| Test description | 1.9.9dev-GCC730-64bit / 1.5.7dev-MSVC2017-64bit | |||
| Execution time | Execution rate (Hz) | |||
| icp-slam (match points): Run with sample dataset | 902.92 us / 1.31 ms | ∇ -31.05% | 1.11 KHz / 763.60 Hz | Δ 45.04% |
| icp-slam (match grid): Run with sample dataset | 1.30 ms / 1.76 ms | ∇ -26.26% | 772.09 Hz / 569.34 Hz | Δ 35.61% |
| poses: CPose3D (+) CPose3D | 17.52 ns / 108.84 ns | ∇ -83.90% | 57.08 MHz / 9.19 MHz | Δ 521.23% |
| poses: CPose3D.composeFrom() | 16.58 ns / 98.66 ns | ∇ -83.19% | 60.31 MHz / 10.14 MHz | Δ 495.05% |
| poses: CPose3D (+) CPoint3D | 4.77 ns / 10.79 ns | ∇ -55.79% | 209.56 MHz / 92.65 MHz | Δ 126.18% |
| poses: CPose3D.composePoint() | 5.91 ns / 9.95 ns | ∇ -40.60% | 169.26 MHz / 100.55 MHz | Δ 68.34% |
| poses: CPose3D.composePoint()+Jacobs | 113.42 ns / 77.35 ns | Δ 46.63% | 8.82 MHz / 12.93 MHz | ∇ -31.80% |
| poses: CPoint3D (-) CPose3D | 8.24 ns / 29.11 ns | ∇ -71.70% | 121.36 MHz / 34.35 MHz | Δ 253.30% |
| poses: CPose3D.inverseComposePoint() | 14.52 ns / 21.72 ns | ∇ -33.18% | 68.89 MHz / 46.03 MHz | Δ 49.66% |
| poses: CPose2D (+) CPose2D | 17.57 ns / 14.66 ns | Δ 19.79% | 56.93 MHz / 68.20 MHz | ∇ -16.52% |
| poses: CPose2D.composeFrom() | 13.86 ns / 8.87 ns | Δ 56.30% | 72.17 MHz / 112.80 MHz | ∇ -36.02% |
| poses: CPose2D (+) CPoint2D | 7.64 ns / 10.10 ns | ∇ -24.32% | 130.86 MHz / 99.04 MHz | Δ 32.13% |
| poses: CPose2D.composePoint() | 5.95 ns / 5.96 ns | ∇ -0.17% | 167.95 MHz / 167.67 MHz | Δ 0.17% |
| poses: CPose3DQuat (+) CPose3DQuat | 18.36 ns / 46.29 ns | ∇ -60.34% | 54.47 MHz / 21.60 MHz | Δ 152.13% |
| poses: CPose3DQuat.composeFrom() | 19.07 ns / 34.10 ns | ∇ -44.08% | 52.44 MHz / 29.32 MHz | Δ 78.84% |
| poses: CPose3DQuat (+) CPoint3D | 12.33 ns / 24.82 ns | ∇ -50.34% | 81.13 MHz / 40.29 MHz | Δ 101.37% |
| poses: CPose3DQuat.composePoint() | 10.47 ns / 16.57 ns | ∇ -36.77% | 95.47 MHz / 60.36 MHz | Δ 58.16% |
| poses: CPose3DQuat.invcomposePoint() | 8.56 ns / 13.13 ns | ∇ -34.81% | 116.82 MHz / 76.16 MHz | Δ 53.39% |
| poses: Conv CPose3DQuat <- CPose3D | 9.85 ns / 12.13 ns | ∇ -18.79% | 101.55 MHz / 82.47 MHz | Δ 23.14% |
| poses: Conv CPose3D -> CPose3DQuat | 79.25 ns / 43.97 ns | Δ 80.25% | 12.62 MHz / 22.74 MHz | ∇ -44.52% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 520.00 ns / 960.22 ns | ∇ -45.85% | 1.92 MHz / 1.04 MHz | Δ 84.66% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 540.00 ns / 941.20 ns | ∇ -42.63% | 1.85 MHz / 1.06 MHz | Δ 74.30% |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 7.73 us / 5.89 us | Δ 31.16% | 129.37 KHz / 169.68 KHz | ∇ -23.76% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 284.60 ns / 1.72 us | ∇ -83.47% | 3.51 MHz / 580.64 KHz | Δ 505.14% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 285.00 ns / 1.72 us | ∇ -83.48% | 3.51 MHz / 579.72 KHz | Δ 505.26% |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.03 us / 4.21 us | ∇ -4.19% | 248.11 KHz / 237.73 KHz | Δ 4.37% |
| CPose3DInterpolator: CPose3D insert pose at end | 198.03 ns / 189.89 ns | Δ 4.28% | 5.05 MHz / 5.27 MHz | ∇ -4.11% |
| CPose3DInterpolator: CPose3D insert pose random | 215.30 ns / 279.35 ns | ∇ -22.93% | 4.64 MHz / 3.58 MHz | Δ 29.75% |
| CPose3DInterpolator: CPose3D query | 547.04 ns / 408.39 ns | Δ 33.95% | 1.83 MHz / 2.45 MHz | ∇ -25.35% |
| CPose3DInterpolator: TPose3D insert pose at end | 169.83 ns / 166.84 ns | Δ 1.79% | 5.89 MHz / 5.99 MHz | ∇ -1.76% |
| CPose3DInterpolator: TPose3D insert pose random | 201.49 ns / 272.92 ns | ∇ -26.17% | 4.96 MHz / 3.66 MHz | Δ 35.45% |
| CPose3DInterpolator: TPose3D query | 479.99 ns / 318.24 ns | Δ 50.82% | 2.08 MHz / 3.14 MHz | ∇ -33.70% |
| CPose2DInterpolator: TPose2D insert pose at end | 156.29 ns / 160.68 ns | ∇ -2.73% | 6.40 MHz / 6.22 MHz | Δ 2.80% |
| CPose2DInterpolator: TPose2D insert pose random | 174.72 ns / 226.10 ns | ∇ -22.72% | 5.72 MHz / 4.42 MHz | Δ 29.40% |
| CPose2DInterpolator: TPose2D query | 171.34 ns / 144.72 ns | Δ 18.39% | 5.84 MHz / 6.91 MHz | ∇ -15.54% |
| matrix: unit, dyn[float], 3x3 | 20.30 ns / 21.72 ns | ∇ -6.51% | 49.25 MHz / 46.04 MHz | Δ 6.96% |
| matrix: unit, dyn[double], 3x3 | 18.13 ns / 21.63 ns | ∇ -16.20% | 55.16 MHz / 46.23 MHz | Δ 19.33% |
| matrix: unit, dyn[float], 6x6 | 44.79 ns / 58.30 ns | ∇ -23.18% | 22.33 MHz / 17.15 MHz | Δ 30.17% |
| matrix: unit, dyn[double], 6x6 | 39.03 ns / 57.93 ns | ∇ -32.62% | 25.62 MHz / 17.26 MHz | Δ 48.41% |
| matrix: unit, fix[float,3,3] | 0.00 ns / 0.83 ns | ∇ -100.00% | inf THz / 1.21 GHz | Δ inf% |
