Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 30.39 ms | ∇ -32.27% | 48.58 Hz / 32.90 Hz | Δ 47.64% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 52.58 ms | ∇ -60.75% | 48.45 Hz / 19.02 Hz | Δ 154.78% |
poses: CPose3D (+) CPose3D | 42.90 ns / 264.70 ns | ∇ -83.79% | 23.31 MHz / 3.78 MHz | Δ 517.03% |
poses: CPose3D.composeFrom() | 37.61 ns / 98.01 ns | ∇ -61.62% | 26.59 MHz / 10.20 MHz | Δ 160.58% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 27.86 ns | ∇ -73.97% | 137.89 MHz / 35.89 MHz | Δ 284.20% |
poses: CPose3D.composePoint() | 11.83 ns / 19.17 ns | ∇ -38.30% | 84.53 MHz / 52.16 MHz | Δ 62.07% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 51.66 ns | ∇ -23.90% | 25.44 MHz / 19.36 MHz | Δ 31.40% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 46.91 ns | ∇ -25.59% | 28.65 MHz / 21.32 MHz | Δ 34.40% |
poses: CPose2D (+) CPose2D | 76.08 ns / 99.28 ns | ∇ -23.36% | 13.14 MHz / 10.07 MHz | Δ 30.49% |
poses: CPose2D.composeFrom() | 61.61 ns / 89.67 ns | ∇ -31.29% | 16.23 MHz / 11.15 MHz | Δ 45.55% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 82.07 ns | ∇ -26.57% | 16.59 MHz / 12.18 MHz | Δ 36.18% |
poses: CPose2D.composePoint() | 62.26 ns / 64.58 ns | ∇ -3.58% | 16.06 MHz / 15.49 MHz | Δ 3.72% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 87.19 ns | ∇ -52.99% | 24.40 MHz / 11.47 MHz | Δ 112.71% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 57.14 ns | ∇ -31.07% | 25.39 MHz / 17.50 MHz | Δ 45.07% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 48.22 ns | ∇ -62.04% | 54.63 MHz / 20.74 MHz | Δ 163.45% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 29.64 ns | ∇ -39.47% | 55.74 MHz / 33.74 MHz | Δ 65.21% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 84.32 ns | ∇ -34.23% | 18.03 MHz / 11.86 MHz | Δ 52.04% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 30.72 ns | ∇ -42.51% | 56.63 MHz / 32.55 MHz | Δ 73.95% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 33.02 ns | ∇ -49.17% | 59.58 MHz / 30.29 MHz | Δ 96.72% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 206.69 ns | ∇ -18.06% | 5.90 MHz / 4.84 MHz | Δ 22.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 1.35 us | Δ 59006.08% | 1.25 KHz / 739.68 KHz | ∇ -99.83% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 1.40 us | Δ 57105.38% | 1.24 KHz / 712.12 KHz | ∇ -99.83% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 23.15 us | ∇ -59.21% | 105.91 KHz / 43.20 KHz | Δ 145.14% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 1.62 us | ∇ -59.96% | 1.54 MHz / 617.00 KHz | Δ 149.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 1.63 us | ∇ -61.28% | 1.58 MHz / 613.67 KHz | Δ 158.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 15.82 us | ∇ -48.31% | 122.30 KHz / 63.21 KHz | Δ 93.46% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 38.75 ns | ∇ -36.95% | 40.94 MHz / 25.81 MHz | Δ 58.62% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 38.69 ns | ∇ -40.09% | 43.14 MHz / 25.85 MHz | Δ 66.91% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 163.36 ns | ∇ -63.57% | 16.81 MHz / 6.12 MHz | Δ 174.52% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 213.06 ns | ∇ -70.78% | 16.06 MHz / 4.69 MHz | Δ 242.18% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.56 ns | ∇ -90.26% | 2.88 GHz / 280.77 MHz | Δ 926.42% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.29 ns | ∇ -63.87% | 841.75 MHz / 304.17 MHz | Δ 176.74% |
