Test description | 0.9.1-MSVC-32bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 30.39 ms | Δ 4.57% | 31.46 Hz / 32.90 Hz | ∇ -4.37% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 52.58 ms | Δ 2.14% | 18.62 Hz / 19.02 Hz | ∇ -2.09% |
poses: CPose3D (+) CPose3D | 925.38 ns / 264.70 ns | Δ 249.59% | 1.08 MHz / 3.78 MHz | ∇ -71.40% |
poses: CPose3D.composeFrom() | 617.00 ns / 98.01 ns | Δ 529.56% | 1.62 MHz / 10.20 MHz | ∇ -84.12% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 27.86 ns | Δ 29.12% | 27.80 MHz / 35.89 MHz | ∇ -22.55% |
poses: CPose3D.composePoint() | 14.62 ns / 19.17 ns | ∇ -23.77% | 68.42 MHz / 52.16 MHz | Δ 31.18% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 51.66 ns | Δ 46.02% | 13.26 MHz / 19.36 MHz | ∇ -31.52% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 46.91 ns | Δ 20.40% | 17.70 MHz / 21.32 MHz | ∇ -16.94% |
poses: CPose2D (+) CPose2D | 121.60 ns / 99.28 ns | Δ 22.48% | 8.22 MHz / 10.07 MHz | ∇ -18.36% |
poses: CPose2D.composeFrom() | 66.63 ns / 89.67 ns | ∇ -25.70% | 15.01 MHz / 11.15 MHz | Δ 34.59% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 82.07 ns | Δ 14.21% | 10.67 MHz / 12.18 MHz | ∇ -12.44% |
poses: CPose2D.composePoint() | 62.24 ns / 64.58 ns | ∇ -3.62% | 16.07 MHz / 15.49 MHz | Δ 3.76% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 87.19 ns | Δ 15.54% | 9.93 MHz / 11.47 MHz | ∇ -13.45% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 57.14 ns | Δ 1.36% | 17.26 MHz / 17.50 MHz | ∇ -1.35% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 48.22 ns | Δ 27.18% | 16.31 MHz / 20.74 MHz | ∇ -21.37% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 29.64 ns | ∇ -7.75% | 36.57 MHz / 33.74 MHz | Δ 8.40% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 84.32 ns | Δ 588.67% | 1.72 MHz / 11.86 MHz | ∇ -85.48% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 30.72 ns | ∇ -8.26% | 35.48 MHz / 32.55 MHz | Δ 9.01% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 33.02 ns | Δ 1434.47% | 1.97 MHz / 30.29 MHz | ∇ -93.48% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 206.69 ns | Δ 3.95% | 4.65 MHz / 4.84 MHz | ∇ -3.80% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 1.35 us | Δ 15.04% | 642.96 KHz / 739.68 KHz | ∇ -13.08% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 1.40 us | Δ 7.27% | 663.83 KHz / 712.12 KHz | ∇ -6.78% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 23.15 us | Δ 0.61% | 42.94 KHz / 43.20 KHz | ∇ -0.61% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 1.62 us | Δ 1.19% | 609.77 KHz / 617.00 KHz | ∇ -1.17% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 1.63 us | Δ 2.14% | 600.84 KHz / 613.67 KHz | ∇ -2.09% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 15.82 us | Δ 1.43% | 62.32 KHz / 63.21 KHz | ∇ -1.41% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 38.75 ns | Δ 2.35% | 25.22 MHz / 25.81 MHz | ∇ -2.29% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 38.69 ns | Δ 10.48% | 23.39 MHz / 25.85 MHz | ∇ -9.48% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 163.36 ns | ∇ -6.78% | 6.57 MHz / 6.12 MHz | Δ 7.27% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 213.06 ns | ∇ -29.38% | 6.65 MHz / 4.69 MHz | Δ 41.61% |
