Test description | 0.9.4-GCC-64bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 26.54 ms | ∇ -21.84% | 48.21 Hz / 37.68 Hz | Δ 27.95% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 32.17 ms | ∇ -46.88% | 58.52 Hz / 31.08 Hz | Δ 88.26% |
poses: CPose3D (+) CPose3D | 29.76 ns / 62.83 ns | ∇ -52.63% | 33.60 MHz / 15.92 MHz | Δ 111.12% |
poses: CPose3D.composeFrom() | 21.90 ns / 41.42 ns | ∇ -47.13% | 45.66 MHz / 24.14 MHz | Δ 89.13% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 18.89 ns | ∇ -61.70% | 138.24 MHz / 52.94 MHz | Δ 161.12% |
poses: CPose3D.composePoint() | 11.67 ns / 17.17 ns | ∇ -32.04% | 85.68 MHz / 58.23 MHz | Δ 47.14% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 88.79 ns | ∇ -85.04% | 75.27 MHz / 11.26 MHz | Δ 568.29% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 44.00 ns | ∇ -44.36% | 40.85 MHz / 22.73 MHz | Δ 79.74% |
poses: CPose2D (+) CPose2D | 71.64 ns / 72.08 ns | ∇ -0.61% | 13.96 MHz / 13.87 MHz | Δ 0.61% |
poses: CPose2D.composeFrom() | 69.41 ns / 63.27 ns | Δ 9.70% | 14.41 MHz / 15.81 MHz | ∇ -8.84% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 34.42 ns | Δ 76.58% | 16.45 MHz / 29.05 MHz | ∇ -43.37% |
poses: CPose2D.composePoint() | 60.80 ns / 26.02 ns | Δ 133.64% | 16.45 MHz / 38.43 MHz | ∇ -57.20% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 113.59 ns | ∇ -64.37% | 24.71 MHz / 8.80 MHz | Δ 180.68% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 82.72 ns | ∇ -54.60% | 26.63 MHz / 12.09 MHz | Δ 120.28% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 41.33 ns | ∇ -57.93% | 57.51 MHz / 24.20 MHz | Δ 137.67% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 31.13 ns | ∇ -43.84% | 57.20 MHz / 32.12 MHz | Δ 78.06% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 113.89 ns | ∇ -71.05% | 30.33 MHz / 8.78 MHz | Δ 245.45% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 33.95 ns | ∇ -43.72% | 52.34 MHz / 29.46 MHz | Δ 77.68% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 26.44 ns | ∇ -11.43% | 42.70 MHz / 37.82 MHz | Δ 12.91% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 97.31 ns | Δ 77.49% | 5.79 MHz / 10.28 MHz | ∇ -43.66% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 948.85 ns | ∇ -29.28% | 1.49 MHz / 1.05 MHz | Δ 41.41% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 938.66 ns | ∇ -30.54% | 1.53 MHz / 1.07 MHz | Δ 43.97% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 21.21 us | ∇ -58.79% | 114.40 KHz / 47.15 KHz | Δ 142.64% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 532.44 ns | ∇ -14.71% | 2.20 MHz / 1.88 MHz | Δ 17.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 528.23 ns | ∇ -14.26% | 2.21 MHz / 1.89 MHz | Δ 16.63% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 11.19 us | ∇ -28.74% | 125.39 KHz / 89.35 KHz | Δ 40.34% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 45.20 ns | ∇ -60.98% | 56.71 MHz / 22.13 MHz | Δ 156.29% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 45.86 ns | ∇ -56.68% | 50.34 MHz / 21.81 MHz | Δ 130.86% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 177.43 ns | ∇ -67.84% | 17.53 MHz / 5.64 MHz | Δ 210.98% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 169.52 ns | ∇ -64.61% | 16.67 MHz / 5.90 MHz | Δ 182.54% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 0.00 ns / 6.37 ns | ∇ -100.00% | 1.