Test description | 0.9.2-GCC-64bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 19.99 ms / 30.39 ms | ∇ -34.23% | 50.03 Hz / 32.90 Hz | Δ 52.05% |
icp-slam (match grid): Run with sample dataset | 19.29 ms / 52.58 ms | ∇ -63.31% | 51.84 Hz / 19.02 Hz | Δ 172.56% |
poses: CPose3D (+) CPose3D | 42.85 ns / 264.70 ns | ∇ -83.81% | 23.34 MHz / 3.78 MHz | Δ 517.75% |
poses: CPose3D.composeFrom() | 37.80 ns / 98.01 ns | ∇ -61.43% | 26.46 MHz / 10.20 MHz | Δ 159.27% |
poses: CPose3D (+) CPoint3D | 7.25 ns / 27.86 ns | ∇ -73.97% | 137.89 MHz / 35.89 MHz | Δ 284.20% |
poses: CPose3D.composePoint() | 11.91 ns / 19.17 ns | ∇ -37.89% | 83.98 MHz / 52.16 MHz | Δ 61.01% |
poses: CPoint3D (-) CPose3D | 48.98 ns / 51.66 ns | ∇ -5.18% | 20.42 MHz / 19.36 MHz | Δ 5.46% |
poses: CPose3D.inverseComposePoint() | 34.95 ns / 46.91 ns | ∇ -25.50% | 28.61 MHz / 21.32 MHz | Δ 34.22% |
poses: CPose2D (+) CPose2D | 78.58 ns / 99.28 ns | ∇ -20.85% | 12.73 MHz / 10.07 MHz | Δ 26.34% |
poses: CPose2D.composeFrom() | 70.31 ns / 89.67 ns | ∇ -21.59% | 14.22 MHz / 11.15 MHz | Δ 27.53% |
poses: CPose2D (+) CPoint2D | 61.33 ns / 82.07 ns | ∇ -25.27% | 16.31 MHz / 12.18 MHz | Δ 33.82% |
poses: CPose2D.composePoint() | 65.17 ns / 64.58 ns | Δ 0.91% | 15.35 MHz / 15.49 MHz | ∇ -0.90% |
poses: CPose3DQuat (+) CPose3DQuat | 44.66 ns / 87.19 ns | ∇ -48.78% | 22.39 MHz / 11.47 MHz | Δ 95.23% |
poses: CPose3DQuat.composeFrom() | 39.43 ns / 57.14 ns | ∇ -31.00% | 25.36 MHz / 17.50 MHz | Δ 44.92% |
poses: CPose3DQuat (+) CPoint3D | 18.24 ns / 48.22 ns | ∇ -62.18% | 54.84 MHz / 20.74 MHz | Δ 164.43% |
poses: CPose3DQuat.composePoint() | 17.94 ns / 29.64 ns | ∇ -39.48% | 55.75 MHz / 33.74 MHz | Δ 65.24% |
poses: CPoint3D (-) CPose3DQuat | 55.43 ns / 84.32 ns | ∇ -34.27% | 18.04 MHz / 11.86 MHz | Δ 52.13% |
poses: CPose3DQuat.invcomposePoint() | 17.64 ns / 30.72 ns | ∇ -42.58% | 56.69 MHz / 32.55 MHz | Δ 74.14% |
poses: Conv CPose3DQuat <- CPose3D | 16.70 ns / 33.02 ns | ∇ -49.43% | 59.89 MHz / 30.29 MHz | Δ 97.75% |
poses: Conv CPose3D -> CPose3DQuat | 169.28 ns / 206.69 ns | ∇ -18.10% | 5.91 MHz / 4.84 MHz | Δ 22.10% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 760.96 us / 1.35 us | Δ 56186.17% | 1.31 KHz / 739.68 KHz | ∇ -99.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 760.62 us / 1.40 us | Δ 54065.36% | 1.31 KHz / 712.12 KHz | ∇ -99.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.47 us / 23.15 us | ∇ -59.07% | 105.55 KHz / 43.20 KHz | Δ 144.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 545.30 ns / 1.62 us | ∇ -66.35% | 1.83 MHz / 617.00 KHz | Δ 197.22% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 544.10 ns / 1.63 us | ∇ -66.61% | 1.84 MHz / 613.67 KHz | Δ 199.49% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.11 us / 15.82 us | ∇ -48.75% | 123.33 KHz / 63.21 KHz | Δ 95.10% |
