| Test description | Execution time | Execution rate (Hz) |
| icp-slam (match points): Run with sample dataset | 902.92 us | 1.11 KHz |
| icp-slam (match grid): Run with sample dataset | 1.30 ms | 772.09 Hz |
| poses: CPose3D (+) CPose3D | 17.52 ns | 57.08 MHz |
| poses: CPose3D.composeFrom() | 16.58 ns | 60.31 MHz |
| poses: CPose3D (+) CPoint3D | 4.77 ns | 209.56 MHz |
| poses: CPose3D.composePoint() | 5.91 ns | 169.26 MHz |
| poses: CPose3D.composePoint()+Jacobs | 113.42 ns | 8.82 MHz |
| poses: CPoint3D (-) CPose3D | 8.24 ns | 121.36 MHz |
| poses: CPose3D.inverseComposePoint() | 14.52 ns | 68.89 MHz |
| poses: CPose2D (+) CPose2D | 17.57 ns | 56.93 MHz |
| poses: CPose2D.composeFrom() | 13.86 ns | 72.17 MHz |
| poses: CPose2D (+) CPoint2D | 7.64 ns | 130.86 MHz |
| poses: CPose2D.composePoint() | 5.95 ns | 167.95 MHz |
| poses: CPose3DQuat (+) CPose3DQuat | 18.36 ns | 54.47 MHz |
| poses: CPose3DQuat.composeFrom() | 19.07 ns | 52.44 MHz |
| poses: CPose3DQuat (+) CPoint3D | 12.33 ns | 81.13 MHz |
| poses: CPose3DQuat.composePoint() | 10.47 ns | 95.47 MHz |
| poses: CPose3DQuat.invcomposePoint() | 8.56 ns | 116.82 MHz |
| poses: Conv CPose3DQuat <- CPose3D | 9.85 ns | 101.55 MHz |
| poses: Conv CPose3D -> CPose3DQuat | 79.25 ns | 12.62 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 520.00 ns | 1.92 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 540.00 ns | 1.85 MHz |
| poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 7.73 us | 129.37 KHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 284.60 ns | 3.51 MHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 285.00 ns | 3.51 MHz |
| poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 4.03 us | 248.11 KHz |
| CPose3DInterpolator: CPose3D insert pose at end | 198.03 ns | 5.05 MHz |
| CPose3DInterpolator: CPose3D insert pose random | 215.30 ns | 4.64 MHz |
| CPose3DInterpolator: CPose3D query | 547.04 ns | 1.83 MHz |
| CPose3DInterpolator: TPose3D insert pose at end | 169.83 ns | 5.89 MHz |
| CPose3DInterpolator: TPose3D insert pose random | 201.49 ns | 4.96 MHz |
| CPose3DInterpolator: TPose3D query | 479.99 ns | 2.08 MHz |
| CPose2DInterpolator: TPose2D insert pose at end | 156.29 ns | 6.40 MHz |
| CPose2DInterpolator: TPose2D insert pose random | 174.72 ns | 5.72 MHz |
| CPose2DInterpolator: TPose2D query | 171.34 ns | 5.84 MHz |
| matrix: unit, dyn[float], 3x3 | 20.30 ns | 49.25 MHz |
| matrix: unit, dyn[double], 3x3 | 18.13 ns | 55.16 MHz |
| matrix: unit, dyn[float], 6x6 | 44.79 ns | 22.33 MHz |
| matrix: unit, dyn[double], 6x6 | 39.03 ns | 25.62 MHz |
| matrix: unit, fix[float,3,3] | 0.00 ns | inf THz |
| matrix: unit, fix[double,3,3] | 0.00 ns | inf THz |
| matrix: unit, fix[float,6,6] | 0.00 ns | inf THz |
| matrix: unit, fix[double,6,6] | 3.10 ns | 322.58 MHz |
| matrix: multiply, dyn[float ], 3x3 * 3x3 | 74.80 ns | 13.37 MHz |
| matrix: multiply, fix[float ], 3x3 * 3x3 | 0.10 ns | 10.00 GHz |
| matrix: multiply, dyn[double], 3x3 * 3x3 | 73.30 ns | 13.64 MHz |
| matrix: multiply, fix[double], 3x3 * 3x3 | 0.20 ns | 5.00 GHz |
| matrix: multiply, dyn[float ], 3x6 * 6x3 | 88.20 ns | 11.34 MHz |
