Test description | 0.9.2-MSVC-32bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 30.39 ms / 20.90 ms | Δ 45.44% | 32.90 Hz / 47.85 Hz | ∇ -31.24% |
icp-slam (match grid): Run with sample dataset | 52.58 ms / 18.76 ms | Δ 180.23% | 19.02 Hz / 53.30 Hz | ∇ -64.32% |
poses: CPose3D (+) CPose3D | 264.70 ns / 41.67 ns | Δ 535.24% | 3.78 MHz / 24.00 MHz | ∇ -84.26% |
poses: CPose3D.composeFrom() | 98.01 ns / 32.39 ns | Δ 202.58% | 10.20 MHz / 30.87 MHz | ∇ -66.95% |
poses: CPose3D (+) CPoint3D | 27.86 ns / 8.02 ns | Δ 247.24% | 35.89 MHz / 124.63 MHz | ∇ -71.20% |
poses: CPose3D.composePoint() | 19.17 ns / 11.53 ns | Δ 66.23% | 52.16 MHz / 86.70 MHz | ∇ -39.84% |
poses: CPoint3D (-) CPose3D | 51.66 ns / 18.18 ns | Δ 184.07% | 19.36 MHz / 54.99 MHz | ∇ -64.80% |
poses: CPose3D.inverseComposePoint() | 46.91 ns / 25.21 ns | Δ 86.06% | 21.32 MHz / 39.66 MHz | ∇ -46.25% |
poses: CPose2D (+) CPose2D | 99.28 ns / 72.10 ns | Δ 37.69% | 10.07 MHz / 13.87 MHz | ∇ -27.37% |
poses: CPose2D.composeFrom() | 89.67 ns / 69.22 ns | Δ 29.54% | 11.15 MHz / 14.45 MHz | ∇ -22.81% |
poses: CPose2D (+) CPoint2D | 82.07 ns / 60.48 ns | Δ 35.69% | 12.18 MHz / 16.53 MHz | ∇ -26.30% |
poses: CPose2D.composePoint() | 64.58 ns / 60.01 ns | Δ 7.61% | 15.49 MHz / 16.66 MHz | ∇ -7.07% |
poses: CPose3DQuat (+) CPose3DQuat | 87.19 ns / 42.70 ns | Δ 104.19% | 11.47 MHz / 23.42 MHz | ∇ -51.03% |
poses: CPose3DQuat.composeFrom() | 57.14 ns / 38.27 ns | Δ 49.32% | 17.50 MHz / 26.13 MHz | ∇ -33.03% |
poses: CPose3DQuat (+) CPoint3D | 48.22 ns / 17.90 ns | Δ 169.34% | 20.74 MHz / 55.85 MHz | ∇ -62.87% |
poses: CPose3DQuat.composePoint() | 29.64 ns / 18.44 ns | Δ 60.74% | 33.74 MHz / 54.23 MHz | ∇ -37.79% |
poses: CPoint3D (-) CPose3DQuat | 84.32 ns / 33.31 ns | Δ 153.11% | 11.86 MHz / 30.02 MHz | ∇ -60.49% |
poses: CPose3DQuat.invcomposePoint() | 30.72 ns / 19.52 ns | Δ 57.40% | 32.55 MHz / 51.24 MHz | ∇ -36.47% |
poses: Conv CPose3DQuat <- CPose3D | 33.02 ns / 16.27 ns | Δ 102.89% | 30.29 MHz / 61.45 MHz | ∇ -50.71% |
poses: Conv CPose3D -> CPose3DQuat | 206.69 ns / 169.77 ns | Δ 21.74% | 4.84 MHz / 5.89 MHz | ∇ -17.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 1.35 us / 799.00 ns | Δ 69.20% | 739.68 KHz / 1.25 MHz | ∇ -40.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 1.40 us / 788.50 ns | Δ 78.09% | 712.12 KHz / 1.27 MHz | ∇ -43.85% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 23.15 us / 9.11 us | Δ 154.21% | 43.20 KHz / 109.83 KHz | ∇ -60.66% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.62 us / 557.50 ns | Δ 190.72% | 617.00 KHz / 1.79 MHz | ∇ -65.60% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.63 us / 558.50 ns | Δ 191.77% | 613.67 KHz / 1.79 MHz | ∇ -65.73% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 15.82 us / 8.42 us | Δ 87.95% | 63.21 KHz / 118.81 KHz | ∇ -46.80% |