#J THz / 157.06 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 7.86 ns | ∇ -100.00% | 1.#J THz / 127.19 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 485.93 ns | ∇ -50.05% | 4.12 MHz / 2.06 MHz | Δ 100.22% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 231.60 ns / 528.41 ns | ∇ -56.17% | 4.32 MHz / 1.89 MHz | Δ 128.16% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 296.50 ns / 547.16 ns | ∇ -45.81% | 3.37 MHz / 1.83 MHz | Δ 84.54% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 2.36 ns | ∇ -95.75% | 10.00 GHz / 424.60 MHz | Δ 2255.15% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 391.50 ns | ∇ -33.79% | 3.86 MHz / 2.55 MHz | Δ 51.04% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 2.36 ns | ∇ -100.00% | 1.#J THz / 424.60 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 2.74 us | ∇ -23.69% | 477.69 KHz / 364.51 KHz | Δ 31.05% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 2.08 us | ∇ -14.16% | 559.03 KHz / 479.89 KHz | Δ 16.49% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 3.47 us | ∇ -29.91% | 411.68 KHz / 288.55 KHz | Δ 42.67% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 2.38 us | ∇ -9.23% | 462.21 KHz / 419.56 KHz | Δ 10.17% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 1.09 us | ∇ -29.35% | 1.30 MHz / 921.12 KHz | Δ 41.54% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 22.19 ns | ∇ -100.00% | 1.#J THz / 45.06 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 2.78 us | ∇ -35.98% | 561.80 KHz / 359.66 KHz | Δ 56.20% |
matrix: inv, fix[double] 6x6 | 1.73 us / 2.22 us | ∇ -22.20% | 578.70 KHz / 450.23 KHz | Δ 28.54% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 30.71 us | ∇ -47.03% | 61.47 KHz / 32.56 KHz | Δ 88.80% |
matrix: inv, fix[double] 20x20 | 13.44 us / 24.08 us | ∇ -44.18% | 74.41 KHz / 41.53 KHz | Δ 79.16% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 117.18 us | ∇ -41.96% | 14.70 KHz / 8.53 KHz | Δ 72.30% |
matrix: inv, fix[double] 40x40 | 63.01 us / 112.80 us | ∇ -44.15% | 15.87 KHz / 8.86 KHz | Δ 79.04% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 765.51 ns | ∇ -72.65% | 4.78 MHz / 1.31 MHz | Δ 265.57% |
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 | 331.30 ns / 822.31 ns | ∇ -59.71% | 3.02 MHz / 1.22 MHz | Δ 148.21% |
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 | 943.70 ns / 1.78 us | ∇ -47.11% | 1.06 MHz / 560.47 KHz | Δ 89.06% |
matrix: det, fix[double] 6x6 | 575.90 ns / 1.51 us | ∇ -61.91% | 1.74 MHz / 661.35 KHz | Δ 162.55% |
matrix: det, dyn[double] 20x20 | 8.10 us / 18.54 us | ∇ -56.29% | 123.40 KHz / 53.94 KHz | Δ 128.76% |
matrix: det, fix[double] 20x20 | 7.48 us / 19.01 us | ∇ -60.63% | 133.61 KHz / 52.61 KHz | Δ 153.98% |
matrix: det, dyn[double] 40x40 | 30.87 us / 72.40 us | ∇ -57.36% | 32.39 KHz / 13.81 KHz | Δ 134.50% |
matrix: det, fix[double] 40x40 | 29.01 us / 67.43 us | ∇ -56.97% | 34.47 KHz / 14.83 KHz | Δ 132.42% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 606.90 ns | ∇ -12.67% | 1.89 MHz / 1.65 MHz | Δ 14.51% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 190.22 ns | ∇ -36.92% | 8.33 MHz / 5.26 MHz | Δ 58.52% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 31.59 us | ∇ -34.46% | 48.31 KHz / 31.66 KHz | Δ 52.59% |
