Test description | 0.9.2-MSVC-32bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 21.60 ms | Δ 40.72% | 32.90 Hz / 46.30 Hz | ∇ -28.94% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 20.51 ms | Δ 156.34% | 19.02 Hz / 48.75 Hz | ∇ -60.99% |
poses: CPose3D (+) CPose3D | 264.70 ns / 449.02 ns | ∇ -41.05% | 3.78 MHz / 2.23 MHz | Δ 69.63% |
poses: CPose3D.composeFrom() | 98.01 ns / 233.83 ns | ∇ -58.09% | 10.20 MHz / 4.28 MHz | Δ 138.59% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 10.67 ns | Δ 161.22% | 35.89 MHz / 93.76 MHz | ∇ -61.72% |
poses: CPose3D.composePoint() | 19.17 ns / 10.06 ns | Δ 90.54% | 52.16 MHz / 99.38 MHz | ∇ -47.52% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 37.71 ns | Δ 36.99% | 19.36 MHz / 26.52 MHz | ∇ -27.00% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 40.98 ns | Δ 14.49% | 21.32 MHz / 24.40 MHz | ∇ -12.65% |
poses: CPose2D (+) CPose2D | 99.28 ns / 78.17 ns | Δ 27.00% | 10.07 MHz / 12.79 MHz | ∇ -21.26% |
poses: CPose2D.composeFrom() | 89.67 ns / 62.17 ns | Δ 44.24% | 11.15 MHz / 16.08 MHz | ∇ -30.67% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 63.86 ns | Δ 28.51% | 12.18 MHz / 15.66 MHz | ∇ -22.18% |
poses: CPose2D.composePoint() | 64.58 ns / 61.98 ns | Δ 4.19% | 15.49 MHz / 16.13 MHz | ∇ -4.02% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 47.00 ns | Δ 85.51% | 11.47 MHz / 21.28 MHz | ∇ -46.09% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 39.80 ns | Δ 43.58% | 17.50 MHz / 25.13 MHz | ∇ -30.35% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 22.62 ns | Δ 113.18% | 20.74 MHz / 44.21 MHz | ∇ -53.09% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 18.93 ns | Δ 56.58% | 33.74 MHz / 52.83 MHz | ∇ -36.14% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 391.26 ns | ∇ -78.45% | 11.86 MHz / 2.56 MHz | Δ 364.03% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 18.05 ns | Δ 70.15% | 32.55 MHz / 55.39 MHz | ∇ -41.23% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 355.00 ns | ∇ -90.70% | 30.29 MHz / 2.82 MHz | Δ 975.14% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 173.19 ns | Δ 19.34% | 4.84 MHz / 5.77 MHz | ∇ -16.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 814.76 us | ∇ -99.83% | 739.68 KHz / 1.23 KHz | Δ 60165.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 821.91 us | ∇ -99.83% | 712.12 KHz / 1.22 KHz | Δ 58430.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 9.57 us | Δ 141.83% | 43.20 KHz / 104.48 KHz | ∇ -58.65% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 682.30 ns | Δ 137.54% | 617.00 KHz / 1.47 MHz | ∇ -57.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 533.80 ns | Δ 205.27% | 613.67 KHz / 1.87 MHz | ∇ -67.24% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 8.51 us | Δ 85.79% | 63.21 KHz / 117.45 KHz | ∇ -46.18% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 20.59 ns | Δ 88.16% | 25.81 MHz / 48.56 MHz | ∇ -46.85% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 22.60 ns | Δ 71.17% | 25.85 MHz / 44.24 MHz | ∇ -41.58% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 63.92 ns | Δ 155.55% | 6.12 MHz / 15.64 MHz | ∇ -60.87% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 65.22 ns | Δ 226.69% | 4.69 MHz / 15.33 MHz | ∇ -69.39% |
matrix: unit, fix[float,3,3] | 3.56 ns / 0.35 ns | Δ 929.39% | 280.77 MHz / 2.89 GHz | ∇ -90.29% |
matrix: unit, fix[double,3,3] | 3.29 ns / 1.19 ns | Δ 176.97% | 304.17 MHz / 842.46 MHz | ∇ -63.90% |
matrix: unit, fix[float,6,6] | 2.77 ns / 1.68 ns | Δ 64.71% | 360.95 MHz / 594.53 MHz | ∇ -39.29% |
