Test description | 0.9.4-GCC-64bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.74 ms / 21.60 ms | ∇ -3.96% | 48.21 Hz / 46.30 Hz | Δ 4.12% |
icp-slam (match grid): Run with sample dataset | 17.09 ms / 20.51 ms | ∇ -16.69% | 58.52 Hz / 48.75 Hz | Δ 20.03% |
poses: CPose3D (+) CPose3D | 29.76 ns / 449.02 ns | ∇ -93.37% | 33.60 MHz / 2.23 MHz | Δ 1408.80% |
poses: CPose3D.composeFrom() | 21.90 ns / 233.83 ns | ∇ -90.63% | 45.66 MHz / 4.28 MHz | Δ 967.72% |
poses: CPose3D (+) CPoint3D | 7.23 ns / 10.67 ns | ∇ -32.18% | 138.24 MHz / 93.76 MHz | Δ 47.44% |
poses: CPose3D.composePoint() | 11.67 ns / 10.06 ns | Δ 16.00% | 85.68 MHz / 99.38 MHz | ∇ -13.79% |
poses: CPoint3D (-) CPose3D | 13.29 ns / 37.71 ns | ∇ -64.77% | 75.27 MHz / 26.52 MHz | Δ 183.82% |
poses: CPose3D.inverseComposePoint() | 24.48 ns / 40.98 ns | ∇ -40.26% | 40.85 MHz / 24.40 MHz | Δ 67.39% |
poses: CPose2D (+) CPose2D | 71.64 ns / 78.17 ns | ∇ -8.35% | 13.96 MHz / 12.79 MHz | Δ 9.11% |
poses: CPose2D.composeFrom() | 69.41 ns / 62.17 ns | Δ 11.64% | 14.41 MHz / 16.08 MHz | ∇ -10.43% |
poses: CPose2D (+) CPoint2D | 60.78 ns / 63.86 ns | ∇ -4.84% | 16.45 MHz / 15.66 MHz | Δ 5.08% |
poses: CPose2D.composePoint() | 60.80 ns / 61.98 ns | ∇ -1.90% | 16.45 MHz / 16.13 MHz | Δ 1.94% |
poses: CPose3DQuat (+) CPose3DQuat | 40.47 ns / 47.00 ns | ∇ -13.89% | 24.71 MHz / 21.28 MHz | Δ 16.14% |
poses: CPose3DQuat.composeFrom() | 37.55 ns / 39.80 ns | ∇ -5.65% | 26.63 MHz / 25.13 MHz | Δ 5.99% |
poses: CPose3DQuat (+) CPoint3D | 17.39 ns / 22.62 ns | ∇ -23.13% | 57.51 MHz / 44.21 MHz | Δ 30.09% |
poses: CPose3DQuat.composePoint() | 17.48 ns / 18.93 ns | ∇ -7.64% | 57.20 MHz / 52.83 MHz | Δ 8.27% |
poses: CPoint3D (-) CPose3DQuat | 32.97 ns / 391.26 ns | ∇ -91.57% | 30.33 MHz / 2.56 MHz | Δ 1086.78% |
poses: CPose3DQuat.invcomposePoint() | 19.11 ns / 18.05 ns | Δ 5.83% | 52.34 MHz / 55.39 MHz | ∇ -5.51% |
poses: Conv CPose3DQuat <- CPose3D | 23.42 ns / 355.00 ns | ∇ -93.40% | 42.70 MHz / 2.82 MHz | Δ 1415.80% |
poses: Conv CPose3D -> CPose3DQuat | 172.72 ns / 173.19 ns | ∇ -0.28% | 5.79 MHz / 5.77 MHz | Δ 0.28% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 671.00 ns / 814.76 us | ∇ -99.92% | 1.49 MHz / 1.23 KHz | Δ 121324.37% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 652.00 ns / 821.91 us | ∇ -99.92% | 1.53 MHz / 1.22 KHz | Δ 125959.59% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 8.74 us / 9.57 us | ∇ -8.67% | 114.40 KHz / 104.48 KHz | Δ 9.50% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 454.10 ns / 682.30 ns | ∇ -33.45% | 2.20 MHz / 1.47 MHz | Δ 50.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 452.90 ns / 533.80 ns | ∇ -15.16% | 2.21 MHz / 1.87 MHz | Δ 17.86% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 7.98 us / 8.51 us | ∇ -6.33% | 125.39 KHz / 117.45 KHz | Δ 6.76% |
matrix: unit, dyn[float], 3x3 | 17.64 ns / 20.59 ns | ∇ -14.36% | 56.71 MHz / 48.56 MHz | Δ 16.77% |