matrix: chol, fix[double] 40x40 | 16.54 us / 20.87 us | ∇ -20.73% | 60.46 KHz / 47.93 KHz | Δ 26.15% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 7.11 us | Δ 71.57% | 81.97 KHz / 140.63 KHz | ∇ -41.72% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 94.75 us | ∇ -7.44% | 11.40 KHz / 10.55 KHz | Δ 8.04% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 75.59 us | ∇ -31.61% | 19.34 KHz / 13.23 KHz | Δ 46.21% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 43.20 us | ∇ -11.42% | 26.13 KHz / 23.15 KHz | Δ 12.89% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 453.46 us | ∇ -43.66% | 3.91 KHz / 2.21 KHz | Δ 77.48% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 74.00 us | ∇ -4.14% | 14.10 KHz / 13.51 KHz | Δ 4.32% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 3.54 ms | ∇ -22.40% | 363.64 Hz / 282.19 Hz | Δ 28.86% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 178.69 us | ∇ -5.30% | 5.91 KHz / 5.60 KHz | Δ 5.59% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 22.29 ms | ∇ -1.01% | 45.33 Hz / 44.87 Hz | Δ 1.02% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 359.36 us | ∇ -5.50% | 2.94 KHz / 2.78 KHz | Δ 5.82% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 36.29 ms | Δ 1.05% | 27.27 Hz / 27.56 Hz | ∇ -1.04% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 411.86 us | ∇ -2.30% | 2.49 KHz / 2.43 KHz | Δ 2.36% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 54.34 ms | ∇ -0.88% | 18.57 Hz / 18.40 Hz | Δ 0.89% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 488.10 us | ∇ -2.31% | 2.10 KHz / 2.05 KHz | Δ 2.37% |
gridmap2D: getCell | 0.00 ns / 4.13 ns | ∇ -100.00% | 1.#J THz / 242.07 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.71 ns / 5.65 ns | ∇ -52.04% | 369.33 MHz / 177.14 MHz | Δ 108.49% |
gridmap2D: updateCell | 6.04 ns / 6.93 ns | ∇ -12.83% | 165.59 MHz / 144.35 MHz | Δ 14.72% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 1.20 ns | ∇ -48.81% | 1.63 GHz / 833.40 MHz | Δ 95.36% |
gridmap2D: insert scan w/o widening | 99.83 us / 102.16 us | ∇ -2.28% | 10.02 KHz / 9.79 KHz | Δ 2.33% |
gridmap2D: insert scan with widening | 293.13 us / 276.88 us | Δ 5.87% | 3.41 KHz / 3.61 KHz | ∇ -5.54% |
gridmap2D: resize | 630.00 us / 3.89 ms | ∇ -83.80% | 1.59 KHz / 257.06 Hz | Δ 517.47% |
gridmap2D: computeLikelihood | 17.81 us / 13.92 us | Δ 27.95% | 56.14 KHz / 71.84 KHz | ∇ -21.85% |
pointmap: insert 100 scans | 1.01 ms / 1.87 ms | ∇ -46.08% | 990.80 Hz / 534.24 Hz | Δ 85.46% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 5.09 us | ∇ -11.21% | 221.24 KHz / 196.43 KHz | Δ 12.63% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 486.39 us | ∇ -25.07% | 2.74 KHz / 2.06 KHz | Δ 33.46% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 5.10 ms | ∇ -14.03% | 228.21 Hz / 196.20 Hz | Δ 16.32% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 5.56 us | ∇ -7.22% | 193.80 KHz / 179.80 KHz | Δ 7.79% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 467.24 us | ∇ -20.29% | 2.68 KHz / 2.14 KHz | Δ 25.45% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 5.18 ms | ∇ -18.94% | 238.06 Hz / 192.98 Hz | Δ 