Test description | 0.9.3-GCC-64bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 20.74 ms | Δ 0.74% | 47.85 Hz / 48.21 Hz | ∇ -0.74% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 17.09 ms | Δ 9.79% | 53.30 Hz / 58.52 Hz | ∇ -8.92% |
poses: CPose3D (+) CPose3D | 41.67 ns / 29.76 ns | Δ 40.02% | 24.00 MHz / 33.60 MHz | ∇ -28.58% |
poses: CPose3D.composeFrom() | 32.39 ns / 21.90 ns | Δ 47.90% | 30.87 MHz / 45.66 MHz | ∇ -32.39% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 7.23 ns | Δ 10.92% | 124.63 MHz / 138.24 MHz | ∇ -9.85% |
poses: CPose3D.composePoint() | 11.53 ns / 11.67 ns | ∇ -1.18% | 86.70 MHz / 85.68 MHz | Δ 1.20% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 13.29 ns | Δ 36.87% | 54.99 MHz / 75.27 MHz | ∇ -26.94% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 24.48 ns | Δ 3.00% | 39.66 MHz / 40.85 MHz | ∇ -2.91% |
poses: CPose2D (+) CPose2D | 72.10 ns / 71.64 ns | Δ 0.64% | 13.87 MHz / 13.96 MHz | ∇ -0.64% |
poses: CPose2D.composeFrom() | 69.22 ns / 69.41 ns | ∇ -0.27% | 14.45 MHz / 14.41 MHz | Δ 0.27% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 60.78 ns | ∇ -0.48% | 16.53 MHz / 16.45 MHz | Δ 0.48% |
poses: CPose2D.composePoint() | 60.01 ns / 60.80 ns | ∇ -1.30% | 16.66 MHz / 16.45 MHz | Δ 1.31% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 40.47 ns | Δ 5.51% | 23.42 MHz / 24.71 MHz | ∇ -5.22% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 37.55 ns | Δ 1.92% | 26.13 MHz / 26.63 MHz | ∇ -1.88% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 17.39 ns | Δ 2.97% | 55.85 MHz / 57.51 MHz | ∇ -2.88% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 17.48 ns | Δ 5.47% | 54.23 MHz / 57.20 MHz | ∇ -5.18% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 32.97 ns | Δ 1.04% | 30.02 MHz / 30.33 MHz | ∇ -1.03% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 19.11 ns | Δ 2.15% | 51.24 MHz / 52.34 MHz | ∇ -2.10% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 23.42 ns | ∇ -30.51% | 61.45 MHz / 42.70 MHz | Δ 43.91% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 172.72 ns | ∇ -1.70% | 5.89 MHz / 5.79 MHz | Δ 1.73% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 671.00 ns | Δ 19.08% | 1.25 MHz / 1.49 MHz | ∇ -16.02% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 652.00 ns | Δ 20.94% | 1.27 MHz / 1.53 MHz | ∇ -17.31% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 8.74 us | Δ 4.16% | 109.83 KHz / 114.40 KHz | ∇ -4.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 454.10 ns | Δ 22.77% | 1.79 MHz / 2.20 MHz | ∇ -18.55% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 452.90 ns | Δ 23.32% | 1.79 MHz / 2.21 MHz | ∇ -18.91% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 7.98 us | Δ 5.53% | 118.81 KHz / 125.39 KHz | ∇ -5.24% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 17.64 ns | Δ 1.13% | 56.07 MHz / 56.71 MHz | ∇ -1.12% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 19.86 ns | ∇ -1.95% | 51.35 MHz / 50.34 MHz | Δ 1.99% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 57.06 ns | ∇ -3.87% | 18.23 MHz / 17.53 MHz | Δ 4.03% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 60.00 ns | ∇ -6.78% | 17.88 MHz / 16.67 MHz | Δ 7.27% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.50 ns / 0.00 ns | Δ 1.#J% | 667.56 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 5.61 ns / 0.00 ns | Δ 1.#J% | 178.35 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 242.70 ns | Δ 20.02% | 3.43 MHz / 4.12 MHz | ∇ -16.68% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 231.60 ns | Δ 26.30% | 3.42 MHz / 4.32 MHz | ∇ -20.82% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 296.50 ns | Δ 17.20% | 2.88 MHz / 3.37 MHz | ∇ -14.68% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 0.10 ns | ∇ -100.00% | 1.#J THz / 10.00 GHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 259.20 ns | Δ 31.33% | 2.94 MHz / 3.86 MHz | ∇ -23.85% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 2.09 us | Δ 15.61% | 413.19 KHz / 477.69 KHz | ∇ -13.50% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 1.79 us | Δ 24.73% | 448.19 KHz / 559.03 KHz | ∇ -19.83% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 2.43 us | ∇ -4.86% | 432.69 KHz / 411.68 KHz | Δ 5.11% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 2.16 us | ∇ -1.88% | 471.08 KHz / 462.21 KHz | Δ 1.92% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 767.00 ns | Δ 1.69% | 1.28 MHz / 1.30 MHz | ∇ -1.67% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 1.78 us | Δ 10.79% | 507.10 KHz / 561.80 KHz | ∇ -9.74% |
