| Test description | 1.5.7dev-MSVC2017-64bit / 1.5.7dev-GCC730-64bit | |||
| Execution time | Execution rate (Hz) | |||
| icp-slam (match points): Run with sample dataset | 1.31 ms / 936.60 us | Δ 39.82% | 763.60 Hz / 1.07 KHz | ∇ -28.48% |
| icp-slam (match grid): Run with sample dataset | 1.76 ms / 1.22 ms | Δ 44.30% | 569.34 Hz / 821.57 Hz | ∇ -30.70% |
| poses: CPose3D (+) CPose3D | 108.84 ns / 16.22 ns | Δ 571.02% | 9.19 MHz / 61.65 MHz | ∇ -85.10% |
| poses: CPose3D.composeFrom() | 98.66 ns / 14.96 ns | Δ 559.49% | 10.14 MHz / 66.84 MHz | ∇ -84.84% |
| poses: CPose3D (+) CPoint3D | 10.79 ns / 3.38 ns | Δ 219.71% | 92.65 MHz / 296.21 MHz | ∇ -68.72% |
| poses: CPose3D.composePoint() | 9.95 ns / 6.23 ns | Δ 59.64% | 100.55 MHz / 160.51 MHz | ∇ -37.36% |
| poses: CPose3D.composePoint()+Jacobs | 77.35 ns / 116.85 ns | ∇ -33.80% | 12.93 MHz / 8.56 MHz | Δ 51.06% |
| poses: CPoint3D (-) CPose3D | 29.11 ns / 7.44 ns | Δ 291.19% | 34.35 MHz / 134.37 MHz | ∇ -74.44% |
| poses: CPose3D.inverseComposePoint() | 21.72 ns / 16.60 ns | Δ 30.85% | 46.03 MHz / 60.23 MHz | ∇ -23.58% |
| poses: CPose2D (+) CPose2D | 14.66 ns / 11.88 ns | Δ 23.43% | 68.20 MHz / 84.18 MHz | ∇ -18.98% |
| poses: CPose2D.composeFrom() | 8.87 ns / 12.31 ns | ∇ -27.99% | 112.80 MHz / 81.23 MHz | Δ 38.86% |
| poses: CPose2D (+) CPoint2D | 10.10 ns / 3.25 ns | Δ 210.88% | 99.04 MHz / 307.88 MHz | ∇ -67.83% |
| poses: CPose2D.composePoint() | 5.96 ns / 2.98 ns | Δ 99.87% | 167.67 MHz / 335.12 MHz | ∇ -49.97% |
| poses: CPose3DQuat (+) CPose3DQuat | 46.29 ns / 21.79 ns | Δ 112.44% | 21.60 MHz / 45.89 MHz | ∇ -52.93% |
| poses: CPose3DQuat.composeFrom() | 34.10 ns / 18.96 ns | Δ 79.87% | 29.32 MHz / 52.74 MHz | ∇ -44.41% |
| poses: CPose3DQuat (+) CPoint3D | 24.82 ns / 9.76 ns | Δ 154.21% | 40.29 MHz / 102.42 MHz | ∇ -60.66% |
| poses: CPose3DQuat.composePoint() | 16.57 ns / 9.23 ns | Δ 79.56% | 60.36 MHz / 108.39 MHz | ∇ -44.31% |
| poses: CPose3DQuat.invcomposePoint() | 13.13 ns / 8.01 ns | Δ 63.84% | 76.16 MHz / 124.78 MHz | ∇ -38.97% |
| poses: Conv CPose3DQuat <- CPose3D | 12.13 ns / 7.88 ns | Δ 53.88% | 82.47 MHz / 126.90 MHz | ∇ -35.01% |
| poses: Conv CPose3D -> CPose3DQuat | 43.97 ns / 70.81 ns | ∇ -37.91% | 22.74 MHz / 14.12 MHz | Δ 61.05% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 960.22 ns / 60.96 us | ∇ -98.42% | 1.04 MHz / 16.40 KHz | Δ 6248.46% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 941.20 ns / 60.56 us | ∇ -98.45% | 1.06 MHz / 16.51 KHz | Δ 6334.13% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 5.89 us / 7.61 us | ∇ -22.60% | 169.68 KHz / 131.34 KHz | Δ 29.20% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.72 us / 270.70 ns | Δ 536.21% | 580.64 KHz / 3.69 MHz | ∇ -84.28% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.72 us / 270.60 ns | Δ 537.46% | 579.72 KHz / 3.70 MHz | ∇ -84.31% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.21 us / 4.12 us | Δ 2.09% | 237.73 KHz / 242.69 KHz | ∇ -2.04% |
| CPose3DInterpolator: CPose3D insert pose at end | 189.89 ns / 198.13 ns | ∇ -4.16% | 5.27 MHz / 5.05 MHz | Δ 4.34% |
| CPose3DInterpolator: CPose3D insert pose random | 279.35 ns / 186.81 ns | Δ 49.54% | 3.58 MHz / 5.35 MHz | ∇ -33.13% |
| CPose3DInterpolator: CPose3D query | 408.39 ns / 570.42 ns | ∇ -28.41% | 2.45 MHz / 1.75 MHz | Δ 39.68% |
| CPose3DInterpolator: TPose3D insert pose at end | 166.84 ns / 174.17 ns | ∇ -4.21% | 5.99 MHz / 5.74 MHz | Δ 4.40% |
| CPose3DInterpolator: TPose3D insert pose random | 272.92 ns / 230.96 ns | Δ 18.17% | 3.66 MHz / 4.33 MHz | ∇ -15.37% |
| CPose3DInterpolator: TPose3D query | 318.24 ns / 511.64 ns | ∇ -37.80% | 3.14 MHz / 1.95 MHz | Δ 60.77% |
| CPose2DInterpolator: TPose2D insert pose at end | 160.68 ns / 153.49 ns | Δ 4.68% | 6.22 MHz / 6.52 MHz | ∇ -4.47% |
| CPose2DInterpolator: TPose2D insert pose random | 226.10 ns / 204.45 ns | Δ 10.59% | 4.42 MHz / 4.89 MHz | ∇ -9.57% |
| CPose2DInterpolator: TPose2D query | 144.72 ns / 185.58 ns | ∇ -22.02% | 6.91 MHz / 5.39 MHz | Δ 28.23% |
| matrix: unit, dyn[float], 3x3 | 21.72 ns / 20.81 ns | Δ 4.35% | 46.04 MHz / 48.05 MHz | ∇ -4.17% |
| matrix: unit, dyn[double], 3x3 | 21.63 ns / 18.03 ns | Δ 19.96% | 46.23 MHz / 55.46 MHz | ∇ -16.64% |
| matrix: unit, dyn[float], 6x6 | 58.30 ns / 49.43 ns | Δ 17.95% | 17.15 MHz / 20.23 MHz | ∇ -15.22% |
| matrix: unit, dyn[double], 6x6 | 57.93 ns / 38.37 ns | Δ 50.95% | 17.26 MHz / 26.06 MHz | ∇ -33.75% |
