Test description | 0.9.2preSVN2157-GCC-64bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.59 ms / 19.99 ms | Δ 2.98% | 48.58 Hz / 50.03 Hz | ∇ -2.90% |
icp-slam (match grid): Run with sample dataset | 20.64 ms / 19.29 ms | Δ 6.98% | 48.45 Hz / 51.84 Hz | ∇ -6.52% |
poses: CPose3D (+) CPose3D | 42.90 ns / 42.85 ns | Δ 0.12% | 23.31 MHz / 23.34 MHz | ∇ -0.12% |
poses: CPose3D.composeFrom() | 37.61 ns / 37.80 ns | ∇ -0.50% | 26.59 MHz / 26.46 MHz | Δ 0.51% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 7.25 ns | ∇ 0.00% | 137.89 MHz / 137.89 MHz | ∇ 0.00% |
poses: CPose3D.composePoint() | 11.83 ns / 11.91 ns | ∇ -0.66% | 84.53 MHz / 83.98 MHz | Δ 0.66% |
poses: CPoint3D (-) CPose3D | 39.31 ns / 48.98 ns | ∇ -19.74% | 25.44 MHz / 20.42 MHz | Δ 24.60% |
poses: CPose3D.inverseComposePoint() | 34.91 ns / 34.95 ns | ∇ -0.13% | 28.65 MHz / 28.61 MHz | Δ 0.13% |
poses: CPose2D (+) CPose2D | 76.08 ns / 78.58 ns | ∇ -3.18% | 13.14 MHz / 12.73 MHz | Δ 3.28% |
poses: CPose2D.composeFrom() | 61.61 ns / 70.31 ns | ∇ -12.38% | 16.23 MHz / 14.22 MHz | Δ 14.12% |
poses: CPose2D (+) CPoint2D | 60.26 ns / 61.33 ns | ∇ -1.74% | 16.59 MHz / 16.31 MHz | Δ 1.77% |
poses: CPose2D.composePoint() | 62.26 ns / 65.17 ns | ∇ -4.46% | 16.06 MHz / 15.35 MHz | Δ 4.66% |
poses: CPose3DQuat (+) CPose3DQuat | 40.99 ns / 44.66 ns | ∇ -8.22% | 24.40 MHz / 22.39 MHz | Δ 8.95% |
poses: CPose3DQuat.composeFrom() | 39.39 ns / 39.43 ns | ∇ -0.10% | 25.39 MHz / 25.36 MHz | Δ 0.10% |
poses: CPose3DQuat (+) CPoint3D | 18.30 ns / 18.24 ns | Δ 0.37% | 54.63 MHz / 54.84 MHz | ∇ -0.37% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 17.94 ns | Δ 0.02% | 55.74 MHz / 55.75 MHz | ∇ -0.02% |
poses: CPoint3D (-) CPose3DQuat | 55.46 ns / 55.43 ns | Δ 0.05% | 18.03 MHz / 18.04 MHz | ∇ -0.05% |
poses: CPose3DQuat.invcomposePoint() | 17.66 ns / 17.64 ns | Δ 0.11% | 56.63 MHz / 56.69 MHz | ∇ -0.11% |
poses: Conv CPose3DQuat <- CPose3D | 16.78 ns / 16.70 ns | Δ 0.53% | 59.58 MHz / 59.89 MHz | ∇ -0.52% |
poses: Conv CPose3D -> CPose3DQuat | 169.37 ns / 169.28 ns | Δ 0.05% | 5.90 MHz / 5.91 MHz | ∇ -0.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.08 us / 760.96 us | Δ 5.01% | 1.25 KHz / 1.31 KHz | ∇ -4.77% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 803.31 us / 760.62 us | Δ 5.61% | 1.24 KHz / 1.31 KHz | ∇ -5.31% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.44 us / 9.47 us | ∇ -0.34% | 105.91 KHz / 105.55 KHz | Δ 0.34% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 648.90 ns / 545.30 ns | Δ 19.00% | 1.54 MHz / 1.83 MHz | ∇ -15.97% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 631.00 ns / 544.10 ns | Δ 15.97% | 1.58 MHz / 1.84 MHz | ∇ -13.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.18 us / 8.11 us | Δ 0.85% | 122.30 KHz / 123.33 KHz | ∇ -0.84% |
