Test description | 0.9.1-MSVC-32bit / 0.9.3-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 31.56 ms | Δ 0.72% | 31.46 Hz / 31.69 Hz | ∇ -0.71% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 53.95 ms | ∇ -0.45% | 18.62 Hz / 18.54 Hz | Δ 0.45% |
poses: CPose3D (+) CPose3D | 925.38 ns / 194.14 ns | Δ 376.66% | 1.08 MHz / 5.15 MHz | ∇ -79.02% |
poses: CPose3D.composeFrom() | 617.00 ns / 34.65 ns | Δ 1680.56% | 1.62 MHz / 28.86 MHz | ∇ -94.38% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 28.67 ns | Δ 25.50% | 27.80 MHz / 34.88 MHz | ∇ -20.32% |
poses: CPose3D.composePoint() | 14.62 ns / 18.49 ns | ∇ -20.96% | 68.42 MHz / 54.08 MHz | Δ 26.52% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 93.89 ns | ∇ -19.66% | 13.26 MHz / 10.65 MHz | Δ 24.48% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 44.39 ns | Δ 27.24% | 17.70 MHz / 22.53 MHz | ∇ -21.41% |
poses: CPose2D (+) CPose2D | 121.60 ns / 103.92 ns | Δ 17.01% | 8.22 MHz / 9.62 MHz | ∇ -14.54% |
poses: CPose2D.composeFrom() | 66.63 ns / 91.82 ns | ∇ -27.44% | 15.01 MHz / 10.89 MHz | Δ 37.81% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 140.37 ns | ∇ -33.22% | 10.67 MHz / 7.12 MHz | Δ 49.75% |
poses: CPose2D.composePoint() | 62.24 ns / 66.26 ns | ∇ -6.07% | 16.07 MHz / 15.09 MHz | Δ 6.46% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 93.35 ns | Δ 7.91% | 9.93 MHz / 10.71 MHz | ∇ -7.33% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 60.52 ns | ∇ -4.29% | 17.26 MHz / 16.52 MHz | Δ 4.49% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 116.72 ns | ∇ -47.45% | 16.31 MHz / 8.57 MHz | Δ 90.31% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 31.02 ns | ∇ -11.86% | 36.57 MHz / 32.23 MHz | Δ 13.46% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 126.78 ns | Δ 358.00% | 1.72 MHz / 7.89 MHz | ∇ -78.17% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 30.88 ns | ∇ -8.74% | 35.48 MHz / 32.38 MHz | Δ 9.58% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 33.42 ns | Δ 1416.25% | 1.97 MHz / 29.93 MHz | ∇ -93.40% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 211.33 ns | Δ 1.67% | 4.65 MHz / 4.73 MHz | ∇ -1.64% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 19.45 us | ∇ -92.00% | 642.96 KHz / 51.41 KHz | Δ 1150.71% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 2.93 us | ∇ -48.62% | 663.83 KHz / 341.05 KHz | Δ 94.65% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 34.64 us | ∇ -32.77% | 42.94 KHz / 28.87 KHz | Δ 48.73% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 860.26 ns | Δ 90.64% | 609.77 KHz / 1.16 MHz | ∇ -47.54% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 880.23 ns | Δ 89.08% | 600.84 KHz / 1.14 MHz | ∇ -47.11% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 21.76 us | ∇ -26.27% | 62.32 KHz / 45.95 KHz | Δ 35.63% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 44.99 ns | ∇ -11.86% | 25.22 MHz / 22.23 MHz | Δ 13.45% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 45.16 ns | ∇ -5.35% | 23.39 MHz / 22.14 MHz | Δ 5.65% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 160.84 ns | ∇ -5.32% | 6.57 MHz / 6.22 MHz | Δ 5.62% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 160.97 ns | ∇ -6.53% | 6.65 MHz / 6.21 MHz | Δ 6.99% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.00 ns | Δ inf% | 303.37 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 3.48 ns / 0.00 ns | Δ inf% | 287.56 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 3.06 ns / 6.73 ns | ∇ -54.62% | 327.19 MHz / 148.49 MHz | Δ 120.34% |
