Test description | 0.9.1-MSVC-32bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.78 ms / 20.59 ms | Δ 54.40% | 31.46 Hz / 48.58 Hz | ∇ -35.23% |
icp-slam (match grid): Run with sample dataset | 53.70 ms / 20.64 ms | Δ 160.22% | 18.62 Hz / 48.45 Hz | ∇ -61.57% |
poses: CPose3D (+) CPose3D | 925.38 ns / 42.90 ns | Δ 2057.07% | 1.08 MHz / 23.31 MHz | ∇ -95.36% |
poses: CPose3D.composeFrom() | 617.00 ns / 37.61 ns | Δ 1540.53% | 1.62 MHz / 26.59 MHz | ∇ -93.90% |
poses: CPose3D (+) CPoint3D | 35.98 ns / 7.25 ns | Δ 396.09% | 27.80 MHz / 137.89 MHz | ∇ -79.84% |
poses: CPose3D.composePoint() | 14.62 ns / 11.83 ns | Δ 23.55% | 68.42 MHz / 84.53 MHz | ∇ -19.06% |
poses: CPoint3D (-) CPose3D | 75.43 ns / 39.31 ns | Δ 91.87% | 13.26 MHz / 25.44 MHz | ∇ -47.88% |
poses: CPose3D.inverseComposePoint() | 56.48 ns / 34.91 ns | Δ 61.81% | 17.70 MHz / 28.65 MHz | ∇ -38.20% |
poses: CPose2D (+) CPose2D | 121.60 ns / 76.08 ns | Δ 59.83% | 8.22 MHz / 13.14 MHz | ∇ -37.43% |
poses: CPose2D.composeFrom() | 66.63 ns / 61.61 ns | Δ 8.14% | 15.01 MHz / 16.23 MHz | ∇ -7.53% |
poses: CPose2D (+) CPoint2D | 93.73 ns / 60.26 ns | Δ 55.54% | 10.67 MHz / 16.59 MHz | ∇ -35.71% |
poses: CPose2D.composePoint() | 62.24 ns / 62.26 ns | ∇ -0.04% | 16.07 MHz / 16.06 MHz | Δ 0.04% |
poses: CPose3DQuat (+) CPose3DQuat | 100.74 ns / 40.99 ns | Δ 145.76% | 9.93 MHz / 24.40 MHz | ∇ -59.31% |
poses: CPose3DQuat.composeFrom() | 57.92 ns / 39.39 ns | Δ 47.05% | 17.26 MHz / 25.39 MHz | ∇ -32.00% |
poses: CPose3DQuat (+) CPoint3D | 61.33 ns / 18.30 ns | Δ 235.06% | 16.31 MHz / 54.63 MHz | ∇ -70.15% |
poses: CPose3DQuat.composePoint() | 27.34 ns / 17.94 ns | Δ 52.40% | 36.57 MHz / 55.74 MHz | ∇ -34.38% |
poses: CPoint3D (-) CPose3DQuat | 580.67 ns / 55.46 ns | Δ 947.08% | 1.72 MHz / 18.03 MHz | ∇ -90.45% |
poses: CPose3DQuat.invcomposePoint() | 28.18 ns / 17.66 ns | Δ 59.58% | 35.48 MHz / 56.63 MHz | ∇ -37.33% |
poses: Conv CPose3DQuat <- CPose3D | 506.67 ns / 16.78 ns | Δ 2918.57% | 1.97 MHz / 59.58 MHz | ∇ -96.69% |
poses: Conv CPose3D -> CPose3DQuat | 214.86 ns / 169.37 ns | Δ 26.86% | 4.65 MHz / 5.90 MHz | ∇ -21.17% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.56 us / 799.08 us | ∇ -99.81% | 642.96 KHz / 1.25 KHz | Δ 51277.21% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.51 us / 803.31 us | ∇ -99.81% | 663.83 KHz / 1.24 KHz | Δ 53226.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.29 us / 9.44 us | Δ 146.64% | 42.94 KHz / 105.91 KHz | ∇ -59.45% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.64 us / 648.90 ns | Δ 152.73% | 609.77 KHz / 1.54 MHz | ∇ -60.43% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.66 us / 631.00 ns | Δ 163.76% | 600.84 KHz / 1.58 MHz | ∇ -62.09% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 16.05 us / 8.18 us | Δ 96.24% | 62.32 KHz / 122.30 KHz | ∇ -49.04% |