matrix: unit, dyn[double], 3x3 | 19.86 ns / 22.60 ns | ∇ -12.13% | 50.34 MHz / 44.24 MHz | Δ 13.80% |
matrix: unit, dyn[float], 6x6 | 57.06 ns / 63.92 ns | ∇ -10.75% | 17.53 MHz / 15.64 MHz | Δ 12.04% |
matrix: unit, dyn[double], 6x6 | 60.00 ns / 65.22 ns | ∇ -8.00% | 16.67 MHz / 15.33 MHz | Δ 8.70% |
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] | 0.00 ns / 1.68 ns | ∇ -100.00% | 1.#J THz / 594.53 MHz | Δ 1.#J% |
matrix: unit, fix[double,6,6] | 0.00 ns / 2.86 ns | ∇ -100.00% | 1.#J THz / 349.53 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 242.70 ns / 73.50 ns | Δ 230.20% | 4.12 MHz / 13.61 MHz | ∇ -69.72% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 24.10 ns | ∇ -100.00% | 1.#J THz / 41.49 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 231.60 ns / 72.10 ns | Δ 221.22% | 4.32 MHz / 13.87 MHz | ∇ -68.87% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 296.50 ns / 112.90 ns | Δ 162.62% | 3.37 MHz / 8.86 MHz | ∇ -61.92% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.10 ns / 45.00 ns | ∇ -99.78% | 10.00 GHz / 22.22 MHz | Δ 44900.00% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 259.20 ns / 110.50 ns | Δ 134.57% | 3.86 MHz / 9.05 MHz | ∇ -57.37% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 45.10 ns | ∇ -100.00% | 1.#J THz / 22.17 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.09 us / 5.82 us | ∇ -64.01% | 477.69 KHz / 171.91 KHz | Δ 177.87% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 1.79 us / 3.57 us | ∇ -49.93% | 559.03 KHz / 279.91 KHz | Δ 99.72% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.43 us / 5.88 us | ∇ -58.72% | 411.68 KHz / 169.93 KHz | Δ 142.26% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.16 us / 3.82 us | ∇ -43.31% | 462.21 KHz / 262.04 KHz | Δ 76.39% |
matrix: inv, dyn[double] 3x3 | 767.00 ns / 413.00 ns | Δ 85.71% | 1.30 MHz / 2.42 MHz | ∇ -46.15% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 22.00 ns | ∇ -100.00% | 1.#J THz / 45.45 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.78 us / 1.25 us | Δ 42.51% | 561.80 KHz / 800.64 KHz | ∇ -29.83% |
matrix: inv, fix[double] 6x6 | 1.73 us / 578.00 ns | Δ 198.96% | 578.70 KHz / 1.73 MHz | ∇ -66.55% |
matrix: inv, dyn[double] 20x20 | 16.27 us / 28.58 us | ∇ -43.09% | 61.47 KHz / 34.98 KHz | Δ 75.72% |
matrix: inv, fix[double] 20x20 | 13.44 us / 17.20 us | ∇ -21.85% | 74.41 KHz / 58.15 KHz | Δ 27.96% |
matrix: inv, dyn[double] 40x40 | 68.00 us / 200.95 us | ∇ -66.16% | 14.70 KHz / 4.98 KHz | Δ 195.49% |
matrix: inv, fix[double] 40x40 | 63.01 us / 134.50 us | ∇ -53.16% | 15.87 KHz / 7.43 KHz | Δ 113.48% |
matrix: det, dyn[double] 2x2 | 209.40 ns / 8.80 ns | Δ 2279.55% | 4.78 MHz / 113.64 MHz | ∇ -95.80% |
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 / 10.30 ns | Δ 3116.50% | 3.02 MHz / 97.09 MHz | ∇ -96.89% |
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 / 739.10 ns | Δ 27.68% | 1.06 MHz / 1.35 MHz | ∇ -21.68% |
