| Test description | Execution time | Execution rate (Hz) |
| icp-slam (match points): Run with sample dataset | 936.60 us | 1.07 KHz |
| icp-slam (match grid): Run with sample dataset | 1.22 ms | 821.57 Hz |
| poses: CPose3D (+) CPose3D | 16.22 ns | 61.65 MHz |
| poses: CPose3D.composeFrom() | 14.96 ns | 66.84 MHz |
| poses: CPose3D (+) CPoint3D | 3.38 ns | 296.21 MHz |
| poses: CPose3D.composePoint() | 6.23 ns | 160.51 MHz |
| poses: CPose3D.composePoint()+Jacobs | 116.85 ns | 8.56 MHz |
| poses: CPoint3D (-) CPose3D | 7.44 ns | 134.37 MHz |
| poses: CPose3D.inverseComposePoint() | 16.60 ns | 60.23 MHz |
| poses: CPose2D (+) CPose2D | 11.88 ns | 84.18 MHz |
| poses: CPose2D.composeFrom() | 12.31 ns | 81.23 MHz |
| poses: CPose2D (+) CPoint2D | 3.25 ns | 307.88 MHz |
| poses: CPose2D.composePoint() | 2.98 ns | 335.12 MHz |
| poses: CPose3DQuat (+) CPose3DQuat | 21.79 ns | 45.89 MHz |
| poses: CPose3DQuat.composeFrom() | 18.96 ns | 52.74 MHz |
| poses: CPose3DQuat (+) CPoint3D | 9.76 ns | 102.42 MHz |
| poses: CPose3DQuat.composePoint() | 9.23 ns | 108.39 MHz |
| poses: CPose3DQuat.invcomposePoint() | 8.01 ns | 124.78 MHz |
| poses: Conv CPose3DQuat <- CPose3D | 7.88 ns | 126.90 MHz |
| poses: Conv CPose3D -> CPose3DQuat | 70.81 ns | 14.12 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 60.96 us | 16.40 KHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 60.56 us | 16.51 KHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 7.61 us | 131.34 KHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 270.70 ns | 3.69 MHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 270.60 ns | 3.70 MHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.12 us | 242.69 KHz |
| CPose3DInterpolator: CPose3D insert pose at end | 198.13 ns | 5.05 MHz |
| CPose3DInterpolator: CPose3D insert pose random | 186.81 ns | 5.35 MHz |
| CPose3DInterpolator: CPose3D query | 570.42 ns | 1.75 MHz |
| CPose3DInterpolator: TPose3D insert pose at end | 174.17 ns | 5.74 MHz |
| CPose3DInterpolator: TPose3D insert pose random | 230.96 ns | 4.33 MHz |
| CPose3DInterpolator: TPose3D query | 511.64 ns | 1.95 MHz |
| CPose2DInterpolator: TPose2D insert pose at end | 153.49 ns | 6.52 MHz |
| CPose2DInterpolator: TPose2D insert pose random | 204.45 ns | 4.89 MHz |
| CPose2DInterpolator: TPose2D query | 185.58 ns | 5.39 MHz |
| matrix: unit, dyn[float], 3x3 | 20.81 ns | 48.05 MHz |
| matrix: unit, dyn[double], 3x3 | 18.03 ns | 55.46 MHz |
| matrix: unit, dyn[float], 6x6 | 49.43 ns | 20.23 MHz |
| matrix: unit, dyn[double], 6x6 | 38.37 ns | 26.06 MHz |
| matrix: unit, fix[float,3,3] | 0.00 ns | inf THz |
| matrix: unit, fix[double,3,3] | 0.00 ns | inf THz |
| matrix: unit, fix[float,6,6] | 0.00 ns | inf THz |
| matrix: unit, fix[double,6,6] | 0.00 ns | inf THz |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 75.60 ns | 13.23 MHz |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns | inf THz |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 82.10 ns | 12.18 MHz |
