| Test description | 1.5.7dev-MSVC2017-64bit / 1.9.9dev-GCC730-64bit | |||
| Execution time | Execution rate (Hz) | |||
| icp-slam (match points): Run with sample dataset | 1.31 ms / 902.92 us | Δ 45.04% | 763.60 Hz / 1.11 KHz | ∇ -31.05% |
| icp-slam (match grid): Run with sample dataset | 1.76 ms / 1.30 ms | Δ 35.61% | 569.34 Hz / 772.09 Hz | ∇ -26.26% |
| poses: CPose3D (+) CPose3D | 108.84 ns / 17.52 ns | Δ 521.23% | 9.19 MHz / 57.08 MHz | ∇ -83.90% |
| poses: CPose3D.composeFrom() | 98.66 ns / 16.58 ns | Δ 495.05% | 10.14 MHz / 60.31 MHz | ∇ -83.19% |
| poses: CPose3D (+) CPoint3D | 10.79 ns / 4.77 ns | Δ 126.18% | 92.65 MHz / 209.56 MHz | ∇ -55.79% |
| poses: CPose3D.composePoint() | 9.95 ns / 5.91 ns | Δ 68.34% | 100.55 MHz / 169.26 MHz | ∇ -40.60% |
| poses: CPose3D.composePoint()+Jacobs | 77.35 ns / 113.42 ns | ∇ -31.80% | 12.93 MHz / 8.82 MHz | Δ 46.63% |
| poses: CPoint3D (-) CPose3D | 29.11 ns / 8.24 ns | Δ 253.30% | 34.35 MHz / 121.36 MHz | ∇ -71.70% |
| poses: CPose3D.inverseComposePoint() | 21.72 ns / 14.52 ns | Δ 49.66% | 46.03 MHz / 68.89 MHz | ∇ -33.18% |
| poses: CPose2D (+) CPose2D | 14.66 ns / 17.57 ns | ∇ -16.52% | 68.20 MHz / 56.93 MHz | Δ 19.79% |
| poses: CPose2D.composeFrom() | 8.87 ns / 13.86 ns | ∇ -36.02% | 112.80 MHz / 72.17 MHz | Δ 56.30% |
| poses: CPose2D (+) CPoint2D | 10.10 ns / 7.64 ns | Δ 32.13% | 99.04 MHz / 130.86 MHz | ∇ -24.32% |
| poses: CPose2D.composePoint() | 5.96 ns / 5.95 ns | Δ 0.17% | 167.67 MHz / 167.95 MHz | ∇ -0.17% |
| poses: CPose3DQuat (+) CPose3DQuat | 46.29 ns / 18.36 ns | Δ 152.13% | 21.60 MHz / 54.47 MHz | ∇ -60.34% |
| poses: CPose3DQuat.composeFrom() | 34.10 ns / 19.07 ns | Δ 78.84% | 29.32 MHz / 52.44 MHz | ∇ -44.08% |
| poses: CPose3DQuat (+) CPoint3D | 24.82 ns / 12.33 ns | Δ 101.37% | 40.29 MHz / 81.13 MHz | ∇ -50.34% |
| poses: CPose3DQuat.composePoint() | 16.57 ns / 10.47 ns | Δ 58.16% | 60.36 MHz / 95.47 MHz | ∇ -36.77% |
| poses: CPose3DQuat.invcomposePoint() | 13.13 ns / 8.56 ns | Δ 53.39% | 76.16 MHz / 116.82 MHz | ∇ -34.81% |
| poses: Conv CPose3DQuat <- CPose3D | 12.13 ns / 9.85 ns | Δ 23.14% | 82.47 MHz / 101.55 MHz | ∇ -18.79% |
| poses: Conv CPose3D -> CPose3DQuat | 43.97 ns / 79.25 ns | ∇ -44.52% | 22.74 MHz / 12.62 MHz | Δ 80.25% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 960.22 ns / 520.00 ns | Δ 84.66% | 1.04 MHz / 1.92 MHz | ∇ -45.85% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 941.20 ns / 540.00 ns | Δ 74.30% | 1.06 MHz / 1.85 MHz | ∇ -42.63% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 5.89 us / 7.73 us | ∇ -23.76% | 169.68 KHz / 129.37 KHz | Δ 31.16% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.72 us / 284.60 ns | Δ 505.14% | 580.64 KHz / 3.51 MHz | ∇ -83.47% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.72 us / 285.00 ns | Δ 505.26% | 579.72 KHz / 3.51 MHz | ∇ -83.48% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.21 us / 4.03 us | Δ 4.37% | 237.73 KHz / 248.11 KHz | ∇ -4.19% |
| CPose3DInterpolator: CPose3D insert pose at end | 189.89 ns / 198.03 ns | ∇ -4.11% | 5.27 MHz / 5.05 MHz | Δ 4.28% |
| CPose3DInterpolator: CPose3D insert pose random | 279.35 ns / 215.30 ns | Δ 29.75% | 3.58 MHz / 4.64 MHz | ∇ -22.93% |
| CPose3DInterpolator: CPose3D query | 408.39 ns / 547.04 ns | ∇ -25.35% | 2.45 MHz / 1.83 MHz | Δ 33.95% |
| CPose3DInterpolator: TPose3D insert pose at end | 166.84 ns / 169.83 ns | ∇ -1.76% | 5.99 MHz / 5.89 MHz | Δ 1.79% |
| CPose3DInterpolator: TPose3D insert pose random | 272.92 ns / 201.49 ns | Δ 35.45% | 3.66 MHz / 4.96 MHz | ∇ -26.17% |
| CPose3DInterpolator: TPose3D query | 318.24 ns / 479.99 ns | ∇ -33.70% | 3.14 MHz / 2.08 MHz | Δ 50.82% |
| CPose2DInterpolator: TPose2D insert pose at end | 160.68 ns / 156.29 ns | Δ 2.80% | 6.22 MHz / 6.40 MHz | ∇ -2.73% |
| CPose2DInterpolator: TPose2D insert pose random | 226.10 ns / 174.72 ns | Δ 29.40% | 4.42 MHz / 5.72 MHz | ∇ -22.72% |
| CPose2DInterpolator: TPose2D query | 144.72 ns / 171.34 ns | ∇ -15.54% | 6.91 MHz / 5.84 MHz | Δ 18.39% |
| matrix: unit, dyn[float], 3x3 | 21.72 ns / 20.30 ns | Δ 6.96% | 46.04 MHz / 49.25 MHz | ∇ -6.51% |
| matrix: unit, dyn[double], 3x3 | 21.63 ns / 18.13 ns | Δ 19.33% | 46.23 MHz / 55.16 MHz | ∇ -16.20% |
| matrix: unit, dyn[float], 6x6 | 58.30 ns / 44.79 ns | Δ 30.17% | 17.15 MHz / 22.33 MHz | ∇ -23.18% |
