Test description | 0.9.4-MSVC10-64bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 26.54 ms / 19.99 ms | Δ 32.78% | 37.68 Hz / 50.03 Hz | ∇ -24.69% |
icp-slam (match grid): Run with sample dataset | 32.17 ms / 19.29 ms | Δ 66.77% | 31.08 Hz / 51.84 Hz | ∇ -40.04% |
poses: CPose3D (+) CPose3D | 62.83 ns / 42.85 ns | Δ 46.62% | 15.92 MHz / 23.34 MHz | ∇ -31.80% |
poses: CPose3D.composeFrom() | 41.42 ns / 37.80 ns | Δ 9.57% | 24.14 MHz / 26.46 MHz | ∇ -8.74% |
poses: CPose3D (+) CPoint3D | 18.89 ns / 7.25 ns | Δ 160.47% | 52.94 MHz / 137.89 MHz | ∇ -61.61% |
poses: CPose3D.composePoint() | 17.17 ns / 11.91 ns | Δ 44.23% | 58.23 MHz / 83.98 MHz | ∇ -30.66% |
poses: CPoint3D (-) CPose3D | 88.79 ns / 48.98 ns | Δ 81.27% | 11.26 MHz / 20.42 MHz | ∇ -44.83% |
poses: CPose3D.inverseComposePoint() | 44.00 ns / 34.95 ns | Δ 25.89% | 22.73 MHz / 28.61 MHz | ∇ -20.56% |
poses: CPose2D (+) CPose2D | 72.08 ns / 78.58 ns | ∇ -8.26% | 13.87 MHz / 12.73 MHz | Δ 9.01% |
poses: CPose2D.composeFrom() | 63.27 ns / 70.31 ns | ∇ -10.02% | 15.81 MHz / 14.22 MHz | Δ 11.13% |
poses: CPose2D (+) CPoint2D | 34.42 ns / 61.33 ns | ∇ -43.88% | 29.05 MHz / 16.31 MHz | Δ 78.19% |
poses: CPose2D.composePoint() | 26.02 ns / 65.17 ns | ∇ -60.07% | 38.43 MHz / 15.35 MHz | Δ 150.42% |
poses: CPose3DQuat (+) CPose3DQuat | 113.59 ns / 44.66 ns | Δ 154.35% | 8.80 MHz / 22.39 MHz | ∇ -60.68% |
poses: CPose3DQuat.composeFrom() | 82.72 ns / 39.43 ns | Δ 109.78% | 12.09 MHz / 25.36 MHz | ∇ -52.33% |
poses: CPose3DQuat (+) CPoint3D | 41.33 ns / 18.24 ns | Δ 126.62% | 24.20 MHz / 54.84 MHz | ∇ -55.87% |
poses: CPose3DQuat.composePoint() | 31.13 ns / 17.94 ns | Δ 73.55% | 32.12 MHz / 55.75 MHz | ∇ -42.38% |
poses: CPoint3D (-) CPose3DQuat | 113.89 ns / 55.43 ns | Δ 105.48% | 8.78 MHz / 18.04 MHz | ∇ -51.33% |
poses: CPose3DQuat.invcomposePoint() | 33.95 ns / 17.64 ns | Δ 92.44% | 29.46 MHz / 56.69 MHz | ∇ -48.04% |
poses: Conv CPose3DQuat <- CPose3D | 26.44 ns / 16.70 ns | Δ 58.37% | 37.82 MHz / 59.89 MHz | ∇ -36.86% |
poses: Conv CPose3D -> CPose3DQuat | 97.31 ns / 169.28 ns | ∇ -42.51% | 10.28 MHz / 5.91 MHz | Δ 73.96% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 948.85 ns / 760.96 us | ∇ -99.88% | 1.05 MHz / 1.31 KHz | Δ 80097.36% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 938.66 ns / 760.62 us | ∇ -99.88% | 1.07 MHz / 1.31 KHz | Δ 80932.06% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 21.21 us / 9.47 us | Δ 123.87% | 47.15 KHz / 105.55 KHz | ∇ -55.33% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 532.44 ns / 545.30 ns | ∇ -2.36% | 1.88 MHz / 1.83 MHz | Δ 2.41% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 528.23 ns / 544.10 ns | ∇ -2.92% | 1.89 MHz / 1.84 MHz | Δ 3.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 11.19 us / 8.11 us | Δ 38.04% | 89.35 KHz / 123.33 KHz | ∇ -27.56% |