matrix: unit, dyn[float], 3x3 | 39.66 ns / 24.43 ns | Δ 62.34% | 25.22 MHz / 40.94 MHz | ∇ -38.40% |
matrix: unit, dyn[double], 3x3 | 42.75 ns / 23.18 ns | Δ 84.40% | 23.39 MHz / 43.14 MHz | ∇ -45.77% |
matrix: unit, dyn[float], 6x6 | 152.29 ns / 59.50 ns | Δ 155.92% | 6.57 MHz / 16.81 MHz | ∇ -60.93% |
matrix: unit, dyn[double], 6x6 | 150.45 ns / 62.26 ns | Δ 141.63% | 6.65 MHz / 16.06 MHz | ∇ -58.61% |
matrix: unit, fix[float,3,3] | 3.30 ns / 0.35 ns | Δ 849.95% | 303.37 MHz / 2.88 GHz | ∇ -89.47% |
matrix: unit, fix[double,3,3] | 3.48 ns / 1.19 ns | Δ 192.72% | 287.56 MHz / 841.75 MHz | ∇ -65.84% |
matrix: unit, fix[float,6,6] | 3.06 ns / 1.70 ns | Δ 79.46% | 327.19 MHz / 587.20 MHz | ∇ -44.28% |
matrix: unit, fix[double,6,6] | 6.65 ns / 2.77 ns | Δ 139.90% | 150.48 MHz / 361.01 MHz | ∇ -58.32% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 167.81 ns / 85.80 ns | Δ 95.58% | 5.96 MHz / 11.66 MHz | ∇ -48.87% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 108.61 ns / 23.80 ns | Δ 356.34% | 9.21 MHz / 42.02 MHz | ∇ -78.09% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 158.88 ns / 75.90 ns | Δ 109.33% | 6.29 MHz / 13.18 MHz | ∇ -52.23% |
matrix: multiply, fix[double], 3x3 * 3x3 | 90.86 ns / 23.50 ns | Δ 286.62% | 11.01 MHz / 42.55 MHz | ∇ -74.13% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.47 ns / 118.10 ns | Δ 130.72% | 3.67 MHz / 8.47 MHz | ∇ -56.66% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 193.12 ns / 44.70 ns | Δ 332.04% | 5.18 MHz / 22.37 MHz | ∇ -76.85% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 238.91 ns / 110.50 ns | Δ 116.21% | 4.19 MHz / 9.05 MHz | ∇ -53.75% |
matrix: multiply, fix[double], 3x6 * 6x3 | 139.05 ns / 45.20 ns | Δ 207.62% | 7.19 MHz / 22.12 MHz | ∇ -67.49% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.80 us / 5.44 us | Δ 209.11% | 59.51 KHz / 183.95 KHz | ∇ -67.65% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 13.06 us / 3.78 us | Δ 245.93% | 76.57 KHz / 264.87 KHz | ∇ -71.09% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.55 us / 5.54 us | Δ 144.39% | 73.81 KHz / 180.38 KHz | ∇ -59.08% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.96 us / 4.07 us | Δ 144.46% | 100.40 KHz / 245.43 KHz | ∇ -59.09% |
matrix: inv, dyn[float ] 3x3 | 1.50 us / 631.00 ns | Δ 138.01% | 665.84 KHz / 1.58 MHz | ∇ -57.99% |
matrix: inv, fix[float ] 3x3 | 59.79 ns / 35.00 ns | Δ 70.81% | 16.73 MHz / 28.57 MHz | ∇ -41.46% |
matrix: inv, dyn[double] 3x3 | 1.53 us / 644.00 ns | Δ 137.85% | 652.84 KHz / 1.55 MHz | ∇ -57.96% |
