Test description | 0.9.3-GCC-64bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 20.59 ms | Δ 1.52% | 47.85 Hz / 48.58 Hz | ∇ -1.49% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 20.64 ms | ∇ -9.08% | 53.30 Hz / 48.45 Hz | Δ 9.99% |
poses: CPose3D (+) CPose3D | 41.67 ns / 42.90 ns | ∇ -2.87% | 24.00 MHz / 23.31 MHz | Δ 2.95% |
poses: CPose3D.composeFrom() | 32.39 ns / 37.61 ns | ∇ -13.88% | 30.87 MHz / 26.59 MHz | Δ 16.12% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 7.25 ns | Δ 10.65% | 124.63 MHz / 137.89 MHz | ∇ -9.62% |
poses: CPose3D.composePoint() | 11.53 ns / 11.83 ns | ∇ -2.50% | 86.70 MHz / 84.53 MHz | Δ 2.57% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 39.31 ns | ∇ -53.74% | 54.99 MHz / 25.44 MHz | Δ 116.19% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 34.91 ns | ∇ -27.77% | 39.66 MHz / 28.65 MHz | Δ 38.44% |
poses: CPose2D (+) CPose2D | 72.10 ns / 76.08 ns | ∇ -5.23% | 13.87 MHz / 13.14 MHz | Δ 5.52% |
poses: CPose2D.composeFrom() | 69.22 ns / 61.61 ns | Δ 12.36% | 14.45 MHz / 16.23 MHz | ∇ -11.00% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 60.26 ns | Δ 0.37% | 16.53 MHz / 16.59 MHz | ∇ -0.36% |
poses: CPose2D.composePoint() | 60.01 ns / 62.26 ns | ∇ -3.62% | 16.66 MHz / 16.06 MHz | Δ 3.75% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 40.99 ns | Δ 4.17% | 23.42 MHz / 24.40 MHz | ∇ -4.00% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 39.39 ns | ∇ -2.84% | 26.13 MHz / 25.39 MHz | Δ 2.93% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 18.30 ns | ∇ -2.19% | 55.85 MHz / 54.63 MHz | Δ 2.23% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 17.94 ns | Δ 2.78% | 54.23 MHz / 55.74 MHz | ∇ -2.70% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 55.46 ns | ∇ -39.93% | 30.02 MHz / 18.03 MHz | Δ 66.47% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 17.66 ns | Δ 10.51% | 51.24 MHz / 56.63 MHz | ∇ -9.51% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 16.78 ns | ∇ -3.04% | 61.45 MHz / 59.58 MHz | Δ 3.14% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 169.37 ns | Δ 0.24% | 5.89 MHz / 5.90 MHz | ∇ -0.24% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 799.08 us | ∇ -99.90% | 1.25 MHz / 1.25 KHz | Δ 99909.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 803.31 us | ∇ -99.90% | 1.27 MHz / 1.24 KHz | Δ 101777.87% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 9.44 us | ∇ -3.57% | 109.83 KHz / 105.91 KHz | Δ 3.70% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 648.90 ns | ∇ -14.09% | 1.79 MHz / 1.54 MHz | Δ 16.39% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 631.00 ns | ∇ -11.49% | 1.79 MHz / 1.58 MHz | Δ 12.98% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 8.18 us | Δ 2.93% | 118.81 KHz / 122.30 KHz | ∇ -2.85% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 24.43 ns | ∇ -26.99% | 56.07 MHz / 40.94 MHz | Δ 36.97% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 23.18 ns | ∇ -15.99% | 51.35 MHz / 43.14 MHz | Δ 19.03% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 59.50 ns | ∇ -7.83% | 18.23 MHz / 16.81 MHz | Δ 8.49% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 62.26 ns | ∇ -10.17% | 17.88 MHz / 16.06 MHz | Δ 11.32% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.88 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 841.75 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 1.50 ns / 1.70 ns | ∇ -12.04% | 667.56 MHz / 587.20 MHz | Δ 13.68% |
