Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 21.60 ms | ∇ -4.69% | 48.58 Hz / 46.30 Hz | Δ 4.92% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 20.51 ms | Δ 0.61% | 48.45 Hz / 48.75 Hz | ∇ -0.61% |
poses: CPose3D (+) CPose3D | 42.90 ns / 449.02 ns | ∇ -90.45% | 23.31 MHz / 2.23 MHz | Δ 946.67% |
poses: CPose3D.composeFrom() | 37.61 ns / 233.83 ns | ∇ -83.92% | 26.59 MHz / 4.28 MHz | Δ 521.72% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 10.67 ns | ∇ -32.01% | 137.89 MHz / 93.76 MHz | Δ 47.08% |
poses: CPose3D.composePoint() | 11.83 ns / 10.06 ns | Δ 17.57% | 84.53 MHz / 99.38 MHz | ∇ -14.95% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 37.71 ns | Δ 4.25% | 25.44 MHz / 26.52 MHz | ∇ -4.08% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 40.98 ns | ∇ -14.81% | 28.65 MHz / 24.40 MHz | Δ 17.39% |
poses: CPose2D (+) CPose2D | 76.08 ns / 78.17 ns | ∇ -2.67% | 13.14 MHz / 12.79 MHz | Δ 2.75% |
poses: CPose2D.composeFrom() | 61.61 ns / 62.17 ns | ∇ -0.90% | 16.23 MHz / 16.08 MHz | Δ 0.91% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 63.86 ns | ∇ -5.64% | 16.59 MHz / 15.66 MHz | Δ 5.97% |
poses: CPose2D.composePoint() | 62.26 ns / 61.98 ns | Δ 0.46% | 16.06 MHz / 16.13 MHz | ∇ -0.46% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 47.00 ns | ∇ -12.79% | 24.40 MHz / 21.28 MHz | Δ 14.66% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 39.80 ns | ∇ -1.03% | 25.39 MHz / 25.13 MHz | Δ 1.04% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 22.62 ns | ∇ -19.08% | 54.63 MHz / 44.21 MHz | Δ 23.58% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 18.93 ns | ∇ -5.22% | 55.74 MHz / 52.83 MHz | Δ 5.51% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 391.26 ns | ∇ -85.83% | 18.03 MHz / 2.56 MHz | Δ 605.53% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 18.05 ns | ∇ -2.18% | 56.63 MHz / 55.39 MHz | Δ 2.23% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 355.00 ns | ∇ -95.27% | 59.58 MHz / 2.82 MHz | Δ 2014.99% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 173.19 ns | ∇ -2.21% | 5.90 MHz / 5.77 MHz | Δ 2.26% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 814.76 us | ∇ -1.92% | 1.25 KHz / 1.23 KHz | Δ 1.96% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 821.91 us | ∇ -2.26% | 1.24 KHz / 1.22 KHz | Δ 2.32% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 9.57 us | ∇ -1.35% | 105.91 KHz / 104.48 KHz | Δ 1.37% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 682.30 ns | ∇ -4.90% | 1.54 MHz / 1.47 MHz | Δ 5.15% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 533.80 ns | Δ 18.21% | 1.58 MHz / 1.87 MHz | ∇ -15.40% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 8.51 us | ∇ -3.97% | 122.30 KHz / 117.45 KHz | Δ 4.13% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 20.59 ns | Δ 18.62% | 40.94 MHz / 48.56 MHz | ∇ -15.70% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 22.60 ns | Δ 2.55% | 43.14 MHz / 44.24 MHz | ∇ -2.49% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 63.92 ns | ∇ -6.91% | 16.81 MHz / 15.64 MHz | Δ 7.43% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 65.22 ns | ∇ -4.52% | 16.06 MHz / 15.33 MHz | Δ 4.74% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.35 ns | Δ 0.29% | 2.88 GHz / 2.89 GHz | ∇ -0.29% |
matrix: unit, fix[double,3,3] | 1.19 ns / 1.19 ns | Δ 0.08% | 841.75 MHz / 842.46 MHz | ∇ -0.08% |
matrix: unit, fix[float,6,6] | 1.70 ns / 1.68 ns | Δ 1.25% | 587.20 MHz / 594.53 MHz | ∇ -1.23% |