matrix: inv, fix[double] 3x3 | 31.25 ns / 39.00 ns | ∇ -19.87% | 32.00 MHz / 25.64 MHz | Δ 24.79% |
matrix: inv, dyn[float ] 6x6 | 5.07 us / 2.37 us | Δ 113.81% | 197.26 KHz / 421.76 KHz | ∇ -53.23% |
matrix: inv, fix[float ] 6x6 | 1.33 us / 812.00 ns | Δ 64.32% | 749.46 KHz / 1.23 MHz | ∇ -39.14% |
matrix: inv, dyn[double] 6x6 | 5.08 us / 1.26 us | Δ 303.21% | 196.68 KHz / 793.02 KHz | ∇ -75.20% |
matrix: inv, fix[double] 6x6 | 926.67 ns / 575.00 ns | Δ 61.16% | 1.08 MHz / 1.74 MHz | ∇ -37.95% |
matrix: inv, dyn[float ] 20x20 | 81.86 us / 25.94 us | Δ 215.61% | 12.22 KHz / 38.55 KHz | ∇ -68.32% |
matrix: inv, fix[float ] 20x20 | 40.71 us / 14.14 us | Δ 187.82% | 24.56 KHz / 70.70 KHz | ∇ -65.26% |
matrix: inv, dyn[double] 20x20 | 108.60 us / 25.76 us | Δ 321.64% | 9.21 KHz / 38.83 KHz | ∇ -76.28% |
matrix: inv, fix[double] 20x20 | 19.22 us / 17.04 us | Δ 12.82% | 52.02 KHz / 58.69 KHz | ∇ -11.36% |
matrix: inv, dyn[float ] 40x40 | 609.15 us / 205.11 us | Δ 196.99% | 1.64 KHz / 4.88 KHz | ∇ -66.33% |
matrix: inv, fix[float ] 40x40 | 307.68 us / 93.29 us | Δ 229.81% | 3.25 KHz / 10.72 KHz | ∇ -69.68% |
matrix: inv, dyn[double] 40x40 | 818.27 us / 207.20 us | Δ 294.93% | 1.22 KHz / 4.83 KHz | ∇ -74.68% |
matrix: inv, fix[double] 40x40 | 136.18 us / 133.80 us | Δ 1.77% | 7.34 KHz / 7.47 KHz | ∇ -1.74% |
matrix: det, dyn[float ] 2x2 | 9.15 ns / 6.40 ns | Δ 42.95% | 109.30 MHz / 156.25 MHz | ∇ -30.05% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 2x2 | 9.56 ns / 6.40 ns | Δ 49.32% | 104.64 MHz / 156.25 MHz | ∇ -33.03% |
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 / 10.30 ns | Δ 91.28% | 50.76 MHz / 97.09 MHz | ∇ -47.72% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / 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 | 2.32 us / 653.50 ns | Δ 254.72% | 431.38 KHz / 1.53 MHz | ∇ -71.81% |
matrix: det, fix[float ] 6x6 | 434.76 ns / 210.00 ns | Δ 107.03% | 2.30 MHz / 4.76 MHz | ∇ -51.70% |
matrix: det, dyn[double] 6x6 | 2.38 us / 730.30 ns | Δ 225.71% | 420.40 KHz / 1.37 MHz | ∇ -69.30% |
matrix: det, fix[double] 6x6 | 422.89 ns / 212.10 ns | Δ 99.38% | 2.36 MHz / 4.71 MHz | ∇ -49.84% |
matrix: det, dyn[float ] 20x20 | 18.34 us / 5.70 us | Δ 221.62% | 54.54 KHz / 175.40 KHz | ∇ -68.91% |
matrix: det, fix[float ] 20x20 | 9.85 us / 4.20 us | Δ 134.26% | 101.56 KHz / 237.92 KHz | ∇ -57.31% |
matrix: det, dyn[double] 20x20 | 18.19 us / 6.56 us | Δ 177.02% | 54.99 KHz / 152.33 KHz | ∇ -63.90% |
matrix: det, fix[double] 20x20 | 6.52 us / 5.04 us | Δ 29.41% | 153.30 KHz / 198.38 KHz | ∇ -22.72% |
matrix: det, dyn[float ] 40x40 | 111.92 us / 32.38 us | Δ 245.69% | 8.93 KHz / 30.89 KHz | ∇ -71.07% |