| matrix: multiply, fix[float ], 3x6 * 6x3 | 2.80 ns | 357.14 MHz |
| matrix: multiply, dyn[double], 3x6 * 6x3 | 92.10 ns | 10.86 MHz |
| matrix: multiply, fix[double], 3x6 * 6x3 | 0.80 ns | 1.25 GHz |
| matrix: multiply, dyn[float ], 10x40 * 40x10 | 1.10 us | 905.88 KHz |
| matrix: multiply, fix[float ], 10x40 * 40x10 | 787.10 ns | 1.27 MHz |
| matrix: multiply, dyn[double], 10x40 * 40x10 | 1.71 us | 583.74 KHz |
| matrix: multiply, fix[double], 10x40 * 40x10 | 1.31 us | 762.49 KHz |
| matrix: inv, dyn[double] 3x3 | 552.00 ns | 1.81 MHz |
| matrix: inv, fix[double] 3x3 | 1.00 ns | 1.00 GHz |
| matrix: inv, dyn[double] 6x6 | 1.56 us | 640.20 KHz |
| matrix: inv, fix[double] 6x6 | 811.00 ns | 1.23 MHz |
| matrix: inv, dyn[double] 20x20 | 9.61 us | 104.07 KHz |
| matrix: inv, fix[double] 20x20 | 8.32 us | 120.18 KHz |
| matrix: inv, dyn[double] 40x40 | 40.62 us | 24.62 KHz |
| matrix: inv, fix[double] 40x40 | 40.56 us | 24.65 KHz |
| matrix: det, dyn[double] 2x2 | 162.40 ns | 6.16 MHz |
| matrix: det, fix[double] 2x2 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 3x3 | 222.70 ns | 4.49 MHz |
| matrix: det, fix[double] 3x3 | 0.00 ns | inf THz |
| matrix: det, dyn[double] 6x6 | 498.50 ns | 2.01 MHz |
| matrix: det, fix[double] 6x6 | 317.50 ns | 3.15 MHz |
| matrix: det, dyn[double] 20x20 | 4.31 us | 231.87 KHz |
| matrix: det, fix[double] 20x20 | 3.96 us | 252.75 KHz |
| matrix: det, dyn[double] 40x40 | 17.05 us | 58.64 KHz |
| matrix: det, fix[double] 40x40 | 16.89 us | 59.21 KHz |
| matrix: chol, dyn[double] 4x4 | 530.00 ns | 1.89 MHz |
| matrix: chol, fix[double] 4x4 | 290.00 ns | 3.45 MHz |
| matrix: chol, dyn[double] 40x40 | 10.81 us | 92.51 KHz |
| matrix: chol, fix[double] 40x40 | 10.61 us | 94.25 KHz |
| matrix: chol, sparse [2x2;2x2] | 6.10 us | 163.93 KHz |
| matrix: chol, sparse [30x30;10x10] | 36.50 us | 27.40 KHz |
| matrix: chol, dyn[double] 10x[6x6] | 28.80 us | 34.72 KHz |
| matrix: chol, sparse 10x[6x6] | 16.74 us | 59.74 KHz |
| matrix: chol, dyn[double] 20x[6x6] | 151.40 us | 6.61 KHz |
| matrix: chol, sparse 20x[6x6] | 29.33 us | 34.09 KHz |
| matrix: chol, dyn[double] 50x[6x6] | 1.67 ms | 598.01 Hz |
| matrix: chol, sparse 50x[6x6] | 69.84 us | 14.32 KHz |
| matrix: chol, dyn[double] 100x[6x6] | 14.94 ms | 66.92 Hz |
| matrix: chol, sparse 100x[6x6] | 142.72 us | 7.01 KHz |
| matrix: chol, dyn[double] 120x[6x6] | 23.75 ms | 42.10 Hz |
| matrix: chol, sparse 120x[6x6] | 163.62 us | 6.11 KHz |
| matrix: chol, dyn[double] 140x[6x6] | 36.15 ms | 27.66 Hz |
| matrix: chol, sparse 140x[6x6] | 190.66 us | 5.24 KHz |
| matrix: loadFromArray[double] 4x4 | 0.00 ns | inf THz |
| matrix: load Eigen::Map[double] 4x4 | 0.00 ns | inf THz |
| gridmap2D: getCell | 4.07 ns | 245.78 MHz |
| gridmap2D: setCell | 2.90 ns | 344.23 MHz |
| gridmap2D: updateCell | 5.82 ns | 171.70 MHz |
| gridmap2D: updateCell_fast_occupied | 0.86 ns | 1.17 GHz |
| gridmap2D: insert scan w/o widening | 56.46 us | 17.71 KHz |
| gridmap2D: insert scan with widening | 158.80 us | 6.30 KHz |
| gridmap2D: resize | 308.00 us | 3.25 KHz |
| gridmap2D: computeLikelihood | 9.34 us | 107.06 KHz |