| matrix: unit, fix[float,3,3] | 0.83 ns / 0.00 ns | Δ inf% | 1.21 GHz / inf THz | ∇ -nan% |
| matrix: unit, fix[double,3,3] | 1.34 ns / 0.00 ns | Δ inf% | 746.12 MHz / inf THz | ∇ -nan% |
| matrix: unit, fix[float,6,6] | 4.12 ns / 0.00 ns | Δ inf% | 242.52 MHz / inf THz | ∇ -nan% |
| matrix: unit, fix[double,6,6] | 6.34 ns / 0.00 ns | Δ inf% | 157.62 MHz / inf THz | ∇ -nan% |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 177.80 ns / 75.60 ns | Δ 135.18% | 5.62 MHz / 13.23 MHz | ∇ -57.48% |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 106.68 ns / 0.00 ns | Δ inf% | 9.37 MHz / inf THz | ∇ -nan% |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 162.46 ns / 82.10 ns | Δ 97.88% | 6.16 MHz / 12.18 MHz | ∇ -49.46% |
| matrix: multiply, fix[double], 3x3 * 3x3 | 98.07 ns / 0.20 ns | Δ 48937.19% | 10.20 MHz / 5.00 GHz | ∇ -99.80% |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 184.38 ns / 88.00 ns | Δ 109.52% | 5.42 MHz / 11.36 MHz | ∇ -52.27% |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 131.40 ns / 0.00 ns | Δ inf% | 7.61 MHz / inf THz | ∇ -nan% |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 183.56 ns / 91.40 ns | Δ 100.83% | 5.45 MHz / 10.94 MHz | ∇ -50.21% |
| matrix: multiply, fix[double], 3x6 * 6x3 | 114.34 ns / 0.80 ns | Δ 14193.08% | 8.75 MHz / 1.25 GHz | ∇ -99.30% |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.00 us / 1.08 us | ∇ -6.93% | 997.38 KHz / 928.25 KHz | Δ 7.45% |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 831.72 ns / 794.20 ns | Δ 4.72% | 1.20 MHz / 1.26 MHz | ∇ -4.51% |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.55 us / 1.71 us | ∇ -9.36% | 647.07 KHz / 586.48 KHz | Δ 10.33% |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.33 us / 1.32 us | Δ 1.45% | 749.16 KHz / 760.05 KHz | ∇ -1.43% |
| matrix: inv, dyn[double] 3x3 | 997.04 ns / 592.00 ns | Δ 68.42% | 1.00 MHz / 1.69 MHz | ∇ -40.62% |
| matrix: inv, fix[double] 3x3 | 17.81 ns / 1.00 ns | Δ 1680.98% | 56.15 MHz / 1.00 GHz | ∇ -94.39% |
| matrix: inv, dyn[double] 6x6 | 1.67 us / 1.57 us | Δ 6.46% | 599.82 KHz / 638.57 KHz | ∇ -6.07% |
| matrix: inv, fix[double] 6x6 | 1.01 us / 818.00 ns | Δ 22.92% | 994.53 KHz / 1.22 MHz | ∇ -18.65% |
| matrix: inv, dyn[double] 20x20 | 10.40 us / 8.98 us | Δ 15.81% | 96.14 KHz / 111.33 KHz | ∇ -13.65% |
| matrix: inv, fix[double] 20x20 | 9.45 us / 8.15 us | Δ 15.82% | 105.87 KHz / 122.62 KHz | ∇ -13.66% |
| matrix: inv, dyn[double] 40x40 | 40.34 us / 43.66 us | ∇ -7.59% | 24.79 KHz / 22.90 KHz | Δ 8.22% |
| matrix: inv, fix[double] 40x40 | 38.14 us / 40.36 us | ∇ -5.50% | 26.22 KHz / 24.77 KHz | Δ 5.83% |
| matrix: det, dyn[double] 2x2 | 332.38 ns / 165.10 ns | Δ 101.32% | 3.01 MHz / 6.06 MHz | ∇ -50.33% |
| matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
| matrix: det, dyn[double] 3x3 | 437.03 ns / 225.50 ns | Δ 93.81% | 2.29 MHz / 4.43 MHz | ∇ -48.40% |
| matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
| matrix: det, dyn[double] 6x6 | 810.13 ns / 445.40 ns | Δ 81.89% | 1.23 MHz / 2.25 MHz | ∇ -45.02% |
| matrix: det, fix[double] 6x6 | 606.86 ns / 299.10 ns | Δ 102.90% | 1.65 MHz / 3.34 MHz | ∇ -50.71% |
| matrix: det, dyn[double] 20x20 | 6.30 us / 4.34 us | Δ 45.04% | 158.75 KHz / 230.26 KHz | ∇ -31.06% |
| matrix: det, fix[double] 20x20 | 5.89 us / 3.89 us | Δ 51.15% | 169.88 KHz / 256.77 KHz | ∇ -33.84% |
| matrix: det, dyn[double] 40x40 | 22.96 us / 17.00 us | Δ 35.05% | 43.55 KHz / 58.81 KHz | ∇ -25.95% |
| matrix: det, fix[double] 40x40 | 22.85 us / 16.62 us | Δ 37.54% | 43.75 KHz / 60.18 KHz | ∇ -27.29% |
| matrix: chol, dyn[double] 4x4 | 682.20 ns / 250.00 ns | Δ 172.88% | 1.47 MHz / 4.00 MHz | ∇ -63.35% |
| matrix: chol, fix[double] 4x4 | 316.95 ns / 90.00 ns | Δ 252.17% | 3.16 MHz / 11.11 MHz | ∇ -71.60% |
| matrix: chol, dyn[double] 40x40 | 15.61 us / 10.76 us | Δ 45.09% | 64.05 KHz / 92.94 KHz | ∇ -31.08% |
| matrix: chol, fix[double] 40x40 | 14.14 us / 10.29 us | Δ 37.38% | 70.74 KHz / 97.18 KHz | ∇ -27.21% |
| matrix: chol, sparse [2x2;2x2] | 123.13 us / 9.80 us | Δ 1156.42% | 8.12 KHz / 102.04 KHz | ∇ -92.04% |
| matrix: chol, sparse [30x30;10x10] | 44.19 us / 38.80 us | Δ 13.90% | 22.63 KHz / 25.77 KHz | ∇ -12.20% |
| matrix: chol, dyn[double] 10x[6x6] | 38.64 us / 28.50 us | Δ 35.57% | 25.88 KHz / 35.09 KHz | ∇ -26.24% |
