Test description | 0.9.2-GCC-64bit / 0.9.1-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 31.78 ms | ∇ -37.11% | 50.03 Hz / 31.46 Hz | Δ 59.00% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 53.70 ms | ∇ -64.08% | 51.84 Hz / 18.62 Hz | Δ 178.38% |
poses: CPose3D (+) CPose3D | 42.85 ns / 925.38 ns | ∇ -95.37% | 23.34 MHz / 1.08 MHz | Δ 2059.58% |
poses: CPose3D.composeFrom() | 37.80 ns / 617.00 ns | ∇ -93.87% | 26.46 MHz / 1.62 MHz | Δ 1532.29% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 35.98 ns | ∇ -79.84% | 137.89 MHz / 27.80 MHz | Δ 396.09% |
poses: CPose3D.composePoint() | 11.91 ns / 14.62 ns | ∇ -18.53% | 83.98 MHz / 68.42 MHz | Δ 22.74% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 75.43 ns | ∇ -35.06% | 20.42 MHz / 13.26 MHz | Δ 53.99% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 56.48 ns | ∇ -38.12% | 28.61 MHz / 17.70 MHz | Δ 61.60% |
poses: CPose2D (+) CPose2D | 78.58 ns / 121.60 ns | ∇ -35.38% | 12.73 MHz / 8.22 MHz | Δ 54.75% |
poses: CPose2D.composeFrom() | 70.31 ns / 66.63 ns | Δ 5.53% | 14.22 MHz / 15.01 MHz | ∇ -5.24% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 93.73 ns | ∇ -34.57% | 16.31 MHz / 10.67 MHz | Δ 52.83% |
poses: CPose2D.composePoint() | 65.17 ns / 62.24 ns | Δ 4.70% | 15.35 MHz / 16.07 MHz | ∇ -4.49% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 100.74 ns | ∇ -55.67% | 22.39 MHz / 9.93 MHz | Δ 125.57% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 57.92 ns | ∇ -31.93% | 25.36 MHz / 17.26 MHz | Δ 46.90% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 61.33 ns | ∇ -70.27% | 54.84 MHz / 16.31 MHz | Δ 236.31% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 27.34 ns | ∇ -34.40% | 55.75 MHz / 36.57 MHz | Δ 52.43% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 580.67 ns | ∇ -90.45% | 18.04 MHz / 1.72 MHz | Δ 947.65% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 28.18 ns | ∇ -37.41% | 56.69 MHz / 35.48 MHz | Δ 59.76% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 506.67 ns | ∇ -96.70% | 59.89 MHz / 1.97 MHz | Δ 2934.48% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 214.86 ns | ∇ -21.21% | 5.91 MHz / 4.65 MHz | Δ 26.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 1.56 us | Δ 48826.04% | 1.31 KHz / 642.96 KHz | ∇ -99.80% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 1.51 us | Δ 50392.33% | 1.31 KHz / 663.83 KHz | ∇ -99.80% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 23.29 us | ∇ -59.32% | 105.55 KHz / 42.94 KHz | Δ 145.81% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 1.64 us | ∇ -66.75% | 1.83 MHz / 609.77 KHz | Δ 200.75% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 1.66 us | ∇ -67.31% | 1.84 MHz / 600.84 KHz | Δ 205.89% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 16.05 us | ∇ -49.47% | 123.33 KHz / 62.32 KHz | Δ 97.90% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 39.66 ns | ∇ -47.25% | 47.81 MHz / 25.22 MHz | Δ 89.57% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 42.75 ns | ∇ -52.86% | 49.63 MHz / 23.39 MHz | Δ 112.15% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 152.29 ns | ∇ -64.52% | 18.51 MHz / 6.57 MHz | Δ 181.83% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 150.45 ns | ∇ -63.27% | 18.09 MHz / 6.65 MHz | Δ 172.23% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.30 ns | ∇ -89.50% | 2.89 GHz / 303.37 MHz | Δ 852.70% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.48 ns | ∇ -65.87% | 842.46 MHz / 287.56 MHz | Δ 192.97% |