23.36% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.59 us | ∇ -10.87% | 703.73 KHz / 627.25 KHz | Δ 12.19% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 126.68 us | ∇ -19.59% | 9.82 KHz / 7.89 KHz | Δ 24.37% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 13.86 ms | ∇ -12.19% | 82.15 Hz / 72.14 Hz | Δ 13.88% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 6.54 ms | ∇ -13.79% | 177.25 Hz / 152.81 Hz | Δ 15.99% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 174.77 ms | ∇ -24.04% | 7.53 Hz / 5.72 Hz | Δ 31.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 6.88 ms | ∇ -17.00% | 175.04 Hz / 145.28 Hz | Δ 20.48% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 181.38 ms | ∇ -25.71% | 7.42 Hz / 5.51 Hz | Δ 34.61% |
random: drawUniform32bit | 14.55 ns / 9.54 ns | Δ 52.54% | 68.75 MHz / 104.87 MHz | ∇ -34.45% |
random: drawUniform | 14.56 ns / 9.69 ns | Δ 50.26% | 68.69 MHz / 103.21 MHz | ∇ -33.45% |
random: drawGaussian1D_normalized | 66.87 ns / 52.06 ns | Δ 28.44% | 14.96 MHz / 19.21 MHz | ∇ -22.14% |
random: drawGaussian1D | 66.81 ns / 50.73 ns | Δ 31.68% | 14.97 MHz / 19.71 MHz | ∇ -24.06% |
random: system rand() | 10.63 ns / 24.47 ns | ∇ -56.57% | 94.11 MHz / 40.87 MHz | Δ 130.27% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 1.24 us | ∇ -27.26% | 1.11 MHz / 805.20 KHz | Δ 37.48% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 3.19 us | ∇ -49.49% | 621.01 KHz / 313.70 KHz | Δ 97.97% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 130.03 ns | Δ 11.25% | 6.91 MHz / 7.69 MHz | ∇ -10.11% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 198.35 ns | Δ 10.65% | 4.56 MHz / 5.04 MHz | ∇ -9.62% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 451.66 ns | Δ 4.68% | 2.12 MHz / 2.21 MHz | ∇ -4.47% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 136.92 ns | Δ 11.22% | 6.57 MHz / 7.30 MHz | ∇ -10.09% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 213.52 ns | Δ 10.08% | 4.25 MHz / 4.68 MHz | ∇ -9.16% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 478.55 ns | Δ 2.73% | 2.03 MHz / 2.09 MHz | ∇ -2.65% |
random: permuteVector (len=10) | 243.60 ns / 244.07 ns | ∇ -0.19% | 4.11 MHz / 4.10 MHz | Δ 0.19% |
random: permuteVector (len=100) | 2.99 us / 3.12 us | ∇ -4.44% | 334.99 KHz / 320.11 KHz | Δ 4.65% |
random: permuteVector (len=1000) | 29.51 us / 30.82 us | ∇ -4.25% | 33.88 KHz / 32.44 KHz | Δ 4.44% |
math: round | 0.10 ns / 0.00 ns | Δ 2189944.78% | 10.08 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 29.87 ms | Δ 12.58% | 29.74 Hz / 33.48 Hz | ∇ -11.17% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 42.98 ms | Δ 15.97% | 20.06 Hz / 23.26 Hz | ∇ -13.77% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 69.03 ms | Δ 0.82% | 14.37 Hz / 14.49 Hz | ∇ -0.81% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 22.86 ms | Δ 34.07% | 32.63 Hz / 43.75 Hz | ∇ -25.41% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 35.20 ms | Δ 24.71% | 22.78 Hz / 28.41 Hz | ∇ -19.82% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 57.29 ms | Δ 9.13% | 15.99 Hz / 17.45 Hz | ∇ -8.37% |
images: Gauss filter (640x480) | 3.81 ms / 4.45 ms | ∇ -14.48% | 262.76 Hz / 224.70 Hz | Δ 16.93% |
images: Gauss filter (800x600) | 5.96 ms / 8.06 ms | ∇ -25.97% | 167.70 Hz / 124.15 Hz | Δ 35.09% |