matrix: unit, dyn[float], 3x3 | 24.43 ns / 20.92 ns | Δ 16.78% | 40.94 MHz / 47.81 MHz | ∇ -14.37% |
matrix: unit, dyn[double], 3x3 | 23.18 ns / 20.15 ns | Δ 15.05% | 43.14 MHz / 49.63 MHz | ∇ -13.08% |
matrix: unit, dyn[float], 6x6 | 59.50 ns / 54.04 ns | Δ 10.12% | 16.81 MHz / 18.51 MHz | ∇ -9.19% |
matrix: unit, dyn[double], 6x6 | 62.26 ns / 55.27 ns | Δ 12.66% | 16.06 MHz / 18.09 MHz | ∇ -11.24% |
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 / 1.70 ns | Δ 0.29% | 587.20 MHz / 588.93 MHz | ∇ -0.29% |
matrix: unit, fix[double,6,6] | 2.77 ns / 2.77 ns | ∇ -0.18% | 361.01 MHz / 360.36 MHz | Δ 0.18% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 85.80 ns / 73.10 ns | Δ 17.37% | 11.66 MHz / 13.68 MHz | ∇ -14.80% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 23.80 ns | ∇ 0.00% | 42.02 MHz / 42.02 MHz | ∇ 0.00% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 75.90 ns / 72.40 ns | Δ 4.83% | 13.18 MHz / 13.81 MHz | ∇ -4.61% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 23.40 ns | Δ 0.43% | 42.55 MHz / 42.74 MHz | ∇ -0.43% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 118.10 ns / 110.50 ns | Δ 6.88% | 8.47 MHz / 9.05 MHz | ∇ -6.44% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 44.70 ns / 45.10 ns | ∇ -0.89% | 22.37 MHz / 22.17 MHz | Δ 0.89% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 116.30 ns | ∇ -4.99% | 9.05 MHz / 8.60 MHz | Δ 5.25% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 45.20 ns | ∇ 0.00% | 22.12 MHz / 22.12 MHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.44 us / 5.19 us | Δ 4.80% | 183.95 KHz / 192.77 KHz | ∇ -4.58% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.78 us / 3.55 us | Δ 6.30% | 264.87 KHz / 281.56 KHz | ∇ -5.93% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.54 us / 5.18 us | Δ 7.03% | 180.38 KHz / 193.05 KHz | ∇ -6.57% |
matrix: multiply, fix[double], 10x40 * 40x10 | 4.07 us / 3.61 us | Δ 12.88% | 245.43 KHz / 277.05 KHz | ∇ -11.41% |
matrix: inv, dyn[float ] 3x3 | 631.00 ns / 333.00 ns | Δ 89.49% | 1.58 MHz / 3.00 MHz | ∇ -47.23% |
matrix: inv, fix[float ] 3x3 | 35.00 ns / 21.00 ns | Δ 66.67% | 28.57 MHz / 47.62 MHz | ∇ -40.00% |
matrix: inv, dyn[double] 3x3 | 644.00 ns / 329.00 ns | Δ 95.74% | 1.55 MHz / 3.04 MHz | ∇ -48.91% |
