| Test description | 1.5.7dev-GCC730-64bit / 1.5.7dev-MSVC2017-64bit | |||
| Execution time | Execution rate (Hz) | |||
| icp-slam (match points): Run with sample dataset | 936.60 us / 1.31 ms | ∇ -28.48% | 1.07 KHz / 763.60 Hz | Δ 39.82% |
| icp-slam (match grid): Run with sample dataset | 1.22 ms / 1.76 ms | ∇ -30.70% | 821.57 Hz / 569.34 Hz | Δ 44.30% |
| poses: CPose3D (+) CPose3D | 16.22 ns / 108.84 ns | ∇ -85.10% | 61.65 MHz / 9.19 MHz | Δ 571.02% |
| poses: CPose3D.composeFrom() | 14.96 ns / 98.66 ns | ∇ -84.84% | 66.84 MHz / 10.14 MHz | Δ 559.49% |
| poses: CPose3D (+) CPoint3D | 3.38 ns / 10.79 ns | ∇ -68.72% | 296.21 MHz / 92.65 MHz | Δ 219.71% |
| poses: CPose3D.composePoint() | 6.23 ns / 9.95 ns | ∇ -37.36% | 160.51 MHz / 100.55 MHz | Δ 59.64% |
| poses: CPose3D.composePoint()+Jacobs | 116.85 ns / 77.35 ns | Δ 51.06% | 8.56 MHz / 12.93 MHz | ∇ -33.80% |
| poses: CPoint3D (-) CPose3D | 7.44 ns / 29.11 ns | ∇ -74.44% | 134.37 MHz / 34.35 MHz | Δ 291.19% |
| poses: CPose3D.inverseComposePoint() | 16.60 ns / 21.72 ns | ∇ -23.58% | 60.23 MHz / 46.03 MHz | Δ 30.85% |
| poses: CPose2D (+) CPose2D | 11.88 ns / 14.66 ns | ∇ -18.98% | 84.18 MHz / 68.20 MHz | Δ 23.43% |
| poses: CPose2D.composeFrom() | 12.31 ns / 8.87 ns | Δ 38.86% | 81.23 MHz / 112.80 MHz | ∇ -27.99% |
| poses: CPose2D (+) CPoint2D | 3.25 ns / 10.10 ns | ∇ -67.83% | 307.88 MHz / 99.04 MHz | Δ 210.88% |
| poses: CPose2D.composePoint() | 2.98 ns / 5.96 ns | ∇ -49.97% | 335.12 MHz / 167.67 MHz | Δ 99.87% |
| poses: CPose3DQuat (+) CPose3DQuat | 21.79 ns / 46.29 ns | ∇ -52.93% | 45.89 MHz / 21.60 MHz | Δ 112.44% |
| poses: CPose3DQuat.composeFrom() | 18.96 ns / 34.10 ns | ∇ -44.41% | 52.74 MHz / 29.32 MHz | Δ 79.87% |
| poses: CPose3DQuat (+) CPoint3D | 9.76 ns / 24.82 ns | ∇ -60.66% | 102.42 MHz / 40.29 MHz | Δ 154.21% |
| poses: CPose3DQuat.composePoint() | 9.23 ns / 16.57 ns | ∇ -44.31% | 108.39 MHz / 60.36 MHz | Δ 79.56% |
| poses: CPose3DQuat.invcomposePoint() | 8.01 ns / 13.13 ns | ∇ -38.97% | 124.78 MHz / 76.16 MHz | Δ 63.84% |
| poses: Conv CPose3DQuat <- CPose3D | 7.88 ns / 12.13 ns | ∇ -35.01% | 126.90 MHz / 82.47 MHz | Δ 53.88% |
| poses: Conv CPose3D -> CPose3DQuat | 70.81 ns / 43.97 ns | Δ 61.05% | 14.12 MHz / 22.74 MHz | ∇ -37.91% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 60.96 us / 960.22 ns | Δ 6248.46% | 16.40 KHz / 1.04 MHz | ∇ -98.42% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 60.56 us / 941.20 ns | Δ 6334.13% | 16.51 KHz / 1.06 MHz | ∇ -98.45% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 7.61 us / 5.89 us | Δ 29.20% | 131.34 KHz / 169.68 KHz | ∇ -22.60% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 270.70 ns / 1.72 us | ∇ -84.28% | 3.69 MHz / 580.64 KHz | Δ 536.21% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 270.60 ns / 1.72 us | ∇ -84.31% | 3.70 MHz / 579.72 KHz | Δ 537.46% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.12 us / 4.21 us | ∇ -2.04% | 242.69 KHz / 237.73 KHz | Δ 2.09% |
| CPose3DInterpolator: CPose3D insert pose at end | 198.13 ns / 189.89 ns | Δ 4.34% | 5.05 MHz / 5.27 MHz | ∇ -4.16% |
| CPose3DInterpolator: CPose3D insert pose random | 186.81 ns / 279.35 ns | ∇ -33.13% | 5.35 MHz / 3.58 MHz | Δ 49.54% |
| CPose3DInterpolator: CPose3D query | 570.42 ns / 408.39 ns | Δ 39.68% | 1.75 MHz / 2.45 MHz | ∇ -28.41% |
| CPose3DInterpolator: TPose3D insert pose at end | 174.17 ns / 166.84 ns | Δ 4.40% | 5.74 MHz / 5.99 MHz | ∇ -4.21% |
| CPose3DInterpolator: TPose3D insert pose random | 230.96 ns / 272.92 ns | ∇ -15.37% | 4.33 MHz / 3.66 MHz | Δ 18.17% |
| CPose3DInterpolator: TPose3D query | 511.64 ns / 318.24 ns | Δ 60.77% | 1.95 MHz / 3.14 MHz | ∇ -37.80% |
| CPose2DInterpolator: TPose2D insert pose at end | 153.49 ns / 160.68 ns | ∇ -4.47% | 6.52 MHz / 6.22 MHz | Δ 4.68% |
| CPose2DInterpolator: TPose2D insert pose random | 204.45 ns / 226.10 ns | ∇ -9.57% | 4.89 MHz / 4.42 MHz | Δ 10.59% |
| CPose2DInterpolator: TPose2D query | 185.58 ns / 144.72 ns | Δ 28.23% | 5.39 MHz / 6.91 MHz | ∇ -22.02% |
| matrix: unit, dyn[float], 3x3 | 20.81 ns / 21.72 ns | ∇ -4.17% | 48.05 MHz / 46.04 MHz | Δ 4.35% |
| matrix: unit, dyn[double], 3x3 | 18.03 ns / 21.63 ns | ∇ -16.64% | 55.46 MHz / 46.23 MHz | Δ 19.96% |
| matrix: unit, dyn[float], 6x6 | 49.43 ns / 58.30 ns | ∇ -15.22% | 20.23 MHz / 17.15 MHz | Δ 17.95% |
| matrix: unit, dyn[double], 6x6 | 38.37 ns / 57.93 ns | ∇ -33.75% | 26.06 MHz / 17.26 MHz | Δ 50.95% |
| matrix: unit, fix[float,3,3] | 0.00 ns / 0.83 ns | ∇ -100.00% | inf THz / 1.21 GHz | Δ inf% |