| matrix: unit, dyn[double], 6x6 | 57.93 ns / 39.03 ns | Δ 48.41% | 17.26 MHz / 25.62 MHz | ∇ -32.62% |
| 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 / 3.10 ns | Δ 104.66% | 157.62 MHz / 322.58 MHz | ∇ -51.14% |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 177.80 ns / 74.80 ns | Δ 137.69% | 5.62 MHz / 13.37 MHz | ∇ -57.93% |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 106.68 ns / 0.10 ns | Δ 106577.39% | 9.37 MHz / 10.00 GHz | ∇ -99.91% |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 162.46 ns / 73.30 ns | Δ 121.64% | 6.16 MHz / 13.64 MHz | ∇ -54.88% |
| 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 / 88.20 ns | Δ 109.04% | 5.42 MHz / 11.34 MHz | ∇ -52.16% |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 131.40 ns / 2.80 ns | Δ 4592.85% | 7.61 MHz / 357.14 MHz | ∇ -97.87% |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 183.56 ns / 92.10 ns | Δ 99.31% | 5.45 MHz / 10.86 MHz | ∇ -49.83% |
| 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 / 1.10 us | ∇ -9.17% | 997.38 KHz / 905.88 KHz | Δ 10.10% |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 831.72 ns / 787.10 ns | Δ 5.67% | 1.20 MHz / 1.27 MHz | ∇ -5.36% |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.55 us / 1.71 us | ∇ -9.79% | 647.07 KHz / 583.74 KHz | Δ 10.85% |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.33 us / 1.31 us | Δ 1.78% | 749.16 KHz / 762.49 KHz | ∇ -1.75% |
| matrix: inv, dyn[double] 3x3 | 997.04 ns / 552.00 ns | Δ 80.62% | 1.00 MHz / 1.81 MHz | ∇ -44.64% |
| 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 / 1.56 us | Δ 6.73% | 599.82 KHz / 640.20 KHz | ∇ -6.31% |
| matrix: inv, fix[double] 6x6 | 1.01 us / 811.00 ns | Δ 23.98% | 994.53 KHz / 1.23 MHz | ∇ -19.34% |
| matrix: inv, dyn[double] 20x20 | 10.40 us / 9.61 us | Δ 8.25% | 96.14 KHz / 104.07 KHz | ∇ -7.62% |
| matrix: inv, fix[double] 20x20 | 9.45 us / 8.32 us | Δ 13.51% | 105.87 KHz / 120.18 KHz | ∇ -11.90% |
| matrix: inv, dyn[double] 40x40 | 40.34 us / 40.62 us | ∇ -0.69% | 24.79 KHz / 24.62 KHz | Δ 0.69% |
| matrix: inv, fix[double] 40x40 | 38.14 us / 40.56 us | ∇ -5.96% | 26.22 KHz / 24.65 KHz | Δ 6.34% |
| matrix: det, dyn[double] 2x2 | 332.38 ns / 162.40 ns | Δ 104.67% | 3.01 MHz / 6.16 MHz | ∇ -51.14% |
| 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 / 222.70 ns | Δ 96.24% | 2.29 MHz / 4.49 MHz | ∇ -49.04% |
| 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 / 498.50 ns | Δ 62.51% | 1.23 MHz / 2.01 MHz | ∇ -38.47% |
| matrix: det, fix[double] 6x6 | 606.86 ns / 317.50 ns | Δ 91.14% | 1.65 MHz / 3.15 MHz | ∇ -47.68% |
| matrix: det, dyn[double] 20x20 | 6.30 us / 4.31 us | Δ 46.06% | 158.75 KHz / 231.87 KHz | ∇ -31.54% |
| matrix: det, fix[double] 20x20 | 5.89 us / 3.96 us | Δ 48.78% | 169.88 KHz / 252.75 KHz | ∇ -32.79% |
| matrix: det, dyn[double] 40x40 | 22.96 us / 17.05 us | Δ 34.66% | 43.55 KHz / 58.64 KHz | ∇ -25.74% |
| matrix: det, fix[double] 40x40 | 22.85 us / 16.89 us | Δ 35.33% | 43.75 KHz / 59.21 KHz | ∇ -26.11% |
| matrix: chol, dyn[double] 4x4 | 682.20 ns / 530.00 ns | Δ 28.72% | 1.47 MHz / 1.89 MHz | ∇ -22.31% |
| matrix: chol, fix[double] 4x4 | 316.95 ns / 290.00 ns | Δ 9.29% | 3.16 MHz / 3.45 MHz | ∇ -8.50% |
| matrix: chol, dyn[double] 40x40 | 15.61 us / 10.81 us | Δ 44.42% | 64.05 KHz / 92.51 KHz | ∇ -30.76% |
| matrix: chol, fix[double] 40x40 | 14.14 us / 10.61 us | Δ 33.23% | 70.74 KHz / 94.25 KHz | ∇ -24.94% |
| matrix: chol, sparse [2x2;2x2] | 123.13 us / 6.10 us | Δ 1918.50% | 8.12 KHz / 163.93 KHz | ∇ -95.05% |
| matrix: chol, sparse [30x30;10x10] | 44.19 us / 36.50 us | Δ 21.07% | 22.63 KHz / 27.40 KHz | ∇ -17.41% |
| matrix: chol, dyn[double] 10x[6x6] | 38.64 us / 28.80 us | Δ 34.16% | 25.88 KHz / 34.72 KHz | ∇ -25.46% |
| matrix: chol, sparse 10x[6x6] | 18.44 us / 16.74 us | Δ 10.14% | 54.24 KHz / 59.74 KHz | ∇ -9.21% |
| matrix: chol, dyn[double] 20x[6x6] | 187.94 us / 151.40 us | Δ 24.13% | 5.32 KHz / 6.61 KHz | ∇ -19.44% |
| matrix: chol, sparse 20x[6x6] | 32.61 us / 29.33 us | Δ 11.17% | 30.67 KHz / 34.09 KHz | ∇ -10.05% |
| matrix: chol, dyn[double] 50x[6x6] | 2.45 ms / 1.67 ms | Δ 46.65% | 407.79 Hz / 598.01 Hz | ∇ -31.81% |
| matrix: chol, sparse 50x[6x6] | 159.41 us / 69.84 us | Δ 128.25% | 6.27 KHz / 14.32 KHz | ∇ -56.19% |