matrix: unit, dyn[float], 3x3 | 45.20 ns / 20.92 ns | Δ 116.07% | 22.13 MHz / 47.81 MHz | ∇ -53.72% |
matrix: unit, dyn[double], 3x3 | 45.86 ns / 20.15 ns | Δ 127.59% | 21.81 MHz / 49.63 MHz | ∇ -56.06% |
matrix: unit, dyn[float], 6x6 | 177.43 ns / 54.04 ns | Δ 228.36% | 5.64 MHz / 18.51 MHz | ∇ -69.55% |
matrix: unit, dyn[double], 6x6 | 169.52 ns / 55.27 ns | Δ 206.73% | 5.90 MHz / 18.09 MHz | ∇ -67.40% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.89 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 842.46 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 6.37 ns / 1.70 ns | Δ 274.97% | 157.06 MHz / 588.93 MHz | ∇ -73.33% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.77 ns | Δ 183.32% | 127.19 MHz / 360.36 MHz | ∇ -64.70% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 485.93 ns / 73.10 ns | Δ 564.75% | 2.06 MHz / 13.68 MHz | ∇ -84.96% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 23.80 ns | ∇ -99.81% | 22.08 GHz / 42.02 MHz | Δ 52448.71% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 528.41 ns / 72.40 ns | Δ 629.85% | 1.89 MHz / 13.81 MHz | ∇ -86.30% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.40 ns | ∇ -100.00% | 1.#J THz / 42.74 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 547.16 ns / 110.50 ns | Δ 395.17% | 1.83 MHz / 9.05 MHz | ∇ -79.80% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 2.36 ns / 45.10 ns | ∇ -94.78% | 424.60 MHz / 22.17 MHz | Δ 1814.95% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 391.50 ns / 116.30 ns | Δ 236.63% | 2.55 MHz / 8.60 MHz | ∇ -70.29% |
matrix: multiply, fix[double], 3x6 * 6x3 | 2.36 ns / 45.20 ns | ∇ -94.79% | 424.60 MHz / 22.12 MHz | Δ 1819.20% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.74 us / 5.19 us | ∇ -47.11% | 364.51 KHz / 192.77 KHz | Δ 89.09% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.08 us / 3.55 us | ∇ -41.33% | 479.89 KHz / 281.56 KHz | Δ 70.44% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.47 us / 5.18 us | ∇ -33.10% | 288.55 KHz / 193.05 KHz | Δ 49.47% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.38 us / 3.61 us | ∇ -33.97% | 419.56 KHz / 277.05 KHz | Δ 51.44% |
matrix: inv, dyn[double] 3x3 | 1.09 us / 329.00 ns | Δ 229.98% | 921.12 KHz / 3.04 MHz | ∇ -69.70% |
matrix: inv, fix[double] 3x3 | 22.19 ns / 21.00 ns | Δ 5.68% | 45.06 MHz / 47.62 MHz | ∇ -5.37% |
matrix: inv, dyn[double] 6x6 | 2.78 us / 1.20 us | Δ 131.51% | 359.66 KHz / 832.64 KHz | ∇ -56.81% |
matrix: inv, fix[double] 6x6 | 2.22 us / 578.00 ns | Δ 284.27% | 450.23 KHz / 1.73 MHz | ∇ -73.98% |
matrix: inv, dyn[double] 20x20 | 30.71 us / 25.64 us | Δ 19.80% | 32.56 KHz / 39.01 KHz | ∇ -16.53% |
matrix: inv, fix[double] 20x20 | 24.08 us / 17.36 us | Δ 38.68% | 41.53 KHz / 57.60 KHz | ∇ -27.89% |
matrix: inv, dyn[double] 40x40 | 117.18 us / 189.04 us | ∇ -38.01% | 8.53 KHz / 5.29 KHz | Δ 61.33% |
