Test description | 0.9.2-MSVC-32bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 19.99 ms | Δ 52.05% | 32.90 Hz / 50.03 Hz | ∇ -34.23% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 19.29 ms | Δ 172.56% | 19.02 Hz / 51.84 Hz | ∇ -63.31% |
poses: CPose3D (+) CPose3D | 264.70 ns / 42.85 ns | Δ 517.75% | 3.78 MHz / 23.34 MHz | ∇ -83.81% |
poses: CPose3D.composeFrom() | 98.01 ns / 37.80 ns | Δ 159.27% | 10.20 MHz / 26.46 MHz | ∇ -61.43% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 7.25 ns | Δ 284.20% | 35.89 MHz / 137.89 MHz | ∇ -73.97% |
poses: CPose3D.composePoint() | 19.17 ns / 11.91 ns | Δ 61.01% | 52.16 MHz / 83.98 MHz | ∇ -37.89% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 48.98 ns | Δ 5.46% | 19.36 MHz / 20.42 MHz | ∇ -5.18% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 34.95 ns | Δ 34.22% | 21.32 MHz / 28.61 MHz | ∇ -25.50% |
poses: CPose2D (+) CPose2D | 99.28 ns / 78.58 ns | Δ 26.34% | 10.07 MHz / 12.73 MHz | ∇ -20.85% |
poses: CPose2D.composeFrom() | 89.67 ns / 70.31 ns | Δ 27.53% | 11.15 MHz / 14.22 MHz | ∇ -21.59% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 61.33 ns | Δ 33.82% | 12.18 MHz / 16.31 MHz | ∇ -25.27% |
poses: CPose2D.composePoint() | 64.58 ns / 65.17 ns | ∇ -0.90% | 15.49 MHz / 15.35 MHz | Δ 0.91% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 44.66 ns | Δ 95.23% | 11.47 MHz / 22.39 MHz | ∇ -48.78% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 39.43 ns | Δ 44.92% | 17.50 MHz / 25.36 MHz | ∇ -31.00% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 18.24 ns | Δ 164.43% | 20.74 MHz / 54.84 MHz | ∇ -62.18% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 17.94 ns | Δ 65.24% | 33.74 MHz / 55.75 MHz | ∇ -39.48% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 55.43 ns | Δ 52.13% | 11.86 MHz / 18.04 MHz | ∇ -34.27% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 17.64 ns | Δ 74.14% | 32.55 MHz / 56.69 MHz | ∇ -42.58% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 16.70 ns | Δ 97.75% | 30.29 MHz / 59.89 MHz | ∇ -49.43% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 169.28 ns | Δ 22.10% | 4.84 MHz / 5.91 MHz | ∇ -18.10% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 760.96 us | ∇ -99.82% | 739.68 KHz / 1.31 KHz | Δ 56186.17% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 760.62 us | ∇ -99.82% | 712.12 KHz / 1.31 KHz | Δ 54065.36% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 9.47 us | Δ 144.31% | 43.20 KHz / 105.55 KHz | ∇ -59.07% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 545.30 ns | Δ 197.22% | 617.00 KHz / 1.83 MHz | ∇ -66.35% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 544.10 ns | Δ 199.49% | 613.67 KHz / 1.84 MHz | ∇ -66.61% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 8.11 us | Δ 95.10% | 63.21 KHz / 123.33 KHz | ∇ -48.75% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 20.92 ns | Δ 85.22% | 25.81 MHz / 47.81 MHz | ∇ -46.01% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 20.15 ns | Δ 92.03% | 25.85 MHz / 49.63 MHz | ∇ -47.92% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 54.04 ns | Δ 202.31% | 6.12 MHz / 18.51 MHz | ∇ -66.92% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 55.27 ns | Δ 285.50% | 4.69 MHz / 18.09 MHz | ∇ -74.06% |
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 / 1.70 ns | Δ 63.16% | 360.95 MHz / 588.93 MHz | ∇ -38.71% |