matrix: unit, dyn[float], 3x3 | 38.75 ns / 17.83 ns | Δ 117.25% | 25.81 MHz / 56.07 MHz | ∇ -53.97% |
matrix: unit, dyn[double], 3x3 | 38.69 ns / 19.48 ns | Δ 98.67% | 25.85 MHz / 51.35 MHz | ∇ -49.67% |
matrix: unit, dyn[float], 6x6 | 163.36 ns / 54.85 ns | Δ 197.84% | 6.12 MHz / 18.23 MHz | ∇ -66.43% |
matrix: unit, dyn[double], 6x6 | 213.06 ns / 55.93 ns | Δ 280.92% | 4.69 MHz / 17.88 MHz | ∇ -73.75% |
matrix: unit, fix[float,3,3] | 3.56 ns / 0.00 ns | Δ inf% | 280.77 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 3.29 ns / 0.00 ns | Δ inf% | 304.17 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 2.77 ns / 1.50 ns | Δ 84.94% | 360.95 MHz / 667.56 MHz | ∇ -45.93% |
matrix: unit, fix[double,6,6] | 6.07 ns / 5.61 ns | Δ 8.22% | 164.80 MHz / 178.35 MHz | ∇ -7.60% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 168.66 ns / 291.30 ns | ∇ -42.10% | 5.93 MHz / 3.43 MHz | Δ 72.71% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 109.47 ns / 0.00 ns | Δ inf% | 9.14 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 159.15 ns / 292.50 ns | ∇ -45.59% | 6.28 MHz / 3.42 MHz | Δ 83.79% |
matrix: multiply, fix[double], 3x3 * 3x3 | 87.59 ns / 0.00 ns | Δ inf% | 11.42 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 272.34 ns / 347.50 ns | ∇ -21.63% | 3.67 MHz / 2.88 MHz | Δ 27.60% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 190.04 ns / 0.00 ns | Δ inf% | 5.26 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 245.84 ns / 340.40 ns | ∇ -27.78% | 4.07 MHz / 2.94 MHz | Δ 38.46% |
matrix: multiply, fix[double], 3x6 * 6x3 | 138.91 ns / 0.00 ns | Δ inf% | 7.20 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 16.67 us / 2.42 us | Δ 588.70% | 60.00 KHz / 413.19 KHz | ∇ -85.48% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 12.92 us / 2.23 us | Δ 479.01% | 77.41 KHz / 448.19 KHz | ∇ -82.73% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 13.30 us / 2.31 us | Δ 475.69% | 75.16 KHz / 432.69 KHz | ∇ -82.63% |
matrix: multiply, fix[double], 10x40 * 40x10 | 9.66 us / 2.12 us | Δ 355.03% | 103.53 KHz / 471.08 KHz | ∇ -78.02% |
matrix: inv, dyn[float ] 3x3 | 1.46 us / X | 685.70 KHz / X | ||
matrix: inv, fix[float ] 3x3 | 59.78 ns / X | 16.73 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 1.47 us / 780.00 ns | Δ 88.07% | 681.67 KHz / 1.28 MHz | ∇ -46.83% |
matrix: inv, fix[double] 3x3 | 30.80 ns / 0.00 ns | Δ inf% | 32.47 MHz / inf THz | ∇ -nan% |