matrix: det, fix[double] 6x6 | 575.90 ns / 219.80 ns | Δ 162.01% | 1.74 MHz / 4.55 MHz | ∇ -61.83% |
matrix: det, dyn[double] 20x20 | 8.10 us / 6.52 us | Δ 24.25% | 123.40 KHz / 153.32 KHz | ∇ -19.51% |
matrix: det, fix[double] 20x20 | 7.48 us / 4.73 us | Δ 58.32% | 133.61 KHz / 211.54 KHz | ∇ -36.84% |
matrix: det, dyn[double] 40x40 | 30.87 us / 32.40 us | ∇ -4.70% | 32.39 KHz / 30.87 KHz | Δ 4.93% |
matrix: det, fix[double] 40x40 | 29.01 us / 27.53 us | Δ 5.39% | 34.47 KHz / 36.33 KHz | ∇ -5.12% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 170.00 ns | Δ 211.76% | 1.89 MHz / 5.88 MHz | ∇ -67.92% |
matrix: chol, fix[double] 4x4 | 120.00 ns / 130.00 ns | ∇ -7.69% | 8.33 MHz / 7.69 MHz | Δ 8.33% |
matrix: chol, dyn[double] 40x40 | 20.70 us / 18.73 us | Δ 10.52% | 48.31 KHz / 53.39 KHz | ∇ -9.52% |
matrix: chol, fix[double] 40x40 | 16.54 us / 16.74 us | ∇ -1.19% | 60.46 KHz / 59.74 KHz | Δ 1.21% |
matrix: chol, sparse [2x2;2x2] | 12.20 us / 8.50 us | Δ 43.53% | 81.97 KHz / 117.65 KHz | ∇ -30.33% |
matrix: chol, sparse [30x30;10x10] | 87.70 us / 93.90 us | ∇ -6.60% | 11.40 KHz / 10.65 KHz | Δ 7.07% |
matrix: chol, dyn[double] 10x[6x6] | 51.70 us / 52.90 us | ∇ -2.27% | 19.34 KHz / 18.90 KHz | Δ 2.32% |
matrix: chol, sparse 10x[6x6] | 38.27 us / 40.03 us | ∇ -4.40% | 26.13 KHz / 24.98 KHz | Δ 4.60% |
matrix: chol, dyn[double] 20x[6x6] | 255.50 us / 411.30 us | ∇ -37.88% | 3.91 KHz / 2.43 KHz | Δ 60.98% |
matrix: chol, sparse 20x[6x6] | 70.94 us / 74.98 us | ∇ -5.39% | 14.10 KHz / 13.34 KHz | Δ 5.69% |
matrix: chol, dyn[double] 50x[6x6] | 2.75 ms / 8.61 ms | ∇ -68.05% | 363.64 Hz / 116.18 Hz | Δ 212.99% |
matrix: chol, sparse 50x[6x6] | 169.22 us / 185.35 us | ∇ -8.70% | 5.91 KHz / 5.40 KHz | Δ 9.53% |
matrix: chol, dyn[double] 100x[6x6] | 22.06 ms / 135.40 ms | ∇ -83.71% | 45.33 Hz / 7.39 Hz | Δ 513.78% |
matrix: chol, sparse 100x[6x6] | 339.61 us / 359.80 us | ∇ -5.61% | 2.94 KHz / 2.78 KHz | Δ 5.95% |
matrix: chol, dyn[double] 120x[6x6] | 36.67 ms / 364.32 ms | ∇ -89.94% | 27.27 Hz / 2.74 Hz | Δ 893.59% |
matrix: chol, sparse 120x[6x6] | 402.38 us / 426.39 us | ∇ -5.63% | 2.49 KHz / 2.35 KHz | Δ 5.97% |
matrix: chol, dyn[double] 140x[6x6] | 53.86 ms / 800.16 ms | ∇ -93.27% | 18.57 Hz / 1.25 Hz | Δ 1385.56% |
matrix: chol, sparse 140x[6x6] | 476.81 us / 497.60 us | ∇ -4.18% | 2.10 KHz / 2.01 KHz | Δ 4.36% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.71 ns / 2.58 ns | Δ 4.84% | 369.33 MHz / 387.19 MHz | ∇ -4.61% |
gridmap2D: updateCell | 6.04 ns / 7.47 ns | ∇ -19.20% | 165.59 MHz / 133.80 MHz | Δ 23.76% |
gridmap2D: updateCell_fast_occupied | 0.61 ns / 0.55 ns | Δ 12.51% | 1.63 GHz / 1.83 GHz | ∇ -11.12% |
gridmap2D: insert scan w/o widening | 99.83 us / 104.80 us | ∇ -4.74% | 10.02 KHz / 9.54 KHz | Δ 4.97% |
gridmap2D: insert scan with widening | 293.13 us / 295.32 us | ∇ -0.74% | 3.41 KHz / 3.39 KHz | Δ 0.75% |