| matrix: chol, sparse 10x[6x6] | 18.44 us / 16.75 us | Δ 10.08% | 54.24 KHz / 59.70 KHz | ∇ -9.15% |
| matrix: chol, dyn[double] 20x[6x6] | 187.94 us / 148.10 us | Δ 26.90% | 5.32 KHz / 6.75 KHz | ∇ -21.20% |
| matrix: chol, sparse 20x[6x6] | 32.61 us / 29.60 us | Δ 10.16% | 30.67 KHz / 33.78 KHz | ∇ -9.22% |
| matrix: chol, dyn[double] 50x[6x6] | 2.45 ms / 1.67 ms | Δ 46.61% | 407.79 Hz / 597.87 Hz | ∇ -31.79% |
| matrix: chol, sparse 50x[6x6] | 159.41 us / 70.37 us | Δ 126.53% | 6.27 KHz / 14.21 KHz | ∇ -55.86% |
| matrix: chol, dyn[double] 100x[6x6] | 16.61 ms / 13.50 ms | Δ 23.06% | 60.21 Hz / 74.09 Hz | ∇ -18.74% |
| matrix: chol, sparse 100x[6x6] | 143.31 us / 134.72 us | Δ 6.38% | 6.98 KHz / 7.42 KHz | ∇ -5.99% |
| matrix: chol, dyn[double] 120x[6x6] | 22.18 ms / 24.56 ms | ∇ -9.70% | 45.09 Hz / 40.72 Hz | Δ 10.75% |
| matrix: chol, sparse 120x[6x6] | 169.63 us / 163.32 us | Δ 3.86% | 5.90 KHz / 6.12 KHz | ∇ -3.72% |
| matrix: chol, dyn[double] 140x[6x6] | 33.41 ms / 35.44 ms | ∇ -5.72% | 29.93 Hz / 28.22 Hz | Δ 6.06% |
| matrix: chol, sparse 140x[6x6] | 202.09 us / 188.90 us | Δ 6.98% | 4.95 KHz / 5.29 KHz | ∇ -6.53% |
| 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 | 2.91 ns / 0.00 ns | Δ inf% | 343.63 MHz / inf THz | ∇ -nan% |
| gridmap2D: setCell | 1.86 ns / 0.95 ns | Δ 95.31% | 536.87 MHz / 1.05 GHz | ∇ -48.80% |
| gridmap2D: updateCell | 3.46 ns / 3.43 ns | Δ 0.84% | 289.38 MHz / 291.80 MHz | ∇ -0.83% |
| gridmap2D: updateCell_fast_occupied | 1.88 ns / 0.86 ns | Δ 120.32% | 530.87 MHz / 1.17 GHz | ∇ -54.61% |
| gridmap2D: insert scan w/o widening | 62.88 us / 60.12 us | Δ 4.59% | 15.90 KHz / 16.63 KHz | ∇ -4.38% |
| gridmap2D: insert scan with widening | 175.10 us / 167.16 us | Δ 4.75% | 5.71 KHz / 5.98 KHz | ∇ -4.54% |
| gridmap2D: resize | 757.97 us / 271.00 us | Δ 179.69% | 1.32 KHz / 3.69 KHz | ∇ -64.25% |
| gridmap2D: computeLikelihood | 8.30 us / 8.78 us | ∇ -5.45% | 120.54 KHz / 113.96 KHz | Δ 5.77% |
| gridmap2D: determineMatching2D | 35.80 us / 22.26 us | Δ 60.85% | 27.93 KHz / 44.93 KHz | ∇ -37.83% |
| pointmap: insert 100 scans | 526.37 us / 288.09 us | Δ 82.71% | 1.90 KHz / 3.47 KHz | ∇ -45.27% |
| pointmap: build 2D kd-tree of 1 scan | 2.27 us / 1.08 us | Δ 110.18% | 440.53 KHz / 925.93 KHz | ∇ -52.42% |
| pointmap: build 2D kd-tree of 100 scan | 155.06 us / 84.64 us | Δ 83.20% | 6.45 KHz / 11.81 KHz | ∇ -45.41% |
| pointmap: build 2D kd-tree of 1000 scan | 1.69 ms / 939.64 us | Δ 79.36% | 593.35 Hz / 1.06 KHz | ∇ -44.25% |
| pointmap: build 3D kd-tree of 1 scan | 2.31 us / 1.52 us | Δ 51.72% | 433.61 KHz / 657.89 KHz | ∇ -34.09% |
| pointmap: build 3D kd-tree of 100 scan | 159.93 us / 88.16 us | Δ 81.40% | 6.25 KHz / 11.34 KHz | ∇ -44.87% |
| pointmap: build 3D kd-tree of 1000 scan | 1.73 ms / 939.00 us | Δ 84.36% | 577.66 Hz / 1.06 KHz | ∇ -45.76% |
| pointmap: kd-tree 2d query on 10 scans | 516.48 ns / 319.00 ns | Δ 61.91% | 1.94 MHz / 3.13 MHz | ∇ -38.24% |
| pointmap: kd-tree 2d query on 1000 scans | 42.42 us / 23.54 us | Δ 80.17% | 23.57 KHz / 42.47 KHz | ∇ -44.50% |
| pointmap: kd-tree 2d query on 10000 scans | 4.92 ms / 2.74 ms | Δ 79.39% | 203.42 Hz / 364.91 Hz | ∇ -44.25% |
| pointmap: (insert scan+2D kd-tree query) x 10 | 1.82 ms / 951.65 us | Δ 90.74% | 550.91 Hz / 1.05 KHz | ∇ -47.57% |
| pointmap: (insert scan+2D kd-tree query) x 50 | 42.41 ms / 23.84 ms | Δ 77.92% | 23.58 Hz / 41.95 Hz | ∇ -43.79% |
| pointmap: (insert scan+3D kd-tree query) x 10 | 1.73 ms / 928.80 us | Δ 86.23% | 578.12 Hz / 1.08 KHz | ∇ -46.30% |
| pointmap: (insert scan+3D kd-tree query) x 50 | 43.82 ms / 23.74 ms | Δ 84.56% | 22.82 Hz / 42.12 Hz | ∇ -45.82% |
| pointmap: computeMatchingWith2D | 33.73 us / 21.35 us | Δ 57.99% | 29.64 KHz / 46.83 KHz | ∇ -36.70% |
| pointmap: boundingBox (10 scans) | 10.77 us / 875.32 ns | Δ 1130.42% | 92.85 KHz / 1.14 MHz | ∇ -91.87% |
| pointmap: boundingBox (1000 scans) | 1.07 ms / 85.22 us | Δ 1160.12% | 931.26 Hz / 11.73 KHz | ∇ -92.06% |
| random: drawUniform32bit | 4.58 ns / 4.47 ns | Δ 2.63% | 218.18 MHz / 223.92 MHz | ∇ -2.56% |
| random: drawUniform | 4.56 ns / 4.45 ns | Δ 2.49% | 219.10 MHz / 224.56 MHz | ∇ -2.43% |
| random: drawGaussian1D_normalized | 20.91 ns / 51.69 ns | ∇ -59.55% | 47.83 MHz / 19.35 MHz | Δ 147.23% |
| random: drawGaussian1D | 20.77 ns / 51.88 ns | ∇ -59.97% | 48.15 MHz / 19.28 MHz | Δ 149.79% |