| matrix: unit, fix[double,3,3] | 0.00 ns / 1.34 ns | ∇ -100.00% | inf THz / 746.12 MHz | Δ inf% |
| matrix: unit, fix[float,6,6] | 0.00 ns / 4.12 ns | ∇ -100.00% | inf THz / 242.52 MHz | Δ inf% |
| matrix: unit, fix[double,6,6] | 0.00 ns / 6.34 ns | ∇ -100.00% | inf THz / 157.62 MHz | Δ inf% |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 75.60 ns / 177.80 ns | ∇ -57.48% | 13.23 MHz / 5.62 MHz | Δ 135.18% |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 106.68 ns | ∇ -100.00% | inf THz / 9.37 MHz | Δ inf% |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 82.10 ns / 162.46 ns | ∇ -49.46% | 12.18 MHz / 6.16 MHz | Δ 97.88% |
| matrix: multiply, fix[double], 3x3 * 3x3 | 0.20 ns / 98.07 ns | ∇ -99.80% | 5.00 GHz / 10.20 MHz | Δ 48937.19% |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 88.00 ns / 184.38 ns | ∇ -52.27% | 11.36 MHz / 5.42 MHz | Δ 109.52% |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 131.40 ns | ∇ -100.00% | inf THz / 7.61 MHz | Δ inf% |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 91.40 ns / 183.56 ns | ∇ -50.21% | 10.94 MHz / 5.45 MHz | Δ 100.83% |
| matrix: multiply, fix[double], 3x6 * 6x3 | 0.80 ns / 114.34 ns | ∇ -99.30% | 1.25 GHz / 8.75 MHz | Δ 14193.08% |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.08 us / 1.00 us | Δ 7.45% | 928.25 KHz / 997.38 KHz | ∇ -6.93% |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 794.20 ns / 831.72 ns | ∇ -4.51% | 1.26 MHz / 1.20 MHz | Δ 4.72% |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.71 us / 1.55 us | Δ 10.33% | 586.48 KHz / 647.07 KHz | ∇ -9.36% |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.32 us / 1.33 us | ∇ -1.43% | 760.05 KHz / 749.16 KHz | Δ 1.45% |
| matrix: inv, dyn[double] 3x3 | 592.00 ns / 997.04 ns | ∇ -40.62% | 1.69 MHz / 1.00 MHz | Δ 68.42% |
| matrix: inv, fix[double] 3x3 | 1.00 ns / 17.81 ns | ∇ -94.39% | 1.00 GHz / 56.15 MHz | Δ 1680.98% |
| matrix: inv, dyn[double] 6x6 | 1.57 us / 1.67 us | ∇ -6.07% | 638.57 KHz / 599.82 KHz | Δ 6.46% |
| matrix: inv, fix[double] 6x6 | 818.00 ns / 1.01 us | ∇ -18.65% | 1.22 MHz / 994.53 KHz | Δ 22.92% |
| matrix: inv, dyn[double] 20x20 | 8.98 us / 10.40 us | ∇ -13.65% | 111.33 KHz / 96.14 KHz | Δ 15.81% |
| matrix: inv, fix[double] 20x20 | 8.15 us / 9.45 us | ∇ -13.66% | 122.62 KHz / 105.87 KHz | Δ 15.82% |
| matrix: inv, dyn[double] 40x40 | 43.66 us / 40.34 us | Δ 8.22% | 22.90 KHz / 24.79 KHz | ∇ -7.59% |
| matrix: inv, fix[double] 40x40 | 40.36 us / 38.14 us | Δ 5.83% | 24.77 KHz / 26.22 KHz | ∇ -5.50% |
| matrix: det, dyn[double] 2x2 | 165.10 ns / 332.38 ns | ∇ -50.33% | 6.06 MHz / 3.01 MHz | Δ 101.32% |
| 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 / 437.03 ns | ∇ -48.40% | 4.43 MHz / 2.29 MHz | Δ 93.81% |
| 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 / 810.13 ns | ∇ -45.02% | 2.25 MHz / 1.23 MHz | Δ 81.89% |
| matrix: det, fix[double] 6x6 | 299.10 ns / 606.86 ns | ∇ -50.71% | 3.34 MHz / 1.65 MHz | Δ 102.90% |
| matrix: det, dyn[double] 20x20 | 4.34 us / 6.30 us | ∇ -31.06% | 230.26 KHz / 158.75 KHz | Δ 45.04% |
| matrix: det, fix[double] 20x20 | 3.89 us / 5.89 us | ∇ -33.84% | 256.77 KHz / 169.88 KHz | Δ 51.15% |
| matrix: det, dyn[double] 40x40 | 17.00 us / 22.96 us | ∇ -25.95% | 58.81 KHz / 43.55 KHz | Δ 35.05% |
| matrix: det, fix[double] 40x40 | 16.62 us / 22.85 us | ∇ -27.29% | 60.18 KHz / 43.75 KHz | Δ 37.54% |
| matrix: chol, dyn[double] 4x4 | 250.00 ns / 682.20 ns | ∇ -63.35% | 4.00 MHz / 1.47 MHz | Δ 172.88% |
| matrix: chol, fix[double] 4x4 | 90.00 ns / 316.95 ns | ∇ -71.60% | 11.11 MHz / 3.16 MHz | Δ 252.17% |
| matrix: chol, dyn[double] 40x40 | 10.76 us / 15.61 us | ∇ -31.08% | 92.94 KHz / 64.05 KHz | Δ 45.09% |
| matrix: chol, fix[double] 40x40 | 10.29 us / 14.14 us | ∇ -27.21% | 97.18 KHz / 70.74 KHz | Δ 37.38% |
| matrix: chol, sparse [2x2;2x2] | 9.80 us / 123.13 us | ∇ -92.04% | 102.04 KHz / 8.12 KHz | Δ 1156.42% |
| matrix: chol, sparse [30x30;10x10] | 38.80 us / 44.19 us | ∇ -12.20% | 25.77 KHz / 22.63 KHz | Δ 13.90% |
| matrix: chol, dyn[double] 10x[6x6] | 28.50 us / 38.64 us | ∇ -26.24% | 35.09 KHz / 25.88 KHz | Δ 35.57% |
| matrix: chol, sparse 10x[6x6] | 16.75 us / 18.44 us | ∇ -9.15% | 59.70 KHz / 54.24 KHz | Δ 10.08% |
| matrix: chol, dyn[double] 20x[6x6] | 148.10 us / 187.94 us | ∇ -21.20% | 6.75 KHz / 5.32 KHz | Δ 26.90% |
| matrix: chol, sparse 20x[6x6] | 29.60 us / 32.61 us | ∇ -9.22% | 33.78 KHz / 30.67 KHz | Δ 10.16% |
| matrix: chol, dyn[double] 50x[6x6] | 1.67 ms / 2.45 ms | ∇ -31.79% | 597.87 Hz / 407.79 Hz | Δ 46.61% |