gridmap2D: resize | 630.00 us / 1.83 ms | ∇ -65.50% | 1.59 KHz / 547.65 Hz | Δ 189.84% |
gridmap2D: computeLikelihood | 17.81 us / 16.65 us | Δ 6.97% | 56.14 KHz / 60.06 KHz | ∇ -6.52% |
pointmap: insert 100 scans | 1.01 ms / 3.11 ms | ∇ -67.58% | 990.80 Hz / 321.23 Hz | Δ 208.44% |
pointmap: build 2D kd-tree of 1 scan | 4.52 us / 4.28 us | Δ 5.61% | 221.24 KHz / 233.64 KHz | ∇ -5.31% |
pointmap: build 2D kd-tree of 100 scan | 364.44 us / 354.96 us | Δ 2.67% | 2.74 KHz / 2.82 KHz | ∇ -2.60% |
pointmap: build 2D kd-tree of 1000 scan | 4.38 ms / 4.14 ms | Δ 5.90% | 228.21 Hz / 241.67 Hz | ∇ -5.57% |
pointmap: build 3D kd-tree of 1 scan | 5.16 us / 4.28 us | Δ 20.56% | 193.80 KHz / 233.64 KHz | ∇ -17.05% |
pointmap: build 3D kd-tree of 100 scan | 372.44 us / 361.24 us | Δ 3.10% | 2.68 KHz / 2.77 KHz | ∇ -3.01% |
pointmap: build 3D kd-tree of 1000 scan | 4.20 ms / 4.09 ms | Δ 2.77% | 238.06 Hz / 244.66 Hz | ∇ -2.70% |
pointmap: kd-tree 2d query on 10 scans | 1.42 us / 1.37 us | Δ 3.87% | 703.73 KHz / 730.99 KHz | ∇ -3.73% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 98.96 us | Δ 2.92% | 9.82 KHz / 10.10 KHz | ∇ -2.84% |
pointmap: kd-tree 2d query on 10000 scans | 12.17 ms / 11.96 ms | Δ 1.81% | 82.15 Hz / 83.64 Hz | ∇ -1.78% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.64 ms / 5.60 ms | Δ 0.70% | 177.25 Hz / 178.50 Hz | ∇ -0.70% |
pointmap: (insert scan+2D kd-tree query) x 50 | 132.76 ms / 129.56 ms | Δ 2.47% | 7.53 Hz / 7.72 Hz | ∇ -2.41% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.71 ms / 5.65 ms | Δ 1.02% | 175.04 Hz / 176.84 Hz | ∇ -1.01% |
pointmap: (insert scan+3D kd-tree query) x 50 | 134.74 ms / 132.43 ms | Δ 1.74% | 7.42 Hz / 7.55 Hz | ∇ -1.71% |
random: drawUniform32bit | 14.55 ns / 15.70 ns | ∇ -7.35% | 68.75 MHz / 63.70 MHz | Δ 7.93% |
random: drawUniform | 14.56 ns / 15.69 ns | ∇ -7.24% | 68.69 MHz / 63.72 MHz | Δ 7.80% |
random: drawGaussian1D_normalized | 66.87 ns / 70.40 ns | ∇ -5.02% | 14.96 MHz / 14.20 MHz | Δ 5.28% |
random: drawGaussian1D | 66.81 ns / 70.38 ns | ∇ -5.07% | 14.97 MHz / 14.21 MHz | Δ 5.34% |
random: system rand() | 10.63 ns / 11.07 ns | ∇ -3.97% | 94.11 MHz / 90.37 MHz | Δ 4.14% |
random: drawGaussianMultivariate(fixed 3x3) | 903.36 ns / 1.33 us | ∇ -32.07% | 1.11 MHz / 751.96 KHz | Δ 47.21% |
random: drawGaussianMultivariate(dyn 3x3) | 1.61 us / 3.04 us | ∇ -47.02% | 621.01 KHz / 328.99 KHz | Δ 88.76% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 144.65 ns / 162.81 ns | ∇ -11.15% | 6.91 MHz / 6.14 MHz | Δ 12.55% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 219.48 ns / 245.58 ns | ∇ -10.63% | 4.56 MHz / 4.07 MHz | Δ 11.89% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 472.80 ns / 514.74 ns | ∇ -8.15% | 2.12 MHz / 1.94 MHz | Δ 8.87% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 152.29 ns / 173.84 ns | ∇ -12.39% | 6.57 MHz / 5.75 MHz | Δ 14.15% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 235.04 ns / 259.42 ns | ∇ -9.40% | 4.25 MHz / 3.85 MHz | Δ 10.37% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 491.60 ns / 523.99 ns | ∇ -6.18% | 2.03 MHz / 1.91 MHz | Δ 6.59% |