matrix: inv, fix[double] 40x40 | 112.80 us / 121.47 us | ∇ -7.13% | 8.86 KHz / 8.23 KHz | Δ 7.68% |
matrix: det, dyn[double] 2x2 | 765.51 ns / 6.40 ns | Δ 11861.15% | 1.31 MHz / 156.25 MHz | ∇ -99.16% |
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 / 10.30 ns | Δ 7883.58% | 1.22 MHz / 97.09 MHz | ∇ -98.75% |
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 / 696.30 ns | Δ 156.24% | 560.47 KHz / 1.44 MHz | ∇ -60.97% |
matrix: det, fix[double] 6x6 | 1.51 us / 212.30 ns | Δ 612.22% | 661.35 KHz / 4.71 MHz | ∇ -85.96% |
matrix: det, dyn[double] 20x20 | 18.54 us / 6.40 us | Δ 189.50% | 53.94 KHz / 156.16 KHz | ∇ -65.46% |
matrix: det, fix[double] 20x20 | 19.01 us / 4.72 us | Δ 302.54% | 52.61 KHz / 211.77 KHz | ∇ -75.16% |
matrix: det, dyn[double] 40x40 | 72.40 us / 32.49 us | Δ 122.80% | 13.81 KHz / 30.77 KHz | ∇ -55.12% |
matrix: det, fix[double] 40x40 | 67.43 us / 27.34 us | Δ 146.66% | 14.83 KHz / 36.58 KHz | ∇ -59.46% |
matrix: chol, dyn[double] 4x4 | 606.90 ns / 130.00 ns | Δ 366.85% | 1.65 MHz / 7.69 MHz | ∇ -78.58% |
matrix: chol, fix[double] 4x4 | 190.22 ns / 140.00 ns | Δ 35.87% | 5.26 MHz / 7.14 MHz | ∇ -26.40% |
matrix: chol, dyn[double] 40x40 | 31.59 us / 18.52 us | Δ 70.55% | 31.66 KHz / 54.00 KHz | ∇ -41.37% |
matrix: chol, fix[double] 40x40 | 20.87 us / 16.55 us | Δ 26.08% | 47.93 KHz / 60.42 KHz | ∇ -20.68% |
matrix: chol, sparse [2x2;2x2] | 7.11 us / 8.20 us | ∇ -13.28% | 140.63 KHz / 121.95 KHz | Δ 15.32% |
matrix: chol, sparse [30x30;10x10] | 94.75 us / 82.90 us | Δ 14.29% | 10.55 KHz / 12.06 KHz | ∇ -12.51% |
matrix: chol, dyn[double] 10x[6x6] | 75.59 us / 52.70 us | Δ 43.44% | 13.23 KHz / 18.98 KHz | ∇ -30.28% |
matrix: chol, sparse 10x[6x6] | 43.20 us / 38.59 us | Δ 11.95% | 23.15 KHz / 25.91 KHz | ∇ -10.68% |
matrix: chol, dyn[double] 20x[6x6] | 453.46 us / 409.80 us | Δ 10.65% | 2.21 KHz / 2.44 KHz | ∇ -9.63% |
matrix: chol, sparse 20x[6x6] | 74.00 us / 70.75 us | Δ 4.60% | 13.51 KHz / 14.13 KHz | ∇ -4.39% |
matrix: chol, dyn[double] 50x[6x6] | 3.54 ms / 8.58 ms | ∇ -58.68% | 282.19 Hz / 116.60 Hz | Δ 142.01% |
matrix: chol, sparse 50x[6x6] | 178.69 us / 171.20 us | Δ 4.37% | 5.60 KHz / 5.84 KHz | ∇ -4.19% |
matrix: chol, dyn[double] 100x[6x6] | 22.29 ms / 133.58 ms | ∇ -83.32% | 44.87 Hz / 7.49 Hz | Δ 499.41% |
matrix: chol, sparse 100x[6x6] | 359.36 us / 341.85 us | Δ 5.12% | 2.78 KHz / 2.93 KHz | ∇ -4.87% |
matrix: chol, dyn[double] 120x[6x6] | 36.29 ms / 354.49 ms | ∇ -89.76% | 27.56 Hz / 2.82 Hz | Δ 876.92% |
matrix: chol, sparse 120x[6x6] | 411.86 us / 401.50 us | Δ 2.58% | 2.43 KHz / 2.49 KHz | ∇ -2.52% |
matrix: chol, dyn[double] 140x[6x6] | 54.34 ms / 773.25 ms | ∇ -92.97% | 18.40 Hz / 1.29 Hz | Δ 1322.91% |
matrix: chol, sparse 140x[6x6] | 488.10 us / 469.25 us | Δ 4.02% | 2.05 KHz / 2.13 KHz | ∇ -3.86% |