| matrix: multiply, fix[double], 3x3 * 3x3 | 0.20 ns | 5.00 GHz |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 88.00 ns | 11.36 MHz |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns | inf THz |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 91.40 ns | 10.94 MHz |
| matrix: multiply, fix[double], 3x6 * 6x3 | 0.80 ns | 1.25 GHz |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.08 us | 928.25 KHz |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 794.20 ns | 1.26 MHz |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.71 us | 586.48 KHz |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.32 us | 760.05 KHz |
| matrix: inv, dyn[double] 3x3 | 592.00 ns | 1.69 MHz |
| matrix: inv, fix[double] 3x3 | 1.00 ns | 1.00 GHz |
| matrix: inv, dyn[double] 6x6 | 1.57 us | 638.57 KHz |
| matrix: inv, fix[double] 6x6 | 818.00 ns | 1.22 MHz |
| matrix: inv, dyn[double] 20x20 | 8.98 us | 111.33 KHz |
| matrix: inv, fix[double] 20x20 | 8.15 us | 122.62 KHz |
| matrix: inv, dyn[double] 40x40 | 43.66 us | 22.90 KHz |
| matrix: inv, fix[double] 40x40 | 40.36 us | 24.77 KHz |
| matrix: det, dyn[double] 2x2 | 165.10 ns | 6.06 MHz |
| matrix: det, fix[double] 2x2 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 3x3 | 225.50 ns | 4.43 MHz |
| matrix: det, fix[double] 3x3 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 6x6 | 445.40 ns | 2.25 MHz |
| matrix: det, fix[double] 6x6 | 299.10 ns | 3.34 MHz |
| matrix: det, dyn[double] 20x20 | 4.34 us | 230.26 KHz |
| matrix: det, fix[double] 20x20 | 3.89 us | 256.77 KHz |
| matrix: det, dyn[double] 40x40 | 17.00 us | 58.81 KHz |
| matrix: det, fix[double] 40x40 | 16.62 us | 60.18 KHz |
| matrix: chol, dyn[double] 4x4 | 250.00 ns | 4.00 MHz |
| matrix: chol, fix[double] 4x4 | 90.00 ns | 11.11 MHz |
| matrix: chol, dyn[double] 40x40 | 10.76 us | 92.94 KHz |
| matrix: chol, fix[double] 40x40 | 10.29 us | 97.18 KHz |
| matrix: chol, sparse [2x2;2x2] | 9.80 us | 102.04 KHz |
| matrix: chol, sparse [30x30;10x10] | 38.80 us | 25.77 KHz |
| matrix: chol, dyn[double] 10x[6x6] | 28.50 us | 35.09 KHz |
| matrix: chol, sparse 10x[6x6] | 16.75 us | 59.70 KHz |
| matrix: chol, dyn[double] 20x[6x6] | 148.10 us | 6.75 KHz |
| matrix: chol, sparse 20x[6x6] | 29.60 us | 33.78 KHz |
| matrix: chol, dyn[double] 50x[6x6] | 1.67 ms | 597.87 Hz |
| matrix: chol, sparse 50x[6x6] | 70.37 us | 14.21 KHz |
| matrix: chol, dyn[double] 100x[6x6] | 13.50 ms | 74.09 Hz |
| matrix: chol, sparse 100x[6x6] | 134.72 us | 7.42 KHz |
| matrix: chol, dyn[double] 120x[6x6] | 24.56 ms | 40.72 Hz |
| matrix: chol, sparse 120x[6x6] | 163.32 us | 6.12 KHz |
| matrix: chol, dyn[double] 140x[6x6] | 35.44 ms | 28.22 Hz |
| matrix: chol, sparse 140x[6x6] | 188.90 us | 5.29 KHz |
| matrix: loadFromArray[double] 4x4 | 0.00 ns | inf THz |
| matrix: load Eigen::Map[double] 4x4 | 0.00 ns | inf THz |
| gridmap2D: getCell | 0.00 ns | inf THz |
| gridmap2D: setCell | 0.95 ns | 1.05 GHz |
| gridmap2D: updateCell | 3.43 ns | 291.80 MHz |
| gridmap2D: updateCell_fast_occupied | 0.86 ns | 1.17 GHz |
| gridmap2D: insert scan w/o widening | 60.12 us | 16.63 KHz |
| gridmap2D: insert scan with widening | 167.16 us | 5.98 KHz |
