Test description | 0.9.2-GCC-64bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 20.90 ms | ∇ -4.35% | 50.03 Hz / 47.85 Hz | Δ 4.55% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 18.76 ms | Δ 2.82% | 51.84 Hz / 53.30 Hz | ∇ -2.74% |
poses: CPose3D (+) CPose3D | 42.85 ns / 41.67 ns | Δ 2.83% | 23.34 MHz / 24.00 MHz | ∇ -2.75% |
poses: CPose3D.composeFrom() | 37.80 ns / 32.39 ns | Δ 16.70% | 26.46 MHz / 30.87 MHz | ∇ -14.31% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 8.02 ns | ∇ -9.62% | 137.89 MHz / 124.63 MHz | Δ 10.65% |
poses: CPose3D.composePoint() | 11.91 ns / 11.53 ns | Δ 3.24% | 83.98 MHz / 86.70 MHz | ∇ -3.14% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 18.18 ns | Δ 169.37% | 20.42 MHz / 54.99 MHz | ∇ -62.88% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 25.21 ns | Δ 38.62% | 28.61 MHz / 39.66 MHz | ∇ -27.86% |
poses: CPose2D (+) CPose2D | 78.58 ns / 72.10 ns | Δ 8.98% | 12.73 MHz / 13.87 MHz | ∇ -8.24% |
poses: CPose2D.composeFrom() | 70.31 ns / 69.22 ns | Δ 1.57% | 14.22 MHz / 14.45 MHz | ∇ -1.55% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 60.48 ns | Δ 1.40% | 16.31 MHz / 16.53 MHz | ∇ -1.38% |
poses: CPose2D.composePoint() | 65.17 ns / 60.01 ns | Δ 8.59% | 15.35 MHz / 16.66 MHz | ∇ -7.91% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 42.70 ns | Δ 4.59% | 22.39 MHz / 23.42 MHz | ∇ -4.39% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 38.27 ns | Δ 3.03% | 25.36 MHz / 26.13 MHz | ∇ -2.94% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 17.90 ns | Δ 1.85% | 54.84 MHz / 55.85 MHz | ∇ -1.82% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 18.44 ns | ∇ -2.72% | 55.75 MHz / 54.23 MHz | Δ 2.80% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 33.31 ns | Δ 66.38% | 18.04 MHz / 30.02 MHz | ∇ -39.90% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 19.52 ns | ∇ -9.61% | 56.69 MHz / 51.24 MHz | Δ 10.63% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 16.27 ns | Δ 2.60% | 59.89 MHz / 61.45 MHz | ∇ -2.53% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 169.77 ns | ∇ -0.29% | 5.91 MHz / 5.89 MHz | Δ 0.29% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 799.00 ns | Δ 95138.42% | 1.31 KHz / 1.25 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 788.50 ns | Δ 96363.86% | 1.31 KHz / 1.27 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 9.11 us | Δ 4.05% | 105.55 KHz / 109.83 KHz | ∇ -3.89% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 557.50 ns | ∇ -2.19% | 1.83 MHz / 1.79 MHz | Δ 2.24% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 558.50 ns | ∇ -2.58% | 1.84 MHz / 1.79 MHz | Δ 2.65% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 8.42 us | ∇ -3.67% | 123.33 KHz / 118.81 KHz | Δ 3.80% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 17.83 ns | Δ 17.29% | 47.81 MHz / 56.07 MHz | ∇ -14.74% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 19.48 ns | Δ 3.46% | 49.63 MHz / 51.35 MHz | ∇ -3.35% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 54.85 ns | ∇ -1.48% | 18.51 MHz / 18.23 MHz | Δ 1.50% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 55.93 ns | ∇ -1.19% | 18.09 MHz / 17.88 MHz | Δ 1.20% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ inf% | 2.89 GHz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ inf% | 842.46 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 1.70 ns / 1.50 ns | Δ 13.35% | 588.93 MHz / 667.56 MHz | ∇ -11.78% |
