| Test description | Execution time | Execution rate (Hz) |
| icp-slam (match points): Run with sample dataset | 1.31 ms | 763.60 Hz |
| icp-slam (match grid): Run with sample dataset | 1.76 ms | 569.34 Hz |
| poses: CPose3D (+) CPose3D | 108.84 ns | 9.19 MHz |
| poses: CPose3D.composeFrom() | 98.66 ns | 10.14 MHz |
| poses: CPose3D (+) CPoint3D | 10.79 ns | 92.65 MHz |
| poses: CPose3D.composePoint() | 9.95 ns | 100.55 MHz |
| poses: CPose3D.composePoint()+Jacobs | 77.35 ns | 12.93 MHz |
| poses: CPoint3D (-) CPose3D | 29.11 ns | 34.35 MHz |
| poses: CPose3D.inverseComposePoint() | 21.72 ns | 46.03 MHz |
| poses: CPose2D (+) CPose2D | 14.66 ns | 68.20 MHz |
| poses: CPose2D.composeFrom() | 8.87 ns | 112.80 MHz |
| poses: CPose2D (+) CPoint2D | 10.10 ns | 99.04 MHz |
| poses: CPose2D.composePoint() | 5.96 ns | 167.67 MHz |
| poses: CPose3DQuat (+) CPose3DQuat | 46.29 ns | 21.60 MHz |
| poses: CPose3DQuat.composeFrom() | 34.10 ns | 29.32 MHz |
| poses: CPose3DQuat (+) CPoint3D | 24.82 ns | 40.29 MHz |
| poses: CPose3DQuat.composePoint() | 16.57 ns | 60.36 MHz |
| poses: CPose3DQuat.invcomposePoint() | 13.13 ns | 76.16 MHz |
| poses: Conv CPose3DQuat <- CPose3D | 12.13 ns | 82.47 MHz |
| poses: Conv CPose3D -> CPose3DQuat | 43.97 ns | 22.74 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 960.22 ns | 1.04 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 941.20 ns | 1.06 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 5.89 us | 169.68 KHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 1.72 us | 580.64 KHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 1.72 us | 579.72 KHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.21 us | 237.73 KHz |
| CPose3DInterpolator: CPose3D insert pose at end | 189.89 ns | 5.27 MHz |
| CPose3DInterpolator: CPose3D insert pose random | 279.35 ns | 3.58 MHz |
| CPose3DInterpolator: CPose3D query | 408.39 ns | 2.45 MHz |
| CPose3DInterpolator: TPose3D insert pose at end | 166.84 ns | 5.99 MHz |
| CPose3DInterpolator: TPose3D insert pose random | 272.92 ns | 3.66 MHz |
| CPose3DInterpolator: TPose3D query | 318.24 ns | 3.14 MHz |
| CPose2DInterpolator: TPose2D insert pose at end | 160.68 ns | 6.22 MHz |
| CPose2DInterpolator: TPose2D insert pose random | 226.10 ns | 4.42 MHz |
| CPose2DInterpolator: TPose2D query | 144.72 ns | 6.91 MHz |
| matrix: unit, dyn[float], 3x3 | 21.72 ns | 46.04 MHz |
| matrix: unit, dyn[double], 3x3 | 21.63 ns | 46.23 MHz |
| matrix: unit, dyn[float], 6x6 | 58.30 ns | 17.15 MHz |
| matrix: unit, dyn[double], 6x6 | 57.93 ns | 17.26 MHz |
| matrix: unit, fix[float,3,3] | 0.83 ns | 1.21 GHz |
| matrix: unit, fix[double,3,3] | 1.34 ns | 746.12 MHz |
| matrix: unit, fix[float,6,6] | 4.12 ns | 242.52 MHz |
| matrix: unit, fix[double,6,6] | 6.34 ns | 157.62 MHz |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 177.80 ns | 5.62 MHz |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 106.68 ns | 9.37 MHz |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 162.46 ns | 6.16 MHz |
| matrix: multiply, fix[double], 3x3 * 3x3 | 98.07 ns | 10.20 MHz |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 184.38 ns | 5.42 MHz |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 131.40 ns | 7.61 MHz |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 183.56 ns | 5.45 MHz |
