Test description | 1.5.7dev-GCC730-64bit / 1.9.9dev-GCC730-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 936.60 us / 902.92 us | Δ 3.73% | 1.07 KHz / 1.11 KHz | ∇ -3.60% |
icp-slam (match grid): Run with sample dataset | 1.22 ms / 1.30 ms | ∇ -6.02% | 821.57 Hz / 772.09 Hz | Δ 6.41% |
poses: CPose3D (+) CPose3D | 16.22 ns / 17.52 ns | ∇ -7.42% | 61.65 MHz / 57.08 MHz | Δ 8.01% |
poses: CPose3D.composeFrom() | 14.96 ns / 16.58 ns | ∇ -9.77% | 66.84 MHz / 60.31 MHz | Δ 10.83% |
poses: CPose3D (+) CPoint3D | 3.38 ns / 4.77 ns | ∇ -29.25% | 296.21 MHz / 209.56 MHz | Δ 41.35% |
poses: CPose3D.composePoint() | 6.23 ns / 5.91 ns | Δ 5.45% | 160.51 MHz / 169.26 MHz | ∇ -5.17% |
poses: CPose3D.composePoint()+Jacobs | 116.85 ns / 113.42 ns | Δ 3.02% | 8.56 MHz / 8.82 MHz | ∇ -2.93% |
poses: CPoint3D (-) CPose3D | 7.44 ns / 8.24 ns | ∇ -9.68% | 134.37 MHz / 121.36 MHz | Δ 10.72% |
poses: CPose3D.inverseComposePoint() | 16.60 ns / 14.52 ns | Δ 14.37% | 60.23 MHz / 68.89 MHz | ∇ -12.56% |
poses: CPose2D (+) CPose2D | 11.88 ns / 17.57 ns | ∇ -32.37% | 84.18 MHz / 56.93 MHz | Δ 47.86% |
poses: CPose2D.composeFrom() | 12.31 ns / 13.86 ns | ∇ -11.16% | 81.23 MHz / 72.17 MHz | Δ 12.56% |
poses: CPose2D (+) CPoint2D | 3.25 ns / 7.64 ns | ∇ -57.50% | 307.88 MHz / 130.86 MHz | Δ 135.28% |
poses: CPose2D.composePoint() | 2.98 ns / 5.95 ns | ∇ -49.88% | 335.12 MHz / 167.95 MHz | Δ 99.53% |
poses: CPose3DQuat (+) CPose3DQuat | 21.79 ns / 18.36 ns | Δ 18.68% | 45.89 MHz / 54.47 MHz | ∇ -15.74% |
poses: CPose3DQuat.composeFrom() | 18.96 ns / 19.07 ns | ∇ -0.58% | 52.74 MHz / 52.44 MHz | Δ 0.58% |
poses: CPose3DQuat (+) CPoint3D | 9.76 ns / 12.33 ns | ∇ -20.79% | 102.42 MHz / 81.13 MHz | Δ 26.24% |
poses: CPose3DQuat.composePoint() | 9.23 ns / 10.47 ns | ∇ -11.92% | 108.39 MHz / 95.47 MHz | Δ 13.53% |
poses: CPose3DQuat.invcomposePoint() | 8.01 ns / 8.56 ns | ∇ -6.38% | 124.78 MHz / 116.82 MHz | Δ 6.81% |
poses: Conv CPose3DQuat <- CPose3D | 7.88 ns / 9.85 ns | ∇ -19.98% | 126.90 MHz / 101.55 MHz | Δ 24.96% |
poses: Conv CPose3D -> CPose3DQuat | 70.81 ns / 79.25 ns | ∇ -10.65% | 14.12 MHz / 12.62 MHz | Δ 11.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 60.96 us / 520.00 ns | Δ 11622.88% | 16.40 KHz / 1.92 MHz | ∇ -99.15% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 60.56 us / 540.00 ns | Δ 11114.44% | 16.51 KHz / 1.85 MHz | ∇ -99.11% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 7.61 us / 7.73 us | ∇ -1.50% | 131.34 KHz / 129.37 KHz | Δ 1.52% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 270.70 ns / 284.60 ns | ∇ -4.88% | 3.69 MHz / 3.51 MHz | Δ 5.13% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 270.60 ns / 285.00 ns | ∇ -5.05% | 3.70 MHz / 3.51 MHz | Δ 5.32% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.12 us / 4.03 us | Δ 2.24% | 242.69 KHz / 248.11 KHz | ∇ -2.19% |
CPose3DInterpolator: CPose3D insert pose at end | 198.13 ns / 198.03 ns | Δ 0.05% | 5.05 MHz / 5.05 MHz | ∇ -0.05% |
CPose3DInterpolator: CPose3D insert pose random | 186.81 ns / 215.30 ns | ∇ -13.23% | 5.35 MHz / 4.64 MHz | Δ 15.25% |
CPose3DInterpolator: CPose3D query | 570.42 ns / 547.04 ns | Δ 4.27% | 1.75 MHz / 1.83 MHz | ∇ -4.10% |
CPose3DInterpolator: TPose3D insert pose at end | 174.17 ns / 169.83 ns | Δ 2.56% | 5.74 MHz / 5.89 MHz | ∇ -2.50% |
CPose3DInterpolator: TPose3D insert pose random | 230.96 ns / 201.49 ns | Δ 14.63% | 4.33 MHz / 4.96 MHz | ∇ -12.76% |
CPose3DInterpolator: TPose3D query | 511.64 ns / 479.99 ns | Δ 6.59% | 1.95 MHz / 2.08 MHz | ∇ -6.19% |
CPose2DInterpolator: TPose2D insert pose at end | 153.49 ns / 156.29 ns | ∇ -1.79% | 6.52 MHz / 6.40 MHz | Δ 1.83% |
CPose2DInterpolator: TPose2D insert pose random | 204.45 ns / 174.72 ns | Δ 17.01% | 4.89 MHz / 5.72 MHz | ∇ -14.54% |
CPose2DInterpolator: TPose2D query | 185.58 ns / 171.34 ns | Δ 8.31% | 5.39 MHz / 5.84 MHz | ∇ -7.67% |
matrix: unit, dyn[float], 3x3 | 20.81 ns / 20.30 ns | Δ 2.50% | 48.05 MHz / 49.25 MHz | ∇ -2.44% |
matrix: unit, dyn[double], 3x3 | 18.03 ns / 18.13 ns | ∇ -0.53% | 55.46 MHz / 55.16 MHz | Δ 0.53% |
matrix: unit, dyn[float], 6x6 | 49.43 ns / 44.79 ns | Δ 10.37% | 20.23 MHz / 22.33 MHz | ∇ -9.39% |