matrix: unit, fix[double,6,6] | 6.65 ns / 7.86 ns | ∇ -15.43% | 150.48 MHz / 127.26 MHz | Δ 18.25% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 550.79 ns | ∇ -69.53% | 5.96 MHz / 1.82 MHz | Δ 228.23% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 0.05 ns | Δ 239703.15% | 9.21 MHz / 22.08 GHz | ∇ -99.96% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 432.98 ns | ∇ -63.30% | 6.29 MHz / 2.31 MHz | Δ 172.52% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 0.00 ns | Δ inf% | 11.01 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 660.53 ns | ∇ -58.75% | 3.67 MHz / 1.51 MHz | Δ 142.42% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 38.91 ns | Δ 396.40% | 5.18 MHz / 25.70 MHz | ∇ -79.85% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 474.65 ns | ∇ -49.67% | 4.19 MHz / 2.11 MHz | Δ 98.67% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 8.74 ns | Δ 1490.69% | 7.19 MHz / 114.40 MHz | ∇ -93.71% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 4.68 us | Δ 258.91% | 59.51 KHz / 213.59 KHz | ∇ -72.14% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 4.42 us | Δ 195.43% | 76.57 KHz / 226.20 KHz | ∇ -66.15% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 3.24 us | Δ 318.57% | 73.81 KHz / 308.92 KHz | ∇ -76.11% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 2.37 us | Δ 321.09% | 100.40 KHz / 422.77 KHz | ∇ -76.25% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / X | 665.84 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.79 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.53 us / 1.49 us | Δ 2.99% | 652.84 KHz / 672.33 KHz | ∇ -2.90% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 32.16 ns | ∇ -2.82% | 32.00 MHz / 31.10 MHz | Δ 2.90% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / X | 197.26 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.33 us / X | 749.46 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.08 us / 3.50 us | Δ 45.47% | 196.68 KHz / 286.11 KHz | ∇ -31.26% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 2.72 us | ∇ -65.88% | 1.08 MHz / 368.24 KHz | Δ 193.06% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / X | 12.22 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 40.71 us / X | 24.56 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 108.60 us / 31.87 us | Δ 240.70% | 9.21 KHz / 31.37 KHz | ∇ -70.65% |
matrix: inv, fix[double] 20x20 | 19.22 us / 28.91 us | ∇ -33.52% | 52.02 KHz / 34.58 KHz | Δ 50.42% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / X | 1.64 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 307.68 us / X | 3.25 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 818.27 us / 124.22 us | Δ 558.74% | 1.22 KHz / 8.05 KHz | ∇ -84.82% |
matrix: inv, fix[double] 40x40 | 136.18 us / 122.24 us | Δ 11.40% | 7.34 KHz / 8.18 KHz | ∇ -10.23% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / X | 109.30 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 2x2 | 9.56 ns / 647.62 ns | ∇ -98.52% | 104.64 MHz / 1.54 MHz | Δ 6676.69% |
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 / X | 50.76 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 969.59 ns | ∇ -98.36% | 62.90 MHz / 1.03 MHz | Δ 5999.07% |
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 / X | 431.38 KHz / X | ||
matrix: det, fix[float ] 6x6 | 434.76 ns / X | 2.30 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.38 us / 2.45 us | ∇ -3.08% | 420.40 KHz / 407.46 KHz | Δ 3.18% |
matrix: det, fix[double] 6x6 | 422.89 ns / 1.89 us | ∇ -77.59% | 2.36 MHz / 529.99 KHz | Δ 346.18% |
matrix: det, dyn[float ] 20x20 | 18.34 us / X | 54.54 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.85 us / X | 101.56 KHz / X | ||