random: permuteVector (len=10) | 243.60 ns / 288.60 ns | ∇ -15.59% | 4.11 MHz / 3.47 MHz | Δ 18.47% |
random: permuteVector (len=100) | 2.99 us / 3.07 us | ∇ -2.80% | 334.99 KHz / 325.61 KHz | Δ 2.88% |
random: permuteVector (len=1000) | 29.51 us / 30.26 us | ∇ -2.45% | 33.88 KHz / 33.05 KHz | Δ 2.52% |
math: round | 0.10 ns / 0.10 ns | ∇ -3.11% | 10.08 GHz / 9.77 GHz | Δ 3.21% |
images: Save as JPEG (640x480, quality=95%) | 33.63 ms / 31.77 ms | Δ 5.85% | 29.74 Hz / 31.48 Hz | ∇ -5.53% |
images: Save as JPEG (800x600, quality=95%) | 49.85 ms / 45.70 ms | Δ 9.08% | 20.06 Hz / 21.88 Hz | ∇ -8.33% |
images: Save as JPEG (1024x768, quality=95%) | 69.59 ms / 73.33 ms | ∇ -5.11% | 14.37 Hz / 13.64 Hz | Δ 5.38% |
images: Save as JPEG (640x480, quality=75%) | 30.64 ms / 27.15 ms | Δ 12.85% | 32.63 Hz / 36.83 Hz | ∇ -11.39% |
images: Save as JPEG (800x600, quality=75%) | 43.91 ms / 40.31 ms | Δ 8.92% | 22.78 Hz / 24.81 Hz | ∇ -8.19% |
images: Save as JPEG (1024x768, quality=75%) | 62.52 ms / 64.44 ms | ∇ -2.97% | 15.99 Hz / 15.52 Hz | Δ 3.06% |
images: Gauss filter (640x480) | 3.81 ms / 4.52 ms | ∇ -15.78% | 262.76 Hz / 221.30 Hz | Δ 18.73% |
images: Gauss filter (800x600) | 5.96 ms / 7.35 ms | ∇ -18.88% | 167.70 Hz / 136.05 Hz | Δ 23.27% |
images: Gauss filter (1024x768) | 10.46 ms / 11.22 ms | ∇ -6.77% | 95.61 Hz / 89.13 Hz | Δ 7.26% |
images: Half sample GRAY (160x120) | 1.04 us / X | 961.54 KHz / X | ||
images: Half sample GRAY (320x240) | 2.91 us / X | 344.04 KHz / X | ||
images: Half sample GRAY (640x480) | 14.63 us / X | 68.35 KHz / X | ||
images: Half sample GRAY (800x600) | 27.61 us / X | 36.21 KHz / X | ||
images: Half sample GRAY (1024x768) | 43.98 us / X | 22.74 KHz / X | ||
images: Half sample GRAY (1280x1024) | 84.93 us / X | 11.77 KHz / X | ||
images: Half sample RGB (160x120) | 2.35 us / X | 426.14 KHz / X | ||
images: Half sample RGB (320x240) | 8.97 us / X | 111.44 KHz / X | ||
images: Half sample RGB (640x480) | 49.58 us / X | 20.17 KHz / X | ||
images: Half sample RGB (800x600) | 83.52 us / X | 11.97 KHz / X | ||
images: Half sample RGB (1024x768) | 175.02 us / X | 5.71 KHz / X | ||
images: Half sample RGB (1280x1024) | 434.33 us / X | 2.30 KHz / X | ||
images: Half sample smooth GRAY (160x120) | 1.52 us / X | 656.46 KHz / X | ||
images: Half sample smooth GRAY (320x240) | 5.05 us / X | 197.89 KHz / X | ||
images: Half sample smooth GRAY (640x480) | 27.35 us / X | 36.57 KHz / X | ||
images: Half sample smooth GRAY (800x600) | 41.00 us / X | 24.39 KHz / X | ||
images: Half sample smooth GRAY (1024x768) | 70.54 us / X | 14.18 KHz / X | ||
images: Half sample smooth GRAY (1280x1024) | 147.17 us / X | 6.80 KHz / X | ||