matrix: unit, dyn[double], 6x6 | 38.37 ns / 39.03 ns | ∇ -1.68% | 26.06 MHz / 25.62 MHz | Δ 1.71% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: unit, fix[double,6,6] | 0.00 ns / 3.10 ns | ∇ -100.00% | inf THz / 322.58 MHz | Δ inf% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 75.60 ns / 74.80 ns | Δ 1.07% | 13.23 MHz / 13.37 MHz | ∇ -1.06% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.10 ns | ∇ -100.00% | inf THz / 10.00 GHz | Δ inf% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 82.10 ns / 73.30 ns | Δ 12.01% | 12.18 MHz / 13.64 MHz | ∇ -10.72% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.20 ns / 0.20 ns | ∇ 0.00% | 5.00 GHz / 5.00 GHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 88.00 ns / 88.20 ns | ∇ -0.23% | 11.36 MHz / 11.34 MHz | Δ 0.23% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 2.80 ns | ∇ -100.00% | inf THz / 357.14 MHz | Δ inf% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 91.40 ns / 92.10 ns | ∇ -0.76% | 10.94 MHz / 10.86 MHz | Δ 0.77% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.80 ns / 0.80 ns | ∇ 0.00% | 1.25 GHz / 1.25 GHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.08 us / 1.10 us | ∇ -2.41% | 928.25 KHz / 905.88 KHz | Δ 2.47% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 794.20 ns / 787.10 ns | Δ 0.90% | 1.26 MHz / 1.27 MHz | ∇ -0.89% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 1.71 us / 1.71 us | ∇ -0.47% | 586.48 KHz / 583.74 KHz | Δ 0.47% |
matrix: multiply, fix[double], 10x40 * 40x10 | 1.32 us / 1.31 us | Δ 0.32% | 760.05 KHz / 762.49 KHz | ∇ -0.32% |
matrix: inv, dyn[double] 3x3 | 592.00 ns / 552.00 ns | Δ 7.25% | 1.69 MHz / 1.81 MHz | ∇ -6.76% |
matrix: inv, fix[double] 3x3 | 1.00 ns / 1.00 ns | ∇ 0.00% | 1.00 GHz / 1.00 GHz | ∇ 0.00% |
matrix: inv, dyn[double] 6x6 | 1.57 us / 1.56 us | Δ 0.26% | 638.57 KHz / 640.20 KHz | ∇ -0.26% |
matrix: inv, fix[double] 6x6 | 818.00 ns / 811.00 ns | Δ 0.86% | 1.22 MHz / 1.23 MHz | ∇ -0.86% |
matrix: inv, dyn[double] 20x20 | 8.98 us / 9.61 us | ∇ -6.53% | 111.33 KHz / 104.07 KHz | Δ 6.98% |
matrix: inv, fix[double] 20x20 | 8.15 us / 8.32 us | ∇ -1.99% | 122.62 KHz / 120.18 KHz | Δ 2.04% |
matrix: inv, dyn[double] 40x40 | 43.66 us / 40.62 us | Δ 7.47% | 22.90 KHz / 24.62 KHz | ∇ -6.95% |
matrix: inv, fix[double] 40x40 | 40.36 us / 40.56 us | ∇ -0.49% | 24.77 KHz / 24.65 KHz | Δ 0.49% |
matrix: det, dyn[double] 2x2 | 165.10 ns / 162.40 ns | Δ 1.66% | 6.06 MHz / 6.16 MHz | ∇ -1.64% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 225.50 ns / 222.70 ns | Δ 1.26% | 4.43 MHz / 4.49 MHz | ∇ -1.24% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 6x6 | 445.40 ns / 498.50 ns | ∇ -10.65% | 2.25 MHz / 2.01 MHz | Δ 11.92% |
matrix: det, fix[double] 6x6 | 299.10 ns / 317.50 ns | ∇ -5.80% | 3.34 MHz / 3.15 MHz | Δ 6.15% |
matrix: det, dyn[double] 20x20 | 4.34 us / 4.31 us | Δ 0.70% | 230.26 KHz / 231.87 KHz | ∇ -0.70% |
matrix: det, fix[double] 20x20 | 3.89 us / 3.96 us | ∇ -1.57% | 256.77 KHz / 252.75 KHz | Δ 1.59% |
matrix: det, dyn[double] 40x40 | 17.00 us / 17.05 us | ∇ -0.29% | 58.81 KHz / 58.64 KHz | Δ 0.29% |
matrix: det, fix[double] 40x40 | 16.62 us / 16.89 us | ∇ -1.61% | 60.18 KHz / 59.21 KHz | Δ 1.63% |
matrix: chol, dyn[double] 4x4 | 250.00 ns / 530.00 ns | ∇ -52.83% | 4.00 MHz / 1.89 MHz | Δ 112.00% |
matrix: chol, fix[double] 4x4 | 90.00 ns / 290.00 ns | ∇ -68.97% | 11.11 MHz / 3.45 MHz | Δ 222.22% |
matrix: chol, dyn[double] 40x40 | 10.76 us / 10.81 us | ∇ -0.46% | 92.94 KHz / 92.51 KHz | Δ 0.46% |
matrix: chol, fix[double] 40x40 | 10.29 us / 10.61 us | ∇ -3.02% | 97.18 KHz / 94.25 KHz | Δ 3.11% |
matrix: chol, sparse [2x2;2x2] | 9.80 us / 6.10 us | Δ 60.66% | 102.04 KHz / 163.93 KHz | ∇ -37.76% |
matrix: chol, sparse [30x30;10x10] | 38.80 us / 36.50 us | Δ 6.30% | 25.77 KHz / 27.40 KHz | ∇ -5.93% |
matrix: chol, dyn[double] 10x[6x6] | 28.50 us / 28.80 us | ∇ -1.04% | 35.09 KHz / 34.72 KHz | Δ 1.05% |
matrix: chol, sparse 10x[6x6] | 16.75 us / 16.74 us | Δ 0.06% | 59.70 KHz / 59.74 KHz | ∇ -0.06% |
matrix: chol, dyn[double] 20x[6x6] | 148.10 us / 151.40 us | ∇ -2.18% | 6.75 KHz / 6.61 KHz | Δ 2.23% |
matrix: chol, sparse 20x[6x6] | 29.60 us / 29.33 us | Δ 0.92% | 33.78 KHz / 34.09 KHz | ∇ -0.91% |
matrix: chol, dyn[double] 50x[6x6] | 1.67 ms / 1.67 ms | Δ 0.02% | 597.87 Hz / 598.01 Hz | ∇ -0.02% |
matrix: chol, sparse 50x[6x6] | 70.37 us / 69.84 us | Δ 0.76% | 14.21 KHz / 14.32 KHz | ∇ -0.75% |
matrix: chol, dyn[double] 100x[6x6] | 13.50 ms / 14.94 ms | ∇ -9.69% | 74.09 Hz / 66.92 Hz | Δ 10.73% |
matrix: chol, sparse 100x[6x6] | 134.72 us / 142.72 us | ∇ -5.61% | 7.42 KHz / 7.01 KHz | Δ 5.94% |
matrix: chol, dyn[double] 120x[6x6] | 24.56 ms / 23.75 ms | Δ 3.39% | 40.72 Hz / 42.10 Hz | ∇ -3.28% |
matrix: chol, sparse 120x[6x6] | 163.32 us / 163.62 us | ∇ -0.18% | 6.12 KHz / 6.11 KHz | Δ 0.18% |