matrix: det, dyn[double] 20x20 | 18.19 us / 22.48 us | ∇ -19.09% | 54.99 KHz / 44.49 KHz | Δ 23.59% |
matrix: det, fix[double] 20x20 | 6.52 us / 21.45 us | ∇ -69.58% | 153.30 KHz / 46.63 KHz | Δ 228.77% |
matrix: det, dyn[float ] 40x40 | 111.92 us / X | 8.93 KHz / X | ||
matrix: det, fix[float ] 40x40 | 63.43 us / X | 15.77 KHz / X | ||
matrix: det, dyn[double] 40x40 | 114.84 us / 80.28 us | Δ 43.06% | 8.71 KHz / 12.46 KHz | ∇ -30.10% |
matrix: det, fix[double] 40x40 | 36.00 us / 79.04 us | ∇ -54.45% | 27.78 KHz / 12.65 KHz | Δ 119.54% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 1.09 us | ∇ -82.99% | 5.39 MHz / 916.16 KHz | Δ 487.80% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 317.04 ns | ∇ -64.29% | 8.83 MHz / 3.15 MHz | Δ 180.00% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 75.74 us | ∇ -67.74% | 40.93 KHz / 13.20 KHz | Δ 210.01% |
matrix: chol, fix[double] 40x40 | 17.73 us / 55.31 us | ∇ -67.94% | 56.40 KHz / 18.08 KHz | Δ 211.92% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 16.89 us | ∇ -36.19% | 92.77 KHz / 59.19 KHz | Δ 56.72% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 247.29 us | ∇ -52.33% | 8.48 KHz / 4.04 KHz | Δ 109.76% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 180.76 us | ∇ -60.99% | 14.18 KHz / 5.53 KHz | Δ 156.32% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 91.89 us | ∇ -42.77% | 19.02 KHz / 10.88 KHz | Δ 74.74% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 765.78 us | ∇ -35.87% | 2.04 KHz / 1.31 KHz | Δ 55.93% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 116.55 us | ∇ -26.36% | 11.65 KHz / 8.58 KHz | Δ 35.79% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 4.08 ms | Δ 131.59% | 105.88 Hz / 245.20 Hz | ∇ -56.82% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 207.46 us | ∇ -1.42% | 4.89 KHz / 4.82 KHz | Δ 1.44% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 24.43 ms | Δ 514.42% | 6.66 Hz / 40.93 Hz | ∇ -83.72% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 403.40 us | Δ 3.02% | 2.41 KHz / 2.48 KHz | ∇ -2.93% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 40.20 ms | Δ 1047.79% | 2.17 Hz / 24.87 Hz | ∇ -91.29% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 479.83 us | Δ 1.06% | 2.06 KHz / 2.08 KHz | ∇ -1.05% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 59.95 ms | Δ 1480.45% | 1.06 Hz / 16.68 Hz | ∇ -93.67% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 560.09 us | Δ 4.70% | 1.71 KHz / 1.79 KHz | ∇ -4.49% |
gridmap2D: getCell | 5.77 ns / 5.69 ns | Δ 1.45% | 173.23 MHz / 175.73 MHz | ∇ -1.43% |
gridmap2D: setCell | 7.96 ns / 8.06 ns | ∇ -1.25% | 125.64 MHz / 124.07 MHz | Δ 1.27% |
gridmap2D: updateCell | 10.80 ns / 61.98 ns | ∇ -82.57% | 92.58 MHz / 16.13 MHz | Δ 473.80% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 1.25 ns | ∇ -3.36% | 826.59 MHz / 798.82 MHz | Δ 3.48% |
gridmap2D: insert scan w/o widening | 204.23 us / 208.84 us | ∇ -2.21% | 4.90 KHz / 4.79 KHz | Δ 2.26% |
gridmap2D: insert scan with widening | 344.40 us / 346.08 us | ∇ -0.48% | 2.90 KHz / 2.89 KHz | Δ 0.49% |
gridmap2D: resize | 2.62 ms / 2.81 ms | ∇ -6.89% | 381.93 Hz / 355.60 Hz | Δ 7.40% |
gridmap2D: computeLikelihood | 18.59 us / 18.33 us | Δ 1.44% | 53.79 KHz / 54.57 KHz | ∇ -1.42% |