matrix: unit, fix[double,6,6] | 5.61 ns / 2.77 ns | Δ 102.42% | 178.35 MHz / 361.01 MHz | ∇ -50.60% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 85.80 ns | Δ 239.51% | 3.43 MHz / 11.66 MHz | ∇ -70.55% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 23.80 ns | ∇ -100.00% | 1.#J THz / 42.02 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 75.90 ns | Δ 285.38% | 3.42 MHz / 13.18 MHz | ∇ -74.05% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 118.10 ns | Δ 194.24% | 2.88 MHz / 8.47 MHz | ∇ -66.01% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 44.70 ns | ∇ -100.00% | 1.#J THz / 22.37 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 110.50 ns | Δ 208.05% | 2.94 MHz / 9.05 MHz | ∇ -67.54% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 45.20 ns | ∇ -100.00% | 1.#J THz / 22.12 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 5.44 us | ∇ -55.48% | 413.19 KHz / 183.95 KHz | Δ 124.62% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 3.78 us | ∇ -40.90% | 448.19 KHz / 264.87 KHz | Δ 69.21% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 5.54 us | ∇ -58.31% | 432.69 KHz / 180.38 KHz | Δ 139.89% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 4.07 us | ∇ -47.90% | 471.08 KHz / 245.43 KHz | Δ 91.94% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 644.00 ns | Δ 21.12% | 1.28 MHz / 1.55 MHz | ∇ -17.44% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 39.00 ns | ∇ -100.00% | 1.#J THz / 25.64 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 1.26 us | Δ 56.38% | 507.10 KHz / 793.02 KHz | ∇ -36.05% |
matrix: inv, fix[double] 6x6 | 1.60 us / 575.00 ns | Δ 178.43% | 624.61 KHz / 1.74 MHz | ∇ -64.08% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 25.76 us | ∇ -37.57% | 62.19 KHz / 38.83 KHz | Δ 60.17% |
matrix: inv, fix[double] 20x20 | 14.48 us / 17.04 us | ∇ -15.04% | 69.08 KHz / 58.69 KHz | Δ 17.70% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 207.20 us | ∇ -68.25% | 15.20 KHz / 4.83 KHz | Δ 214.96% |
matrix: inv, fix[double] 40x40 | 64.13 us / 133.80 us | ∇ -52.07% | 15.59 KHz / 7.47 KHz | Δ 108.64% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 6.40 ns | Δ 3221.88% | 4.70 MHz / 156.25 MHz | ∇ -96.99% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 3x3 | 323.30 ns / 10.30 ns | Δ 3038.83% | 3.09 MHz / 97.09 MHz | ∇ -96.81% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[double] 6x6 | 774.90 ns / 730.30 ns | Δ 6.11% | 1.29 MHz / 1.37 MHz | ∇ -5.76% |
matrix: det, fix[double] 6x6 | 592.30 ns / 212.10 ns | Δ 179.26% | 1.69 MHz / 4.71 MHz | ∇ -64.19% |
matrix: det, dyn[double] 20x20 | 8.50 us / 6.56 us | Δ 29.50% | 117.63 KHz / 152.33 KHz | ∇ -22.78% |
matrix: det, fix[double] 20x20 | 7.72 us / 5.04 us | Δ 53.15% | 129.53 KHz / 198.38 KHz | ∇ -34.71% |
matrix: det, dyn[double] 40x40 | 32.23 us / 39.41 us | ∇ -18.23% | 31.03 KHz / 25.37 KHz | Δ 22.30% |
matrix: det, fix[double] 40x40 | 30.71 us / 29.04 us | Δ 5.75% | 32.57 KHz / 34.44 KHz | ∇ -5.44% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 140.00 ns | Δ 278.57% | 1.89 MHz / 7.14 MHz | ∇ -73.58% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 160.00 ns | ∇ -18.75% | 7.69 MHz / 6.25 MHz | Δ 23.08% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 18.38 us | Δ 25.03% | 43.52 KHz / 54.41 KHz | ∇ -20.02% |
matrix: chol, fix[double] 40x40 | 19.50 us / 17.08 us | Δ 14.17% | 51.28 KHz / 58.55 KHz | ∇ -12.41% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.30 us | ∇ -1.20% | 121.95 KHz / 120.48 KHz | Δ 1.22% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 84.40 us | Δ 1.07% | 11.72 KHz / 11.85 KHz | ∇ -1.06% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 53.00 us | Δ 7.17% | 17.61 KHz / 18.87 KHz | ∇ -6.69% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 39.49 us | ∇ -0.46% | 25.44 KHz / 25.32 KHz | Δ 0.46% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 