gridmap2D: getCell | 4.13 ns / 0.00 ns | Δ 4130920.52% | 242.07 MHz / 10.00 THz | ∇ -100.00% |
gridmap2D: setCell | 5.65 ns / 2.58 ns | Δ 119.04% | 177.14 MHz / 388.02 MHz | ∇ -54.35% |
gridmap2D: updateCell | 6.93 ns / 7.84 ns | ∇ -11.61% | 144.35 MHz / 127.58 MHz | Δ 13.14% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.55 ns | Δ 117.89% | 833.40 MHz / 1.82 GHz | ∇ -54.10% |
gridmap2D: insert scan w/o widening | 102.16 us / 102.06 us | Δ 0.10% | 9.79 KHz / 9.80 KHz | ∇ -0.10% |
gridmap2D: insert scan with widening | 276.88 us / 289.47 us | ∇ -4.35% | 3.61 KHz / 3.45 KHz | Δ 4.55% |
gridmap2D: resize | 3.89 ms / 1.97 ms | Δ 97.87% | 257.06 Hz / 508.65 Hz | ∇ -49.46% |
gridmap2D: computeLikelihood | 13.92 us / 15.74 us | ∇ -11.54% | 71.84 KHz / 63.55 KHz | Δ 13.04% |
pointmap: insert 100 scans | 1.87 ms / 3.04 ms | ∇ -38.36% | 534.24 Hz / 329.30 Hz | Δ 62.24% |
pointmap: build 2D kd-tree of 1 scan | 5.09 us / 4.32 us | Δ 17.84% | 196.43 KHz / 231.48 KHz | ∇ -15.14% |
pointmap: build 2D kd-tree of 100 scan | 486.39 us / 352.12 us | Δ 38.13% | 2.06 KHz / 2.84 KHz | ∇ -27.61% |
pointmap: build 2D kd-tree of 1000 scan | 5.10 ms / 4.14 ms | Δ 23.10% | 196.20 Hz / 241.51 Hz | ∇ -18.76% |
pointmap: build 3D kd-tree of 1 scan | 5.56 us / 4.68 us | Δ 18.84% | 179.80 KHz / 213.68 KHz | ∇ -15.85% |
pointmap: build 3D kd-tree of 100 scan | 467.24 us / 359.52 us | Δ 29.96% | 2.14 KHz / 2.78 KHz | ∇ -23.06% |
pointmap: build 3D kd-tree of 1000 scan | 5.18 ms / 4.03 ms | Δ 28.65% | 192.98 Hz / 248.28 Hz | ∇ -22.27% |
pointmap: kd-tree 2d query on 10 scans | 1.59 us / 1.41 us | Δ 13.47% | 627.25 KHz / 711.74 KHz | ∇ -11.87% |
pointmap: kd-tree 2d query on 1000 scans | 126.68 us / 97.21 us | Δ 30.32% | 7.89 KHz / 10.29 KHz | ∇ -23.26% |
pointmap: kd-tree 2d query on 10000 scans | 13.86 ms / 11.62 ms | Δ 19.28% | 72.14 Hz / 86.05 Hz | ∇ -16.16% |
pointmap: (insert scan+2D kd-tree query) x 10 | 6.54 ms / 5.59 ms | Δ 16.99% | 152.81 Hz / 178.77 Hz | ∇ -14.52% |
pointmap: (insert scan+2D kd-tree query) x 50 | 174.77 ms / 129.28 ms | Δ 35.18% | 5.72 Hz / 7.73 Hz | ∇ -26.03% |
pointmap: (insert scan+3D kd-tree query) x 10 | 6.88 ms / 5.66 ms | Δ 21.51% | 145.28 Hz / 176.53 Hz | ∇ -17.70% |
pointmap: (insert scan+3D kd-tree query) x 50 | 181.38 ms / 131.22 ms | Δ 38.22% | 5.51 Hz / 7.62 Hz | ∇ -27.65% |
random: drawUniform32bit | 9.54 ns / 14.50 ns | ∇ -34.25% | 104.87 MHz / 68.95 MHz | Δ 52.10% |
random: drawUniform | 9.69 ns / 14.50 ns | ∇ -33.19% | 103.21 MHz / 68.96 MHz | Δ 49.67% |
random: drawGaussian1D_normalized | 52.06 ns / 68.97 ns | ∇ -24.52% | 19.21 MHz / 14.50 MHz | Δ 32.48% |
random: drawGaussian1D | 50.73 ns / 68.98 ns | ∇ -26.45% | 19.71 MHz / 14.50 MHz | Δ 35.97% |
random: system rand() | 24.47 ns / 10.45 ns | Δ 134.21% | 40.87 MHz / 95.72 MHz | ∇ -57.30% |
