187.53% | 56.89 Hz / 163.57 Hz | ∇ -65.22% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 5.21 ms | Δ 171.17% | 70.81 Hz / 192.01 Hz | ∇ -63.12% |