| random: system rand() | 14.59 ns / 10.85 ns | Δ 34.44% | 68.54 MHz / 92.14 MHz | ∇ -25.62% |
| random: drawGaussianMultivariate(fixed 3x3) | 561.77 ns / 544.38 ns | Δ 3.19% | 1.78 MHz / 1.84 MHz | ∇ -3.10% |
| random: drawGaussianMultivariate(dyn 3x3) | 1.64 us / 1.17 us | Δ 40.23% | 608.03 KHz / 852.67 KHz | ∇ -28.69% |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 55.97 ns / 104.51 ns | ∇ -46.44% | 17.87 MHz / 9.57 MHz | Δ 86.72% |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 87.22 ns / 166.05 ns | ∇ -47.47% | 11.46 MHz / 6.02 MHz | Δ 90.38% |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 183.80 ns / 344.60 ns | ∇ -46.66% | 5.44 MHz / 2.90 MHz | Δ 87.49% |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 61.16 ns / 112.66 ns | ∇ -45.71% | 16.35 MHz / 8.88 MHz | Δ 84.20% |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 94.72 ns / 182.01 ns | ∇ -47.96% | 10.56 MHz / 5.49 MHz | Δ 92.15% |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 202.25 ns / 361.46 ns | ∇ -44.05% | 4.94 MHz / 2.77 MHz | Δ 78.72% |
| random: permuteVector (len=10) | 342.43 ns / 153.80 ns | Δ 122.65% | 2.92 MHz / 6.50 MHz | ∇ -55.09% |
| random: permuteVector (len=100) | 3.50 us / 1.62 us | Δ 116.42% | 285.70 KHz / 618.31 KHz | ∇ -53.79% |
| random: permuteVector (len=1000) | 34.48 us / 15.53 us | Δ 122.07% | 29.00 KHz / 64.41 KHz | ∇ -54.97% |
| math: round | 52.00 ns / 0.03 ns | Δ 159251.62% | 19.23 MHz / 30.65 GHz | ∇ -99.94% |
| math: std::hypot(float) | 5.42 ns / 4.94 ns | Δ 9.67% | 184.50 MHz / 202.33 MHz | ∇ -8.81% |
| math: mrpt::math::hypot_fast(float) | 3.93 ns / 1.81 ns | Δ 116.98% | 254.43 MHz / 552.07 MHz | ∇ -53.91% |
| math: mrpt::math::hypot_fast(double) | 5.24 ns / 3.62 ns | Δ 44.70% | 190.72 MHz / 275.97 MHz | ∇ -30.89% |
| images: Gauss filter (640x480) | 919.51 us / 2.18 ms | ∇ -57.89% | 1.09 KHz / 458.01 Hz | Δ 137.45% |
| images: Gauss filter (800x600) | 1.50 ms / 3.12 ms | ∇ -51.94% | 667.43 Hz / 320.79 Hz | Δ 108.06% |
| images: Gauss filter (1024x768) | 2.43 ms / 5.25 ms | ∇ -53.70% | 411.66 Hz / 190.61 Hz | Δ 115.97% |
| images: Half sample GRAY (160x120) | 44.68 us / 806.67 ns | Δ 5439.01% | 22.38 KHz / 1.24 MHz | ∇ -98.19% |
| images: Half sample GRAY (320x240) | 12.34 us / 1.79 us | Δ 589.33% | 81.04 KHz / 558.66 KHz | ∇ -85.49% |
| images: Half sample GRAY (640x480) | 44.43 us / 7.54 us | Δ 489.20% | 22.51 KHz / 132.63 KHz | ∇ -83.03% |
| images: Half sample GRAY (800x600) | 62.97 us / 12.46 us | Δ 405.35% | 15.88 KHz / 80.26 KHz | ∇ -80.21% |
| images: Half sample GRAY (1024x768) | 73.10 us / 20.16 us | Δ 262.61% | 13.68 KHz / 49.60 KHz | ∇ -72.42% |
| images: Half sample GRAY (1280x1024) | 83.61 us / 33.44 us | Δ 150.02% | 11.96 KHz / 29.90 KHz | ∇ -60.00% |
| images: Half sample RGB (160x120) | 7.37 us / 1.47 us | Δ 401.18% | 135.73 KHz / 680.27 KHz | ∇ -80.05% |
| images: Half sample RGB (320x240) | 25.88 us / 4.68 us | Δ 452.54% | 38.64 KHz / 213.52 KHz | ∇ -81.90% |
| images: Half sample RGB (640x480) | 99.11 us / 22.17 us | Δ 346.96% | 10.09 KHz / 45.10 KHz | ∇ -77.63% |
| images: Half sample RGB (800x600) | 121.43 us / 33.14 us | Δ 266.38% | 8.24 KHz / 30.17 KHz | ∇ -72.71% |
| images: Half sample RGB (1024x768) | 173.65 us / 53.65 us | Δ 223.68% | 5.76 KHz / 18.64 KHz | ∇ -69.11% |
| images: Half sample RGB (1280x1024) | 182.74 us / 100.80 us | Δ 81.29% | 5.47 KHz / 9.92 KHz | ∇ -44.84% |
| images: Half sample smooth GRAY (160x120) | 28.12 us / 1.13 us | Δ 2388.34% | 35.56 KHz / 884.96 KHz | ∇ -95.98% |
| images: Half sample smooth GRAY (320x240) | 6.24 us / 2.96 us | Δ 110.93% | 160.35 KHz / 338.22 KHz | ∇ -52.59% |
| images: Half sample smooth GRAY (640x480) | 20.79 us / 13.10 us | Δ 58.66% | 48.10 KHz / 76.32 KHz | ∇ -36.97% |
| images: Half sample smooth GRAY (800x600) | 30.69 us / 22.30 us | Δ 37.60% | 32.59 KHz / 44.84 KHz | ∇ -27.33% |
| images: Half sample smooth GRAY (1024x768) | 33.69 us / 35.66 us | ∇ -5.52% | 29.68 KHz / 28.05 KHz | Δ 5.85% |
| images: Half sample smooth GRAY (1280x1024) | 38.04 us / 56.33 us | ∇ -32.47% | 26.29 KHz / 17.75 KHz | Δ 48.09% |
| images: Half sample smooth RGB (160x120) | 9.57 us / 11.92 us | ∇ -19.68% | 104.47 KHz / 83.92 KHz | Δ 24.50% |
| images: Half sample smooth RGB (320x240) | 33.29 us / 36.43 us | ∇ -8.62% | 30.04 KHz / 27.45 KHz | Δ 9.43% |
| images: Half sample smooth RGB (640x480) | 126.81 us / 126.84 us | ∇ -0.03% | 7.89 KHz / 7.88 KHz | Δ 0.03% |