411.70 us | ∇ -35.20% | 3.75 KHz / 2.43 KHz | Δ 54.31% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 74.09 us | ∇ -1.80% | 13.74 KHz / 13.50 KHz | Δ 1.83% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 10.38 ms | ∇ -74.28% | 374.53 Hz / 96.33 Hz | Δ 288.79% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 248.74 us | ∇ -29.17% | 5.68 KHz / 4.02 KHz | Δ 41.18% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 370.64 ms | ∇ -94.41% | 48.23 Hz / 2.70 Hz | Δ 1687.74% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 353.56 us | ∇ -0.71% | 2.85 KHz / 2.83 KHz | Δ 0.71% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 365.56 ms | ∇ -90.53% | 28.90 Hz / 2.74 Hz | Δ 956.42% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 425.27 us | ∇ -2.21% | 2.40 KHz / 2.35 KHz | Δ 2.26% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 796.04 ms | ∇ -93.68% | 19.87 Hz / 1.26 Hz | Δ 1481.98% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 490.79 us | ∇ -1.60% | 2.07 KHz / 2.04 KHz | Δ 1.63% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.61 ns / 2.58 ns | Δ 1.08% | 383.63 MHz / 387.76 MHz | ∇ -1.07% |
gridmap2D: updateCell | 6.99 ns / 7.44 ns | ∇ -6.08% | 143.02 MHz / 134.32 MHz | Δ 6.48% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 0.55 ns | ∇ -6.99% | 1.95 GHz / 1.82 GHz | Δ 7.51% |
gridmap2D: insert scan w/o widening | 102.59 us / 101.23 us | Δ 1.34% | 9.75 KHz / 9.88 KHz | ∇ -1.33% |
gridmap2D: insert scan with widening | 284.11 us / 291.30 us | ∇ -2.47% | 3.52 KHz / 3.43 KHz | Δ 2.53% |
gridmap2D: resize | 722.00 us / 1.89 ms | ∇ -61.76% | 1.39 KHz / 529.66 Hz | Δ 161.50% |
gridmap2D: computeLikelihood | 15.69 us / 16.46 us | ∇ -4.64% | 63.72 KHz / 60.76 KHz | Δ 4.87% |
pointmap: insert 100 scans | 2.97 ms / 3.10 ms | ∇ -4.32% | 337.06 Hz / 322.50 Hz | Δ 4.51% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 4.28 us | Δ 1.87% | 229.36 KHz / 233.64 KHz | ∇ -1.83% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 355.52 us | Δ 0.44% | 2.80 KHz / 2.81 KHz | ∇ -0.44% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 4.16 ms | Δ 0.68% | 238.61 Hz / 240.24 Hz | ∇ -0.68% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 4.76 us | ∇ -0.84% | 211.86 KHz / 210.08 KHz | Δ 0.85% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 363.20 us | ∇ -0.14% | 2.76 KHz / 2.75 KHz | Δ 0.14% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 4.09 ms | Δ 0.08% | 244.09 Hz / 244.29 Hz | ∇ -0.08% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.38 us | Δ 0.43% | 720.46 KHz / 723.59 KHz | ∇ -0.43% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 100.93 us | Δ 0.92% | 9.82 KHz / 9.91 KHz | ∇ -0.92% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 11.91 ms | ∇ -1.15% | 84.92 Hz / 83.95 Hz | Δ 1.16% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.62 ms | Δ 0.09% | 177.84 Hz / 178.01 Hz | ∇ -0.09% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 130.76 ms | ∇ -0.13% | 7.66 Hz / 7.65 Hz | Δ 0.13% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 5.67 ms | Δ 0.36% | 175.73 Hz / 176.35 Hz | ∇ -0.36% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 132.64 ms | ∇ -0.31% | 7.56 Hz / 7.54 Hz | Δ 0.31% |
random: drawUniform32bit | 15.67 ns / 14.57 ns | Δ 7.53% | 63.82 MHz / 68.63 MHz | ∇ -7.01% |
random: drawUniform | 15.66 ns / 14.62 ns | Δ 7.09% | 63.88 MHz / 68.41 MHz | ∇ -6.62% |
random: drawGaussian1D_normalized | 69.89 ns / 68.70 ns | Δ 1.74% | 14.31 MHz / 14.56 MHz | ∇ -1.71% |
random: drawGaussian1D | 69.86 ns / 68.68 ns | Δ 1.71% | 14.32 MHz / 14.56 MHz | ∇ -1.68% |