images: Half sample smooth RGB (160x120) | 87.34 us / X | 11.45 KHz / X | ||
images: Half sample smooth RGB (320x240) | 341.55 us / X | 2.93 KHz / X | ||
images: Half sample smooth RGB (640x480) | 1.35 ms / X | 740.73 Hz / X | ||
images: Half sample smooth RGB (800x600) | 2.13 ms / X | 468.44 Hz / X | ||
images: Half sample smooth RGB (1024x768) | 3.55 ms / X | 281.93 Hz / X | ||
images: Half sample smooth RGB (1280x1024) | 6.52 ms / X | 153.40 Hz / X | ||
images: RGB->GRAY 8u (40x30) | 3.88 us / X | 257.95 KHz / X | ||
images: RGB->GRAY 8u (80x60) | 2.78 us / X | 359.28 KHz / X | ||
images: RGB->GRAY 8u (160x120) | 9.91 us / X | 100.91 KHz / X | ||
images: RGB->GRAY 8u (320x240) | 39.89 us / X | 25.07 KHz / X | ||
images: RGB->GRAY 8u (640x480) | 157.22 us / X | 6.36 KHz / X | ||
images: RGB->GRAY 8u (800x600) | 266.94 us / X | 3.75 KHz / X | ||
images: RGB->GRAY 8u (1024x768) | 485.16 us / X | 2.06 KHz / X | ||
images: RGB->GRAY 8u (1280x1024) | 926.17 us / X | 1.08 KHz / X | ||
scan_matching: 6D LS Rigid Trans. [CPose3D] | 12.69 us / 6.32 us | Δ 100.79% | 78.80 KHz / 158.23 KHz | ∇ -50.20% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.85 us / 4.78 us | Δ 106.07% | 101.52 KHz / 209.21 KHz | ∇ -51.47% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.24 us / 2.14 us | Δ 144.86% | 190.84 KHz / 467.29 KHz | ∇ -59.16% |
feature_extraction [640x480]: Harris | 21.14 ms / 28.31 ms | ∇ -25.34% | 47.31 Hz / 35.32 Hz | Δ 33.94% |
feature_extraction [640x480]: KLT | 21.45 ms / 27.34 ms | ∇ -21.54% | 46.61 Hz / 36.57 Hz | Δ 27.45% |
feature_extraction [640x480]: SIFT | 591.25 ms / 641.91 ms | ∇ -7.89% | 1.69 Hz / 1.56 Hz | Δ 8.57% |
feature_extraction [640x480]: SIFT desc. | 162.82 ms / 170.65 ms | ∇ -4.59% | 6.14 Hz / 5.86 Hz | Δ 4.81% |
feature_extraction [640x480]: SURF | 197.33 ms / 201.21 ms | ∇ -1.93% | 5.07 Hz / 4.97 Hz | Δ 1.97% |
feature_extraction [640x480]: FAST | 6.89 ms / 5.22 ms | Δ 31.93% | 145.15 Hz / 191.49 Hz | ∇ -24.20% |
feature_extraction [640x480]: Spin desc. | 63.90 ms / 60.81 ms | Δ 5.08% | 15.65 Hz / 16.44 Hz | ∇ -4.83% |
feature_matching [640x480]: Harris + CC | 38.54 ms / 43.26 ms | ∇ -10.92% | 25.95 Hz / 23.12 Hz | Δ 12.26% |
feature_matching [640x480]: Harris + SAD | 33.59 ms / 39.91 ms | ∇ -15.84% | 29.77 Hz / 25.06 Hz | Δ 18.82% |
feature_matching [640x480]: SIFT | 1.16 sec / 1.28 sec | ∇ -9.28% | 863.45 mHz / 783.36 mHz | Δ 10.22% |
feature_matching [640x480]: SURF | 375.89 ms / 386.18 ms | ∇ -2.66% | 2.66 Hz / 2.59 Hz | Δ 2.74% |
feature_matching [640x480]: FAST + CC | 15.89 ms / 16.12 ms | ∇ -1.46% | 62.95 Hz / 62.03 Hz | Δ 1.48% |
feature_matching [640x480]: FAST + SAD | 10.48 ms / 10.93 ms | ∇ -4.15% | 95.42 Hz / 91.46 Hz | Δ 4.33% |