matrix: unit, fix[double,6,6] | 2.77 ns / 5.61 ns | ∇ -50.51% | 360.36 MHz / 178.35 MHz | Δ 102.05% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 291.30 ns | ∇ -74.91% | 13.68 MHz / 3.43 MHz | Δ 298.50% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 0.00 ns | Δ inf% | 42.02 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 292.50 ns | ∇ -75.25% | 13.81 MHz / 3.42 MHz | Δ 304.01% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 0.00 ns | Δ inf% | 42.74 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 347.50 ns | ∇ -68.20% | 9.05 MHz / 2.88 MHz | Δ 214.48% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 0.00 ns | Δ inf% | 22.17 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 340.40 ns | ∇ -65.83% | 8.60 MHz / 2.94 MHz | Δ 192.69% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 0.00 ns | Δ inf% | 22.12 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 2.42 us | Δ 114.34% | 192.77 KHz / 413.19 KHz | ∇ -53.34% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 2.23 us | Δ 59.18% | 281.56 KHz / 448.19 KHz | ∇ -37.18% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 2.31 us | Δ 124.14% | 193.05 KHz / 432.69 KHz | ∇ -55.38% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 2.12 us | Δ 70.03% | 277.05 KHz / 471.08 KHz | ∇ -41.19% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / X | 3.00 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 21.00 ns / X | 47.62 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 329.00 ns / 780.00 ns | ∇ -57.82% | 3.04 MHz / 1.28 MHz | Δ 137.08% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 0.00 ns | Δ inf% | 47.62 MHz / inf THz | ∇ -nan% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / X | 821.69 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 468.00 ns / X | 2.14 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.20 us / 1.97 us | ∇ -39.10% | 832.64 KHz / 507.10 KHz | Δ 64.20% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 1.60 us | ∇ -63.90% | 1.73 MHz / 624.61 KHz | Δ 176.99% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / X | 39.62 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 12.60 us / X | 79.36 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 25.64 us / 16.08 us | Δ 59.43% | 39.01 KHz / 62.19 KHz | ∇ -37.28% |
matrix: inv, fix[double] 20x20 | 17.36 us / 14.48 us | Δ 19.94% | 57.60 KHz / 69.08 KHz | ∇ -16.62% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / X | 5.24 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 88.89 us / X | 11.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 189.04 us / 65.78 us | Δ 187.36% | 5.29 KHz / 15.20 KHz | ∇ -65.20% |
matrix: inv, fix[double] 40x40 | 121.47 us / 64.13 us | Δ 89.41% | 8.23 KHz / 15.59 KHz | ∇ -47.20% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 2x2 | 6.40 ns / 212.60 ns | ∇ -96.99% | 156.25 MHz / 4.70 MHz | Δ 3221.88% |
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 / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 323.30 ns | ∇ -96.81% | 97.09 MHz / 3.09 MHz | Δ 3038.83% |
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 / X | 1.44 MHz / X | ||
matrix: det, fix[float ] 6x6 | 207.00 ns / X | 4.83 MHz / X | ||
matrix: det, dyn[double] 6x6 | 696.30 ns / 774.90 ns | ∇ -10.14% | 1.44 MHz / 1.29 MHz | Δ 11.29% |
matrix: det, fix[double] 6x6 | 212.30 ns / 592.30 ns | ∇ -64.16% | 4.71 MHz / 1.69 MHz | Δ 178.99% |