| images: Half sample smooth RGB (800x600) | 176.80 us / 142.65 us | Δ 23.94% | 5.66 KHz / 7.01 KHz | ∇ -19.31% |
| images: Half sample smooth RGB (1024x768) | 209.31 us / 261.31 us | ∇ -19.90% | 4.78 KHz / 3.83 KHz | Δ 24.84% |
| images: Half sample smooth RGB (1280x1024) | 221.21 us / 275.76 us | ∇ -19.78% | 4.52 KHz / 3.63 KHz | Δ 24.66% |
| images: RGB->GRAY 8u (40x30) | 6.60 us / 4.20 us | Δ 56.94% | 151.59 KHz / 237.91 KHz | ∇ -36.28% |
| images: RGB->GRAY 8u (80x60) | 7.36 us / 1.89 us | Δ 289.91% | 135.94 KHz / 530.04 KHz | ∇ -74.35% |
| images: RGB->GRAY 8u (160x120) | 27.06 us / 8.07 us | Δ 235.45% | 36.96 KHz / 123.97 KHz | ∇ -70.19% |
| images: RGB->GRAY 8u (320x240) | 105.43 us / 36.87 us | Δ 185.92% | 9.49 KHz / 27.12 KHz | ∇ -65.03% |
| images: RGB->GRAY 8u (640x480) | 175.70 us / 123.99 us | Δ 41.71% | 5.69 KHz / 8.07 KHz | ∇ -29.43% |
| images: RGB->GRAY 8u (800x600) | 196.49 us / 160.60 us | Δ 22.35% | 5.09 KHz / 6.23 KHz | ∇ -18.27% |
| images: RGB->GRAY 8u (1024x768) | 367.76 us / 225.35 us | Δ 63.20% | 2.72 KHz / 4.44 KHz | ∇ -38.72% |
| images: RGB->GRAY 8u (1280x1024) | 834.98 us / 366.04 us | Δ 128.11% | 1.20 KHz / 2.73 KHz | ∇ -56.16% |
| images: KLT score (WIN=2 5x5) | 43.55 ns / 27.32 ns | Δ 59.41% | 22.96 MHz / 36.61 MHz | ∇ -37.27% |
| images: KLT score (WIN=3 7x7) | 58.85 ns / 33.44 ns | Δ 75.96% | 16.99 MHz / 29.90 MHz | ∇ -43.17% |
| images: KLT score (WIN=4 9x9) | 76.23 ns / 37.69 ns | Δ 102.28% | 13.12 MHz / 26.53 MHz | ∇ -50.56% |
| images: KLT score (WIN=5 10x10) | 101.24 ns / 47.70 ns | Δ 112.27% | 9.88 MHz / 20.97 MHz | ∇ -52.89% |
| images: KLT score (WIN=6 13x13) | 129.38 ns / 53.85 ns | Δ 140.26% | 7.73 MHz / 18.57 MHz | ∇ -58.38% |
| images: KLT score (WIN=7 15x15) | 163.57 ns / 63.63 ns | Δ 157.06% | 6.11 MHz / 15.72 MHz | ∇ -61.10% |
| images: KLT score (WIN=8 17x17) | 207.36 ns / 60.62 ns | Δ 242.03% | 4.82 MHz / 16.49 MHz | ∇ -70.76% |
| images: KLT score (WIN=9 19x19) | 240.42 ns / 63.96 ns | Δ 275.90% | 4.16 MHz / 15.64 MHz | ∇ -73.40% |
| images: KLT score (WIN=10 21x21) | 274.50 ns / 68.09 ns | Δ 303.14% | 3.64 MHz / 14.69 MHz | ∇ -75.19% |
| images: KLT score (WIN=11 23x23) | 319.09 ns / 59.89 ns | Δ 432.77% | 3.13 MHz / 16.70 MHz | ∇ -81.23% |
| images: KLT score (WIN=12 25x25) | 368.43 ns / 78.90 ns | Δ 366.95% | 2.71 MHz / 12.67 MHz | ∇ -78.58% |
| images: KLT score (WIN=13 27x27) | 427.37 ns / 67.38 ns | Δ 534.27% | 2.34 MHz / 14.84 MHz | ∇ -84.23% |
| images: KLT score (WIN=14 29x29) | 483.04 ns / 70.05 ns | Δ 589.60% | 2.07 MHz / 14.28 MHz | ∇ -85.50% |
| images: KLT score (WIN=15 31x31) | 547.94 ns / 73.23 ns | Δ 648.23% | 1.83 MHz / 13.66 MHz | ∇ -86.64% |
| images: KLT score (WIN=16 33x33) | 619.70 ns / 103.99 ns | Δ 495.92% | 1.61 MHz / 9.62 MHz | ∇ -83.22% |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 191.90 us / 81.41 us | Δ 135.72% | 5.21 KHz / 12.28 KHz | ∇ -57.58% |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 231.26 us / 224.53 us | Δ 3.00% | 4.32 KHz / 4.45 KHz | ∇ -2.91% |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 280.65 us / 132.60 us | Δ 111.65% | 3.56 KHz / 7.54 KHz | ∇ -52.75% |
| images: buildPyramid 640x480,4 levs, smooth, gray | 228.84 us / 144.11 us | Δ 58.79% | 4.37 KHz / 6.94 KHz | ∇ -37.02% |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 207.46 us / 105.23 us | Δ 97.15% | 4.82 KHz / 9.50 KHz | ∇ -49.28% |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 240.02 us / 237.08 us | Δ 1.24% | 4.17 KHz / 4.22 KHz | ∇ -1.23% |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 284.19 us / 95.91 us | Δ 196.31% | 3.52 KHz / 10.43 KHz | ∇ -66.25% |
| images: buildPyramid 640x480,8 levs, smooth, gray | 238.30 us / 104.65 us | Δ 127.70% | 4.20 KHz / 9.56 KHz | ∇ -56.08% |
| stereo: prepare rectify map 640x480 RGB | 4.52 ms / 18.50 ms | ∇ -75.59% | 221.47 Hz / 54.06 Hz | Δ 309.69% |
| stereo: prepare rectify map 800x600 RGB | 5.88 ms / 28.78 ms | ∇ -79.56% | 170.00 Hz / 34.74 Hz | Δ 389.31% |
| stereo: prepare rectify map 1024x768 RGB | 9.45 ms / 47.30 ms | ∇ -80.01% | 105.78 Hz / 21.14 Hz | Δ 400.36% |
| stereo: prepare rectify map 1024x768->800x600 RGB | 5.92 ms / 28.78 ms | ∇ -79.41% | 168.79 Hz / 34.75 Hz | Δ 385.74% |
| stereo: prepare rectify map 1024x768->640x480 RGB | 3.88 ms / 18.42 ms | ∇ -78.93% | 257.65 Hz / 54.30 Hz | Δ 374.50% |