matrix: inv, fix[double] 3x3 | 39.00 ns / 21.00 ns | Δ 85.71% | 25.64 MHz / 47.62 MHz | ∇ -46.15% |
matrix: inv, dyn[float ] 6x6 | 2.37 us / 1.22 us | Δ 94.82% | 421.76 KHz / 821.69 KHz | ∇ -48.67% |
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 / 1.20 us | Δ 5.00% | 793.02 KHz / 832.64 KHz | ∇ -4.76% |
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 / 25.24 us | Δ 2.77% | 38.55 KHz / 39.62 KHz | ∇ -2.69% |
matrix: inv, fix[float ] 20x20 | 14.14 us / 12.60 us | Δ 12.25% | 70.70 KHz / 79.36 KHz | ∇ -10.92% |
matrix: inv, dyn[double] 20x20 | 25.76 us / 25.64 us | Δ 0.46% | 38.83 KHz / 39.01 KHz | ∇ -0.46% |
matrix: inv, fix[double] 20x20 | 17.04 us / 17.36 us | ∇ -1.87% | 58.69 KHz / 57.60 KHz | Δ 1.90% |
matrix: inv, dyn[float ] 40x40 | 205.11 us / 190.86 us | Δ 7.46% | 4.88 KHz / 5.24 KHz | ∇ -6.95% |
matrix: inv, fix[float ] 40x40 | 93.29 us / 88.89 us | Δ 4.95% | 10.72 KHz / 11.25 KHz | ∇ -4.72% |
matrix: inv, dyn[double] 40x40 | 207.20 us / 189.04 us | Δ 9.61% | 4.83 KHz / 5.29 KHz | ∇ -8.76% |
matrix: inv, fix[double] 40x40 | 133.80 us / 121.47 us | Δ 10.16% | 7.47 KHz / 8.23 KHz | ∇ -9.22% |
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 / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
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 / 692.40 ns | ∇ -5.62% | 1.53 MHz / 1.44 MHz | Δ 5.95% |
matrix: det, fix[float ] 6x6 | 210.00 ns / 207.00 ns | Δ 1.45% | 4.76 MHz / 4.83 MHz | ∇ -1.43% |
matrix: det, dyn[double] 6x6 | 730.30 ns / 696.30 ns | Δ 4.88% | 1.37 MHz / 1.44 MHz | ∇ -4.66% |
matrix: det, fix[double] 6x6 | 212.10 ns / 212.30 ns | ∇ -0.09% | 4.71 MHz / 4.71 MHz | Δ 0.09% |
matrix: det, dyn[float ] 20x20 | 5.70 us / 5.39 us | Δ 5.80% | 175.40 KHz / 185.56 KHz | ∇ -5.48% |
matrix: det, fix[float ] 20x20 | 4.20 us / 3.90 us | Δ 7.75% | 237.92 KHz / 256.35 KHz | ∇ -7.19% |
matrix: det, dyn[double] 20x20 | 6.56 us / 6.40 us | Δ 2.51% | 152.33 KHz / 156.16 KHz | ∇ -2.45% |
matrix: det, fix[double] 20x20 | 5.04 us / 4.72 us | Δ 6.75% | 198.38 KHz / 211.77 KHz | ∇ -6.32% |
matrix: det, dyn[float ] 40x40 | 32.38 us / 30.35 us | Δ 6.68% | 30.89 KHz / 32.95 KHz | ∇ -6.26% |
matrix: det, fix[float ] 40x40 | 27.92 us / 26.47 us | Δ 5.45% | 35.82 KHz / 37.78 KHz | ∇ -5.17% |
matrix: det, dyn[double] 40x40 | 39.41 us / 32.49 us | Δ 21.28% | 25.37 KHz / 30.77 KHz | ∇ -17.55% |
matrix: det, fix[double] 40x40 | 29.04 us / 27.34 us | Δ 6.22% | 34.44 KHz / 36.58 KHz | ∇ -5.85% |
matrix: chol, dyn[double] 4x4 | 140.00 ns / 130.00 ns | Δ 7.69% | 7.14 MHz / 7.69 MHz | ∇ -7.14% |