matrix: unit, fix[float,6,6] | 1.70 ns / 2.77 ns | ∇ -38.53% | 587.20 MHz / 360.95 MHz | Δ 62.68% |
matrix: unit, fix[double,6,6] | 2.77 ns / 6.07 ns | ∇ -54.35% | 361.01 MHz / 164.80 MHz | Δ 119.07% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 168.66 ns | ∇ -49.13% | 11.66 MHz / 5.93 MHz | Δ 96.58% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 109.47 ns | ∇ -78.26% | 42.02 MHz / 9.14 MHz | Δ 359.95% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 159.15 ns | ∇ -52.31% | 13.18 MHz / 6.28 MHz | Δ 109.69% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 87.59 ns | ∇ -73.17% | 42.55 MHz / 11.42 MHz | Δ 272.74% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 272.34 ns | ∇ -56.63% | 8.47 MHz / 3.67 MHz | Δ 130.60% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 190.04 ns | ∇ -76.48% | 22.37 MHz / 5.26 MHz | Δ 325.15% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 245.84 ns | ∇ -55.05% | 9.05 MHz / 4.07 MHz | Δ 122.48% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 138.91 ns | ∇ -67.46% | 22.12 MHz / 7.20 MHz | Δ 207.32% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 16.67 us | ∇ -67.39% | 183.95 KHz / 60.00 KHz | Δ 206.61% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 12.92 us | ∇ -70.78% | 264.87 KHz / 77.41 KHz | Δ 242.18% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 13.30 us | ∇ -58.33% | 180.38 KHz / 75.16 KHz | Δ 139.98% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 9.66 us | ∇ -57.82% | 245.43 KHz / 103.53 KHz | Δ 137.08% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / 1.46 us | ∇ -56.73% | 1.58 MHz / 685.70 KHz | Δ 131.12% |
matrix: inv, fix[float ] 3x3 | 35.00 ns / 59.78 ns | ∇ -41.46% | 28.57 MHz / 16.73 MHz | Δ 70.81% |
matrix: inv, dyn[double] 3x3 | 644.00 ns / 1.47 us | ∇ -56.10% | 1.55 MHz / 681.67 KHz | Δ 127.79% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 30.80 ns | Δ 26.63% | 25.64 MHz / 32.47 MHz | ∇ -21.03% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / 4.39 us | ∇ -45.97% | 421.76 KHz / 227.86 KHz | Δ 85.10% |
matrix: inv, fix[float ] 6x6 | 812.00 ns / 1.39 us | ∇ -41.62% | 1.23 MHz / 718.96 KHz | Δ 71.29% |
matrix: inv, dyn[double] 6x6 | 1.26 us / 5.05 us | ∇ -75.01% | 793.02 KHz / 198.20 KHz | Δ 300.11% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 944.32 ns | ∇ -39.11% | 1.74 MHz / 1.06 MHz | Δ 64.23% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / 80.56 us | ∇ -67.80% | 38.55 KHz / 12.41 KHz | Δ 210.60% |
matrix: inv, fix[float ] 20x20 | 14.14 us / 39.77 us | ∇ -64.44% | 70.70 KHz / 25.14 KHz | Δ 181.19% |
matrix: inv, dyn[double] 20x20 | 25.76 us / 106.06 us | ∇ -75.72% | 38.83 KHz / 9.43 KHz | Δ 311.78% |
matrix: inv, fix[double] 20x20 | 17.04 us / 18.99 us | ∇ -10.30% | 58.69 KHz / 52.65 KHz | Δ 11.48% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / 594.37 us | ∇ -65.49% | 4.88 KHz / 1.68 KHz | Δ 189.78% |