matrix: det, fix[float ] 40x40 | 63.43 us / 27.92 us | Δ 127.21% | 15.77 KHz / 35.82 KHz | ∇ -55.99% |
matrix: det, dyn[double] 40x40 | 114.84 us / 39.41 us | Δ 191.40% | 8.71 KHz / 25.37 KHz | ∇ -65.68% |
matrix: det, fix[double] 40x40 | 36.00 us / 29.04 us | Δ 23.99% | 27.78 KHz / 34.44 KHz | ∇ -19.35% |
matrix: chol, dyn[double] 4x4 | 185.70 ns / 140.00 ns | Δ 32.64% | 5.39 MHz / 7.14 MHz | ∇ -24.61% |
matrix: chol, fix[double] 4x4 | 113.23 ns / 160.00 ns | ∇ -29.23% | 8.83 MHz / 6.25 MHz | Δ 41.31% |
matrix: chol, dyn[double] 40x40 | 24.43 us / 18.38 us | Δ 32.92% | 40.93 KHz / 54.41 KHz | ∇ -24.77% |
matrix: chol, fix[double] 40x40 | 17.73 us / 17.08 us | Δ 3.82% | 56.40 KHz / 58.55 KHz | ∇ -3.68% |
matrix: chol, sparse [2x2;2x2] | 10.78 us / 8.30 us | Δ 29.87% | 92.77 KHz / 120.48 KHz | ∇ -23.00% |
matrix: chol, sparse [30x30;10x10] | 117.89 us / 84.40 us | Δ 39.69% | 8.48 KHz / 11.85 KHz | ∇ -28.41% |
matrix: chol, dyn[double] 10x[6x6] | 70.52 us / 53.00 us | Δ 33.06% | 14.18 KHz / 18.87 KHz | ∇ -24.84% |
matrix: chol, sparse 10x[6x6] | 52.59 us / 39.49 us | Δ 33.17% | 19.02 KHz / 25.32 KHz | ∇ -24.91% |
matrix: chol, dyn[double] 20x[6x6] | 491.10 us / 411.70 us | Δ 19.29% | 2.04 KHz / 2.43 KHz | ∇ -16.17% |
matrix: chol, sparse 20x[6x6] | 85.83 us / 74.09 us | Δ 15.84% | 11.65 KHz / 13.50 KHz | ∇ -13.68% |
matrix: chol, dyn[double] 50x[6x6] | 9.44 ms / 10.38 ms | ∇ -9.02% | 105.88 Hz / 96.33 Hz | Δ 9.91% |
matrix: chol, sparse 50x[6x6] | 204.52 us / 248.74 us | ∇ -17.78% | 4.89 KHz / 4.02 KHz | Δ 21.62% |
matrix: chol, dyn[double] 100x[6x6] | 150.13 ms / 370.64 ms | ∇ -59.49% | 6.66 Hz / 2.70 Hz | Δ 146.88% |
matrix: chol, sparse 100x[6x6] | 415.58 us / 353.56 us | Δ 17.54% | 2.41 KHz / 2.83 KHz | ∇ -14.92% |
matrix: chol, dyn[double] 120x[6x6] | 461.43 ms / 365.56 ms | Δ 26.23% | 2.17 Hz / 2.74 Hz | ∇ -20.78% |
matrix: chol, sparse 120x[6x6] | 484.92 us / 425.27 us | Δ 14.03% | 2.06 KHz / 2.35 KHz | ∇ -12.30% |
matrix: chol, dyn[double] 140x[6x6] | 947.45 ms / 796.04 ms | Δ 19.02% | 1.06 Hz / 1.26 Hz | ∇ -15.98% |
matrix: chol, sparse 140x[6x6] | 586.44 us / 490.79 us | Δ 19.49% | 1.71 KHz / 2.04 KHz | ∇ -16.31% |
gridmap2D: getCell | 5.77 ns / 0.00 ns | Δ inf% | 173.23 MHz / inf THz | ∇ -nan% |
gridmap2D: setCell | 7.96 ns / 2.58 ns | Δ 208.63% | 125.64 MHz / 387.76 MHz | ∇ -67.60% |
gridmap2D: updateCell | 10.80 ns / 7.44 ns | Δ 45.09% | 92.58 MHz / 134.32 MHz | ∇ -31.08% |
gridmap2D: updateCell_fast_occupied | 1.21 ns / 0.55 ns | Δ 119.60% | 826.59 MHz / 1.82 GHz | ∇ -54.46% |
gridmap2D: insert scan w/o widening | 204.23 us / 101.23 us | Δ 101.76% | 4.90 KHz / 9.88 KHz | ∇ -50.44% |