matrix: unit, fix[double,6,6] | 6.07 ns / 2.77 ns | Δ 118.67% | 164.80 MHz / 360.36 MHz | ∇ -54.27% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 73.10 ns | Δ 130.73% | 5.93 MHz / 13.68 MHz | ∇ -56.66% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 23.80 ns | Δ 359.95% | 9.14 MHz / 42.02 MHz | ∇ -78.26% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 72.40 ns | Δ 119.82% | 6.28 MHz / 13.81 MHz | ∇ -54.51% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 23.40 ns | Δ 274.33% | 11.42 MHz / 42.74 MHz | ∇ -73.29% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 110.50 ns | Δ 146.46% | 3.67 MHz / 9.05 MHz | ∇ -59.43% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 45.10 ns | Δ 321.38% | 5.26 MHz / 22.17 MHz | ∇ -76.27% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 116.30 ns | Δ 111.38% | 4.07 MHz / 8.60 MHz | ∇ -52.69% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 45.20 ns | Δ 207.32% | 7.20 MHz / 22.12 MHz | ∇ -67.46% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 5.19 us | Δ 221.31% | 60.00 KHz / 192.77 KHz | ∇ -68.88% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 3.55 us | Δ 263.74% | 77.41 KHz / 281.56 KHz | ∇ -72.51% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 5.18 us | Δ 156.85% | 75.16 KHz / 193.05 KHz | ∇ -61.07% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 3.61 us | Δ 167.62% | 103.53 KHz / 277.05 KHz | ∇ -62.63% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / 333.00 ns | Δ 337.95% | 685.70 KHz / 3.00 MHz | ∇ -77.17% |
matrix: inv, fix[float ] 3x3 | 59.78 ns / 21.00 ns | Δ 184.69% | 16.73 MHz / 47.62 MHz | ∇ -64.87% |
matrix: inv, dyn[double] 3x3 | 1.47 us / 329.00 ns | Δ 345.89% | 681.67 KHz / 3.04 MHz | ∇ -77.57% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 21.00 ns | Δ 46.66% | 32.47 MHz / 47.62 MHz | ∇ -31.81% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / 1.22 us | Δ 260.62% | 227.86 KHz / 821.69 KHz | ∇ -72.27% |
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 / 1.20 us | Δ 320.10% | 198.20 KHz / 832.64 KHz | ∇ -76.20% |
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 / 25.24 us | Δ 219.20% | 12.41 KHz / 39.62 KHz | ∇ -68.67% |
matrix: inv, fix[float ] 20x20 | 39.77 us / 12.60 us | Δ 215.65% | 25.14 KHz / 79.36 KHz | ∇ -68.32% |
matrix: inv, dyn[double] 20x20 | 106.06 us / 25.64 us | Δ 313.69% | 9.43 KHz / 39.01 KHz | ∇ -75.83% |
matrix: inv, fix[double] 20x20 | 18.99 us / 17.36 us | Δ 9.40% | 52.65 KHz / 57.60 KHz | ∇ -8.59% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / 190.86 us | Δ 211.41% | 1.68 KHz / 5.24 KHz | ∇ -67.89% |
matrix: inv, fix[float ] 40x40 | 302.87 us / 88.89 us | Δ 240.73% | 3.30 KHz / 11.25 KHz | ∇ -70.65% |
matrix: inv, dyn[double] 40x40 | 805.07 us / 189.04 us | Δ 325.88% | 1.24 KHz / 5.29 KHz | ∇ -76.52% |
matrix: inv, fix[double] 40x40 | 129.27 us / 121.47 us | Δ 6.42% | 7.74 KHz / 8.23 KHz | ∇ -6.04% |
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 / 6.40 ns | Δ 32.33% | 118.07 MHz / 156.25 MHz | ∇ -24.43% |
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 / 692.40 ns | Δ 229.15% | 438.79 KHz / 1.44 MHz | ∇ -69.62% |
matrix: det, fix[float ] 6x6 | 455.22 ns / 207.00 ns | Δ 119.91% | 2.20 MHz / 4.83 MHz | ∇ -54.53% |
matrix: det, dyn[double] 6x6 | 2.27 us / 696.30 ns | Δ 225.92% | 440.64 KHz / 1.44 MHz | ∇ -69.32% |
matrix: det, fix[double] 6x6 | 409.52 ns / 212.30 ns | Δ 92.90% | 2.44 MHz / 4.71 MHz | ∇ -48.16% |
matrix: det, dyn[float ] 20x20 | 18.23 us / 5.39 us | Δ 238.25% | 54.86 KHz / 185.56 KHz | ∇ -70.44% |