matrix: unit, dyn[float], 3x3 | 20.92 ns / 38.75 ns | ∇ -46.01% | 47.81 MHz / 25.81 MHz | Δ 85.22% |
matrix: unit, dyn[double], 3x3 | 20.15 ns / 38.69 ns | ∇ -47.92% | 49.63 MHz / 25.85 MHz | Δ 92.03% |
matrix: unit, dyn[float], 6x6 | 54.04 ns / 163.36 ns | ∇ -66.92% | 18.51 MHz / 6.12 MHz | Δ 202.31% |
matrix: unit, dyn[double], 6x6 | 55.27 ns / 213.06 ns | ∇ -74.06% | 18.09 MHz / 4.69 MHz | Δ 285.50% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.56 ns | ∇ -90.29% | 2.89 GHz / 280.77 MHz | Δ 929.39% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.29 ns | ∇ -63.90% | 842.46 MHz / 304.17 MHz | Δ 176.97% |
matrix: unit, fix[float,6,6] | 1.70 ns / 2.77 ns | ∇ -38.71% | 588.93 MHz / 360.95 MHz | Δ 63.16% |
matrix: unit, fix[double,6,6] | 2.77 ns / 6.07 ns | ∇ -54.27% | 360.36 MHz / 164.80 MHz | Δ 118.67% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.10 ns / 168.66 ns | ∇ -56.66% | 13.68 MHz / 5.93 MHz | Δ 130.73% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 23.80 ns / 109.47 ns | ∇ -78.26% | 42.02 MHz / 9.14 MHz | Δ 359.95% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.40 ns / 159.15 ns | ∇ -54.51% | 13.81 MHz / 6.28 MHz | Δ 119.82% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.40 ns / 87.59 ns | ∇ -73.29% | 42.74 MHz / 11.42 MHz | Δ 274.33% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 110.50 ns / 272.34 ns | ∇ -59.43% | 9.05 MHz / 3.67 MHz | Δ 146.46% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.10 ns / 190.04 ns | ∇ -76.27% | 22.17 MHz / 5.26 MHz | Δ 321.38% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 116.30 ns / 245.84 ns | ∇ -52.69% | 8.60 MHz / 4.07 MHz | Δ 111.38% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.20 ns / 138.91 ns | ∇ -67.46% | 22.12 MHz / 7.20 MHz | Δ 207.32% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.19 us / 16.67 us | ∇ -68.88% | 192.77 KHz / 60.00 KHz | Δ 221.31% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.55 us / 12.92 us | ∇ -72.51% | 281.56 KHz / 77.41 KHz | Δ 263.74% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.18 us / 13.30 us | ∇ -61.07% | 193.05 KHz / 75.16 KHz | Δ 156.85% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.61 us / 9.66 us | ∇ -62.63% | 277.05 KHz / 103.53 KHz | Δ 167.62% |
matrix: inv, dyn[float ] 3x3 | 333.00 ns / 1.46 us | ∇ -77.17% | 3.00 MHz / 685.70 KHz | Δ 337.95% |
matrix: inv, fix[float ] 3x3 | 21.00 ns / 59.78 ns | ∇ -64.87% | 47.62 MHz / 16.73 MHz | Δ 184.69% |
matrix: inv, dyn[double] 3x3 | 329.00 ns / 1.47 us | ∇ -77.57% | 3.04 MHz / 681.67 KHz | Δ 345.89% |