matrix: inv, fix[float ] 40x40 | 93.29 us / 302.87 us | ∇ -69.20% | 10.72 KHz / 3.30 KHz | Δ 224.65% |
matrix: inv, dyn[double] 40x40 | 207.20 us / 805.07 us | ∇ -74.26% | 4.83 KHz / 1.24 KHz | Δ 288.56% |
matrix: inv, fix[double] 40x40 | 133.80 us / 129.27 us | Δ 3.51% | 7.47 KHz / 7.74 KHz | ∇ -3.39% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 7.97 ns | ∇ -19.71% | 156.25 MHz / 125.45 MHz | Δ 24.55% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | inf THz / 22.08 GHz | Δ inf% |
matrix: det, dyn[double] 2x2 | 6.40 ns / 8.47 ns | ∇ -24.43% | 156.25 MHz / 118.07 MHz | Δ 32.33% |
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 / 20.83 ns | ∇ -50.56% | 97.09 MHz / 48.00 MHz | Δ 102.27% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | inf THz / 22.08 GHz | Δ inf% |
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 | 653.50 ns / 2.28 us | ∇ -71.33% | 1.53 MHz / 438.79 KHz | Δ 248.74% |
matrix: det, fix[float ] 6x6 | 210.00 ns / 455.22 ns | ∇ -53.87% | 4.76 MHz / 2.20 MHz | Δ 116.77% |
matrix: det, dyn[double] 6x6 | 730.30 ns / 2.27 us | ∇ -67.82% | 1.37 MHz / 440.64 KHz | Δ 210.75% |
matrix: det, fix[double] 6x6 | 212.10 ns / 409.52 ns | ∇ -48.21% | 4.71 MHz / 2.44 MHz | Δ 93.08% |
matrix: det, dyn[float ] 20x20 | 5.70 us / 18.23 us | ∇ -68.72% | 175.40 KHz / 54.86 KHz | Δ 219.72% |
matrix: det, fix[float ] 20x20 | 4.20 us / 9.64 us | ∇ -56.38% | 237.92 KHz / 103.77 KHz | Δ 129.27% |
matrix: det, dyn[double] 20x20 | 6.56 us / 17.63 us | ∇ -62.76% | 152.33 KHz / 56.72 KHz | Δ 168.55% |
matrix: det, fix[double] 20x20 | 5.04 us / 6.19 us | ∇ -18.53% | 198.38 KHz / 161.63 KHz | Δ 22.74% |
matrix: det, dyn[float ] 40x40 | 32.38 us / 109.51 us | ∇ -70.44% | 30.89 KHz / 9.13 KHz | Δ 238.25% |
matrix: det, fix[float ] 40x40 | 27.92 us / 61.78 us | ∇ -54.82% | 35.82 KHz / 16.19 KHz | Δ 121.32% |
matrix: det, dyn[double] 40x40 | 39.41 us / 112.43 us | ∇ -64.95% | 25.37 KHz / 8.89 KHz | Δ 185.27% |
matrix: det, fix[double] 40x40 | 29.04 us / 35.24 us | ∇ -17.60% | 34.44 KHz / 28.38 KHz | Δ 21.36% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 172.11 ns | ∇ -18.65% | 7.14 MHz / 5.81 MHz | Δ 22.93% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 117.76 ns | Δ 35.87% | 6.25 MHz / 8.49 MHz | ∇ -26.40% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 24.40 us | ∇ -24.68% | 54.41 KHz / 40.98 KHz | Δ 32.77% |
matrix: chol, fix[double] 40x40 | 17.08 us / 17.68 us | ∇ -3.38% | 58.55 KHz / 56.57 KHz | Δ 3.50% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 8.42 us | ∇ -1.47% | 120.48 KHz / 118.71 KHz | Δ 1.50% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 118.80 us | ∇ -28.96% | 11.85 KHz / 8.42 KHz | Δ 40.76% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 69.79 us | ∇ -24.06% | 18.87 KHz / 14.33 KHz | Δ 31.69% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 52.54 us | ∇ -24.83% | 25.32 KHz / 19.03 KHz | Δ 33.04% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 466.09 us | ∇ -11.67% | 2.43 KHz / 2.15 KHz | Δ 