matrix: det, dyn[float ] 20x20 | 5.39 us / X | 185.56 KHz / X | ||
matrix: det, fix[float ] 20x20 | 3.90 us / X | 256.35 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.40 us / 8.50 us | ∇ -24.67% | 156.16 KHz / 117.63 KHz | Δ 32.76% |
matrix: det, fix[double] 20x20 | 4.72 us / 7.72 us | ∇ -38.83% | 211.77 KHz / 129.53 KHz | Δ 63.49% |
matrix: det, dyn[float ] 40x40 | 30.35 us / X | 32.95 KHz / X | ||
matrix: det, fix[float ] 40x40 | 26.47 us / X | 37.78 KHz / X | ||
matrix: det, dyn[double] 40x40 | 32.49 us / 32.23 us | Δ 0.83% | 30.77 KHz / 31.03 KHz | ∇ -0.83% |
matrix: det, fix[double] 40x40 | 27.34 us / 30.71 us | ∇ -10.97% | 36.58 KHz / 32.57 KHz | Δ 12.33% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 530.00 ns | ∇ -75.47% | 7.69 MHz / 1.89 MHz | Δ 307.69% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 130.00 ns | Δ 7.69% | 7.14 MHz / 7.69 MHz | ∇ -7.14% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 22.98 us | ∇ -19.41% | 54.00 KHz / 43.52 KHz | Δ 24.08% |
matrix: chol, fix[double] 40x40 | 16.55 us / 19.50 us | ∇ -15.13% | 60.42 KHz / 51.28 KHz | Δ 17.82% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.20 us | ∇ 0.00% | 121.95 KHz / 121.95 KHz | ∇ 0.00% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 85.30 us | ∇ -2.81% | 12.06 KHz / 11.72 KHz | Δ 2.90% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 56.80 us | ∇ -7.22% | 18.98 KHz / 17.61 KHz | Δ 7.78% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 39.31 us | ∇ -1.83% | 25.91 KHz / 25.44 KHz | Δ 1.87% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 266.80 us | Δ 53.60% | 2.44 KHz / 3.75 KHz | ∇ -34.90% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 72.76 us | ∇ -2.76% | 14.13 KHz / 13.74 KHz | Δ 2.84% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 2.67 ms | Δ 221.20% | 116.60 Hz / 374.53 Hz | ∇ -68.87% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 176.19 us | ∇ -2.83% | 5.84 KHz / 5.68 KHz | Δ 2.91% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 20.73 ms | Δ 544.32% | 7.49 Hz / 48.23 Hz | ∇ -84.48% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 351.05 us | ∇ -2.62% | 2.93 KHz / 2.85 KHz | Δ 2.69% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 34.60 ms | Δ 924.43% | 2.82 Hz / 28.90 Hz | ∇ -90.24% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 415.89 us | ∇ -3.46% | 2.49 KHz / 2.40 KHz | Δ 3.58% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 50.32 ms | Δ 1436.69% | 1.29 Hz / 19.87 Hz | ∇ -93.49% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 482.94 us | ∇ -2.83% | 2.13 KHz / 2.07 KHz | Δ 2.92% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | Δ inf% | 10.00 THz / inf THz | ∇ -nan% |
gridmap2D: setCell | 2.58 ns / 2.61 ns | ∇ -1.13% | 388.02 MHz / 383.63 MHz | Δ 1.14% |
gridmap2D: updateCell | 7.84 ns / 6.99 ns | Δ 12.10% | 127.58 MHz / 143.02 MHz | ∇ -10.79% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.51 ns | Δ 7.47% | 1.82 GHz / 1.95 GHz | ∇ -6.95% |
gridmap2D: insert scan w/o widening | 102.06 us / 102.59 us | ∇ -0.52% | 9.80 KHz / 9.75 KHz | Δ 0.52% |
gridmap2D: insert scan with widening | 289.47 us / 284.11 us | Δ 1.89% | 3.45 KHz / 3.52 KHz | ∇ -1.85% |
gridmap2D: resize | 1.97 ms / 722.00 us | Δ 172.30% | 508.65 Hz / 1.39 KHz | ∇ -63.28% |
gridmap2D: computeLikelihood | 15.74 us / 15.69 us | Δ 0.27% | 63.55 KHz / 63.72 KHz | ∇ -0.27% |