| gridmap2D: resize | 271.00 us | 3.69 KHz |
| gridmap2D: computeLikelihood | 8.78 us | 113.96 KHz |
| gridmap2D: determineMatching2D | 22.26 us | 44.93 KHz |
| pointmap: insert 100 scans | 288.09 us | 3.47 KHz |
| pointmap: build 2D kd-tree of 1 scan | 1.08 us | 925.93 KHz |
| pointmap: build 2D kd-tree of 100 scan | 84.64 us | 11.81 KHz |
| pointmap: build 2D kd-tree of 1000 scan | 939.64 us | 1.06 KHz |
| pointmap: build 3D kd-tree of 1 scan | 1.52 us | 657.89 KHz |
| pointmap: build 3D kd-tree of 100 scan | 88.16 us | 11.34 KHz |
| pointmap: build 3D kd-tree of 1000 scan | 939.00 us | 1.06 KHz |
| pointmap: kd-tree 2d query on 10 scans | 319.00 ns | 3.13 MHz |
| pointmap: kd-tree 2d query on 1000 scans | 23.54 us | 42.47 KHz |
| pointmap: kd-tree 2d query on 10000 scans | 2.74 ms | 364.91 Hz |
| pointmap: (insert scan+2D kd-tree query) x 10 | 951.65 us | 1.05 KHz |
| pointmap: (insert scan+2D kd-tree query) x 50 | 23.84 ms | 41.95 Hz |
| pointmap: (insert scan+3D kd-tree query) x 10 | 928.80 us | 1.08 KHz |
| pointmap: (insert scan+3D kd-tree query) x 50 | 23.74 ms | 42.12 Hz |
| pointmap: computeMatchingWith2D | 21.35 us | 46.83 KHz |
| pointmap: boundingBox (10 scans) | 875.32 ns | 1.14 MHz |
| pointmap: boundingBox (1000 scans) | 85.22 us | 11.73 KHz |
| random: drawUniform32bit | 4.47 ns | 223.92 MHz |
| random: drawUniform | 4.45 ns | 224.56 MHz |
| random: drawGaussian1D_normalized | 51.69 ns | 19.35 MHz |
| random: drawGaussian1D | 51.88 ns | 19.28 MHz |
| random: system rand() | 10.85 ns | 92.14 MHz |
| random: drawGaussianMultivariate(fixed 3x3) | 544.38 ns | 1.84 MHz |
| random: drawGaussianMultivariate(dyn 3x3) | 1.17 us | 852.67 KHz |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 104.51 ns | 9.57 MHz |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 166.05 ns | 6.02 MHz |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 344.60 ns | 2.90 MHz |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 112.66 ns | 8.88 MHz |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 182.01 ns | 5.49 MHz |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 361.46 ns | 2.77 MHz |
| random: permuteVector (len=10) | 153.80 ns | 6.50 MHz |
| random: permuteVector (len=100) | 1.62 us | 618.31 KHz |
| random: permuteVector (len=1000) | 15.53 us | 64.41 KHz |
| math: round | 0.03 ns | 30.65 GHz |
| math: std::hypot(float) | 4.94 ns | 202.33 MHz |
| math: mrpt::math::hypot_fast(float) | 1.81 ns | 552.07 MHz |
| math: mrpt::math::hypot_fast(double) | 3.62 ns | 275.97 MHz |
| images: Save as JPEG (640x480, quality=95%) | 7.41 ms | 134.98 Hz |
| images: Save as JPEG (800x600, quality=95%) | 9.29 ms | 107.69 Hz |
| images: Save as JPEG (1024x768, quality=95%) | 14.19 ms | 70.45 Hz |
| images: Save as JPEG (640x480, quality=75%) | 4.83 ms | 207.20 Hz |
| images: Save as JPEG (800x600, quality=75%) | 7.60 ms | 131.66 Hz |
| images: Save as JPEG (1024x768, quality=75%) | 12.16 ms | 82.25 Hz |
| images: Save BMP 800x600 disk | 6.35 ms | 157.54 Hz |
| images: Save PNG 800x600 disk | 27.95 ms | 35.78 Hz |
| images: Save JPG 800x600 disk | 8.62 ms | 116.05 Hz |