matrix: inv, dyn[float ] 6x6 | 4.39 us / X | 227.86 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 1.39 us / X | 718.96 KHz / X | ||
matrix: inv, dyn[double] 6x6 | 5.05 us / 1.97 us | Δ 155.85% | 198.20 KHz / 507.10 KHz | ∇ -60.92% |
matrix: inv, fix[double] 6x6 | 944.32 ns / 1.60 us | ∇ -41.02% | 1.06 MHz / 624.61 KHz | Δ 69.54% |
matrix: inv, dyn[float ] 20x20 | 80.56 us / X | 12.41 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 39.77 us / X | 25.14 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 106.06 us / 16.08 us | Δ 559.57% | 9.43 KHz / 62.19 KHz | ∇ -84.84% |
matrix: inv, fix[double] 20x20 | 18.99 us / 14.48 us | Δ 31.21% | 52.65 KHz / 69.08 KHz | ∇ -23.79% |
matrix: inv, dyn[float ] 40x40 | 594.37 us / X | 1.68 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 302.87 us / X | 3.30 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 805.07 us / 65.78 us | Δ 1123.79% | 1.24 KHz / 15.20 KHz | ∇ -91.83% |
matrix: inv, fix[double] 40x40 | 129.27 us / 64.13 us | Δ 101.57% | 7.74 KHz / 15.59 KHz | ∇ -50.39% |
matrix: det, dyn[float ] 2x2 | 7.97 ns / X | 125.45 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 2x2 | 8.47 ns / 212.60 ns | ∇ -96.02% | 118.07 MHz / 4.70 MHz | Δ 2410.20% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 3x3 | 20.83 ns / X | 48.00 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.05 ns / X | 22.08 GHz / X | ||
matrix: det, dyn[double] 3x3 | 15.90 ns / 323.30 ns | ∇ -95.08% | 62.90 MHz / 3.09 MHz | Δ 1933.69% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 6x6 | 2.28 us / X | 438.79 KHz / X | ||
matrix: det, fix[float ] 6x6 | 455.22 ns / X | 2.20 MHz / X | ||
matrix: det, dyn[double] 6x6 | 2.27 us / 774.90 ns | Δ 192.86% | 440.64 KHz / 1.29 MHz | ∇ -65.85% |
matrix: det, fix[double] 6x6 | 409.52 ns / 592.30 ns | ∇ -30.86% | 2.44 MHz / 1.69 MHz | Δ 44.63% |
matrix: det, dyn[float ] 20x20 | 18.23 us / X | 54.86 KHz / X | ||
matrix: det, fix[float ] 20x20 | 9.64 us / X | 103.77 KHz / X | ||
matrix: det, dyn[double] 20x20 | 17.63 us / 8.50 us | Δ 107.37% | 56.72 KHz / 117.63 KHz | ∇ -51.78% |
matrix: det, fix[double] 20x20 | 6.19 us / 7.72 us | ∇ -19.86% | 161.63 KHz / 129.53 KHz | Δ 24.78% |
matrix: det, dyn[float ] 40x40 | 109.51 us / X | 9.13 KHz / X | ||
matrix: det, fix[float ] 40x40 | 61.78 us / X | 16.19 KHz / X | ||
matrix: det, dyn[double] 40x40 | 112.43 us / 32.23 us | Δ 248.87% | 8.89 KHz / 31.03 KHz | ∇ -71.34% |
matrix: det, fix[double] 40x40 | 35.24 us / 30.71 us | Δ 14.76% | 28.38 KHz / 32.57 KHz | ∇ -12.86% |
matrix: chol, dyn[double] 4x4 | 172.11 ns / 530.00 ns | ∇ -67.53% | 5.81 MHz / 1.89 MHz | Δ 207.95% |