matrix: inv, fix[double] 3x3 | 21.00 ns / 30.80 ns | ∇ -31.81% | 47.62 MHz / 32.47 MHz | Δ 46.66% |
matrix: inv, dyn[float ] 6x6 | 1.22 us / 4.39 us | ∇ -72.27% | 821.69 KHz / 227.86 KHz | Δ 260.62% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 1.39 us | ∇ -66.35% | 2.14 MHz / 718.96 KHz | Δ 197.20% |
matrix: inv, dyn[double] 6x6 | 1.20 us / 5.05 us | ∇ -76.20% | 832.64 KHz / 198.20 KHz | Δ 320.10% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 944.32 ns | ∇ -38.79% | 1.73 MHz / 1.06 MHz | Δ 63.38% |
matrix: inv, dyn[float ] 20x20 | 25.24 us / 80.56 us | ∇ -68.67% | 39.62 KHz / 12.41 KHz | Δ 219.20% |
matrix: inv, fix[float ] 20x20 | 12.60 us / 39.77 us | ∇ -68.32% | 79.36 KHz / 25.14 KHz | Δ 215.65% |
matrix: inv, dyn[double] 20x20 | 25.64 us / 106.06 us | ∇ -75.83% | 39.01 KHz / 9.43 KHz | Δ 313.69% |
matrix: inv, fix[double] 20x20 | 17.36 us / 18.99 us | ∇ -8.59% | 57.60 KHz / 52.65 KHz | Δ 9.40% |
matrix: inv, dyn[float ] 40x40 | 190.86 us / 594.37 us | ∇ -67.89% | 5.24 KHz / 1.68 KHz | Δ 211.41% |
matrix: inv, fix[float ] 40x40 | 88.89 us / 302.87 us | ∇ -70.65% | 11.25 KHz / 3.30 KHz | Δ 240.73% |
matrix: inv, dyn[double] 40x40 | 189.04 us / 805.07 us | ∇ -76.52% | 5.29 KHz / 1.24 KHz | Δ 325.88% |
matrix: inv, fix[double] 40x40 | 121.47 us / 129.27 us | ∇ -6.04% | 8.23 KHz / 7.74 KHz | Δ 6.42% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 7.97 ns | ∇ -19.71% | 156.25 MHz / 125.45 MHz | Δ 24.55% |
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 | 6.40 ns / 8.47 ns | ∇ -24.43% | 156.25 MHz / 118.07 MHz | Δ 32.33% |
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 / 20.83 ns | ∇ -50.56% | 97.09 MHz / 48.00 MHz | Δ 102.27% |
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 | 10.30 ns / 15.90 ns | ∇ -35.21% | 97.09 MHz / 62.90 MHz | Δ 54.34% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 6x6 | 692.40 ns / 2.28 us | ∇ -69.62% | 1.44 MHz / 438.79 KHz | Δ 229.15% |
matrix: det, fix[float ] 6x6 | 207.00 ns / 455.22 ns | ∇ -54.53% | 4.83 MHz / 2.20 MHz | Δ 119.91% |
matrix: det, dyn[double] 6x6 | 696.30 ns / 2.27 us | ∇ -69.32% | 1.44 MHz / 440.64 KHz | Δ 225.92% |
matrix: det, fix[double] 6x6 | 212.30 ns / 409.52 ns | ∇ -48.16% | 4.71 MHz / 2.44 MHz | Δ 92.90% |
matrix: det, dyn[float ] 20x20 | 5.39 us / 18.23 us | ∇ -70.44% | 185.56 KHz / 54.86 KHz | Δ 238.25% |
matrix: det, fix[float ] 20x20 | 3.90 us / 9.64 us | ∇ -59.52% | 256.35 KHz / 103.77 KHz | Δ 147.04% |
matrix: det, dyn[double] 20x20 | 6.40 us / 17.63 us | ∇ -63.68% | 156.16 KHz / 56.72 KHz | Δ 175.30% |
matrix: det, fix[double] 20x20 | 4.72 us / 6.19 us | ∇ -23.68% | 211.77 KHz / 161.63 KHz | Δ 31.02% |
matrix: det, dyn[float ] 40x40 | 30.35 us / 109.51 us | ∇ -72.29% | 32.95 KHz / 9.13 KHz | Δ 260.83% |