matrix: unit, fix[double,6,6] | 2.77 ns / 2.86 ns | ∇ -3.18% | 361.01 MHz / 349.53 MHz | Δ 3.29% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 73.50 ns | Δ 16.73% | 11.66 MHz / 13.61 MHz | ∇ -14.34% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 24.10 ns | ∇ -1.24% | 42.02 MHz / 41.49 MHz | Δ 1.26% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 72.10 ns | Δ 5.27% | 13.18 MHz / 13.87 MHz | ∇ -5.01% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 23.50 ns | ∇ 0.00% | 42.55 MHz / 42.55 MHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 112.90 ns | Δ 4.61% | 8.47 MHz / 8.86 MHz | ∇ -4.40% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 45.00 ns | ∇ -0.67% | 22.37 MHz / 22.22 MHz | Δ 0.67% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 110.50 ns | ∇ 0.00% | 9.05 MHz / 9.05 MHz | ∇ 0.00% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 45.10 ns | Δ 0.22% | 22.12 MHz / 22.17 MHz | ∇ -0.22% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 5.82 us | ∇ -6.54% | 183.95 KHz / 171.91 KHz | Δ 7.00% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 3.57 us | Δ 5.68% | 264.87 KHz / 279.91 KHz | ∇ -5.37% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 5.88 us | ∇ -5.79% | 180.38 KHz / 169.93 KHz | Δ 6.15% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 3.82 us | Δ 6.77% | 245.43 KHz / 262.04 KHz | ∇ -6.34% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / 449.00 ns | Δ 40.53% | 1.58 MHz / 2.23 MHz | ∇ -28.84% |
matrix: inv, fix[float ] 3x3 | 35.00 ns / 33.00 ns | Δ 6.06% | 28.57 MHz / 30.30 MHz | ∇ -5.71% |
matrix: inv, dyn[double] 3x3 | 644.00 ns / 413.00 ns | Δ 55.93% | 1.55 MHz / 2.42 MHz | ∇ -35.87% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 22.00 ns | Δ 77.27% | 25.64 MHz / 45.45 MHz | ∇ -43.59% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / 1.31 us | Δ 80.44% | 421.76 KHz / 761.04 KHz | ∇ -44.58% |
matrix: inv, fix[float ] 6x6 | 812.00 ns / 468.00 ns | Δ 73.50% | 1.23 MHz / 2.14 MHz | ∇ -42.36% |
matrix: inv, dyn[double] 6x6 | 1.26 us / 1.25 us | Δ 0.96% | 793.02 KHz / 800.64 KHz | ∇ -0.95% |
matrix: inv, fix[double] 6x6 | 575.00 ns / 578.00 ns | ∇ -0.52% | 1.74 MHz / 1.73 MHz | Δ 0.52% |
matrix: inv, dyn[float ] 20x20 | 25.94 us / 28.01 us | ∇ -7.39% | 38.55 KHz / 35.71 KHz | Δ 7.98% |
matrix: inv, fix[float ] 20x20 | 14.14 us / 12.67 us | Δ 11.62% | 70.70 KHz / 78.91 KHz | ∇ -10.41% |
matrix: inv, dyn[double] 20x20 | 25.76 us / 28.58 us | ∇ -9.89% | 38.83 KHz / 34.98 KHz | Δ 10.98% |
matrix: inv, fix[double] 20x20 | 17.04 us / 17.20 us | ∇ -0.92% | 58.69 KHz / 58.15 KHz | Δ 0.93% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / 205.67 us | ∇ -0.27% | 4.88 KHz / 4.86 KHz | Δ 0.27% |
matrix: inv, fix[float ] 40x40 | 93.29 us / 92.66 us | Δ 0.68% | 10.72 KHz / 10.79 KHz | ∇ -0.67% |
matrix: inv, dyn[double] 40x40 | 207.20 us / 200.95 us | Δ 3.11% | 4.83 KHz / 4.98 KHz | ∇ -3.02% |
matrix: inv, fix[double] 40x40 | 133.80 us / 134.50 us | ∇ -0.52% | 7.47 KHz / 7.43 KHz | Δ 0.52% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
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 / 8.80 ns | ∇ -27.27% | 156.25 MHz / 113.64 MHz | Δ 37.50% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 931.50 ns | ∇ -29.84% | 1.53 MHz / 1.07 MHz | Δ 42.54% |
matrix: det, fix[float ] 6x6 | 210.00 ns / 215.70 ns | ∇ -2.64% | 4.76 MHz / 4.64 MHz | Δ 2.71% |
matrix: det, dyn[double] 6x6 | 730.30 ns / 739.10 ns | ∇ -1.19% | 1.37 MHz / 1.35 MHz | Δ 1.20% |