matrix: chol, fix[double] 4x4 | 117.76 ns / 130.00 ns | ∇ -9.42% | 8.49 MHz / 7.69 MHz | Δ 10.40% |
matrix: chol, dyn[double] 40x40 | 24.40 us / 22.98 us | Δ 6.19% | 40.98 KHz / 43.52 KHz | ∇ -5.83% |
matrix: chol, fix[double] 40x40 | 17.68 us / 19.50 us | ∇ -9.35% | 56.57 KHz / 51.28 KHz | Δ 10.31% |
matrix: chol, sparse [2x2;2x2] | 8.42 us / 8.20 us | Δ 2.73% | 118.71 KHz / 121.95 KHz | ∇ -2.66% |
matrix: chol, sparse [30x30;10x10] | 118.80 us / 85.30 us | Δ 39.27% | 8.42 KHz / 11.72 KHz | ∇ -28.20% |
matrix: chol, dyn[double] 10x[6x6] | 69.79 us / 56.80 us | Δ 22.88% | 14.33 KHz / 17.61 KHz | ∇ -18.62% |
matrix: chol, sparse 10x[6x6] | 52.54 us / 39.31 us | Δ 33.65% | 19.03 KHz / 25.44 KHz | ∇ -25.18% |
matrix: chol, dyn[double] 20x[6x6] | 466.09 us / 266.80 us | Δ 74.70% | 2.15 KHz / 3.75 KHz | ∇ -42.76% |
matrix: chol, sparse 20x[6x6] | 89.01 us / 72.76 us | Δ 22.33% | 11.24 KHz / 13.74 KHz | ∇ -18.25% |
matrix: chol, dyn[double] 50x[6x6] | 9.32 ms / 2.67 ms | Δ 249.21% | 107.25 Hz / 374.53 Hz | ∇ -71.36% |
matrix: chol, sparse 50x[6x6] | 201.22 us / 176.19 us | Δ 14.21% | 4.97 KHz / 5.68 KHz | ∇ -12.44% |
matrix: chol, dyn[double] 100x[6x6] | 138.07 ms / 20.73 ms | Δ 565.94% | 7.24 Hz / 48.23 Hz | ∇ -84.98% |
matrix: chol, sparse 100x[6x6] | 401.45 us / 351.05 us | Δ 14.36% | 2.49 KHz / 2.85 KHz | ∇ -12.55% |
matrix: chol, dyn[double] 120x[6x6] | 453.62 ms / 34.60 ms | Δ 1210.91% | 2.20 Hz / 28.90 Hz | ∇ -92.37% |
matrix: chol, sparse 120x[6x6] | 474.18 us / 415.89 us | Δ 14.02% | 2.11 KHz / 2.40 KHz | ∇ -12.29% |
matrix: chol, dyn[double] 140x[6x6] | 945.16 ms / 50.32 ms | Δ 1778.34% | 1.06 Hz / 19.87 Hz | ∇ -94.68% |
matrix: chol, sparse 140x[6x6] | 552.77 us / 482.94 us | Δ 14.46% | 1.81 KHz / 2.07 KHz | ∇ -12.63% |
gridmap2D: getCell | 5.57 ns / 0.00 ns | Δ inf% | 179.64 MHz / inf THz | ∇ -nan% |
gridmap2D: setCell | 7.80 ns / 2.61 ns | Δ 199.30% | 128.17 MHz / 383.63 MHz | ∇ -66.59% |
gridmap2D: updateCell | 10.65 ns / 6.99 ns | Δ 52.26% | 93.93 MHz / 143.02 MHz | ∇ -34.32% |
gridmap2D: updateCell_fast_occupied | 1.20 ns / 0.51 ns | Δ 133.77% | 834.82 MHz / 1.95 GHz | ∇ -57.22% |
gridmap2D: insert scan w/o widening | 202.10 us / 102.59 us | Δ 97.00% | 4.95 KHz / 9.75 KHz | ∇ -49.24% |
gridmap2D: insert scan with widening | 338.79 us / 284.11 us | Δ 19.25% | 2.95 KHz / 3.52 KHz | ∇ -16.14% |
gridmap2D: resize | 3.58 ms / 722.00 us | Δ 395.69% | 279.42 Hz / 1.39 KHz | ∇ -79.83% |
gridmap2D: computeLikelihood | 18.09 us / 15.69 us | Δ 15.26% | 55.28 KHz / 63.72 KHz | ∇ -13.24% |
pointmap: insert 100 scans | 5.50 ms / 2.97 ms | Δ 85.22% | 181.98 Hz / 337.06 Hz | ∇ -46.01% |