| matrix: chol, dyn[double] 100x[6x6] | 16.61 ms / 14.94 ms | Δ 11.14% | 60.21 Hz / 66.92 Hz | ∇ -10.03% |
| matrix: chol, sparse 100x[6x6] | 143.31 us / 142.72 us | Δ 0.41% | 6.98 KHz / 7.01 KHz | ∇ -0.41% |
| matrix: chol, dyn[double] 120x[6x6] | 22.18 ms / 23.75 ms | ∇ -6.64% | 45.09 Hz / 42.10 Hz | Δ 7.12% |
| matrix: chol, sparse 120x[6x6] | 169.63 us / 163.62 us | Δ 3.67% | 5.90 KHz / 6.11 KHz | ∇ -3.54% |
| matrix: chol, dyn[double] 140x[6x6] | 33.41 ms / 36.15 ms | ∇ -7.57% | 29.93 Hz / 27.66 Hz | Δ 8.19% |
| matrix: chol, sparse 140x[6x6] | 202.09 us / 190.66 us | Δ 5.99% | 4.95 KHz / 5.24 KHz | ∇ -5.65% |
| 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 / 4.07 ns | ∇ -28.48% | 343.63 MHz / 245.78 MHz | Δ 39.81% |
| gridmap2D: setCell | 1.86 ns / 2.90 ns | ∇ -35.88% | 536.87 MHz / 344.23 MHz | Δ 55.96% |
| gridmap2D: updateCell | 3.46 ns / 5.82 ns | ∇ -40.66% | 289.38 MHz / 171.70 MHz | Δ 68.53% |
| gridmap2D: updateCell_fast_occupied | 1.88 ns / 0.86 ns | Δ 119.65% | 530.87 MHz / 1.17 GHz | ∇ -54.47% |
| gridmap2D: insert scan w/o widening | 62.88 us / 56.46 us | Δ 11.37% | 15.90 KHz / 17.71 KHz | ∇ -10.21% |
| gridmap2D: insert scan with widening | 175.10 us / 158.80 us | Δ 10.27% | 5.71 KHz / 6.30 KHz | ∇ -9.31% |
| gridmap2D: resize | 757.97 us / 308.00 us | Δ 146.09% | 1.32 KHz / 3.25 KHz | ∇ -59.37% |
| gridmap2D: computeLikelihood | 8.30 us / 9.34 us | ∇ -11.18% | 120.54 KHz / 107.06 KHz | Δ 12.58% |
| gridmap2D: determineMatching2D | 35.80 us / 22.76 us | Δ 57.33% | 27.93 KHz / 43.94 KHz | ∇ -36.44% |
| pointmap: insert 100 scans | 526.37 us / 296.72 us | Δ 77.40% | 1.90 KHz / 3.37 KHz | ∇ -43.63% |
| pointmap: build 2D kd-tree of 1 scan | 2.27 us / 1.40 us | Δ 62.14% | 440.53 KHz / 714.29 KHz | ∇ -38.33% |
| pointmap: build 2D kd-tree of 100 scan | 155.06 us / 82.24 us | Δ 88.55% | 6.45 KHz / 12.16 KHz | ∇ -46.96% |
| pointmap: build 2D kd-tree of 1000 scan | 1.69 ms / 911.44 us | Δ 84.91% | 593.35 Hz / 1.10 KHz | ∇ -45.92% |
| pointmap: build 3D kd-tree of 1 scan | 2.31 us / 920.00 ns | Δ 150.68% | 433.61 KHz / 1.09 MHz | ∇ -60.11% |
| pointmap: build 3D kd-tree of 100 scan | 159.93 us / 87.64 us | Δ 82.48% | 6.25 KHz / 11.41 KHz | ∇ -45.20% |
| pointmap: build 3D kd-tree of 1000 scan | 1.73 ms / 918.80 us | Δ 88.41% | 577.66 Hz / 1.09 KHz | ∇ -46.92% |
| pointmap: kd-tree 2d query on 10 scans | 516.48 ns / 317.00 ns | Δ 62.93% | 1.94 MHz / 3.15 MHz | ∇ -38.62% |
| pointmap: kd-tree 2d query on 1000 scans | 42.42 us / 22.90 us | Δ 85.23% | 23.57 KHz / 43.67 KHz | ∇ -46.01% |
| pointmap: kd-tree 2d query on 10000 scans | 4.92 ms / 2.66 ms | Δ 84.50% | 203.42 Hz / 375.31 Hz | ∇ -45.80% |
| pointmap: (insert scan+2D kd-tree query) x 10 | 1.82 ms / 946.05 us | Δ 91.87% | 550.91 Hz / 1.06 KHz | ∇ -47.88% |
| pointmap: (insert scan+2D kd-tree query) x 50 | 42.41 ms / 23.20 ms | Δ 82.77% | 23.58 Hz / 43.10 Hz | ∇ -45.29% |
| pointmap: (insert scan+3D kd-tree query) x 10 | 1.73 ms / 936.50 us | Δ 84.70% | 578.12 Hz / 1.07 KHz | ∇ -45.86% |
| pointmap: (insert scan+3D kd-tree query) x 50 | 43.82 ms / 23.27 ms | Δ 88.33% | 22.82 Hz / 42.98 Hz | ∇ -46.90% |
| pointmap: computeMatchingWith2D | 33.73 us / 21.92 us | Δ 53.91% | 29.64 KHz / 45.62 KHz | ∇ -35.03% |
| pointmap: boundingBox (10 scans) | 10.77 us / 892.30 ns | Δ 1107.01% | 92.85 KHz / 1.12 MHz | ∇ -91.72% |
| pointmap: boundingBox (1000 scans) | 1.07 ms / 85.56 us | Δ 1154.97% | 931.26 Hz / 11.69 KHz | ∇ -92.03% |
| random: drawUniform32bit | 4.58 ns / 22.75 ns | ∇ -79.86% | 218.18 MHz / 43.95 MHz | Δ 396.47% |
| random: drawUniform | 4.56 ns / 22.74 ns | ∇ -79.93% | 219.10 MHz / 43.98 MHz | Δ 398.14% |
| random: drawGaussian1D_normalized | 20.91 ns / 55.74 ns | ∇ -62.49% | 47.83 MHz / 17.94 MHz | Δ 166.58% |
| random: drawGaussian1D | 20.77 ns / 55.81 ns | ∇ -62.79% | 48.15 MHz / 17.92 MHz | Δ 168.72% |
| random: system rand() | 14.59 ns / 10.62 ns | Δ 37.36% | 68.54 MHz / 94.14 MHz | ∇ -27.20% |
| random: drawGaussianMultivariate(fixed 3x3) | 561.77 ns / 551.60 ns | Δ 1.84% | 1.78 MHz / 1.81 MHz | ∇ -1.81% |