| matrix: chol, sparse 50x[6x6] | 70.37 us / 159.41 us | ∇ -55.86% | 14.21 KHz / 6.27 KHz | Δ 126.53% |
| matrix: chol, dyn[double] 100x[6x6] | 13.50 ms / 16.61 ms | ∇ -18.74% | 74.09 Hz / 60.21 Hz | Δ 23.06% |
| matrix: chol, sparse 100x[6x6] | 134.72 us / 143.31 us | ∇ -5.99% | 7.42 KHz / 6.98 KHz | Δ 6.38% |
| matrix: chol, dyn[double] 120x[6x6] | 24.56 ms / 22.18 ms | Δ 10.75% | 40.72 Hz / 45.09 Hz | ∇ -9.70% |
| matrix: chol, sparse 120x[6x6] | 163.32 us / 169.63 us | ∇ -3.72% | 6.12 KHz / 5.90 KHz | Δ 3.86% |
| matrix: chol, dyn[double] 140x[6x6] | 35.44 ms / 33.41 ms | Δ 6.06% | 28.22 Hz / 29.93 Hz | ∇ -5.72% |
| matrix: chol, sparse 140x[6x6] | 188.90 us / 202.09 us | ∇ -6.53% | 5.29 KHz / 4.95 KHz | Δ 6.98% |
| 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 / 2.91 ns | ∇ -100.00% | inf THz / 343.63 MHz | Δ inf% |
| gridmap2D: setCell | 0.95 ns / 1.86 ns | ∇ -48.80% | 1.05 GHz / 536.87 MHz | Δ 95.31% |
| gridmap2D: updateCell | 3.43 ns / 3.46 ns | ∇ -0.83% | 291.80 MHz / 289.38 MHz | Δ 0.84% |
| gridmap2D: updateCell_fast_occupied | 0.86 ns / 1.88 ns | ∇ -54.61% | 1.17 GHz / 530.87 MHz | Δ 120.32% |
| gridmap2D: insert scan w/o widening | 60.12 us / 62.88 us | ∇ -4.38% | 16.63 KHz / 15.90 KHz | Δ 4.59% |
| gridmap2D: insert scan with widening | 167.16 us / 175.10 us | ∇ -4.54% | 5.98 KHz / 5.71 KHz | Δ 4.75% |
| gridmap2D: resize | 271.00 us / 757.97 us | ∇ -64.25% | 3.69 KHz / 1.32 KHz | Δ 179.69% |
| gridmap2D: computeLikelihood | 8.78 us / 8.30 us | Δ 5.77% | 113.96 KHz / 120.54 KHz | ∇ -5.45% |
| gridmap2D: determineMatching2D | 22.26 us / 35.80 us | ∇ -37.83% | 44.93 KHz / 27.93 KHz | Δ 60.85% |
| pointmap: insert 100 scans | 288.09 us / 526.37 us | ∇ -45.27% | 3.47 KHz / 1.90 KHz | Δ 82.71% |
| pointmap: build 2D kd-tree of 1 scan | 1.08 us / 2.27 us | ∇ -52.42% | 925.93 KHz / 440.53 KHz | Δ 110.18% |
| pointmap: build 2D kd-tree of 100 scan | 84.64 us / 155.06 us | ∇ -45.41% | 11.81 KHz / 6.45 KHz | Δ 83.20% |
| pointmap: build 2D kd-tree of 1000 scan | 939.64 us / 1.69 ms | ∇ -44.25% | 1.06 KHz / 593.35 Hz | Δ 79.36% |
| pointmap: build 3D kd-tree of 1 scan | 1.52 us / 2.31 us | ∇ -34.09% | 657.89 KHz / 433.61 KHz | Δ 51.72% |
| pointmap: build 3D kd-tree of 100 scan | 88.16 us / 159.93 us | ∇ -44.87% | 11.34 KHz / 6.25 KHz | Δ 81.40% |
| pointmap: build 3D kd-tree of 1000 scan | 939.00 us / 1.73 ms | ∇ -45.76% | 1.06 KHz / 577.66 Hz | Δ 84.36% |
| pointmap: kd-tree 2d query on 10 scans | 319.00 ns / 516.48 ns | ∇ -38.24% | 3.13 MHz / 1.94 MHz | Δ 61.91% |
| pointmap: kd-tree 2d query on 1000 scans | 23.54 us / 42.42 us | ∇ -44.50% | 42.47 KHz / 23.57 KHz | Δ 80.17% |
| pointmap: kd-tree 2d query on 10000 scans | 2.74 ms / 4.92 ms | ∇ -44.25% | 364.91 Hz / 203.42 Hz | Δ 79.39% |
| pointmap: (insert scan+2D kd-tree query) x 10 | 951.65 us / 1.82 ms | ∇ -47.57% | 1.05 KHz / 550.91 Hz | Δ 90.74% |
| pointmap: (insert scan+2D kd-tree query) x 50 | 23.84 ms / 42.41 ms | ∇ -43.79% | 41.95 Hz / 23.58 Hz | Δ 77.92% |
| pointmap: (insert scan+3D kd-tree query) x 10 | 928.80 us / 1.73 ms | ∇ -46.30% | 1.08 KHz / 578.12 Hz | Δ 86.23% |
| pointmap: (insert scan+3D kd-tree query) x 50 | 23.74 ms / 43.82 ms | ∇ -45.82% | 42.12 Hz / 22.82 Hz | Δ 84.56% |
| pointmap: computeMatchingWith2D | 21.35 us / 33.73 us | ∇ -36.70% | 46.83 KHz / 29.64 KHz | Δ 57.99% |
| pointmap: boundingBox (10 scans) | 875.32 ns / 10.77 us | ∇ -91.87% | 1.14 MHz / 92.85 KHz | Δ 1130.42% |
| pointmap: boundingBox (1000 scans) | 85.22 us / 1.07 ms | ∇ -92.06% | 11.73 KHz / 931.26 Hz | Δ 1160.12% |
| random: drawUniform32bit | 4.47 ns / 4.58 ns | ∇ -2.56% | 223.92 MHz / 218.18 MHz | Δ 2.63% |
| random: drawUniform | 4.45 ns / 4.56 ns | ∇ -2.43% | 224.56 MHz / 219.10 MHz | Δ 2.49% |
| random: drawGaussian1D_normalized | 51.69 ns / 20.91 ns | Δ 147.23% | 19.35 MHz / 47.83 MHz | ∇ -59.55% |
| random: drawGaussian1D | 51.88 ns / 20.77 ns | Δ 149.79% | 19.28 MHz / 48.15 MHz | ∇ -59.97% |
| random: system rand() | 10.85 ns / 14.59 ns | ∇ -25.62% | 92.14 MHz / 68.54 MHz | Δ 34.44% |
| random: drawGaussianMultivariate(fixed 3x3) | 544.38 ns / 561.77 ns | ∇ -3.10% | 1.84 MHz / 1.78 MHz | Δ 3.19% |
| random: drawGaussianMultivariate(dyn 3x3) | 1.17 us / 1.64 us | ∇ -28.69% | 852.67 KHz / 608.03 KHz | Δ 40.23% |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 104.51 ns / 55.97 ns | Δ 86.72% | 9.57 MHz / 17.87 MHz | ∇ -46.44% |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 166.05 ns / 87.22 ns | Δ 90.38% | 6.02 MHz / 11.46 MHz | ∇ -47.47% |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 344.60 ns / 183.80 ns | Δ 87.49% | 2.90 MHz / 5.44 MHz | ∇ -46.66% |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 112.66 ns / 61.16 ns | Δ 84.20% | 8.88 MHz / 16.35 MHz | ∇ -45.71% |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 182.01 ns / 94.72 ns | Δ 92.15% | 5.49 MHz / 10.56 MHz | ∇ -47.96% |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 361.46 ns / 202.25 ns | Δ 78.72% | 2.77 MHz / 4.94 MHz | ∇ -44.05% |