13.21% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 89.01 us | ∇ -16.76% | 13.50 KHz / 11.24 KHz | Δ 20.13% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 9.32 ms | Δ 11.34% | 96.33 Hz / 107.25 Hz | ∇ -10.18% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 201.22 us | Δ 23.62% | 4.02 KHz / 4.97 KHz | ∇ -19.10% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 138.07 ms | Δ 168.45% | 2.70 Hz / 7.24 Hz | ∇ -62.75% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 401.45 us | ∇ -11.93% | 2.83 KHz / 2.49 KHz | Δ 13.55% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 453.62 ms | ∇ -19.41% | 2.74 Hz / 2.20 Hz | Δ 24.09% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 474.18 us | ∇ -10.31% | 2.35 KHz / 2.11 KHz | Δ 11.50% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 945.16 ms | ∇ -15.78% | 1.26 Hz / 1.06 Hz | Δ 18.73% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 552.77 us | ∇ -11.21% | 2.04 KHz / 1.81 KHz | Δ 12.63% |
gridmap2D: getCell | 0.00 ns / 5.57 ns | ∇ -100.00% | inf THz / 179.64 MHz | Δ inf% |
gridmap2D: setCell | 2.58 ns / 7.80 ns | ∇ -66.95% | 387.76 MHz / 128.17 MHz | Δ 202.53% |
gridmap2D: updateCell | 7.44 ns / 10.65 ns | ∇ -30.07% | 134.32 MHz / 93.93 MHz | Δ 43.00% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.01% | 1.82 GHz / 834.82 MHz | Δ 117.44% |
gridmap2D: insert scan w/o widening | 101.23 us / 202.10 us | ∇ -49.91% | 9.88 KHz / 4.95 KHz | Δ 99.65% |
gridmap2D: insert scan with widening | 291.30 us / 338.79 us | ∇ -14.02% | 3.43 KHz / 2.95 KHz | Δ 16.30% |
gridmap2D: resize | 1.89 ms / 3.58 ms | ∇ -47.25% | 529.66 Hz / 279.42 Hz | Δ 89.56% |
gridmap2D: computeLikelihood | 16.46 us / 18.09 us | ∇ -9.02% | 60.76 KHz / 55.28 KHz | Δ 9.91% |
pointmap: insert 100 scans | 3.10 ms / 5.50 ms | ∇ -43.57% | 322.50 Hz / 181.98 Hz | Δ 77.22% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.29 us | ∇ -31.92% | 233.64 KHz / 159.07 KHz | Δ 46.88% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 520.70 us | ∇ -31.72% | 2.81 KHz / 1.92 KHz | Δ 46.46% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 5.50 ms | ∇ -24.38% | 240.24 Hz / 181.67 Hz | Δ 32.24% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 6.47 us | ∇ -26.40% | 210.08 KHz / 154.62 KHz | Δ 35.87% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 526.59 us | ∇ -31.03% | 2.75 KHz / 1.90 KHz | Δ 44.99% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.63 ms | ∇ -27.33% | 244.29 Hz / 177.52 Hz | Δ 37.61% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 2.04 us | ∇ -32.22% | 723.59 KHz / 490.44 KHz | Δ 47.54% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 137.79 us | ∇ -26.75% | 9.91 KHz / 7.26 KHz | Δ 36.53% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 14.88 ms | ∇ -19.96% | 83.95 Hz / 67.19 Hz | Δ 24.93% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.57 ms | ∇ -34.45% | 178.01 Hz / 116.69 Hz | Δ 52.55% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 191.63 ms | ∇ -31.76% | 7.65 Hz / 5.22 Hz | Δ 46.55% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 8.64 ms | ∇ -34.35% | 176.35 Hz / 115.78 Hz | Δ 52.32% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 194.89 ms | ∇ -31.94% | 7.54 Hz / 5.13 Hz | Δ 46.94% |