| images: Load BMP 800x600 disk | 262.47 us | 3.81 KHz |
| images: Load PNG 800x600 disk | 8.40 ms | 119.09 Hz |
| images: Load JPG 800x600 disk | 6.20 ms | 161.30 Hz |
| images: Save BMP 800x600 shared mem | 386.27 us | 2.59 KHz |
| images: Save PNG 800x600 shared mem | 22.68 ms | 44.08 Hz |
| images: Save JPG 800x600 shared mem | 6.07 ms | 164.72 Hz |
| images: Load BMP 800x600 shared mem | 272.77 us | 3.67 KHz |
| images: Load PNG 800x600 shared mem | 8.40 ms | 119.05 Hz |
| images: Load JPG 800x600 shared mem | 6.20 ms | 161.39 Hz |
| images: Gauss filter (640x480) | 2.18 ms | 458.01 Hz |
| images: Gauss filter (800x600) | 3.12 ms | 320.79 Hz |
| images: Gauss filter (1024x768) | 5.25 ms | 190.61 Hz |
| images: Half sample GRAY (160x120) | 806.67 ns | 1.24 MHz |
| images: Half sample GRAY (320x240) | 1.79 us | 558.66 KHz |
| images: Half sample GRAY (640x480) | 7.54 us | 132.63 KHz |
| images: Half sample GRAY (800x600) | 12.46 us | 80.26 KHz |
| images: Half sample GRAY (1024x768) | 20.16 us | 49.60 KHz |
| images: Half sample GRAY (1280x1024) | 33.44 us | 29.90 KHz |
| images: Half sample RGB (160x120) | 1.47 us | 680.27 KHz |
| images: Half sample RGB (320x240) | 4.68 us | 213.52 KHz |
| images: Half sample RGB (640x480) | 22.17 us | 45.10 KHz |
| images: Half sample RGB (800x600) | 33.14 us | 30.17 KHz |
| images: Half sample RGB (1024x768) | 53.65 us | 18.64 KHz |
| images: Half sample RGB (1280x1024) | 100.80 us | 9.92 KHz |
| images: Half sample smooth GRAY (160x120) | 1.13 us | 884.96 KHz |
| images: Half sample smooth GRAY (320x240) | 2.96 us | 338.22 KHz |
| images: Half sample smooth GRAY (640x480) | 13.10 us | 76.32 KHz |
| images: Half sample smooth GRAY (800x600) | 22.30 us | 44.84 KHz |
| images: Half sample smooth GRAY (1024x768) | 35.66 us | 28.05 KHz |
| images: Half sample smooth GRAY (1280x1024) | 56.33 us | 17.75 KHz |
| images: Half sample smooth RGB (160x120) | 11.92 us | 83.92 KHz |
| images: Half sample smooth RGB (320x240) | 36.43 us | 27.45 KHz |
| images: Half sample smooth RGB (640x480) | 126.84 us | 7.88 KHz |
| images: Half sample smooth RGB (800x600) | 142.65 us | 7.01 KHz |
| images: Half sample smooth RGB (1024x768) | 261.31 us | 3.83 KHz |
| images: Half sample smooth RGB (1280x1024) | 275.76 us | 3.63 KHz |
| images: RGB->GRAY 8u (40x30) | 4.20 us | 237.91 KHz |
| images: RGB->GRAY 8u (80x60) | 1.89 us | 530.04 KHz |
| images: RGB->GRAY 8u (160x120) | 8.07 us | 123.97 KHz |
| images: RGB->GRAY 8u (320x240) | 36.87 us | 27.12 KHz |
| images: RGB->GRAY 8u (640x480) | 123.99 us | 8.07 KHz |
| images: RGB->GRAY 8u (800x600) | 160.60 us | 6.23 KHz |
| images: RGB->GRAY 8u (1024x768) | 225.35 us | 4.44 KHz |
| images: RGB->GRAY 8u (1280x1024) | 366.04 us | 2.73 KHz |
| images: KLT score (WIN=2 5x5) | 27.32 ns | 36.61 MHz |
| images: KLT score (WIN=3 7x7) | 33.44 ns | 29.90 MHz |
| images: KLT score (WIN=4 9x9) | 37.69 ns | 26.53 MHz |
| images: KLT score (WIN=5 10x10) | 47.70 ns | 20.97 MHz |
| images: KLT score (WIN=6 13x13) | 53.85 ns | 18.57 MHz |
| images: KLT score (WIN=7 15x15) | 63.63 ns | 15.72 MHz |