| random: drawGaussianMultivariate(dyn 3x3) | 1.64 us / 1.19 us | Δ 37.74% | 608.03 KHz / 837.52 KHz | ∇ -27.40% |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 55.97 ns / 115.14 ns | ∇ -51.39% | 17.87 MHz / 8.69 MHz | Δ 105.71% |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 87.22 ns / 180.82 ns | ∇ -51.76% | 11.46 MHz / 5.53 MHz | Δ 107.31% |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 183.80 ns / 380.13 ns | ∇ -51.65% | 5.44 MHz / 2.63 MHz | Δ 106.81% |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 61.16 ns / 122.87 ns | ∇ -50.22% | 16.35 MHz / 8.14 MHz | Δ 100.90% |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 94.72 ns / 197.55 ns | ∇ -52.05% | 10.56 MHz / 5.06 MHz | Δ 108.56% |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 202.25 ns / 390.58 ns | ∇ -48.22% | 4.94 MHz / 2.56 MHz | Δ 93.11% |
| random: permuteVector (len=10) | 342.43 ns / 1.69 us | ∇ -79.77% | 2.92 MHz / 590.81 KHz | Δ 394.29% |
| random: permuteVector (len=100) | 3.50 us / 3.30 us | Δ 6.14% | 285.70 KHz / 303.24 KHz | ∇ -5.79% |
| random: permuteVector (len=1000) | 34.48 us / 19.67 us | Δ 75.26% | 29.00 KHz / 50.83 KHz | ∇ -42.94% |
| math: round | 52.00 ns / 0.03 ns | Δ 159790.63% | 19.23 MHz / 30.75 GHz | ∇ -99.94% |
| math: std::hypot(float) | 5.42 ns / 0.00 ns | Δ 54201401.33% | 184.50 MHz / 100.00 THz | ∇ -100.00% |
| math: mrpt::math::hypot_fast(float) | 3.93 ns / X | 254.43 MHz / X | ||
| math: mrpt::math::hypot_fast(double) | 5.24 ns / X | 190.72 MHz / X | ||
| images: Gauss filter (640x480) | 919.51 us / 2.01 ms | ∇ -54.19% | 1.09 KHz / 498.17 Hz | Δ 118.31% |
| images: Gauss filter (800x600) | 1.50 ms / 3.21 ms | ∇ -53.34% | 667.43 Hz / 311.42 Hz | Δ 114.31% |
| images: Gauss filter (1024x768) | 2.43 ms / 5.27 ms | ∇ -53.94% | 411.66 Hz / 189.63 Hz | Δ 117.09% |
| images: Half sample GRAY (160x120) | 44.68 us / 753.33 ns | Δ 5831.15% | 22.38 KHz / 1.33 MHz | ∇ -98.31% |
| images: Half sample GRAY (320x240) | 12.34 us / 1.81 us | Δ 582.97% | 81.04 KHz / 553.51 KHz | ∇ -85.36% |
| images: Half sample GRAY (640x480) | 44.43 us / 7.24 us | Δ 513.33% | 22.51 KHz / 138.06 KHz | ∇ -83.70% |
| images: Half sample GRAY (800x600) | 62.97 us / 12.12 us | Δ 419.67% | 15.88 KHz / 82.53 KHz | ∇ -80.76% |
| images: Half sample GRAY (1024x768) | 73.10 us / 20.49 us | Δ 256.77% | 13.68 KHz / 48.80 KHz | ∇ -71.97% |
| images: Half sample GRAY (1280x1024) | 83.61 us / 33.85 us | Δ 146.99% | 11.96 KHz / 29.54 KHz | ∇ -59.51% |
| images: Half sample RGB (160x120) | 7.37 us / 1.40 us | Δ 424.99% | 135.73 KHz / 712.59 KHz | ∇ -80.95% |
| images: Half sample RGB (320x240) | 25.88 us / 4.44 us | Δ 483.26% | 38.64 KHz / 225.39 KHz | ∇ -82.86% |
| images: Half sample RGB (640x480) | 99.11 us / 21.84 us | Δ 353.79% | 10.09 KHz / 45.79 KHz | ∇ -77.96% |
| images: Half sample RGB (800x600) | 121.43 us / 34.88 us | Δ 248.17% | 8.24 KHz / 28.67 KHz | ∇ -71.28% |
| images: Half sample RGB (1024x768) | 173.65 us / 58.20 us | Δ 198.34% | 5.76 KHz / 17.18 KHz | ∇ -66.48% |
| images: Half sample RGB (1280x1024) | 182.74 us / 119.26 us | Δ 53.22% | 5.47 KHz / 8.38 KHz | ∇ -34.74% |
| images: Half sample smooth GRAY (160x120) | 28.12 us / 1.08 us | Δ 2495.53% | 35.56 KHz / 923.08 KHz | ∇ -96.15% |
| images: Half sample smooth GRAY (320x240) | 6.24 us / 3.11 us | Δ 100.53% | 160.35 KHz / 321.54 KHz | ∇ -50.13% |
| images: Half sample smooth GRAY (640x480) | 20.79 us / 13.89 us | Δ 49.71% | 48.10 KHz / 72.01 KHz | ∇ -33.20% |
| images: Half sample smooth GRAY (800x600) | 30.69 us / 21.31 us | Δ 43.97% | 32.59 KHz / 46.92 KHz | ∇ -30.54% |
| images: Half sample smooth GRAY (1024x768) | 33.69 us / 34.33 us | ∇ -1.87% | 29.68 KHz / 29.13 KHz | Δ 1.91% |
| images: Half sample smooth GRAY (1280x1024) | 38.04 us / 56.59 us | ∇ -32.79% | 26.29 KHz / 17.67 KHz | Δ 48.78% |
| images: Half sample smooth RGB (160x120) | 9.57 us / 10.08 us | ∇ -5.04% | 104.47 KHz / 99.21 KHz | Δ 5.31% |
| images: Half sample smooth RGB (320x240) | 33.29 us / 33.64 us | ∇ -1.05% | 30.04 KHz / 29.72 KHz | Δ 1.06% |
| images: Half sample smooth RGB (640x480) | 126.81 us / 127.81 us | ∇ -0.78% | 7.89 KHz / 7.82 KHz | Δ 0.79% |
| images: Half sample smooth RGB (800x600) | 176.80 us / 191.91 us | ∇ -7.88% | 5.66 KHz / 5.21 KHz | Δ 8.55% |
| images: Half sample smooth RGB (1024x768) | 209.31 us / 194.27 us | Δ 7.74% | 4.78 KHz / 5.15 KHz | ∇ -7.18% |
| images: Half sample smooth RGB (1280x1024) | 221.21 us / 364.64 us | ∇ -39.33% | 4.52 KHz / 2.74 KHz | Δ 64.84% |