| random: permuteVector (len=10) | 153.80 ns / 342.43 ns | ∇ -55.09% | 6.50 MHz / 2.92 MHz | Δ 122.65% |
| random: permuteVector (len=100) | 1.62 us / 3.50 us | ∇ -53.79% | 618.31 KHz / 285.70 KHz | Δ 116.42% |
| random: permuteVector (len=1000) | 15.53 us / 34.48 us | ∇ -54.97% | 64.41 KHz / 29.00 KHz | Δ 122.07% |
| math: round | 0.03 ns / 52.00 ns | ∇ -99.94% | 30.65 GHz / 19.23 MHz | Δ 159251.62% |
| math: std::hypot(float) | 4.94 ns / 5.42 ns | ∇ -8.81% | 202.33 MHz / 184.50 MHz | Δ 9.67% |
| math: mrpt::math::hypot_fast(float) | 1.81 ns / 3.93 ns | ∇ -53.91% | 552.07 MHz / 254.43 MHz | Δ 116.98% |
| math: mrpt::math::hypot_fast(double) | 3.62 ns / 5.24 ns | ∇ -30.89% | 275.97 MHz / 190.72 MHz | Δ 44.70% |
| images: Save as JPEG (640x480, quality=95%) | 7.41 ms / X | 134.98 Hz / X | ||
| images: Save as JPEG (800x600, quality=95%) | 9.29 ms / X | 107.69 Hz / X | ||
| images: Save as JPEG (1024x768, quality=95%) | 14.19 ms / X | 70.45 Hz / X | ||
| images: Save as JPEG (640x480, quality=75%) | 4.83 ms / X | 207.20 Hz / X | ||
| images: Save as JPEG (800x600, quality=75%) | 7.60 ms / X | 131.66 Hz / X | ||
| images: Save as JPEG (1024x768, quality=75%) | 12.16 ms / X | 82.25 Hz / X | ||
| images: Save BMP 800x600 disk | 6.35 ms / X | 157.54 Hz / X | ||
| images: Save PNG 800x600 disk | 27.95 ms / X | 35.78 Hz / X | ||
| images: Save JPG 800x600 disk | 8.62 ms / X | 116.05 Hz / X | ||
| images: Load BMP 800x600 disk | 262.47 us / X | 3.81 KHz / X | ||
| images: Load PNG 800x600 disk | 8.40 ms / X | 119.09 Hz / X | ||
| images: Load JPG 800x600 disk | 6.20 ms / X | 161.30 Hz / X | ||
| images: Save BMP 800x600 shared mem | 386.27 us / X | 2.59 KHz / X | ||
| images: Save PNG 800x600 shared mem | 22.68 ms / X | 44.08 Hz / X | ||
| images: Save JPG 800x600 shared mem | 6.07 ms / X | 164.72 Hz / X | ||
| images: Load BMP 800x600 shared mem | 272.77 us / X | 3.67 KHz / X | ||
| images: Load PNG 800x600 shared mem | 8.40 ms / X | 119.05 Hz / X | ||
| images: Load JPG 800x600 shared mem | 6.20 ms / X | 161.39 Hz / X | ||
| images: Gauss filter (640x480) | 2.18 ms / 919.51 us | Δ 137.45% | 458.01 Hz / 1.09 KHz | ∇ -57.89% |
| images: Gauss filter (800x600) | 3.12 ms / 1.50 ms | Δ 108.06% | 320.79 Hz / 667.43 Hz | ∇ -51.94% |
| images: Gauss filter (1024x768) | 5.25 ms / 2.43 ms | Δ 115.97% | 190.61 Hz / 411.66 Hz | ∇ -53.70% |
| images: Half sample GRAY (160x120) | 806.67 ns / 44.68 us | ∇ -98.19% | 1.24 MHz / 22.38 KHz | Δ 5439.01% |
| images: Half sample GRAY (320x240) | 1.79 us / 12.34 us | ∇ -85.49% | 558.66 KHz / 81.04 KHz | Δ 589.33% |
| images: Half sample GRAY (640x480) | 7.54 us / 44.43 us | ∇ -83.03% | 132.63 KHz / 22.51 KHz | Δ 489.20% |
| images: Half sample GRAY (800x600) | 12.46 us / 62.97 us | ∇ -80.21% | 80.26 KHz / 15.88 KHz | Δ 405.35% |
| images: Half sample GRAY (1024x768) | 20.16 us / 73.10 us | ∇ -72.42% | 49.60 KHz / 13.68 KHz | Δ 262.61% |
| images: Half sample GRAY (1280x1024) | 33.44 us / 83.61 us | ∇ -60.00% | 29.90 KHz / 11.96 KHz | Δ 150.02% |
| images: Half sample RGB (160x120) | 1.47 us / 7.37 us | ∇ -80.05% | 680.27 KHz / 135.73 KHz | Δ 401.18% |
| images: Half sample RGB (320x240) | 4.68 us / 25.88 us | ∇ -81.90% | 213.52 KHz / 38.64 KHz | Δ 452.54% |
| images: Half sample RGB (640x480) | 22.17 us / 99.11 us | ∇ -77.63% | 45.10 KHz / 10.09 KHz | Δ 346.96% |
| images: Half sample RGB (800x600) | 33.14 us / 121.43 us | ∇ -72.71% | 30.17 KHz / 8.24 KHz | Δ 266.38% |
| images: Half sample RGB (1024x768) | 53.65 us / 173.65 us | ∇ -69.11% | 18.64 KHz / 5.76 KHz | Δ 223.68% |
| images: Half sample RGB (1280x1024) | 100.80 us / 182.74 us | ∇ -44.84% | 9.92 KHz / 5.47 KHz | Δ 81.29% |
| images: Half sample smooth GRAY (160x120) | 1.13 us / 28.12 us | ∇ -95.98% | 884.96 KHz / 35.56 KHz | Δ 2388.34% |
| images: Half sample smooth GRAY (320x240) | 2.96 us / 6.24 us | ∇ -52.59% | 338.22 KHz / 160.35 KHz | Δ 110.93% |
| images: Half sample smooth GRAY (640x480) | 13.10 us / 20.79 us | ∇ -36.97% | 76.32 KHz / 48.10 KHz | Δ 58.66% |
| images: Half sample smooth GRAY (800x600) | 22.30 us / 30.69 us | ∇ -27.33% | 44.84 KHz / 32.59 KHz | Δ 37.60% |