matrix: chol, fix[double] 4x4 | 160.00 ns / 140.00 ns | Δ 14.29% | 6.25 MHz / 7.14 MHz | ∇ -12.50% |
matrix: chol, dyn[double] 40x40 | 18.38 us / 18.52 us | ∇ -0.76% | 54.41 KHz / 54.00 KHz | Δ 0.76% |
matrix: chol, fix[double] 40x40 | 17.08 us / 16.55 us | Δ 3.20% | 58.55 KHz / 60.42 KHz | ∇ -3.10% |
matrix: chol, sparse [2x2;2x2] | 8.30 us / 8.20 us | Δ 1.22% | 120.48 KHz / 121.95 KHz | ∇ -1.20% |
matrix: chol, sparse [30x30;10x10] | 84.40 us / 82.90 us | Δ 1.81% | 11.85 KHz / 12.06 KHz | ∇ -1.78% |
matrix: chol, dyn[double] 10x[6x6] | 53.00 us / 52.70 us | Δ 0.57% | 18.87 KHz / 18.98 KHz | ∇ -0.57% |
matrix: chol, sparse 10x[6x6] | 39.49 us / 38.59 us | Δ 2.33% | 25.32 KHz / 25.91 KHz | ∇ -2.28% |
matrix: chol, dyn[double] 20x[6x6] | 411.70 us / 409.80 us | Δ 0.46% | 2.43 KHz / 2.44 KHz | ∇ -0.46% |
matrix: chol, sparse 20x[6x6] | 74.09 us / 70.75 us | Δ 4.72% | 13.50 KHz / 14.13 KHz | ∇ -4.51% |
matrix: chol, dyn[double] 50x[6x6] | 10.38 ms / 8.58 ms | Δ 21.04% | 96.33 Hz / 116.60 Hz | ∇ -17.39% |
matrix: chol, sparse 50x[6x6] | 248.74 us / 171.20 us | Δ 45.29% | 4.02 KHz / 5.84 KHz | ∇ -31.17% |
matrix: chol, dyn[double] 100x[6x6] | 370.64 ms / 133.58 ms | Δ 177.46% | 2.70 Hz / 7.49 Hz | ∇ -63.96% |
matrix: chol, sparse 100x[6x6] | 353.56 us / 341.85 us | Δ 3.43% | 2.83 KHz / 2.93 KHz | ∇ -3.31% |
matrix: chol, dyn[double] 120x[6x6] | 365.56 ms / 354.49 ms | Δ 3.12% | 2.74 Hz / 2.82 Hz | ∇ -3.03% |
matrix: chol, sparse 120x[6x6] | 425.27 us / 401.50 us | Δ 5.92% | 2.35 KHz / 2.49 KHz | ∇ -5.59% |
matrix: chol, dyn[double] 140x[6x6] | 796.04 ms / 773.25 ms | Δ 2.95% | 1.26 Hz / 1.29 Hz | ∇ -2.86% |
matrix: chol, sparse 140x[6x6] | 490.79 us / 469.25 us | Δ 4.59% | 2.04 KHz / 2.13 KHz | ∇ -4.39% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -100.00% | inf THz / 10.00 THz | Δ inf% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | Δ 0.07% | 387.76 MHz / 388.02 MHz | ∇ -0.07% |
gridmap2D: updateCell | 7.44 ns / 7.84 ns | ∇ -5.01% | 134.32 MHz / 127.58 MHz | Δ 5.28% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | Δ 0.04% | 1.82 GHz / 1.82 GHz | ∇ -0.04% |
gridmap2D: insert scan w/o widening | 101.23 us / 102.06 us | ∇ -0.81% | 9.88 KHz / 9.80 KHz | Δ 0.82% |
gridmap2D: insert scan with widening | 291.30 us / 289.47 us | Δ 0.63% | 3.43 KHz / 3.45 KHz | ∇ -0.63% |
gridmap2D: resize | 1.89 ms / 1.97 ms | ∇ -3.97% | 529.66 Hz / 508.65 Hz | Δ 4.13% |
gridmap2D: computeLikelihood | 16.46 us / 15.74 us | Δ 4.59% | 60.76 KHz / 63.55 KHz | ∇ -4.39% |