| matrix: unit, fix[double,3,3] | 0.00 ns / 1.34 ns | ∇ -100.00% | inf THz / 746.12 MHz | Δ inf% |
| matrix: unit, fix[float,6,6] | 0.00 ns / 4.12 ns | ∇ -100.00% | inf THz / 242.52 MHz | Δ inf% |
| matrix: unit, fix[double,6,6] | 3.10 ns / 6.34 ns | ∇ -51.14% | 322.58 MHz / 157.62 MHz | Δ 104.66% |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 74.80 ns / 177.80 ns | ∇ -57.93% | 13.37 MHz / 5.62 MHz | Δ 137.69% |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 0.10 ns / 106.68 ns | ∇ -99.91% | 10.00 GHz / 9.37 MHz | Δ 106577.39% |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 73.30 ns / 162.46 ns | ∇ -54.88% | 13.64 MHz / 6.16 MHz | Δ 121.64% |
| matrix: multiply, fix[double], 3x3 * 3x3 | 0.20 ns / 98.07 ns | ∇ -99.80% | 5.00 GHz / 10.20 MHz | Δ 48937.19% |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 88.20 ns / 184.38 ns | ∇ -52.16% | 11.34 MHz / 5.42 MHz | Δ 109.04% |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 2.80 ns / 131.40 ns | ∇ -97.87% | 357.14 MHz / 7.61 MHz | Δ 4592.85% |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 92.10 ns / 183.56 ns | ∇ -49.83% | 10.86 MHz / 5.45 MHz | Δ 99.31% |
| matrix: multiply, fix[double], 3x6 * 6x3 | 0.80 ns / 114.34 ns | ∇ -99.30% | 1.25 GHz / 8.75 MHz | Δ 14193.08% |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.10 us / 1.00 us | Δ 10.10% | 905.88 KHz / 997.38 KHz | ∇ -9.17% |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 787.10 ns / 831.72 ns | ∇ -5.36% | 1.27 MHz / 1.20 MHz | Δ 5.67% |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.71 us / 1.55 us | Δ 10.85% | 583.74 KHz / 647.07 KHz | ∇ -9.79% |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.31 us / 1.33 us | ∇ -1.75% | 762.49 KHz / 749.16 KHz | Δ 1.78% |
| matrix: inv, dyn[double] 3x3 | 552.00 ns / 997.04 ns | ∇ -44.64% | 1.81 MHz / 1.00 MHz | Δ 80.62% |
| matrix: inv, fix[double] 3x3 | 1.00 ns / 17.81 ns | ∇ -94.39% | 1.00 GHz / 56.15 MHz | Δ 1680.98% |
| matrix: inv, dyn[double] 6x6 | 1.56 us / 1.67 us | ∇ -6.31% | 640.20 KHz / 599.82 KHz | Δ 6.73% |
| matrix: inv, fix[double] 6x6 | 811.00 ns / 1.01 us | ∇ -19.34% | 1.23 MHz / 994.53 KHz | Δ 23.98% |
| matrix: inv, dyn[double] 20x20 | 9.61 us / 10.40 us | ∇ -7.62% | 104.07 KHz / 96.14 KHz | Δ 8.25% |
| matrix: inv, fix[double] 20x20 | 8.32 us / 9.45 us | ∇ -11.90% | 120.18 KHz / 105.87 KHz | Δ 13.51% |
| matrix: inv, dyn[double] 40x40 | 40.62 us / 40.34 us | Δ 0.69% | 24.62 KHz / 24.79 KHz | ∇ -0.69% |
| matrix: inv, fix[double] 40x40 | 40.56 us / 38.14 us | Δ 6.34% | 24.65 KHz / 26.22 KHz | ∇ -5.96% |
| matrix: det, dyn[double] 2x2 | 162.40 ns / 332.38 ns | ∇ -51.14% | 6.16 MHz / 3.01 MHz | Δ 104.67% |
| 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 / 437.03 ns | ∇ -49.04% | 4.49 MHz / 2.29 MHz | Δ 96.24% |
| 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 / 810.13 ns | ∇ -38.47% | 2.01 MHz / 1.23 MHz | Δ 62.51% |
| matrix: det, fix[double] 6x6 | 317.50 ns / 606.86 ns | ∇ -47.68% | 3.15 MHz / 1.65 MHz | Δ 91.14% |
| matrix: det, dyn[double] 20x20 | 4.31 us / 6.30 us | ∇ -31.54% | 231.87 KHz / 158.75 KHz | Δ 46.06% |
| matrix: det, fix[double] 20x20 | 3.96 us / 5.89 us | ∇ -32.79% | 252.75 KHz / 169.88 KHz | Δ 48.78% |
| matrix: det, dyn[double] 40x40 | 17.05 us / 22.96 us | ∇ -25.74% | 58.64 KHz / 43.55 KHz | Δ 34.66% |
| matrix: det, fix[double] 40x40 | 16.89 us / 22.85 us | ∇ -26.11% | 59.21 KHz / 43.75 KHz | Δ 35.33% |
| matrix: chol, dyn[double] 4x4 | 530.00 ns / 682.20 ns | ∇ -22.31% | 1.89 MHz / 1.47 MHz | Δ 28.72% |
| matrix: chol, fix[double] 4x4 | 290.00 ns / 316.95 ns | ∇ -8.50% | 3.45 MHz / 3.16 MHz | Δ 9.29% |
| matrix: chol, dyn[double] 40x40 | 10.81 us / 15.61 us | ∇ -30.76% | 92.51 KHz / 64.05 KHz | Δ 44.42% |
| matrix: chol, fix[double] 40x40 | 10.61 us / 14.14 us | ∇ -24.94% | 94.25 KHz / 70.74 KHz | Δ 33.23% |
| matrix: chol, sparse [2x2;2x2] | 6.10 us / 123.13 us | ∇ -95.05% | 163.93 KHz / 8.12 KHz | Δ 1918.50% |
| matrix: chol, sparse [30x30;10x10] | 36.50 us / 44.19 us | ∇ -17.41% | 27.40 KHz / 22.63 KHz | Δ 21.07% |
| matrix: chol, dyn[double] 10x[6x6] | 28.80 us / 38.64 us | ∇ -25.46% | 34.72 KHz / 25.88 KHz | Δ 34.16% |
| matrix: chol, sparse 10x[6x6] | 16.74 us / 18.44 us | ∇ -9.21% | 59.74 KHz / 54.24 KHz | Δ 10.14% |
| matrix: chol, dyn[double] 20x[6x6] | 151.40 us / 187.94 us | ∇ -19.44% | 6.61 KHz / 5.32 KHz | Δ 24.13% |
| matrix: chol, sparse 20x[6x6] | 29.33 us / 32.61 us | ∇ -10.05% | 34.09 KHz / 30.67 KHz | Δ 11.17% |
| matrix: chol, dyn[double] 50x[6x6] | 1.67 ms / 2.45 ms | ∇ -31.81% | 598.01 Hz / 407.79 Hz | Δ 46.65% |