matrix: chol, dyn[double] 140x[6x6] | 35.44 ms / 36.15 ms | ∇ -1.96% | 28.22 Hz / 27.66 Hz | Δ 2.00% |
matrix: chol, sparse 140x[6x6] | 188.90 us / 190.66 us | ∇ -0.92% | 5.29 KHz / 5.24 KHz | Δ 0.93% |
matrix: loadFromArray[double] 4x4 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: load Eigen::Map[double] 4x4 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
gridmap2D: getCell | 0.00 ns / 4.07 ns | ∇ -100.00% | inf THz / 245.78 MHz | Δ inf% |
gridmap2D: setCell | 0.95 ns / 2.90 ns | ∇ -67.17% | 1.05 GHz / 344.23 MHz | Δ 204.60% |
gridmap2D: updateCell | 3.43 ns / 5.82 ns | ∇ -41.16% | 291.80 MHz / 171.70 MHz | Δ 69.94% |
gridmap2D: updateCell_fast_occupied | 0.86 ns / 0.86 ns | ∇ -0.30% | 1.17 GHz / 1.17 GHz | Δ 0.30% |
gridmap2D: insert scan w/o widening | 60.12 us / 56.46 us | Δ 6.49% | 16.63 KHz / 17.71 KHz | ∇ -6.09% |
gridmap2D: insert scan with widening | 167.16 us / 158.80 us | Δ 5.26% | 5.98 KHz / 6.30 KHz | ∇ -5.00% |
gridmap2D: resize | 271.00 us / 308.00 us | ∇ -12.01% | 3.69 KHz / 3.25 KHz | Δ 13.65% |
gridmap2D: computeLikelihood | 8.78 us / 9.34 us | ∇ -6.05% | 113.96 KHz / 107.06 KHz | Δ 6.44% |
gridmap2D: determineMatching2D | 22.26 us / 22.76 us | ∇ -2.19% | 44.93 KHz / 43.94 KHz | Δ 2.24% |
pointmap: insert 100 scans | 288.09 us / 296.72 us | ∇ -2.91% | 3.47 KHz / 3.37 KHz | Δ 2.99% |
pointmap: build 2D kd-tree of 1 scan | 1.08 us / 1.40 us | ∇ -22.86% | 925.93 KHz / 714.29 KHz | Δ 29.63% |
pointmap: build 2D kd-tree of 100 scan | 84.64 us / 82.24 us | Δ 2.92% | 11.81 KHz / 12.16 KHz | ∇ -2.84% |
pointmap: build 2D kd-tree of 1000 scan | 939.64 us / 911.44 us | Δ 3.09% | 1.06 KHz / 1.10 KHz | ∇ -3.00% |
pointmap: build 3D kd-tree of 1 scan | 1.52 us / 920.00 ns | Δ 65.22% | 657.89 KHz / 1.09 MHz | ∇ -39.47% |
pointmap: build 3D kd-tree of 100 scan | 88.16 us / 87.64 us | Δ 0.59% | 11.34 KHz / 11.41 KHz | ∇ -0.59% |
pointmap: build 3D kd-tree of 1000 scan | 939.00 us / 918.80 us | Δ 2.20% | 1.06 KHz / 1.09 KHz | ∇ -2.15% |
pointmap: kd-tree 2d query on 10 scans | 319.00 ns / 317.00 ns | Δ 0.63% | 3.13 MHz / 3.15 MHz | ∇ -0.63% |
pointmap: kd-tree 2d query on 1000 scans | 23.54 us / 22.90 us | Δ 2.81% | 42.47 KHz / 43.67 KHz | ∇ -2.74% |
pointmap: kd-tree 2d query on 10000 scans | 2.74 ms / 2.66 ms | Δ 2.85% | 364.91 Hz / 375.31 Hz | ∇ -2.77% |
pointmap: (insert scan+2D kd-tree query) x 10 | 951.65 us / 946.05 us | Δ 0.59% | 1.05 KHz / 1.06 KHz | ∇ -0.59% |
pointmap: (insert scan+2D kd-tree query) x 50 | 23.84 ms / 23.20 ms | Δ 2.73% | 41.95 Hz / 43.10 Hz | ∇ -2.66% |
pointmap: (insert scan+3D kd-tree query) x 10 | 928.80 us / 936.50 us | ∇ -0.82% | 1.08 KHz / 1.07 KHz | Δ 0.83% |
pointmap: (insert scan+3D kd-tree query) x 50 | 23.74 ms / 23.27 ms | Δ 2.04% | 42.12 Hz / 42.98 Hz | ∇ -2.00% |
pointmap: computeMatchingWith2D | 21.35 us / 21.92 us | ∇ -2.58% | 46.83 KHz / 45.62 KHz | Δ 2.65% |
pointmap: boundingBox (10 scans) | 875.32 ns / 892.30 ns | ∇ -1.90% | 1.14 MHz / 1.12 MHz | Δ 1.94% |
pointmap: boundingBox (1000 scans) | 85.22 us / 85.56 us | ∇ -0.41% | 11.73 KHz / 11.69 KHz | Δ 0.41% |
random: drawUniform32bit | 4.47 ns / 22.75 ns | ∇ -80.37% | 223.92 MHz / 43.95 MHz | Δ 409.53% |
random: drawUniform | 4.45 ns / 22.74 ns | ∇ -80.41% | 224.56 MHz / 43.98 MHz | Δ 410.56% |
random: drawGaussian1D_normalized | 51.69 ns / 55.74 ns | ∇ -7.26% | 19.35 MHz / 17.94 MHz | Δ 7.83% |
random: drawGaussian1D | 51.88 ns / 55.81 ns | ∇ -7.04% | 19.28 MHz / 17.92 MHz | Δ 7.58% |
random: system rand() | 10.85 ns / 10.62 ns | Δ 2.18% | 92.14 MHz / 94.14 MHz | ∇ -2.13% |
random: drawGaussianMultivariate(fixed 3x3) | 544.38 ns / 551.60 ns | ∇ -1.31% | 1.84 MHz / 1.81 MHz | Δ 1.33% |
random: drawGaussianMultivariate(dyn 3x3) | 1.17 us / 1.19 us | ∇ -1.78% | 852.67 KHz / 837.52 KHz | Δ 1.81% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 104.51 ns / 115.14 ns | ∇ -9.23% | 9.57 MHz / 8.69 MHz | Δ 10.17% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 166.05 ns / 180.82 ns | ∇ -8.17% | 6.02 MHz / 5.53 MHz | Δ 8.89% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 344.60 ns / 380.13 ns | ∇ -9.35% | 2.90 MHz / 2.63 MHz | Δ 10.31% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 112.66 ns / 122.87 ns | ∇ -8.31% | 8.88 MHz / 8.14 MHz | Δ 9.06% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 182.01 ns / 197.55 ns | ∇ -7.87% | 5.49 MHz / 5.06 MHz | Δ 8.54% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 361.46 ns / 390.58 ns | ∇ -7.45% | 2.77 MHz / 2.56 MHz | Δ 8.05% |