gridmap2D: insert scan with widening | 344.40 us / 291.30 us | Δ 18.23% | 2.90 KHz / 3.43 KHz | ∇ -15.42% |
gridmap2D: resize | 2.62 ms / 1.89 ms | Δ 38.68% | 381.93 Hz / 529.66 Hz | ∇ -27.89% |
gridmap2D: computeLikelihood | 18.59 us / 16.46 us | Δ 12.95% | 53.79 KHz / 60.76 KHz | ∇ -11.47% |
pointmap: insert 100 scans | 5.62 ms / 3.10 ms | Δ 81.16% | 178.02 Hz / 322.50 Hz | ∇ -44.80% |
pointmap: build 2D kd-tree of 1 scan | 6.21 us / 4.28 us | Δ 45.19% | 160.93 KHz / 233.64 KHz | ∇ -31.12% |
pointmap: build 2D kd-tree of 100 scan | 511.81 us / 355.52 us | Δ 43.96% | 1.95 KHz / 2.81 KHz | ∇ -30.54% |
pointmap: build 2D kd-tree of 1000 scan | 5.59 ms / 4.16 ms | Δ 34.32% | 178.86 Hz / 240.24 Hz | ∇ -25.55% |
pointmap: build 3D kd-tree of 1 scan | 7.23 us / 4.76 us | Δ 51.86% | 138.34 KHz / 210.08 KHz | ∇ -34.15% |
pointmap: build 3D kd-tree of 100 scan | 523.10 us / 363.20 us | Δ 44.03% | 1.91 KHz / 2.75 KHz | ∇ -30.57% |
pointmap: build 3D kd-tree of 1000 scan | 5.77 ms / 4.09 ms | Δ 41.03% | 173.21 Hz / 244.29 Hz | ∇ -29.09% |
pointmap: kd-tree 2d query on 10 scans | 2.05 us / 1.38 us | Δ 48.56% | 487.07 KHz / 723.59 KHz | ∇ -32.69% |
pointmap: kd-tree 2d query on 1000 scans | 140.79 us / 100.93 us | Δ 39.49% | 7.10 KHz / 9.91 KHz | ∇ -28.31% |
pointmap: kd-tree 2d query on 10000 scans | 15.17 ms / 11.91 ms | Δ 27.37% | 65.91 Hz / 83.95 Hz | ∇ -21.49% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.69 ms / 5.62 ms | Δ 54.78% | 115.01 Hz / 178.01 Hz | ∇ -35.39% |
pointmap: (insert scan+2D kd-tree query) x 50 | 196.44 ms / 130.76 ms | Δ 50.23% | 5.09 Hz / 7.65 Hz | ∇ -33.44% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.73 ms / 5.67 ms | Δ 53.89% | 114.60 Hz / 176.35 Hz | ∇ -35.02% |
pointmap: (insert scan+3D kd-tree query) x 50 | 198.48 ms / 132.64 ms | Δ 49.65% | 5.04 Hz / 7.54 Hz | ∇ -33.18% |
random: drawUniform32bit | 7.29 ns / 14.57 ns | ∇ -49.95% | 137.11 MHz / 68.63 MHz | Δ 99.78% |
random: drawUniform | 7.33 ns / 14.62 ns | ∇ -49.88% | 136.49 MHz / 68.41 MHz | Δ 99.53% |
random: drawGaussian1D_normalized | 51.27 ns / 68.70 ns | ∇ -25.37% | 19.50 MHz / 14.56 MHz | Δ 33.99% |
random: drawGaussian1D | 51.74 ns / 68.68 ns | ∇ -24.67% | 19.33 MHz / 14.56 MHz | Δ 32.75% |
random: system rand() | 29.39 ns / 10.45 ns | Δ 181.13% | 34.03 MHz / 95.67 MHz | ∇ -64.43% |
random: drawGaussianMultivariate(fixed 3x3) | 2.64 us / 1.31 us | Δ 102.06% | 378.48 KHz / 764.77 KHz | ∇ -50.51% |