| images: RGB->GRAY 8u (40x30) | 6.60 us / 5.59 us | Δ 18.08% | 151.59 KHz / 179.00 KHz | ∇ -15.31% |
| images: RGB->GRAY 8u (80x60) | 7.36 us / 4.23 us | Δ 73.77% | 135.94 KHz / 236.22 KHz | ∇ -42.45% |
| images: RGB->GRAY 8u (160x120) | 27.06 us / 11.42 us | Δ 136.88% | 36.96 KHz / 87.54 KHz | ∇ -57.78% |
| images: RGB->GRAY 8u (320x240) | 105.43 us / 35.87 us | Δ 193.89% | 9.49 KHz / 27.88 KHz | ∇ -65.97% |
| images: RGB->GRAY 8u (640x480) | 175.70 us / 127.77 us | Δ 37.52% | 5.69 KHz / 7.83 KHz | ∇ -27.28% |
| images: RGB->GRAY 8u (800x600) | 196.49 us / 169.11 us | Δ 16.19% | 5.09 KHz / 5.91 KHz | ∇ -13.94% |
| images: RGB->GRAY 8u (1024x768) | 367.76 us / 237.72 us | Δ 54.70% | 2.72 KHz / 4.21 KHz | ∇ -35.36% |
| images: RGB->GRAY 8u (1280x1024) | 834.98 us / 377.32 us | Δ 121.29% | 1.20 KHz / 2.65 KHz | ∇ -54.81% |
| images: KLT score (WIN=2 5x5) | 43.55 ns / 27.26 ns | Δ 59.73% | 22.96 MHz / 36.68 MHz | ∇ -37.40% |
| images: KLT score (WIN=3 7x7) | 58.85 ns / 33.33 ns | Δ 76.57% | 16.99 MHz / 30.00 MHz | ∇ -43.36% |
| images: KLT score (WIN=4 9x9) | 76.23 ns / 37.96 ns | Δ 100.81% | 13.12 MHz / 26.34 MHz | ∇ -50.20% |
| images: KLT score (WIN=5 10x10) | 101.24 ns / 48.02 ns | Δ 110.85% | 9.88 MHz / 20.83 MHz | ∇ -52.57% |
| images: KLT score (WIN=6 13x13) | 129.38 ns / 53.09 ns | Δ 143.71% | 7.73 MHz / 18.84 MHz | ∇ -58.97% |
| images: KLT score (WIN=7 15x15) | 163.57 ns / 62.87 ns | Δ 160.16% | 6.11 MHz / 15.91 MHz | ∇ -61.56% |
| images: KLT score (WIN=8 17x17) | 207.36 ns / 59.92 ns | Δ 246.07% | 4.82 MHz / 16.69 MHz | ∇ -71.10% |
| images: KLT score (WIN=9 19x19) | 240.42 ns / 62.94 ns | Δ 281.98% | 4.16 MHz / 15.89 MHz | ∇ -73.82% |
| images: KLT score (WIN=10 21x21) | 274.50 ns / 66.64 ns | Δ 311.91% | 3.64 MHz / 15.01 MHz | ∇ -75.72% |
| images: KLT score (WIN=11 23x23) | 319.09 ns / 59.70 ns | Δ 434.53% | 3.13 MHz / 16.75 MHz | ∇ -81.29% |
| images: KLT score (WIN=12 25x25) | 368.43 ns / 78.23 ns | Δ 370.98% | 2.71 MHz / 12.78 MHz | ∇ -78.77% |
| images: KLT score (WIN=13 27x27) | 427.37 ns / 66.87 ns | Δ 539.13% | 2.34 MHz / 14.95 MHz | ∇ -84.35% |
| images: KLT score (WIN=14 29x29) | 483.04 ns / 69.47 ns | Δ 595.30% | 2.07 MHz / 14.39 MHz | ∇ -85.62% |
| images: KLT score (WIN=15 31x31) | 547.94 ns / 72.48 ns | Δ 656.00% | 1.83 MHz / 13.80 MHz | ∇ -86.77% |
| images: KLT score (WIN=16 33x33) | 619.70 ns / 103.32 ns | Δ 499.78% | 1.61 MHz / 9.68 MHz | ∇ -83.33% |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 191.90 us / 81.37 us | Δ 135.84% | 5.21 KHz / 12.29 KHz | ∇ -57.60% |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 231.26 us / 224.34 us | Δ 3.09% | 4.32 KHz / 4.46 KHz | ∇ -2.99% |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 280.65 us / 94.91 us | Δ 195.71% | 3.56 KHz / 10.54 KHz | ∇ -66.18% |
| images: buildPyramid 640x480,4 levs, smooth, gray | 228.84 us / 101.22 us | Δ 126.09% | 4.37 KHz / 9.88 KHz | ∇ -55.77% |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 207.46 us / 85.80 us | Δ 141.80% | 4.82 KHz / 11.66 KHz | ∇ -58.64% |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 240.02 us / 231.53 us | Δ 3.67% | 4.17 KHz / 4.32 KHz | ∇ -3.54% |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 284.19 us / 99.53 us | Δ 185.54% | 3.52 KHz / 10.05 KHz | ∇ -64.98% |
| images: buildPyramid 640x480,8 levs, smooth, gray | 238.30 us / 107.32 us | Δ 122.05% | 4.20 KHz / 9.32 KHz | ∇ -54.97% |
| stereo: prepare rectify map 640x480 RGB | 4.52 ms / 18.45 ms | ∇ -75.52% | 221.47 Hz / 54.21 Hz | Δ 308.56% |
| stereo: prepare rectify map 800x600 RGB | 5.88 ms / 28.81 ms | ∇ -79.58% | 170.00 Hz / 34.71 Hz | Δ 389.83% |
| stereo: prepare rectify map 1024x768 RGB | 9.45 ms / 47.34 ms | ∇ -80.03% | 105.78 Hz / 21.12 Hz | Δ 400.75% |
| stereo: prepare rectify map 1024x768->800x600 RGB | 5.92 ms / 28.79 ms | ∇ -79.42% | 168.79 Hz / 34.73 Hz | Δ 386.02% |
| stereo: prepare rectify map 1024x768->640x480 RGB | 3.88 ms / 18.49 ms | ∇ -79.01% | 257.65 Hz / 54.07 Hz | Δ 376.51% |
| stereo: rectify 640x480 RGB | 1.62 ms / 1.53 ms | Δ 5.53% | 617.43 Hz / 651.57 Hz | ∇ -5.24% |
| stereo: rectify 800x600 RGB | 2.00 ms / 1.62 ms | Δ 23.59% | 499.77 Hz / 617.68 Hz | ∇ -19.09% |
| stereo: rectify 1024x768 RGB | 3.71 ms / 2.94 ms | Δ 26.27% | 269.37 Hz / 340.13 Hz | ∇ -20.80% |