pointmap: insert 100 scans | 3.10 ms / 3.04 ms | Δ 2.11% | 322.50 Hz / 329.30 Hz | ∇ -2.06% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.32 us | ∇ -0.93% | 233.64 KHz / 231.48 KHz | Δ 0.93% |
pointmap: build 2D kd-tree of 100 scan | 355.52 us / 352.12 us | Δ 0.97% | 2.81 KHz / 2.84 KHz | ∇ -0.96% |
pointmap: build 2D kd-tree of 1000 scan | 4.16 ms / 4.14 ms | Δ 0.53% | 240.24 Hz / 241.51 Hz | ∇ -0.53% |
pointmap: build 3D kd-tree of 1 scan | 4.76 us / 4.68 us | Δ 1.71% | 210.08 KHz / 213.68 KHz | ∇ -1.68% |
pointmap: build 3D kd-tree of 100 scan | 363.20 us / 359.52 us | Δ 1.02% | 2.75 KHz / 2.78 KHz | ∇ -1.01% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.03 ms | Δ 1.63% | 244.29 Hz / 248.28 Hz | ∇ -1.61% |
pointmap: kd-tree 2d query on 10 scans | 1.38 us / 1.41 us | ∇ -1.64% | 723.59 KHz / 711.74 KHz | Δ 1.66% |
pointmap: kd-tree 2d query on 1000 scans | 100.93 us / 97.21 us | Δ 3.83% | 9.91 KHz / 10.29 KHz | ∇ -3.69% |
pointmap: kd-tree 2d query on 10000 scans | 11.91 ms / 11.62 ms | Δ 2.50% | 83.95 Hz / 86.05 Hz | ∇ -2.44% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.59 ms | Δ 0.43% | 178.01 Hz / 178.77 Hz | ∇ -0.43% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.76 ms / 129.28 ms | Δ 1.14% | 7.65 Hz / 7.73 Hz | ∇ -1.13% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.67 ms / 5.66 ms | Δ 0.10% | 176.35 Hz / 176.53 Hz | ∇ -0.10% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.64 ms / 131.22 ms | Δ 1.08% | 7.54 Hz / 7.62 Hz | ∇ -1.07% |
random: drawUniform32bit | 14.57 ns / 14.50 ns | Δ 0.47% | 68.63 MHz / 68.95 MHz | ∇ -0.47% |
random: drawUniform | 14.62 ns / 14.50 ns | Δ 0.80% | 68.41 MHz / 68.96 MHz | ∇ -0.80% |
random: drawGaussian1D_normalized | 68.70 ns / 68.97 ns | ∇ -0.39% | 14.56 MHz / 14.50 MHz | Δ 0.40% |
random: drawGaussian1D | 68.68 ns / 68.98 ns | ∇ -0.43% | 14.56 MHz / 14.50 MHz | Δ 0.43% |
random: system rand() | 10.45 ns / 10.45 ns | Δ 0.05% | 95.67 MHz / 95.72 MHz | ∇ -0.05% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 1.31 us | Δ 0.05% | 764.77 KHz / 765.12 KHz | ∇ -0.05% |
random: drawGaussianMultivariate(dyn 3x3) | 2.79 us / 2.73 us | Δ 2.08% | 358.92 KHz / 366.37 KHz | ∇ -2.03% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.26 ns / 158.91 ns | ∇ -0.41% | 6.32 MHz / 6.29 MHz | Δ 0.41% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 236.42 ns / 237.40 ns | ∇ -0.41% | 4.23 MHz / 4.21 MHz | Δ 0.41% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.37 ns / 490.03 ns | ∇ -0.14% | 2.04 MHz / 2.04 MHz | Δ 0.14% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.61 ns / 164.67 ns | ∇ -0.03% | 6.07 MHz / 6.07 MHz | Δ 0.03% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 248.12 ns / 249.81 ns | ∇ -0.68% | 4.03 MHz / 4.00 MHz | Δ 0.68% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.83 ns / 514.70 ns | Δ 0.02% | 1.94 MHz / 1.94 MHz | ∇ -0.02% |