random: system rand() | 12.21 ns / 10.45 ns | Δ 16.85% | 81.87 MHz / 95.67 MHz | ∇ -14.42% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 1.31 us | Δ 106.42% | 370.49 KHz / 764.77 KHz | ∇ -51.56% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 2.79 us | Δ 104.94% | 175.14 KHz / 358.92 KHz | ∇ -51.20% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 158.26 ns | ∇ -6.37% | 6.75 MHz / 6.32 MHz | Δ 6.80% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 236.42 ns | ∇ -1.68% | 4.30 MHz / 4.23 MHz | Δ 1.70% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 489.37 ns | Δ 0.07% | 2.04 MHz / 2.04 MHz | ∇ -0.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 164.61 ns | ∇ -3.08% | 6.27 MHz / 6.07 MHz | Δ 3.18% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 248.12 ns | ∇ -0.15% | 4.04 MHz / 4.03 MHz | Δ 0.15% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 514.83 ns | Δ 1.38% | 1.92 MHz / 1.94 MHz | ∇ -1.36% |
random: permuteVector (len=10) | 251.30 ns / 317.50 ns | ∇ -20.85% | 3.98 MHz / 3.15 MHz | Δ 26.34% |
random: permuteVector (len=100) | 3.02 us / 3.06 us | ∇ -1.48% | 331.46 KHz / 326.54 KHz | Δ 1.50% |
random: permuteVector (len=1000) | 30.36 us / 30.27 us | Δ 0.32% | 32.93 KHz / 33.04 KHz | ∇ -0.31% |
math: round | 0.10 ns / 0.10 ns | ∇ -0.01% | 10.09 GHz / 10.09 GHz | Δ 0.01% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 27.27 ms | Δ 25.20% | 29.29 Hz / 36.67 Hz | ∇ -20.13% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 43.27 ms | Δ 15.15% | 20.07 Hz / 23.11 Hz | ∇ -13.16% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 74.67 ms | Δ 8.09% | 12.39 Hz / 13.39 Hz | ∇ -7.48% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 26.31 ms | Δ 11.62% | 34.05 Hz / 38.01 Hz | ∇ -10.41% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 40.92 ms | Δ 3.74% | 23.56 Hz / 24.44 Hz | ∇ -3.60% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 62.56 ms | Δ 4.55% | 15.29 Hz / 15.99 Hz | ∇ -4.36% |
images: Gauss filter (640x480) | 4.66 ms / 4.48 ms | Δ 4.02% | 214.40 Hz / 223.01 Hz | ∇ -3.86% |
images: Gauss filter (800x600) | 5.98 ms / 7.46 ms | ∇ -19.77% | 167.10 Hz / 134.07 Hz | Δ 24.64% |
images: Gauss filter (1024x768) | 10.42 ms / 12.41 ms | ∇ -16.01% | 95.93 Hz / 80.57 Hz | Δ 19.07% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 5.15 us | Δ 120.39% | 88.11 KHz / 194.17 KHz | ∇ -54.63% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 4.35 us | Δ 128.97% | 100.40 KHz / 229.89 KHz | ∇ -56.33% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 2.12 us | Δ 160.38% | 181.16 KHz / 471.70 KHz | ∇ -61.59% |
feature_extraction [640x480]: Harris | 32.25 ms / 33.18 ms | ∇ -2.80% | 31.01 Hz / 30.14 Hz | Δ 2.88% |
feature_extraction [640x480]: KLT | 25.60 ms / 29.64 ms | ∇ -13.60% | 39.06 Hz / 33.74 Hz | Δ 15.75% |
feature_extraction [640x480]: SIFT | 630.91 ms / 637.68 ms | ∇ -1.06% | 1.59 Hz / 1.57 Hz | Δ 1.07% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 173.14 ms | ∇ -5.23% | 6.09 Hz / 5.78 Hz | Δ 5.52% |
feature_extraction [640x480]: SURF | 207.64 ms / 202.84 ms | Δ 2.37% | 4.82 Hz / 4.93 Hz | ∇ -2.31% |
feature_extraction [640x480]: FAST | 7.60 ms / 5.10 ms | Δ 48.92% | 131.57 Hz / 195.94 Hz | ∇ -32.85% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 61.22 ms | ∇ -1.00% | 16.50 Hz / 16.33 Hz | Δ 1.01% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 43.90 ms | Δ 0.21% | 22.73 Hz / 22.78 Hz | ∇ -0.21% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 38.32 ms | ∇ -5.32% | 27.56 Hz / 26.09 Hz | Δ 5.61% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.28 sec | ∇ -6.18% | 834.47 mHz / 782.87 mHz | Δ 6.59% |