| stereo: rectify 640x480 RGB | 1.62 ms / 1.56 ms | Δ 3.63% | 617.43 Hz / 639.86 Hz | ∇ -3.50% |
| stereo: rectify 800x600 RGB | 2.00 ms / 2.05 ms | ∇ -2.23% | 499.77 Hz / 488.62 Hz | Δ 2.28% |
| stereo: rectify 1024x768 RGB | 3.71 ms / 3.27 ms | Δ 13.51% | 269.37 Hz / 305.76 Hz | ∇ -11.90% |
| stereo: rectify 1024x768->800x600 RGB | 2.08 ms / 1.99 ms | Δ 4.73% | 479.92 Hz / 502.64 Hz | ∇ -4.52% |
| stereo: rectify 1024x768->640x480 RGB | 1.75 ms / 1.64 ms | Δ 6.35% | 572.46 Hz / 608.81 Hz | ∇ -5.97% |
| stereo: rectify 640x480 GRAY | 890.62 us / 1.13 ms | ∇ -21.45% | 1.12 KHz / 881.95 Hz | Δ 27.31% |
| stereo: rectify 800x600 GRAY | 1.10 ms / 1.58 ms | ∇ -30.34% | 909.06 Hz / 633.23 Hz | Δ 43.56% |
| stereo: rectify 1024x768 GRAY | 2.18 ms / 2.40 ms | ∇ -9.25% | 458.96 Hz / 416.50 Hz | Δ 10.19% |
| stereo: rectify 1024x768->800x600 GRAY | 1.10 ms / 1.55 ms | ∇ -29.17% | 909.41 Hz / 644.12 Hz | Δ 41.19% |
| stereo: rectify 1024x768->640x480 GRAY | 895.97 us / 1.29 ms | ∇ -30.63% | 1.12 KHz / 774.23 Hz | Δ 44.16% |
| tfest: se3_l2 [CPose3DQuat] | 10.63 us / 3.91 us | Δ 172.00% | 94.03 KHz / 255.76 KHz | ∇ -63.23% |
| tfest: se3_l2 [vector TPoint3D] | 8.97 us / 3.58 us | Δ 150.55% | 111.51 KHz / 279.38 KHz | ∇ -60.09% |
| tfest: se2_l2 [x10 corrs] | 116.12 ns / 151.94 ns | ∇ -23.57% | 8.61 MHz / 6.58 MHz | Δ 30.85% |
| tfest: se2_l2 [x100 corrs] | 462.23 ns / 223.20 ns | Δ 107.09% | 2.16 MHz / 4.48 MHz | ∇ -51.71% |
| tfest: se2_l2 [x1000 corrs] | 3.91 us / 1.04 us | Δ 277.75% | 255.59 KHz / 965.48 KHz | ∇ -73.53% |
| feature_extraction [640x480]: Harris | 15.75 ms / 8.61 ms | Δ 83.03% | 63.49 Hz / 116.20 Hz | ∇ -45.36% |
| feature_extraction [640x480]: KLT | 9.92 ms / 6.55 ms | Δ 51.47% | 100.84 Hz / 152.74 Hz | ∇ -33.98% |
| feature_extraction [640x480]: FAST | 2.17 ms / 2.04 ms | Δ 6.02% | 461.50 Hz / 489.30 Hz | ∇ -5.68% |
| feature_extraction [640x480]: Spin desc. | 30.67 ms / 102.86 ms | ∇ -70.18% | 32.60 Hz / 9.72 Hz | Δ 235.35% |
| feature_extraction [640x480]: FASTER-9 | 2.91 ms / 2.77 ms | Δ 5.15% | 343.69 Hz / 361.38 Hz | ∇ -4.90% |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 2.27 ms / 1.22 ms | Δ 86.20% | 439.93 Hz / 819.12 Hz | ∇ -46.29% |
| feature_extraction [640x480]: FASTER-10 | 2.32 ms / 1.90 ms | Δ 22.33% | 431.27 Hz / 527.56 Hz | ∇ -18.25% |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 1.88 ms / 951.21 us | Δ 97.33% | 532.77 Hz / 1.05 KHz | ∇ -49.32% |
| feature_extraction [640x480]: FASTER-12 | 1.64 ms / 1.43 ms | Δ 14.58% | 609.44 Hz / 698.30 Hz | ∇ -12.73% |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 1.40 ms / 909.78 us | Δ 53.70% | 715.16 Hz / 1.10 KHz | ∇ -34.94% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 1.05 ms / 414.84 us | Δ 153.19% | 952.09 Hz / 2.41 KHz | ∇ -60.50% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 1.02 ms / 332.75 us | Δ 207.02% | 978.83 Hz / 3.01 KHz | ∇ -67.43% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 826.01 us / 388.20 us | Δ 112.78% | 1.21 KHz / 2.58 KHz | ∇ -53.00% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 1.05 ms / 411.19 us | Δ 155.64% | 951.32 Hz / 2.43 KHz | ∇ -60.88% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 1.02 ms / 332.95 us | Δ 206.85% | 978.81 Hz / 3.00 KHz | ∇ -67.41% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 828.21 us / 389.63 us | Δ 112.56% | 1.21 KHz / 2.57 KHz | ∇ -52.95% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 1.42 ms / 590.48 us | Δ 139.73% | 706.45 Hz / 1.69 KHz | ∇ -58.29% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 1.37 ms / 427.60 us | Δ 219.34% | 732.34 Hz / 2.34 KHz | ∇ -68.69% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 1.34 ms / 447.50 us | Δ 200.54% | 743.54 Hz / 2.23 KHz | ∇ -66.73% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 1.41 ms / 534.93 us | Δ 163.74% | 708.80 Hz / 1.87 KHz | ∇ -62.08% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 1.34 ms / 428.89 us | Δ 213.43% | 743.91 Hz / 2.33 KHz | ∇ -68.09% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 1.29 ms / 446.37 us | Δ 188.21% | 777.31 Hz / 2.24 KHz | ∇ -65.30% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 1.99 ms / 731.75 us | Δ 171.66% | 503.05 Hz / 1.37 KHz | ∇ -63.19% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 1.91 ms / 579.95 us | Δ 229.43% | 523.41 Hz / 1.72 KHz | ∇ -69.64% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 1.70 ms / 494.25 us | Δ 244.06% | 588.07 Hz / 2.02 KHz | ∇ -70.93% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 1.99 ms / 729.32 us | Δ 172.96% | 502.32 Hz / 1.37 KHz | ∇ -63.36% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 1.90 ms / 580.22 us | Δ 226.88% | 527.26 Hz / 1.72 KHz | ∇ -69.41% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 1.72 ms / 494.26 us | Δ 247.21% | 582.72 Hz / 2.02 KHz | ∇ -71.20% |