random: drawGaussianMultivariate(fixed 3x3) | 1.24 us / 1.31 us | ∇ -4.98% | 805.20 KHz / 765.12 KHz | Δ 5.24% |
random: drawGaussianMultivariate(dyn 3x3) | 3.19 us / 2.73 us | Δ 16.79% | 313.70 KHz / 366.37 KHz | ∇ -14.38% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 130.03 ns / 158.91 ns | ∇ -18.18% | 7.69 MHz / 6.29 MHz | Δ 22.21% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 198.35 ns / 237.40 ns | ∇ -16.45% | 5.04 MHz / 4.21 MHz | Δ 19.69% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 451.66 ns / 490.03 ns | ∇ -7.83% | 2.21 MHz / 2.04 MHz | Δ 8.49% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 136.92 ns / 164.67 ns | ∇ -16.85% | 7.30 MHz / 6.07 MHz | Δ 20.26% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 213.52 ns / 249.81 ns | ∇ -14.53% | 4.68 MHz / 4.00 MHz | Δ 17.00% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 478.55 ns / 514.70 ns | ∇ -7.02% | 2.09 MHz / 1.94 MHz | Δ 7.55% |
random: permuteVector (len=10) | 244.07 ns / 296.20 ns | ∇ -17.60% | 4.10 MHz / 3.38 MHz | Δ 21.36% |
random: permuteVector (len=100) | 3.12 us / 3.04 us | Δ 2.75% | 320.11 KHz / 328.91 KHz | ∇ -2.68% |
random: permuteVector (len=1000) | 30.82 us / 30.22 us | Δ 1.99% | 32.44 KHz / 33.09 KHz | ∇ -1.95% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188178.43% |
images: Save as JPEG (640x480, quality=95%) | 29.87 ms / 35.06 ms | ∇ -14.80% | 33.48 Hz / 28.52 Hz | Δ 17.38% |
images: Save as JPEG (800x600, quality=95%) | 42.98 ms / 48.96 ms | ∇ -12.21% | 23.26 Hz / 20.42 Hz | Δ 13.91% |
images: Save as JPEG (1024x768, quality=95%) | 69.03 ms / 74.65 ms | ∇ -7.53% | 14.49 Hz / 13.40 Hz | Δ 8.15% |
images: Save as JPEG (640x480, quality=75%) | 22.86 ms / 29.96 ms | ∇ -23.72% | 43.75 Hz / 33.37 Hz | Δ 31.10% |
images: Save as JPEG (800x600, quality=75%) | 35.20 ms / 42.79 ms | ∇ -17.72% | 28.41 Hz / 23.37 Hz | Δ 21.54% |
images: Save as JPEG (1024x768, quality=75%) | 57.29 ms / 64.15 ms | ∇ -10.69% | 17.45 Hz / 15.59 Hz | Δ 11.97% |
images: Gauss filter (640x480) | 4.45 ms / 3.90 ms | Δ 14.06% | 224.70 Hz / 256.30 Hz | ∇ -12.33% |
images: Gauss filter (800x600) | 8.06 ms / 6.21 ms | Δ 29.68% | 124.15 Hz / 160.99 Hz | ∇ -22.89% |
images: Gauss filter (1024x768) | 13.86 ms / 10.55 ms | Δ 31.29% | 72.16 Hz / 94.74 Hz | ∇ -23.83% |
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 / 5.06 us | Δ 241.65% | 57.84 KHz / 197.63 KHz | ∇ -70.73% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 16.49 us / 4.30 us | Δ 283.40% | 60.66 KHz / 232.56 KHz | ∇ -73.92% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 9.72 us / 2.10 us | Δ 362.83% | 102.89 KHz / 476.19 KHz | ∇ -78.39% |
feature_extraction [640x480]: Harris | 31.46 ms / 24.28 ms | Δ 29.59% | 31.79 Hz / 41.19 Hz | ∇ -22.84% |
feature_extraction [640x480]: KLT | 30.94 ms / 24.43 ms | Δ 26.69% | 32.32 Hz / 40.94 Hz | ∇ -21.06% |