pointmap: insert 100 scans | 3.04 ms / 2.97 ms | Δ 2.36% | 329.30 Hz / 337.06 Hz | ∇ -2.30% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 4.36 us | ∇ -0.92% | 231.48 KHz / 229.36 KHz | Δ 0.93% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 357.08 us | ∇ -1.39% | 2.84 KHz / 2.80 KHz | Δ 1.41% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.19 ms | ∇ -1.20% | 241.51 Hz / 238.61 Hz | Δ 1.22% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 4.72 us | ∇ -0.85% | 213.68 KHz / 211.86 KHz | Δ 0.85% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 362.68 us | ∇ -0.87% | 2.78 KHz / 2.76 KHz | Δ 0.88% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 4.10 ms | ∇ -1.69% | 248.28 Hz / 244.09 Hz | Δ 1.72% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 1.39 us | Δ 1.22% | 711.74 KHz / 720.46 KHz | ∇ -1.21% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 101.86 us | ∇ -4.57% | 10.29 KHz / 9.82 KHz | Δ 4.79% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 11.78 ms | ∇ -1.31% | 86.05 Hz / 84.92 Hz | Δ 1.33% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 5.62 ms | ∇ -0.52% | 178.77 Hz / 177.84 Hz | Δ 0.52% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 130.59 ms | ∇ -1.00% | 7.73 Hz / 7.66 Hz | Δ 1.01% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 5.69 ms | ∇ -0.46% | 176.53 Hz / 175.73 Hz | Δ 0.46% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 132.22 ms | ∇ -0.76% | 7.62 Hz / 7.56 Hz | Δ 0.77% |
random: drawUniform32bit | 14.50 ns / 15.67 ns | ∇ -7.44% | 68.95 MHz / 63.82 MHz | Δ 8.04% |
random: drawUniform | 14.50 ns / 15.66 ns | ∇ -7.37% | 68.96 MHz / 63.88 MHz | Δ 7.95% |
random: drawGaussian1D_normalized | 68.97 ns / 69.89 ns | ∇ -1.32% | 14.50 MHz / 14.31 MHz | Δ 1.34% |
random: drawGaussian1D | 68.98 ns / 69.86 ns | ∇ -1.26% | 14.50 MHz / 14.32 MHz | Δ 1.27% |
random: system rand() | 10.45 ns / 12.21 ns | ∇ -14.47% | 95.72 MHz / 81.87 MHz | Δ 16.92% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.70 us | ∇ -51.58% | 765.12 KHz / 370.49 KHz | Δ 106.51% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 5.71 us | ∇ -52.20% | 366.37 KHz / 175.14 KHz | Δ 109.19% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 148.19 ns | Δ 7.24% | 6.29 MHz / 6.75 MHz | ∇ -6.75% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 232.46 ns | Δ 2.13% | 4.21 MHz / 4.30 MHz | ∇ -2.08% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 489.71 ns | Δ 0.07% | 2.04 MHz / 2.04 MHz | ∇ -0.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 159.54 ns | Δ 3.22% | 6.07 MHz / 6.27 MHz | ∇ -3.12% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 247.75 ns | Δ 0.83% | 4.00 MHz / 4.04 MHz | ∇ -0.83% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 521.91 ns | ∇ -1.38% | 1.94 MHz / 1.92 MHz | Δ 1.40% |
random: permuteVector (len=10) | 296.20 ns / 251.30 ns | Δ 17.87% | 3.38 MHz / 3.98 MHz | ∇ -15.16% |
random: permuteVector (len=100) | 3.04 us / 3.02 us | Δ 0.77% | 328.91 KHz / 331.46 KHz | ∇ -0.77% |
random: permuteVector (len=1000) | 30.22 us / 30.36 us | ∇ -0.47% | 33.09 KHz / 32.93 KHz | Δ 0.47% |