| matrix: chol, sparse 50x[6x6] | 69.84 us / 159.41 us | ∇ -56.19% | 14.32 KHz / 6.27 KHz | Δ 128.25% |
| matrix: chol, dyn[double] 100x[6x6] | 14.94 ms / 16.61 ms | ∇ -10.03% | 66.92 Hz / 60.21 Hz | Δ 11.14% |
| matrix: chol, sparse 100x[6x6] | 142.72 us / 143.31 us | ∇ -0.41% | 7.01 KHz / 6.98 KHz | Δ 0.41% |
| matrix: chol, dyn[double] 120x[6x6] | 23.75 ms / 22.18 ms | Δ 7.12% | 42.10 Hz / 45.09 Hz | ∇ -6.64% |
| matrix: chol, sparse 120x[6x6] | 163.62 us / 169.63 us | ∇ -3.54% | 6.11 KHz / 5.90 KHz | Δ 3.67% |
| matrix: chol, dyn[double] 140x[6x6] | 36.15 ms / 33.41 ms | Δ 8.19% | 27.66 Hz / 29.93 Hz | ∇ -7.57% |
| matrix: chol, sparse 140x[6x6] | 190.66 us / 202.09 us | ∇ -5.65% | 5.24 KHz / 4.95 KHz | Δ 5.99% |
| 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 / 2.91 ns | Δ 39.81% | 245.78 MHz / 343.63 MHz | ∇ -28.48% |
| gridmap2D: setCell | 2.90 ns / 1.86 ns | Δ 55.96% | 344.23 MHz / 536.87 MHz | ∇ -35.88% |
| gridmap2D: updateCell | 5.82 ns / 3.46 ns | Δ 68.53% | 171.70 MHz / 289.38 MHz | ∇ -40.66% |
| gridmap2D: updateCell_fast_occupied | 0.86 ns / 1.88 ns | ∇ -54.47% | 1.17 GHz / 530.87 MHz | Δ 119.65% |
| gridmap2D: insert scan w/o widening | 56.46 us / 62.88 us | ∇ -10.21% | 17.71 KHz / 15.90 KHz | Δ 11.37% |
| gridmap2D: insert scan with widening | 158.80 us / 175.10 us | ∇ -9.31% | 6.30 KHz / 5.71 KHz | Δ 10.27% |
| gridmap2D: resize | 308.00 us / 757.97 us | ∇ -59.37% | 3.25 KHz / 1.32 KHz | Δ 146.09% |
| gridmap2D: computeLikelihood | 9.34 us / 8.30 us | Δ 12.58% | 107.06 KHz / 120.54 KHz | ∇ -11.18% |
| gridmap2D: determineMatching2D | 22.76 us / 35.80 us | ∇ -36.44% | 43.94 KHz / 27.93 KHz | Δ 57.33% |
| pointmap: insert 100 scans | 296.72 us / 526.37 us | ∇ -43.63% | 3.37 KHz / 1.90 KHz | Δ 77.40% |
| pointmap: build 2D kd-tree of 1 scan | 1.40 us / 2.27 us | ∇ -38.33% | 714.29 KHz / 440.53 KHz | Δ 62.14% |
| pointmap: build 2D kd-tree of 100 scan | 82.24 us / 155.06 us | ∇ -46.96% | 12.16 KHz / 6.45 KHz | Δ 88.55% |
| pointmap: build 2D kd-tree of 1000 scan | 911.44 us / 1.69 ms | ∇ -45.92% | 1.10 KHz / 593.35 Hz | Δ 84.91% |
| pointmap: build 3D kd-tree of 1 scan | 920.00 ns / 2.31 us | ∇ -60.11% | 1.09 MHz / 433.61 KHz | Δ 150.68% |
| pointmap: build 3D kd-tree of 100 scan | 87.64 us / 159.93 us | ∇ -45.20% | 11.41 KHz / 6.25 KHz | Δ 82.48% |
| pointmap: build 3D kd-tree of 1000 scan | 918.80 us / 1.73 ms | ∇ -46.92% | 1.09 KHz / 577.66 Hz | Δ 88.41% |
| pointmap: kd-tree 2d query on 10 scans | 317.00 ns / 516.48 ns | ∇ -38.62% | 3.15 MHz / 1.94 MHz | Δ 62.93% |
| pointmap: kd-tree 2d query on 1000 scans | 22.90 us / 42.42 us | ∇ -46.01% | 43.67 KHz / 23.57 KHz | Δ 85.23% |
| pointmap: kd-tree 2d query on 10000 scans | 2.66 ms / 4.92 ms | ∇ -45.80% | 375.31 Hz / 203.42 Hz | Δ 84.50% |
| pointmap: (insert scan+2D kd-tree query) x 10 | 946.05 us / 1.82 ms | ∇ -47.88% | 1.06 KHz / 550.91 Hz | Δ 91.87% |
| pointmap: (insert scan+2D kd-tree query) x 50 | 23.20 ms / 42.41 ms | ∇ -45.29% | 43.10 Hz / 23.58 Hz | Δ 82.77% |
| pointmap: (insert scan+3D kd-tree query) x 10 | 936.50 us / 1.73 ms | ∇ -45.86% | 1.07 KHz / 578.12 Hz | Δ 84.70% |
| pointmap: (insert scan+3D kd-tree query) x 50 | 23.27 ms / 43.82 ms | ∇ -46.90% | 42.98 Hz / 22.82 Hz | Δ 88.33% |
| pointmap: computeMatchingWith2D | 21.92 us / 33.73 us | ∇ -35.03% | 45.62 KHz / 29.64 KHz | Δ 53.91% |
| pointmap: boundingBox (10 scans) | 892.30 ns / 10.77 us | ∇ -91.72% | 1.12 MHz / 92.85 KHz | Δ 1107.01% |
| pointmap: boundingBox (1000 scans) | 85.56 us / 1.07 ms | ∇ -92.03% | 11.69 KHz / 931.26 Hz | Δ 1154.97% |
| random: drawUniform32bit | 22.75 ns / 4.58 ns | Δ 396.47% | 43.95 MHz / 218.18 MHz | ∇ -79.86% |
| random: drawUniform | 22.74 ns / 4.56 ns | Δ 398.14% | 43.98 MHz / 219.10 MHz | ∇ -79.93% |
| random: drawGaussian1D_normalized | 55.74 ns / 20.91 ns | Δ 166.58% | 17.94 MHz / 47.83 MHz | ∇ -62.49% |
| random: drawGaussian1D | 55.81 ns / 20.77 ns | Δ 168.72% | 17.92 MHz / 48.15 MHz | ∇ -62.79% |
| random: system rand() | 10.62 ns / 14.59 ns | ∇ -27.20% | 94.14 MHz / 68.54 MHz | Δ 37.36% |
| random: drawGaussianMultivariate(fixed 3x3) | 551.60 ns / 561.77 ns | ∇ -1.81% | 1.81 MHz / 1.78 MHz | Δ 1.84% |