| images: Half sample smooth GRAY (1024x768) | 35.66 us / 33.69 us | Δ 5.85% | 28.05 KHz / 29.68 KHz | ∇ -5.52% |
| images: Half sample smooth GRAY (1280x1024) | 56.33 us / 38.04 us | Δ 48.09% | 17.75 KHz / 26.29 KHz | ∇ -32.47% |
| images: Half sample smooth RGB (160x120) | 11.92 us / 9.57 us | Δ 24.50% | 83.92 KHz / 104.47 KHz | ∇ -19.68% |
| images: Half sample smooth RGB (320x240) | 36.43 us / 33.29 us | Δ 9.43% | 27.45 KHz / 30.04 KHz | ∇ -8.62% |
| images: Half sample smooth RGB (640x480) | 126.84 us / 126.81 us | Δ 0.03% | 7.88 KHz / 7.89 KHz | ∇ -0.03% |
| images: Half sample smooth RGB (800x600) | 142.65 us / 176.80 us | ∇ -19.31% | 7.01 KHz / 5.66 KHz | Δ 23.94% |
| images: Half sample smooth RGB (1024x768) | 261.31 us / 209.31 us | Δ 24.84% | 3.83 KHz / 4.78 KHz | ∇ -19.90% |
| images: Half sample smooth RGB (1280x1024) | 275.76 us / 221.21 us | Δ 24.66% | 3.63 KHz / 4.52 KHz | ∇ -19.78% |
| images: RGB->GRAY 8u (40x30) | 4.20 us / 6.60 us | ∇ -36.28% | 237.91 KHz / 151.59 KHz | Δ 56.94% |
| images: RGB->GRAY 8u (80x60) | 1.89 us / 7.36 us | ∇ -74.35% | 530.04 KHz / 135.94 KHz | Δ 289.91% |
| images: RGB->GRAY 8u (160x120) | 8.07 us / 27.06 us | ∇ -70.19% | 123.97 KHz / 36.96 KHz | Δ 235.45% |
| images: RGB->GRAY 8u (320x240) | 36.87 us / 105.43 us | ∇ -65.03% | 27.12 KHz / 9.49 KHz | Δ 185.92% |
| images: RGB->GRAY 8u (640x480) | 123.99 us / 175.70 us | ∇ -29.43% | 8.07 KHz / 5.69 KHz | Δ 41.71% |
| images: RGB->GRAY 8u (800x600) | 160.60 us / 196.49 us | ∇ -18.27% | 6.23 KHz / 5.09 KHz | Δ 22.35% |
| images: RGB->GRAY 8u (1024x768) | 225.35 us / 367.76 us | ∇ -38.72% | 4.44 KHz / 2.72 KHz | Δ 63.20% |
| images: RGB->GRAY 8u (1280x1024) | 366.04 us / 834.98 us | ∇ -56.16% | 2.73 KHz / 1.20 KHz | Δ 128.11% |
| images: KLT score (WIN=2 5x5) | 27.32 ns / 43.55 ns | ∇ -37.27% | 36.61 MHz / 22.96 MHz | Δ 59.41% |
| images: KLT score (WIN=3 7x7) | 33.44 ns / 58.85 ns | ∇ -43.17% | 29.90 MHz / 16.99 MHz | Δ 75.96% |
| images: KLT score (WIN=4 9x9) | 37.69 ns / 76.23 ns | ∇ -50.56% | 26.53 MHz / 13.12 MHz | Δ 102.28% |
| images: KLT score (WIN=5 10x10) | 47.70 ns / 101.24 ns | ∇ -52.89% | 20.97 MHz / 9.88 MHz | Δ 112.27% |
| images: KLT score (WIN=6 13x13) | 53.85 ns / 129.38 ns | ∇ -58.38% | 18.57 MHz / 7.73 MHz | Δ 140.26% |
| images: KLT score (WIN=7 15x15) | 63.63 ns / 163.57 ns | ∇ -61.10% | 15.72 MHz / 6.11 MHz | Δ 157.06% |
| images: KLT score (WIN=8 17x17) | 60.62 ns / 207.36 ns | ∇ -70.76% | 16.49 MHz / 4.82 MHz | Δ 242.03% |
| images: KLT score (WIN=9 19x19) | 63.96 ns / 240.42 ns | ∇ -73.40% | 15.64 MHz / 4.16 MHz | Δ 275.90% |
| images: KLT score (WIN=10 21x21) | 68.09 ns / 274.50 ns | ∇ -75.19% | 14.69 MHz / 3.64 MHz | Δ 303.14% |
| images: KLT score (WIN=11 23x23) | 59.89 ns / 319.09 ns | ∇ -81.23% | 16.70 MHz / 3.13 MHz | Δ 432.77% |
| images: KLT score (WIN=12 25x25) | 78.90 ns / 368.43 ns | ∇ -78.58% | 12.67 MHz / 2.71 MHz | Δ 366.95% |
| images: KLT score (WIN=13 27x27) | 67.38 ns / 427.37 ns | ∇ -84.23% | 14.84 MHz / 2.34 MHz | Δ 534.27% |
| images: KLT score (WIN=14 29x29) | 70.05 ns / 483.04 ns | ∇ -85.50% | 14.28 MHz / 2.07 MHz | Δ 589.60% |
| images: KLT score (WIN=15 31x31) | 73.23 ns / 547.94 ns | ∇ -86.64% | 13.66 MHz / 1.83 MHz | Δ 648.23% |
| images: KLT score (WIN=16 33x33) | 103.99 ns / 619.70 ns | ∇ -83.22% | 9.62 MHz / 1.61 MHz | Δ 495.92% |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 81.41 us / 191.90 us | ∇ -57.58% | 12.28 KHz / 5.21 KHz | Δ 135.72% |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 224.53 us / 231.26 us | ∇ -2.91% | 4.45 KHz / 4.32 KHz | Δ 3.00% |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 132.60 us / 280.65 us | ∇ -52.75% | 7.54 KHz / 3.56 KHz | Δ 111.65% |
| images: buildPyramid 640x480,4 levs, smooth, gray | 144.11 us / 228.84 us | ∇ -37.02% | 6.94 KHz / 4.37 KHz | Δ 58.79% |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 105.23 us / 207.46 us | ∇ -49.28% | 9.50 KHz / 4.82 KHz | Δ 97.15% |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 237.08 us / 240.02 us | ∇ -1.23% | 4.22 KHz / 4.17 KHz | Δ 1.24% |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 95.91 us / 284.19 us | ∇ -66.25% | 10.43 KHz / 3.52 KHz | Δ 196.31% |
| images: buildPyramid 640x480,8 levs, smooth, gray | 104.65 us / 238.30 us | ∇ -56.08% | 9.56 KHz / 4.20 KHz | Δ 127.70% |
| stereo: prepare rectify map 640x480 RGB | 18.50 ms / 4.52 ms | Δ 309.69% | 54.06 Hz / 221.47 Hz | ∇ -75.59% |
| stereo: prepare rectify map 800x600 RGB | 28.78 ms / 5.88 ms | Δ 389.31% | 34.74 Hz / 170.00 Hz | ∇ -79.56% |