| images: KLT score (WIN=8 17x17) | 60.62 ns | 16.49 MHz |
| images: KLT score (WIN=9 19x19) | 63.96 ns | 15.64 MHz |
| images: KLT score (WIN=10 21x21) | 68.09 ns | 14.69 MHz |
| images: KLT score (WIN=11 23x23) | 59.89 ns | 16.70 MHz |
| images: KLT score (WIN=12 25x25) | 78.90 ns | 12.67 MHz |
| images: KLT score (WIN=13 27x27) | 67.38 ns | 14.84 MHz |
| images: KLT score (WIN=14 29x29) | 70.05 ns | 14.28 MHz |
| images: KLT score (WIN=15 31x31) | 73.23 ns | 13.66 MHz |
| images: KLT score (WIN=16 33x33) | 103.99 ns | 9.62 MHz |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 81.41 us | 12.28 KHz |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 224.53 us | 4.45 KHz |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 132.60 us | 7.54 KHz |
| images: buildPyramid 640x480,4 levs, smooth, gray | 144.11 us | 6.94 KHz |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 105.23 us | 9.50 KHz |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 237.08 us | 4.22 KHz |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 95.91 us | 10.43 KHz |
| images: buildPyramid 640x480,8 levs, smooth, gray | 104.65 us | 9.56 KHz |
| stereo: prepare rectify map 640x480 RGB | 18.50 ms | 54.06 Hz |
| stereo: prepare rectify map 800x600 RGB | 28.78 ms | 34.74 Hz |
| stereo: prepare rectify map 1024x768 RGB | 47.30 ms | 21.14 Hz |
| stereo: prepare rectify map 1024x768->800x600 RGB | 28.78 ms | 34.75 Hz |
| stereo: prepare rectify map 1024x768->640x480 RGB | 18.42 ms | 54.30 Hz |
| stereo: rectify 640x480 RGB | 1.56 ms | 639.86 Hz |
| stereo: rectify 800x600 RGB | 2.05 ms | 488.62 Hz |
| stereo: rectify 1024x768 RGB | 3.27 ms | 305.76 Hz |
| stereo: rectify 1024x768->800x600 RGB | 1.99 ms | 502.64 Hz |
| stereo: rectify 1024x768->640x480 RGB | 1.64 ms | 608.81 Hz |
| stereo: rectify 640x480 GRAY | 1.13 ms | 881.95 Hz |
| stereo: rectify 800x600 GRAY | 1.58 ms | 633.23 Hz |
| stereo: rectify 1024x768 GRAY | 2.40 ms | 416.50 Hz |
| stereo: rectify 1024x768->800x600 GRAY | 1.55 ms | 644.12 Hz |
| stereo: rectify 1024x768->640x480 GRAY | 1.29 ms | 774.23 Hz |
| tfest: se3_l2 [CPose3DQuat] | 3.91 us | 255.76 KHz |
| tfest: se3_l2 [vector TPoint3D] | 3.58 us | 279.38 KHz |
| tfest: se2_l2 [x10 corrs] | 151.94 ns | 6.58 MHz |
| tfest: se2_l2 [x100 corrs] | 223.20 ns | 4.48 MHz |
| tfest: se2_l2 [x1000 corrs] | 1.04 us | 965.48 KHz |
| feature_extraction [640x480]: Harris | 8.61 ms | 116.20 Hz |
| feature_extraction [640x480]: KLT | 6.55 ms | 152.74 Hz |
| feature_extraction [640x480]: SURF | 35.27 ms | 28.35 Hz |
| feature_extraction [640x480]: FAST | 2.04 ms | 489.30 Hz |
| feature_extraction [640x480]: Spin desc. | 102.86 ms | 9.72 Hz |
| feature_extraction [640x480]: FASTER-9 | 2.77 ms | 361.38 Hz |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 1.22 ms | 819.12 Hz |
| feature_extraction [640x480]: FASTER-10 | 1.90 ms | 527.56 Hz |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 951.21 us | 1.05 KHz |