| random: drawGaussianMultivariate(dyn 3x3) | 1.19 us / 1.64 us | ∇ -27.40% | 837.52 KHz / 608.03 KHz | Δ 37.74% |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 115.14 ns / 55.97 ns | Δ 105.71% | 8.69 MHz / 17.87 MHz | ∇ -51.39% |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 180.82 ns / 87.22 ns | Δ 107.31% | 5.53 MHz / 11.46 MHz | ∇ -51.76% |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 380.13 ns / 183.80 ns | Δ 106.81% | 2.63 MHz / 5.44 MHz | ∇ -51.65% |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 122.87 ns / 61.16 ns | Δ 100.90% | 8.14 MHz / 16.35 MHz | ∇ -50.22% |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 197.55 ns / 94.72 ns | Δ 108.56% | 5.06 MHz / 10.56 MHz | ∇ -52.05% |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 390.58 ns / 202.25 ns | Δ 93.11% | 2.56 MHz / 4.94 MHz | ∇ -48.22% |
| random: permuteVector (len=10) | 1.69 us / 342.43 ns | Δ 394.29% | 590.81 KHz / 2.92 MHz | ∇ -79.77% |
| random: permuteVector (len=100) | 3.30 us / 3.50 us | ∇ -5.79% | 303.24 KHz / 285.70 KHz | Δ 6.14% |
| random: permuteVector (len=1000) | 19.67 us / 34.48 us | ∇ -42.94% | 50.83 KHz / 29.00 KHz | Δ 75.26% |
| math: round | 0.03 ns / 52.00 ns | ∇ -99.94% | 30.75 GHz / 19.23 MHz | Δ 159790.63% |
| math: std::hypot(float) | 0.00 ns / 5.42 ns | ∇ -100.00% | 100.00 THz / 184.50 MHz | Δ 54201401.33% |
| 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 / X | 149.14 Hz / X | ||
| images: Save as JPEG (800x600, quality=95%) | 9.09 ms / X | 110.00 Hz / X | ||
| images: Save as JPEG (1024x768, quality=95%) | 14.11 ms / X | 70.89 Hz / X | ||
| images: Save as JPEG (640x480, quality=75%) | 4.88 ms / X | 205.05 Hz / X | ||
| images: Save as JPEG (800x600, quality=75%) | 7.53 ms / X | 132.76 Hz / X | ||
| images: Save as JPEG (1024x768, quality=75%) | 12.32 ms / X | 81.18 Hz / X | ||
| images: Save BMP 800x600 disk | 6.36 ms / X | 157.29 Hz / X | ||
| images: Save PNG 800x600 disk | 22.14 ms / X | 45.17 Hz / X | ||
| images: Save JPG 800x600 disk | 8.62 ms / X | 116.07 Hz / X | ||
| images: Load BMP 800x600 disk | 298.27 us / X | 3.35 KHz / X | ||
| images: Load PNG 800x600 disk | 8.93 ms / X | 111.94 Hz / X | ||
| images: Load JPG 800x600 disk | 6.22 ms / X | 160.76 Hz / X | ||
| images: Save BMP 800x600 shared mem | 417.93 us / X | 2.39 KHz / X | ||
| images: Save PNG 800x600 shared mem | 17.09 ms / X | 58.52 Hz / X | ||
| images: Save JPG 800x600 shared mem | 6.13 ms / X | 163.16 Hz / X | ||
| images: Load BMP 800x600 shared mem | 278.67 us / X | 3.59 KHz / X | ||
| images: Load PNG 800x600 shared mem | 9.01 ms / X | 110.95 Hz / X | ||
| images: Load JPG 800x600 shared mem | 6.22 ms / X | 160.78 Hz / X | ||
| images: Gauss filter (640x480) | 2.01 ms / 919.51 us | Δ 118.31% | 498.17 Hz / 1.09 KHz | ∇ -54.19% |
| images: Gauss filter (800x600) | 3.21 ms / 1.50 ms | Δ 114.31% | 311.42 Hz / 667.43 Hz | ∇ -53.34% |
| images: Gauss filter (1024x768) | 5.27 ms / 2.43 ms | Δ 117.09% | 189.63 Hz / 411.66 Hz | ∇ -53.94% |
| images: Half sample GRAY (160x120) | 753.33 ns / 44.68 us | ∇ -98.31% | 1.33 MHz / 22.38 KHz | Δ 5831.15% |
| images: Half sample GRAY (320x240) | 1.81 us / 12.34 us | ∇ -85.36% | 553.51 KHz / 81.04 KHz | Δ 582.97% |
| images: Half sample GRAY (640x480) | 7.24 us / 44.43 us | ∇ -83.70% | 138.06 KHz / 22.51 KHz | Δ 513.33% |
| images: Half sample GRAY (800x600) | 12.12 us / 62.97 us | ∇ -80.76% | 82.53 KHz / 15.88 KHz | Δ 419.67% |
| images: Half sample GRAY (1024x768) | 20.49 us / 73.10 us | ∇ -71.97% | 48.80 KHz / 13.68 KHz | Δ 256.77% |
| images: Half sample GRAY (1280x1024) | 33.85 us / 83.61 us | ∇ -59.51% | 29.54 KHz / 11.96 KHz | Δ 146.99% |
| images: Half sample RGB (160x120) | 1.40 us / 7.37 us | ∇ -80.95% | 712.59 KHz / 135.73 KHz | Δ 424.99% |
| images: Half sample RGB (320x240) | 4.44 us / 25.88 us | ∇ -82.86% | 225.39 KHz / 38.64 KHz | Δ 483.26% |
| images: Half sample RGB (640x480) | 21.84 us / 99.11 us | ∇ -77.96% | 45.79 KHz / 10.09 KHz | Δ 353.79% |
| images: Half sample RGB (800x600) | 34.88 us / 121.43 us | ∇ -71.28% | 28.67 KHz / 8.24 KHz | Δ 248.17% |
| images: Half sample RGB (1024x768) | 58.20 us / 173.65 us | ∇ -66.48% | 17.18 KHz / 5.76 KHz | Δ 198.34% |
| images: Half sample RGB (1280x1024) | 119.26 us / 182.74 us | ∇ -34.74% | 8.38 KHz / 5.47 KHz | Δ 53.22% |
| images: Half sample smooth GRAY (160x120) | 1.08 us / 28.12 us | ∇ -96.15% | 923.08 KHz / 35.56 KHz | Δ 2495.53% |
| images: Half sample smooth GRAY (320x240) | 3.11 us / 6.24 us | ∇ -50.13% | 321.54 KHz / 160.35 KHz | Δ 100.53% |
| images: Half sample smooth GRAY (640x480) | 13.89 us / 20.79 us | ∇ -33.20% | 72.01 KHz / 48.10 KHz | Δ 49.71% |
| images: Half sample smooth GRAY (800x600) | 21.31 us / 30.69 us | ∇ -30.54% | 46.92 KHz / 32.59 KHz | Δ 43.97% |
| images: Half sample smooth GRAY (1024x768) | 34.33 us / 33.69 us | Δ 1.91% | 29.13 KHz / 29.68 KHz | ∇ -1.87% |