matrix: unit, fix[float,3,3] | 3.30 ns / 3.56 ns | ∇ -7.45% | 303.37 MHz / 280.77 MHz | Δ 8.05% |
matrix: unit, fix[double,3,3] | 3.48 ns / 3.29 ns | Δ 5.77% | 287.56 MHz / 304.17 MHz | ∇ -5.46% |
matrix: unit, fix[float,6,6] | 3.06 ns / 2.77 ns | Δ 10.32% | 327.19 MHz / 360.95 MHz | ∇ -9.35% |
matrix: unit, fix[double,6,6] | 6.65 ns / 6.07 ns | Δ 9.51% | 150.48 MHz / 164.80 MHz | ∇ -8.68% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 168.66 ns | ∇ -0.51% | 5.96 MHz / 5.93 MHz | Δ 0.51% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 109.47 ns | ∇ -0.78% | 9.21 MHz / 9.14 MHz | Δ 0.79% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 159.15 ns | ∇ -0.17% | 6.29 MHz / 6.28 MHz | Δ 0.17% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 87.59 ns | Δ 3.72% | 11.01 MHz / 11.42 MHz | ∇ -3.59% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 272.34 ns | Δ 0.05% | 3.67 MHz / 3.67 MHz | ∇ -0.05% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 190.04 ns | Δ 1.62% | 5.18 MHz / 5.26 MHz | ∇ -1.60% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 245.84 ns | ∇ -2.82% | 4.19 MHz / 4.07 MHz | Δ 2.90% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 138.91 ns | Δ 0.10% | 7.19 MHz / 7.20 MHz | ∇ -0.10% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 16.67 us | Δ 0.82% | 59.51 KHz / 60.00 KHz | ∇ -0.81% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 12.92 us | Δ 1.10% | 76.57 KHz / 77.41 KHz | ∇ -1.08% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 13.30 us | Δ 1.84% | 73.81 KHz / 75.16 KHz | ∇ -1.80% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 9.66 us | Δ 3.11% | 100.40 KHz / 103.53 KHz | ∇ -3.02% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / 1.46 us | Δ 2.98% | 665.84 KHz / 685.70 KHz | ∇ -2.90% |
matrix: inv, fix[float ] 3x3 | 59.79 ns / 59.78 ns | Δ 0.00% | 16.73 MHz / 16.73 MHz | ∇ -0.00% |
matrix: inv, dyn[double] 3x3 | 1.53 us / 1.47 us | Δ 4.42% | 652.84 KHz / 681.67 KHz | ∇ -4.23% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 30.80 ns | Δ 1.47% | 32.00 MHz / 32.47 MHz | ∇ -1.45% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / 4.39 us | Δ 15.51% | 197.26 KHz / 227.86 KHz | ∇ -13.43% |
matrix: inv, fix[float ] 6x6 | 1.33 us / 1.39 us | ∇ -4.07% | 749.46 KHz / 718.96 KHz | Δ 4.24% |
matrix: inv, dyn[double] 6x6 | 5.08 us / 5.05 us | Δ 0.77% | 196.68 KHz / 198.20 KHz | ∇ -0.77% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 944.32 ns | ∇ -1.87% | 1.08 MHz / 1.06 MHz | Δ 1.90% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / 80.56 us | Δ 1.61% | 12.22 KHz / 12.41 KHz | ∇ -1.59% |
matrix: inv, fix[float ] 20x20 | 40.71 us / 39.77 us | Δ 2.36% | 24.56 KHz / 25.14 KHz | ∇ -2.30% |
matrix: inv, dyn[double] 20x20 | 108.60 us / 106.06 us | Δ 2.39% | 9.21 KHz / 9.43 KHz | ∇ -2.34% |