matrix: unit, fix[double,6,6] | 6.07 ns / 2.86 ns | Δ 112.10% | 164.80 MHz / 349.53 MHz | ∇ -52.85% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 73.50 ns | Δ 129.47% | 5.93 MHz / 13.61 MHz | ∇ -56.42% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 24.10 ns | Δ 354.23% | 9.14 MHz / 41.49 MHz | ∇ -77.98% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 72.10 ns | Δ 120.74% | 6.28 MHz / 13.87 MHz | ∇ -54.70% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 23.50 ns | Δ 272.74% | 11.42 MHz / 42.55 MHz | ∇ -73.17% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 112.90 ns | Δ 141.22% | 3.67 MHz / 8.86 MHz | ∇ -58.54% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 45.00 ns | Δ 322.31% | 5.26 MHz / 22.22 MHz | ∇ -76.32% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 110.50 ns | Δ 122.48% | 4.07 MHz / 9.05 MHz | ∇ -55.05% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 45.10 ns | Δ 208.00% | 7.20 MHz / 22.17 MHz | ∇ -67.53% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 5.82 us | Δ 186.54% | 60.00 KHz / 171.91 KHz | ∇ -65.10% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 3.57 us | Δ 261.61% | 77.41 KHz / 279.91 KHz | ∇ -72.35% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 5.88 us | Δ 126.09% | 75.16 KHz / 169.93 KHz | ∇ -55.77% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 3.82 us | Δ 153.12% | 103.53 KHz / 262.04 KHz | ∇ -60.49% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / 449.00 ns | Δ 224.80% | 685.70 KHz / 2.23 MHz | ∇ -69.21% |
matrix: inv, fix[float ] 3x3 | 59.78 ns / 33.00 ns | Δ 81.16% | 16.73 MHz / 30.30 MHz | ∇ -44.80% |
matrix: inv, dyn[double] 3x3 | 1.47 us / 413.00 ns | Δ 255.20% | 681.67 KHz / 2.42 MHz | ∇ -71.85% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 22.00 ns | Δ 39.99% | 32.47 MHz / 45.45 MHz | ∇ -28.57% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / 1.31 us | Δ 234.00% | 227.86 KHz / 761.04 KHz | ∇ -70.06% |
matrix: inv, fix[float ] 6x6 | 1.39 us / 468.00 ns | Δ 197.20% | 718.96 KHz / 2.14 MHz | ∇ -66.35% |
matrix: inv, dyn[double] 6x6 | 5.05 us / 1.25 us | Δ 303.96% | 198.20 KHz / 800.64 KHz | ∇ -75.24% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 578.00 ns | Δ 63.38% | 1.06 MHz / 1.73 MHz | ∇ -38.79% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / 28.01 us | Δ 187.66% | 12.41 KHz / 35.71 KHz | ∇ -65.24% |
matrix: inv, fix[float ] 20x20 | 39.77 us / 12.67 us | Δ 213.88% | 25.14 KHz / 78.91 KHz | ∇ -68.14% |
matrix: inv, dyn[double] 20x20 | 106.06 us / 28.58 us | Δ 271.04% | 9.43 KHz / 34.98 KHz | ∇ -73.05% |
matrix: inv, fix[double] 20x20 | 18.99 us / 17.20 us | Δ 10.45% | 52.65 KHz / 58.15 KHz | ∇ -9.46% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / 205.67 us | Δ 189.00% | 1.68 KHz / 4.86 KHz | ∇ -65.40% |
matrix: inv, fix[float ] 40x40 | 302.87 us / 92.66 us | Δ 226.85% | 3.30 KHz / 10.79 KHz | ∇ -69.40% |
matrix: inv, dyn[double] 40x40 | 805.07 us / 200.95 us | Δ 300.64% | 1.24 KHz / 4.98 KHz | ∇ -75.04% |
matrix: inv, fix[double] 40x40 | 129.27 us / 134.50 us | ∇ -3.89% | 7.74 KHz / 7.43 KHz | Δ 4.05% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / 6.40 ns | Δ 24.55% | 125.45 MHz / 156.25 MHz | ∇ -19.71% |
matrix: det, fix[float ] 2x2 | 0.05 ns / 0.00 ns | Δ inf% | 22.08 GHz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 2x2 | 8.47 ns / 8.80 ns | ∇ -3.76% | 118.07 MHz / 113.64 MHz | Δ 3.90% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 3x3 | 20.83 ns / 10.30 ns | Δ 102.27% | 48.00 MHz / 97.09 MHz | ∇ -50.56% |
matrix: det, fix[float ] 3x3 | 0.05 ns / 0.00 ns | Δ inf% | 22.08 GHz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 15.90 ns / 10.30 ns | Δ 54.34% | 62.90 MHz / 97.09 MHz | ∇ -35.21% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 6x6 | 2.28 us / 931.50 ns | Δ 144.66% | 438.79 KHz / 1.07 MHz | ∇ -59.13% |
matrix: det, fix[float ] 6x6 | 455.22 ns / 215.70 ns | Δ 111.04% | 2.20 MHz / 4.64 MHz | ∇ -52.62% |
matrix: det, dyn[double] 6x6 | 2.27 us / 739.10 ns | Δ 207.05% | 440.64 KHz / 1.35 MHz | ∇ -67.43% |
matrix: det, fix[double] 6x6 | 409.52 ns / 219.80 ns | Δ 86.32% | 2.44 MHz / 4.55 MHz | ∇ -46.33% |
matrix: det, dyn[float ] 20x20 | 18.23 us / 5.64 us | Δ 223.19% | 54.86 KHz / 177.30 KHz | ∇ -69.06% |
matrix: det, fix[float ] 20x20 | 9.64 us / 4.05 us | Δ 137.84% | 103.77 KHz / 246.81 KHz | ∇ -57.96% |
matrix: det, dyn[double] 20x20 | 17.63 us / 6.52 us | Δ 170.29% | 56.72 KHz / 153.32 KHz | ∇ -63.00% |