| gridmap2D: determineMatching2D | 22.76 us | 43.94 KHz |
| pointmap: insert 100 scans | 296.72 us | 3.37 KHz |
| pointmap: build 2D kd-tree of 1 scan | 1.40 us | 714.29 KHz |
| pointmap: build 2D kd-tree of 100 scan | 82.24 us | 12.16 KHz |
| pointmap: build 2D kd-tree of 1000 scan | 911.44 us | 1.10 KHz |
| pointmap: build 3D kd-tree of 1 scan | 920.00 ns | 1.09 MHz |
| pointmap: build 3D kd-tree of 100 scan | 87.64 us | 11.41 KHz |
| pointmap: build 3D kd-tree of 1000 scan | 918.80 us | 1.09 KHz |
| pointmap: kd-tree 2d query on 10 scans | 317.00 ns | 3.15 MHz |
| pointmap: kd-tree 2d query on 1000 scans | 22.90 us | 43.67 KHz |
| pointmap: kd-tree 2d query on 10000 scans | 2.66 ms | 375.31 Hz |
| pointmap: (insert scan+2D kd-tree query) x 10 | 946.05 us | 1.06 KHz |
| pointmap: (insert scan+2D kd-tree query) x 50 | 23.20 ms | 43.10 Hz |
| pointmap: (insert scan+3D kd-tree query) x 10 | 936.50 us | 1.07 KHz |
| pointmap: (insert scan+3D kd-tree query) x 50 | 23.27 ms | 42.98 Hz |
| pointmap: computeMatchingWith2D | 21.92 us | 45.62 KHz |
| pointmap: boundingBox (10 scans) | 892.30 ns | 1.12 MHz |
| pointmap: boundingBox (1000 scans) | 85.56 us | 11.69 KHz |
| random: drawUniform32bit | 22.75 ns | 43.95 MHz |
| random: drawUniform | 22.74 ns | 43.98 MHz |
| random: drawGaussian1D_normalized | 55.74 ns | 17.94 MHz |
| random: drawGaussian1D | 55.81 ns | 17.92 MHz |
| random: system rand() | 10.62 ns | 94.14 MHz |
| random: drawGaussianMultivariate(fixed 3x3) | 551.60 ns | 1.81 MHz |
| random: drawGaussianMultivariate(dyn 3x3) | 1.19 us | 837.52 KHz |
| random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 115.14 ns | 8.69 MHz |
| random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 180.82 ns | 5.53 MHz |
| random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 380.13 ns | 2.63 MHz |
| random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 122.87 ns | 8.14 MHz |
| random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 197.55 ns | 5.06 MHz |
| random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 390.58 ns | 2.56 MHz |
| random: permuteVector (len=10) | 1.69 us | 590.81 KHz |
| random: permuteVector (len=100) | 3.30 us | 303.24 KHz |
| random: permuteVector (len=1000) | 19.67 us | 50.83 KHz |
| math: round | 0.03 ns | 30.75 GHz |
| math: std::hypot(float) | 0.00 ns | 100.00 THz |
| math: mrpt::hypot_fast(float) | 0.00 ns | inf THz |
| math: mrpt::hypot_fast(double) | 0.00 ns | inf THz |
| images: Save as JPEG (640x480, quality=95%) | 6.71 ms | 149.14 Hz |
| images: Save as JPEG (800x600, quality=95%) | 9.09 ms | 110.00 Hz |
| images: Save as JPEG (1024x768, quality=95%) | 14.11 ms | 70.89 Hz |
| images: Save as JPEG (640x480, quality=75%) | 4.88 ms | 205.05 Hz |
| images: Save as JPEG (800x600, quality=75%) | 7.53 ms | 132.76 Hz |
| images: Save as JPEG (1024x768, quality=75%) | 12.32 ms | 81.18 Hz |
| images: Save BMP 800x600 disk | 6.36 ms | 157.29 Hz |
| images: Save PNG 800x600 disk | 22.14 ms | 45.17 Hz |
| images: Save JPG 800x600 disk | 8.62 ms | 116.07 Hz |
| images: Load BMP 800x600 disk | 298.27 us | 3.35 KHz |
| images: Load PNG 800x600 disk | 8.93 ms | 111.94 Hz |