random: permuteVector (len=10) | 153.80 ns / 1.69 us | ∇ -90.91% | 6.50 MHz / 590.81 KHz | Δ 1000.52% |
random: permuteVector (len=100) | 1.62 us / 3.30 us | ∇ -50.96% | 618.31 KHz / 303.24 KHz | Δ 103.90% |
random: permuteVector (len=1000) | 15.53 us / 19.67 us | ∇ -21.08% | 64.41 KHz / 50.83 KHz | Δ 26.71% |
math: round | 0.03 ns / 0.03 ns | Δ 0.34% | 30.65 GHz / 30.75 GHz | ∇ -0.34% |
math: std::hypot(float) | 4.94 ns / 0.00 ns | Δ 49424300.00% | 202.33 MHz / 100.00 THz | ∇ -100.00% |
math: mrpt::math::hypot_fast(float) | 1.81 ns / X | 552.07 MHz / X | ||
math: mrpt::math::hypot_fast(double) | 3.62 ns / X | 275.97 MHz / X | ||
images: Save as JPEG (640x480, quality=95%) | 7.41 ms / 6.71 ms | Δ 10.49% | 134.98 Hz / 149.14 Hz | ∇ -9.49% |
images: Save as JPEG (800x600, quality=95%) | 9.29 ms / 9.09 ms | Δ 2.14% | 107.69 Hz / 110.00 Hz | ∇ -2.10% |
images: Save as JPEG (1024x768, quality=95%) | 14.19 ms / 14.11 ms | Δ 0.63% | 70.45 Hz / 70.89 Hz | ∇ -0.62% |
images: Save as JPEG (640x480, quality=75%) | 4.83 ms / 4.88 ms | ∇ -1.04% | 207.20 Hz / 205.05 Hz | Δ 1.05% |
images: Save as JPEG (800x600, quality=75%) | 7.60 ms / 7.53 ms | Δ 0.84% | 131.66 Hz / 132.76 Hz | ∇ -0.83% |
images: Save as JPEG (1024x768, quality=75%) | 12.16 ms / 12.32 ms | ∇ -1.31% | 82.25 Hz / 81.18 Hz | Δ 1.33% |
images: Save BMP 800x600 disk | 6.35 ms / 6.36 ms | ∇ -0.16% | 157.54 Hz / 157.29 Hz | Δ 0.16% |
images: Save PNG 800x600 disk | 27.95 ms / 22.14 ms | Δ 26.25% | 35.78 Hz / 45.17 Hz | ∇ -20.79% |
images: Save JPG 800x600 disk | 8.62 ms / 8.62 ms | Δ 0.02% | 116.05 Hz / 116.07 Hz | ∇ -0.02% |
images: Load BMP 800x600 disk | 262.47 us / 298.27 us | ∇ -12.00% | 3.81 KHz / 3.35 KHz | Δ 13.64% |
images: Load PNG 800x600 disk | 8.40 ms / 8.93 ms | ∇ -6.01% | 119.09 Hz / 111.94 Hz | Δ 6.39% |
images: Load JPG 800x600 disk | 6.20 ms / 6.22 ms | ∇ -0.33% | 161.30 Hz / 160.76 Hz | Δ 0.33% |
images: Save BMP 800x600 shared mem | 386.27 us / 417.93 us | ∇ -7.58% | 2.59 KHz / 2.39 KHz | Δ 8.20% |
images: Save PNG 800x600 shared mem | 22.68 ms / 17.09 ms | Δ 32.75% | 44.08 Hz / 58.52 Hz | ∇ -24.67% |
images: Save JPG 800x600 shared mem | 6.07 ms / 6.13 ms | ∇ -0.95% | 164.72 Hz / 163.16 Hz | Δ 0.96% |
images: Load BMP 800x600 shared mem | 272.77 us / 278.67 us | ∇ -2.12% | 3.67 KHz / 3.59 KHz | Δ 2.16% |
images: Load PNG 800x600 shared mem | 8.40 ms / 9.01 ms | ∇ -6.80% | 119.05 Hz / 110.95 Hz | Δ 7.30% |
images: Load JPG 800x600 shared mem | 6.20 ms / 6.22 ms | ∇ -0.38% | 161.39 Hz / 160.78 Hz | Δ 0.38% |
images: Gauss filter (640x480) | 2.18 ms / 2.01 ms | Δ 8.77% | 458.01 Hz / 498.17 Hz | ∇ -8.06% |
images: Gauss filter (800x600) | 3.12 ms / 3.21 ms | ∇ -2.92% | 320.79 Hz / 311.42 Hz | Δ 3.01% |
images: Gauss filter (1024x768) | 5.25 ms / 5.27 ms | ∇ -0.51% | 190.61 Hz / 189.63 Hz | Δ 0.52% |
images: Half sample GRAY (160x120) | 806.67 ns / 753.33 ns | Δ 7.08% | 1.24 MHz / 1.33 MHz | ∇ -6.61% |
images: Half sample GRAY (320x240) | 1.79 us / 1.81 us | ∇ -0.92% | 558.66 KHz / 553.51 KHz | Δ 0.93% |
images: Half sample GRAY (640x480) | 7.54 us / 7.24 us | Δ 4.10% | 132.63 KHz / 138.06 KHz | ∇ -3.93% |
images: Half sample GRAY (800x600) | 12.46 us / 12.12 us | Δ 2.83% | 80.26 KHz / 82.53 KHz | ∇ -2.76% |
images: Half sample GRAY (1024x768) | 20.16 us / 20.49 us | ∇ -1.61% | 49.60 KHz / 48.80 KHz | Δ 1.64% |
images: Half sample GRAY (1280x1024) | 33.44 us / 33.85 us | ∇ -1.21% | 29.90 KHz / 29.54 KHz | Δ 1.23% |
images: Half sample RGB (160x120) | 1.47 us / 1.40 us | Δ 4.75% | 680.27 KHz / 712.59 KHz | ∇ -4.54% |
images: Half sample RGB (320x240) | 4.68 us / 4.44 us | Δ 5.56% | 213.52 KHz / 225.39 KHz | ∇ -5.27% |
images: Half sample RGB (640x480) | 22.17 us / 21.84 us | Δ 1.53% | 45.10 KHz / 45.79 KHz | ∇ -1.50% |
images: Half sample RGB (800x600) | 33.14 us / 34.88 us | ∇ -4.97% | 30.17 KHz / 28.67 KHz | Δ 5.23% |
images: Half sample RGB (1024x768) | 53.65 us / 58.20 us | ∇ -7.83% | 18.64 KHz / 17.18 KHz | Δ 8.49% |
images: Half sample RGB (1280x1024) | 100.80 us / 119.26 us | ∇ -15.48% | 9.92 KHz / 8.38 KHz | Δ 18.32% |
images: Half sample smooth GRAY (160x120) | 1.13 us / 1.08 us | Δ 4.31% | 884.96 KHz / 923.08 KHz | ∇ -4.13% |
images: Half sample smooth GRAY (320x240) | 2.96 us / 3.11 us | ∇ -4.93% | 338.22 KHz / 321.54 KHz | Δ 5.19% |
images: Half sample smooth GRAY (640x480) | 13.10 us / 13.89 us | ∇ -5.64% | 76.32 KHz / 72.01 KHz | Δ 5.98% |
images: Half sample smooth GRAY (800x600) | 22.30 us / 21.31 us | Δ 4.63% | 44.84 KHz / 46.92 KHz | ∇ -4.42% |