matrix: inv, fix[double] 20x20 | 19.22 us / 18.99 us | Δ 1.20% | 52.02 KHz / 52.65 KHz | ∇ -1.19% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / 594.37 us | Δ 2.49% | 1.64 KHz / 1.68 KHz | ∇ -2.43% |
matrix: inv, fix[float ] 40x40 | 307.68 us / 302.87 us | Δ 1.59% | 3.25 KHz / 3.30 KHz | ∇ -1.56% |
matrix: inv, dyn[double] 40x40 | 818.27 us / 805.07 us | Δ 1.64% | 1.22 KHz / 1.24 KHz | ∇ -1.61% |
matrix: inv, fix[double] 40x40 | 136.18 us / 129.27 us | Δ 5.34% | 7.34 KHz / 7.74 KHz | ∇ -5.07% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / 7.97 ns | Δ 14.77% | 109.30 MHz / 125.45 MHz | ∇ -12.87% |
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 | 9.56 ns / 8.47 ns | Δ 12.84% | 104.64 MHz / 118.07 MHz | ∇ -11.38% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 3x3 | 19.70 ns / 20.83 ns | ∇ -5.43% | 50.76 MHz / 48.00 MHz | Δ 5.75% |
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 | 15.90 ns / 15.90 ns | Δ 0.00% | 62.90 MHz / 62.90 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 | 2.32 us / 2.28 us | Δ 1.72% | 431.38 KHz / 438.79 KHz | ∇ -1.69% |
matrix: det, fix[float ] 6x6 | 434.76 ns / 455.22 ns | ∇ -4.50% | 2.30 MHz / 2.20 MHz | Δ 4.71% |
matrix: det, dyn[double] 6x6 | 2.38 us / 2.27 us | Δ 4.82% | 420.40 KHz / 440.64 KHz | ∇ -4.59% |
matrix: det, fix[double] 6x6 | 422.89 ns / 409.52 ns | Δ 3.26% | 2.36 MHz / 2.44 MHz | ∇ -3.16% |
matrix: det, dyn[float ] 20x20 | 18.34 us / 18.23 us | Δ 0.60% | 54.54 KHz / 54.86 KHz | ∇ -0.59% |
matrix: det, fix[float ] 20x20 | 9.85 us / 9.64 us | Δ 2.17% | 101.56 KHz / 103.77 KHz | ∇ -2.13% |
matrix: det, dyn[double] 20x20 | 18.19 us / 17.63 us | Δ 3.15% | 54.99 KHz / 56.72 KHz | ∇ -3.06% |
matrix: det, fix[double] 20x20 | 6.52 us / 6.19 us | Δ 5.43% | 153.30 KHz / 161.63 KHz | ∇ -5.15% |
matrix: det, dyn[float ] 40x40 | 111.92 us / 109.51 us | Δ 2.20% | 8.93 KHz / 9.13 KHz | ∇ -2.15% |
matrix: det, fix[float ] 40x40 | 63.43 us / 61.78 us | Δ 2.66% | 15.77 KHz / 16.19 KHz | ∇ -2.59% |
matrix: det, dyn[double] 40x40 | 114.84 us / 112.43 us | Δ 2.15% | 8.71 KHz / 8.89 KHz | ∇ -2.10% |
matrix: det, fix[double] 40x40 | 36.00 us / 35.24 us | Δ 2.17% | 27.78 KHz / 28.38 KHz | ∇ -2.12% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 172.11 ns | Δ 7.90% | 5.39 MHz / 5.81 MHz | ∇ -7.32% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 117.76 ns | ∇ -3.84% | 8.83 MHz / 8.49 MHz | Δ 4.00% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 24.40 us | Δ 0.11% | 40.93 KHz / 40.98 KHz | ∇ -0.11% |
matrix: chol, fix[double] 40x40 | 17.73 us / 17.68 us | Δ 0.31% | 56.40 KHz / 56.57 KHz | ∇ -0.31% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 8.42 us | Δ 27.96% | 92.77 KHz / 118.71 KHz | ∇ -21.85% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 118.80 us | ∇ -0.76% | 8.48 KHz / 8.42 KHz | Δ 0.77% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 69.79 us | Δ 1.04% | 14.18 KHz / 14.33 KHz | ∇ -1.03% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 52.54 us | Δ 0.10% | 19.02 KHz / 19.03 KHz | ∇ -0.10% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 466.09 us | Δ 5.37% | 2.04 KHz / 2.15 KHz | ∇ -5.09% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 89.01 us | ∇ -3.57% | 11.65 KHz / 11.24 KHz | Δ 3.70% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 9.32 ms | Δ 1.30% | 105.88 Hz / 107.25 Hz | ∇ -1.28% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 201.22 us | Δ 1.64% | 4.89 KHz / 4.97 KHz | ∇ -1.62% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 138.07 ms | Δ 8.74% | 6.66 Hz / 7.24 Hz | ∇ -8.04% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 401.45 us | Δ 3.52% | 2.41 KHz / 2.49 KHz | ∇ -3.40% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 453.62 ms | Δ 1.72% | 2.17 Hz / 2.20 Hz | ∇ -1.69% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 474.18 us | Δ 2.27% | 2.06 KHz / 2.11 KHz | ∇ -2.22% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 945.16 ms | Δ 0.24% | 1.06 Hz / 1.06 Hz | ∇ -0.24% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 552.77 us | Δ 6.09% | 1.71 KHz / 1.81 KHz | ∇ -5.74% |
gridmap2D: getCell | 5.77 ns / 5.57 ns | Δ 3.70% | 173.23 MHz / 179.64 MHz | ∇ -3.57% |
gridmap2D: setCell | 7.96 ns / 7.80 ns | Δ 2.02% | 125.64 MHz / 128.17 MHz | ∇ -1.98% |
gridmap2D: updateCell | 10.80 ns / 10.65 ns | Δ 1.46% | 92.58 MHz / 93.93 MHz | ∇ -1.44% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 1.20 ns | Δ 1.00% | 826.59 MHz / 834.82 MHz | ∇ -0.99% |
gridmap2D: insert scan w/o widening | 204.23 us / 202.10 us | Δ 1.06% | 4.90 KHz / 4.95 KHz | ∇ -1.04% |
gridmap2D: insert scan with widening | 344.40 us / 338.79 us | Δ 1.66% | 2.90 KHz / 2.95 KHz | ∇ -1.63% |
gridmap2D: resize | 2.62 ms / 3.58 ms | ∇ -26.84% | 381.93 Hz / 279.42 Hz | Δ 36.69% |
gridmap2D: computeLikelihood | 18.59 us / 18.09 us | Δ 2.76% | 53.79 KHz / 55.28 KHz | ∇ -2.69% |
pointmap: insert 100 scans | 5.62 ms / 5.50 ms | Δ 2.22% | 178.02 Hz / 181.98 Hz | ∇ -2.17% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 6.29 us | ∇ -1.15% | 160.93 KHz / 159.07 KHz | Δ 1.16% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 520.70 us | ∇ -1.71% | 1.95 KHz / 1.92 KHz | Δ 1.74% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 5.50 ms | Δ 1.57% | 178.86 Hz / 181.67 Hz | ∇ -1.55% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 6.47 us | Δ 11.77% | 138.34 KHz / 154.62 KHz | ∇ -10.53% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 526.59 us | ∇ -0.66% | 1.91 KHz / 1.90 KHz | Δ 0.67% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 5.63 ms | Δ 2.48% | 173.21 Hz / 177.52 Hz | ∇ -2.42% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 2.04 us | Δ 0.69% | 487.07 KHz / 490.44 KHz | ∇ -0.69% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 137.79 us | Δ 2.17% | 7.10 KHz / 7.26 KHz | ∇ -2.13% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 14.88 ms | Δ 1.95% | 65.91 Hz / 67.19 Hz | ∇ -1.91% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 8.57 ms | Δ 1.46% | 115.01 Hz / 116.69 Hz | ∇ -1.44% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 191.63 ms | Δ 2.51% | 5.09 Hz / 5.22 Hz | ∇ -2.45% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 8.64 ms | Δ 1.03% | 114.60 Hz / 115.78 Hz | ∇ -1.02% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 194.89 ms | Δ 1.84% | 5.04 Hz / 5.13 Hz | ∇ -1.81% |
