Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 37.14 ms | ∇ -44.57% | 48.58 Hz / 26.93 Hz | Δ 80.40% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 36.34 ms | ∇ -43.20% | 48.45 Hz / 27.52 Hz | Δ 76.07% |
poses: CPose3D (+) CPose3D | 42.90 ns / 197.08 ns | ∇ -78.23% | 23.31 MHz / 5.07 MHz | Δ 359.38% |
poses: CPose3D.composeFrom() | 37.61 ns / 33.62 ns | Δ 11.85% | 26.59 MHz / 29.74 MHz | ∇ -10.60% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 25.13 ns | ∇ -71.15% | 137.89 MHz / 39.79 MHz | Δ 246.59% |
poses: CPose3D.composePoint() | 11.83 ns / 21.31 ns | ∇ -44.48% | 84.53 MHz / 46.94 MHz | Δ 80.10% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 89.96 ns | ∇ -56.30% | 25.44 MHz / 11.12 MHz | Δ 128.85% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 47.25 ns | ∇ -26.12% | 28.65 MHz / 21.17 MHz | Δ 35.35% |
poses: CPose2D (+) CPose2D | 76.08 ns / 108.63 ns | ∇ -29.96% | 13.14 MHz / 9.21 MHz | Δ 42.78% |
poses: CPose2D.composeFrom() | 61.61 ns / 94.77 ns | ∇ -34.99% | 16.23 MHz / 10.55 MHz | Δ 53.82% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 80.61 ns | ∇ -25.24% | 16.59 MHz / 12.41 MHz | Δ 33.76% |
poses: CPose2D.composePoint() | 62.26 ns / 67.32 ns | ∇ -7.51% | 16.06 MHz / 14.85 MHz | Δ 8.13% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 81.31 ns | ∇ -49.59% | 24.40 MHz / 12.30 MHz | Δ 98.36% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 51.56 ns | ∇ -23.61% | 25.39 MHz / 19.39 MHz | Δ 30.91% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 55.91 ns | ∇ -67.26% | 54.63 MHz / 17.89 MHz | Δ 205.45% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 32.73 ns | ∇ -45.18% | 55.74 MHz / 30.55 MHz | Δ 82.43% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 124.02 ns | ∇ -55.28% | 18.03 MHz / 8.06 MHz | Δ 123.63% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 30.61 ns | ∇ -42.30% | 56.63 MHz / 32.67 MHz | Δ 73.31% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 28.12 ns | ∇ -40.31% | 59.58 MHz / 35.56 MHz | Δ 67.54% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 216.84 ns | ∇ -21.89% | 5.90 MHz / 4.61 MHz | Δ 28.03% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 1.24 us | Δ 64337.86% | 1.25 KHz / 806.40 KHz | ∇ -99.84% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 1.20 us | Δ 67019.96% | 1.24 KHz / 835.55 KHz | ∇ -99.85% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 20.15 us | ∇ -53.14% | 105.91 KHz / 49.63 KHz | Δ 113.41% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 817.60 ns | ∇ -20.63% | 1.54 MHz / 1.22 MHz | Δ 26.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 823.40 ns | ∇ -23.37% | 1.58 MHz / 1.21 MHz | Δ 30.49% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 19.09 us | ∇ -57.17% | 122.30 KHz / 52.39 KHz | Δ 133.46% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 49.67 ns | ∇ -50.82% | 40.94 MHz / 20.13 MHz | Δ 103.33% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 50.90 ns | ∇ -54.46% | 43.14 MHz / 19.64 MHz | Δ 119.59% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 180.98 ns | ∇ -67.12% | 16.81 MHz / 5.53 MHz | Δ 204.15% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 177.90 ns | ∇ -65.00% | 16.06 MHz / 5.62 MHz | Δ 185.71% |
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 / 6.63 ns | ∇ -74.32% | 587.20 MHz / 150.81 MHz | Δ 289.35% |