| stereo: rectify 1024x768->800x600 RGB | 2.08 ms / 2.00 ms | Δ 4.43% | 479.92 Hz / 501.19 Hz | ∇ -4.24% |
| stereo: rectify 1024x768->640x480 RGB | 1.75 ms / 1.69 ms | Δ 3.31% | 572.46 Hz / 591.40 Hz | ∇ -3.20% |
| stereo: rectify 640x480 GRAY | 890.62 us / 1.10 ms | ∇ -19.19% | 1.12 KHz / 907.32 Hz | Δ 23.75% |
| stereo: rectify 800x600 GRAY | 1.10 ms / 1.23 ms | ∇ -10.50% | 909.06 Hz / 813.64 Hz | Δ 11.73% |
| stereo: rectify 1024x768 GRAY | 2.18 ms / 2.26 ms | ∇ -3.74% | 458.96 Hz / 441.81 Hz | Δ 3.88% |
| stereo: rectify 1024x768->800x600 GRAY | 1.10 ms / 1.38 ms | ∇ -20.52% | 909.41 Hz / 722.75 Hz | Δ 25.83% |
| stereo: rectify 1024x768->640x480 GRAY | 895.97 us / 1.32 ms | ∇ -31.90% | 1.12 KHz / 760.11 Hz | Δ 46.84% |
| tfest: se3_l2 [CPose3DQuat] | 10.63 us / 2.82 us | Δ 277.73% | 94.03 KHz / 355.19 KHz | ∇ -73.53% |
| tfest: se3_l2 [vector TPoint3D] | 8.97 us / 2.86 us | Δ 213.13% | 111.51 KHz / 349.17 KHz | ∇ -68.06% |
| tfest: se2_l2 [x10 corrs] | 116.12 ns / 135.55 ns | ∇ -14.33% | 8.61 MHz / 7.38 MHz | Δ 16.73% |
| tfest: se2_l2 [x100 corrs] | 462.23 ns / 221.18 ns | Δ 108.98% | 2.16 MHz / 4.52 MHz | ∇ -52.15% |
| tfest: se2_l2 [x1000 corrs] | 3.91 us / 1.02 us | Δ 283.77% | 255.59 KHz / 980.87 KHz | ∇ -73.94% |
| feature_extraction [640x480]: Harris | 15.75 ms / 6.31 ms | Δ 149.75% | 63.49 Hz / 158.55 Hz | ∇ -59.96% |
| feature_extraction [640x480]: KLT | 9.92 ms / 6.67 ms | Δ 48.57% | 100.84 Hz / 149.82 Hz | ∇ -32.69% |
| feature_extraction [640x480]: FAST | 2.17 ms / 1.90 ms | Δ 14.20% | 461.50 Hz / 527.03 Hz | ∇ -12.43% |
| feature_extraction [640x480]: Spin desc. | 30.67 ms / 100.39 ms | ∇ -69.45% | 32.60 Hz / 9.96 Hz | Δ 227.31% |
| feature_extraction [640x480]: FASTER-9 | 2.91 ms / 2.31 ms | Δ 25.92% | 343.69 Hz / 432.77 Hz | ∇ -20.58% |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 2.27 ms / 1.17 ms | Δ 93.74% | 439.93 Hz / 852.33 Hz | ∇ -48.39% |
| feature_extraction [640x480]: FASTER-10 | 2.32 ms / 1.75 ms | Δ 32.31% | 431.27 Hz / 570.61 Hz | ∇ -24.42% |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 1.88 ms / 974.68 us | Δ 92.57% | 532.77 Hz / 1.03 KHz | ∇ -48.07% |
| feature_extraction [640x480]: FASTER-12 | 1.64 ms / 1.29 ms | Δ 26.96% | 609.44 Hz / 773.75 Hz | ∇ -21.24% |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 1.40 ms / 964.98 us | Δ 44.90% | 715.16 Hz / 1.04 KHz | ∇ -30.99% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 1.05 ms / 397.71 us | Δ 164.09% | 952.09 Hz / 2.51 KHz | ∇ -62.13% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 1.02 ms / 372.97 us | Δ 173.91% | 978.83 Hz / 2.68 KHz | ∇ -63.49% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 826.01 us / 476.84 us | Δ 73.22% | 1.21 KHz / 2.10 KHz | ∇ -42.27% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 1.05 ms / 403.19 us | Δ 160.71% | 951.32 Hz / 2.48 KHz | ∇ -61.64% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 1.02 ms / 376.41 us | Δ 171.42% | 978.81 Hz / 2.66 KHz | ∇ -63.16% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 828.21 us / 478.39 us | Δ 73.12% | 1.21 KHz / 2.09 KHz | ∇ -42.24% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 1.42 ms / 502.18 us | Δ 181.88% | 706.45 Hz / 1.99 KHz | ∇ -64.52% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 1.37 ms / 474.23 us | Δ 187.94% | 732.34 Hz / 2.11 KHz | ∇ -65.27% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 1.34 ms / 548.60 us | Δ 145.15% | 743.54 Hz / 1.82 KHz | ∇ -59.21% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 1.41 ms / 507.99 us | Δ 177.73% | 708.80 Hz / 1.97 KHz | ∇ -63.99% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 1.34 ms / 536.86 us | Δ 150.39% | 743.91 Hz / 1.86 KHz | ∇ -60.06% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 1.29 ms / 550.06 us | Δ 133.88% | 777.31 Hz / 1.82 KHz | ∇ -57.24% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 1.99 ms / 646.02 us | Δ 207.71% | 503.05 Hz / 1.55 KHz | ∇ -67.50% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 1.91 ms / 638.23 us | Δ 199.35% | 523.41 Hz / 1.57 KHz | ∇ -66.59% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 1.70 ms / 605.17 us | Δ 180.99% | 588.07 Hz / 1.65 KHz | ∇ -64.41% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 1.99 ms / 651.80 us | Δ 205.43% | 502.32 Hz / 1.53 KHz | ∇ -67.26% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 1.90 ms / 640.70 us | Δ 196.02% | 527.26 Hz / 1.56 KHz | ∇ -66.22% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 1.72 ms / 606.24 us | Δ 183.07% | 582.72 Hz / 1.65 KHz | ∇ -64.67% |