pointmap: build 2D kd-tree of 1 scan | 6.29 us / 4.36 us | Δ 44.18% | 159.07 KHz / 229.36 KHz | ∇ -30.64% |
pointmap: build 2D kd-tree of 100 scan | 520.70 us / 357.08 us | Δ 45.82% | 1.92 KHz / 2.80 KHz | ∇ -31.42% |
pointmap: build 2D kd-tree of 1000 scan | 5.50 ms / 4.19 ms | Δ 31.34% | 181.67 Hz / 238.61 Hz | ∇ -23.86% |
pointmap: build 3D kd-tree of 1 scan | 6.47 us / 4.72 us | Δ 37.02% | 154.62 KHz / 211.86 KHz | ∇ -27.02% |
pointmap: build 3D kd-tree of 100 scan | 526.59 us / 362.68 us | Δ 45.19% | 1.90 KHz / 2.76 KHz | ∇ -31.13% |
pointmap: build 3D kd-tree of 1000 scan | 5.63 ms / 4.10 ms | Δ 37.50% | 177.52 Hz / 244.09 Hz | ∇ -27.27% |
pointmap: kd-tree 2d query on 10 scans | 2.04 us / 1.39 us | Δ 46.90% | 490.44 KHz / 720.46 KHz | ∇ -31.93% |
pointmap: kd-tree 2d query on 1000 scans | 137.79 us / 101.86 us | Δ 35.27% | 7.26 KHz / 9.82 KHz | ∇ -26.08% |
pointmap: kd-tree 2d query on 10000 scans | 14.88 ms / 11.78 ms | Δ 26.38% | 67.19 Hz / 84.92 Hz | ∇ -20.87% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.57 ms / 5.62 ms | Δ 52.41% | 116.69 Hz / 177.84 Hz | ∇ -34.39% |
pointmap: (insert scan+2D kd-tree query) x 50 | 191.63 ms / 130.59 ms | Δ 46.74% | 5.22 Hz / 7.66 Hz | ∇ -31.85% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.64 ms / 5.69 ms | Δ 51.78% | 115.78 Hz / 175.73 Hz | ∇ -34.11% |
pointmap: (insert scan+3D kd-tree query) x 50 | 194.89 ms / 132.22 ms | Δ 47.40% | 5.13 Hz / 7.56 Hz | ∇ -32.16% |
random: drawUniform32bit | 7.21 ns / 15.67 ns | ∇ -53.98% | 138.68 MHz / 63.82 MHz | Δ 117.30% |
random: drawUniform | 7.18 ns / 15.66 ns | ∇ -54.12% | 139.23 MHz / 63.88 MHz | Δ 117.97% |
random: drawGaussian1D_normalized | 51.37 ns / 69.89 ns | ∇ -26.50% | 19.47 MHz / 14.31 MHz | Δ 36.06% |
random: drawGaussian1D | 51.39 ns / 69.86 ns | ∇ -26.44% | 19.46 MHz / 14.32 MHz | Δ 35.94% |
random: system rand() | 28.61 ns / 12.21 ns | Δ 134.26% | 34.95 MHz / 81.87 MHz | ∇ -57.31% |
random: drawGaussianMultivariate(fixed 3x3) | 2.55 us / 2.70 us | ∇ -5.40% | 391.65 KHz / 370.49 KHz | Δ 5.71% |
random: drawGaussianMultivariate(dyn 3x3) | 8.36 us / 5.71 us | Δ 46.36% | 119.66 KHz / 175.14 KHz | ∇ -31.68% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 213.95 ns / 148.19 ns | Δ 44.38% | 4.67 MHz / 6.75 MHz | ∇ -30.74% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 324.69 ns / 232.46 ns | Δ 39.68% | 3.08 MHz / 4.30 MHz | ∇ -28.41% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 829.70 ns / 489.71 ns | Δ 69.43% | 1.21 MHz / 2.04 MHz | ∇ -40.98% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 214.89 ns / 159.54 ns | Δ 34.69% | 4.65 MHz / 6.27 MHz | ∇ -25.76% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 364.99 ns / 247.75 ns | Δ 47.32% | 2.74 MHz / 4.04 MHz | ∇ -32.12% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 760.13 ns / 521.91 ns | Δ 45.64% | 1.32 MHz / 1.92 MHz | ∇ -31.34% |