| images: Half sample smooth GRAY (1280x1024) | 56.59 us / 38.04 us | Δ 48.78% | 17.67 KHz / 26.29 KHz | ∇ -32.79% |
| images: Half sample smooth RGB (160x120) | 10.08 us / 9.57 us | Δ 5.31% | 99.21 KHz / 104.47 KHz | ∇ -5.04% |
| images: Half sample smooth RGB (320x240) | 33.64 us / 33.29 us | Δ 1.06% | 29.72 KHz / 30.04 KHz | ∇ -1.05% |
| images: Half sample smooth RGB (640x480) | 127.81 us / 126.81 us | Δ 0.79% | 7.82 KHz / 7.89 KHz | ∇ -0.78% |
| images: Half sample smooth RGB (800x600) | 191.91 us / 176.80 us | Δ 8.55% | 5.21 KHz / 5.66 KHz | ∇ -7.88% |
| images: Half sample smooth RGB (1024x768) | 194.27 us / 209.31 us | ∇ -7.18% | 5.15 KHz / 4.78 KHz | Δ 7.74% |
| images: Half sample smooth RGB (1280x1024) | 364.64 us / 221.21 us | Δ 64.84% | 2.74 KHz / 4.52 KHz | ∇ -39.33% |
| images: RGB->GRAY 8u (40x30) | 5.59 us / 6.60 us | ∇ -15.31% | 179.00 KHz / 151.59 KHz | Δ 18.08% |
| images: RGB->GRAY 8u (80x60) | 4.23 us / 7.36 us | ∇ -42.45% | 236.22 KHz / 135.94 KHz | Δ 73.77% |
| images: RGB->GRAY 8u (160x120) | 11.42 us / 27.06 us | ∇ -57.78% | 87.54 KHz / 36.96 KHz | Δ 136.88% |
| images: RGB->GRAY 8u (320x240) | 35.87 us / 105.43 us | ∇ -65.97% | 27.88 KHz / 9.49 KHz | Δ 193.89% |
| images: RGB->GRAY 8u (640x480) | 127.77 us / 175.70 us | ∇ -27.28% | 7.83 KHz / 5.69 KHz | Δ 37.52% |
| images: RGB->GRAY 8u (800x600) | 169.11 us / 196.49 us | ∇ -13.94% | 5.91 KHz / 5.09 KHz | Δ 16.19% |
| images: RGB->GRAY 8u (1024x768) | 237.72 us / 367.76 us | ∇ -35.36% | 4.21 KHz / 2.72 KHz | Δ 54.70% |
| images: RGB->GRAY 8u (1280x1024) | 377.32 us / 834.98 us | ∇ -54.81% | 2.65 KHz / 1.20 KHz | Δ 121.29% |
| images: KLT score (WIN=2 5x5) | 27.26 ns / 43.55 ns | ∇ -37.40% | 36.68 MHz / 22.96 MHz | Δ 59.73% |
| images: KLT score (WIN=3 7x7) | 33.33 ns / 58.85 ns | ∇ -43.36% | 30.00 MHz / 16.99 MHz | Δ 76.57% |
| images: KLT score (WIN=4 9x9) | 37.96 ns / 76.23 ns | ∇ -50.20% | 26.34 MHz / 13.12 MHz | Δ 100.81% |
| images: KLT score (WIN=5 10x10) | 48.02 ns / 101.24 ns | ∇ -52.57% | 20.83 MHz / 9.88 MHz | Δ 110.85% |
| images: KLT score (WIN=6 13x13) | 53.09 ns / 129.38 ns | ∇ -58.97% | 18.84 MHz / 7.73 MHz | Δ 143.71% |
| images: KLT score (WIN=7 15x15) | 62.87 ns / 163.57 ns | ∇ -61.56% | 15.91 MHz / 6.11 MHz | Δ 160.16% |
| images: KLT score (WIN=8 17x17) | 59.92 ns / 207.36 ns | ∇ -71.10% | 16.69 MHz / 4.82 MHz | Δ 246.07% |
| images: KLT score (WIN=9 19x19) | 62.94 ns / 240.42 ns | ∇ -73.82% | 15.89 MHz / 4.16 MHz | Δ 281.98% |
| images: KLT score (WIN=10 21x21) | 66.64 ns / 274.50 ns | ∇ -75.72% | 15.01 MHz / 3.64 MHz | Δ 311.91% |
| images: KLT score (WIN=11 23x23) | 59.70 ns / 319.09 ns | ∇ -81.29% | 16.75 MHz / 3.13 MHz | Δ 434.53% |
| images: KLT score (WIN=12 25x25) | 78.23 ns / 368.43 ns | ∇ -78.77% | 12.78 MHz / 2.71 MHz | Δ 370.98% |
| images: KLT score (WIN=13 27x27) | 66.87 ns / 427.37 ns | ∇ -84.35% | 14.95 MHz / 2.34 MHz | Δ 539.13% |
| images: KLT score (WIN=14 29x29) | 69.47 ns / 483.04 ns | ∇ -85.62% | 14.39 MHz / 2.07 MHz | Δ 595.30% |
| images: KLT score (WIN=15 31x31) | 72.48 ns / 547.94 ns | ∇ -86.77% | 13.80 MHz / 1.83 MHz | Δ 656.00% |
| images: KLT score (WIN=16 33x33) | 103.32 ns / 619.70 ns | ∇ -83.33% | 9.68 MHz / 1.61 MHz | Δ 499.78% |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 81.37 us / 191.90 us | ∇ -57.60% | 12.29 KHz / 5.21 KHz | Δ 135.84% |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 224.34 us / 231.26 us | ∇ -2.99% | 4.46 KHz / 4.32 KHz | Δ 3.09% |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 94.91 us / 280.65 us | ∇ -66.18% | 10.54 KHz / 3.56 KHz | Δ 195.71% |
| images: buildPyramid 640x480,4 levs, smooth, gray | 101.22 us / 228.84 us | ∇ -55.77% | 9.88 KHz / 4.37 KHz | Δ 126.09% |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 85.80 us / 207.46 us | ∇ -58.64% | 11.66 KHz / 4.82 KHz | Δ 141.80% |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 231.53 us / 240.02 us | ∇ -3.54% | 4.32 KHz / 4.17 KHz | Δ 3.67% |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 99.53 us / 284.19 us | ∇ -64.98% | 10.05 KHz / 3.52 KHz | Δ 185.54% |
| images: buildPyramid 640x480,8 levs, smooth, gray | 107.32 us / 238.30 us | ∇ -54.97% | 9.32 KHz / 4.20 KHz | Δ 122.05% |
| stereo: prepare rectify map 640x480 RGB | 18.45 ms / 4.52 ms | Δ 308.56% | 54.21 Hz / 221.47 Hz | ∇ -75.52% |
| stereo: prepare rectify map 800x600 RGB | 28.81 ms / 5.88 ms | Δ 389.83% | 34.71 Hz / 170.00 Hz | ∇ -79.58% |
| stereo: prepare rectify map 1024x768 RGB | 47.34 ms / 9.45 ms | Δ 400.75% | 21.12 Hz / 105.78 Hz | ∇ -80.03% |