matrix: det, fix[float ] 20x20 | 9.64 us / 3.90 us | Δ 147.04% | 103.77 KHz / 256.35 KHz | ∇ -59.52% |
matrix: det, dyn[double] 20x20 | 17.63 us / 6.40 us | Δ 175.30% | 56.72 KHz / 156.16 KHz | ∇ -63.68% |
matrix: det, fix[double] 20x20 | 6.19 us / 4.72 us | Δ 31.02% | 161.63 KHz / 211.77 KHz | ∇ -23.68% |
matrix: det, dyn[float ] 40x40 | 109.51 us / 30.35 us | Δ 260.83% | 9.13 KHz / 32.95 KHz | ∇ -72.29% |
matrix: det, fix[float ] 40x40 | 61.78 us / 26.47 us | Δ 133.39% | 16.19 KHz / 37.78 KHz | ∇ -57.15% |
matrix: det, dyn[double] 40x40 | 112.43 us / 32.49 us | Δ 245.98% | 8.89 KHz / 30.77 KHz | ∇ -71.10% |
matrix: det, fix[double] 40x40 | 35.24 us / 27.34 us | Δ 28.90% | 28.38 KHz / 36.58 KHz | ∇ -22.42% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 130.00 ns | Δ 32.39% | 5.81 MHz / 7.69 MHz | ∇ -24.47% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 140.00 ns | ∇ -15.89% | 8.49 MHz / 7.14 MHz | Δ 18.89% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 18.52 us | Δ 31.76% | 40.98 KHz / 54.00 KHz | ∇ -24.11% |
matrix: chol, fix[double] 40x40 | 17.68 us / 16.55 us | Δ 6.81% | 56.57 KHz / 60.42 KHz | ∇ -6.38% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 8.20 us | Δ 2.73% | 118.71 KHz / 121.95 KHz | ∇ -2.66% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 82.90 us | Δ 43.30% | 8.42 KHz / 12.06 KHz | ∇ -30.22% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 52.70 us | Δ 32.44% | 14.33 KHz / 18.98 KHz | ∇ -24.49% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 38.59 us | Δ 36.14% | 19.03 KHz / 25.91 KHz | ∇ -26.55% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 409.80 us | Δ 13.74% | 2.15 KHz / 2.44 KHz | ∇ -12.08% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 70.75 us | Δ 25.80% | 11.24 KHz / 14.13 KHz | ∇ -20.51% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 8.58 ms | Δ 8.72% | 107.25 Hz / 116.60 Hz | ∇ -8.02% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 171.20 us | Δ 17.53% | 4.97 KHz / 5.84 KHz | ∇ -14.92% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 133.58 ms | Δ 3.36% | 7.24 Hz / 7.49 Hz | ∇ -3.25% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 341.85 us | Δ 17.43% | 2.49 KHz / 2.93 KHz | ∇ -14.85% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 354.49 ms | Δ 27.96% | 2.20 Hz / 2.82 Hz | ∇ -21.85% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 401.50 us | Δ 18.10% | 2.11 KHz / 2.49 KHz | ∇ -15.33% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 773.25 ms | Δ 22.23% | 1.06 Hz / 1.29 Hz | ∇ -18.19% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 469.25 us | Δ 17.80% | 1.81 KHz / 2.13 KHz | ∇ -15.11% |
gridmap2D: getCell | 5.57 ns / 0.00 ns | Δ 5566675.17% | 179.64 MHz / 10.00 THz | ∇ -100.00% |
gridmap2D: setCell | 7.80 ns / 2.58 ns | Δ 202.73% | 128.17 MHz / 388.02 MHz | ∇ -66.97% |
gridmap2D: updateCell | 10.65 ns / 7.84 ns | Δ 35.83% | 93.93 MHz / 127.58 MHz | ∇ -26.38% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.55 ns | Δ 117.52% | 834.82 MHz / 1.82 GHz | ∇ -54.03% |
gridmap2D: insert scan w/o widening | 202.10 us / 102.06 us | Δ 98.03% | 4.95 KHz / 9.80 KHz | ∇ -49.50% |
gridmap2D: insert scan with widening | 338.79 us / 289.47 us | Δ 17.04% | 2.95 KHz / 3.45 KHz | ∇ -14.56% |
gridmap2D: resize | 3.58 ms / 1.97 ms | Δ 82.04% | 279.42 Hz / 508.65 Hz | ∇ -45.07% |
gridmap2D: computeLikelihood | 18.09 us / 15.74 us | Δ 14.96% | 55.28 KHz / 63.55 KHz | ∇ -13.01% |