random: drawUniform32bit | 7.29 ns / 7.21 ns | Δ 1.15% | 137.11 MHz / 138.68 MHz | ∇ -1.14% |
random: drawUniform | 7.33 ns / 7.18 ns | Δ 2.01% | 136.49 MHz / 139.23 MHz | ∇ -1.97% |
random: drawGaussian1D_normalized | 51.27 ns / 51.37 ns | ∇ -0.19% | 19.50 MHz / 19.47 MHz | Δ 0.19% |
random: drawGaussian1D | 51.74 ns / 51.39 ns | Δ 0.68% | 19.33 MHz / 19.46 MHz | ∇ -0.68% |
random: system rand() | 29.39 ns / 28.61 ns | Δ 2.70% | 34.03 MHz / 34.95 MHz | ∇ -2.63% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 2.55 us | Δ 3.48% | 378.48 KHz / 391.65 KHz | ∇ -3.36% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 8.36 us | Δ 2.12% | 117.18 KHz / 119.66 KHz | ∇ -2.08% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 213.95 ns | Δ 0.57% | 4.65 MHz / 4.67 MHz | ∇ -0.56% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 324.69 ns | Δ 10.87% | 2.78 MHz / 3.08 MHz | ∇ -9.80% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 829.70 ns | ∇ -11.76% | 1.37 MHz / 1.21 MHz | Δ 13.33% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 214.89 ns | ∇ -0.61% | 4.68 MHz / 4.65 MHz | Δ 0.61% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 364.99 ns | ∇ -7.04% | 2.95 MHz / 2.74 MHz | Δ 7.57% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 760.13 ns | Δ 0.10% | 1.31 MHz / 1.32 MHz | ∇ -0.10% |
random: permuteVector (len=10) | 411.34 ns / 420.57 ns | ∇ -2.20% | 2.43 MHz / 2.38 MHz | Δ 2.24% |
random: permuteVector (len=100) | 3.59 us / 3.56 us | Δ 0.87% | 278.70 KHz / 281.12 KHz | ∇ -0.86% |
random: permuteVector (len=1000) | 34.34 us / 33.55 us | Δ 2.34% | 29.12 KHz / 29.80 KHz | ∇ -2.28% |
math: round | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 28.40 ms | ∇ -1.67% | 35.81 Hz / 35.21 Hz | Δ 1.70% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 43.71 ms | ∇ -0.42% | 22.97 Hz / 22.88 Hz | Δ 0.42% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 70.17 ms | Δ 0.83% | 14.13 Hz / 14.25 Hz | ∇ -0.83% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 24.11 ms | ∇ -2.80% | 42.67 Hz / 41.48 Hz | Δ 2.89% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 37.02 ms | ∇ -1.37% | 27.39 Hz / 27.01 Hz | Δ 1.39% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 59.51 ms | Δ 0.52% | 16.72 Hz / 16.80 Hz | ∇ -0.52% |
images: Gauss filter (640x480) | 6.68 ms / 5.29 ms | Δ 26.19% | 149.74 Hz / 188.95 Hz | ∇ -20.75% |
images: Gauss filter (800x600) | 8.62 ms / 8.36 ms | Δ 3.11% | 116.03 Hz / 119.64 Hz | ∇ -3.02% |
images: Gauss filter (1024x768) | 14.49 ms / 13.88 ms | Δ 4.41% | 69.01 Hz / 72.06 Hz | ∇ -4.22% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 18.63 us | Δ 13.37% | 47.34 KHz / 53.67 KHz | ∇ -11.79% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 17.89 us | Δ 8.26% | 51.65 KHz / 55.91 KHz | ∇ -7.63% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 5.05 us | Δ 23.39% | 160.34 KHz / 197.84 KHz | ∇ -18.96% |