| matrix: multiply, fix[double], 3x6 * 6x3 | 114.34 ns | 8.75 MHz |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.00 us | 997.38 KHz |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 831.72 ns | 1.20 MHz |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.55 us | 647.07 KHz |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.33 us | 749.16 KHz |
| matrix: inv, dyn[double] 3x3 | 997.04 ns | 1.00 MHz |
| matrix: inv, fix[double] 3x3 | 17.81 ns | 56.15 MHz |
| matrix: inv, dyn[double] 6x6 | 1.67 us | 599.82 KHz |
| matrix: inv, fix[double] 6x6 | 1.01 us | 994.53 KHz |
| matrix: inv, dyn[double] 20x20 | 10.40 us | 96.14 KHz |
| matrix: inv, fix[double] 20x20 | 9.45 us | 105.87 KHz |
| matrix: inv, dyn[double] 40x40 | 40.34 us | 24.79 KHz |
| matrix: inv, fix[double] 40x40 | 38.14 us | 26.22 KHz |
| matrix: det, dyn[double] 2x2 | 332.38 ns | 3.01 MHz |
| matrix: det, fix[double] 2x2 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 3x3 | 437.03 ns | 2.29 MHz |
| matrix: det, fix[double] 3x3 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 6x6 | 810.13 ns | 1.23 MHz |
| matrix: det, fix[double] 6x6 | 606.86 ns | 1.65 MHz |
| matrix: det, dyn[double] 20x20 | 6.30 us | 158.75 KHz |
| matrix: det, fix[double] 20x20 | 5.89 us | 169.88 KHz |
| matrix: det, dyn[double] 40x40 | 22.96 us | 43.55 KHz |
| matrix: det, fix[double] 40x40 | 22.85 us | 43.75 KHz |
| matrix: chol, dyn[double] 4x4 | 682.20 ns | 1.47 MHz |
| matrix: chol, fix[double] 4x4 | 316.95 ns | 3.16 MHz |
| matrix: chol, dyn[double] 40x40 | 15.61 us | 64.05 KHz |
| matrix: chol, fix[double] 40x40 | 14.14 us | 70.74 KHz |
| matrix: chol, sparse [2x2;2x2] | 123.13 us | 8.12 KHz |
| matrix: chol, sparse [30x30;10x10] | 44.19 us | 22.63 KHz |
| matrix: chol, dyn[double] 10x[6x6] | 38.64 us | 25.88 KHz |
| matrix: chol, sparse 10x[6x6] | 18.44 us | 54.24 KHz |
| matrix: chol, dyn[double] 20x[6x6] | 187.94 us | 5.32 KHz |
| matrix: chol, sparse 20x[6x6] | 32.61 us | 30.67 KHz |
| matrix: chol, dyn[double] 50x[6x6] | 2.45 ms | 407.79 Hz |
| matrix: chol, sparse 50x[6x6] | 159.41 us | 6.27 KHz |
| matrix: chol, dyn[double] 100x[6x6] | 16.61 ms | 60.21 Hz |
| matrix: chol, sparse 100x[6x6] | 143.31 us | 6.98 KHz |
| matrix: chol, dyn[double] 120x[6x6] | 22.18 ms | 45.09 Hz |
| matrix: chol, sparse 120x[6x6] | 169.63 us | 5.90 KHz |
| matrix: chol, dyn[double] 140x[6x6] | 33.41 ms | 29.93 Hz |
| matrix: chol, sparse 140x[6x6] | 202.09 us | 4.95 KHz |
| matrix: loadFromArray[double] 4x4 | 0.00 ns | inf THz |
| matrix: load Eigen::Map[double] 4x4 | 0.00 ns | inf THz |
| gridmap2D: getCell | 2.91 ns | 343.63 MHz |
| gridmap2D: setCell | 1.86 ns | 536.87 MHz |
| gridmap2D: updateCell | 3.46 ns | 289.38 MHz |
| gridmap2D: updateCell_fast_occupied | 1.88 ns | 530.87 MHz |
| gridmap2D: insert scan w/o widening | 62.88 us | 15.90 KHz |
| gridmap2D: insert scan with widening | 175.10 us | 5.71 KHz |
| gridmap2D: resize | 757.97 us | 1.32 KHz |
| gridmap2D: computeLikelihood | 8.30 us | 120.54 KHz |
| gridmap2D: determineMatching2D | 35.80 us | 27.93 KHz |
| pointmap: insert 100 scans | 526.37 us | 1.90 KHz |
| pointmap: build 2D kd-tree of 1 scan | 2.27 us | 440.53 KHz |
| pointmap: build 2D kd-tree of 100 scan | 155.06 us | 6.45 KHz |
| pointmap: build 2D kd-tree of 1000 scan | 1.69 ms | 593.35 Hz |
| pointmap: build 3D kd-tree of 1 scan | 2.31 us | 433.61 KHz |
| pointmap: build 3D kd-tree of 100 scan | 159.93 us | 6.25 KHz |
| pointmap: build 3D kd-tree of 1000 scan | 1.73 ms | 577.66 Hz |