pointmap: insert 100 scans | 5.50 ms / 3.04 ms | Δ 80.96% | 181.98 Hz / 329.30 Hz | ∇ -44.74% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 4.32 us | Δ 45.52% | 159.07 KHz / 231.48 KHz | ∇ -31.28% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 352.12 us | Δ 47.88% | 1.92 KHz / 2.84 KHz | ∇ -32.38% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 4.14 ms | Δ 32.94% | 181.67 Hz / 241.51 Hz | ∇ -24.78% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 4.68 us | Δ 38.20% | 154.62 KHz / 213.68 KHz | ∇ -27.64% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 359.52 us | Δ 46.47% | 1.90 KHz / 2.78 KHz | ∇ -31.73% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 4.03 ms | Δ 39.86% | 177.52 Hz / 248.28 Hz | ∇ -28.50% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.41 us | Δ 45.12% | 490.44 KHz / 711.74 KHz | ∇ -31.09% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 97.21 us | Δ 41.75% | 7.26 KHz / 10.29 KHz | ∇ -29.45% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 11.62 ms | Δ 28.06% | 67.19 Hz / 86.05 Hz | ∇ -21.91% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 5.59 ms | Δ 53.21% | 116.69 Hz / 178.77 Hz | ∇ -34.73% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 129.28 ms | Δ 48.22% | 5.22 Hz / 7.73 Hz | ∇ -32.53% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 5.66 ms | Δ 52.48% | 115.78 Hz / 176.53 Hz | ∇ -34.42% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 131.22 ms | Δ 48.52% | 5.13 Hz / 7.62 Hz | ∇ -32.67% |
random: drawUniform32bit | 7.21 ns / 14.50 ns | ∇ -50.28% | 138.68 MHz / 68.95 MHz | Δ 101.13% |
random: drawUniform | 7.18 ns / 14.50 ns | ∇ -50.47% | 139.23 MHz / 68.96 MHz | Δ 101.91% |
random: drawGaussian1D_normalized | 51.37 ns / 68.97 ns | ∇ -25.52% | 19.47 MHz / 14.50 MHz | Δ 34.26% |
random: drawGaussian1D | 51.39 ns / 68.98 ns | ∇ -25.50% | 19.46 MHz / 14.50 MHz | Δ 34.24% |
random: system rand() | 28.61 ns / 10.45 ns | Δ 173.89% | 34.95 MHz / 95.72 MHz | ∇ -63.49% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 1.31 us | Δ 95.36% | 391.65 KHz / 765.12 KHz | ∇ -48.81% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 2.73 us | Δ 206.17% | 119.66 KHz / 366.37 KHz | ∇ -67.34% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 158.91 ns | Δ 34.63% | 4.67 MHz / 6.29 MHz | ∇ -25.72% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 237.40 ns | Δ 36.77% | 3.08 MHz / 4.21 MHz | ∇ -26.88% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 490.03 ns | Δ 69.32% | 1.21 MHz / 2.04 MHz | ∇ -40.94% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 164.67 ns | Δ 30.50% | 4.65 MHz / 6.07 MHz | ∇ -23.37% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 249.81 ns | Δ 46.11% | 2.74 MHz / 4.00 MHz | ∇ -31.56% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 514.70 ns | Δ 47.68% | 1.32 MHz / 1.94 MHz | ∇ -32.29% |
random: permuteVector (len=10) | 420.57 ns / 296.20 ns | Δ 41.99% | 2.38 MHz / 3.38 MHz | ∇ -29.57% |
random: permuteVector (len=100) | 3.56 us / 3.04 us | Δ 17.00% | 281.12 KHz / 328.91 KHz | ∇ -14.53% |
random: permuteVector (len=1000) | 33.55 us / 30.22 us | Δ 11.02% | 29.80 KHz / 33.09 KHz | ∇ -9.92% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | inf THz / 10.09 GHz | Δ inf% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 35.06 ms | ∇ -19.00% | 35.21 Hz / 28.52 Hz | Δ 23.45% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 48.96 ms | ∇ -10.72% | 22.88 Hz / 20.42 Hz | Δ 12.00% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 74.65 ms | ∇ -6.00% | 14.25 Hz / 13.40 Hz | Δ 6.38% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 29.96 ms | ∇ -19.54% | 41.48 Hz / 33.37 Hz | Δ 24.28% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 42.79 ms | ∇ -13.47% | 27.01 Hz / 23.37 Hz | Δ 15.57% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 64.15 ms | ∇ -7.24% | 16.80 Hz / 15.59 Hz | Δ 7.80% |