matrix: det, fix[float ] 40x40 | 26.47 us / 61.78 us | ∇ -57.15% | 37.78 KHz / 16.19 KHz | Δ 133.39% |
matrix: det, dyn[double] 40x40 | 32.49 us / 112.43 us | ∇ -71.10% | 30.77 KHz / 8.89 KHz | Δ 245.98% |
matrix: det, fix[double] 40x40 | 27.34 us / 35.24 us | ∇ -22.42% | 36.58 KHz / 28.38 KHz | Δ 28.90% |
matrix: chol, dyn[double] 4x4 | 130.00 ns / 172.11 ns | ∇ -24.47% | 7.69 MHz / 5.81 MHz | Δ 32.39% |
matrix: chol, fix[double] 4x4 | 140.00 ns / 117.76 ns | Δ 18.89% | 7.14 MHz / 8.49 MHz | ∇ -15.89% |
matrix: chol, dyn[double] 40x40 | 18.52 us / 24.40 us | ∇ -24.11% | 54.00 KHz / 40.98 KHz | Δ 31.76% |
matrix: chol, fix[double] 40x40 | 16.55 us / 17.68 us | ∇ -6.38% | 60.42 KHz / 56.57 KHz | Δ 6.81% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.42 us | ∇ -2.66% | 121.95 KHz / 118.71 KHz | Δ 2.73% |
matrix: chol, sparse [30x30;10x10] | 82.90 us / 118.80 us | ∇ -30.22% | 12.06 KHz / 8.42 KHz | Δ 43.30% |
matrix: chol, dyn[double] 10x[6x6] | 52.70 us / 69.79 us | ∇ -24.49% | 18.98 KHz / 14.33 KHz | Δ 32.44% |
matrix: chol, sparse 10x[6x6] | 38.59 us / 52.54 us | ∇ -26.55% | 25.91 KHz / 19.03 KHz | Δ 36.14% |
matrix: chol, dyn[double] 20x[6x6] | 409.80 us / 466.09 us | ∇ -12.08% | 2.44 KHz / 2.15 KHz | Δ 13.74% |
matrix: chol, sparse 20x[6x6] | 70.75 us / 89.01 us | ∇ -20.51% | 14.13 KHz / 11.24 KHz | Δ 25.80% |
matrix: chol, dyn[double] 50x[6x6] | 8.58 ms / 9.32 ms | ∇ -8.02% | 116.60 Hz / 107.25 Hz | Δ 8.72% |
matrix: chol, sparse 50x[6x6] | 171.20 us / 201.22 us | ∇ -14.92% | 5.84 KHz / 4.97 KHz | Δ 17.53% |
matrix: chol, dyn[double] 100x[6x6] | 133.58 ms / 138.07 ms | ∇ -3.25% | 7.49 Hz / 7.24 Hz | Δ 3.36% |
matrix: chol, sparse 100x[6x6] | 341.85 us / 401.45 us | ∇ -14.85% | 2.93 KHz / 2.49 KHz | Δ 17.43% |
matrix: chol, dyn[double] 120x[6x6] | 354.49 ms / 453.62 ms | ∇ -21.85% | 2.82 Hz / 2.20 Hz | Δ 27.96% |
matrix: chol, sparse 120x[6x6] | 401.50 us / 474.18 us | ∇ -15.33% | 2.49 KHz / 2.11 KHz | Δ 18.10% |
matrix: chol, dyn[double] 140x[6x6] | 773.25 ms / 945.16 ms | ∇ -18.19% | 1.29 Hz / 1.06 Hz | Δ 22.23% |
matrix: chol, sparse 140x[6x6] | 469.25 us / 552.77 us | ∇ -15.11% | 2.13 KHz / 1.81 KHz | Δ 17.80% |
gridmap2D: getCell | 0.00 ns / 5.57 ns | ∇ -100.00% | 10.00 THz / 179.64 MHz | Δ 5566675.17% |
gridmap2D: setCell | 2.58 ns / 7.80 ns | ∇ -66.97% | 388.02 MHz / 128.17 MHz | Δ 202.73% |
gridmap2D: updateCell | 7.84 ns / 10.65 ns | ∇ -26.38% | 127.58 MHz / 93.93 MHz | Δ 35.83% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.03% | 1.82 GHz / 834.82 MHz | Δ 117.52% |
gridmap2D: insert scan w/o widening | 102.06 us / 202.10 us | ∇ -49.50% | 9.80 KHz / 4.95 KHz | Δ 98.03% |