matrix: det, fix[double] 20x20 | 6.19 us / 4.73 us | Δ 30.88% | 161.63 KHz / 211.54 KHz | ∇ -23.59% |
matrix: det, dyn[float ] 40x40 | 109.51 us / 30.83 us | Δ 255.18% | 9.13 KHz / 32.43 KHz | ∇ -71.84% |
matrix: det, fix[float ] 40x40 | 61.78 us / 25.85 us | Δ 138.96% | 16.19 KHz / 38.68 KHz | ∇ -58.15% |
matrix: det, dyn[double] 40x40 | 112.43 us / 32.40 us | Δ 247.04% | 8.89 KHz / 30.87 KHz | ∇ -71.19% |
matrix: det, fix[double] 40x40 | 35.24 us / 27.53 us | Δ 28.01% | 28.38 KHz / 36.33 KHz | ∇ -21.88% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 170.00 ns | Δ 1.24% | 5.81 MHz / 5.88 MHz | ∇ -1.22% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 130.00 ns | ∇ -9.42% | 8.49 MHz / 7.69 MHz | Δ 10.40% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 18.73 us | Δ 30.29% | 40.98 KHz / 53.39 KHz | ∇ -23.25% |
matrix: chol, fix[double] 40x40 | 17.68 us / 16.74 us | Δ 5.60% | 56.57 KHz / 59.74 KHz | ∇ -5.30% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 8.50 us | ∇ -0.89% | 118.71 KHz / 117.65 KHz | Δ 0.90% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 93.90 us | Δ 26.52% | 8.42 KHz / 10.65 KHz | ∇ -20.96% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 52.90 us | Δ 31.93% | 14.33 KHz / 18.90 KHz | ∇ -24.21% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 40.03 us | Δ 31.25% | 19.03 KHz / 24.98 KHz | ∇ -23.81% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 411.30 us | Δ 13.32% | 2.15 KHz / 2.43 KHz | ∇ -11.76% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 74.98 us | Δ 18.71% | 11.24 KHz / 13.34 KHz | ∇ -15.76% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 8.61 ms | Δ 8.33% | 107.25 Hz / 116.18 Hz | ∇ -7.69% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 185.35 us | Δ 8.56% | 4.97 KHz / 5.40 KHz | ∇ -7.89% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 135.40 ms | Δ 1.97% | 7.24 Hz / 7.39 Hz | ∇ -1.93% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 359.80 us | Δ 11.58% | 2.49 KHz / 2.78 KHz | ∇ -10.38% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 364.31 ms | Δ 24.51% | 2.20 Hz / 2.74 Hz | ∇ -19.69% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 426.39 us | Δ 11.21% | 2.11 KHz / 2.35 KHz | ∇ -10.08% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 800.16 ms | Δ 18.12% | 1.06 Hz / 1.25 Hz | ∇ -15.34% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 497.60 us | Δ 11.09% | 1.81 KHz / 2.01 KHz | ∇ -9.98% |
gridmap2D: getCell | 5.57 ns / 0.00 ns | Δ inf% | 179.64 MHz / inf THz | ∇ -nan% |
gridmap2D: setCell | 7.80 ns / 2.58 ns | Δ 202.08% | 128.17 MHz / 387.19 MHz | ∇ -66.90% |
gridmap2D: updateCell | 10.65 ns / 7.47 ns | Δ 42.44% | 93.93 MHz / 133.80 MHz | ∇ -29.80% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.55 ns | Δ 119.43% | 834.82 MHz / 1.83 GHz | ∇ -54.43% |
gridmap2D: insert scan w/o widening | 202.10 us / 104.80 us | Δ 92.85% | 4.95 KHz / 9.54 KHz | ∇ -48.15% |
gridmap2D: insert scan with widening | 338.79 us / 295.32 us | Δ 14.72% | 2.95 KHz / 3.39 KHz | ∇ -12.83% |
gridmap2D: resize | 3.58 ms / 1.83 ms | Δ 96.00% | 279.42 Hz / 547.65 Hz | ∇ -48.98% |
gridmap2D: computeLikelihood | 18.09 us / 16.65 us | Δ 8.64% | 55.28 KHz / 60.06 KHz | ∇ -7.95% |
pointmap: insert 100 scans | 5.50 ms / 3.11 ms | Δ 76.52% | 181.98 Hz / 321.23 Hz | ∇ -43.35% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 4.28 us | Δ 46.88% | 159.07 KHz / 233.64 KHz | ∇ -31.92% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 354.96 us | Δ 46.69% | 1.92 KHz / 2.82 KHz | ∇ -31.83% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 4.14 ms | Δ 33.02% | 181.67 Hz / 241.67 Hz | ∇ -24.82% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 4.28 us | Δ 51.11% | 154.62 KHz / 233.64 KHz | ∇ -33.82% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 361.24 us | Δ 45.77% | 1.90 KHz / 2.77 KHz | ∇ -31.40% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 4.09 ms | Δ 37.82% | 177.52 Hz / 244.66 