matrix: unit, fix[float,6,6] | 1.70 ns / 3.06 ns | ∇ -44.44% | 588.93 MHz / 327.19 MHz | Δ 79.99% |
matrix: unit, fix[double,6,6] | 2.77 ns / 6.65 ns | ∇ -58.24% | 360.36 MHz / 150.48 MHz | Δ 139.47% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 167.81 ns | ∇ -56.44% | 13.68 MHz / 5.96 MHz | Δ 129.56% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 108.61 ns | ∇ -78.09% | 42.02 MHz / 9.21 MHz | Δ 356.34% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 158.88 ns | ∇ -54.43% | 13.81 MHz / 6.29 MHz | Δ 119.45% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 90.86 ns | ∇ -74.24% | 42.74 MHz / 11.01 MHz | Δ 288.27% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 272.47 ns | ∇ -59.45% | 9.05 MHz / 3.67 MHz | Δ 146.58% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 193.12 ns | ∇ -76.65% | 22.17 MHz / 5.18 MHz | Δ 328.21% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 238.91 ns | ∇ -51.32% | 8.60 MHz / 4.19 MHz | Δ 105.43% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 139.05 ns | ∇ -67.49% | 22.12 MHz / 7.19 MHz | Δ 207.62% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 16.80 us | ∇ -69.13% | 192.77 KHz / 59.51 KHz | Δ 223.94% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 13.06 us | ∇ -72.81% | 281.56 KHz / 76.57 KHz | Δ 267.72% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 13.55 us | ∇ -61.77% | 193.05 KHz / 73.81 KHz | Δ 161.57% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 9.96 us | ∇ -63.76% | 277.05 KHz / 100.40 KHz | Δ 175.95% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / 1.50 us | ∇ -77.83% | 3.00 MHz / 665.84 KHz | Δ 351.01% |
matrix: inv, fix[float ] 3x3 | 21.00 ns / 59.79 ns | ∇ -64.87% | 47.62 MHz / 16.73 MHz | Δ 184.69% |
matrix: inv, dyn[double] 3x3 | 329.00 ns / 1.53 us | ∇ -78.52% | 3.04 MHz / 652.84 KHz | Δ 365.58% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 31.25 ns | ∇ -32.80% | 47.62 MHz / 32.00 MHz | Δ 48.82% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / 5.07 us | ∇ -75.99% | 821.69 KHz / 197.26 KHz | Δ 316.56% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 1.33 us | ∇ -64.93% | 2.14 MHz / 749.46 KHz | Δ 185.11% |
matrix: inv, dyn[double] 6x6 | 1.20 us / 5.08 us | ∇ -76.38% | 832.64 KHz / 196.68 KHz | Δ 323.35% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 926.67 ns | ∇ -37.63% | 1.73 MHz / 1.08 MHz | Δ 60.32% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / 81.86 us | ∇ -69.17% | 39.62 KHz / 12.22 KHz | Δ 224.35% |
matrix: inv, fix[float ] 20x20 | 12.60 us / 40.71 us | ∇ -69.05% | 79.36 KHz / 24.56 KHz | Δ 223.09% |
matrix: inv, dyn[double] 20x20 | 25.64 us / 108.60 us | ∇ -76.39% | 39.01 KHz / 9.21 KHz | Δ 323.59% |
matrix: inv, fix[double] 20x20 | 17.36 us / 19.22 us | ∇ -9.68% | 57.60 KHz / 52.02 KHz | Δ 10.71% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / 609.15 us | ∇ -68.67% | 5.24 KHz / 1.64 KHz | Δ 219.16% |
matrix: inv, fix[float ] 40x40 | 88.89 us / 307.68 us | ∇ -71.11% | 11.25 KHz / 3.25 KHz | Δ 246.15% |
matrix: inv, dyn[double] 40x40 | 189.04 us / 818.27 us | ∇ -76.90% | 5.29 KHz / 1.22 KHz | Δ 332.86% |