| images: Load JPG 800x600 disk | 6.22 ms | 160.76 Hz |
| images: Save BMP 800x600 shared mem | 417.93 us | 2.39 KHz |
| images: Save PNG 800x600 shared mem | 17.09 ms | 58.52 Hz |
| images: Save JPG 800x600 shared mem | 6.13 ms | 163.16 Hz |
| images: Load BMP 800x600 shared mem | 278.67 us | 3.59 KHz |
| images: Load PNG 800x600 shared mem | 9.01 ms | 110.95 Hz |
| images: Load JPG 800x600 shared mem | 6.22 ms | 160.78 Hz |
| images: Gauss filter (640x480) | 2.01 ms | 498.17 Hz |
| images: Gauss filter (800x600) | 3.21 ms | 311.42 Hz |
| images: Gauss filter (1024x768) | 5.27 ms | 189.63 Hz |
| images: Half sample GRAY (160x120) | 753.33 ns | 1.33 MHz |
| images: Half sample GRAY (320x240) | 1.81 us | 553.51 KHz |
| images: Half sample GRAY (640x480) | 7.24 us | 138.06 KHz |
| images: Half sample GRAY (800x600) | 12.12 us | 82.53 KHz |
| images: Half sample GRAY (1024x768) | 20.49 us | 48.80 KHz |
| images: Half sample GRAY (1280x1024) | 33.85 us | 29.54 KHz |
| images: Half sample RGB (160x120) | 1.40 us | 712.59 KHz |
| images: Half sample RGB (320x240) | 4.44 us | 225.39 KHz |
| images: Half sample RGB (640x480) | 21.84 us | 45.79 KHz |
| images: Half sample RGB (800x600) | 34.88 us | 28.67 KHz |
| images: Half sample RGB (1024x768) | 58.20 us | 17.18 KHz |
| images: Half sample RGB (1280x1024) | 119.26 us | 8.38 KHz |
| images: Half sample smooth GRAY (160x120) | 1.08 us | 923.08 KHz |
| images: Half sample smooth GRAY (320x240) | 3.11 us | 321.54 KHz |
| images: Half sample smooth GRAY (640x480) | 13.89 us | 72.01 KHz |
| images: Half sample smooth GRAY (800x600) | 21.31 us | 46.92 KHz |
| images: Half sample smooth GRAY (1024x768) | 34.33 us | 29.13 KHz |
| images: Half sample smooth GRAY (1280x1024) | 56.59 us | 17.67 KHz |
| images: Half sample smooth RGB (160x120) | 10.08 us | 99.21 KHz |
| images: Half sample smooth RGB (320x240) | 33.64 us | 29.72 KHz |
| images: Half sample smooth RGB (640x480) | 127.81 us | 7.82 KHz |
| images: Half sample smooth RGB (800x600) | 191.91 us | 5.21 KHz |
| images: Half sample smooth RGB (1024x768) | 194.27 us | 5.15 KHz |
| images: Half sample smooth RGB (1280x1024) | 364.64 us | 2.74 KHz |
| images: RGB->GRAY 8u (40x30) | 5.59 us | 179.00 KHz |
| images: RGB->GRAY 8u (80x60) | 4.23 us | 236.22 KHz |
| images: RGB->GRAY 8u (160x120) | 11.42 us | 87.54 KHz |
| images: RGB->GRAY 8u (320x240) | 35.87 us | 27.88 KHz |
| images: RGB->GRAY 8u (640x480) | 127.77 us | 7.83 KHz |
| images: RGB->GRAY 8u (800x600) | 169.11 us | 5.91 KHz |
| images: RGB->GRAY 8u (1024x768) | 237.72 us | 4.21 KHz |
| images: RGB->GRAY 8u (1280x1024) | 377.32 us | 2.65 KHz |
| images: KLT score (WIN=2 5x5) | 27.26 ns | 36.68 MHz |
| images: KLT score (WIN=3 7x7) | 33.33 ns | 30.00 MHz |
| images: KLT score (WIN=4 9x9) | 37.96 ns | 26.34 MHz |
| images: KLT score (WIN=5 10x10) | 48.02 ns | 20.83 MHz |
| images: KLT score (WIN=6 13x13) | 53.09 ns | 18.84 MHz |
| images: KLT score (WIN=7 15x15) | 62.87 ns | 15.91 MHz |
| images: KLT score (WIN=8 17x17) | 59.92 ns | 16.69 MHz |
| images: KLT score (WIN=9 19x19) | 62.94 ns | 15.89 MHz |
| images: KLT score (WIN=10 21x21) | 66.64 ns | 15.01 MHz |
