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