random: drawGaussianMultivariate(dyn 3x3) | 8.53 us / 2.79 us | Δ 206.31% | 117.18 KHz / 358.92 KHz | ∇ -67.35% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 215.16 ns / 158.26 ns | Δ 35.96% | 4.65 MHz / 6.32 MHz | ∇ -26.45% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 359.98 ns / 236.42 ns | Δ 52.27% | 2.78 MHz / 4.23 MHz | ∇ -34.33% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 732.12 ns / 489.37 ns | Δ 49.60% | 1.37 MHz / 2.04 MHz | ∇ -33.16% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 213.59 ns / 164.61 ns | Δ 29.75% | 4.68 MHz / 6.07 MHz | ∇ -22.93% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 339.30 ns / 248.12 ns | Δ 36.75% | 2.95 MHz / 4.03 MHz | ∇ -26.87% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.92 ns / 514.83 ns | Δ 47.80% | 1.31 MHz / 1.94 MHz | ∇ -32.34% |
random: permuteVector (len=10) | 411.34 ns / 317.50 ns | Δ 29.56% | 2.43 MHz / 3.15 MHz | ∇ -22.81% |
random: permuteVector (len=100) | 3.59 us / 3.06 us | Δ 17.17% | 278.70 KHz / 326.54 KHz | ∇ -14.65% |
random: permuteVector (len=1000) | 34.34 us / 30.27 us | Δ 13.44% | 29.12 KHz / 33.04 KHz | ∇ -11.85% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | inf THz / 10.09 GHz | Δ inf% |
images: Save as JPEG (640x480, quality=95%) | 27.92 ms / 27.27 ms | Δ 2.40% | 35.81 Hz / 36.67 Hz | ∇ -2.35% |
images: Save as JPEG (800x600, quality=95%) | 43.53 ms / 43.27 ms | Δ 0.60% | 22.97 Hz / 23.11 Hz | ∇ -0.60% |
images: Save as JPEG (1024x768, quality=95%) | 70.76 ms / 74.67 ms | ∇ -5.24% | 14.13 Hz / 13.39 Hz | Δ 5.53% |
images: Save as JPEG (640x480, quality=75%) | 23.43 ms / 26.31 ms | ∇ -10.92% | 42.67 Hz / 38.01 Hz | Δ 12.26% |
images: Save as JPEG (800x600, quality=75%) | 36.52 ms / 40.92 ms | ∇ -10.76% | 27.39 Hz / 24.44 Hz | Δ 12.05% |
images: Save as JPEG (1024x768, quality=75%) | 59.82 ms / 62.56 ms | ∇ -4.38% | 16.72 Hz / 15.99 Hz | Δ 4.59% |
images: Gauss filter (640x480) | 6.68 ms / 4.48 ms | Δ 48.94% | 149.74 Hz / 223.01 Hz | ∇ -32.86% |
images: Gauss filter (800x600) | 8.62 ms / 7.46 ms | Δ 15.55% | 116.03 Hz / 134.07 Hz | ∇ -13.46% |
images: Gauss filter (1024x768) | 14.49 ms / 12.41 ms | Δ 16.74% | 69.01 Hz / 80.57 Hz | ∇ -14.34% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 21.12 us / 5.15 us | Δ 310.18% | 47.34 KHz / 194.17 KHz | ∇ -75.62% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 19.36 us / 4.35 us | Δ 345.11% | 51.65 KHz / 229.89 KHz | ∇ -77.53% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 6.24 us / 2.12 us | Δ 194.18% | 160.34 KHz / 471.70 KHz | ∇ -66.01% |
feature_extraction [640x480]: Harris | 40.83 ms / 33.18 ms | Δ 23.04% | 24.49 Hz / 30.14 Hz | ∇ -18.73% |
feature_extraction [640x480]: KLT | 33.62 ms / 29.64 ms | Δ 13.43% | 29.75 Hz / 33.74 Hz | ∇ -11.84% |
feature_extraction [640x480]: SIFT | 705.28 ms / 637.68 ms | Δ 10.60% | 1.42 Hz / 1.57 Hz | ∇ -9.59% |
feature_extraction [640x480]: SIFT desc. | 214.22 ms / 173.14 ms | Δ 23.72% | 4.67 Hz / 5.78 Hz | ∇ -19.17% |