| images: KLT score (WIN=11 23x23) | 59.70 ns | 16.75 MHz |
| images: KLT score (WIN=12 25x25) | 78.23 ns | 12.78 MHz |
| images: KLT score (WIN=13 27x27) | 66.87 ns | 14.95 MHz |
| images: KLT score (WIN=14 29x29) | 69.47 ns | 14.39 MHz |
| images: KLT score (WIN=15 31x31) | 72.48 ns | 13.80 MHz |
| images: KLT score (WIN=16 33x33) | 103.32 ns | 9.68 MHz |
| images: buildPyramid 640x480,4 levs,no smooth,no gray | 81.37 us | 12.29 KHz |
| images: buildPyramid 640x480,4 levs, smooth,no gray | 224.34 us | 4.46 KHz |
| images: buildPyramid 640x480,4 levs,no smooth, gray | 94.91 us | 10.54 KHz |
| images: buildPyramid 640x480,4 levs, smooth, gray | 101.22 us | 9.88 KHz |
| images: buildPyramid 640x480,8 levs,no smooth,no gray | 85.80 us | 11.66 KHz |
| images: buildPyramid 640x480,8 levs, smooth,no gray | 231.53 us | 4.32 KHz |
| images: buildPyramid 640x480,8 levs,no smooth, gray | 99.53 us | 10.05 KHz |
| images: buildPyramid 640x480,8 levs, smooth, gray | 107.32 us | 9.32 KHz |
| stereo: prepare rectify map 640x480 RGB | 18.45 ms | 54.21 Hz |
| stereo: prepare rectify map 800x600 RGB | 28.81 ms | 34.71 Hz |
| stereo: prepare rectify map 1024x768 RGB | 47.34 ms | 21.12 Hz |
| stereo: prepare rectify map 1024x768->800x600 RGB | 28.79 ms | 34.73 Hz |
| stereo: prepare rectify map 1024x768->640x480 RGB | 18.49 ms | 54.07 Hz |
| stereo: rectify 640x480 RGB | 1.53 ms | 651.57 Hz |
| stereo: rectify 800x600 RGB | 1.62 ms | 617.68 Hz |
| stereo: rectify 1024x768 RGB | 2.94 ms | 340.13 Hz |
| stereo: rectify 1024x768->800x600 RGB | 2.00 ms | 501.19 Hz |
| stereo: rectify 1024x768->640x480 RGB | 1.69 ms | 591.40 Hz |
| stereo: rectify 640x480 GRAY | 1.10 ms | 907.32 Hz |
| stereo: rectify 800x600 GRAY | 1.23 ms | 813.64 Hz |
| stereo: rectify 1024x768 GRAY | 2.26 ms | 441.81 Hz |
| stereo: rectify 1024x768->800x600 GRAY | 1.38 ms | 722.75 Hz |
| stereo: rectify 1024x768->640x480 GRAY | 1.32 ms | 760.11 Hz |
| tfest: se3_l2 [CPose3DQuat] | 2.82 us | 355.19 KHz |
| tfest: se3_l2 [vector TPoint3D] | 2.86 us | 349.17 KHz |
| tfest: se2_l2 [x10 corrs] | 135.55 ns | 7.38 MHz |
| tfest: se2_l2 [x100 corrs] | 221.18 ns | 4.52 MHz |
| tfest: se2_l2 [x1000 corrs] | 1.02 us | 980.87 KHz |
| feature_extraction [640x480]: Harris | 6.31 ms | 158.55 Hz |
| feature_extraction [640x480]: KLT | 6.67 ms | 149.82 Hz |
| feature_extraction [640x480]: SURF | 33.78 ms | 29.60 Hz |
| feature_extraction [640x480]: FAST | 1.90 ms | 527.03 Hz |
| feature_extraction [640x480]: Spin desc. | 100.39 ms | 9.96 Hz |
| feature_extraction [640x480]: FASTER-9 | 2.31 ms | 432.77 Hz |
| feature_extraction [640x480]: FASTER-9 (sorted best 200) | 1.17 ms | 852.33 Hz |
| feature_extraction [640x480]: FASTER-10 | 1.75 ms | 570.61 Hz |
| feature_extraction [640x480]: FASTER-10 (sorted best 200) | 974.68 us | 1.03 KHz |
| feature_extraction [640x480]: FASTER-12 | 1.29 ms | 773.75 Hz |
| feature_extraction [640x480]: FASTER-12 (sorted best 200) | 964.98 us | 1.04 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9() | 397.71 us | 2.51 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10() | 372.97 us | 2.68 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12() | 476.84 us | 2.10 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index | 403.19 us | 2.48 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index | 376.41 us | 2.66 KHz |
| feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index | 478.39 us | 2.09 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9() | 502.18 us | 1.99 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10() | 474.23 us | 2.11 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12() | 548.60 us | 1.82 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index | 507.99 us | 1.97 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index | 536.86 us | 1.86 KHz |
| feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index | 550.06 us | 1.82 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9() | 646.02 us | 1.55 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10() | 638.23 us | 1.57 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12() | 605.17 us | 1.65 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index | 651.80 us | 1.53 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index | 640.70 us | 1.56 KHz |
| feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index | 606.24 us | 1.65 KHz |
| feature_matching [640x480]: Harris + CC | 15.55 ms | 64.30 Hz |
| feature_matching [640x480]: Harris + SAD | 11.05 ms | 90.49 Hz |
| feature_matching [640x480]: SURF | 62.55 ms | 15.99 Hz |
| feature_matching [640x480]: FAST + CC | 7.00 ms | 142.92 Hz |
| feature_matching [640x480]: FAST + SAD | 2.47 ms | 405.04 Hz |
| graph(2d): insertEdge x 1e3 | 93.49 us | 10.70 KHz |
| graph(2d,vec): insertEdge x 1e3 | 97.39 us | 10.27 KHz |
| graph(2d): insertEdgeAtEnd x 1e3 | 73.49 us | 13.61 KHz |
| graph(2d,vec): insertEdgeAtEnd x 1e3 | 74.27 us | 13.46 KHz |
| graph(2d pdf): insertEdge x 1e3 | 130.24 us | 7.68 KHz |
| graph(2d pdf,vec): insertEdge x 1e3 | 130.03 us | 7.69 KHz |
| graph(2d pdf): insertEdgeAtEnd x 1e3 | 113.28 us | 8.83 KHz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 113.96 us | 8.77 KHz |
| graph(2d): insertEdge x 1e4 | 1.52 ms | 656.10 Hz |
| graph(2d,vec): insertEdge x 1e4 | 1.25 ms | 799.05 Hz |
| graph(2d): insertEdgeAtEnd x 1e4 | 488.95 us | 2.05 KHz |
| graph(2d,vec): insertEdgeAtEnd x 1e4 | 490.97 us | 2.04 KHz |
| graph(2d pdf): insertEdge x 1e4 | 1.29 ms | 772.59 Hz |
| graph(2d pdf,vec): insertEdge x 1e4 | 1.73 ms | 577.69 Hz |
| graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.11 ms | 904.94 Hz |
| graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.11 ms | 901.73 Hz |
| graph(3d): insertEdge x 1e3 | 123.67 us | 8.09 KHz |
| graph(3d,vec): insertEdge x 1e3 | 125.66 us | 7.96 KHz |
| graph(3d): insertEdgeAtEnd x 1e3 | 103.65 us | 9.65 KHz |
| graph(3d,vec): insertEdgeAtEnd x 1e3 | 103.36 us | 9.67 KHz |
| graph(3d pdf): insertEdge x 1e3 | 293.13 us | 3.41 KHz |
| graph(3d pdf,vec): insertEdge x 1e3 | 290.78 us | 3.44 KHz |
| graph(3d pdf): insertEdgeAtEnd x 1e3 | 247.59 us | 4.04 KHz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 247.19 us | 4.05 KHz |
| graph(3d): insertEdge x 1e4 | 1.53 ms | 654.63 Hz |