matrix: inv, fix[double] 40x40 | 121.47 us / 136.18 us | ∇ -10.80% | 8.23 KHz / 7.34 KHz | Δ 12.11% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 9.15 ns | ∇ -30.05% | 156.25 MHz / 109.30 MHz | Δ 42.95% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 2x2 | 6.40 ns / 9.56 ns | ∇ -33.03% | 156.25 MHz / 104.64 MHz | Δ 49.32% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 3x3 | 10.30 ns / 19.70 ns | ∇ -47.72% | 97.09 MHz / 50.76 MHz | Δ 91.28% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 15.90 ns | ∇ -35.21% | 97.09 MHz / 62.90 MHz | Δ 54.34% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 6x6 | 692.40 ns / 2.32 us | ∇ -70.13% | 1.44 MHz / 431.38 KHz | Δ 234.79% |
matrix: det, fix[float ] 6x6 | 207.00 ns / 434.76 ns | ∇ -52.39% | 4.83 MHz / 2.30 MHz | Δ 110.03% |
matrix: det, dyn[double] 6x6 | 696.30 ns / 2.38 us | ∇ -70.73% | 1.44 MHz / 420.40 KHz | Δ 241.62% |
matrix: det, fix[double] 6x6 | 212.30 ns / 422.89 ns | ∇ -49.80% | 4.71 MHz / 2.36 MHz | Δ 99.19% |
matrix: det, dyn[float ] 20x20 | 5.39 us / 18.34 us | ∇ -70.61% | 185.56 KHz / 54.54 KHz | Δ 240.26% |
matrix: det, fix[float ] 20x20 | 3.90 us / 9.85 us | ∇ -60.38% | 256.35 KHz / 101.56 KHz | Δ 152.41% |
matrix: det, dyn[double] 20x20 | 6.40 us / 18.19 us | ∇ -64.79% | 156.16 KHz / 54.99 KHz | Δ 183.99% |
matrix: det, fix[double] 20x20 | 4.72 us / 6.52 us | ∇ -27.61% | 211.77 KHz / 153.30 KHz | Δ 38.14% |
matrix: det, dyn[float ] 40x40 | 30.35 us / 111.92 us | ∇ -72.88% | 32.95 KHz / 8.93 KHz | Δ 268.77% |
matrix: det, fix[float ] 40x40 | 26.47 us / 63.43 us | ∇ -58.26% | 37.78 KHz / 15.77 KHz | Δ 139.60% |
matrix: det, dyn[double] 40x40 | 32.49 us / 114.84 us | ∇ -71.71% | 30.77 KHz / 8.71 KHz | Δ 253.42% |
matrix: det, fix[double] 40x40 | 27.34 us / 36.00 us | ∇ -24.07% | 36.58 KHz / 27.78 KHz | Δ 31.70% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 185.70 ns | ∇ -29.99% | 7.69 MHz / 5.39 MHz | Δ 42.84% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 113.23 ns | Δ 23.64% | 7.14 MHz / 8.83 MHz | ∇ -19.12% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 24.43 us | ∇ -24.19% | 54.00 KHz / 40.93 KHz | Δ 31.91% |
matrix: chol, fix[double] 40x40 | 16.55 us / 17.73 us | ∇ -6.66% | 60.42 KHz / 56.40 KHz | Δ 7.14% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 10.78 us | ∇ -23.93% | 121.95 KHz / 92.77 KHz | Δ 31.46% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 117.89 us | ∇ -29.68% | 12.06 KHz / 8.48 KHz | Δ 42.21% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 70.52 us | ∇ -25.27% | 18.98 KHz / 14.18 KHz | Δ 33.81% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 52.59 us | ∇ -26.62% | 25.91 KHz / 19.02 KHz | Δ 36.27% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 491.10 us | ∇ -16.55% | 2.44 KHz / 2.04 KHz | Δ 19.84% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 85.83 us | ∇ -17.57% | 14.13 KHz / 11.65 KHz | Δ 21.31% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 9.44 ms | ∇ -9.20% | 116.60 Hz / 105.88 Hz | Δ 10.13% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 204.52 us | ∇ -16.29% | 5.84 KHz / 4.89 KHz | Δ 19.46% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 150.13 ms | ∇ -11.02% | 7.49 Hz / 6.66 Hz | Δ 12.39% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 415.58 us | ∇ -17.74% | 2.93 KHz / 2.41 KHz | Δ 21.57% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 461.43 ms | ∇ -23.18% | 2.82 Hz / 2.17 Hz | Δ 30.17% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 484.92 us | ∇ -17.20% | 2.49 KHz / 2.06 KHz | Δ 20.78% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 947.45 ms | ∇ -18.39% | 1.29 Hz / 1.06 Hz | Δ 22.53% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 586.44 us | ∇ -19.98% | 2.13 KHz / 1.71 KHz | Δ 24.97% |