| feature_matching [640x480]: Harris + CC | 22.18 ms / 15.55 ms | Δ 42.59% | 45.10 Hz / 64.30 Hz | ∇ -29.87% |
| feature_matching [640x480]: Harris + SAD | 18.56 ms / 11.05 ms | Δ 67.92% | 53.89 Hz / 90.49 Hz | ∇ -40.45% |
| feature_matching [640x480]: FAST + CC | 6.94 ms / 7.00 ms | ∇ -0.80% | 144.08 Hz / 142.92 Hz | Δ 0.81% |
| feature_matching [640x480]: FAST + SAD | 3.61 ms / 2.47 ms | Δ 46.05% | 277.32 Hz / 405.04 Hz | ∇ -31.53% |
| graph(2d): insertEdge x 1e3 | 158.15 us / 93.49 us | Δ 69.15% | 6.32 KHz / 10.70 KHz | ∇ -40.88% |
| graph(2d,vec): insertEdge x 1e3 | 154.94 us / 97.39 us | Δ 59.10% | 6.45 KHz / 10.27 KHz | ∇ -37.15% |
| graph(2d): insertEdgeAtEnd x 1e3 | 124.64 us / 73.49 us | Δ 69.59% | 8.02 KHz / 13.61 KHz | ∇ -41.03% |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 120.41 us / 74.27 us | Δ 62.13% | 8.30 KHz / 13.46 KHz | ∇ -38.32% |
| graph(2d pdf): insertEdge x 1e3 | 204.87 us / 130.24 us | Δ 57.30% | 4.88 KHz / 7.68 KHz | ∇ -36.43% |
| graph(2d pdf,vec): insertEdge x 1e3 | 204.35 us / 130.03 us | Δ 57.16% | 4.89 KHz / 7.69 KHz | ∇ -36.37% |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 162.60 us / 113.28 us | Δ 43.54% | 6.15 KHz / 8.83 KHz | ∇ -30.34% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 168.22 us / 113.96 us | Δ 47.61% | 5.94 KHz / 8.77 KHz | ∇ -32.25% |
| graph(2d): insertEdge x 1e4 | 1.67 ms / 1.52 ms | Δ 9.54% | 598.93 Hz / 656.10 Hz | ∇ -8.71% |
| graph(2d,vec): insertEdge x 1e4 | 1.68 ms / 1.25 ms | Δ 34.00% | 596.30 Hz / 799.05 Hz | ∇ -25.37% |
| graph(2d): insertEdgeAtEnd x 1e4 | 1.21 ms / 488.95 us | Δ 148.23% | 823.91 Hz / 2.05 KHz | ∇ -59.71% |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.21 ms / 490.97 us | Δ 147.26% | 823.74 Hz / 2.04 KHz | ∇ -59.56% |
| graph(2d pdf): insertEdge x 1e4 | 2.08 ms / 1.29 ms | Δ 60.95% | 480.03 Hz / 772.59 Hz | ∇ -37.87% |
| graph(2d pdf,vec): insertEdge x 1e4 | 2.19 ms / 1.73 ms | Δ 26.36% | 457.17 Hz / 577.69 Hz | ∇ -20.86% |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.52 ms / 1.11 ms | Δ 37.96% | 655.96 Hz / 904.94 Hz | ∇ -27.51% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 1.11 ms | Δ 53.02% | 589.28 Hz / 901.73 Hz | ∇ -34.65% |
| graph(3d): insertEdge x 1e3 | 150.12 us / 123.67 us | Δ 21.39% | 6.66 KHz / 8.09 KHz | ∇ -17.62% |
| graph(3d,vec): insertEdge x 1e3 | 150.55 us / 125.66 us | Δ 19.80% | 6.64 KHz / 7.96 KHz | ∇ -16.53% |
| graph(3d): insertEdgeAtEnd x 1e3 | 109.39 us / 103.65 us | Δ 5.54% | 9.14 KHz / 9.65 KHz | ∇ -5.25% |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 110.04 us / 103.36 us | Δ 6.46% | 9.09 KHz / 9.67 KHz | ∇ -6.07% |
| graph(3d pdf): insertEdge x 1e3 | 312.72 us / 293.13 us | Δ 6.68% | 3.20 KHz / 3.41 KHz | ∇ -6.27% |
| graph(3d pdf,vec): insertEdge x 1e3 | 360.19 us / 290.78 us | Δ 23.87% | 2.78 KHz / 3.44 KHz | ∇ -19.27% |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 267.44 us / 247.59 us | Δ 8.02% | 3.74 KHz / 4.04 KHz | ∇ -7.42% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 263.46 us / 247.19 us | Δ 6.58% | 3.80 KHz / 4.05 KHz | ∇ -6.18% |
| graph(3d): insertEdge x 1e4 | 1.86 ms / 1.53 ms | Δ 22.03% | 536.45 Hz / 654.63 Hz | ∇ -18.05% |
| graph(3d,vec): insertEdge x 1e4 | 1.82 ms / 1.52 ms | Δ 20.32% | 548.00 Hz / 659.36 Hz | ∇ -16.89% |
| graph(3d): insertEdgeAtEnd x 1e4 | 1.32 ms / 1.03 ms | Δ 28.24% | 759.75 Hz / 974.27 Hz | ∇ -22.02% |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.31 ms / 1.04 ms | Δ 26.67% | 761.47 Hz / 964.55 Hz | ∇ -21.05% |
| graph(3d pdf): insertEdge x 1e4 | 3.62 ms / 3.71 ms | ∇ -2.49% | 276.61 Hz / 269.73 Hz | Δ 2.55% |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.83 ms / 3.71 ms | Δ 3.27% | 261.27 Hz / 269.81 Hz | ∇ -3.17% |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.90 ms / 2.49 ms | Δ 16.30% | 345.30 Hz / 401.60 Hz | ∇ -14.02% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.90 ms / 2.48 ms | Δ 16.86% | 344.56 Hz / 402.64 Hz | ∇ -14.42% |
| graph(3d): dijkstra 1e2 nodes | 85.23 us / 52.34 us | Δ 62.84% | 11.73 KHz / 19.11 KHz | ∇ -38.59% |