| stereo: prepare rectify map 1024x768->800x600 RGB | 28.79 ms / 5.92 ms | Δ 386.02% | 34.73 Hz / 168.79 Hz | ∇ -79.42% |
| stereo: prepare rectify map 1024x768->640x480 RGB | 18.49 ms / 3.88 ms | Δ 376.51% | 54.07 Hz / 257.65 Hz | ∇ -79.01% |
| stereo: rectify 640x480 RGB | 1.53 ms / 1.62 ms | ∇ -5.24% | 651.57 Hz / 617.43 Hz | Δ 5.53% |
| stereo: rectify 800x600 RGB | 1.62 ms / 2.00 ms | ∇ -19.09% | 617.68 Hz / 499.77 Hz | Δ 23.59% |
| stereo: rectify 1024x768 RGB | 2.94 ms / 3.71 ms | ∇ -20.80% | 340.13 Hz / 269.37 Hz | Δ 26.27% |
| stereo: rectify 1024x768->800x600 RGB | 2.00 ms / 2.08 ms | ∇ -4.24% | 501.19 Hz / 479.92 Hz | Δ 4.43% |
| stereo: rectify 1024x768->640x480 RGB | 1.69 ms / 1.75 ms | ∇ -3.20% | 591.40 Hz / 572.46 Hz | Δ 3.31% |
| stereo: rectify 640x480 GRAY | 1.10 ms / 890.62 us | Δ 23.75% | 907.32 Hz / 1.12 KHz | ∇ -19.19% |
| stereo: rectify 800x600 GRAY | 1.23 ms / 1.10 ms | Δ 11.73% | 813.64 Hz / 909.06 Hz | ∇ -10.50% |
| stereo: rectify 1024x768 GRAY | 2.26 ms / 2.18 ms | Δ 3.88% | 441.81 Hz / 458.96 Hz | ∇ -3.74% |
| stereo: rectify 1024x768->800x600 GRAY | 1.38 ms / 1.10 ms | Δ 25.83% | 722.75 Hz / 909.41 Hz | ∇ -20.52% |
| stereo: rectify 1024x768->640x480 GRAY | 1.32 ms / 895.97 us | Δ 46.84% | 760.11 Hz / 1.12 KHz | ∇ -31.90% |
| tfest: se3_l2 [CPose3DQuat] | 2.82 us / 10.63 us | ∇ -73.53% | 355.19 KHz / 94.03 KHz | Δ 277.73% |
| tfest: se3_l2 [vector TPoint3D] | 2.86 us / 8.97 us | ∇ -68.06% | 349.17 KHz / 111.51 KHz | Δ 213.13% |
| tfest: se2_l2 [x10 corrs] | 135.55 ns / 116.12 ns | Δ 16.73% | 7.38 MHz / 8.61 MHz | ∇ -14.33% |
| tfest: se2_l2 [x100 corrs] | 221.18 ns / 462.23 ns | ∇ -52.15% | 4.52 MHz / 2.16 MHz | Δ 108.98% |
| tfest: se2_l2 [x1000 corrs] | 1.02 us / 3.91 us | ∇ -73.94% | 980.87 KHz / 255.59 KHz | Δ 283.77% |
| feature_extraction [640x480]: Harris | 6.31 ms / 15.75 ms | ∇ -59.96% | 158.55 Hz / 63.49 Hz | Δ 149.75% |
| feature_extraction [640x480]: KLT | 6.67 ms / 9.92 ms | ∇ -32.69% | 149.82 Hz / 100.84 Hz | Δ 48.57% |
| feature_extraction [640x480]: SURF | 33.78 ms / X | 29.60 Hz / X | ||
| feature_extraction [640x480]: FAST | 1.90 ms / 2.17 ms | ∇ -12.43% | 527.03 Hz / 461.50 Hz | Δ 14.20% |
| feature_extraction [640x480]: Spin desc. | 100.39 ms / 30.67 ms | Δ 227.31% | 9.96 Hz / 32.60 Hz | ∇ -69.45% |
| feature_extraction [640x480]: FASTER-9 | 2.31 ms / 2.91 ms | ∇ -20.58% | 432.77 Hz / 343.69 Hz | Δ 25.92% |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 1.17 ms / 2.27 ms | ∇ -48.39% | 852.33 Hz / 439.93 Hz | Δ 93.74% |
| feature_extraction [640x480]: FASTER-10 | 1.75 ms / 2.32 ms | ∇ -24.42% | 570.61 Hz / 431.27 Hz | Δ 32.31% |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 974.68 us / 1.88 ms | ∇ -48.07% | 1.03 KHz / 532.77 Hz | Δ 92.57% |
| feature_extraction [640x480]: FASTER-12 | 1.29 ms / 1.64 ms | ∇ -21.24% | 773.75 Hz / 609.44 Hz | Δ 26.96% |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 964.98 us / 1.40 ms | ∇ -30.99% | 1.04 KHz / 715.16 Hz | Δ 44.90% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 397.71 us / 1.05 ms | ∇ -62.13% | 2.51 KHz / 952.09 Hz | Δ 164.09% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 372.97 us / 1.02 ms | ∇ -63.49% | 2.68 KHz / 978.83 Hz | Δ 173.91% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 476.84 us / 826.01 us | ∇ -42.27% | 2.10 KHz / 1.21 KHz | Δ 73.22% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 403.19 us / 1.05 ms | ∇ -61.64% | 2.48 KHz / 951.32 Hz | Δ 160.71% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 376.41 us / 1.02 ms | ∇ -63.16% | 2.66 KHz / 978.81 Hz | Δ 171.42% |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 478.39 us / 828.21 us | ∇ -42.24% | 2.09 KHz / 1.21 KHz | Δ 73.12% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 502.18 us / 1.42 ms | ∇ -64.52% | 1.99 KHz / 706.45 Hz | Δ 181.88% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 474.23 us / 1.37 ms | ∇ -65.27% | 2.11 KHz / 732.34 Hz | Δ 187.94% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 548.60 us / 1.34 ms | ∇ -59.21% | 1.82 KHz / 743.54 Hz | Δ 145.15% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 507.99 us / 1.41 ms | ∇ -63.99% | 1.97 KHz / 708.80 Hz | Δ 177.73% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 536.86 us / 1.34 ms | ∇ -60.06% | 1.86 KHz / 743.91 Hz | Δ 150.39% |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 550.06 us / 1.29 ms | ∇ -57.24% | 1.82 KHz / 777.31 Hz | Δ 133.88% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 646.02 us / 1.99 ms | ∇ -67.50% | 1.55 KHz / 503.05 Hz | Δ 207.71% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 638.23 us / 1.91 ms | ∇ -66.59% | 1.57 KHz / 523.41 Hz | Δ 199.35% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 605.17 us / 1.70 ms | ∇ -64.41% | 1.65 KHz / 588.07 Hz | Δ 180.99% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 651.80 us / 1.99 ms | ∇ -67.26% | 1.53 KHz / 502.32 Hz | Δ 205.43% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 640.70 us / 1.90 ms | ∇ -66.22% | 1.56 KHz / 527.26 Hz | Δ 196.02% |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 606.24 us / 1.72 ms | ∇ -64.67% | 1.65 KHz / 582.72 Hz | Δ 183.07% |