| pointmap: kd-tree 2d query on 10 scans | 516.48 ns | 1.94 MHz |
| pointmap: kd-tree 2d query on 1000 scans | 42.42 us | 23.57 KHz |
| pointmap: kd-tree 2d query on 10000 scans | 4.92 ms | 203.42 Hz |
| pointmap: (insert scan+2D kd-tree query) x 10 | 1.82 ms | 550.91 Hz |
| pointmap: (insert scan+2D kd-tree query) x 50 | 42.41 ms | 23.58 Hz |
| pointmap: (insert scan+3D kd-tree query) x 10 | 1.73 ms | 578.12 Hz |
| pointmap: (insert scan+3D kd-tree query) x 50 | 43.82 ms | 22.82 Hz |
| pointmap: computeMatchingWith2D | 33.73 us | 29.64 KHz |
| pointmap: boundingBox (10 scans) | 10.77 us | 92.85 KHz |
| pointmap: boundingBox (1000 scans) | 1.07 ms | 931.26 Hz |
| random: drawUniform32bit | 4.58 ns | 218.18 MHz |
| random: drawUniform | 4.56 ns | 219.10 MHz |
| random: drawGaussian1D_normalized | 20.91 ns | 47.83 MHz |
| random: drawGaussian1D | 20.77 ns | 48.15 MHz |
| random: system rand() | 14.59 ns | 68.54 MHz |
| random: drawGaussianMultivariate(fixed 3x3) | 561.77 ns | 1.78 MHz |
| random: drawGaussianMultivariate(dyn 3x3) | 1.64 us | 608.03 KHz |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 55.97 ns | 17.87 MHz |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 87.22 ns | 11.46 MHz |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 183.80 ns | 5.44 MHz |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 61.16 ns | 16.35 MHz |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 94.72 ns | 10.56 MHz |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 202.25 ns | 4.94 MHz |
| random: permuteVector (len=10) | 342.43 ns | 2.92 MHz |
| random: permuteVector (len=100) | 3.50 us | 285.70 KHz |
| random: permuteVector (len=1000) | 34.48 us | 29.00 KHz |
| math: round | 52.00 ns | 19.23 MHz |
| math: std::hypot(float) | 5.42 ns | 184.50 MHz |
| math: mrpt::math::hypot_fast(float) | 3.93 ns | 254.43 MHz |
| math: mrpt::math::hypot_fast(double) | 5.24 ns | 190.72 MHz |
| images: Gauss filter (640x480) | 919.51 us | 1.09 KHz |
| images: Gauss filter (800x600) | 1.50 ms | 667.43 Hz |
| images: Gauss filter (1024x768) | 2.43 ms | 411.66 Hz |
| images: Half sample GRAY (160x120) | 44.68 us | 22.38 KHz |
| images: Half sample GRAY (320x240) | 12.34 us | 81.04 KHz |
| images: Half sample GRAY (640x480) | 44.43 us | 22.51 KHz |
| images: Half sample GRAY (800x600) | 62.97 us | 15.88 KHz |
| images: Half sample GRAY (1024x768) | 73.10 us | 13.68 KHz |
| images: Half sample GRAY (1280x1024) | 83.61 us | 11.96 KHz |
| images: Half sample RGB (160x120) | 7.37 us | 135.73 KHz |
| images: Half sample RGB (320x240) | 25.88 us | 38.64 KHz |
| images: Half sample RGB (640x480) | 99.11 us | 10.09 KHz |
| images: Half sample RGB (800x600) | 121.43 us | 8.24 KHz |
| images: Half sample RGB (1024x768) | 173.65 us | 5.76 KHz |
| images: Half sample RGB (1280x1024) | 182.74 us | 5.47 KHz |
| images: Half sample smooth GRAY (160x120) | 28.12 us | 35.56 KHz |
| images: Half sample smooth GRAY (320x240) | 6.24 us | 160.35 KHz |
| images: Half sample smooth GRAY (640x480) | 20.79 us | 48.10 KHz |
| images: Half sample smooth GRAY (800x600) | 30.69 us | 32.59 KHz |
| images: Half sample smooth GRAY (1024x768) | 33.69 us | 29.68 KHz |
| images: Half sample smooth GRAY (1280x1024) | 38.04 us | 26.29 KHz |
| images: Half sample smooth RGB (160x120) | 9.57 us | 104.47 KHz |
| images: Half sample smooth RGB (320x240) | 33.29 us | 30.04 KHz |
| images: Half sample smooth RGB (640x480) | 126.81 us | 7.89 KHz |