random: drawUniform32bit | 14.57 ns / 7.21 ns | Δ 102.08% | 68.63 MHz / 138.68 MHz | ∇ -50.51% |
random: drawUniform | 14.62 ns / 7.18 ns | Δ 103.53% | 68.41 MHz / 139.23 MHz | ∇ -50.87% |
random: drawGaussian1D_normalized | 68.70 ns / 51.37 ns | Δ 33.73% | 14.56 MHz / 19.47 MHz | ∇ -25.22% |
random: drawGaussian1D | 68.68 ns / 51.39 ns | Δ 33.66% | 14.56 MHz / 19.46 MHz | ∇ -25.18% |
random: system rand() | 10.45 ns / 28.61 ns | ∇ -63.47% | 95.67 MHz / 34.95 MHz | Δ 173.74% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.55 us | ∇ -48.79% | 764.77 KHz / 391.65 KHz | Δ 95.27% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 8.36 us | ∇ -66.66% | 358.92 KHz / 119.66 KHz | Δ 199.95% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 213.95 ns | ∇ -26.03% | 6.32 MHz / 4.67 MHz | Δ 35.19% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 324.69 ns | ∇ -27.19% | 4.23 MHz / 3.08 MHz | Δ 37.34% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 829.70 ns | ∇ -41.02% | 2.04 MHz / 1.21 MHz | Δ 69.55% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 214.89 ns | ∇ -23.40% | 6.07 MHz / 4.65 MHz | Δ 30.54% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 364.99 ns | ∇ -32.02% | 4.03 MHz / 2.74 MHz | Δ 47.10% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 760.13 ns | ∇ -32.27% | 1.94 MHz / 1.32 MHz | Δ 47.65% |
random: permuteVector (len=10) | 317.50 ns / 420.57 ns | ∇ -24.51% | 3.15 MHz / 2.38 MHz | Δ 32.46% |
random: permuteVector (len=100) | 3.06 us / 3.56 us | ∇ -13.91% | 326.54 KHz / 281.12 KHz | Δ 16.16% |
random: permuteVector (len=1000) | 30.27 us / 33.55 us | ∇ -9.79% | 33.04 KHz / 29.80 KHz | Δ 10.85% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 10.09 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 28.40 ms | ∇ -3.98% | 36.67 Hz / 35.21 Hz | Δ 4.15% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 43.71 ms | ∇ -1.01% | 23.11 Hz / 22.88 Hz | Δ 1.02% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 70.17 ms | Δ 6.41% | 13.39 Hz / 14.25 Hz | ∇ -6.02% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 24.11 ms | Δ 9.11% | 38.01 Hz / 41.48 Hz | ∇ -8.35% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 37.02 ms | Δ 10.51% | 24.44 Hz / 27.01 Hz | ∇ -9.51% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 59.51 ms | Δ 5.13% | 15.99 Hz / 16.80 Hz | ∇ -4.88% |
images: Gauss filter (640x480) | 4.48 ms / 5.29 ms | ∇ -15.27% | 223.01 Hz / 188.95 Hz | Δ 18.03% |
images: Gauss filter (800x600) | 7.46 ms / 8.36 ms | ∇ -10.76% | 134.07 Hz / 119.64 Hz | Δ 12.06% |
images: Gauss filter (1024x768) | 12.41 ms / 13.88 ms | ∇ -10.56% | 80.57 Hz / 72.06 Hz | Δ 11.81% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 18.63 us | ∇ -72.36% | 194.17 KHz / 53.67 KHz | Δ 261.80% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 17.89 us | ∇ -75.68% | 229.89 KHz / 55.91 KHz | Δ 311.16% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 5.05 us | ∇ -58.06% | 471.70 KHz / 197.84 KHz | Δ 138.42% |