feature_extraction [640x480]: Harris | 40.83 ms / 33.27 ms | Δ 22.72% | 24.49 Hz / 30.06 Hz | ∇ -18.52% |
feature_extraction [640x480]: KLT | 33.62 ms / 31.21 ms | Δ 7.69% | 29.75 Hz / 32.04 Hz | ∇ -7.14% |
feature_extraction [640x480]: SIFT | 705.28 ms / 675.81 ms | Δ 4.36% | 1.42 Hz / 1.48 Hz | ∇ -4.18% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 217.19 ms | ∇ -1.37% | 4.67 Hz / 4.60 Hz | Δ 1.39% |
feature_extraction [640x480]: SURF | 326.57 ms / 316.97 ms | Δ 3.03% | 3.06 Hz / 3.15 Hz | ∇ -2.94% |
feature_extraction [640x480]: FAST | 7.69 ms / 7.82 ms | ∇ -1.67% | 130.08 Hz / 127.91 Hz | Δ 1.70% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 103.38 ms | Δ 2.44% | 9.44 Hz / 9.67 Hz | ∇ -2.38% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 56.24 ms | Δ 2.55% | 17.34 Hz / 17.78 Hz | ∇ -2.49% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 47.55 ms | Δ 5.72% | 19.89 Hz / 21.03 Hz | ∇ -5.41% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.34 sec | Δ 2.93% | 724.62 mHz / 745.82 mHz | ∇ -2.84% |
feature_matching [640x480]: SURF | 618.66 ms / 606.64 ms | Δ 1.98% | 1.62 Hz / 1.65 Hz | ∇ -1.94% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 22.36 ms | ∇ -1.12% | 45.22 Hz / 44.72 Hz | Δ 1.13% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 15.00 ms | ∇ -2.74% | 68.57 Hz / 66.69 Hz | Δ 2.82% |
graph(2d): insertEdge x 1e3 | 354.58 us / 313.03 us | Δ 13.27% | 2.82 KHz / 3.19 KHz | ∇ -11.72% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 222.64 us | Δ 27.58% | 3.52 KHz / 4.49 KHz | ∇ -21.62% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 516.93 us | Δ 6.26% | 1.82 KHz / 1.93 KHz | ∇ -5.89% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 405.97 us | Δ 11.53% | 2.21 KHz / 2.46 KHz | ∇ -10.34% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 3.36 ms | Δ 14.73% | 259.12 Hz / 297.28 Hz | ∇ -12.84% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 2.22 ms | Δ 29.55% | 347.75 Hz / 450.51 Hz | ∇ -22.81% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 5.45 ms | Δ 5.22% | 174.28 Hz / 183.37 Hz | ∇ -4.96% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 4.07 ms | Δ 9.06% | 225.33 Hz / 245.74 Hz | ∇ -8.30% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 447.20 us | Δ 200.94% | 743.07 Hz / 2.24 KHz | ∇ -66.77% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 346.69 us | Δ 214.22% | 917.96 Hz / 2.88 KHz | ∇ -68.18% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 944.03 us | Δ 84.66% | 573.66 Hz / 1.06 KHz | ∇ -45.85% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 793.19 us | Δ 84.51% | 683.28 Hz / 1.26 KHz | ∇ -45.80% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 4.62 ms | Δ 201.16% | 71.86 Hz / 216.43 Hz | ∇ -66.79% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 3.48 ms | Δ 219.48% | 89.92 Hz / 287.28 Hz | ∇ -68.70% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 10.55 ms | Δ 66.56% | 56.89 Hz / 94.75 Hz | ∇ -39.96% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 7.93 ms | Δ 78.06% | 70.81 Hz / 126.08 Hz | ∇ -43.84% |