matrix: unit, fix[double,6,6] | 2.77 ns / 8.86 ns | ∇ -68.72% | 361.01 MHz / 112.91 MHz | Δ 219.72% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 680.28 ns | ∇ -87.39% | 11.66 MHz / 1.47 MHz | Δ 692.86% |
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 / 458.35 ns | ∇ -83.44% | 13.18 MHz / 2.18 MHz | Δ 503.88% |
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 / 680.46 ns | ∇ -82.64% | 8.47 MHz / 1.47 MHz | Δ 476.17% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 35.28 ns | Δ 26.69% | 22.37 MHz / 28.34 MHz | ∇ -21.07% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 514.01 ns | ∇ -78.50% | 9.05 MHz / 1.95 MHz | Δ 365.17% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 3.40 ns | Δ 1230.65% | 22.12 MHz / 294.39 MHz | ∇ -92.48% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 5.18 us | Δ 4.95% | 183.95 KHz / 193.06 KHz | ∇ -4.72% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 4.56 us | ∇ -17.15% | 264.87 KHz / 219.44 KHz | Δ 20.70% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 3.79 us | Δ 46.24% | 180.38 KHz / 263.78 KHz | ∇ -31.62% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 2.92 us | Δ 39.37% | 245.43 KHz / 342.06 KHz | ∇ -28.25% |
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 / 1.50 us | ∇ -57.15% | 1.55 MHz / 665.44 KHz | Δ 133.35% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 9.51 ns | Δ 310.04% | 25.64 MHz / 105.14 MHz | ∇ -75.61% |
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 / 3.90 us | ∇ -67.70% | 793.02 KHz / 256.17 KHz | Δ 209.57% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 3.54 us | ∇ -83.76% | 1.74 MHz / 282.49 KHz | Δ 515.65% |
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 / 34.19 us | ∇ -24.67% | 38.83 KHz / 29.25 KHz | Δ 32.75% |
matrix: inv, fix[double] 20x20 | 17.04 us / 29.35 us | ∇ -41.95% | 58.69 KHz / 34.07 KHz | Δ 72.27% |
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 / 134.24 us | Δ 54.35% | 4.83 KHz / 7.45 KHz | ∇ -35.21% |
matrix: inv, fix[double] 40x40 | 133.80 us / 126.45 us | Δ 5.82% | 7.47 KHz / 7.91 KHz | ∇ -5.50% |
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 / 601.74 ns | ∇ -98.94% | 156.25 MHz / 1.66 MHz | Δ 9302.19% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 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 / 872.81 ns | ∇ -98.82% | 97.09 MHz / 1.15 MHz | Δ 8373.87% |
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 / 2.32 us | ∇ -68.58% | 1.37 MHz / 430.29 KHz | Δ 218.22% |
matrix: det, fix[double] 6x6 | 212.10 ns / 2.17 us | ∇ -90.23% | 4.71 MHz / 460.60 KHz | Δ 923.61% |
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 / 23.14 us | ∇ -71.63% | 152.33 KHz / 43.22 KHz | Δ 252.43% |
matrix: det, fix[double] 20x20 | 5.04 us / 21.38 us | ∇ -76.42% | 198.38 KHz / 46.78 KHz | Δ 324.09% |
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 / 92.83 us | ∇ -57.55% | 25.37 KHz / 10.77 KHz | Δ 135.55% |
matrix: det, fix[double] 40x40 | 29.04 us / 90.97 us | ∇ -68.08% | 34.44 KHz / 10.99 KHz | Δ 213.29% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 892.24 ns | ∇ -84.31% | 7.14 MHz / 1.12 MHz | Δ 537.31% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 249.10 ns | ∇ -35.77% | 6.25 MHz / 4.01 MHz | Δ 55.69% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 41.12 us | ∇ -55.31% | 54.41 KHz / 24.32 KHz | Δ 123.75% |