pointmap: insert 100 scans | 5.62 ms / 6.61 ms | ∇ -14.99% | 178.02 Hz / 151.33 Hz | Δ 17.64% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 6.03 us | Δ 3.00% | 160.93 KHz / 165.76 KHz | ∇ -2.92% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 536.01 us | ∇ -4.51% | 1.95 KHz / 1.87 KHz | Δ 4.73% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 5.64 ms | ∇ -0.95% | 178.86 Hz / 177.17 Hz | Δ 0.96% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 7.70 us | ∇ -6.12% | 138.34 KHz / 129.88 KHz | Δ 6.51% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 528.60 us | ∇ -1.04% | 1.91 KHz / 1.89 KHz | Δ 1.05% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 5.81 ms | ∇ -0.63% | 173.21 Hz / 172.12 Hz | Δ 0.63% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 2.13 us | ∇ -3.72% | 487.07 KHz / 468.98 KHz | Δ 3.86% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 145.70 us | ∇ -3.37% | 7.10 KHz / 6.86 KHz | Δ 3.49% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 15.49 ms | ∇ -2.04% | 65.91 Hz / 64.56 Hz | Δ 2.08% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 8.93 ms | ∇ -2.68% | 115.01 Hz / 111.93 Hz | Δ 2.76% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 200.06 ms | ∇ -1.81% | 5.09 Hz / 5.00 Hz | Δ 1.84% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 8.97 ms | ∇ -2.76% | 114.60 Hz / 111.43 Hz | Δ 2.84% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 201.21 ms | ∇ -1.35% | 5.04 Hz / 4.97 Hz | Δ 1.37% |
random: drawUniform32bit | 7.29 ns / 7.76 ns | ∇ -5.97% | 137.11 MHz / 128.93 MHz | Δ 6.34% |
random: drawUniform | 7.33 ns / 7.61 ns | ∇ -3.72% | 136.49 MHz / 131.41 MHz | Δ 3.87% |
random: drawGaussian1D_normalized | 51.27 ns / 51.84 ns | ∇ -1.08% | 19.50 MHz / 19.29 MHz | Δ 1.09% |
random: drawGaussian1D | 51.74 ns / 52.02 ns | ∇ -0.54% | 19.33 MHz / 19.22 MHz | Δ 0.55% |
random: system rand() | 29.39 ns / 27.43 ns | Δ 7.13% | 34.03 MHz / 36.46 MHz | ∇ -6.66% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 4.97 us | ∇ -46.79% | 378.48 KHz / 201.38 KHz | Δ 87.94% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 10.68 us | ∇ -20.07% | 117.18 KHz / 93.66 KHz | Δ 25.11% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 153.63 ns | Δ 40.05% | 4.65 MHz / 6.51 MHz | ∇ -28.60% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 250.07 ns | Δ 43.95% | 2.78 MHz / 4.00 MHz | ∇ -30.53% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 664.62 ns | Δ 10.16% | 1.37 MHz / 1.50 MHz | ∇ -9.22% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 153.22 ns | Δ 39.40% | 4.68 MHz / 6.53 MHz | ∇ -28.26% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 253.40 ns | Δ 33.90% | 2.95 MHz / 3.95 MHz | ∇ -25.32% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 622.96 ns | Δ 22.15% | 1.31 MHz / 1.61 MHz | ∇ -18.13% |
random: permuteVector (len=10) | 411.34 ns / 342.58 ns | Δ 20.07% | 2.43 MHz / 2.92 MHz | ∇ -16.72% |
random: permuteVector (len=100) | 3.59 us / 3.62 us | ∇ -0.78% | 278.70 KHz / 276.54 KHz | Δ 0.78% |
random: permuteVector (len=1000) | 34.34 us / 35.68 us | ∇ -3.77% | 29.12 KHz / 28.03 KHz | Δ 3.92% |
math: round | 0.00 ns / 0.00 ns | ∇ -100.00% | inf THz / 220.79 THz | Δ inf% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 28.08 ms | ∇ -0.57% | 35.81 Hz / 35.61 Hz | Δ 0.57% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 42.80 ms | Δ 1.72% | 22.97 Hz / 23.37 Hz | ∇ -1.69% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 69.14 ms | Δ 2.35% | 14.13 Hz / 14.46 Hz | ∇ -2.29% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 23.76 ms | ∇ -1.37% | 42.67 Hz / 42.09 Hz | Δ 1.39% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 37.25 ms | ∇ -1.97% | 27.39 Hz / 26.85 Hz | Δ 2.01% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 59.86 ms | ∇ -0.07% | 16.72 Hz / 16.71 Hz | Δ 0.07% |
images: Gauss filter (640x480) | 6.68 ms / 7.21 ms | ∇ -7.34% | 149.74 Hz / 138.75 Hz | Δ 7.92% |