| images: Half sample smooth RGB (800x600) | 176.80 us | 5.66 KHz |
| images: Half sample smooth RGB (1024x768) | 209.31 us | 4.78 KHz |
| images: Half sample smooth RGB (1280x1024) | 221.21 us | 4.52 KHz |
| images: RGB->GRAY 8u (40x30) | 6.60 us | 151.59 KHz |
| images: RGB->GRAY 8u (80x60) | 7.36 us | 135.94 KHz |
| images: RGB->GRAY 8u (160x120) | 27.06 us | 36.96 KHz |
| images: RGB->GRAY 8u (320x240) | 105.43 us | 9.49 KHz |
| images: RGB->GRAY 8u (640x480) | 175.70 us | 5.69 KHz |
| images: RGB->GRAY 8u (800x600) | 196.49 us | 5.09 KHz |
| images: RGB->GRAY 8u (1024x768) | 367.76 us | 2.72 KHz |
| images: RGB->GRAY 8u (1280x1024) | 834.98 us | 1.20 KHz |
| images: KLT score (WIN=2 5x5) | 43.55 ns | 22.96 MHz |
| images: KLT score (WIN=3 7x7) | 58.85 ns | 16.99 MHz |
| images: KLT score (WIN=4 9x9) | 76.23 ns | 13.12 MHz |
| images: KLT score (WIN=5 10x10) | 101.24 ns | 9.88 MHz |
| images: KLT score (WIN=6 13x13) | 129.38 ns | 7.73 MHz |
| images: KLT score (WIN=7 15x15) | 163.57 ns | 6.11 MHz |
| images: KLT score (WIN=8 17x17) | 207.36 ns | 4.82 MHz |
| images: KLT score (WIN=9 19x19) | 240.42 ns | 4.16 MHz |
| images: KLT score (WIN=10 21x21) | 274.50 ns | 3.64 MHz |
| images: KLT score (WIN=11 23x23) | 319.09 ns | 3.13 MHz |
| images: KLT score (WIN=12 25x25) | 368.43 ns | 2.71 MHz |
| images: KLT score (WIN=13 27x27) | 427.37 ns | 2.34 MHz |
| images: KLT score (WIN=14 29x29) | 483.04 ns | 2.07 MHz |
| images: KLT score (WIN=15 31x31) | 547.94 ns | 1.83 MHz |
| images: KLT score (WIN=16 33x33) | 619.70 ns | 1.61 MHz |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 191.90 us | 5.21 KHz |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 231.26 us | 4.32 KHz |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 280.65 us | 3.56 KHz |
| images: buildPyramid 640x480,4 levs, smooth, gray | 228.84 us | 4.37 KHz |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 207.46 us | 4.82 KHz |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 240.02 us | 4.17 KHz |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 284.19 us | 3.52 KHz |
| images: buildPyramid 640x480,8 levs, smooth, gray | 238.30 us | 4.20 KHz |
| stereo: prepare rectify map 640x480 RGB | 4.52 ms | 221.47 Hz |
| stereo: prepare rectify map 800x600 RGB | 5.88 ms | 170.00 Hz |
| stereo: prepare rectify map 1024x768 RGB | 9.45 ms | 105.78 Hz |
| stereo: prepare rectify map 1024x768->800x600 RGB | 5.92 ms | 168.79 Hz |
| stereo: prepare rectify map 1024x768->640x480 RGB | 3.88 ms | 257.65 Hz |
| stereo: rectify 640x480 RGB | 1.62 ms | 617.43 Hz |
| stereo: rectify 800x600 RGB | 2.00 ms | 499.77 Hz |
| stereo: rectify 1024x768 RGB | 3.71 ms | 269.37 Hz |
| stereo: rectify 1024x768->800x600 RGB | 2.08 ms | 479.92 Hz |
| stereo: rectify 1024x768->640x480 RGB | 1.75 ms | 572.46 Hz |
| stereo: rectify 640x480 GRAY | 890.62 us | 1.12 KHz |
| stereo: rectify 800x600 GRAY | 1.10 ms | 909.06 Hz |
| stereo: rectify 1024x768 GRAY | 2.18 ms | 458.96 Hz |
| stereo: rectify 1024x768->800x600 GRAY | 1.10 ms | 909.41 Hz |
| stereo: rectify 1024x768->640x480 GRAY | 895.97 us | 1.12 KHz |
| tfest: se3_l2 [CPose3DQuat] | 10.63 us | 94.03 KHz |
| tfest: se3_l2 [vector TPoint3D] | 8.97 us | 111.51 KHz |
| tfest: se2_l2 [x10 corrs] | 116.12 ns | 8.61 MHz |
| tfest: se2_l2 [x100 corrs] | 462.23 ns | 2.16 MHz |
| tfest: se2_l2 [x1000 corrs] | 3.91 us | 255.59 KHz |