images: Gauss filter (640x480) | 5.29 ms / 3.90 ms | Δ 35.64% | 188.95 Hz / 256.30 Hz | ∇ -26.28% |
images: Gauss filter (800x600) | 8.36 ms / 6.21 ms | Δ 34.56% | 119.64 Hz / 160.99 Hz | ∇ -25.69% |
images: Gauss filter (1024x768) | 13.88 ms / 10.55 ms | Δ 31.49% | 72.06 Hz / 94.74 Hz | ∇ -23.95% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 5.06 us | Δ 268.24% | 53.67 KHz / 197.63 KHz | ∇ -72.84% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 4.30 us | Δ 315.94% | 55.91 KHz / 232.56 KHz | ∇ -75.96% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 2.10 us | Δ 140.69% | 197.84 KHz / 476.19 KHz | ∇ -58.45% |
feature_extraction [640x480]: Harris | 33.27 ms / 24.28 ms | Δ 37.04% | 30.06 Hz / 41.19 Hz | ∇ -27.03% |
feature_extraction [640x480]: KLT | 31.21 ms / 24.43 ms | Δ 27.79% | 32.04 Hz / 40.94 Hz | ∇ -21.75% |
feature_extraction [640x480]: SIFT | 675.81 ms / 610.42 ms | Δ 10.71% | 1.48 Hz / 1.64 Hz | ∇ -9.68% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 167.77 ms | Δ 29.46% | 4.60 Hz / 5.96 Hz | ∇ -22.75% |
feature_extraction [640x480]: SURF | 316.97 ms / 197.61 ms | Δ 60.40% | 3.15 Hz / 5.06 Hz | ∇ -37.66% |
feature_extraction [640x480]: FAST | 7.82 ms / 5.24 ms | Δ 49.08% | 127.91 Hz / 190.68 Hz | ∇ -32.92% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 59.98 ms | Δ 72.35% | 9.67 Hz / 16.67 Hz | ∇ -41.98% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 40.88 ms | Δ 37.58% | 17.78 Hz / 24.46 Hz | ∇ -27.31% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 35.50 ms | Δ 33.96% | 21.03 Hz / 28.17 Hz | ∇ -25.35% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.21 sec | Δ 11.03% | 745.82 mHz / 828.07 mHz | ∇ -9.93% |
feature_matching [640x480]: SURF | 606.64 ms / 379.92 ms | Δ 59.68% | 1.65 Hz / 2.63 Hz | ∇ -37.37% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 16.06 ms | Δ 39.22% | 44.72 Hz / 62.26 Hz | ∇ -28.17% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 10.73 ms | Δ 39.72% | 66.69 Hz / 93.18 Hz | ∇ -28.43% |
graph(2d): insertEdge x 1e3 | 313.03 us / 117.65 us | Δ 166.07% | 3.19 KHz / 8.50 KHz | ∇ -62.42% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 105.12 us | Δ 192.45% | 3.25 KHz / 9.51 KHz | ∇ -65.81% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 85.19 us | Δ 161.36% | 4.49 KHz / 11.74 KHz | ∇ -61.74% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 84.46 us | Δ 163.87% | 4.49 KHz / 11.84 KHz | ∇ -62.10% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 172.53 us | Δ 199.62% | 1.93 KHz / 5.80 KHz | ∇ -66.62% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 187.97 us | Δ 175.14% | 1.93 KHz / 5.32 KHz | ∇ -63.65% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 168.61 us | Δ 140.78% | 2.46 KHz / 5.93 KHz | ∇ -58.47% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 167.39 us | Δ 141.05% | 2.48 KHz / 5.97 KHz | ∇ -58.51% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 1.73 ms | Δ 94.84% | 297.28 Hz / 579.22 Hz | ∇ -48.68% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 1.45 ms | Δ 131.15% | 298.76 Hz / 690.59 Hz | ∇ -56.74% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 884.69 us | Δ 150.90% | 450.51 Hz / 1.13 KHz | ∇ -60.14% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 862.22 us | Δ 157.61% | 450.21 Hz / 1.16 KHz | ∇ -61.18% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 1.97 ms | Δ 176.30% | 183.37 Hz / 506.65 Hz | ∇ -63.81% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 2.31 ms | Δ 135.84% | 183.91 Hz / 433.74 Hz | ∇ -57.60% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 1.86 ms | Δ 118.98% | 245.74 Hz / 538.12 Hz | ∇ -54.33% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 1.86 ms | Δ 118.39% | 246.50 Hz / 538.35 Hz | ∇ -54.21% |
graph(3d): insertEdge x 1e3 | 447.20 us / 177.23 us | Δ 152.33% | 2.24 KHz / 5.64 KHz | ∇ -60.37% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 178.36 us | Δ 147.88% | 2.26 KHz / 5.61 KHz | ∇ -59.66% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 157.86 us | Δ 119.62% | 2.88 KHz / 6.33 KHz | ∇ -54.47% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 159.54 us | Δ 117.63% | 2.88 KHz / 6.27 KHz | ∇ -54.05% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 507.00 us | Δ 86.20% | 1.06 KHz / 1.97 KHz | ∇ -46.29% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 509.46 us | Δ 91.98% | 1.02 KHz / 1.96 KHz | ∇ -47.91% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 473.36 us | Δ 67.56% | 1.26 KHz / 2.11 KHz | ∇ -40.32% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 474.07 us | Δ 67.39% | 1.26 KHz / 2.11 KHz | ∇ -40.26% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 2.47 ms | Δ 86.95% | 216.43 Hz / 404.60 Hz | ∇ -46.51% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 2.48 ms | Δ 85.92% | 216.67 Hz / 402.82 Hz | ∇ -46.21% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 1.75 ms | Δ 98.58% | 287.28 Hz / 570.48 Hz | ∇ -49.64% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 1.77 ms | Δ 96.57% | 287.84 Hz / 565.81 Hz | ∇ -49.13% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 5.53 ms | Δ 90.99% | 94.75 Hz / 180.97 Hz | ∇ -47.64% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 5.56 ms | Δ 75.24% | 102.54 Hz / 179.70 Hz | ∇ -42.94% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 4.85 ms | Δ 63.52% | 126.08 Hz / 206.16 Hz | ∇ -38.84% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 4.85 ms | Δ 63.67% | 125.93 Hz / 206.11 Hz | ∇ -38.90% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 96.04 us | Δ 172.98% | 3.81 KHz / 10.41 KHz | ∇ -63.37% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 80.39 us | Δ 352.41% | 2.75 KHz / 12.44 KHz | ∇ -77.90% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 1.13 ms | Δ 163.30% | 336.14 Hz / 885.05 Hz | ∇ -62.02% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 804.04 us | Δ 309.46% | 303.75 Hz / 1.24 KHz | ∇ -75.58% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 19.14 ms | Δ 78.78% | 29.23 Hz / 52.26 Hz | ∇ -44.07% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 9.65 ms | Δ 295.07% | 26.23 Hz / 103.63 Hz | ∇ -74.69% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 290.37 ms | Δ 34.15% | 2.57 Hz / 3.44 Hz | ∇ -25.46% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 117.73 ms | Δ 264.08% | 2.33 Hz / 8.49 Hz | ∇ -72.53% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 268.93 ms | Δ 42.08% | 2.62 Hz / 3.72 Hz | ∇ -29.62% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 103.05 ms | Δ 305.11% | 2.40 Hz / 9.70 Hz | ∇ -75.32% |