feature_matching [640x480]: SURF | 379.83 ms / 387.99 ms | ∇ -2.10% | 2.63 Hz / 2.58 Hz | Δ 2.15% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 15.73 ms | Δ 1.94% | 62.36 Hz / 63.57 Hz | ∇ -1.90% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 10.56 ms | Δ 2.78% | 92.14 Hz / 94.70 Hz | ∇ -2.70% |
graph(2d): insertEdge x 1e3 | 119.99 us / 104.46 us | Δ 14.87% | 8.33 KHz / 9.57 KHz | ∇ -12.94% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / X | 9.33 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 85.19 us | ∇ -1.36% | 11.90 KHz / 11.74 KHz | Δ 1.38% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / X | 11.99 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 134.65 us | Δ 26.71% | 5.86 KHz / 7.43 KHz | ∇ -21.08% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / X | 5.51 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 119.89 us | Δ 49.32% | 5.59 KHz / 8.34 KHz | ∇ -33.03% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / X | 5.60 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.58 ms / 1.39 ms | Δ 14.23% | 632.00 Hz / 721.96 Hz | ∇ -12.46% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / X | 790.83 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 854.04 us | Δ 1.09% | 1.16 KHz / 1.17 KHz | ∇ -1.08% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 1.61 ms | Δ 21.96% | 509.85 Hz / 621.80 Hz | ∇ -18.00% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / X | 445.23 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 1.20 ms | Δ 62.75% | 511.72 Hz / 832.81 Hz | ∇ -38.55% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / X | 512.69 Hz / X | ||
graph(3d): insertEdge x 1e3 | 169.26 us / 132.91 us | Δ 27.35% | 5.91 KHz / 7.52 KHz | ∇ -21.48% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / X | 5.93 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 109.11 us | Δ 40.86% | 6.51 KHz / 9.17 KHz | ∇ -29.01% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / X | 6.49 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 349.74 us | Δ 34.94% | 2.12 KHz / 2.86 KHz | ∇ -25.89% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / X | 2.09 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 321.54 us | Δ 37.26% | 2.27 KHz / 3.11 KHz | ∇ -27.14% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / X | 2.25 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.46 ms / 1.89 ms | Δ 29.98% | 407.06 Hz / 529.10 Hz | ∇ -23.07% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / X | 406.51 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 1.10 ms | Δ 54.69% | 588.45 Hz / 910.25 Hz | ∇ -35.35% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / X | 587.97 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 4.65 ms | Δ 43.83% | 149.62 Hz / 215.20 Hz | ∇ -30.47% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / X | 148.06 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 4.05 ms | Δ 13.18% | 218.07 Hz / 246.81 Hz | ∇ -11.64% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / X | 218.58 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 89.04 us / X | 11.23 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / X | 13.28 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.11 ms / X | 903.43 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / X | 1.41 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 18.54 ms / X | 53.94 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / X | 102.51 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 252.57 ms / X | 3.96 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / X | 8.91 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 256.02 ms / X | 3.91 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / X | 9.42 Hz / X |