matrix: chol, fix[double] 40x40 | 17.08 us / 26.92 us | ∇ -36.54% | 58.55 KHz / 37.15 KHz | Δ 57.59% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 15.31 us | ∇ -45.78% | 120.48 KHz / 65.32 KHz | Δ 84.44% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 116.85 us | ∇ -27.77% | 11.85 KHz / 8.56 KHz | Δ 38.45% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 98.96 us | ∇ -46.44% | 18.87 KHz / 10.10 KHz | Δ 86.72% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 55.18 us | ∇ -28.43% | 25.32 KHz / 18.12 KHz | Δ 39.73% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 498.07 us | ∇ -17.34% | 2.43 KHz / 2.01 KHz | Δ 20.98% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 133.40 us | ∇ -44.46% | 13.50 KHz / 7.50 KHz | Δ 80.05% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 4.99 ms | Δ 107.92% | 96.33 Hz / 200.30 Hz | ∇ -51.91% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 243.96 us | Δ 1.96% | 4.02 KHz / 4.10 KHz | ∇ -1.92% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 30.03 ms | Δ 1134.43% | 2.70 Hz / 33.31 Hz | ∇ -91.90% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 486.08 us | ∇ -27.26% | 2.83 KHz / 2.06 KHz | Δ 37.48% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 51.94 ms | Δ 603.75% | 2.74 Hz / 19.25 Hz | ∇ -85.79% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 583.78 us | ∇ -27.15% | 2.35 KHz / 1.71 KHz | Δ 37.27% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 76.91 ms | Δ 935.08% | 1.26 Hz / 13.00 Hz | ∇ -90.34% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 649.31 us | ∇ -24.41% | 2.04 KHz / 1.54 KHz | Δ 32.30% |
gridmap2D: getCell | 0.00 ns / 6.44 ns | ∇ -100.00% | 1.#J THz / 155.25 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 9.52 ns | ∇ -72.92% | 387.76 MHz / 105.00 MHz | Δ 269.29% |
gridmap2D: updateCell | 7.44 ns / 9.85 ns | ∇ -24.40% | 134.32 MHz / 101.55 MHz | Δ 32.27% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.47 ns | ∇ -62.57% | 1.82 GHz / 679.40 MHz | Δ 167.18% |
gridmap2D: insert scan w/o widening | 101.23 us / 225.20 us | ∇ -55.05% | 9.88 KHz / 4.44 KHz | Δ 122.47% |
gridmap2D: insert scan with widening | 291.30 us / 365.80 us | ∇ -20.37% | 3.43 KHz / 2.73 KHz | Δ 25.57% |
gridmap2D: resize | 1.89 ms / 2.56 ms | ∇ -26.38% | 529.66 Hz / 389.96 Hz | Δ 35.83% |
gridmap2D: computeLikelihood | 16.46 us / 21.14 us | ∇ -22.16% | 60.76 KHz / 47.30 KHz | Δ 28.46% |
pointmap: insert 100 scans | 3.10 ms / 3.27 ms | ∇ -5.20% | 322.50 Hz / 305.75 Hz | Δ 5.48% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.03 us | ∇ -29.05% | 233.64 KHz / 165.76 KHz | Δ 40.95% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 579.42 us | ∇ -38.64% | 2.81 KHz / 1.73 KHz | Δ 62.98% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 6.14 ms | ∇ -32.21% | 240.24 Hz / 162.87 Hz | Δ 47.51% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 6.68 us | ∇ -28.80% | 210.08 KHz / 149.59 KHz | Δ 40.44% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 519.96 us | ∇ -30.15% | 2.75 KHz / 1.92 KHz | Δ 43.16% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 6.64 ms | ∇ -38.32% | 244.29 Hz / 150.68 Hz | Δ 62.12% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.95 us | ∇ -29.30% | 723.59 KHz / 511.57 KHz | Δ 41.45% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 167.14 us | ∇ -39.61% | 