Hz | ∇ -27.44% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.37 us | Δ 49.05% | 490.44 KHz / 730.99 KHz | ∇ -32.91% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 98.96 us | Δ 39.24% | 7.26 KHz / 10.10 KHz | ∇ -28.18% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 11.96 ms | Δ 24.47% | 67.19 Hz / 83.64 Hz | ∇ -19.66% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 5.60 ms | Δ 52.97% | 116.69 Hz / 178.50 Hz | ∇ -34.63% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 129.56 ms | Δ 47.91% | 5.22 Hz / 7.72 Hz | ∇ -32.39% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 5.65 ms | Δ 52.74% | 115.78 Hz / 176.84 Hz | ∇ -34.53% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 132.43 ms | Δ 47.17% | 5.13 Hz / 7.55 Hz | ∇ -32.05% |
random: drawUniform32bit | 7.21 ns / 15.70 ns | ∇ -54.07% | 138.68 MHz / 63.70 MHz | Δ 117.72% |
random: drawUniform | 7.18 ns / 15.69 ns | ∇ -54.24% | 139.23 MHz / 63.72 MHz | Δ 118.51% |
random: drawGaussian1D_normalized | 51.37 ns / 70.40 ns | ∇ -27.03% | 19.47 MHz / 14.20 MHz | Δ 37.04% |
random: drawGaussian1D | 51.39 ns / 70.38 ns | ∇ -26.98% | 19.46 MHz / 14.21 MHz | Δ 36.95% |
random: system rand() | 28.61 ns / 11.07 ns | Δ 158.58% | 34.95 MHz / 90.37 MHz | ∇ -61.33% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 1.33 us | Δ 92.00% | 391.65 KHz / 751.96 KHz | ∇ -47.92% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 3.04 us | Δ 174.93% | 119.66 KHz / 328.99 KHz | ∇ -63.63% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 162.81 ns | Δ 31.41% | 4.67 MHz / 6.14 MHz | ∇ -23.90% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 245.58 ns | Δ 32.21% | 3.08 MHz / 4.07 MHz | ∇ -24.36% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 514.74 ns | Δ 61.19% | 1.21 MHz / 1.94 MHz | ∇ -37.96% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 173.84 ns | Δ 23.62% | 4.65 MHz / 5.75 MHz | ∇ -19.10% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 259.42 ns | Δ 40.70% | 2.74 MHz / 3.85 MHz | ∇ -28.92% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 523.99 ns | Δ 45.06% | 1.32 MHz / 1.91 MHz | ∇ -31.06% |
random: permuteVector (len=10) | 420.57 ns / 288.60 ns | Δ 45.73% | 2.38 MHz / 3.47 MHz | ∇ -31.38% |
random: permuteVector (len=100) | 3.56 us / 3.07 us | Δ 15.82% | 281.12 KHz / 325.61 KHz | ∇ -13.66% |
random: permuteVector (len=1000) | 33.55 us / 30.26 us | Δ 10.89% | 29.80 KHz / 33.05 KHz | ∇ -9.82% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | inf THz / 9.77 GHz | Δ inf% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 31.77 ms | ∇ -10.60% | 35.21 Hz / 31.48 Hz | Δ 11.86% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 45.70 ms | ∇ -4.34% | 22.88 Hz / 21.88 Hz | Δ 4.54% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 73.33 ms | ∇ -4.31% | 14.25 Hz / 13.64 Hz | Δ 4.50% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 27.15 ms | ∇ -11.21% | 41.48 Hz / 36.83 Hz | Δ 12.62% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 40.31 ms | ∇ -8.15% | 27.01 Hz / 24.81 Hz | Δ 8.87% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 64.44 ms | ∇ -7.65% | 16.80 Hz / 15.52 Hz | Δ 8.29% |
images: Gauss filter (640x480) | 5.29 ms / 4.52 ms | Δ 17.12% | 188.95 Hz / 221.30 Hz | ∇ -14.62% |
images: Gauss filter (800x600) | 8.36 ms / 7.35 ms | Δ 13.72% | 119.64 Hz / 136.05 Hz | ∇ -12.06% |
images: Gauss filter (1024x768) | 13.88 ms / 11.22 ms | Δ 23.70% | 72.06 Hz / 89.13 Hz | ∇ -19.16% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 6.32 us | Δ 194.82% | 53.67 KHz / 158.23 KHz | ∇ -66.08% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 4.78 us | Δ 274.17% | 55.91 KHz / 209.21 KHz | ∇ -73.27% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 2.14 us | Δ 136.19% | 197.84 KHz / 467.29 KHz | ∇ -57.66% |
feature_extraction [640x480]: Harris | 33.27 ms / 28.31 ms | Δ 17.50% | 30.06 Hz / 35.32 Hz | ∇ -14.89% |
feature_extraction [640x480]: KLT | 31.21 ms / 27.34 ms | Δ 14.16% | 32.04 Hz / 36.57 Hz | ∇ -12.41% |