| stereo: prepare rectify map 1024x768 RGB | 47.30 ms / 9.45 ms | Δ 400.36% | 21.14 Hz / 105.78 Hz | ∇ -80.01% |
| stereo: prepare rectify map 1024x768->800x600 RGB | 28.78 ms / 5.92 ms | Δ 385.74% | 34.75 Hz / 168.79 Hz | ∇ -79.41% |
| stereo: prepare rectify map 1024x768->640x480 RGB | 18.42 ms / 3.88 ms | Δ 374.50% | 54.30 Hz / 257.65 Hz | ∇ -78.93% |
| stereo: rectify 640x480 RGB | 1.56 ms / 1.62 ms | ∇ -3.50% | 639.86 Hz / 617.43 Hz | Δ 3.63% |
| stereo: rectify 800x600 RGB | 2.05 ms / 2.00 ms | Δ 2.28% | 488.62 Hz / 499.77 Hz | ∇ -2.23% |
| stereo: rectify 1024x768 RGB | 3.27 ms / 3.71 ms | ∇ -11.90% | 305.76 Hz / 269.37 Hz | Δ 13.51% |
| stereo: rectify 1024x768->800x600 RGB | 1.99 ms / 2.08 ms | ∇ -4.52% | 502.64 Hz / 479.92 Hz | Δ 4.73% |
| stereo: rectify 1024x768->640x480 RGB | 1.64 ms / 1.75 ms | ∇ -5.97% | 608.81 Hz / 572.46 Hz | Δ 6.35% |
| stereo: rectify 640x480 GRAY | 1.13 ms / 890.62 us | Δ 27.31% | 881.95 Hz / 1.12 KHz | ∇ -21.45% |
| stereo: rectify 800x600 GRAY | 1.58 ms / 1.10 ms | Δ 43.56% | 633.23 Hz / 909.06 Hz | ∇ -30.34% |
| stereo: rectify 1024x768 GRAY | 2.40 ms / 2.18 ms | Δ 10.19% | 416.50 Hz / 458.96 Hz | ∇ -9.25% |
| stereo: rectify 1024x768->800x600 GRAY | 1.55 ms / 1.10 ms | Δ 41.19% | 644.12 Hz / 909.41 Hz | ∇ -29.17% |
| stereo: rectify 1024x768->640x480 GRAY | 1.29 ms / 895.97 us | Δ 44.16% | 774.23 Hz / 1.12 KHz | ∇ -30.63% |
| tfest: se3_l2 [CPose3DQuat] | 3.91 us / 10.63 us | ∇ -63.23% | 255.76 KHz / 94.03 KHz | Δ 172.00% |
| tfest: se3_l2 [vector TPoint3D] | 3.58 us / 8.97 us | ∇ -60.09% | 279.38 KHz / 111.51 KHz | Δ 150.55% |
| tfest: se2_l2 [x10 corrs] | 151.94 ns / 116.12 ns | Δ 30.85% | 6.58 MHz / 8.61 MHz | ∇ -23.57% |
| tfest: se2_l2 [x100 corrs] | 223.20 ns / 462.23 ns | ∇ -51.71% | 4.48 MHz / 2.16 MHz | Δ 107.09% |
| tfest: se2_l2 [x1000 corrs] | 1.04 us / 3.91 us | ∇ -73.53% | 965.48 KHz / 255.59 KHz | Δ 277.75% |
| feature_extraction [640x480]: Harris | 8.61 ms / 15.75 ms | ∇ -45.36% | 116.20 Hz / 63.49 Hz | Δ 83.03% |
| feature_extraction [640x480]: KLT | 6.55 ms / 9.92 ms | ∇ -33.98% | 152.74 Hz / 100.84 Hz | Δ 51.47% |
| feature_extraction [640x480]: SURF | 35.27 ms / X | 28.35 Hz / X | ||
| feature_extraction [640x480]: FAST | 2.04 ms / 2.17 ms | ∇ -5.68% | 489.30 Hz / 461.50 Hz | Δ 6.02% |
| feature_extraction [640x480]: Spin desc. | 102.86 ms / 30.67 ms | Δ 235.35% | 9.72 Hz / 32.60 Hz | ∇ -70.18% |
| feature_extraction [640x480]: FASTER-9 | 2.77 ms / 2.91 ms | ∇ -4.90% | 361.38 Hz / 343.69 Hz | Δ 5.15% |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 1.22 ms / 2.27 ms | ∇ -46.29% | 819.12 Hz / 439.93 Hz | Δ 86.20% |
| feature_extraction [640x480]: FASTER-10 | 1.90 ms / 2.32 ms | ∇ -18.25% | 527.56 Hz / 431.27 Hz | Δ 22.33% |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 951.21 us / 1.88 ms | ∇ -49.32% | 1.05 KHz / 532.77 Hz | Δ 97.33% |
| feature_extraction [640x480]: FASTER-12 | 1.43 ms / 1.64 ms | ∇ -12.73% | 698.30 Hz / 609.44 Hz | Δ 14.58% |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 909.78 us / 1.40 ms | ∇ -34.94% | 1.10 KHz / 715.16 Hz | Δ 53.70% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 414.84 us / 1.05 ms | ∇ -60.50% | 2.41 KHz / 952.09 Hz | Δ 153.19% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 332.75 us / 1.02 ms | ∇ -67.43% | 3.01 KHz / 978.83 Hz | Δ 207.02% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 388.20 us / 826.01 us | ∇ -53.00% | 2.58 KHz / 1.21 KHz | Δ 112.78% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 411.19 us / 1.05 ms | ∇ -60.88% | 2.43 KHz / 951.32 Hz | Δ 155.64% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 332.95 us / 1.02 ms | ∇ -67.41% | 3.00 KHz / 978.81 Hz | Δ 206.85% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 389.63 us / 828.21 us | ∇ -52.95% | 2.57 KHz / 1.21 KHz | Δ 112.56% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 590.48 us / 1.42 ms | ∇ -58.29% | 1.69 KHz / 706.45 Hz | Δ 139.73% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 427.60 us / 1.37 ms | ∇ -68.69% | 2.34 KHz / 732.34 Hz | Δ 219.34% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 447.50 us / 1.34 ms | ∇ -66.73% | 2.23 KHz / 743.54 Hz | Δ 200.54% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 534.93 us / 1.41 ms | ∇ -62.08% | 1.87 KHz / 708.80 Hz | Δ 163.74% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 428.89 us / 1.34 ms | ∇ -68.09% | 2.33 KHz / 743.91 Hz | Δ 213.43% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 446.37 us / 1.29 ms | ∇ -65.30% | 2.24 KHz / 777.31 Hz | Δ 188.21% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 