| feature_extraction [640x480]: Harris | 15.75 ms | 63.49 Hz |
| feature_extraction [640x480]: KLT | 9.92 ms | 100.84 Hz |
| feature_extraction [640x480]: FAST | 2.17 ms | 461.50 Hz |
| feature_extraction [640x480]: Spin desc. | 30.67 ms | 32.60 Hz |
| feature_extraction [640x480]: FASTER-9 | 2.91 ms | 343.69 Hz |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 2.27 ms | 439.93 Hz |
| feature_extraction [640x480]: FASTER-10 | 2.32 ms | 431.27 Hz |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 1.88 ms | 532.77 Hz |
| feature_extraction [640x480]: FASTER-12 | 1.64 ms | 609.44 Hz |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 1.40 ms | 715.16 Hz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 1.05 ms | 952.09 Hz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 1.02 ms | 978.83 Hz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 826.01 us | 1.21 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 1.05 ms | 951.32 Hz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 1.02 ms | 978.81 Hz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 828.21 us | 1.21 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 1.42 ms | 706.45 Hz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 1.37 ms | 732.34 Hz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 1.34 ms | 743.54 Hz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 1.41 ms | 708.80 Hz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 1.34 ms | 743.91 Hz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 1.29 ms | 777.31 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 1.99 ms | 503.05 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 1.91 ms | 523.41 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 1.70 ms | 588.07 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 1.99 ms | 502.32 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 1.90 ms | 527.26 Hz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 1.72 ms | 582.72 Hz |
| feature_matching [640x480]: Harris + CC | 22.18 ms | 45.10 Hz |
| feature_matching [640x480]: Harris + SAD | 18.56 ms | 53.89 Hz |
| feature_matching [640x480]: FAST + CC | 6.94 ms | 144.08 Hz |
| feature_matching [640x480]: FAST + SAD | 3.61 ms | 277.32 Hz |
| graph(2d): insertEdge x 1e3 | 158.15 us | 6.32 KHz |
| graph(2d,vec): insertEdge x 1e3 | 154.94 us | 6.45 KHz |
| graph(2d): insertEdgeAtEnd x 1e3 | 124.64 us | 8.02 KHz |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 120.41 us | 8.30 KHz |
| graph(2d pdf): insertEdge x 1e3 | 204.87 us | 4.88 KHz |
| graph(2d pdf,vec): insertEdge x 1e3 | 204.35 us | 4.89 KHz |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 162.60 us | 6.15 KHz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 168.22 us | 5.94 KHz |
| graph(2d): insertEdge x 1e4 | 1.67 ms | 598.93 Hz |
| graph(2d,vec): insertEdge x 1e4 | 1.68 ms | 596.30 Hz |
| graph(2d): insertEdgeAtEnd x 1e4 | 1.21 ms | 823.91 Hz |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 1.21 ms | 823.74 Hz |
| graph(2d pdf): insertEdge x 1e4 | 2.08 ms | 480.03 Hz |
| graph(2d pdf,vec): insertEdge x 1e4 | 2.19 ms | 457.17 Hz |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.52 ms | 655.96 Hz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.70 ms | 589.28 Hz |
| graph(3d): insertEdge x 1e3 | 150.12 us | 6.66 KHz |
| graph(3d,vec): insertEdge x 1e3 | 150.55 us | 6.64 KHz |