feature_extraction [640x480]: SIFT | 653.53 ms / 610.42 ms | Δ 7.06% | 1.53 Hz / 1.64 Hz | ∇ -6.60% |
feature_extraction [640x480]: SIFT desc. | 210.38 ms / 167.77 ms | Δ 25.40% | 4.75 Hz / 5.96 Hz | ∇ -20.25% |
feature_extraction [640x480]: SURF | 243.66 ms / 197.61 ms | Δ 23.30% | 4.10 Hz / 5.06 Hz | ∇ -18.90% |
feature_extraction [640x480]: FAST | 6.32 ms / 5.24 ms | Δ 20.53% | 158.19 Hz / 190.68 Hz | ∇ -17.04% |
feature_extraction [640x480]: Spin desc. | 45.12 ms / 59.98 ms | ∇ -24.78% | 22.16 Hz / 16.67 Hz | Δ 32.94% |
feature_matching [640x480]: Harris + CC | 46.60 ms / 40.88 ms | Δ 13.99% | 21.46 Hz / 24.46 Hz | ∇ -12.27% |
feature_matching [640x480]: Harris + SAD | 40.89 ms / 35.50 ms | Δ 15.20% | 24.46 Hz / 28.17 Hz | ∇ -13.19% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.21 sec | Δ 6.34% | 778.73 mHz / 828.07 mHz | ∇ -5.96% |
feature_matching [640x480]: SURF | 502.54 ms / 379.92 ms | Δ 32.28% | 1.99 Hz / 2.63 Hz | ∇ -24.40% |
feature_matching [640x480]: FAST + CC | 19.71 ms / 16.06 ms | Δ 22.70% | 50.74 Hz / 62.26 Hz | ∇ -18.50% |
feature_matching [640x480]: FAST + SAD | 13.01 ms / 10.73 ms | Δ 21.23% | 76.86 Hz / 93.18 Hz | ∇ -17.51% |
graph(2d): insertEdge x 1e3 | 236.53 us / 117.65 us | Δ 101.05% | 4.23 KHz / 8.50 KHz | ∇ -50.26% |
graph(2d,vec): insertEdge x 1e3 | 246.73 us / 105.13 us | Δ 134.70% | 4.05 KHz / 9.51 KHz | ∇ -57.39% |
graph(2d): insertEdgeAtEnd x 1e3 | 218.81 us / 85.19 us | Δ 156.86% | 4.57 KHz / 11.74 KHz | ∇ -61.07% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 209.21 us / 84.46 us | Δ 147.69% | 4.78 KHz / 11.84 KHz | ∇ -59.63% |
graph(2d pdf): insertEdge x 1e3 | 329.87 us / 172.53 us | Δ 91.20% | 3.03 KHz / 5.80 KHz | ∇ -47.70% |
graph(2d pdf,vec): insertEdge x 1e3 | 303.60 us / 187.97 us | Δ 61.52% | 3.29 KHz / 5.32 KHz | ∇ -38.09% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 280.10 us / 168.61 us | Δ 66.12% | 3.57 KHz / 5.93 KHz | ∇ -39.80% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 284.27 us / 167.39 us | Δ 69.83% | 3.52 KHz / 5.97 KHz | ∇ -41.12% |
graph(2d): insertEdge x 1e4 | 2.72 ms / 1.73 ms | Δ 57.83% | 367.00 Hz / 579.22 Hz | ∇ -36.64% |
graph(2d,vec): insertEdge x 1e4 | 2.73 ms / 1.45 ms | Δ 88.34% | 366.67 Hz / 690.59 Hz | ∇ -46.91% |
graph(2d): insertEdgeAtEnd x 1e4 | 1.95 ms / 884.69 us | Δ 120.62% | 512.34 Hz / 1.13 KHz | ∇ -54.67% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.92 ms / 862.22 us | Δ 123.10% | 519.87 Hz / 1.16 KHz | ∇ -55.18% |
graph(2d pdf): insertEdge x 1e4 | 3.21 ms / 1.97 ms | Δ 62.55% | 311.68 Hz / 506.65 Hz | ∇ -38.48% |
graph(2d pdf,vec): insertEdge x 1e4 | 3.24 ms / 2.31 ms | Δ 40.45% | 308.83 Hz / 433.74 Hz | ∇ -28.80% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 3.23 ms / 1.86 ms | Δ 73.62% | 309.95 Hz / 538.12 Hz | ∇ -42.40% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 3.17 ms / 1.86 ms | Δ 70.92% | 314.97 Hz / 538.35 Hz | ∇ -41.49% |