| feature_extraction [640x480]: FASTER-12 | 1.43 ms | 698.30 Hz |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 909.78 us | 1.10 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 414.84 us | 2.41 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 332.75 us | 3.01 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 388.20 us | 2.58 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 411.19 us | 2.43 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 332.95 us | 3.00 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 389.63 us | 2.57 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 590.48 us | 1.69 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 427.60 us | 2.34 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 447.50 us | 2.23 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 534.93 us | 1.87 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 428.89 us | 2.33 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 446.37 us | 2.24 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 731.75 us | 1.37 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 579.95 us | 1.72 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 494.25 us | 2.02 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 729.32 us | 1.37 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 580.22 us | 1.72 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 494.26 us | 2.02 KHz |
| feature_matching [640x480]: Harris + CC | 16.44 ms | 60.84 Hz |
| feature_matching [640x480]: Harris + SAD | 11.59 ms | 86.25 Hz |
| feature_matching [640x480]: SURF | 64.71 ms | 15.45 Hz |
| feature_matching [640x480]: FAST + CC | 7.56 ms | 132.20 Hz |
| feature_matching [640x480]: FAST + SAD | 2.99 ms | 335.00 Hz |
| graph(2d): insertEdge x 1e3 | 86.40 us | 11.57 KHz |
| graph(2d,vec): insertEdge x 1e3 | 85.45 us | 11.70 KHz |
| graph(2d): insertEdgeAtEnd x 1e3 | 69.20 us | 14.45 KHz |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 70.19 us | 14.25 KHz |
| graph(2d pdf): insertEdge x 1e3 | 116.71 us | 8.57 KHz |
| graph(2d pdf,vec): insertEdge x 1e3 | 123.52 us | 8.10 KHz |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 132.85 us | 7.53 KHz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 99.13 us | 10.09 KHz |
| graph(2d): insertEdge x 1e4 | 1.50 ms | 666.67 Hz |
| graph(2d,vec): insertEdge x 1e4 | 1.24 ms | 808.85 Hz |
| graph(2d): insertEdgeAtEnd x 1e4 | 442.34 us | 2.26 KHz |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 435.94 us | 2.29 KHz |
| graph(2d pdf): insertEdge x 1e4 | 1.23 ms | 810.72 Hz |
| graph(2d pdf,vec): insertEdge x 1e4 | 1.64 ms | 609.72 Hz |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 981.13 us | 1.02 KHz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 963.43 us | 1.04 KHz |
| graph(3d): insertEdge x 1e3 | 121.18 us | 8.25 KHz |
| graph(3d,vec): insertEdge x 1e3 | 110.97 us | 9.01 KHz |
| graph(3d): insertEdgeAtEnd x 1e3 | 92.37 us | 10.83 KHz |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 90.57 us | 11.04 KHz |
| graph(3d pdf): insertEdge x 1e3 | 296.56 us | 3.37 KHz |
| graph(3d pdf,vec): insertEdge x 1e3 | 290.74 us | 3.44 KHz |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 226.89 us | 4.41 KHz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 228.59 us | 4.37 KHz |