gridmap2D: insert scan with widening | 289.47 us / 338.79 us | ∇ -14.56% | 3.45 KHz / 2.95 KHz | Δ 17.04% |
gridmap2D: resize | 1.97 ms / 3.58 ms | ∇ -45.07% | 508.65 Hz / 279.42 Hz | Δ 82.04% |
gridmap2D: computeLikelihood | 15.74 us / 18.09 us | ∇ -13.01% | 63.55 KHz / 55.28 KHz | Δ 14.96% |
pointmap: insert 100 scans | 3.04 ms / 5.50 ms | ∇ -44.74% | 329.30 Hz / 181.98 Hz | Δ 80.96% |
pointmap: build 2D kd-tree of 1 scan | 4.32 us / 6.29 us | ∇ -31.28% | 231.48 KHz / 159.07 KHz | Δ 45.52% |
pointmap: build 2D kd-tree of 100 scan | 352.12 us / 520.70 us | ∇ -32.38% | 2.84 KHz / 1.92 KHz | Δ 47.88% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.50 ms | ∇ -24.78% | 241.51 Hz / 181.67 Hz | Δ 32.94% |
pointmap: build 3D kd-tree of 1 scan | 4.68 us / 6.47 us | ∇ -27.64% | 213.68 KHz / 154.62 KHz | Δ 38.20% |
pointmap: build 3D kd-tree of 100 scan | 359.52 us / 526.59 us | ∇ -31.73% | 2.78 KHz / 1.90 KHz | Δ 46.47% |
pointmap: build 3D kd-tree of 1000 scan | 4.03 ms / 5.63 ms | ∇ -28.50% | 248.28 Hz / 177.52 Hz | Δ 39.86% |
pointmap: kd-tree 2d query on 10 scans | 1.41 us / 2.04 us | ∇ -31.09% | 711.74 KHz / 490.44 KHz | Δ 45.12% |
pointmap: kd-tree 2d query on 1000 scans | 97.21 us / 137.79 us | ∇ -29.45% | 10.29 KHz / 7.26 KHz | Δ 41.75% |
pointmap: kd-tree 2d query on 10000 scans | 11.62 ms / 14.88 ms | ∇ -21.91% | 86.05 Hz / 67.19 Hz | Δ 28.06% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.59 ms / 8.57 ms | ∇ -34.73% | 178.77 Hz / 116.69 Hz | Δ 53.21% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.28 ms / 191.63 ms | ∇ -32.53% | 7.73 Hz / 5.22 Hz | Δ 48.22% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.66 ms / 8.64 ms | ∇ -34.42% | 176.53 Hz / 115.78 Hz | Δ 52.48% |
pointmap: (insert scan+3D kd-tree query) x 50 | 131.22 ms / 194.89 ms | ∇ -32.67% | 7.62 Hz / 5.13 Hz | Δ 48.52% |
random: drawUniform32bit | 14.50 ns / 7.21 ns | Δ 101.13% | 68.95 MHz / 138.68 MHz | ∇ -50.28% |
random: drawUniform | 14.50 ns / 7.18 ns | Δ 101.91% | 68.96 MHz / 139.23 MHz | ∇ -50.47% |
random: drawGaussian1D_normalized | 68.97 ns / 51.37 ns | Δ 34.26% | 14.50 MHz / 19.47 MHz | ∇ -25.52% |
random: drawGaussian1D | 68.98 ns / 51.39 ns | Δ 34.24% | 14.50 MHz / 19.46 MHz | ∇ -25.50% |
random: system rand() | 10.45 ns / 28.61 ns | ∇ -63.49% | 95.72 MHz / 34.95 MHz | Δ 173.89% |
random: drawGaussianMultivariate(fixed 3x3) | 1.31 us / 2.55 us | ∇ -48.81% | 765.12 KHz / 391.65 KHz | Δ 95.36% |