images: Half sample smooth GRAY (1024x768) | 35.66 us / 34.33 us | Δ 3.86% | 28.05 KHz / 29.13 KHz | ∇ -3.72% |
images: Half sample smooth GRAY (1280x1024) | 56.33 us / 56.59 us | ∇ -0.47% | 17.75 KHz / 17.67 KHz | Δ 0.47% |
images: Half sample smooth RGB (160x120) | 11.92 us / 10.08 us | Δ 18.22% | 83.92 KHz / 99.21 KHz | ∇ -15.41% |
images: Half sample smooth RGB (320x240) | 36.43 us / 33.64 us | Δ 8.28% | 27.45 KHz / 29.72 KHz | ∇ -7.65% |
images: Half sample smooth RGB (640x480) | 126.84 us / 127.81 us | ∇ -0.75% | 7.88 KHz / 7.82 KHz | Δ 0.76% |
images: Half sample smooth RGB (800x600) | 142.65 us / 191.91 us | ∇ -25.67% | 7.01 KHz / 5.21 KHz | Δ 34.53% |
images: Half sample smooth RGB (1024x768) | 261.31 us / 194.27 us | Δ 34.51% | 3.83 KHz / 5.15 KHz | ∇ -25.66% |
images: Half sample smooth RGB (1280x1024) | 275.76 us / 364.64 us | ∇ -24.37% | 3.63 KHz / 2.74 KHz | Δ 32.23% |
images: RGB->GRAY 8u (40x30) | 4.20 us / 5.59 us | ∇ -24.76% | 237.91 KHz / 179.00 KHz | Δ 32.91% |
images: RGB->GRAY 8u (80x60) | 1.89 us / 4.23 us | ∇ -55.43% | 530.04 KHz / 236.22 KHz | Δ 124.38% |
images: RGB->GRAY 8u (160x120) | 8.07 us / 11.42 us | ∇ -29.38% | 123.97 KHz / 87.54 KHz | Δ 41.61% |
images: RGB->GRAY 8u (320x240) | 36.87 us / 35.87 us | Δ 2.79% | 27.12 KHz / 27.88 KHz | ∇ -2.71% |
images: RGB->GRAY 8u (640x480) | 123.99 us / 127.77 us | ∇ -2.96% | 8.07 KHz / 7.83 KHz | Δ 3.05% |
images: RGB->GRAY 8u (800x600) | 160.60 us / 169.11 us | ∇ -5.03% | 6.23 KHz / 5.91 KHz | Δ 5.30% |
images: RGB->GRAY 8u (1024x768) | 225.35 us / 237.72 us | ∇ -5.21% | 4.44 KHz / 4.21 KHz | Δ 5.49% |
images: RGB->GRAY 8u (1280x1024) | 366.04 us / 377.32 us | ∇ -2.99% | 2.73 KHz / 2.65 KHz | Δ 3.08% |
images: KLT score (WIN=2 5x5) | 27.32 ns / 27.26 ns | Δ 0.20% | 36.61 MHz / 36.68 MHz | ∇ -0.20% |
images: KLT score (WIN=3 7x7) | 33.44 ns / 33.33 ns | Δ 0.34% | 29.90 MHz / 30.00 MHz | ∇ -0.34% |
images: KLT score (WIN=4 9x9) | 37.69 ns / 37.96 ns | ∇ -0.73% | 26.53 MHz / 26.34 MHz | Δ 0.73% |
images: KLT score (WIN=5 10x10) | 47.70 ns / 48.02 ns | ∇ -0.67% | 20.97 MHz / 20.83 MHz | Δ 0.68% |
images: KLT score (WIN=6 13x13) | 53.85 ns / 53.09 ns | Δ 1.44% | 18.57 MHz / 18.84 MHz | ∇ -1.42% |
images: KLT score (WIN=7 15x15) | 63.63 ns / 62.87 ns | Δ 1.21% | 15.72 MHz / 15.91 MHz | ∇ -1.19% |
images: KLT score (WIN=8 17x17) | 60.62 ns / 59.92 ns | Δ 1.18% | 16.49 MHz / 16.69 MHz | ∇ -1.17% |
images: KLT score (WIN=9 19x19) | 63.96 ns / 62.94 ns | Δ 1.62% | 15.64 MHz / 15.89 MHz | ∇ -1.59% |
images: KLT score (WIN=10 21x21) | 68.09 ns / 66.64 ns | Δ 2.17% | 14.69 MHz / 15.01 MHz | ∇ -2.13% |
images: KLT score (WIN=11 23x23) | 59.89 ns / 59.70 ns | Δ 0.33% | 16.70 MHz / 16.75 MHz | ∇ -0.33% |
images: KLT score (WIN=12 25x25) | 78.90 ns / 78.23 ns | Δ 0.86% | 12.67 MHz / 12.78 MHz | ∇ -0.86% |
images: KLT score (WIN=13 27x27) | 67.38 ns / 66.87 ns | Δ 0.77% | 14.84 MHz / 14.95 MHz | ∇ -0.76% |
images: KLT score (WIN=14 29x29) | 70.05 ns / 69.47 ns | Δ 0.83% | 14.28 MHz / 14.39 MHz | ∇ -0.82% |
images: KLT score (WIN=15 31x31) | 73.23 ns / 72.48 ns | Δ 1.04% | 13.66 MHz / 13.80 MHz | ∇ -1.03% |
images: KLT score (WIN=16 33x33) | 103.99 ns / 103.32 ns | Δ 0.65% | 9.62 MHz / 9.68 MHz | ∇ -0.64% |
images: buildPyramid 640x480,4 levs,no smooth,no gray | 81.41 us / 81.37 us | Δ 0.05% | 12.28 KHz / 12.29 KHz | ∇ -0.05% |
images: buildPyramid 640x480,4 levs, smooth,no gray | 224.53 us / 224.34 us | Δ 0.09% | 4.45 KHz / 4.46 KHz | ∇ -0.09% |
images: buildPyramid 640x480,4 levs,no smooth, gray | 132.60 us / 94.91 us | Δ 39.72% | 7.54 KHz / 10.54 KHz | ∇ -28.43% |
images: buildPyramid 640x480,4 levs, smooth, gray | 144.11 us / 101.22 us | Δ 42.38% | 6.94 KHz / 9.88 KHz | ∇ -29.77% |
images: buildPyramid 640x480,8 levs,no smooth,no gray | 105.23 us / 85.80 us | Δ 22.65% | 9.50 KHz / 11.66 KHz | ∇ -18.47% |
images: buildPyramid 640x480,8 levs, smooth,no gray | 237.08 us / 231.53 us | Δ 2.40% | 4.22 KHz / 4.32 KHz | ∇ -2.34% |
images: buildPyramid 640x480,8 levs,no smooth, gray | 95.91 us / 99.53 us | ∇ -3.64% | 10.43 KHz / 10.05 KHz | Δ 3.77% |
images: buildPyramid 640x480,8 levs, smooth, gray | 104.65 us / 107.32 us | ∇ -2.48% | 9.56 KHz / 9.32 KHz | Δ 2.54% |
stereo: prepare rectify map 640x480 RGB | 18.50 ms / 18.45 ms | Δ 0.28% | 54.06 Hz / 54.21 Hz | ∇ -0.28% |
stereo: prepare rectify map 800x600 RGB | 28.78 ms / 28.81 ms | ∇ -0.11% | 34.74 Hz / 34.71 Hz | Δ 0.11% |