math: round | 0.10 ns / 0.10 ns | ∇ 0.00% | 10.09 GHz / 10.09 GHz | ∇ 0.00% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 34.14 ms | Δ 2.69% | 28.52 Hz / 29.29 Hz | ∇ -2.62% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 49.83 ms | ∇ -1.74% | 20.42 Hz / 20.07 Hz | Δ 1.77% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 80.71 ms | ∇ -7.51% | 13.40 Hz / 12.39 Hz | Δ 8.12% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 29.36 ms | Δ 2.04% | 33.37 Hz / 34.05 Hz | ∇ -2.00% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 42.45 ms | Δ 0.80% | 23.37 Hz / 23.56 Hz | ∇ -0.80% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 65.41 ms | ∇ -1.92% | 15.59 Hz / 15.29 Hz | Δ 1.96% |
images: Gauss filter (640x480) | 3.90 ms / 4.66 ms | ∇ -16.35% | 256.30 Hz / 214.40 Hz | Δ 19.54% |
images: Gauss filter (800x600) | 6.21 ms / 5.98 ms | Δ 3.79% | 160.99 Hz / 167.10 Hz | ∇ -3.66% |
images: Gauss filter (1024x768) | 10.55 ms / 10.42 ms | Δ 1.25% | 94.74 Hz / 95.93 Hz | ∇ -1.24% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 11.35 us | ∇ -55.42% | 197.63 KHz / 88.11 KHz | Δ 124.31% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 9.96 us | ∇ -56.83% | 232.56 KHz / 100.40 KHz | Δ 131.63% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 5.52 us | ∇ -61.96% | 476.19 KHz / 181.16 KHz | Δ 162.86% |
feature_extraction [640x480]: Harris | 24.28 ms / 32.25 ms | ∇ -24.73% | 41.19 Hz / 31.01 Hz | Δ 32.86% |
feature_extraction [640x480]: KLT | 24.43 ms / 25.60 ms | ∇ -4.60% | 40.94 Hz / 39.06 Hz | Δ 4.82% |
feature_extraction [640x480]: SIFT | 610.42 ms / 630.91 ms | ∇ -3.25% | 1.64 Hz / 1.59 Hz | Δ 3.36% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 164.09 ms | Δ 2.25% | 5.96 Hz / 6.09 Hz | ∇ -2.20% |
feature_extraction [640x480]: SURF | 197.61 ms / 207.64 ms | ∇ -4.83% | 5.06 Hz / 4.82 Hz | Δ 5.07% |
feature_extraction [640x480]: FAST | 5.24 ms / 7.60 ms | ∇ -31.00% | 190.68 Hz / 131.57 Hz | Δ 44.92% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 60.60 ms | ∇ -1.03% | 16.67 Hz / 16.50 Hz | Δ 1.04% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 43.99 ms | ∇ -7.07% | 24.46 Hz / 22.73 Hz | Δ 7.61% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 36.29 ms | ∇ -2.18% | 28.17 Hz / 27.56 Hz | Δ 2.22% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.20 sec | Δ 0.77% | 828.07 mHz / 834.47 mHz | ∇ -0.77% |
feature_matching [640x480]: SURF | 379.92 ms / 379.83 ms | Δ 0.02% | 2.63 Hz / 2.63 Hz | ∇ -0.02% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 16.04 ms | Δ 0.17% | 62.26 Hz / 62.36 Hz | ∇ -0.17% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 10.85 ms | ∇ -1.12% | 93.18 Hz / 92.14 Hz | Δ 1.13% |
graph(2d): insertEdge x 1e3 | 117.65 us / 119.99 us | ∇ -1.95% | 8.50 KHz / 8.33 KHz | Δ 1.99% |
graph(2d,vec): insertEdge x 1e3 | 105.12 us / 107.18 us | ∇ -1.92% | 9.51 KHz / 9.33 KHz | Δ 1.96% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 84.03 us | Δ 1.37% | 11.74 KHz / 11.90 KHz | ∇ -1.35% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 83.37 us | Δ 1.31% | 11.84 KHz / 11.99 KHz | ∇ -1.29% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 170.61 us | Δ 1.12% | 5.80 KHz / 5.86 KHz | ∇ -1.11% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 181.61 us | Δ 3.50% | 5.32 KHz / 5.51 KHz | ∇ -3.38% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 179.02 us | ∇ -5.82% | 5.93 KHz / 5.59 KHz | Δ 6.17% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 178.59 us | ∇ -6.27% | 5.97 KHz / 5.60 KHz | Δ 6.69% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 1.58 ms | Δ 9.11% | 579.22 Hz / 632.00 Hz | ∇ -8.35% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 1.26 ms | Δ 14.51% | 690.59 Hz / 