graph(2d): insertEdge x 1e3 | 158.24 us / X | 6.32 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 133.69 us / X | 7.48 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.43 us / X | 11.84 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 81.78 us / X | 12.23 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 207.17 us / X | 4.83 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 232.57 us / X | 4.30 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 246.74 us / X | 4.05 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 192.59 us / X | 5.19 KHz / X | ||
graph(2d): insertEdge x 1e4 | 2.08 ms / X | 480.05 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 1.62 ms / X | 618.53 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 870.19 us / X | 1.15 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.92 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 2.34 ms / X | 427.14 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 2.81 ms / X | 356.06 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 2.13 ms / X | 470.35 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 2.13 ms / X | 469.13 Hz / X | ||
graph(3d): insertEdge x 1e3 | 220.82 us / X | 4.53 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 221.81 us / X | 4.51 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 183.18 us / X | 5.46 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 186.52 us / X | 5.36 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 532.35 us / X | 1.88 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 537.98 us / X | 1.86 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 487.59 us / X | 2.05 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 493.50 us / X | 2.03 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.78 ms / X | 359.55 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 2.77 ms / X | 360.52 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 2.09 ms / X | 477.61 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 2.05 ms / X | 487.11 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.36 ms / X | 135.81 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 6.97 ms / X | 143.42 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 5.29 ms / X | 189.20 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 5.49 ms / X | 182.28 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 90.55 us / X | 11.04 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 83.50 us / X | 11.98 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.13 ms / X | 882.20 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 767.67 us / X | 1.30 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 21.12 ms / X | 47.35 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 10.86 ms / X | 92.06 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 341.35 ms / X | 2.93 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 142.53 ms / X | 7.02 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 320.28 ms / X | 3.12 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 133.66 ms / X | 7.48 Hz / X |