stereo: prepare rectify map 1024x768 RGB | 47.30 ms / 47.34 ms | ∇ -0.08% | 21.14 Hz / 21.12 Hz | Δ 0.08% |
stereo: prepare rectify map 1024x768->800x600 RGB | 28.78 ms / 28.79 ms | ∇ -0.06% | 34.75 Hz / 34.73 Hz | Δ 0.06% |
stereo: prepare rectify map 1024x768->640x480 RGB | 18.42 ms / 18.49 ms | ∇ -0.42% | 54.30 Hz / 54.07 Hz | Δ 0.42% |
stereo: rectify 640x480 RGB | 1.56 ms / 1.53 ms | Δ 1.83% | 639.86 Hz / 651.57 Hz | ∇ -1.80% |
stereo: rectify 800x600 RGB | 2.05 ms / 1.62 ms | Δ 26.42% | 488.62 Hz / 617.68 Hz | ∇ -20.90% |
stereo: rectify 1024x768 RGB | 3.27 ms / 2.94 ms | Δ 11.24% | 305.76 Hz / 340.13 Hz | ∇ -10.11% |
stereo: rectify 1024x768->800x600 RGB | 1.99 ms / 2.00 ms | ∇ -0.29% | 502.64 Hz / 501.19 Hz | Δ 0.29% |
stereo: rectify 1024x768->640x480 RGB | 1.64 ms / 1.69 ms | ∇ -2.86% | 608.81 Hz / 591.40 Hz | Δ 2.94% |
stereo: rectify 640x480 GRAY | 1.13 ms / 1.10 ms | Δ 2.88% | 881.95 Hz / 907.32 Hz | ∇ -2.80% |
stereo: rectify 800x600 GRAY | 1.58 ms / 1.23 ms | Δ 28.49% | 633.23 Hz / 813.64 Hz | ∇ -22.17% |
stereo: rectify 1024x768 GRAY | 2.40 ms / 2.26 ms | Δ 6.08% | 416.50 Hz / 441.81 Hz | ∇ -5.73% |
stereo: rectify 1024x768->800x600 GRAY | 1.55 ms / 1.38 ms | Δ 12.21% | 644.12 Hz / 722.75 Hz | ∇ -10.88% |
stereo: rectify 1024x768->640x480 GRAY | 1.29 ms / 1.32 ms | ∇ -1.82% | 774.23 Hz / 760.11 Hz | Δ 1.86% |
tfest: se3_l2 [CPose3DQuat] | 3.91 us / 2.82 us | Δ 38.88% | 255.76 KHz / 355.19 KHz | ∇ -27.99% |
tfest: se3_l2 [vector TPoint3D] | 3.58 us / 2.86 us | Δ 24.98% | 279.38 KHz / 349.17 KHz | ∇ -19.99% |
tfest: se2_l2 [x10 corrs] | 151.94 ns / 135.55 ns | Δ 12.09% | 6.58 MHz / 7.38 MHz | ∇ -10.79% |
tfest: se2_l2 [x100 corrs] | 223.20 ns / 221.18 ns | Δ 0.91% | 4.48 MHz / 4.52 MHz | ∇ -0.91% |
tfest: se2_l2 [x1000 corrs] | 1.04 us / 1.02 us | Δ 1.59% | 965.48 KHz / 980.87 KHz | ∇ -1.57% |
feature_extraction [640x480]: Harris | 8.61 ms / 6.31 ms | Δ 36.45% | 116.20 Hz / 158.55 Hz | ∇ -26.71% |
feature_extraction [640x480]: KLT | 6.55 ms / 6.67 ms | ∇ -1.91% | 152.74 Hz / 149.82 Hz | Δ 1.95% |
feature_extraction [640x480]: SURF | 35.27 ms / 33.78 ms | Δ 4.39% | 28.35 Hz / 29.60 Hz | ∇ -4.21% |
feature_extraction [640x480]: FAST | 2.04 ms / 1.90 ms | Δ 7.71% | 489.30 Hz / 527.03 Hz | ∇ -7.16% |
feature_extraction [640x480]: Spin desc. | 102.86 ms / 100.39 ms | Δ 2.46% | 9.72 Hz / 9.96 Hz | ∇ -2.40% |
feature_extraction [640x480]: FASTER-9 | 2.77 ms / 2.31 ms | Δ 19.76% | 361.38 Hz / 432.77 Hz | ∇ -16.50% |
feature_extraction [640x480]: FASTER-9 (sorted best 200) | 1.22 ms / 1.17 ms | Δ 4.05% | 819.12 Hz / 852.33 Hz | ∇ -3.90% |
feature_extraction [640x480]: FASTER-10 | 1.90 ms / 1.75 ms | Δ 8.16% | 527.56 Hz / 570.61 Hz | ∇ -7.55% |
feature_extraction [640x480]: FASTER-10 (sorted best 200) | 951.21 us / 974.68 us | ∇ -2.41% | 1.05 KHz / 1.03 KHz | Δ 2.47% |
feature_extraction [640x480]: FASTER-12 | 1.43 ms / 1.29 ms | Δ 10.81% | 698.30 Hz / 773.75 Hz | ∇ -9.75% |
feature_extraction [640x480]: FASTER-12 (sorted best 200) | 909.78 us / 964.98 us | ∇ -5.72% | 1.10 KHz / 1.04 KHz | Δ 6.07% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 414.84 us / 397.71 us | Δ 4.31% | 2.41 KHz / 2.51 KHz | ∇ -4.13% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 332.75 us / 372.97 us | ∇ -10.78% | 3.01 KHz / 2.68 KHz | Δ 12.09% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 388.20 us / 476.84 us | ∇ -18.59% | 2.58 KHz / 2.10 KHz | Δ 22.83% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 411.19 us / 403.19 us | Δ 1.98% | 2.43 KHz / 2.48 KHz | ∇ -1.94% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 332.95 us / 376.41 us | ∇ -11.55% | 3.00 KHz / 2.66 KHz | Δ 13.05% |
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 389.63 us / 478.39 us | ∇ -18.55% | 2.57 KHz / 2.09 KHz | Δ 22.78% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 590.48 us / 502.18 us | Δ 17.58% | 1.69 KHz / 1.99 KHz | ∇ -14.95% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 427.60 us / 474.23 us | ∇ -9.83% | 2.34 KHz / 2.11 KHz | Δ 10.91% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 447.50 us / 548.60 us | ∇ -18.43% | 2.23 KHz / 1.82 KHz | Δ 22.59% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 534.93 us / 507.99 us | Δ 5.30% | 1.87 KHz / 1.97 KHz | ∇ -5.04% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 428.89 us / 536.86 us | ∇ -20.11% | 2.33 KHz / 1.86 KHz | Δ 25.18% |