9.91 KHz / 5.98 KHz | Δ 65.60% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 17.45 ms | ∇ -31.75% | 83.95 Hz / 57.30 Hz | Δ 46.52% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 9.11 ms | ∇ -38.35% | 178.01 Hz / 109.75 Hz | Δ 62.20% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 210.71 ms | ∇ -37.94% | 7.65 Hz / 4.75 Hz | Δ 61.14% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 8.38 ms | ∇ -32.31% | 176.35 Hz / 119.37 Hz | Δ 47.73% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 198.71 ms | ∇ -33.25% | 7.54 Hz / 5.03 Hz | Δ 49.82% |
random: drawUniform32bit | 14.57 ns / 7.57 ns | Δ 92.49% | 68.63 MHz / 132.11 MHz | ∇ -48.05% |
random: drawUniform | 14.62 ns / 7.60 ns | Δ 92.30% | 68.41 MHz / 131.54 MHz | ∇ -48.00% |
random: drawGaussian1D_normalized | 68.70 ns / 58.48 ns | Δ 17.48% | 14.56 MHz / 17.10 MHz | ∇ -14.88% |
random: drawGaussian1D | 68.68 ns / 57.62 ns | Δ 19.19% | 14.56 MHz / 17.35 MHz | ∇ -16.10% |
random: system rand() | 10.45 ns / 29.43 ns | ∇ -64.48% | 95.67 MHz / 33.98 MHz | Δ 181.53% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.95 us | ∇ -55.65% | 764.77 KHz / 339.21 KHz | Δ 125.46% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 3.53 us | ∇ -21.17% | 358.92 KHz / 282.92 KHz | Δ 26.86% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 145.71 ns | Δ 8.61% | 6.32 MHz / 6.86 MHz | ∇ -7.93% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 227.37 ns | Δ 3.98% | 4.23 MHz / 4.40 MHz | ∇ -3.83% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 514.56 ns | ∇ -4.90% | 2.04 MHz / 1.94 MHz | Δ 5.15% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 170.42 ns | ∇ -3.40% | 6.07 MHz / 5.87 MHz | Δ 3.52% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 283.60 ns | ∇ -12.51% | 4.03 MHz / 3.53 MHz | Δ 14.30% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 661.22 ns | ∇ -22.14% | 1.94 MHz / 1.51 MHz | Δ 28.43% |
random: permuteVector (len=10) | 317.50 ns / 304.45 ns | Δ 4.29% | 3.15 MHz / 3.28 MHz | ∇ -4.11% |
random: permuteVector (len=100) | 3.06 us / 3.47 us | ∇ -11.67% | 326.54 KHz / 288.42 KHz | Δ 13.22% |
random: permuteVector (len=1000) | 30.27 us / 37.99 us | ∇ -20.31% | 33.04 KHz / 26.33 KHz | Δ 25.49% |
math: round | 0.10 ns / 0.00 ns | Δ 2188399.22% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 33.06 ms | ∇ -17.52% | 36.67 Hz / 30.25 Hz | Δ 21.24% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 50.64 ms | ∇ -14.55% | 23.11 Hz / 19.75 Hz | Δ 17.02% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 82.66 ms | ∇ -9.66% | 13.39 Hz / 12.10 Hz | Δ 10.70% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 27.36 ms | ∇ -3.83% | 38.01 Hz / 36.56 Hz | Δ 3.98% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 43.25 ms | ∇ -5.40% | 24.44 Hz / 23.12 Hz | Δ 5.71% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 66.55 ms | ∇ -6.00% | 15.99 Hz / 15.03 Hz | Δ 6.39% |
images: Gauss filter (640x480) | 4.48 ms / 5.57 ms | ∇ -19.52% | 223.01 Hz / 179.49 Hz | Δ 24.25% |
images: Gauss filter (800x600) | 7.46 ms / 8.84 ms | ∇ -15.64% | 134.07 Hz / 113.10 Hz | Δ 18.54% |
images: Gauss filter (1024x768) | 12.41 ms / 14.37 ms | ∇ -13.64% | 80.57 Hz / 69.58 Hz | Δ 15.80% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 21.97 us | ∇ -76.55% | 194.17 KHz / 45.52 KHz | Δ 326.53% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 22.01 us | ∇ -80.23% | 229.89 KHz / 45.44 KHz | Δ 405.91% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 12.71 us | ∇ -83.32% | 471.70 KHz / 78.69 KHz | Δ 499.47% |