matrix: det, fix[double] 6x6 | 212.10 ns / 219.80 ns | ∇ -3.50% | 4.71 MHz / 4.55 MHz | Δ 3.63% |
matrix: det, dyn[float ] 20x20 | 5.70 us / 5.64 us | Δ 1.09% | 175.40 KHz / 177.30 KHz | ∇ -1.08% |
matrix: det, fix[float ] 20x20 | 4.20 us / 4.05 us | Δ 3.74% | 237.92 KHz / 246.81 KHz | ∇ -3.60% |
matrix: det, dyn[double] 20x20 | 6.56 us / 6.52 us | Δ 0.65% | 152.33 KHz / 153.32 KHz | ∇ -0.64% |
matrix: det, fix[double] 20x20 | 5.04 us / 4.73 us | Δ 6.63% | 198.38 KHz / 211.54 KHz | ∇ -6.22% |
matrix: det, dyn[float ] 40x40 | 32.38 us / 30.83 us | Δ 5.01% | 30.89 KHz / 32.43 KHz | ∇ -4.77% |
matrix: det, fix[float ] 40x40 | 27.92 us / 25.85 us | Δ 7.97% | 35.82 KHz / 38.68 KHz | ∇ -7.38% |
matrix: det, dyn[double] 40x40 | 39.41 us / 32.40 us | Δ 21.66% | 25.37 KHz / 30.87 KHz | ∇ -17.80% |
matrix: det, fix[double] 40x40 | 29.04 us / 27.53 us | Δ 5.49% | 34.44 KHz / 36.33 KHz | ∇ -5.20% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 170.00 ns | ∇ -17.65% | 7.14 MHz / 5.88 MHz | Δ 21.43% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 130.00 ns | Δ 23.08% | 6.25 MHz / 7.69 MHz | ∇ -18.75% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 18.73 us | ∇ -1.87% | 54.41 KHz / 53.39 KHz | Δ 1.90% |
matrix: chol, fix[double] 40x40 | 17.08 us / 16.74 us | Δ 2.03% | 58.55 KHz / 59.74 KHz | ∇ -1.99% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 8.50 us | ∇ -2.35% | 120.48 KHz / 117.65 KHz | Δ 2.41% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 93.90 us | ∇ -10.12% | 11.85 KHz / 10.65 KHz | Δ 11.26% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 52.90 us | Δ 0.19% | 18.87 KHz / 18.90 KHz | ∇ -0.19% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 40.03 us | ∇ -1.35% | 25.32 KHz / 24.98 KHz | Δ 1.37% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 411.30 us | Δ 0.10% | 2.43 KHz / 2.43 KHz | ∇ -0.10% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 74.98 us | ∇ -1.19% | 13.50 KHz / 13.34 KHz | Δ 1.20% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 8.61 ms | Δ 20.61% | 96.33 Hz / 116.18 Hz | ∇ -17.09% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 185.35 us | Δ 34.20% | 4.02 KHz / 5.40 KHz | ∇ -25.48% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 135.40 ms | Δ 173.74% | 2.70 Hz / 7.39 Hz | ∇ -63.47% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 359.80 us | ∇ -1.73% | 2.83 KHz / 2.78 KHz | Δ 1.76% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 364.31 ms | Δ 0.34% | 2.74 Hz / 2.74 Hz | ∇ -0.34% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 426.39 us | ∇ -0.26% | 2.35 KHz / 2.35 KHz | Δ 0.26% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 800.16 ms | ∇ -0.52% | 1.26 Hz / 1.25 Hz | Δ 0.52% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 497.60 us | ∇ -1.37% | 2.04 KHz / 2.01 KHz | Δ 1.39% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | ∇ -0.15% | 387.76 MHz / 387.19 MHz | Δ 0.15% |
gridmap2D: updateCell | 7.44 ns / 7.47 ns | ∇ -0.39% | 134.32 MHz / 133.80 MHz | Δ 0.39% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | Δ 0.92% | 1.82 GHz / 1.83 GHz | ∇ -0.91% |
gridmap2D: insert scan w/o widening | 101.23 us / 104.80 us | ∇ -3.41% | 9.88 KHz / 9.54 KHz | Δ 3.53% |
gridmap2D: insert scan with widening | 291.30 us / 295.32 us | ∇ -1.36% | 3.43 KHz / 3.39 KHz | Δ 1.38% |
gridmap2D: resize | 1.89 ms / 1.83 ms | Δ 3.40% | 529.66 Hz / 547.65 Hz | ∇ -3.28% |