790.83 Hz | ∇ -12.67% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 863.38 us | Δ 2.47% | 1.13 KHz / 1.16 KHz | ∇ -2.41% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 846.12 us | Δ 1.90% | 1.16 KHz / 1.18 KHz | ∇ -1.87% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 1.96 ms | Δ 0.63% | 506.65 Hz / 509.85 Hz | ∇ -0.63% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 2.25 ms | Δ 2.65% | 433.74 Hz / 445.23 Hz | ∇ -2.58% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 1.95 ms | ∇ -4.91% | 538.12 Hz / 511.72 Hz | Δ 5.16% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 1.95 ms | ∇ -4.77% | 538.35 Hz / 512.69 Hz | Δ 5.00% |
graph(3d): insertEdge x 1e3 | 177.23 us / 169.26 us | Δ 4.71% | 5.64 KHz / 5.91 KHz | ∇ -4.50% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 168.78 us | Δ 5.68% | 5.61 KHz / 5.93 KHz | ∇ -5.37% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 153.69 us | Δ 2.71% | 6.33 KHz / 6.51 KHz | ∇ -2.64% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 154.19 us | Δ 3.47% | 6.27 KHz / 6.49 KHz | ∇ -3.35% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 471.95 us | Δ 7.43% | 1.97 KHz / 2.12 KHz | ∇ -6.91% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 479.58 us | Δ 6.23% | 1.96 KHz / 2.09 KHz | ∇ -5.87% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 441.33 us | Δ 7.26% | 2.11 KHz / 2.27 KHz | ∇ -6.77% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 445.05 us | Δ 6.52% | 2.11 KHz / 2.25 KHz | ∇ -6.12% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 2.46 ms | Δ 0.61% | 404.60 Hz / 407.06 Hz | ∇ -0.60% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 2.46 ms | Δ 0.91% | 402.82 Hz / 406.51 Hz | ∇ -0.91% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 1.70 ms | Δ 3.15% | 570.48 Hz / 588.45 Hz | ∇ -3.05% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 1.70 ms | Δ 3.92% | 565.81 Hz / 587.97 Hz | ∇ -3.77% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 6.68 ms | ∇ -17.32% | 180.97 Hz / 149.62 Hz | Δ 20.95% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 6.75 ms | ∇ -17.61% | 179.70 Hz / 148.06 Hz | Δ 21.37% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 4.59 ms | Δ 5.78% | 206.16 Hz / 218.07 Hz | ∇ -5.46% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 4.58 ms | Δ 6.05% | 206.11 Hz / 218.58 Hz | ∇ -5.70% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 89.04 us | Δ 7.86% | 10.41 KHz / 11.23 KHz | ∇ -7.29% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 75.33 us | Δ 6.71% | 12.44 KHz / 13.28 KHz | ∇ -6.29% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 1.11 ms | Δ 2.08% | 885.05 Hz / 903.43 Hz | ∇ -2.03% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 711.20 us | Δ 13.05% | 1.24 KHz / 1.41 KHz | ∇ -11.55% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 18.54 ms | Δ 3.22% | 52.26 Hz / 53.94 Hz | ∇ -3.12% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 9.76 ms | ∇ -1.08% | 103.63 Hz / 102.51 Hz | Δ 1.09% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 252.57 ms | Δ 14.97% | 3.44 Hz / 3.96 Hz | ∇ -13.02% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 112.23 ms | Δ 4.90% | 8.49 Hz / 8.91 Hz | ∇ -4.67% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 256.02 ms | Δ 5.04% | 3.72 Hz / 3.91 Hz | ∇ -4.80% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 106.16 ms | ∇ -2.93% | 9.70 Hz / 9.42 Hz | Δ 3.02% |