images: Gauss filter (1024x768) | 10.46 ms / 13.86 ms | ∇ -24.52% | 95.61 Hz / 72.16 Hz | Δ 32.49% |
images: Half sample GRAY (160x120) | 1.04 us / 1.32 us | ∇ -21.45% | 961.54 KHz / 755.28 KHz | Δ 27.31% |
images: Half sample GRAY (320x240) | 2.91 us / 4.41 us | ∇ -34.11% | 344.04 KHz / 226.69 KHz | Δ 51.77% |
images: Half sample GRAY (640x480) | 14.63 us / 18.51 us | ∇ -20.97% | 68.35 KHz / 54.02 KHz | Δ 26.53% |
images: Half sample GRAY (800x600) | 27.61 us / 29.74 us | ∇ -7.15% | 36.21 KHz / 33.62 KHz | Δ 7.71% |
images: Half sample GRAY (1024x768) | 43.98 us / 52.65 us | ∇ -16.46% | 22.74 KHz / 18.99 KHz | Δ 19.70% |
images: Half sample GRAY (1280x1024) | 84.93 us / 107.42 us | ∇ -20.94% | 11.77 KHz / 9.31 KHz | Δ 26.48% |
images: Half sample RGB (160x120) | 2.35 us / 9.33 us | ∇ -74.86% | 426.14 KHz / 107.15 KHz | Δ 297.71% |
images: Half sample RGB (320x240) | 8.97 us / 11.01 us | ∇ -18.50% | 111.44 KHz / 90.82 KHz | Δ 22.70% |
images: Half sample RGB (640x480) | 49.58 us / 53.51 us | ∇ -7.34% | 20.17 KHz / 18.69 KHz | Δ 7.93% |
images: Half sample RGB (800x600) | 83.52 us / 126.28 us | ∇ -33.86% | 11.97 KHz / 7.92 KHz | Δ 51.20% |
images: Half sample RGB (1024x768) | 175.02 us / 248.04 us | ∇ -29.44% | 5.71 KHz / 4.03 KHz | Δ 41.72% |
images: Half sample RGB (1280x1024) | 434.33 us / 667.92 us | ∇ -34.97% | 2.30 KHz / 1.50 KHz | Δ 53.78% |
images: Half sample smooth GRAY (160x120) | 1.52 us / 1.83 us | ∇ -16.68% | 656.46 KHz / 546.97 KHz | Δ 20.02% |
images: Half sample smooth GRAY (320x240) | 5.05 us / 6.09 us | ∇ -17.05% | 197.89 KHz / 164.16 KHz | Δ 20.55% |
images: Half sample smooth GRAY (640x480) | 27.35 us / 28.72 us | ∇ -4.79% | 36.57 KHz / 34.81 KHz | Δ 5.04% |
images: Half sample smooth GRAY (800x600) | 41.00 us / 44.06 us | ∇ -6.93% | 24.39 KHz / 22.70 KHz | Δ 7.45% |
images: Half sample smooth GRAY (1024x768) | 70.54 us / 78.59 us | ∇ -10.24% | 14.18 KHz / 12.72 KHz | Δ 11.41% |
images: Half sample smooth GRAY (1280x1024) | 147.17 us / 168.62 us | ∇ -12.72% | 6.80 KHz / 5.93 KHz | Δ 14.58% |
images: Half sample smooth RGB (160x120) | 87.34 us / 88.54 us | ∇ -1.36% | 11.45 KHz / 11.29 KHz | Δ 1.38% |
images: Half sample smooth RGB (320x240) | 341.55 us / 381.77 us | ∇ -10.53% | 2.93 KHz / 2.62 KHz | Δ 11.77% |
images: Half sample smooth RGB (640x480) | 1.35 ms / 1.50 ms | ∇ -10.14% | 740.73 Hz / 665.62 Hz | Δ 11.29% |
images: Half sample smooth RGB (800x600) | 2.13 ms / 2.40 ms | ∇ -10.92% | 468.44 Hz / 417.30 Hz | Δ 12.26% |
images: Half sample smooth RGB (1024x768) | 3.55 ms / 3.77 ms | ∇ -5.88% | 281.93 Hz / 265.35 Hz | Δ 6.25% |
images: Half sample smooth RGB (1280x1024) | 6.52 ms / 6.50 ms | Δ 0.27% | 153.40 Hz / 153.82 Hz | ∇ -0.27% |
images: RGB->GRAY 8u (40x30) | 3.88 us / 3.88 us | ∇ -0.05% | 257.95 KHz / 257.84 KHz | Δ 0.05% |
images: RGB->GRAY 8u (80x60) | 2.78 us / 2.89 us | ∇ -3.73% | 359.28 KHz / 345.89 KHz | Δ 3.87% |
images: RGB->GRAY 8u (160x120) | 9.91 us / 10.09 us | ∇ -1.79% | 100.91 KHz / 99.10 KHz | Δ 1.83% |
images: RGB->GRAY 8u (320x240) | 39.89 us / 39.97 us | ∇ -0.19% | 25.07 KHz / 25.02 KHz | Δ 0.19% |
images: RGB->GRAY 8u (640x480) | 157.22 us / 172.29 us | ∇ -8.74% | 6.36 KHz / 5.80 KHz | Δ 9.58% |