| feature_matching [640x480]: Harris + CC | 15.55 ms / 22.18 ms | ∇ -29.87% | 64.30 Hz / 45.10 Hz | Δ 42.59% |
| feature_matching [640x480]: Harris + SAD | 11.05 ms / 18.56 ms | ∇ -40.45% | 90.49 Hz / 53.89 Hz | Δ 67.92% |
| feature_matching [640x480]: SURF | 62.55 ms / X | 15.99 Hz / X | ||
| feature_matching [640x480]: FAST + CC | 7.00 ms / 6.94 ms | Δ 0.81% | 142.92 Hz / 144.08 Hz | ∇ -0.80% |
| feature_matching [640x480]: FAST + SAD | 2.47 ms / 3.61 ms | ∇ -31.53% | 405.04 Hz / 277.32 Hz | Δ 46.05% |
| graph(2d): insertEdge x 1e3 | 93.49 us / 158.15 us | ∇ -40.88% | 10.70 KHz / 6.32 KHz | Δ 69.15% |
| graph(2d,vec): insertEdge x 1e3 | 97.39 us / 154.94 us | ∇ -37.15% | 10.27 KHz / 6.45 KHz | Δ 59.10% |
| graph(2d): insertEdgeAtEnd x 1e3 | 73.49 us / 124.64 us | ∇ -41.03% | 13.61 KHz / 8.02 KHz | Δ 69.59% |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 74.27 us / 120.41 us | ∇ -38.32% | 13.46 KHz / 8.30 KHz | Δ 62.13% |
| graph(2d pdf): insertEdge x 1e3 | 130.24 us / 204.87 us | ∇ -36.43% | 7.68 KHz / 4.88 KHz | Δ 57.30% |
| graph(2d pdf,vec): insertEdge x 1e3 | 130.03 us / 204.35 us | ∇ -36.37% | 7.69 KHz / 4.89 KHz | Δ 57.16% |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 113.28 us / 162.60 us | ∇ -30.34% | 8.83 KHz / 6.15 KHz | Δ 43.54% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 113.96 us / 168.22 us | ∇ -32.25% | 8.77 KHz / 5.94 KHz | Δ 47.61% |
| graph(2d): insertEdge x 1e4 | 1.52 ms / 1.67 ms | ∇ -8.71% | 656.10 Hz / 598.93 Hz | Δ 9.54% |
| graph(2d,vec): insertEdge x 1e4 | 1.25 ms / 1.68 ms | ∇ -25.37% | 799.05 Hz / 596.30 Hz | Δ 34.00% |
| graph(2d): insertEdgeAtEnd x 1e4 | 488.95 us / 1.21 ms | ∇ -59.71% | 2.05 KHz / 823.91 Hz | Δ 148.23% |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 490.97 us / 1.21 ms | ∇ -59.56% | 2.04 KHz / 823.74 Hz | Δ 147.26% |
| graph(2d pdf): insertEdge x 1e4 | 1.29 ms / 2.08 ms | ∇ -37.87% | 772.59 Hz / 480.03 Hz | Δ 60.95% |
| graph(2d pdf,vec): insertEdge x 1e4 | 1.73 ms / 2.19 ms | ∇ -20.86% | 577.69 Hz / 457.17 Hz | Δ 26.36% |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.11 ms / 1.52 ms | ∇ -27.51% | 904.94 Hz / 655.96 Hz | Δ 37.96% |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.11 ms / 1.70 ms | ∇ -34.65% | 901.73 Hz / 589.28 Hz | Δ 53.02% |
| graph(3d): insertEdge x 1e3 | 123.67 us / 150.12 us | ∇ -17.62% | 8.09 KHz / 6.66 KHz | Δ 21.39% |
| graph(3d,vec): insertEdge x 1e3 | 125.66 us / 150.55 us | ∇ -16.53% | 7.96 KHz / 6.64 KHz | Δ 19.80% |
| graph(3d): insertEdgeAtEnd x 1e3 | 103.65 us / 109.39 us | ∇ -5.25% | 9.65 KHz / 9.14 KHz | Δ 5.54% |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 103.36 us / 110.04 us | ∇ -6.07% | 9.67 KHz / 9.09 KHz | Δ 6.46% |
| graph(3d pdf): insertEdge x 1e3 | 293.13 us / 312.72 us | ∇ -6.27% | 3.41 KHz / 3.20 KHz | Δ 6.68% |
| graph(3d pdf,vec): insertEdge x 1e3 | 290.78 us / 360.19 us | ∇ -19.27% | 3.44 KHz / 2.78 KHz | Δ 23.87% |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 247.59 us / 267.44 us | ∇ -7.42% | 4.04 KHz / 3.74 KHz | Δ 8.02% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 247.19 us / 263.46 us | ∇ -6.18% | 4.05 KHz / 3.80 KHz | Δ 6.58% |
| graph(3d): insertEdge x 1e4 | 1.53 ms / 1.86 ms | ∇ -18.05% | 654.63 Hz / 536.45 Hz | Δ 22.03% |
| graph(3d,vec): insertEdge x 1e4 | 1.52 ms / 1.82 ms | ∇ -16.89% | 659.36 Hz / 548.00 Hz | Δ 20.32% |
| graph(3d): insertEdgeAtEnd x 1e4 | 1.03 ms / 1.32 ms | ∇ -22.02% | 974.27 Hz / 759.75 Hz | Δ 28.24% |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.04 ms / 1.31 ms | ∇ -21.05% | 964.55 Hz / 761.47 Hz | Δ 26.67% |
| graph(3d pdf): insertEdge x 1e4 | 3.71 ms / 3.62 ms | Δ 2.55% | 269.73 Hz / 276.61 Hz | ∇ -2.49% |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.71 ms / 3.83 ms | ∇ -3.17% | 269.81 Hz / 261.27 Hz | Δ 3.27% |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.49 ms / 2.90 ms | ∇ -14.02% | 401.60 Hz / 345.30 Hz | Δ 16.30% |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.48 ms / 2.90 ms | ∇ -14.42% | 402.64 Hz / 344.56 Hz | Δ 16.86% |