gridmap2D: computeLikelihood | 16.46 us / 16.65 us | ∇ -1.16% | 60.76 KHz / 60.06 KHz | Δ 1.17% |
pointmap: insert 100 scans | 3.10 ms / 3.11 ms | ∇ -0.39% | 322.50 Hz / 321.23 Hz | Δ 0.39% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.28 us | ∇ 0.00% | 233.64 KHz / 233.64 KHz | ∇ 0.00% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 354.96 us | Δ 0.16% | 2.81 KHz / 2.82 KHz | ∇ -0.16% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 4.14 ms | Δ 0.59% | 240.24 Hz / 241.67 Hz | ∇ -0.59% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 4.28 us | Δ 11.21% | 210.08 KHz / 233.64 KHz | ∇ -10.08% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 361.24 us | Δ 0.54% | 2.75 KHz / 2.77 KHz | ∇ -0.54% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.09 ms | Δ 0.15% | 244.29 Hz / 244.66 Hz | ∇ -0.15% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.37 us | Δ 1.02% | 723.59 KHz / 730.99 KHz | ∇ -1.01% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 98.96 us | Δ 1.99% | 9.91 KHz / 10.10 KHz | ∇ -1.95% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 11.96 ms | ∇ -0.37% | 83.95 Hz / 83.64 Hz | Δ 0.37% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.60 ms | Δ 0.27% | 178.01 Hz / 178.50 Hz | ∇ -0.27% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 129.56 ms | Δ 0.93% | 7.65 Hz / 7.72 Hz | ∇ -0.92% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 5.65 ms | Δ 0.27% | 176.35 Hz / 176.84 Hz | ∇ -0.27% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 132.43 ms | Δ 0.16% | 7.54 Hz / 7.55 Hz | ∇ -0.16% |
random: drawUniform32bit | 14.57 ns / 15.70 ns | ∇ -7.19% | 68.63 MHz / 63.70 MHz | Δ 7.74% |
random: drawUniform | 14.62 ns / 15.69 ns | ∇ -6.85% | 68.41 MHz / 63.72 MHz | Δ 7.36% |
random: drawGaussian1D_normalized | 68.70 ns / 70.40 ns | ∇ -2.41% | 14.56 MHz / 14.20 MHz | Δ 2.47% |
random: drawGaussian1D | 68.68 ns / 70.38 ns | ∇ -2.40% | 14.56 MHz / 14.21 MHz | Δ 2.46% |
random: system rand() | 10.45 ns / 11.07 ns | ∇ -5.54% | 95.67 MHz / 90.37 MHz | Δ 5.86% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.33 us | ∇ -1.68% | 764.77 KHz / 751.96 KHz | Δ 1.70% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 3.04 us | ∇ -8.34% | 358.92 KHz / 328.99 KHz | Δ 9.10% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 162.81 ns | ∇ -2.79% | 6.32 MHz / 6.14 MHz | Δ 2.88% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 245.58 ns | ∇ -3.73% | 4.23 MHz / 4.07 MHz | Δ 3.88% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 514.74 ns | ∇ -4.93% | 2.04 MHz / 1.94 MHz | Δ 5.18% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 173.84 ns | ∇ -5.30% | 6.07 MHz / 5.75 MHz | Δ 5.60% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 259.42 ns | ∇ -4.36% | 4.03 MHz / 3.85 MHz | Δ 4.56% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 523.99 ns | ∇ -1.75% | 1.94 MHz / 1.91 MHz | Δ 1.78% |
random: permuteVector (len=10) | 317.50 ns / 288.60 ns | Δ 10.01% | 3.15 MHz / 3.47 MHz | ∇ -9.10% |
random: permuteVector (len=100) | 3.06 us / 3.07 us | ∇ -0.29% | 326.54 KHz / 325.61 KHz | Δ 0.29% |
random: permuteVector (len=1000) | 30.27 us / 30.26 us | Δ 0.04% | 33.04 KHz / 33.05 KHz | ∇ -0.04% |