gridmap2D: getCell | 0.00 ns / 5.77 ns | ∇ -100.00% | 10.00 THz / 173.23 MHz | Δ 5772734.94% |
gridmap2D: setCell | 2.58 ns / 7.96 ns | ∇ -67.62% | 388.02 MHz / 125.64 MHz | Δ 208.84% |
gridmap2D: updateCell | 7.84 ns / 10.80 ns | ∇ -27.44% | 127.58 MHz / 92.58 MHz | Δ 37.81% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.21 ns | ∇ -54.48% | 1.82 GHz / 826.59 MHz | Δ 119.68% |
gridmap2D: insert scan w/o widening | 102.06 us / 204.23 us | ∇ -50.03% | 9.80 KHz / 4.90 KHz | Δ 100.12% |
gridmap2D: insert scan with widening | 289.47 us / 344.40 us | ∇ -15.95% | 3.45 KHz / 2.90 KHz | Δ 18.98% |
gridmap2D: resize | 1.97 ms / 2.62 ms | ∇ -24.91% | 508.65 Hz / 381.93 Hz | Δ 33.18% |
gridmap2D: computeLikelihood | 15.74 us / 18.59 us | ∇ -15.35% | 63.55 KHz / 53.79 KHz | Δ 18.13% |
pointmap: insert 100 scans | 3.04 ms / 5.62 ms | ∇ -45.94% | 329.30 Hz / 178.02 Hz | Δ 84.98% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 6.21 us | ∇ -30.48% | 231.48 KHz / 160.93 KHz | Δ 43.84% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 511.81 us | ∇ -31.20% | 2.84 KHz / 1.95 KHz | Δ 45.35% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.59 ms | ∇ -25.94% | 241.51 Hz / 178.86 Hz | Δ 35.03% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 7.23 us | ∇ -35.26% | 213.68 KHz / 138.34 KHz | Δ 54.46% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 523.10 us | ∇ -31.27% | 2.78 KHz / 1.91 KHz | Δ 45.50% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 5.77 ms | ∇ -30.23% | 248.28 Hz / 173.21 Hz | Δ 43.34% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 2.05 us | ∇ -31.57% | 711.74 KHz / 487.07 KHz | Δ 46.13% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 140.79 us | ∇ -30.95% | 10.29 KHz / 7.10 KHz | Δ 44.83% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 15.17 ms | ∇ -23.41% | 86.05 Hz / 65.91 Hz | Δ 30.56% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 8.69 ms | ∇ -35.67% | 178.77 Hz / 115.01 Hz | Δ 55.44% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 196.44 ms | ∇ -34.19% | 7.73 Hz / 5.09 Hz | Δ 51.95% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 8.73 ms | ∇ -35.09% | 176.53 Hz / 114.60 Hz | Δ 54.05% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 198.48 ms | ∇ -33.89% | 7.62 Hz / 5.04 Hz | Δ 51.26% |
random: drawUniform32bit | 14.50 ns / 7.29 ns | Δ 98.85% | 68.95 MHz / 137.11 MHz | ∇ -49.71% |
random: drawUniform | 14.50 ns / 7.33 ns | Δ 97.94% | 68.96 MHz / 136.49 MHz | ∇ -49.48% |
random: drawGaussian1D_normalized | 68.97 ns / 51.27 ns | Δ 34.52% | 14.50 MHz / 19.50 MHz | ∇ -25.66% |
random: drawGaussian1D | 68.98 ns / 51.74 ns | Δ 33.32% | 14.50 MHz / 19.33 MHz | ∇ -25.00% |
random: system rand() | 10.45 ns / 29.39 ns | ∇ -64.45% | 95.72 MHz / 34.03 MHz | Δ 181.29% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.64 us | ∇ -50.53% | 765.12 KHz / 378.48 KHz | Δ 102.15% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 8.53 us | ∇ -68.02% | 366.37 KHz / 117.18 KHz | Δ 212.67% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 215.16 ns | ∇ -26.14% | 6.29 MHz / 4.65 MHz | Δ 35.40% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 359.98 ns | ∇ -34.05% | 4.21 MHz / 2.78 MHz | Δ 51.64% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 732.12 ns | ∇ -33.07% | 2.04 MHz / 1.37 MHz | Δ 49.40% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 213.59 ns | ∇ -22.90% | 6.07 MHz / 4.68 MHz | Δ 29.71% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 339.30 ns | ∇ -26.37% | 4.00 MHz / 2.95 MHz | Δ 35.82% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 760.92 ns | ∇ -32.36% | 1.94 MHz / 1.31 MHz | Δ 47.84% |