| graph(3d,vec): dijkstra 1e2 nodes | 84.84 us / 50.77 us | Δ 67.11% | 11.79 KHz / 19.70 KHz | ∇ -40.16% |
| graph(3d): dijkstra 1e3 nodes | 950.94 us / 747.15 us | Δ 27.28% | 1.05 KHz / 1.34 KHz | ∇ -21.43% |
| graph(3d,vec): dijkstra 1e3 nodes | 954.30 us / 730.57 us | Δ 30.62% | 1.05 KHz / 1.37 KHz | ∇ -23.44% |
| graph(3d): dijkstra 1e4 nodes | 11.92 ms / 10.64 ms | Δ 12.03% | 83.91 Hz / 94.00 Hz | ∇ -10.74% |
| graph(3d,vec): dijkstra 1e4 nodes | 11.83 ms / 10.80 ms | Δ 9.54% | 84.53 Hz / 92.60 Hz | ∇ -8.71% |
| graph(3d): dijkstra 1e5 nodes | 155.44 ms / 167.96 ms | ∇ -7.45% | 6.43 Hz / 5.95 Hz | Δ 8.06% |
| graph(3d,vec): dijkstra 1e5 nodes | 154.14 ms / 169.81 ms | ∇ -9.23% | 6.49 Hz / 5.89 Hz | Δ 10.17% |
| graph(2d): dijkstra 1e5 nodes | 150.58 ms / 173.28 ms | ∇ -13.10% | 6.64 Hz / 5.77 Hz | Δ 15.07% |
| graph(2d,vec): dijkstra 1e5 nodes | 149.73 ms / 172.89 ms | ∇ -13.39% | 6.68 Hz / 5.78 Hz | Δ 15.46% |
| graphslam(2d): levmarq 50 KFs/101 edges | 908.20 us / 620.26 us | Δ 46.42% | 1.10 KHz / 1.61 KHz | ∇ -31.70% |
| graphslam(2d): levmarq 100 KFs/451 edges | 4.91 ms / 3.22 ms | Δ 52.61% | 203.72 Hz / 310.90 Hz | ∇ -34.47% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 52.81 ms / 1.09 ms | Δ 4750.28% | 18.94 Hz / 918.40 Hz | ∇ -97.94% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 52.60 ms / 1.02 ms | Δ 5044.55% | 19.01 Hz / 978.06 Hz | ∇ -98.06% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 52.83 ms / 909.15 us | Δ 5710.42% | 18.93 Hz / 1.10 KHz | ∇ -98.28% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 52.72 ms / 970.51 us | Δ 5332.22% | 18.97 Hz / 1.03 KHz | ∇ -98.16% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 38.09 ms / 1.97 ms | Δ 1834.20% | 26.25 Hz / 507.74 Hz | ∇ -94.83% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 38.06 ms / 1.96 ms | Δ 1839.43% | 26.28 Hz / 509.63 Hz | ∇ -94.84% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 38.41 ms / 1.86 ms | Δ 1961.15% | 26.03 Hz / 536.55 Hz | ∇ -95.15% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 38.20 ms / 1.32 ms | Δ 2790.54% | 26.18 Hz / 756.64 Hz | ∇ -96.54% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 18.76 ms / 1.94 ms | Δ 865.57% | 53.29 Hz / 514.60 Hz | ∇ -89.64% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 18.78 ms / 1.95 ms | Δ 861.64% | 53.25 Hz / 512.03 Hz | ∇ -89.60% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 18.98 ms / 1.88 ms | Δ 912.05% | 52.70 Hz / 533.31 Hz | ∇ -90.12% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 19.81 ms / 1.43 ms | Δ 1283.04% | 50.47 Hz / 698.03 Hz | ∇ -92.77% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 14.46 ms / 2.05 ms | Δ 606.30% | 69.17 Hz / 488.53 Hz | ∇ -85.84% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 14.29 ms / 2.04 ms | Δ 600.75% | 69.98 Hz / 490.40 Hz | ∇ -85.73% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 14.59 ms / 2.06 ms | Δ 609.26% | 68.53 Hz / 486.06 Hz | ∇ -85.90% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 14.55 ms / 1.47 ms | Δ 892.25% | 68.71 Hz / 681.79 Hz | ∇ -89.92% |
| 3DRangeScan: 320x240 Depth->2D scan | 2.14 ms / 1.25 ms | Δ 71.58% | 466.86 Hz / 801.03 Hz | ∇ -41.72% |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.91 ms / 3.34 ms | Δ 17.20% | 255.45 Hz / 299.37 Hz | ∇ -14.67% |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 3.68 ms / 3.35 ms | Δ 9.73% | 271.65 Hz / 298.08 Hz | ∇ -8.87% |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.04 ms / 5.16 ms | Δ 16.99% | 165.66 Hz / 193.80 Hz | ∇ -14.52% |
| CAtan2LUT: 20x20m,1cm cells,build | 102.30 ms / 360.93 ms | ∇ -71.66% | 9.78 Hz / 2.77 Hz | Δ 252.82% |
| CAtan2LUT: 20x20m,1cm cells,query | 7.64 ns / 7.31 ns | Δ 4.40% | 130.96 MHz / 136.72 MHz | ∇ -4.22% |
| CAtan2LUTMultiRes: 22x22m,build | 101.62 ms / 292.04 ms | ∇ -65.20% | 9.84 Hz / 3.42 Hz | Δ 187.38% |
| CAtan2LUTMultiRes: 22x22m,query | 10.59 ns / 19.01 ns | ∇ -44.27% | 94.41 MHz / 52.61 MHz | Δ 79.43% |
| CAtan2LUT: raw ::atan2() call | 22.56 ns / 94.61 ns | ∇ -76.15% | 44.33 MHz / 10.57 MHz | Δ 319.37% |
| Strings: mrpt::format() short str | 548.06 ns / 194.60 ns | Δ 181.63% | 1.82 MHz / 5.14 MHz | ∇ -64.49% |
| Strings: mrpt::format() long str | 15.47 us / 354.10 ns | Δ 4269.09% | 64.64 KHz / 2.82 MHz | ∇ -97.71% |