feature_extraction [640x480]: Harris | 33.18 ms / 33.27 ms | ∇ -0.26% | 30.14 Hz / 30.06 Hz | Δ 0.26% |
feature_extraction [640x480]: KLT | 29.64 ms / 31.21 ms | ∇ -5.06% | 33.74 Hz / 32.04 Hz | Δ 5.33% |
feature_extraction [640x480]: SIFT | 637.68 ms / 675.81 ms | ∇ -5.64% | 1.57 Hz / 1.48 Hz | Δ 5.98% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 217.19 ms | ∇ -20.28% | 5.78 Hz / 4.60 Hz | Δ 25.44% |
feature_extraction [640x480]: SURF | 202.84 ms / 316.97 ms | ∇ -36.01% | 4.93 Hz / 3.15 Hz | Δ 56.27% |
feature_extraction [640x480]: FAST | 5.10 ms / 7.82 ms | ∇ -34.72% | 195.94 Hz / 127.91 Hz | Δ 53.19% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 103.38 ms | ∇ -40.78% | 16.33 Hz / 9.67 Hz | Δ 68.87% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 56.24 ms | ∇ -21.95% | 22.78 Hz / 17.78 Hz | Δ 28.11% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 47.55 ms | ∇ -19.40% | 26.09 Hz / 21.03 Hz | Δ 24.08% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.34 sec | ∇ -4.73% | 782.87 mHz / 745.82 mHz | Δ 4.97% |
feature_matching [640x480]: SURF | 387.99 ms / 606.64 ms | ∇ -36.04% | 2.58 Hz / 1.65 Hz | Δ 56.35% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 22.36 ms | ∇ -29.66% | 63.57 Hz / 44.72 Hz | Δ 42.17% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 15.00 ms | ∇ -29.58% | 94.70 Hz / 66.69 Hz | Δ 42.00% |
graph(2d): insertEdge x 1e3 | 104.46 us / 313.03 us | ∇ -66.63% | 9.57 KHz / 3.19 KHz | Δ 199.66% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 222.64 us | ∇ -61.74% | 11.74 KHz / 4.49 KHz | Δ 161.35% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 516.93 us | ∇ -73.95% | 7.43 KHz / 1.93 KHz | Δ 283.91% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 405.97 us | ∇ -70.47% | 8.34 KHz / 2.46 KHz | Δ 238.62% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 3.36 ms | ∇ -58.82% | 721.96 Hz / 297.28 Hz | Δ 142.85% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 2.22 ms | ∇ -61.52% | 1.17 KHz / 450.51 Hz | Δ 159.91% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 5.45 ms | ∇ -70.51% | 621.80 Hz / 183.37 Hz | Δ 239.09% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 4.07 ms | ∇ -70.49% | 832.81 Hz / 245.74 Hz | Δ 238.90% |
graph(3d): insertEdge x 1e3 | 132.91 us / 447.20 us | ∇ -70.28% | 7.52 KHz / 2.24 KHz | Δ 236.47% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 346.69 us | ∇ -68.53% | 9.17 KHz / 2.88 KHz | Δ 217.74% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 944.03 us | ∇ -62.95% | 2.86 KHz / 1.06 KHz | Δ 169.92% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 793.19 us | ∇ -59.46% | 3.11 KHz / 1.26 KHz | Δ 146.68% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 4.62 ms | ∇ -59.10% | 529.10 Hz / 216.43 Hz | Δ 144.47% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 3.48 ms | ∇ -68.44% | 910.25 Hz / 287.28 Hz | Δ 216.85% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 10.55 ms | ∇ -55.97% | 215.20 Hz / 94.75 Hz | Δ 127.11% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 7.93 ms | ∇ -48.92% | 246.81 Hz / 126.08 Hz | Δ 95.75% |
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 |