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 446.37 us / 550.06 us | ∇ -18.85% | 2.24 KHz / 1.82 KHz | Δ 23.23% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 731.75 us / 646.02 us | Δ 13.27% | 1.37 KHz / 1.55 KHz | ∇ -11.72% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 579.95 us / 638.23 us | ∇ -9.13% | 1.72 KHz / 1.57 KHz | Δ 10.05% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 494.25 us / 605.17 us | ∇ -18.33% | 2.02 KHz / 1.65 KHz | Δ 22.44% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 729.32 us / 651.80 us | Δ 11.89% | 1.37 KHz / 1.53 KHz | ∇ -10.63% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 580.22 us / 640.70 us | ∇ -9.44% | 1.72 KHz / 1.56 KHz | Δ 10.42% |
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 494.26 us / 606.24 us | ∇ -18.47% | 2.02 KHz / 1.65 KHz | Δ 22.66% |
feature_matching [640x480]: Harris + CC | 16.44 ms / 15.55 ms | Δ 5.69% | 60.84 Hz / 64.30 Hz | ∇ -5.38% |
feature_matching [640x480]: Harris + SAD | 11.59 ms / 11.05 ms | Δ 4.92% | 86.25 Hz / 90.49 Hz | ∇ -4.69% |
feature_matching [640x480]: SURF | 64.71 ms / 62.55 ms | Δ 3.45% | 15.45 Hz / 15.99 Hz | ∇ -3.34% |
feature_matching [640x480]: FAST + CC | 7.56 ms / 7.00 ms | Δ 8.11% | 132.20 Hz / 142.92 Hz | ∇ -7.50% |
feature_matching [640x480]: FAST + SAD | 2.99 ms / 2.47 ms | Δ 20.91% | 335.00 Hz / 405.04 Hz | ∇ -17.29% |
graph(2d): insertEdge x 1e3 | 86.40 us / 93.49 us | ∇ -7.58% | 11.57 KHz / 10.70 KHz | Δ 8.21% |
graph(2d,vec): insertEdge x 1e3 | 85.45 us / 97.39 us | ∇ -12.25% | 11.70 KHz / 10.27 KHz | Δ 13.96% |
graph(2d): insertEdgeAtEnd x 1e3 | 69.20 us / 73.49 us | ∇ -5.85% | 14.45 KHz / 13.61 KHz | Δ 6.21% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 70.19 us / 74.27 us | ∇ -5.50% | 14.25 KHz / 13.46 KHz | Δ 5.82% |
graph(2d pdf): insertEdge x 1e3 | 116.71 us / 130.24 us | ∇ -10.38% | 8.57 KHz / 7.68 KHz | Δ 11.59% |
graph(2d pdf,vec): insertEdge x 1e3 | 123.52 us / 130.03 us | ∇ -5.00% | 8.10 KHz / 7.69 KHz | Δ 5.27% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 132.85 us / 113.28 us | Δ 17.28% | 7.53 KHz / 8.83 KHz | ∇ -14.73% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 99.13 us / 113.96 us | ∇ -13.01% | 10.09 KHz / 8.77 KHz | Δ 14.96% |
graph(2d): insertEdge x 1e4 | 1.50 ms / 1.52 ms | ∇ -1.59% | 666.67 Hz / 656.10 Hz | Δ 1.61% |
graph(2d,vec): insertEdge x 1e4 | 1.24 ms / 1.25 ms | ∇ -1.21% | 808.85 Hz / 799.05 Hz | Δ 1.23% |
graph(2d): insertEdgeAtEnd x 1e4 | 442.34 us / 488.95 us | ∇ -9.53% | 2.26 KHz / 2.05 KHz | Δ 10.54% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 435.94 us / 490.97 us | ∇ -11.21% | 2.29 KHz / 2.04 KHz | Δ 12.62% |
graph(2d pdf): insertEdge x 1e4 | 1.23 ms / 1.29 ms | ∇ -4.70% | 810.72 Hz / 772.59 Hz | Δ 4.94% |
graph(2d pdf,vec): insertEdge x 1e4 | 1.64 ms / 1.73 ms | ∇ -5.25% | 609.72 Hz / 577.69 Hz | Δ 5.55% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 981.13 us / 1.11 ms | ∇ -11.21% | 1.02 KHz / 904.94 Hz | Δ 12.63% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 963.43 us / 1.11 ms | ∇ -13.12% | 1.04 KHz / 901.73 Hz | Δ 15.11% |
graph(3d): insertEdge x 1e3 | 121.18 us / 123.67 us | ∇ -2.01% | 8.25 KHz / 8.09 KHz | Δ 2.05% |
graph(3d,vec): insertEdge x 1e3 | 110.97 us / 125.66 us | ∇ -11.69% | 9.01 KHz / 7.96 KHz | Δ 13.24% |
graph(3d): insertEdgeAtEnd x 1e3 | 92.37 us / 103.65 us | ∇ -10.88% | 10.83 KHz / 9.65 KHz | Δ 12.21% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 90.57 us / 103.36 us | ∇ -12.38% | 11.04 KHz / 9.67 KHz | Δ 14.13% |
graph(3d pdf): insertEdge x 1e3 | 296.56 us / 293.13 us | Δ 1.17% | 3.37 KHz / 3.41 KHz | ∇ -1.16% |
graph(3d pdf,vec): insertEdge x 1e3 | 290.74 us / 290.78 us | ∇ -0.02% | 3.44 KHz / 3.44 KHz | Δ 0.02% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 226.89 us / 247.59 us | ∇ -8.36% | 4.41 KHz / 4.04 KHz | Δ 9.12% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 228.59 us / 247.19 us | ∇ -7.52% | 4.37 KHz / 4.05 KHz | Δ 8.14% |
graph(3d): insertEdge x 1e4 | 1.47 ms / 1.53 ms | ∇ -3.56% | 678.77 Hz / 654.63 Hz | Δ 3.69% |
graph(3d,vec): insertEdge x 1e4 | 1.32 ms / 1.52 ms | ∇ -12.84% | 756.48 Hz / 659.36 Hz | Δ 14.73% |
graph(3d): insertEdgeAtEnd x 1e4 | 891.24 us / 1.03 ms | ∇ -13.17% | 1.12 KHz / 974.27 Hz | Δ 15.17% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 901.48 us / 1.04 ms | ∇ -13.05% | 1.11 KHz / 964.55 Hz | Δ 15.00% |
graph(3d pdf): insertEdge x 1e4 | 3.97 ms / 3.71 ms | Δ 7.00% | 252.07 Hz / 269.73 Hz | ∇ -6.55% |