| feature_matching [640x480]: Harris + CC | 22.18 ms / 16.44 ms | Δ 34.92% | 45.10 Hz / 60.84 Hz | ∇ -25.88% |
| feature_matching [640x480]: Harris + SAD | 18.56 ms / 11.59 ms | Δ 60.05% | 53.89 Hz / 86.25 Hz | ∇ -37.52% |
| feature_matching [640x480]: FAST + CC | 6.94 ms / 7.56 ms | ∇ -8.24% | 144.08 Hz / 132.20 Hz | Δ 8.98% |
| feature_matching [640x480]: FAST + SAD | 3.61 ms / 2.99 ms | Δ 20.80% | 277.32 Hz / 335.00 Hz | ∇ -17.22% |
| graph(2d): insertEdge x 1e3 | 158.15 us / 86.40 us | Δ 83.03% | 6.32 KHz / 11.57 KHz | ∇ -45.37% |
| graph(2d,vec): insertEdge x 1e3 | 154.94 us / 85.45 us | Δ 81.32% | 6.45 KHz / 11.70 KHz | ∇ -44.85% |
| graph(2d): insertEdgeAtEnd x 1e3 | 124.64 us / 69.20 us | Δ 80.11% | 8.02 KHz / 14.45 KHz | ∇ -44.48% |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 120.41 us / 70.19 us | Δ 71.56% | 8.30 KHz / 14.25 KHz | ∇ -41.71% |
| graph(2d pdf): insertEdge x 1e3 | 204.87 us / 116.71 us | Δ 75.53% | 4.88 KHz / 8.57 KHz | ∇ -43.03% |
| graph(2d pdf,vec): insertEdge x 1e3 | 204.35 us / 123.52 us | Δ 65.44% | 4.89 KHz / 8.10 KHz | ∇ -39.56% |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 162.60 us / 132.85 us | Δ 22.40% | 6.15 KHz / 7.53 KHz | ∇ -18.30% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 168.22 us / 99.13 us | Δ 69.69% | 5.94 KHz / 10.09 KHz | ∇ -41.07% |
| graph(2d): insertEdge x 1e4 | 1.67 ms / 1.50 ms | Δ 11.31% | 598.93 Hz / 666.67 Hz | ∇ -10.16% |
| graph(2d,vec): insertEdge x 1e4 | 1.68 ms / 1.24 ms | Δ 35.64% | 596.30 Hz / 808.85 Hz | ∇ -26.28% |
| graph(2d): insertEdgeAtEnd x 1e4 | 1.21 ms / 442.34 us | Δ 174.39% | 823.91 Hz / 2.26 KHz | ∇ -63.56% |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.21 ms / 435.94 us | Δ 178.47% | 823.74 Hz / 2.29 KHz | ∇ -64.09% |
| graph(2d pdf): insertEdge x 1e4 | 2.08 ms / 1.23 ms | Δ 68.89% | 480.03 Hz / 810.72 Hz | ∇ -40.79% |
| graph(2d pdf,vec): insertEdge x 1e4 | 2.19 ms / 1.64 ms | Δ 33.37% | 457.17 Hz / 609.72 Hz | ∇ -25.02% |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.52 ms / 981.13 us | Δ 55.38% | 655.96 Hz / 1.02 KHz | ∇ -35.64% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 963.43 us | Δ 76.14% | 589.28 Hz / 1.04 KHz | ∇ -43.23% |
| graph(3d): insertEdge x 1e3 | 150.12 us / 121.18 us | Δ 23.88% | 6.66 KHz / 8.25 KHz | ∇ -19.28% |
| graph(3d,vec): insertEdge x 1e3 | 150.55 us / 110.97 us | Δ 35.67% | 6.64 KHz / 9.01 KHz | ∇ -26.29% |
| graph(3d): insertEdgeAtEnd x 1e3 | 109.39 us / 92.37 us | Δ 18.42% | 9.14 KHz / 10.83 KHz | ∇ -15.56% |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 110.04 us / 90.57 us | Δ 21.50% | 9.09 KHz / 11.04 KHz | ∇ -17.70% |
| graph(3d pdf): insertEdge x 1e3 | 312.72 us / 296.56 us | Δ 5.45% | 3.20 KHz / 3.37 KHz | ∇ -5.17% |
| graph(3d pdf,vec): insertEdge x 1e3 | 360.19 us / 290.74 us | Δ 23.89% | 2.78 KHz / 3.44 KHz | ∇ -19.28% |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 267.44 us / 226.89 us | Δ 17.87% | 3.74 KHz / 4.41 KHz | ∇ -15.16% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 263.46 us / 228.59 us | Δ 15.25% | 3.80 KHz / 4.37 KHz | ∇ -13.23% |
| graph(3d): insertEdge x 1e4 | 1.86 ms / 1.47 ms | Δ 26.53% | 536.45 Hz / 678.77 Hz | ∇ -20.97% |
| graph(3d,vec): insertEdge x 1e4 | 1.82 ms / 1.32 ms | Δ 38.05% | 548.00 Hz / 756.48 Hz | ∇ -27.56% |
| graph(3d): insertEdgeAtEnd x 1e4 | 1.32 ms / 891.24 us | Δ 47.68% | 759.75 Hz / 1.12 KHz | ∇ -32.29% |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.31 ms / 901.48 us | Δ 45.68% | 761.47 Hz / 1.11 KHz | ∇ -31.35% |
| graph(3d pdf): insertEdge x 1e4 | 3.62 ms / 3.97 ms | ∇ -8.87% | 276.61 Hz / 252.07 Hz | Δ 9.74% |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.83 ms / 3.95 ms | ∇ -3.07% | 261.27 Hz / 253.24 Hz | Δ 3.17% |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.90 ms / 2.27 ms | Δ 27.33% | 345.30 Hz / 439.68 Hz | ∇ -21.46% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.90 ms / 2.27 ms | Δ 27.89% | 344.56 Hz / 440.66 Hz | ∇ -21.81% |