feature_extraction [640x480]: SURF | 326.57 ms / 202.84 ms | Δ 61.00% | 3.06 Hz / 4.93 Hz | ∇ -37.89% |
feature_extraction [640x480]: FAST | 7.69 ms / 5.10 ms | Δ 50.63% | 130.08 Hz / 195.94 Hz | ∇ -33.61% |
feature_extraction [640x480]: Spin desc. | 105.90 ms / 61.22 ms | Δ 72.99% | 9.44 Hz / 16.33 Hz | ∇ -42.19% |
feature_matching [640x480]: Harris + CC | 57.67 ms / 43.90 ms | Δ 31.38% | 17.34 Hz / 22.78 Hz | ∇ -23.89% |
feature_matching [640x480]: Harris + SAD | 50.27 ms / 38.32 ms | Δ 31.17% | 19.89 Hz / 26.09 Hz | ∇ -23.76% |
feature_matching [640x480]: SIFT | 1.38 sec / 1.28 sec | Δ 8.04% | 724.62 mHz / 782.87 mHz | ∇ -7.44% |
feature_matching [640x480]: SURF | 618.66 ms / 387.99 ms | Δ 59.45% | 1.62 Hz / 2.58 Hz | ∇ -37.29% |
feature_matching [640x480]: FAST + CC | 22.11 ms / 15.73 ms | Δ 40.57% | 45.22 Hz / 63.57 Hz | ∇ -28.86% |
feature_matching [640x480]: FAST + SAD | 14.58 ms / 10.56 ms | Δ 38.11% | 68.57 Hz / 94.70 Hz | ∇ -27.59% |
graph(2d): insertEdge x 1e3 | 354.58 us / 104.46 us | Δ 239.44% | 2.82 KHz / 9.57 KHz | ∇ -70.54% |
graph(2d): insertEdgeAtEnd x 1e3 | 284.04 us / 85.19 us | Δ 233.42% | 3.52 KHz / 11.74 KHz | ∇ -70.01% |
graph(2d pdf): insertEdge x 1e3 | 549.28 us / 134.65 us | Δ 307.93% | 1.82 KHz / 7.43 KHz | ∇ -75.49% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 452.79 us / 119.89 us | Δ 277.67% | 2.21 KHz / 8.34 KHz | ∇ -73.52% |
graph(2d): insertEdge x 1e4 | 3.86 ms / 1.39 ms | Δ 178.62% | 259.12 Hz / 721.96 Hz | ∇ -64.11% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.88 ms / 854.04 us | Δ 236.71% | 347.75 Hz / 1.17 KHz | ∇ -70.30% |
graph(2d pdf): insertEdge x 1e4 | 5.74 ms / 1.61 ms | Δ 256.78% | 174.28 Hz / 621.80 Hz | ∇ -71.97% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.44 ms / 1.20 ms | Δ 269.59% | 225.33 Hz / 832.81 Hz | ∇ -72.94% |
graph(3d): insertEdge x 1e3 | 1.35 ms / 132.91 us | Δ 912.55% | 743.07 Hz / 7.52 KHz | ∇ -90.12% |
graph(3d): insertEdgeAtEnd x 1e3 | 1.09 ms / 109.11 us | Δ 898.41% | 917.96 Hz / 9.17 KHz | ∇ -89.98% |
graph(3d pdf): insertEdge x 1e3 | 1.74 ms / 349.74 us | Δ 398.43% | 573.66 Hz / 2.86 KHz | ∇ -79.94% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 1.46 ms / 321.54 us | Δ 355.16% | 683.28 Hz / 3.11 KHz | ∇ -78.03% |
graph(3d): insertEdge x 1e4 | 13.92 ms / 1.89 ms | Δ 636.24% | 71.86 Hz / 529.10 Hz | ∇ -86.42% |
graph(3d): insertEdgeAtEnd x 1e4 | 11.12 ms / 1.10 ms | Δ 912.27% | 89.92 Hz / 910.25 Hz | ∇ -90.12% |
graph(3d pdf): insertEdge x 1e4 | 17.58 ms / 4.65 ms | Δ 278.28% | 56.89 Hz / 215.20 Hz | ∇ -73.56% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 14.12 ms / 4.05 ms | Δ 248.57% | 70.81 Hz / 246.81 Hz | ∇ -71.31% |