feature_extraction [640x480]: SIFT | 675.81 ms / 641.91 ms | Δ 5.28% | 1.48 Hz / 1.56 Hz | ∇ -5.02% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 170.65 ms | Δ 27.27% | 4.60 Hz / 5.86 Hz | ∇ -21.43% |
feature_extraction [640x480]: SURF | 316.97 ms / 201.21 ms | Δ 57.53% | 3.15 Hz / 4.97 Hz | ∇ -36.52% |
feature_extraction [640x480]: FAST | 7.82 ms / 5.22 ms | Δ 49.71% | 127.91 Hz / 191.49 Hz | ∇ -33.21% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 60.81 ms | Δ 70.00% | 9.67 Hz / 16.44 Hz | ∇ -41.18% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 43.26 ms | Δ 30.00% | 17.78 Hz / 23.12 Hz | ∇ -23.08% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 39.91 ms | Δ 19.14% | 21.03 Hz / 25.06 Hz | ∇ -16.06% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.28 sec | Δ 5.03% | 745.82 mHz / 783.36 mHz | ∇ -4.79% |
feature_matching [640x480]: SURF | 606.64 ms / 386.18 ms | Δ 57.09% | 1.65 Hz / 2.59 Hz | ∇ -36.34% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 16.12 ms | Δ 38.71% | 44.72 Hz / 62.03 Hz | ∇ -27.91% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 10.93 ms | Δ 37.14% | 66.69 Hz / 91.46 Hz | ∇ -27.08% |
graph(2d): insertEdge x 1e3 | 313.03 us / X | 3.19 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 307.43 us / X | 3.25 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / X | 4.49 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / X | 4.49 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 516.93 us / X | 1.93 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / X | 1.93 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / X | 2.46 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / X | 2.48 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.36 ms / X | 297.28 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / X | 298.76 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / X | 450.51 Hz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / X | 450.21 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / X | 183.37 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / X | 183.91 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / X | 245.74 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / X | 246.50 Hz / X | ||
graph(3d): insertEdge x 1e3 | 447.20 us / X | 2.24 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 442.12 us / X | 2.26 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / X | 2.88 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / X | 2.88 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 944.03 us / X | 1.06 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / X | 1.02 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / X | 1.26 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / X | 1.26 KHz / X | ||
graph(3d): insertEdge x 1e4 | 4.62 ms / X | 216.43 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / X | 216.67 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / X | 287.28 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / X | 287.84 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / X | 94.75 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / X | 102.54 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / X | 126.08 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / X | 125.93 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 262.18 us / X | 3.81 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / X | 2.75 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 2.97 ms / X | 336.14 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / X | 303.75 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 34.21 ms / X | 29.23 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / X | 26.23 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 389.54 ms / X | 2.57 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / X | 2.33 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 382.11 ms / X | 2.62 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / X | 2.40 Hz / X |