731.75 us / 1.99 ms | ∇ -63.19% | 1.37 KHz / 503.05 Hz | Δ 171.66% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 579.95 us / 1.91 ms | ∇ -69.64% | 1.72 KHz / 523.41 Hz | Δ 229.43% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 494.25 us / 1.70 ms | ∇ -70.93% | 2.02 KHz / 588.07 Hz | Δ 244.06% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 729.32 us / 1.99 ms | ∇ -63.36% | 1.37 KHz / 502.32 Hz | Δ 172.96% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 580.22 us / 1.90 ms | ∇ -69.41% | 1.72 KHz / 527.26 Hz | Δ 226.88% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 494.26 us / 1.72 ms | ∇ -71.20% | 2.02 KHz / 582.72 Hz | Δ 247.21% |
| feature_matching [640x480]: Harris + CC | 16.44 ms / 22.18 ms | ∇ -25.88% | 60.84 Hz / 45.10 Hz | Δ 34.92% |
| feature_matching [640x480]: Harris + SAD | 11.59 ms / 18.56 ms | ∇ -37.52% | 86.25 Hz / 53.89 Hz | Δ 60.05% |
| feature_matching [640x480]: SURF | 64.71 ms / X | 15.45 Hz / X | ||
| feature_matching [640x480]: FAST + CC | 7.56 ms / 6.94 ms | Δ 8.98% | 132.20 Hz / 144.08 Hz | ∇ -8.24% |
| feature_matching [640x480]: FAST + SAD | 2.99 ms / 3.61 ms | ∇ -17.22% | 335.00 Hz / 277.32 Hz | Δ 20.80% |
| graph(2d): insertEdge x 1e3 | 86.40 us / 158.15 us | ∇ -45.37% | 11.57 KHz / 6.32 KHz | Δ 83.03% |
| graph(2d,vec): insertEdge x 1e3 | 85.45 us / 154.94 us | ∇ -44.85% | 11.70 KHz / 6.45 KHz | Δ 81.32% |
| graph(2d): insertEdgeAtEnd x 1e3 | 69.20 us / 124.64 us | ∇ -44.48% | 14.45 KHz / 8.02 KHz | Δ 80.11% |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 70.19 us / 120.41 us | ∇ -41.71% | 14.25 KHz / 8.30 KHz | Δ 71.56% |
| graph(2d pdf): insertEdge x 1e3 | 116.71 us / 204.87 us | ∇ -43.03% | 8.57 KHz / 4.88 KHz | Δ 75.53% |
| graph(2d pdf,vec): insertEdge x 1e3 | 123.52 us / 204.35 us | ∇ -39.56% | 8.10 KHz / 4.89 KHz | Δ 65.44% |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 132.85 us / 162.60 us | ∇ -18.30% | 7.53 KHz / 6.15 KHz | Δ 22.40% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 99.13 us / 168.22 us | ∇ -41.07% | 10.09 KHz / 5.94 KHz | Δ 69.69% |
| graph(2d): insertEdge x 1e4 | 1.50 ms / 1.67 ms | ∇ -10.16% | 666.67 Hz / 598.93 Hz | Δ 11.31% |
| graph(2d,vec): insertEdge x 1e4 | 1.24 ms / 1.68 ms | ∇ -26.28% | 808.85 Hz / 596.30 Hz | Δ 35.64% |
| graph(2d): insertEdgeAtEnd x 1e4 | 442.34 us / 1.21 ms | ∇ -63.56% | 2.26 KHz / 823.91 Hz | Δ 174.39% |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 435.94 us / 1.21 ms | ∇ -64.09% | 2.29 KHz / 823.74 Hz | Δ 178.47% |
| graph(2d pdf): insertEdge x 1e4 | 1.23 ms / 2.08 ms | ∇ -40.79% | 810.72 Hz / 480.03 Hz | Δ 68.89% |
| graph(2d pdf,vec): insertEdge x 1e4 | 1.64 ms / 2.19 ms | ∇ -25.02% | 609.72 Hz / 457.17 Hz | Δ 33.37% |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 981.13 us / 1.52 ms | ∇ -35.64% | 1.02 KHz / 655.96 Hz | Δ 55.38% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 963.43 us / 1.70 ms | ∇ -43.23% | 1.04 KHz / 589.28 Hz | Δ 76.14% |
| graph(3d): insertEdge x 1e3 | 121.18 us / 150.12 us | ∇ -19.28% | 8.25 KHz / 6.66 KHz | Δ 23.88% |
| graph(3d,vec): insertEdge x 1e3 | 110.97 us / 150.55 us | ∇ -26.29% | 9.01 KHz / 6.64 KHz | Δ 35.67% |
| graph(3d): insertEdgeAtEnd x 1e3 | 92.37 us / 109.39 us | ∇ -15.56% | 10.83 KHz / 9.14 KHz | Δ 18.42% |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 90.57 us / 110.04 us | ∇ -17.70% | 11.04 KHz / 9.09 KHz | Δ 21.50% |
| graph(3d pdf): insertEdge x 1e3 | 296.56 us / 312.72 us | ∇ -5.17% | 3.37 KHz / 3.20 KHz | Δ 5.45% |
| graph(3d pdf,vec): insertEdge x 1e3 | 290.74 us / 360.19 us | ∇ -19.28% | 3.44 KHz / 2.78 KHz | Δ 23.89% |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 226.89 us / 267.44 us | ∇ -15.16% | 4.41 KHz / 3.74 KHz | Δ 17.87% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 228.59 us / 263.46 us | ∇ -13.23% | 4.37 KHz / 3.80 KHz | Δ 15.25% |
| graph(3d): insertEdge x 1e4 | 1.47 ms / 1.86 ms | ∇ -20.97% | 678.77 Hz / 536.45 Hz | Δ 26.53% |
| graph(3d,vec): insertEdge x 1e4 | 1.32 ms / 1.82 ms | ∇ -27.56% | 756.48 Hz / 548.00 Hz | Δ 38.05% |
| graph(3d): insertEdgeAtEnd x 1e4 | 891.24 us / 1.32 ms | ∇ -32.29% | 1.12 KHz / 759.75 Hz | Δ 47.68% |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 901.48 us / 1.31 ms | ∇ -31.35% | 1.11 KHz / 761.47 Hz | Δ 45.68% |
| graph(3d pdf): insertEdge x 1e4 | 3.97 ms / 3.62 ms | Δ 9.74% | 252.07 Hz / 276.61 Hz | ∇ -8.87% |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.95 ms / 3.83 ms | Δ 3.17% | 253.24 Hz / 261.27 Hz | ∇ -3.07% |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.27 ms / 2.90 ms | ∇ -21.46% | 439.68 Hz / 345.30 Hz | Δ 27.33% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.27 ms / 2.90 ms | ∇ -21.81% | 440.66 Hz / 344.56 Hz | Δ 27.89% |