images: RGB->GRAY 8u (800x600) | 266.94 us / 303.41 us | ∇ -12.02% | 3.75 KHz / 3.30 KHz | Δ 13.66% |
images: RGB->GRAY 8u (1024x768) | 485.16 us / 645.96 us | ∇ -24.89% | 2.06 KHz / 1.55 KHz | Δ 33.14% |
images: RGB->GRAY 8u (1280x1024) | 926.17 us / 1.76 ms | ∇ -47.26% | 1.08 KHz / 569.41 Hz | Δ 89.62% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 12.69 us / 17.29 us | ∇ -26.60% | 78.80 KHz / 57.84 KHz | Δ 36.23% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 16.49 us | ∇ -40.25% | 101.52 KHz / 60.66 KHz | Δ 67.37% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 9.72 us | ∇ -46.09% | 190.84 KHz / 102.89 KHz | Δ 85.49% |
feature_extraction [640x480]: Harris | 21.14 ms / 31.46 ms | ∇ -32.81% | 47.31 Hz / 31.79 Hz | Δ 48.82% |
feature_extraction [640x480]: KLT | 21.45 ms / 30.94 ms | ∇ -30.67% | 46.61 Hz / 32.32 Hz | Δ 44.24% |
feature_extraction [640x480]: SIFT | 591.25 ms / 653.53 ms | ∇ -9.53% | 1.69 Hz / 1.53 Hz | Δ 10.53% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 210.38 ms | ∇ -22.61% | 6.14 Hz / 4.75 Hz | Δ 29.21% |
feature_extraction [640x480]: SURF | 197.33 ms / 243.66 ms | ∇ -19.01% | 5.07 Hz / 4.10 Hz | Δ 23.48% |
feature_extraction [640x480]: FAST | 6.89 ms / 6.32 ms | Δ 8.99% | 145.15 Hz / 158.19 Hz | ∇ -8.25% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 45.12 ms | Δ 41.62% | 15.65 Hz / 22.16 Hz | ∇ -29.39% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 46.60 ms | ∇ -17.30% | 25.95 Hz / 21.46 Hz | Δ 20.91% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 40.89 ms | ∇ -17.85% | 29.77 Hz / 24.46 Hz | Δ 21.73% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.28 sec | ∇ -9.81% | 863.45 mHz / 778.73 mHz | Δ 10.88% |
feature_matching [640x480]: SURF | 375.89 ms / 502.54 ms | ∇ -25.20% | 2.66 Hz / 1.99 Hz | Δ 33.69% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 19.71 ms | ∇ -19.39% | 62.95 Hz / 50.74 Hz | Δ 24.06% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 13.01 ms | ∇ -19.45% | 95.42 Hz / 76.86 Hz | Δ 24.15% |
graph(2d): insertEdge x 1e3 | 158.24 us / 236.53 us | ∇ -33.10% | 6.32 KHz / 4.23 KHz | Δ 49.47% |
graph(2d,vec): insertEdge x 1e3 | 133.69 us / 246.73 us | ∇ -45.82% | 7.48 KHz / 4.05 KHz | Δ 84.56% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / 218.81 us | ∇ -61.42% | 11.84 KHz / 4.57 KHz | Δ 159.18% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / 209.21 us | ∇ -60.91% | 12.23 KHz / 4.78 KHz | Δ 155.83% |
graph(2d pdf): insertEdge x 1e3 | 207.17 us / 329.87 us | ∇ -37.20% | 4.83 KHz / 3.03 KHz | Δ 59.23% |
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / 303.60 us | ∇ -23.40% | 4.30 KHz / 3.29 KHz | Δ 30.54% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / 280.10 us | ∇ -11.91% | 4.05 KHz / 3.57 KHz | Δ 13.52% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / 284.27 us | ∇ -32.25% | 5.19 KHz / 3.52 KHz | Δ 47.60% |
graph(2d): insertEdge x 1e4 | 2.08 ms / 2.72 ms | ∇ -23.55% | 480.05 Hz / 367.00 Hz | Δ 30.80% |
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / 2.73 ms | ∇ -40.72% | 618.53 Hz / 366.67 Hz | Δ 68.69% |
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / 1.95 ms | ∇ -55.42% | 1.15 KHz / 512.34 Hz | Δ 124.30% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / 1.92 ms | ∇ -55.97% | 1.18 KHz / 519.87 Hz | Δ 127.13% |