random: drawGaussianMultivariate(dyn 3x3) | 2.73 us / 8.36 us | ∇ -67.34% | 366.37 KHz / 119.66 KHz | Δ 206.17% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 158.91 ns / 213.95 ns | ∇ -25.72% | 6.29 MHz / 4.67 MHz | Δ 34.63% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 237.40 ns / 324.69 ns | ∇ -26.88% | 4.21 MHz / 3.08 MHz | Δ 36.77% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 490.03 ns / 829.70 ns | ∇ -40.94% | 2.04 MHz / 1.21 MHz | Δ 69.32% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 164.67 ns / 214.89 ns | ∇ -23.37% | 6.07 MHz / 4.65 MHz | Δ 30.50% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 249.81 ns / 364.99 ns | ∇ -31.56% | 4.00 MHz / 2.74 MHz | Δ 46.11% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 514.70 ns / 760.13 ns | ∇ -32.29% | 1.94 MHz / 1.32 MHz | Δ 47.68% |
random: permuteVector (len=10) | 296.20 ns / 420.57 ns | ∇ -29.57% | 3.38 MHz / 2.38 MHz | Δ 41.99% |
random: permuteVector (len=100) | 3.04 us / 3.56 us | ∇ -14.53% | 328.91 KHz / 281.12 KHz | Δ 17.00% |
random: permuteVector (len=1000) | 30.22 us / 33.55 us | ∇ -9.92% | 33.09 KHz / 29.80 KHz | Δ 11.02% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 10.09 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 35.06 ms / 28.40 ms | Δ 23.45% | 28.52 Hz / 35.21 Hz | ∇ -19.00% |
images: Save as JPEG (800x600, quality=95%) | 48.96 ms / 43.71 ms | Δ 12.00% | 20.42 Hz / 22.88 Hz | ∇ -10.72% |
images: Save as JPEG (1024x768, quality=95%) | 74.65 ms / 70.17 ms | Δ 6.38% | 13.40 Hz / 14.25 Hz | ∇ -6.00% |
images: Save as JPEG (640x480, quality=75%) | 29.96 ms / 24.11 ms | Δ 24.28% | 33.37 Hz / 41.48 Hz | ∇ -19.54% |
images: Save as JPEG (800x600, quality=75%) | 42.79 ms / 37.02 ms | Δ 15.57% | 23.37 Hz / 27.01 Hz | ∇ -13.47% |
images: Save as JPEG (1024x768, quality=75%) | 64.15 ms / 59.51 ms | Δ 7.80% | 15.59 Hz / 16.80 Hz | ∇ -7.24% |
images: Gauss filter (640x480) | 3.90 ms / 5.29 ms | ∇ -26.28% | 256.30 Hz / 188.95 Hz | Δ 35.64% |
images: Gauss filter (800x600) | 6.21 ms / 8.36 ms | ∇ -25.69% | 160.99 Hz / 119.64 Hz | Δ 34.56% |
images: Gauss filter (1024x768) | 10.55 ms / 13.88 ms | ∇ -23.95% | 94.74 Hz / 72.06 Hz | Δ 31.49% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 5.06 us / 18.63 us | ∇ -72.84% | 197.63 KHz / 53.67 KHz | Δ 268.24% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.30 us / 17.89 us | ∇ -75.96% | 232.56 KHz / 55.91 KHz | Δ 315.94% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.10 us / 5.05 us | ∇ -58.45% | 476.19 KHz / 197.84 KHz | Δ 140.69% |
feature_extraction [640x480]: Harris | 24.28 ms / 33.27 ms | ∇ -27.03% | 41.19 Hz / 30.06 Hz | Δ 37.04% |
feature_extraction [640x480]: KLT | 24.43 ms / 31.21 ms | ∇ -21.75% | 40.94 Hz / 32.04 Hz | Δ 27.79% |
feature_extraction [640x480]: SIFT | 610.42 ms / 675.81 ms | ∇ -9.68% | 1.64 Hz / 1.48 Hz | Δ 10.71% |
feature_extraction [640x480]: SIFT desc. | 167.77 ms / 217.19 ms | ∇ -22.75% | 5.96 Hz / 4.60 Hz | Δ 29.46% |
feature_extraction [640x480]: SURF | 197.61 ms / 316.97 ms | ∇ -37.66% | 5.06 Hz / 3.15 Hz | Δ 60.40% |