math: round | 0.10 ns / 0.10 ns | ∇ -3.17% | 10.09 GHz / 9.77 GHz | Δ 3.28% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 31.77 ms | ∇ -14.16% | 36.67 Hz / 31.48 Hz | Δ 16.50% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 45.70 ms | ∇ -5.31% | 23.11 Hz / 21.88 Hz | Δ 5.61% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 73.33 ms | Δ 1.83% | 13.39 Hz / 13.64 Hz | ∇ -1.79% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 27.15 ms | ∇ -3.11% | 38.01 Hz / 36.83 Hz | Δ 3.21% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 40.31 ms | Δ 1.51% | 24.44 Hz / 24.81 Hz | ∇ -1.48% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 64.44 ms | ∇ -2.92% | 15.99 Hz / 15.52 Hz | Δ 3.01% |
images: Gauss filter (640x480) | 4.48 ms / 4.52 ms | ∇ -0.77% | 223.01 Hz / 221.30 Hz | Δ 0.78% |
images: Gauss filter (800x600) | 7.46 ms / 7.35 ms | Δ 1.48% | 134.07 Hz / 136.05 Hz | ∇ -1.46% |
images: Gauss filter (1024x768) | 12.41 ms / 11.22 ms | Δ 10.63% | 80.57 Hz / 89.13 Hz | ∇ -9.61% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 6.32 us | ∇ -18.51% | 194.17 KHz / 158.23 KHz | Δ 22.72% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 4.78 us | ∇ -9.00% | 229.89 KHz / 209.21 KHz | Δ 9.89% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 2.14 us | ∇ -0.93% | 471.70 KHz / 467.29 KHz | Δ 0.94% |
feature_extraction [640x480]: Harris | 33.18 ms / 28.31 ms | Δ 17.19% | 30.14 Hz / 35.32 Hz | ∇ -14.67% |
feature_extraction [640x480]: KLT | 29.64 ms / 27.34 ms | Δ 8.39% | 33.74 Hz / 36.57 Hz | ∇ -7.74% |
feature_extraction [640x480]: SIFT | 637.68 ms / 641.91 ms | ∇ -0.66% | 1.57 Hz / 1.56 Hz | Δ 0.66% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 170.65 ms | Δ 1.46% | 5.78 Hz / 5.86 Hz | ∇ -1.44% |
feature_extraction [640x480]: SURF | 202.84 ms / 201.21 ms | Δ 0.81% | 4.93 Hz / 4.97 Hz | ∇ -0.80% |
feature_extraction [640x480]: FAST | 5.10 ms / 5.22 ms | ∇ -2.27% | 195.94 Hz / 191.49 Hz | Δ 2.32% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 60.81 ms | Δ 0.67% | 16.33 Hz / 16.44 Hz | ∇ -0.67% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 43.26 ms | Δ 1.47% | 22.78 Hz / 23.12 Hz | ∇ -1.45% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 39.91 ms | ∇ -3.98% | 26.09 Hz / 25.06 Hz | Δ 4.14% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | Δ 0.06% | 782.87 mHz / 783.36 mHz | ∇ -0.06% |
feature_matching [640x480]: SURF | 387.99 ms / 386.18 ms | Δ 0.47% | 2.58 Hz / 2.59 Hz | ∇ -0.47% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 16.12 ms | ∇ -2.43% | 63.57 Hz / 62.03 Hz | Δ 2.49% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 10.93 ms | ∇ -3.42% | 94.70 Hz / 91.46 Hz | Δ 3.54% |
graph(2d): insertEdge x 1e3 | 104.46 us / X | 9.57 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / X | 11.74 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 134.65 us / X | 7.43 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / X | 8.34 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.39 ms / X | 721.96 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / X | 1.17 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / X | 621.80 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / X | 832.81 Hz / X | ||
graph(3d): insertEdge x 1e3 | 132.91 us / X | 7.52 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / X | 9.17 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 349.74 us / X | 2.86 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / X | 3.11 KHz / X | ||
graph(3d): insertEdge x 1e4 | 1.89 ms / X | 529.10 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / X | 910.25 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / X | 215.20 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / X | 246.81 Hz / X | ||
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 |