random: permuteVector (len=10) | 317.50 ns / 296.20 ns | Δ 7.19% | 3.15 MHz / 3.38 MHz | ∇ -6.71% |
random: permuteVector (len=100) | 3.06 us / 3.04 us | Δ 0.73% | 326.54 KHz / 328.91 KHz | ∇ -0.72% |
random: permuteVector (len=1000) | 30.27 us / 30.22 us | Δ 0.15% | 33.04 KHz / 33.09 KHz | ∇ -0.15% |
math: round | 0.10 ns / 0.10 ns | Δ 0.01% | 10.09 GHz / 10.09 GHz | ∇ -0.01% |
images: Save as JPEG (640x480, quality=95%) | 27.27 ms / 35.06 ms | ∇ -22.22% | 36.67 Hz / 28.52 Hz | Δ 28.57% |
images: Save as JPEG (800x600, quality=95%) | 43.27 ms / 48.96 ms | ∇ -11.62% | 23.11 Hz / 20.42 Hz | Δ 13.15% |
images: Save as JPEG (1024x768, quality=95%) | 74.67 ms / 74.65 ms | Δ 0.03% | 13.39 Hz / 13.40 Hz | ∇ -0.03% |
images: Save as JPEG (640x480, quality=75%) | 26.31 ms / 29.96 ms | ∇ -12.20% | 38.01 Hz / 33.37 Hz | Δ 13.90% |
images: Save as JPEG (800x600, quality=75%) | 40.92 ms / 42.79 ms | ∇ -4.37% | 24.44 Hz / 23.37 Hz | Δ 4.57% |
images: Save as JPEG (1024x768, quality=75%) | 62.56 ms / 64.15 ms | ∇ -2.48% | 15.99 Hz / 15.59 Hz | Δ 2.54% |
images: Gauss filter (640x480) | 4.48 ms / 3.90 ms | Δ 14.93% | 223.01 Hz / 256.30 Hz | ∇ -12.99% |
images: Gauss filter (800x600) | 7.46 ms / 6.21 ms | Δ 20.08% | 134.07 Hz / 160.99 Hz | ∇ -16.72% |
images: Gauss filter (1024x768) | 12.41 ms / 10.55 ms | Δ 17.59% | 80.57 Hz / 94.74 Hz | ∇ -14.96% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.15 us / 5.06 us | Δ 1.78% | 194.17 KHz / 197.63 KHz | ∇ -1.75% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.35 us / 4.30 us | Δ 1.16% | 229.89 KHz / 232.56 KHz | ∇ -1.15% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.12 us / 2.10 us | Δ 0.95% | 471.70 KHz / 476.19 KHz | ∇ -0.94% |
feature_extraction [640x480]: Harris | 33.18 ms / 24.28 ms | Δ 36.68% | 30.14 Hz / 41.19 Hz | ∇ -26.84% |
feature_extraction [640x480]: KLT | 29.64 ms / 24.43 ms | Δ 21.33% | 33.74 Hz / 40.94 Hz | ∇ -17.58% |
feature_extraction [640x480]: SIFT | 637.68 ms / 610.42 ms | Δ 4.46% | 1.57 Hz / 1.64 Hz | ∇ -4.27% |
feature_extraction [640x480]: SIFT desc. | 173.14 ms / 167.77 ms | Δ 3.20% | 5.78 Hz / 5.96 Hz | ∇ -3.10% |
feature_extraction [640x480]: SURF | 202.84 ms / 197.61 ms | Δ 2.64% | 4.93 Hz / 5.06 Hz | ∇ -2.58% |
feature_extraction [640x480]: FAST | 5.10 ms / 5.24 ms | ∇ -2.68% | 195.94 Hz / 190.68 Hz | Δ 2.76% |