| graph(3d): dijkstra 1e2 nodes | 52.34 us / 85.23 us | ∇ -38.59% | 19.11 KHz / 11.73 KHz | Δ 62.84% |
| graph(3d,vec): dijkstra 1e2 nodes | 50.77 us / 84.84 us | ∇ -40.16% | 19.70 KHz / 11.79 KHz | Δ 67.11% |
| graph(3d): dijkstra 1e3 nodes | 747.15 us / 950.94 us | ∇ -21.43% | 1.34 KHz / 1.05 KHz | Δ 27.28% |
| graph(3d,vec): dijkstra 1e3 nodes | 730.57 us / 954.30 us | ∇ -23.44% | 1.37 KHz / 1.05 KHz | Δ 30.62% |
| graph(3d): dijkstra 1e4 nodes | 10.64 ms / 11.92 ms | ∇ -10.74% | 94.00 Hz / 83.91 Hz | Δ 12.03% |
| graph(3d,vec): dijkstra 1e4 nodes | 10.80 ms / 11.83 ms | ∇ -8.71% | 92.60 Hz / 84.53 Hz | Δ 9.54% |
| graph(3d): dijkstra 1e5 nodes | 167.96 ms / 155.44 ms | Δ 8.06% | 5.95 Hz / 6.43 Hz | ∇ -7.45% |
| graph(3d,vec): dijkstra 1e5 nodes | 169.81 ms / 154.14 ms | Δ 10.17% | 5.89 Hz / 6.49 Hz | ∇ -9.23% |
| graph(2d): dijkstra 1e5 nodes | 173.28 ms / 150.58 ms | Δ 15.07% | 5.77 Hz / 6.64 Hz | ∇ -13.10% |
| graph(2d,vec): dijkstra 1e5 nodes | 172.89 ms / 149.73 ms | Δ 15.46% | 5.78 Hz / 6.68 Hz | ∇ -13.39% |
| graphslam(2d): levmarq 50 KFs/101 edges | 620.26 us / 908.20 us | ∇ -31.70% | 1.61 KHz / 1.10 KHz | Δ 46.42% |
| graphslam(2d): levmarq 100 KFs/451 edges | 3.22 ms / 4.91 ms | ∇ -34.47% | 310.90 Hz / 203.72 Hz | Δ 52.61% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 1.09 ms / 52.81 ms | ∇ -97.94% | 918.40 Hz / 18.94 Hz | Δ 4750.28% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 1.02 ms / 52.60 ms | ∇ -98.06% | 978.06 Hz / 19.01 Hz | Δ 5044.55% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 909.15 us / 52.83 ms | ∇ -98.28% | 1.10 KHz / 18.93 Hz | Δ 5710.42% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 970.51 us / 52.72 ms | ∇ -98.16% | 1.03 KHz / 18.97 Hz | Δ 5332.22% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 1.97 ms / 38.09 ms | ∇ -94.83% | 507.74 Hz / 26.25 Hz | Δ 1834.20% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 1.96 ms / 38.06 ms | ∇ -94.84% | 509.63 Hz / 26.28 Hz | Δ 1839.43% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 1.86 ms / 38.41 ms | ∇ -95.15% | 536.55 Hz / 26.03 Hz | Δ 1961.15% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 1.32 ms / 38.20 ms | ∇ -96.54% | 756.64 Hz / 26.18 Hz | Δ 2790.54% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 1.94 ms / 18.76 ms | ∇ -89.64% | 514.60 Hz / 53.29 Hz | Δ 865.57% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 1.95 ms / 18.78 ms | ∇ -89.60% | 512.03 Hz / 53.25 Hz | Δ 861.64% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 1.88 ms / 18.98 ms | ∇ -90.12% | 533.31 Hz / 52.70 Hz | Δ 912.05% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 1.43 ms / 19.81 ms | ∇ -92.77% | 698.03 Hz / 50.47 Hz | Δ 1283.04% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 2.05 ms / 14.46 ms | ∇ -85.84% | 488.53 Hz / 69.17 Hz | Δ 606.30% |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 2.04 ms / 14.29 ms | ∇ -85.73% | 490.40 Hz / 69.98 Hz | Δ 600.75% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 2.06 ms / 14.59 ms | ∇ -85.90% | 486.06 Hz / 68.53 Hz | Δ 609.26% |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 1.47 ms / 14.55 ms | ∇ -89.92% | 681.79 Hz / 68.71 Hz | Δ 892.25% |
| 3DRangeScan: 320x240 Depth->2D scan | 1.25 ms / 2.14 ms | ∇ -41.72% | 801.03 Hz / 466.86 Hz | Δ 71.58% |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.34 ms / 3.91 ms | ∇ -14.67% | 299.37 Hz / 255.45 Hz | Δ 17.20% |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 3.35 ms / 3.68 ms | ∇ -8.87% | 298.08 Hz / 271.65 Hz | Δ 9.73% |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 5.16 ms / 6.04 ms | ∇ -14.52% | 193.80 Hz / 165.66 Hz | Δ 16.99% |
| CAtan2LUT: 20x20m,1cm cells,build | 360.93 ms / 102.30 ms | Δ 252.82% | 2.77 Hz / 9.78 Hz | ∇ -71.66% |
| CAtan2LUT: 20x20m,1cm cells,query | 7.31 ns / 7.64 ns | ∇ -4.22% | 136.72 MHz / 130.96 MHz | Δ 4.40% |
| CAtan2LUTMultiRes: 22x22m,build | 292.04 ms / 101.62 ms | Δ 187.38% | 3.42 Hz / 9.84 Hz | ∇ -65.20% |
| CAtan2LUTMultiRes: 22x22m,query | 19.01 ns / 10.59 ns | Δ 79.43% | 52.61 MHz / 94.41 MHz | ∇ -44.27% |
| CAtan2LUT: raw ::atan2() call | 94.61 ns / 22.56 ns | Δ 319.37% | 10.57 MHz / 44.33 MHz | ∇ -76.15% |
| Strings: mrpt::format() short str | 194.60 ns / 548.06 ns | ∇ -64.49% | 5.14 MHz / 1.82 MHz | Δ 181.63% |
| Strings: mrpt::format() long str | 354.10 ns / 15.47 us | ∇ -97.71% | 2.82 MHz / 64.64 KHz | Δ 4269.09% |