| graph(3d): dijkstra 1e2 nodes | 85.23 us / 47.91 us | Δ 77.89% | 11.73 KHz / 20.87 KHz | ∇ -43.78% |
| graph(3d,vec): dijkstra 1e2 nodes | 84.84 us / 47.74 us | Δ 77.71% | 11.79 KHz / 20.95 KHz | ∇ -43.73% |
| graph(3d): dijkstra 1e3 nodes | 950.94 us / 709.84 us | Δ 33.97% | 1.05 KHz / 1.41 KHz | ∇ -25.35% |
| graph(3d,vec): dijkstra 1e3 nodes | 954.30 us / 717.62 us | Δ 32.98% | 1.05 KHz / 1.39 KHz | ∇ -24.80% |
| graph(3d): dijkstra 1e4 nodes | 11.92 ms / 10.03 ms | Δ 18.77% | 83.91 Hz / 99.66 Hz | ∇ -15.81% |
| graph(3d,vec): dijkstra 1e4 nodes | 11.83 ms / 10.28 ms | Δ 15.07% | 84.53 Hz / 97.27 Hz | ∇ -13.09% |
| graph(3d): dijkstra 1e5 nodes | 155.44 ms / 176.58 ms | ∇ -11.97% | 6.43 Hz / 5.66 Hz | Δ 13.60% |
| graph(3d,vec): dijkstra 1e5 nodes | 154.14 ms / 175.46 ms | ∇ -12.15% | 6.49 Hz / 5.70 Hz | Δ 13.83% |
| graph(2d): dijkstra 1e5 nodes | 150.58 ms / 180.07 ms | ∇ -16.37% | 6.64 Hz / 5.55 Hz | Δ 19.58% |
| graph(2d,vec): dijkstra 1e5 nodes | 149.73 ms / 175.58 ms | ∇ -14.72% | 6.68 Hz / 5.70 Hz | Δ 17.26% |
| graphslam(2d): levmarq 50 KFs/101 edges | 908.20 us / 709.48 us | Δ 28.01% | 1.10 KHz / 1.41 KHz | ∇ -21.88% |
| graphslam(2d): levmarq 100 KFs/451 edges | 4.91 ms / 4.14 ms | Δ 18.45% | 203.72 Hz / 241.31 Hz | ∇ -15.58% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 52.81 ms / 7.80 ms | Δ 576.70% | 18.94 Hz / 128.13 Hz | ∇ -85.22% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 52.60 ms / 7.21 ms | Δ 629.22% | 19.01 Hz / 138.64 Hz | ∇ -86.29% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 52.83 ms / 7.25 ms | Δ 628.43% | 18.93 Hz / 137.89 Hz | ∇ -86.27% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 52.72 ms / 7.21 ms | Δ 631.42% | 18.97 Hz / 138.74 Hz | ∇ -86.33% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 38.09 ms / 6.30 ms | Δ 504.86% | 26.25 Hz / 158.78 Hz | ∇ -83.47% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 38.06 ms / 6.29 ms | Δ 505.00% | 26.28 Hz / 158.98 Hz | ∇ -83.47% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 38.41 ms / 6.19 ms | Δ 520.10% | 26.03 Hz / 161.42 Hz | ∇ -83.87% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 38.20 ms / 5.67 ms | Δ 573.32% | 26.18 Hz / 176.25 Hz | ∇ -85.15% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 18.76 ms / 3.91 ms | Δ 379.52% | 53.29 Hz / 255.56 Hz | ∇ -79.15% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 18.78 ms / 3.88 ms | Δ 384.26% | 53.25 Hz / 257.85 Hz | ∇ -79.35% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 18.98 ms / 3.86 ms | Δ 391.78% | 52.70 Hz / 259.15 Hz | ∇ -79.67% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 19.81 ms / 3.36 ms | Δ 490.22% | 50.47 Hz / 297.89 Hz | ∇ -83.06% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 14.46 ms / 3.38 ms | Δ 327.95% | 69.17 Hz / 296.00 Hz | ∇ -76.63% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 14.29 ms / 3.36 ms | Δ 325.30% | 69.98 Hz / 297.63 Hz | ∇ -76.49% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 14.59 ms / 3.39 ms | Δ 330.75% | 68.53 Hz / 295.20 Hz | ∇ -76.78% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 14.55 ms / 2.79 ms | Δ 421.66% | 68.71 Hz / 358.44 Hz | ∇ -80.83% |
| 3DRangeScan: 320x240 Depth->2D scan | 2.14 ms / 2.11 ms | Δ 1.58% | 466.86 Hz / 474.23 Hz | ∇ -1.55% |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.91 ms / 3.95 ms | ∇ -1.01% | 255.45 Hz / 252.87 Hz | Δ 1.02% |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 3.68 ms / 4.32 ms | ∇ -14.83% | 271.65 Hz / 231.37 Hz | Δ 17.41% |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.04 ms / 6.38 ms | ∇ -5.42% | 165.66 Hz / 156.67 Hz | Δ 5.73% |
| CAtan2LUT: 20x20m,1cm cells,build | 102.30 ms / 360.78 ms | ∇ -71.64% | 9.78 Hz / 2.77 Hz | Δ 252.67% |
| CAtan2LUT: 20x20m,1cm cells,query | 7.64 ns / 7.41 ns | Δ 3.09% | 130.96 MHz / 135.01 MHz | ∇ -3.00% |
| CAtan2LUTMultiRes: 22x22m,build | 101.62 ms / 292.26 ms | ∇ -65.23% | 9.84 Hz / 3.42 Hz | Δ 187.60% |
| CAtan2LUTMultiRes: 22x22m,query | 10.59 ns / 19.02 ns | ∇ -44.31% | 94.41 MHz / 52.58 MHz | Δ 79.56% |
| CAtan2LUT: raw ::atan2() call | 22.56 ns / 94.87 ns | ∇ -76.22% | 44.33 MHz / 10.54 MHz | Δ 320.52% |
| Strings: mrpt::format() short str | 548.06 ns / 199.30 ns | Δ 174.99% | 1.82 MHz / 5.02 MHz | ∇ -63.64% |
| Strings: mrpt::format() long str | 15.47 us / 356.30 ns | Δ 4242.11% | 64.64 KHz / 2.81 MHz | ∇ -97.70% |