| graph(3d): dijkstra 1e2 nodes | 47.91 us / 85.23 us | ∇ -43.78% | 20.87 KHz / 11.73 KHz | Δ 77.89% |
| graph(3d,vec): dijkstra 1e2 nodes | 47.74 us / 84.84 us | ∇ -43.73% | 20.95 KHz / 11.79 KHz | Δ 77.71% |
| graph(3d): dijkstra 1e3 nodes | 709.84 us / 950.94 us | ∇ -25.35% | 1.41 KHz / 1.05 KHz | Δ 33.97% |
| graph(3d,vec): dijkstra 1e3 nodes | 717.62 us / 954.30 us | ∇ -24.80% | 1.39 KHz / 1.05 KHz | Δ 32.98% |
| graph(3d): dijkstra 1e4 nodes | 10.03 ms / 11.92 ms | ∇ -15.81% | 99.66 Hz / 83.91 Hz | Δ 18.77% |
| graph(3d,vec): dijkstra 1e4 nodes | 10.28 ms / 11.83 ms | ∇ -13.09% | 97.27 Hz / 84.53 Hz | Δ 15.07% |
| graph(3d): dijkstra 1e5 nodes | 176.58 ms / 155.44 ms | Δ 13.60% | 5.66 Hz / 6.43 Hz | ∇ -11.97% |
| graph(3d,vec): dijkstra 1e5 nodes | 175.46 ms / 154.14 ms | Δ 13.83% | 5.70 Hz / 6.49 Hz | ∇ -12.15% |
| graph(2d): dijkstra 1e5 nodes | 180.07 ms / 150.58 ms | Δ 19.58% | 5.55 Hz / 6.64 Hz | ∇ -16.37% |
| graph(2d,vec): dijkstra 1e5 nodes | 175.58 ms / 149.73 ms | Δ 17.26% | 5.70 Hz / 6.68 Hz | ∇ -14.72% |
| graphslam(2d): levmarq 50 KFs/101 edges | 709.48 us / 908.20 us | ∇ -21.88% | 1.41 KHz / 1.10 KHz | Δ 28.01% |
| graphslam(2d): levmarq 100 KFs/451 edges | 4.14 ms / 4.91 ms | ∇ -15.58% | 241.31 Hz / 203.72 Hz | Δ 18.45% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 7.80 ms / 52.81 ms | ∇ -85.22% | 128.13 Hz / 18.94 Hz | Δ 576.70% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 7.21 ms / 52.60 ms | ∇ -86.29% | 138.64 Hz / 19.01 Hz | Δ 629.22% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 7.25 ms / 52.83 ms | ∇ -86.27% | 137.89 Hz / 18.93 Hz | Δ 628.43% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 7.21 ms / 52.72 ms | ∇ -86.33% | 138.74 Hz / 18.97 Hz | Δ 631.42% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 6.30 ms / 38.09 ms | ∇ -83.47% | 158.78 Hz / 26.25 Hz | Δ 504.86% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 6.29 ms / 38.06 ms | ∇ -83.47% | 158.98 Hz / 26.28 Hz | Δ 505.00% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 6.19 ms / 38.41 ms | ∇ -83.87% | 161.42 Hz / 26.03 Hz | Δ 520.10% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 5.67 ms / 38.20 ms | ∇ -85.15% | 176.25 Hz / 26.18 Hz | Δ 573.32% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 3.91 ms / 18.76 ms | ∇ -79.15% | 255.56 Hz / 53.29 Hz | Δ 379.52% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 3.88 ms / 18.78 ms | ∇ -79.35% | 257.85 Hz / 53.25 Hz | Δ 384.26% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 3.86 ms / 18.98 ms | ∇ -79.67% | 259.15 Hz / 52.70 Hz | Δ 391.78% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 3.36 ms / 19.81 ms | ∇ -83.06% | 297.89 Hz / 50.47 Hz | Δ 490.22% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 3.38 ms / 14.46 ms | ∇ -76.63% | 296.00 Hz / 69.17 Hz | Δ 327.95% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 3.36 ms / 14.29 ms | ∇ -76.49% | 297.63 Hz / 69.98 Hz | Δ 325.30% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 3.39 ms / 14.59 ms | ∇ -76.78% | 295.20 Hz / 68.53 Hz | Δ 330.75% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 2.79 ms / 14.55 ms | ∇ -80.83% | 358.44 Hz / 68.71 Hz | Δ 421.66% |
| 3DRangeScan: 320x240 Depth->2D scan | 2.11 ms / 2.14 ms | ∇ -1.55% | 474.23 Hz / 466.86 Hz | Δ 1.58% |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.95 ms / 3.91 ms | Δ 1.02% | 252.87 Hz / 255.45 Hz | ∇ -1.01% |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 4.32 ms / 3.68 ms | Δ 17.41% | 231.37 Hz / 271.65 Hz | ∇ -14.83% |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.38 ms / 6.04 ms | Δ 5.73% | 156.67 Hz / 165.66 Hz | ∇ -5.42% |
| CAtan2LUT: 20x20m,1cm cells,build | 360.78 ms / 102.30 ms | Δ 252.67% | 2.77 Hz / 9.78 Hz | ∇ -71.64% |
| CAtan2LUT: 20x20m,1cm cells,query | 7.41 ns / 7.64 ns | ∇ -3.00% | 135.01 MHz / 130.96 MHz | Δ 3.09% |
| CAtan2LUTMultiRes: 22x22m,build | 292.26 ms / 101.62 ms | Δ 187.60% | 3.42 Hz / 9.84 Hz | ∇ -65.23% |
| CAtan2LUTMultiRes: 22x22m,query | 19.02 ns / 10.59 ns | Δ 79.56% | 52.58 MHz / 94.41 MHz | ∇ -44.31% |
| CAtan2LUT: raw ::atan2() call | 94.87 ns / 22.56 ns | Δ 320.52% | 10.54 MHz / 44.33 MHz | ∇ -76.22% |
| Strings: mrpt::format() short str | 199.30 ns / 548.06 ns | ∇ -63.64% | 5.02 MHz / 1.82 MHz | Δ 174.99% |
| Strings: mrpt::format() long str | 356.30 ns / 15.47 us | ∇ -97.70% | 2.81 MHz / 64.64 KHz | Δ 4242.11% |