feature_extraction [640x480]: FAST | 5.24 ms / 7.82 ms | ∇ -32.92% | 190.68 Hz / 127.91 Hz | Δ 49.08% |
feature_extraction [640x480]: Spin desc. | 59.98 ms / 103.38 ms | ∇ -41.98% | 16.67 Hz / 9.67 Hz | Δ 72.35% |
feature_matching [640x480]: Harris + CC | 40.88 ms / 56.24 ms | ∇ -27.31% | 24.46 Hz / 17.78 Hz | Δ 37.58% |
feature_matching [640x480]: Harris + SAD | 35.50 ms / 47.55 ms | ∇ -25.35% | 28.17 Hz / 21.03 Hz | Δ 33.96% |
feature_matching [640x480]: SIFT | 1.21 sec / 1.34 sec | ∇ -9.93% | 828.07 mHz / 745.82 mHz | Δ 11.03% |
feature_matching [640x480]: SURF | 379.92 ms / 606.64 ms | ∇ -37.37% | 2.63 Hz / 1.65 Hz | Δ 59.68% |
feature_matching [640x480]: FAST + CC | 16.06 ms / 22.36 ms | ∇ -28.17% | 62.26 Hz / 44.72 Hz | Δ 39.22% |
feature_matching [640x480]: FAST + SAD | 10.73 ms / 15.00 ms | ∇ -28.43% | 93.18 Hz / 66.69 Hz | Δ 39.72% |
graph(2d): insertEdge x 1e3 | 117.65 us / 313.03 us | ∇ -62.42% | 8.50 KHz / 3.19 KHz | Δ 166.07% |
graph(2d,vec): insertEdge x 1e3 | 105.12 us / 307.43 us | ∇ -65.81% | 9.51 KHz / 3.25 KHz | Δ 192.45% |
graph(2d): insertEdgeAtEnd x 1e3 | 85.19 us / 222.64 us | ∇ -61.74% | 11.74 KHz / 4.49 KHz | Δ 161.36% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 84.46 us / 222.87 us | ∇ -62.10% | 11.84 KHz / 4.49 KHz | Δ 163.87% |
graph(2d pdf): insertEdge x 1e3 | 172.53 us / 516.93 us | ∇ -66.62% | 5.80 KHz / 1.93 KHz | Δ 199.62% |
graph(2d pdf,vec): insertEdge x 1e3 | 187.97 us / 517.18 us | ∇ -63.65% | 5.32 KHz / 1.93 KHz | Δ 175.14% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 168.61 us / 405.97 us | ∇ -58.47% | 5.93 KHz / 2.46 KHz | Δ 140.78% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 167.39 us / 403.48 us | ∇ -58.51% | 5.97 KHz / 2.48 KHz | Δ 141.05% |
graph(2d): insertEdge x 1e4 | 1.73 ms / 3.36 ms | ∇ -48.68% | 579.22 Hz / 297.28 Hz | Δ 94.84% |
graph(2d,vec): insertEdge x 1e4 | 1.45 ms / 3.35 ms | ∇ -56.74% | 690.59 Hz / 298.76 Hz | Δ 131.15% |
graph(2d): insertEdgeAtEnd x 1e4 | 884.69 us / 2.22 ms | ∇ -60.14% | 1.13 KHz / 450.51 Hz | Δ 150.90% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 862.22 us / 2.22 ms | ∇ -61.18% | 1.16 KHz / 450.21 Hz | Δ 157.61% |
graph(2d pdf): insertEdge x 1e4 | 1.97 ms / 5.45 ms | ∇ -63.81% | 506.65 Hz / 183.37 Hz | Δ 176.30% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.31 ms / 5.44 ms | ∇ -57.60% | 433.74 Hz / 183.91 Hz | Δ 135.84% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.07 ms | ∇ -54.33% | 538.12 Hz / 245.74 Hz | Δ 118.98% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.86 ms / 4.06 ms | ∇ -54.21% | 538.35 Hz / 246.50 Hz | Δ 118.39% |
graph(3d): insertEdge x 1e3 | 177.23 us / 447.20 us | ∇ -60.37% | 5.64 KHz / 2.24 KHz | Δ 152.33% |