feature_extraction [640x480]: Harris | 33.18 ms / 38.32 ms | ∇ -13.41% | 30.14 Hz / 26.10 Hz | Δ 15.48% |
feature_extraction [640x480]: KLT | 29.64 ms / 37.22 ms | ∇ -20.37% | 33.74 Hz / 26.87 Hz | Δ 25.58% |
feature_extraction [640x480]: SIFT | 637.68 ms / 739.68 ms | ∇ -13.79% | 1.57 Hz / 1.35 Hz | Δ 16.00% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 232.95 ms | ∇ -25.67% | 5.78 Hz / 4.29 Hz | Δ 34.54% |
feature_extraction [640x480]: SURF | 202.84 ms / 309.97 ms | ∇ -34.56% | 4.93 Hz / 3.23 Hz | Δ 52.82% |
feature_extraction [640x480]: FAST | 5.10 ms / 6.88 ms | ∇ -25.87% | 195.94 Hz / 145.25 Hz | Δ 34.90% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 88.28 ms | ∇ -30.65% | 16.33 Hz / 11.33 Hz | Δ 44.21% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 59.68 ms | ∇ -26.45% | 22.78 Hz / 16.76 Hz | Δ 35.96% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 58.57 ms | ∇ -34.57% | 26.09 Hz / 17.07 Hz | Δ 52.83% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.50 sec | ∇ -14.67% | 782.87 mHz / 668.02 mHz | Δ 17.19% |
feature_matching [640x480]: SURF | 387.99 ms / 621.62 ms | ∇ -37.58% | 2.58 Hz / 1.61 Hz | Δ 60.21% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 21.69 ms | ∇ -27.48% | 63.57 Hz / 46.10 Hz | Δ 37.90% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 12.64 ms | ∇ -16.44% | 94.70 Hz / 79.13 Hz | Δ 19.68% |
graph(2d): insertEdge x 1e3 | 104.46 us / 301.62 us | ∇ -65.37% | 9.57 KHz / 3.32 KHz | Δ 188.74% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 274.69 us | ∇ -68.99% | 11.74 KHz / 3.64 KHz | Δ 222.45% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 415.87 us | ∇ -67.62% | 7.43 KHz / 2.40 KHz | Δ 208.85% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 377.54 us | ∇ -68.24% | 8.34 KHz / 2.65 KHz | Δ 214.91% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 4.14 ms | ∇ -66.54% | 721.96 Hz / 241.59 Hz | Δ 198.84% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 2.94 ms | ∇ -70.98% | 1.17 KHz / 339.77 Hz | Δ 244.62% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 4.77 ms | ∇ -66.30% | 621.80 Hz / 209.57 Hz | Δ 196.70% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 4.05 ms | ∇ -70.38% | 832.81 Hz / 246.64 Hz | Δ 237.65% |
graph(3d): insertEdge x 1e3 | 132.91 us / 381.69 us | ∇ -65.18% | 7.52 KHz / 2.62 KHz | Δ 187.18% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 339.57 us | ∇ -67.87% | 9.17 KHz / 2.94 KHz | Δ 211.22% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 688.91 us | ∇ -49.23% | 2.86 KHz / 1.45 KHz | Δ 96.98% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 683.24 us | ∇ -52.94% | 3.11 KHz / 1.46 KHz | Δ 112.49% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 3.89 ms | ∇ -51.35% | 529.10 Hz / 257.39 Hz | Δ 105.56% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 3.59 ms | ∇ -69.36% | 910.25 Hz / 278.91 Hz | Δ 226.36% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 7.80 ms | ∇ -40.45% | 215.20 Hz / 128.15 Hz | Δ 67.92% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 7.49 ms | ∇ -45.93% | 246.81 Hz / 133.45 Hz | Δ 84.94% |
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 |