random: permuteVector (len=10) | 296.20 ns / 411.34 ns | ∇ -27.99% | 3.38 MHz / 2.43 MHz | Δ 38.87% |
random: permuteVector (len=100) | 3.04 us / 3.59 us | ∇ -15.27% | 328.91 KHz / 278.70 KHz | Δ 18.02% |
random: permuteVector (len=1000) | 30.22 us / 34.34 us | ∇ -11.98% | 33.09 KHz / 29.12 KHz | Δ 13.61% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 10.09 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 27.92 ms | Δ 25.55% | 28.52 Hz / 35.81 Hz | ∇ -20.35% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 43.53 ms | Δ 12.47% | 20.42 Hz / 22.97 Hz | ∇ -11.09% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 70.76 ms | Δ 5.50% | 13.40 Hz / 14.13 Hz | ∇ -5.21% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 23.43 ms | Δ 27.87% | 33.37 Hz / 42.67 Hz | ∇ -21.79% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 36.52 ms | Δ 17.18% | 23.37 Hz / 27.39 Hz | ∇ -14.66% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 59.82 ms | Δ 7.24% | 15.59 Hz / 16.72 Hz | ∇ -6.76% |
images: Gauss filter (640x480) | 3.90 ms / 6.68 ms | ∇ -41.58% | 256.30 Hz / 149.74 Hz | Δ 71.17% |
images: Gauss filter (800x600) | 6.21 ms / 8.62 ms | ∇ -27.93% | 160.99 Hz / 116.03 Hz | Δ 38.75% |
images: Gauss filter (1024x768) | 10.55 ms / 14.49 ms | ∇ -27.16% | 94.74 Hz / 69.01 Hz | Δ 37.28% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 21.12 us | ∇ -76.05% | 197.63 KHz / 47.34 KHz | Δ 317.47% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 19.36 us | ∇ -77.79% | 232.56 KHz / 51.65 KHz | Δ 350.28% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 6.24 us | ∇ -66.33% | 476.19 KHz / 160.34 KHz | Δ 196.98% |
feature_extraction [640x480]: Harris | 24.28 ms / 40.83 ms | ∇ -40.54% | 41.19 Hz / 24.49 Hz | Δ 68.18% |
feature_extraction [640x480]: KLT | 24.43 ms / 33.62 ms | ∇ -27.34% | 40.94 Hz / 29.75 Hz | Δ 37.62% |
feature_extraction [640x480]: SIFT | 610.42 ms / 705.28 ms | ∇ -13.45% | 1.64 Hz / 1.42 Hz | Δ 15.54% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 214.22 ms | ∇ -21.68% | 5.96 Hz / 4.67 Hz | Δ 27.68% |
feature_extraction [640x480]: SURF | 197.61 ms / 326.57 ms | ∇ -39.49% | 5.06 Hz / 3.06 Hz | Δ 65.26% |
feature_extraction [640x480]: FAST | 5.24 ms / 7.69 ms | ∇ -31.78% | 190.68 Hz / 130.08 Hz | Δ 46.59% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 105.90 ms | ∇ -43.36% | 16.67 Hz / 9.44 Hz | Δ 76.56% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 57.67 ms | ∇ -29.12% | 24.46 Hz / 17.34 Hz | Δ 41.09% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 50.27 ms | ∇ -29.39% | 28.17 Hz / 19.89 Hz | Δ 41.62% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.38 sec | ∇ -12.49% | 828.07 mHz / 724.62 mHz | Δ 14.28% |
feature_matching [640x480]: SURF | 379.92 ms / 618.66 ms | ∇ -38.59% | 2.63 Hz / 1.62 Hz | Δ 62.84% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 22.11 ms | ∇ -27.36% | 62.26 Hz / 45.22 Hz | Δ 37.66% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 14.58 ms | ∇ -26.41% | 93.18 Hz / 68.57 Hz | Δ 35.90% |
graph(2d): insertEdge x 1e3 | 117.65 us / 354.58 us | ∇ -66.82% | 8.50 KHz / 2.82 KHz | Δ 201.39% |