graph(3d,vec): insertEdge x 1e3 | 178.36 us / 442.12 us | ∇ -59.66% | 5.61 KHz / 2.26 KHz | Δ 147.88% |
graph(3d): insertEdgeAtEnd x 1e3 | 157.86 us / 346.69 us | ∇ -54.47% | 6.33 KHz / 2.88 KHz | Δ 119.62% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 159.54 us / 347.20 us | ∇ -54.05% | 6.27 KHz / 2.88 KHz | Δ 117.63% |
graph(3d pdf): insertEdge x 1e3 | 507.00 us / 944.03 us | ∇ -46.29% | 1.97 KHz / 1.06 KHz | Δ 86.20% |
graph(3d pdf,vec): insertEdge x 1e3 | 509.46 us / 978.08 us | ∇ -47.91% | 1.96 KHz / 1.02 KHz | Δ 91.98% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 473.36 us / 793.19 us | ∇ -40.32% | 2.11 KHz / 1.26 KHz | Δ 67.56% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 474.07 us / 793.52 us | ∇ -40.26% | 2.11 KHz / 1.26 KHz | Δ 67.39% |
graph(3d): insertEdge x 1e4 | 2.47 ms / 4.62 ms | ∇ -46.51% | 404.60 Hz / 216.43 Hz | Δ 86.95% |
graph(3d,vec): insertEdge x 1e4 | 2.48 ms / 4.62 ms | ∇ -46.21% | 402.82 Hz / 216.67 Hz | Δ 85.92% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.75 ms / 3.48 ms | ∇ -49.64% | 570.48 Hz / 287.28 Hz | Δ 98.58% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.77 ms / 3.47 ms | ∇ -49.13% | 565.81 Hz / 287.84 Hz | Δ 96.57% |
graph(3d pdf): insertEdge x 1e4 | 5.53 ms / 10.55 ms | ∇ -47.64% | 180.97 Hz / 94.75 Hz | Δ 90.99% |
graph(3d pdf,vec): insertEdge x 1e4 | 5.56 ms / 9.75 ms | ∇ -42.94% | 179.70 Hz / 102.54 Hz | Δ 75.24% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.85 ms / 7.93 ms | ∇ -38.84% | 206.16 Hz / 126.08 Hz | Δ 63.52% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.85 ms / 7.94 ms | ∇ -38.90% | 206.11 Hz / 125.93 Hz | Δ 63.67% |
graph(3d): dijkstra 1e2 nodes | 96.04 us / 262.18 us | ∇ -63.37% | 10.41 KHz / 3.81 KHz | Δ 172.98% |
graph(3d,vec): dijkstra 1e2 nodes | 80.39 us / 363.67 us | ∇ -77.90% | 12.44 KHz / 2.75 KHz | Δ 352.41% |
graph(3d): dijkstra 1e3 nodes | 1.13 ms / 2.97 ms | ∇ -62.02% | 885.05 Hz / 336.14 Hz | Δ 163.30% |
graph(3d,vec): dijkstra 1e3 nodes | 804.04 us / 3.29 ms | ∇ -75.58% | 1.24 KHz / 303.75 Hz | Δ 309.46% |
graph(3d): dijkstra 1e4 nodes | 19.14 ms / 34.21 ms | ∇ -44.07% | 52.26 Hz / 29.23 Hz | Δ 78.78% |
graph(3d,vec): dijkstra 1e4 nodes | 9.65 ms / 38.12 ms | ∇ -74.69% | 103.63 Hz / 26.23 Hz | Δ 295.07% |
graph(3d): dijkstra 1e5 nodes | 290.37 ms / 389.54 ms | ∇ -25.46% | 3.44 Hz / 2.57 Hz | Δ 34.15% |
graph(3d,vec): dijkstra 1e5 nodes | 117.73 ms / 428.64 ms | ∇ -72.53% | 8.49 Hz / 2.33 Hz | Δ 264.08% |
graph(2d): dijkstra 1e5 nodes | 268.93 ms / 382.11 ms | ∇ -29.62% | 3.72 Hz / 2.62 Hz | Δ 42.08% |
graph(2d,vec): dijkstra 1e5 nodes | 103.05 ms / 417.45 ms | ∇ -75.32% | 9.70 Hz / 2.40 Hz | Δ 305.11% |