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / 3.21 ms | ∇ -27.03% | 427.14 Hz / 311.68 Hz | Δ 37.04% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / 3.24 ms | ∇ -13.26% | 356.06 Hz / 308.83 Hz | Δ 15.29% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / 3.23 ms | ∇ -34.10% | 470.35 Hz / 309.95 Hz | Δ 51.75% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / 3.17 ms | ∇ -32.86% | 469.13 Hz / 314.97 Hz | Δ 48.94% |
graph(3d): insertEdge x 1e3 | 220.82 us / 274.22 us | ∇ -19.48% | 4.53 KHz / 3.65 KHz | Δ 24.19% |
graph(3d,vec): insertEdge x 1e3 | 221.81 us / 264.66 us | ∇ -16.19% | 4.51 KHz / 3.78 KHz | Δ 19.32% |
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / 263.97 us | ∇ -30.61% | 5.46 KHz / 3.79 KHz | Δ 44.10% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / 267.33 us | ∇ -30.23% | 5.36 KHz / 3.74 KHz | Δ 43.33% |
graph(3d pdf): insertEdge x 1e3 | 532.35 us / 589.01 us | ∇ -9.62% | 1.88 KHz / 1.70 KHz | Δ 10.64% |
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / 596.64 us | ∇ -9.83% | 1.86 KHz / 1.68 KHz | Δ 10.90% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / 562.97 us | ∇ -13.39% | 2.05 KHz / 1.78 KHz | Δ 15.46% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / 559.03 us | ∇ -11.72% | 2.03 KHz / 1.79 KHz | Δ 13.28% |
graph(3d): insertEdge x 1e4 | 2.78 ms / 3.23 ms | ∇ -14.01% | 359.55 Hz / 309.17 Hz | Δ 16.30% |
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / 3.13 ms | ∇ -11.43% | 360.52 Hz / 319.30 Hz | Δ 12.91% |
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / 2.62 ms | ∇ -20.09% | 477.61 Hz / 381.66 Hz | Δ 25.14% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / 2.55 ms | ∇ -19.37% | 487.11 Hz / 392.76 Hz | Δ 24.02% |
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / 6.11 ms | Δ 20.44% | 135.81 Hz / 163.57 Hz | ∇ -16.97% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / 5.61 ms | Δ 24.36% | 143.42 Hz / 178.36 Hz | ∇ -19.59% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / 5.21 ms | Δ 1.48% | 189.20 Hz / 192.01 Hz | ∇ -1.46% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / 5.18 ms | Δ 5.81% | 182.28 Hz / 192.88 Hz | ∇ -5.49% |
graph(3d): dijkstra 1e2 nodes | 90.55 us / 156.43 us | ∇ -42.11% | 11.04 KHz / 6.39 KHz | Δ 72.74% |
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / 192.33 us | ∇ -56.58% | 11.98 KHz / 5.20 KHz | Δ 130.32% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.18 ms | ∇ -47.96% | 882.20 Hz / 459.11 Hz | Δ 92.16% |
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / 1.80 ms | ∇ -57.38% | 1.30 KHz / 555.25 Hz | Δ 134.60% |
graph(3d): dijkstra 1e4 nodes | 21.12 ms / 26.67 ms | ∇ -20.81% | 47.35 Hz / 37.50 Hz | Δ 26.27% |
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / 22.83 ms | ∇ -52.43% | 92.06 Hz / 43.80 Hz | Δ 110.21% |
graph(3d): dijkstra 1e5 nodes | 341.35 ms / 307.16 ms | Δ 11.13% | 2.93 Hz / 3.26 Hz | ∇ -10.02% |
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / 266.80 ms | ∇ -46.58% | 7.02 Hz / 3.75 Hz | Δ 87.19% |
graph(2d): dijkstra 1e5 nodes | 320.28 ms / 302.10 ms | Δ 6.02% | 3.12 Hz / 3.31 Hz | ∇ -5.68% |
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / 262.78 ms | ∇ -49.14% | 7.48 Hz / 3.81 Hz | Δ 96.61% |