graph(3d): insertEdge x 1e3 | 274.22 us / 177.23 us | Δ 54.73% | 3.65 KHz / 5.64 KHz | ∇ -35.37% |
graph(3d,vec): insertEdge x 1e3 | 264.66 us / 178.36 us | Δ 48.39% | 3.78 KHz / 5.61 KHz | ∇ -32.61% |
graph(3d): insertEdgeAtEnd x 1e3 | 263.97 us / 157.86 us | Δ 67.22% | 3.79 KHz / 6.33 KHz | ∇ -40.20% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 267.33 us / 159.54 us | Δ 67.57% | 3.74 KHz / 6.27 KHz | ∇ -40.32% |
graph(3d pdf): insertEdge x 1e3 | 589.01 us / 507.00 us | Δ 16.18% | 1.70 KHz / 1.97 KHz | ∇ -13.92% |
graph(3d pdf,vec): insertEdge x 1e3 | 596.64 us / 509.46 us | Δ 17.11% | 1.68 KHz / 1.96 KHz | ∇ -14.61% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 562.97 us / 473.36 us | Δ 18.93% | 1.78 KHz / 2.11 KHz | ∇ -15.92% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 559.03 us / 474.07 us | Δ 17.92% | 1.79 KHz / 2.11 KHz | ∇ -15.20% |
graph(3d): insertEdge x 1e4 | 3.23 ms / 2.47 ms | Δ 30.87% | 309.17 Hz / 404.60 Hz | ∇ -23.59% |
graph(3d,vec): insertEdge x 1e4 | 3.13 ms / 2.48 ms | Δ 26.16% | 319.30 Hz / 402.82 Hz | ∇ -20.73% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.62 ms / 1.75 ms | Δ 49.48% | 381.66 Hz / 570.48 Hz | ∇ -33.10% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 1.77 ms | Δ 44.06% | 392.76 Hz / 565.81 Hz | ∇ -30.58% |
graph(3d pdf): insertEdge x 1e4 | 6.11 ms / 5.53 ms | Δ 10.64% | 163.57 Hz / 180.97 Hz | ∇ -9.61% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.61 ms / 5.56 ms | Δ 0.75% | 178.36 Hz / 179.70 Hz | ∇ -0.74% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.21 ms / 4.85 ms | Δ 7.37% | 192.01 Hz / 206.16 Hz | ∇ -6.86% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.18 ms / 4.85 ms | Δ 6.86% | 192.88 Hz / 206.11 Hz | ∇ -6.42% |
graph(3d): dijkstra 1e2 nodes | 156.43 us / 96.04 us | Δ 62.87% | 6.39 KHz / 10.41 KHz | ∇ -38.60% |
graph(3d,vec): dijkstra 1e2 nodes | 192.33 us / 80.39 us | Δ 139.26% | 5.20 KHz / 12.44 KHz | ∇ -58.20% |
graph(3d): dijkstra 1e3 nodes | 2.18 ms / 1.13 ms | Δ 92.78% | 459.11 Hz / 885.05 Hz | ∇ -48.13% |
graph(3d,vec): dijkstra 1e3 nodes | 1.80 ms / 804.04 us | Δ 123.99% | 555.25 Hz / 1.24 KHz | ∇ -55.36% |
graph(3d): dijkstra 1e4 nodes | 26.67 ms / 19.14 ms | Δ 39.37% | 37.50 Hz / 52.26 Hz | ∇ -28.25% |
graph(3d,vec): dijkstra 1e4 nodes | 22.83 ms / 9.65 ms | Δ 136.61% | 43.80 Hz / 103.63 Hz | ∇ -57.74% |
graph(3d): dijkstra 1e5 nodes | 307.16 ms / 290.37 ms | Δ 5.78% | 3.26 Hz / 3.44 Hz | ∇ -5.47% |
graph(3d,vec): dijkstra 1e5 nodes | 266.80 ms / 117.73 ms | Δ 126.62% | 3.75 Hz / 8.49 Hz | ∇ -55.87% |
graph(2d): dijkstra 1e5 nodes | 302.10 ms / 268.93 ms | Δ 12.33% | 3.31 Hz / 3.72 Hz | ∇ -10.98% |
graph(2d,vec): dijkstra 1e5 nodes | 262.78 ms / 103.05 ms | Δ 155.01% | 3.81 Hz / 9.70 Hz | ∇ -60.79% |