matrix: inv, fix[double] 6x6 | 1.60 us / 1.73 us | ∇ -7.35% | 624.61 KHz / 578.70 KHz | Δ 7.93% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 16.27 us | ∇ -1.15% | 62.19 KHz / 61.47 KHz | Δ 1.16% |
matrix: inv, fix[double] 20x20 | 14.48 us / 13.44 us | Δ 7.72% | 69.08 KHz / 74.41 KHz | ∇ -7.16% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 68.00 us | ∇ -3.26% | 15.20 KHz / 14.70 KHz | Δ 3.37% |
matrix: inv, fix[double] 40x40 | 64.13 us / 63.01 us | Δ 1.78% | 15.59 KHz / 15.87 KHz | ∇ -1.75% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 209.40 ns | Δ 1.53% | 4.70 MHz / 4.78 MHz | ∇ -1.51% |
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 / 331.30 ns | ∇ -2.41% | 3.09 MHz / 3.02 MHz | Δ 2.47% |
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 / 943.70 ns | ∇ -17.89% | 1.29 MHz / 1.06 MHz | Δ 21.78% |
matrix: det, fix[double] 6x6 | 592.30 ns / 575.90 ns | Δ 2.85% | 1.69 MHz / 1.74 MHz | ∇ -2.77% |
matrix: det, dyn[double] 20x20 | 8.50 us / 8.10 us | Δ 4.91% | 117.63 KHz / 123.40 KHz | ∇ -4.68% |
matrix: det, fix[double] 20x20 | 7.72 us / 7.48 us | Δ 3.15% | 129.53 KHz / 133.61 KHz | ∇ -3.05% |
matrix: det, dyn[double] 40x40 | 32.23 us / 30.87 us | Δ 4.38% | 31.03 KHz / 32.39 KHz | ∇ -4.20% |
matrix: det, fix[double] 40x40 | 30.71 us / 29.01 us | Δ 5.84% | 32.57 KHz / 34.47 KHz | ∇ -5.52% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 530.00 ns | ∇ 0.00% | 1.89 MHz / 1.89 MHz | ∇ 0.00% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 120.00 ns | Δ 8.33% | 7.69 MHz / 8.33 MHz | ∇ -7.69% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 20.70 us | Δ 11.01% | 43.52 KHz / 48.31 KHz | ∇ -9.92% |
matrix: chol, fix[double] 40x40 | 19.50 us / 16.54 us | Δ 17.90% | 51.28 KHz / 60.46 KHz | ∇ -15.18% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 12.20 us | ∇ -32.79% | 121.95 KHz / 81.97 KHz | Δ 48.78% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 87.70 us | ∇ -2.74% | 11.72 KHz / 11.40 KHz | Δ 2.81% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 51.70 us | Δ 9.86% | 17.61 KHz / 19.34 KHz | ∇ -8.98% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 38.27 us | Δ 2.72% | 25.44 KHz / 26.13 KHz | ∇ -2.65% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 255.50 us | Δ 4.42% | 3.75 KHz / 3.91 KHz | ∇ -4.24% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 70.94 us | Δ 2.57% | 13.74 KHz / 14.10 KHz | ∇ -2.50% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 2.75 ms | ∇ -2.91% | 374.53 Hz / 363.64 Hz | Δ 3.00% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 169.22 us | Δ 4.12% | 5.68 KHz / 5.91 KHz | ∇ -3.96% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 22.06 ms | ∇ -6.02% | 48.23 Hz / 45.33 Hz | Δ 6.40% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 339.61 us | Δ 3.37% | 2.85 KHz / 2.94 KHz | ∇ -3.26% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 36.67 ms | ∇ -5.63% | 28.90 Hz / 27.27 Hz | Δ 5.96% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 402.38 us | Δ 3.36% | 2.40 KHz / 2.49 KHz | ∇ -3.25% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 53.86 ms | ∇ -6.58% | 19.87 Hz / 18.57 Hz | Δ 7.04% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 476.81 us | Δ 1.29% | 2.07 KHz / 2.10 KHz | ∇ -1.27% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.61 ns / 2.71 ns | ∇ -3.73% | 383.63 MHz / 369.33 MHz | Δ 3.87% |
gridmap2D: updateCell | 6.99 ns / 6.04 ns | Δ 15.78% | 143.02 MHz / 165.59 MHz | ∇ -13.63% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 0.61 ns | ∇ -16.57% | 1.95 GHz / 1.63 GHz | Δ 19.87% |
gridmap2D: insert scan w/o widening | 102.59 us / 99.83 us | Δ 2.76% | 9.75 KHz / 10.02 KHz | ∇ -2.68% |
gridmap2D: insert scan with widening | 284.11 us / 293.13 us | ∇ -3.08% | 3.52 KHz / 3.41 KHz | Δ 3.17% |