graph(3d pdf,vec): insertEdge x 1e4 | 3.95 ms / 3.71 ms | Δ 6.54% | 253.24 Hz / 269.81 Hz | ∇ -6.14% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.27 ms / 2.49 ms | ∇ -8.66% | 439.68 Hz / 401.60 Hz | Δ 9.48% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.27 ms / 2.48 ms | ∇ -8.63% | 440.66 Hz / 402.64 Hz | Δ 9.44% |
graph(3d): dijkstra 1e2 nodes | 47.91 us / 52.34 us | ∇ -8.46% | 20.87 KHz / 19.11 KHz | Δ 9.24% |
graph(3d,vec): dijkstra 1e2 nodes | 47.74 us / 50.77 us | ∇ -5.96% | 20.95 KHz / 19.70 KHz | Δ 6.34% |
graph(3d): dijkstra 1e3 nodes | 709.84 us / 747.15 us | ∇ -4.99% | 1.41 KHz / 1.34 KHz | Δ 5.26% |
graph(3d,vec): dijkstra 1e3 nodes | 717.62 us / 730.57 us | ∇ -1.77% | 1.39 KHz / 1.37 KHz | Δ 1.81% |
graph(3d): dijkstra 1e4 nodes | 10.03 ms / 10.64 ms | ∇ -5.68% | 99.66 Hz / 94.00 Hz | Δ 6.02% |
graph(3d,vec): dijkstra 1e4 nodes | 10.28 ms / 10.80 ms | ∇ -4.80% | 97.27 Hz / 92.60 Hz | Δ 5.04% |
graph(3d): dijkstra 1e5 nodes | 176.58 ms / 167.96 ms | Δ 5.13% | 5.66 Hz / 5.95 Hz | ∇ -4.88% |
graph(3d,vec): dijkstra 1e5 nodes | 175.46 ms / 169.81 ms | Δ 3.33% | 5.70 Hz / 5.89 Hz | ∇ -3.22% |
graph(2d): dijkstra 1e5 nodes | 180.07 ms / 173.28 ms | Δ 3.92% | 5.55 Hz / 5.77 Hz | ∇ -3.77% |
graph(2d,vec): dijkstra 1e5 nodes | 175.58 ms / 172.89 ms | Δ 1.56% | 5.70 Hz / 5.78 Hz | ∇ -1.53% |
graphslam(2d): levmarq 50 KFs/101 edges | 709.48 us / 620.26 us | Δ 14.38% | 1.41 KHz / 1.61 KHz | ∇ -12.58% |
graphslam(2d): levmarq 100 KFs/451 edges | 4.14 ms / 3.22 ms | Δ 28.84% | 241.31 Hz / 310.90 Hz | ∇ -22.38% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 7.80 ms / 1.09 ms | Δ 616.76% | 128.13 Hz / 918.40 Hz | ∇ -86.05% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 7.21 ms / 1.02 ms | Δ 605.49% | 138.64 Hz / 978.06 Hz | ∇ -85.83% |
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 7.25 ms / 909.15 us | Δ 697.66% | 137.89 Hz / 1.10 KHz | ∇ -87.46% |
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 7.21 ms / 970.51 us | Δ 642.70% | 138.74 Hz / 1.03 KHz | ∇ -86.54% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 6.30 ms / 1.97 ms | Δ 219.78% | 158.78 Hz / 507.74 Hz | ∇ -68.73% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 6.29 ms / 1.96 ms | Δ 220.57% | 158.98 Hz / 509.63 Hz | ∇ -68.81% |
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 6.19 ms / 1.86 ms | Δ 232.39% | 161.42 Hz / 536.55 Hz | ∇ -69.91% |
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 5.67 ms / 1.32 ms | Δ 329.30% | 176.25 Hz / 756.64 Hz | ∇ -76.71% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 3.91 ms / 1.94 ms | Δ 101.36% | 255.56 Hz / 514.60 Hz | ∇ -50.34% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 3.88 ms / 1.95 ms | Δ 98.58% | 257.85 Hz / 512.03 Hz | ∇ -49.64% |
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 3.86 ms / 1.88 ms | Δ 105.79% | 259.15 Hz / 533.31 Hz | ∇ -51.41% |
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 3.36 ms / 1.43 ms | Δ 134.32% | 297.89 Hz / 698.03 Hz | ∇ -57.32% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 3.38 ms / 2.05 ms | Δ 65.04% | 296.00 Hz / 488.53 Hz | ∇ -39.41% |
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 3.36 ms / 2.04 ms | Δ 64.76% | 297.63 Hz / 490.40 Hz | ∇ -39.31% |
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 3.39 ms / 2.06 ms | Δ 64.66% | 295.20 Hz / 486.06 Hz | ∇ -39.27% |
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 2.79 ms / 1.47 ms | Δ 90.21% | 358.44 Hz / 681.79 Hz | ∇ -47.43% |
3DRangeScan: 320x240 Depth->2D scan | 2.11 ms / 1.25 ms | Δ 68.91% | 474.23 Hz / 801.03 Hz | ∇ -40.80% |
3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.95 ms / 3.34 ms | Δ 18.39% | 252.87 Hz / 299.37 Hz | ∇ -15.53% |
3DRangeScan: 320x240 Depth->2D scan + max_filter | 4.32 ms / 3.35 ms | Δ 28.83% | 231.37 Hz / 298.08 Hz | ∇ -22.38% |
3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.38 ms / 5.16 ms | Δ 23.70% | 156.67 Hz / 193.80 Hz | ∇ -19.16% |
CAtan2LUT: 20x20m,1cm cells,build | 360.78 ms / 360.93 ms | ∇ -0.04% | 2.77 Hz / 2.77 Hz | Δ 0.04% |
CAtan2LUT: 20x20m,1cm cells,query | 7.41 ns / 7.31 ns | Δ 1.27% | 135.01 MHz / 136.72 MHz | ∇ -1.26% |
CAtan2LUTMultiRes: 22x22m,build | 292.26 ms / 292.04 ms | Δ 0.07% | 3.42 Hz / 3.42 Hz | ∇ -0.07% |
CAtan2LUTMultiRes: 22x22m,query | 19.02 ns / 19.01 ns | Δ 0.07% | 52.58 MHz / 52.61 MHz | ∇ -0.07% |
CAtan2LUT: raw ::atan2() call | 94.87 ns / 94.61 ns | Δ 0.27% | 10.54 MHz / 10.57 MHz | ∇ -0.27% |
Strings: mrpt::format() short str | 199.30 ns / 194.60 ns | Δ 2.42% | 5.02 MHz / 5.14 MHz | ∇ -2.36% |
Strings: mrpt::format() long str | 356.30 ns / 354.10 ns | Δ 0.62% | 2.81 MHz / 2.82 MHz | ∇ -0.62% |