| graph(3d,vec): insertEdge x 1e4 | 1.52 ms | 659.36 Hz |
| graph(3d): insertEdgeAtEnd x 1e4 | 1.03 ms | 974.27 Hz |
| graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.04 ms | 964.55 Hz |
| graph(3d pdf): insertEdge x 1e4 | 3.71 ms | 269.73 Hz |
| graph(3d pdf,vec): insertEdge x 1e4 | 3.71 ms | 269.81 Hz |
| graph(3d pdf): insertEdgeAtEnd x 1e4 | 2.49 ms | 401.60 Hz |
| graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 2.48 ms | 402.64 Hz |
| graph(3d): dijkstra 1e2 nodes | 52.34 us | 19.11 KHz |
| graph(3d,vec): dijkstra 1e2 nodes | 50.77 us | 19.70 KHz |
| graph(3d): dijkstra 1e3 nodes | 747.15 us | 1.34 KHz |
| graph(3d,vec): dijkstra 1e3 nodes | 730.57 us | 1.37 KHz |
| graph(3d): dijkstra 1e4 nodes | 10.64 ms | 94.00 Hz |
| graph(3d,vec): dijkstra 1e4 nodes | 10.80 ms | 92.60 Hz |
| graph(3d): dijkstra 1e5 nodes | 167.96 ms | 5.95 Hz |
| graph(3d,vec): dijkstra 1e5 nodes | 169.81 ms | 5.89 Hz |
| graph(2d): dijkstra 1e5 nodes | 173.28 ms | 5.77 Hz |
| graph(2d,vec): dijkstra 1e5 nodes | 172.89 ms | 5.78 Hz |
| graphslam(2d): levmarq 50 KFs/101 edges | 620.26 us | 1.61 KHz |
| graphslam(2d): levmarq 100 KFs/451 edges | 3.22 ms | 310.90 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2) | 1.09 ms | 918.40 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2) | 1.02 ms | 978.06 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2) | 909.15 us | 1.10 KHz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2) | 970.51 us | 1.03 KHz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter) | 1.97 ms | 507.74 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter) | 1.96 ms | 509.63 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter) | 1.86 ms | 536.55 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter) | 1.32 ms | 756.64 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter) | 1.94 ms | 514.60 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter) | 1.95 ms | 512.03 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter) | 1.88 ms | 533.31 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter) | 1.43 ms | 698.03 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter) | 2.05 ms | 488.53 Hz |
| 3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter) | 2.04 ms | 490.40 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter) | 2.06 ms | 486.06 Hz |
| 3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter) | 1.47 ms | 681.79 Hz |
| 3DRangeScan: 320x240 Depth->2D scan | 1.25 ms | 801.03 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min_filter | 3.34 ms | 299.37 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + max_filter | 3.35 ms | 298.08 Hz |
| 3DRangeScan: 320x240 Depth->2D scan + min/max_filters | 5.16 ms | 193.80 Hz |
| CAtan2LUT: 20x20m,1cm cells,build | 360.93 ms | 2.77 Hz |
| CAtan2LUT: 20x20m,1cm cells,query | 7.31 ns | 136.72 MHz |
| CAtan2LUTMultiRes: 22x22m,build | 292.04 ms | 3.42 Hz |
| CAtan2LUTMultiRes: 22x22m,query | 19.01 ns | 52.61 MHz |
| CAtan2LUT: raw ::atan2() call | 94.61 ns | 10.57 MHz |
| Strings: mrpt::format() short str | 194.60 ns | 5.14 MHz |
| Strings: mrpt::format() long str | 354.10 ns | 2.82 MHz |