random: permuteVector (len=10) | 420.57 ns / 251.30 ns | Δ 67.36% | 2.38 MHz / 3.98 MHz | ∇ -40.25% |
random: permuteVector (len=100) | 3.56 us / 3.02 us | Δ 17.91% | 281.12 KHz / 331.46 KHz | ∇ -15.19% |
random: permuteVector (len=1000) | 33.55 us / 30.36 us | Δ 10.50% | 29.80 KHz / 32.93 KHz | ∇ -9.50% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | inf THz / 10.09 GHz | Δ inf% |
images: Save as JPEG (640x480, quality=95%) | 28.40 ms / 34.14 ms | ∇ -16.82% | 35.21 Hz / 29.29 Hz | Δ 20.22% |
images: Save as JPEG (800x600, quality=95%) | 43.71 ms / 49.83 ms | ∇ -12.27% | 22.88 Hz / 20.07 Hz | Δ 13.99% |
images: Save as JPEG (1024x768, quality=95%) | 70.17 ms / 80.71 ms | ∇ -13.06% | 14.25 Hz / 12.39 Hz | Δ 15.02% |
images: Save as JPEG (640x480, quality=75%) | 24.11 ms / 29.36 ms | ∇ -17.89% | 41.48 Hz / 34.05 Hz | Δ 21.79% |
images: Save as JPEG (800x600, quality=75%) | 37.02 ms / 42.45 ms | ∇ -12.77% | 27.01 Hz / 23.56 Hz | Δ 14.64% |
images: Save as JPEG (1024x768, quality=75%) | 59.51 ms / 65.41 ms | ∇ -9.02% | 16.80 Hz / 15.29 Hz | Δ 9.91% |
images: Gauss filter (640x480) | 5.29 ms / 4.66 ms | Δ 13.47% | 188.95 Hz / 214.40 Hz | ∇ -11.87% |
images: Gauss filter (800x600) | 8.36 ms / 5.98 ms | Δ 39.67% | 119.64 Hz / 167.10 Hz | ∇ -28.40% |
images: Gauss filter (1024x768) | 13.88 ms / 10.42 ms | Δ 33.13% | 72.06 Hz / 95.93 Hz | ∇ -24.89% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 18.63 us / 11.35 us | Δ 64.17% | 53.67 KHz / 88.11 KHz | ∇ -39.09% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 17.89 us / 9.96 us | Δ 79.57% | 55.91 KHz / 100.40 KHz | ∇ -44.31% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.05 us / 5.52 us | ∇ -8.43% | 197.84 KHz / 181.16 KHz | Δ 9.21% |
feature_extraction [640x480]: Harris | 33.27 ms / 32.25 ms | Δ 3.14% | 30.06 Hz / 31.01 Hz | ∇ -3.05% |
feature_extraction [640x480]: KLT | 31.21 ms / 25.60 ms | Δ 21.91% | 32.04 Hz / 39.06 Hz | ∇ -17.97% |
feature_extraction [640x480]: SIFT | 675.81 ms / 630.91 ms | Δ 7.12% | 1.48 Hz / 1.59 Hz | ∇ -6.65% |
feature_extraction [640x480]: SIFT desc. | 217.19 ms / 164.09 ms | Δ 32.36% | 4.60 Hz / 6.09 Hz | ∇ -24.45% |
feature_extraction [640x480]: SURF | 316.97 ms / 207.64 ms | Δ 52.65% | 3.15 Hz / 4.82 Hz | ∇ -34.49% |
feature_extraction [640x480]: FAST | 7.82 ms / 7.60 ms | Δ 2.87% | 127.91 Hz / 131.57 Hz | ∇ -2.79% |