| graph(3d): insertEdge x 1e4 | 1.47 ms | 678.77 Hz |
| graph(3d,vec): insertEdge x 1e4 | 1.32 ms | 756.48 Hz |
| graph(3d): insertEdgeAtEnd x 1e4 | 891.24 us | 1.12 KHz |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 901.48 us | 1.11 KHz |
| graph(3d pdf): insertEdge x 1e4 | 3.97 ms | 252.07 Hz |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.95 ms | 253.24 Hz |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.27 ms | 439.68 Hz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.27 ms | 440.66 Hz |
| graph(3d): dijkstra 1e2 nodes | 47.91 us | 20.87 KHz |
| graph(3d,vec): dijkstra 1e2 nodes | 47.74 us | 20.95 KHz |
| graph(3d): dijkstra 1e3 nodes | 709.84 us | 1.41 KHz |
| graph(3d,vec): dijkstra 1e3 nodes | 717.62 us | 1.39 KHz |
| graph(3d): dijkstra 1e4 nodes | 10.03 ms | 99.66 Hz |
| graph(3d,vec): dijkstra 1e4 nodes | 10.28 ms | 97.27 Hz |
| graph(3d): dijkstra 1e5 nodes | 176.58 ms | 5.66 Hz |
| graph(3d,vec): dijkstra 1e5 nodes | 175.46 ms | 5.70 Hz |
| graph(2d): dijkstra 1e5 nodes | 180.07 ms | 5.55 Hz |
| graph(2d,vec): dijkstra 1e5 nodes | 175.58 ms | 5.70 Hz |
| graphslam(2d): levmarq 50 KFs/101 edges | 709.48 us | 1.41 KHz |
| graphslam(2d): levmarq 100 KFs/451 edges | 4.14 ms | 241.31 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 7.80 ms | 128.13 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 7.21 ms | 138.64 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 7.25 ms | 137.89 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 7.21 ms | 138.74 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 6.30 ms | 158.78 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 6.29 ms | 158.98 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 6.19 ms | 161.42 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 5.67 ms | 176.25 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 3.91 ms | 255.56 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 3.88 ms | 257.85 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 3.86 ms | 259.15 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 3.36 ms | 297.89 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 3.38 ms | 296.00 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 3.36 ms | 297.63 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 3.39 ms | 295.20 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 2.79 ms | 358.44 Hz |
| 3DRangeScan: 320x240 Depth->2D scan | 2.11 ms | 474.23 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.95 ms | 252.87 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 4.32 ms | 231.37 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.38 ms | 156.67 Hz |
| CAtan2LUT: 20x20m,1cm cells,build | 360.78 ms | 2.77 Hz |
| CAtan2LUT: 20x20m,1cm cells,query | 7.41 ns | 135.01 MHz |
| CAtan2LUTMultiRes: 22x22m,build | 292.26 ms | 3.42 Hz |
| CAtan2LUTMultiRes: 22x22m,query | 19.02 ns | 52.58 MHz |
| CAtan2LUT: raw ::atan2() call | 94.87 ns | 10.54 MHz |
| Strings: mrpt::format() short str | 199.30 ns | 5.02 MHz |
| Strings: mrpt::format() long str | 356.30 ns | 2.81 MHz |