| graph(3d): insertEdgeAtEnd x 1e3 | 109.39 us | 9.14 KHz |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 110.04 us | 9.09 KHz |
| graph(3d pdf): insertEdge x 1e3 | 312.72 us | 3.20 KHz |
| graph(3d pdf,vec): insertEdge x 1e3 | 360.19 us | 2.78 KHz |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 267.44 us | 3.74 KHz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 263.46 us | 3.80 KHz |
| graph(3d): insertEdge x 1e4 | 1.86 ms | 536.45 Hz |
| graph(3d,vec): insertEdge x 1e4 | 1.82 ms | 548.00 Hz |
| graph(3d): insertEdgeAtEnd x 1e4 | 1.32 ms | 759.75 Hz |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.31 ms | 761.47 Hz |
| graph(3d pdf): insertEdge x 1e4 | 3.62 ms | 276.61 Hz |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.83 ms | 261.27 Hz |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.90 ms | 345.30 Hz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.90 ms | 344.56 Hz |
| graph(3d): dijkstra 1e2 nodes | 85.23 us | 11.73 KHz |
| graph(3d,vec): dijkstra 1e2 nodes | 84.84 us | 11.79 KHz |
| graph(3d): dijkstra 1e3 nodes | 950.94 us | 1.05 KHz |
| graph(3d,vec): dijkstra 1e3 nodes | 954.30 us | 1.05 KHz |
| graph(3d): dijkstra 1e4 nodes | 11.92 ms | 83.91 Hz |
| graph(3d,vec): dijkstra 1e4 nodes | 11.83 ms | 84.53 Hz |
| graph(3d): dijkstra 1e5 nodes | 155.44 ms | 6.43 Hz |
| graph(3d,vec): dijkstra 1e5 nodes | 154.14 ms | 6.49 Hz |
| graph(2d): dijkstra 1e5 nodes | 150.58 ms | 6.64 Hz |
| graph(2d,vec): dijkstra 1e5 nodes | 149.73 ms | 6.68 Hz |
| graphslam(2d): levmarq 50 KFs/101 edges | 908.20 us | 1.10 KHz |
| graphslam(2d): levmarq 100 KFs/451 edges | 4.91 ms | 203.72 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 52.81 ms | 18.94 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 52.60 ms | 19.01 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 52.83 ms | 18.93 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 52.72 ms | 18.97 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 38.09 ms | 26.25 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 38.06 ms | 26.28 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 38.41 ms | 26.03 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 38.20 ms | 26.18 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 18.76 ms | 53.29 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 18.78 ms | 53.25 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 18.98 ms | 52.70 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 19.81 ms | 50.47 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 14.46 ms | 69.17 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 14.29 ms | 69.98 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 14.59 ms | 68.53 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 14.55 ms | 68.71 Hz |
| 3DRangeScan: 320x240 Depth->2D scan | 2.14 ms | 466.86 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.91 ms | 255.45 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 3.68 ms | 271.65 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 6.04 ms | 165.66 Hz |
| CAtan2LUT: 20x20m,1cm cells,build | 102.30 ms | 9.78 Hz |
| CAtan2LUT: 20x20m,1cm cells,query | 7.64 ns | 130.96 MHz |
| CAtan2LUTMultiRes: 22x22m,build | 101.62 ms | 9.84 Hz |
| CAtan2LUTMultiRes: 22x22m,query | 10.59 ns | 94.41 MHz |
| CAtan2LUT: raw ::atan2() call | 22.56 ns | 44.33 MHz |
| Strings: mrpt::format() short str | 548.06 ns | 1.82 MHz |
| Strings: mrpt::format() long str | 15.47 us | 64.64 KHz |