feature_extraction [640x480]: Spin desc. | 103.38 ms / 60.60 ms | Δ 70.58% | 9.67 Hz / 16.50 Hz | ∇ -41.38% |
feature_matching [640x480]: Harris + CC | 56.24 ms / 43.99 ms | Δ 27.85% | 17.78 Hz / 22.73 Hz | ∇ -21.78% |
feature_matching [640x480]: Harris + SAD | 47.55 ms / 36.29 ms | Δ 31.04% | 21.03 Hz / 27.56 Hz | ∇ -23.69% |
feature_matching [640x480]: SIFT | 1.34 sec / 1.20 sec | Δ 11.89% | 745.82 mHz / 834.47 mHz | ∇ -10.62% |
feature_matching [640x480]: SURF | 606.64 ms / 379.83 ms | Δ 59.71% | 1.65 Hz / 2.63 Hz | ∇ -37.39% |
feature_matching [640x480]: FAST + CC | 22.36 ms / 16.04 ms | Δ 39.46% | 44.72 Hz / 62.36 Hz | ∇ -28.29% |
feature_matching [640x480]: FAST + SAD | 15.00 ms / 10.85 ms | Δ 38.16% | 66.69 Hz / 92.14 Hz | ∇ -27.62% |
graph(2d): insertEdge x 1e3 | 313.03 us / 119.99 us | Δ 160.88% | 3.19 KHz / 8.33 KHz | ∇ -61.67% |
graph(2d,vec): insertEdge x 1e3 | 307.43 us / 107.18 us | Δ 186.84% | 3.25 KHz / 9.33 KHz | ∇ -65.14% |
graph(2d): insertEdgeAtEnd x 1e3 | 222.64 us / 84.03 us | Δ 164.95% | 4.49 KHz / 11.90 KHz | ∇ -62.26% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 222.87 us / 83.37 us | Δ 167.32% | 4.49 KHz / 11.99 KHz | ∇ -62.59% |
graph(2d pdf): insertEdge x 1e3 | 516.93 us / 170.61 us | Δ 202.98% | 1.93 KHz / 5.86 KHz | ∇ -66.99% |
graph(2d pdf,vec): insertEdge x 1e3 | 517.18 us / 181.61 us | Δ 184.77% | 1.93 KHz / 5.51 KHz | ∇ -64.88% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 405.97 us / 179.02 us | Δ 126.78% | 2.46 KHz / 5.59 KHz | ∇ -55.90% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 403.48 us / 178.59 us | Δ 125.93% | 2.48 KHz / 5.60 KHz | ∇ -55.74% |
graph(2d): insertEdge x 1e4 | 3.36 ms / 1.58 ms | Δ 112.59% | 297.28 Hz / 632.00 Hz | ∇ -52.96% |
graph(2d,vec): insertEdge x 1e4 | 3.35 ms / 1.26 ms | Δ 164.70% | 298.76 Hz / 790.83 Hz | ∇ -62.22% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.22 ms / 863.38 us | Δ 157.09% | 450.51 Hz / 1.16 KHz | ∇ -61.10% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.22 ms / 846.12 us | Δ 162.51% | 450.21 Hz / 1.18 KHz | ∇ -61.91% |
graph(2d pdf): insertEdge x 1e4 | 5.45 ms / 1.96 ms | Δ 178.04% | 183.37 Hz / 509.85 Hz | ∇ -64.03% |
graph(2d pdf,vec): insertEdge x 1e4 | 5.44 ms / 2.25 ms | Δ 142.09% | 183.91 Hz / 445.23 Hz | ∇ -58.69% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.07 ms / 1.95 ms | Δ 108.24% | 245.74 Hz / 511.72 Hz | ∇ -51.98% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.06 ms / 1.95 ms | Δ 107.99% | 246.50 Hz / 512.69 Hz | ∇ -51.92% |
graph(3d): insertEdge x 1e3 | 447.20 us / 169.26 us | Δ 164.20% | 2.24 KHz / 5.91 KHz | ∇ -62.15% |