graph(2d,vec): insertEdge x 1e3 | 105.12 us / X | 9.51 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 284.04 us | ∇ -70.01% | 11.74 KHz / 3.52 KHz | Δ 233.43% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / X | 11.84 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 549.28 us | ∇ -68.59% | 5.80 KHz / 1.82 KHz | Δ 218.37% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / X | 5.32 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 452.79 us | ∇ -62.76% | 5.93 KHz / 2.21 KHz | Δ 168.55% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / X | 5.97 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.73 ms / 3.86 ms | ∇ -55.26% | 579.22 Hz / 259.12 Hz | Δ 123.53% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / X | 690.59 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 2.88 ms | ∇ -69.23% | 1.13 KHz / 347.75 Hz | Δ 225.04% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / X | 1.16 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 5.74 ms | ∇ -65.60% | 506.65 Hz / 174.28 Hz | Δ 190.71% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / X | 433.74 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.44 ms | ∇ -58.13% | 538.12 Hz / 225.33 Hz | Δ 138.82% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / X | 538.35 Hz / X | ||
graph(3d): insertEdge x 1e3 | 177.23 us / 1.35 ms | ∇ -86.83% | 5.64 KHz / 743.07 Hz | Δ 659.34% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / X | 5.61 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 1.09 ms | ∇ -85.51% | 6.33 KHz / 917.96 Hz | Δ 590.08% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / X | 6.27 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 1.74 ms | ∇ -70.92% | 1.97 KHz / 573.66 Hz | Δ 243.83% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / X | 1.96 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 1.46 ms | ∇ -67.66% | 2.11 KHz / 683.28 Hz | Δ 209.18% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / X | 2.11 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.47 ms / 13.92 ms | ∇ -82.24% | 404.60 Hz / 71.86 Hz | Δ 463.00% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / X | 402.82 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 11.12 ms | ∇ -84.24% | 570.48 Hz / 89.92 Hz | Δ 534.42% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / X | 565.81 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 17.58 ms | ∇ -68.56% | 180.97 Hz / 56.89 Hz | Δ 218.11% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / X | 179.70 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 14.12 ms | ∇ -65.65% | 206.16 Hz / 70.81 Hz | Δ 191.16% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / X | 206.11 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 96.04 us / X | 10.41 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / X | 12.44 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.13 ms / X | 885.05 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / X | 1.24 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 19.14 ms / X | 52.26 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / X | 103.63 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 290.37 ms / X | 3.44 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / X | 8.49 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 268.93 ms / X | 3.72 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / X | 9.70 Hz / X |