feature_extraction [640x480]: Spin desc. | 61.22 ms / 59.98 ms | Δ 2.06% | 16.33 Hz / 16.67 Hz | ∇ -2.02% |
feature_matching [640x480]: Harris + CC | 43.90 ms / 40.88 ms | Δ 7.39% | 22.78 Hz / 24.46 Hz | ∇ -6.88% |
feature_matching [640x480]: Harris + SAD | 38.32 ms / 35.50 ms | Δ 7.96% | 26.09 Hz / 28.17 Hz | ∇ -7.38% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.21 sec | Δ 5.77% | 782.87 mHz / 828.07 mHz | ∇ -5.46% |
feature_matching [640x480]: SURF | 387.99 ms / 379.92 ms | Δ 2.13% | 2.58 Hz / 2.63 Hz | ∇ -2.08% |
feature_matching [640x480]: FAST + CC | 15.73 ms / 16.06 ms | ∇ -2.07% | 63.57 Hz / 62.26 Hz | Δ 2.12% |
feature_matching [640x480]: FAST + SAD | 10.56 ms / 10.73 ms | ∇ -1.60% | 94.70 Hz / 93.18 Hz | Δ 1.63% |
graph(2d): insertEdge x 1e3 | 104.46 us / 117.65 us | ∇ -11.21% | 9.57 KHz / 8.50 KHz | Δ 12.63% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 85.19 us | Δ 0.00% | 11.74 KHz / 11.74 KHz | ∇ -0.00% |
graph(2d pdf): insertEdge x 1e3 | 134.65 us / 172.53 us | ∇ -21.96% | 7.43 KHz / 5.80 KHz | Δ 28.13% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 119.89 us / 168.61 us | ∇ -28.89% | 8.34 KHz / 5.93 KHz | Δ 40.63% |
graph(2d): insertEdge x 1e4 | 1.39 ms / 1.73 ms | ∇ -19.77% | 721.96 Hz / 579.22 Hz | Δ 24.64% |
graph(2d): insertEdgeAtEnd x 1e4 | 854.04 us / 884.69 us | ∇ -3.46% | 1.17 KHz / 1.13 KHz | Δ 3.59% |
graph(2d pdf): insertEdge x 1e4 | 1.61 ms / 1.97 ms | ∇ -18.52% | 621.80 Hz / 506.65 Hz | Δ 22.73% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.20 ms / 1.86 ms | ∇ -35.38% | 832.81 Hz / 538.12 Hz | Δ 54.76% |
graph(3d): insertEdge x 1e3 | 132.91 us / 177.23 us | ∇ -25.01% | 7.52 KHz / 5.64 KHz | Δ 33.35% |
graph(3d): insertEdgeAtEnd x 1e3 | 109.11 us / 157.86 us | ∇ -30.88% | 9.17 KHz / 6.33 KHz | Δ 44.68% |
graph(3d pdf): insertEdge x 1e3 | 349.74 us / 507.00 us | ∇ -31.02% | 2.86 KHz / 1.97 KHz | Δ 44.96% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 321.54 us / 473.36 us | ∇ -32.07% | 3.11 KHz / 2.11 KHz | Δ 47.22% |
graph(3d): insertEdge x 1e4 | 1.89 ms / 2.47 ms | ∇ -23.53% | 529.10 Hz / 404.60 Hz | Δ 30.77% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.10 ms / 1.75 ms | ∇ -37.33% | 910.25 Hz / 570.48 Hz | Δ 59.56% |
graph(3d pdf): insertEdge x 1e4 | 4.65 ms / 5.53 ms | ∇ -15.91% | 215.20 Hz / 180.97 Hz | Δ 18.92% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.05 ms / 4.85 ms | ∇ -16.47% | 246.81 Hz / 206.16 Hz | Δ 19.72% |
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 |