images: Gauss filter (800x600) | 8.62 ms / 8.67 ms | ∇ -0.61% | 116.03 Hz / 115.32 Hz | Δ 0.62% |
images: Gauss filter (1024x768) | 14.49 ms / 14.94 ms | ∇ -3.01% | 69.01 Hz / 66.93 Hz | Δ 3.11% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 25.26 us | ∇ -16.37% | 47.34 KHz / 39.59 KHz | Δ 19.57% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 24.29 us | ∇ -20.29% | 51.65 KHz / 41.17 KHz | Δ 25.45% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 13.82 us | ∇ -54.87% | 160.34 KHz / 72.37 KHz | Δ 121.57% |
feature_extraction [640x480]: Harris | 40.83 ms / 53.60 ms | ∇ -23.83% | 24.49 Hz / 18.66 Hz | Δ 31.29% |
feature_extraction [640x480]: KLT | 33.62 ms / 32.67 ms | Δ 2.90% | 29.75 Hz / 30.61 Hz | ∇ -2.82% |
feature_extraction [640x480]: SIFT | 705.28 ms / 724.51 ms | ∇ -2.65% | 1.42 Hz / 1.38 Hz | Δ 2.73% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 217.33 ms | ∇ -1.43% | 4.67 Hz / 4.60 Hz | Δ 1.45% |
feature_extraction [640x480]: SURF | 326.57 ms / 320.21 ms | Δ 1.99% | 3.06 Hz / 3.12 Hz | ∇ -1.95% |
feature_extraction [640x480]: FAST | 7.69 ms / 9.58 ms | ∇ -19.76% | 130.08 Hz / 104.37 Hz | Δ 24.63% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 111.16 ms | ∇ -4.73% | 9.44 Hz / 9.00 Hz | Δ 4.96% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 64.75 ms | ∇ -10.93% | 17.34 Hz / 15.44 Hz | Δ 12.27% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 50.46 ms | ∇ -0.37% | 19.89 Hz / 19.82 Hz | Δ 0.37% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.37 sec | Δ 1.09% | 724.62 mHz / 732.49 mHz | ∇ -1.07% |
feature_matching [640x480]: SURF | 618.66 ms / 602.11 ms | Δ 2.75% | 1.62 Hz / 1.66 Hz | ∇ -2.67% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 23.55 ms | ∇ -6.11% | 45.22 Hz / 42.46 Hz | Δ 6.50% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 15.71 ms | ∇ -7.14% | 68.57 Hz / 63.67 Hz | Δ 7.69% |
graph(2d): insertEdge x 1e3 | 354.58 us / 300.22 us | Δ 18.11% | 2.82 KHz / 3.33 KHz | ∇ -15.33% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 245.20 us | Δ 15.84% | 3.52 KHz / 4.08 KHz | ∇ -13.67% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 537.61 us | Δ 2.17% | 1.82 KHz / 1.86 KHz | ∇ -2.13% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 401.18 us | Δ 12.86% | 2.21 KHz / 2.49 KHz | ∇ -11.40% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 3.65 ms | Δ 5.66% | 259.12 Hz / 273.78 Hz | ∇ -5.35% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 2.51 ms | Δ 14.74% | 347.75 Hz / 399.01 Hz | ∇ -12.85% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 4.81 ms | Δ 19.33% | 174.28 Hz / 207.97 Hz | ∇ -16.20% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 4.03 ms | Δ 10.17% | 225.33 Hz / 248.25 Hz | ∇ -9.23% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 338.14 us | Δ 297.99% | 743.07 Hz / 2.96 KHz | ∇ -74.87% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 302.41 us | Δ 260.23% | 917.96 Hz / 3.31 KHz | ∇ -72.24% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 668.72 us | Δ 160.68% | 573.66 Hz / 1.50 KHz | ∇ -61.64% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 668.41 us | Δ 118.96% | 683.28 Hz / 1.50 KHz | ∇ -54.33% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 3.60 ms | Δ 286.20% | 71.86 Hz / 277.54 Hz | ∇ -74.11% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 3.04 ms | Δ 265.87% | 89.92 Hz / 328.99 Hz | ∇ -72.67% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 7.09 ms | Δ 147.90% | 56.89 Hz / 141.02 Hz | ∇ -59.66% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 6.70 ms | Δ 110.94% | 70.81 Hz / 149.36 Hz | ∇ -52.59% |