graph(3d,vec): insertEdge x 1e3 | 442.12 us / 168.78 us | Δ 161.96% | 2.26 KHz / 5.93 KHz | ∇ -61.83% |
graph(3d): insertEdgeAtEnd x 1e3 | 346.69 us / 153.69 us | Δ 125.57% | 2.88 KHz / 6.51 KHz | ∇ -55.67% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 347.20 us / 154.19 us | Δ 125.17% | 2.88 KHz / 6.49 KHz | ∇ -55.59% |
graph(3d pdf): insertEdge x 1e3 | 944.03 us / 471.95 us | Δ 100.03% | 1.06 KHz / 2.12 KHz | ∇ -50.01% |
graph(3d pdf,vec): insertEdge x 1e3 | 978.08 us / 479.58 us | Δ 103.95% | 1.02 KHz / 2.09 KHz | ∇ -50.97% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 793.19 us / 441.33 us | Δ 79.73% | 1.26 KHz / 2.27 KHz | ∇ -44.36% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 793.52 us / 445.05 us | Δ 78.30% | 1.26 KHz / 2.25 KHz | ∇ -43.91% |
graph(3d): insertEdge x 1e4 | 4.62 ms / 2.46 ms | Δ 88.08% | 216.43 Hz / 407.06 Hz | ∇ -46.83% |
graph(3d,vec): insertEdge x 1e4 | 4.62 ms / 2.46 ms | Δ 87.62% | 216.67 Hz / 406.51 Hz | ∇ -46.70% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.48 ms / 1.70 ms | Δ 104.83% | 287.28 Hz / 588.45 Hz | ∇ -51.18% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.47 ms / 1.70 ms | Δ 104.27% | 287.84 Hz / 587.97 Hz | ∇ -51.04% |
graph(3d pdf): insertEdge x 1e4 | 10.55 ms / 6.68 ms | Δ 57.90% | 94.75 Hz / 149.62 Hz | ∇ -36.67% |
graph(3d pdf,vec): insertEdge x 1e4 | 9.75 ms / 6.75 ms | Δ 44.39% | 102.54 Hz / 148.06 Hz | ∇ -30.74% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 7.93 ms / 4.59 ms | Δ 72.96% | 126.08 Hz / 218.07 Hz | ∇ -42.18% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 7.94 ms / 4.58 ms | Δ 73.57% | 125.93 Hz / 218.58 Hz | ∇ -42.39% |
graph(3d): dijkstra 1e2 nodes | 262.18 us / 89.04 us | Δ 194.44% | 3.81 KHz / 11.23 KHz | ∇ -66.04% |
graph(3d,vec): dijkstra 1e2 nodes | 363.67 us / 75.33 us | Δ 382.79% | 2.75 KHz / 13.28 KHz | ∇ -79.29% |
graph(3d): dijkstra 1e3 nodes | 2.97 ms / 1.11 ms | Δ 168.77% | 336.14 Hz / 903.43 Hz | ∇ -62.79% |
graph(3d,vec): dijkstra 1e3 nodes | 3.29 ms / 711.20 us | Δ 362.91% | 303.75 Hz / 1.41 KHz | ∇ -78.40% |
graph(3d): dijkstra 1e4 nodes | 34.21 ms / 18.54 ms | Δ 84.53% | 29.23 Hz / 53.94 Hz | ∇ -45.81% |
graph(3d,vec): dijkstra 1e4 nodes | 38.12 ms / 9.76 ms | Δ 290.79% | 26.23 Hz / 102.51 Hz | ∇ -74.41% |
graph(3d): dijkstra 1e5 nodes | 389.54 ms / 252.57 ms | Δ 54.23% | 2.57 Hz / 3.96 Hz | ∇ -35.16% |
graph(3d,vec): dijkstra 1e5 nodes | 428.64 ms / 112.23 ms | Δ 281.91% | 2.33 Hz / 8.91 Hz | ∇ -73.82% |
graph(2d): dijkstra 1e5 nodes | 382.11 ms / 256.02 ms | Δ 49.25% | 2.62 Hz / 3.91 Hz | ∇ -33.00% |
graph(2d,vec): dijkstra 1e5 nodes | 417.45 ms / 106.16 ms | Δ 293.22% | 2.40 Hz / 9.42 Hz | ∇ -74.57% |