gridmap2D: resize | 722.00 us / 630.00 us | Δ 14.60% | 1.39 KHz / 1.59 KHz | ∇ -12.74% |
gridmap2D: computeLikelihood | 15.69 us / 17.81 us | ∇ -11.89% | 63.72 KHz / 56.14 KHz | Δ 13.49% |
pointmap: insert 100 scans | 2.97 ms / 1.01 ms | Δ 193.96% | 337.06 Hz / 990.80 Hz | ∇ -65.98% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 4.52 us | ∇ -3.54% | 229.36 KHz / 221.24 KHz | Δ 3.67% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 364.44 us | ∇ -2.02% | 2.80 KHz / 2.74 KHz | Δ 2.06% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 4.38 ms | ∇ -4.36% | 238.61 Hz / 228.21 Hz | Δ 4.56% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 5.16 us | ∇ -8.53% | 211.86 KHz / 193.80 KHz | Δ 9.32% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 372.44 us | ∇ -2.62% | 2.76 KHz / 2.68 KHz | Δ 2.69% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 4.20 ms | ∇ -2.47% | 244.09 Hz / 238.06 Hz | Δ 2.53% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.42 us | ∇ -2.32% | 720.46 KHz / 703.73 KHz | Δ 2.38% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 101.86 us | Δ 0.01% | 9.82 KHz / 9.82 KHz | ∇ -0.01% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 12.17 ms | ∇ -3.26% | 84.92 Hz / 82.15 Hz | Δ 3.37% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.64 ms | ∇ -0.33% | 177.84 Hz / 177.25 Hz | Δ 0.33% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 132.76 ms | ∇ -1.64% | 7.66 Hz / 7.53 Hz | Δ 1.66% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 5.71 ms | ∇ -0.39% | 175.73 Hz / 175.04 Hz | Δ 0.39% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 134.74 ms | ∇ -1.87% | 7.56 Hz / 7.42 Hz | Δ 1.90% |
random: drawUniform32bit | 15.67 ns / 14.55 ns | Δ 7.72% | 63.82 MHz / 68.75 MHz | ∇ -7.17% |
random: drawUniform | 15.66 ns / 14.56 ns | Δ 7.53% | 63.88 MHz / 68.69 MHz | ∇ -7.01% |
random: drawGaussian1D_normalized | 69.89 ns / 66.87 ns | Δ 4.53% | 14.31 MHz / 14.96 MHz | ∇ -4.33% |
random: drawGaussian1D | 69.86 ns / 66.81 ns | Δ 4.57% | 14.32 MHz / 14.97 MHz | ∇ -4.37% |
random: system rand() | 12.21 ns / 10.63 ns | Δ 14.95% | 81.87 MHz / 94.11 MHz | ∇ -13.00% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 903.36 ns | Δ 198.79% | 370.49 KHz / 1.11 MHz | ∇ -66.53% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 1.61 us | Δ 254.58% | 175.14 KHz / 621.01 KHz | ∇ -71.80% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 144.65 ns | Δ 2.44% | 6.75 MHz / 6.91 MHz | ∇ -2.38% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 219.48 ns | Δ 5.91% | 4.30 MHz / 4.56 MHz | ∇ -5.58% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 472.80 ns | Δ 3.58% | 2.04 MHz / 2.12 MHz | ∇ -3.45% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 152.29 ns | Δ 4.76% | 6.27 MHz / 6.57 MHz | ∇ -4.54% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 235.04 ns | Δ 5.41% | 4.04 MHz / 4.25 MHz | ∇ -5.13% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 491.60 ns | Δ 6.17% | 1.92 MHz / 2.03 MHz | ∇ -5.81% |
random: permuteVector (len=10) | 251.30 ns / 243.60 ns | Δ 3.16% | 3.98 MHz / 4.11 MHz | ∇ -3.06% |
random: permuteVector (len=100) | 3.02 us / 2.99 us | Δ 1.07% | 331.46 KHz / 334.99 KHz | ∇ -1.05% |
random: permuteVector (len=1000) | 30.36 us / 29.51 us | Δ 2.88% | 32.93 KHz / 33.88 KHz | ∇ -2.80% |
math: round | 0.10 ns / 0.10 ns | ∇ -0.08% | 10.09 GHz / 10.08 GHz | Δ 0.08% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 33.63 ms | Δ 1.53% | 29.29 Hz / 29.74 Hz | ∇ -1.50% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 49.85 ms | ∇ -0.04% | 20.07 Hz / 20.06 Hz | Δ 0.04% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 69.59 ms | Δ 15.98% | 12.39 Hz / 14.37 Hz | ∇ -13.78% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 30.64 ms | ∇ -4.17% | 34.05 Hz / 32.63 Hz | Δ 4.35% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 43.91 ms | ∇ -3.32% | 23.56 Hz / 22.78 Hz | Δ 3.44% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 62.52 ms | Δ 4.61% | 15.29 Hz / 15.99 Hz | ∇ -4.41% |
images: Gauss filter (640x480) | 4.66 ms / 3.81 ms | Δ 22.55% | 214.40 Hz / 262.76 Hz | ∇ -18.40% |
images: Gauss filter (800x600) | 5.98 ms / 5.96 ms | Δ 0.36% | 167.10 Hz / 167.70 Hz | ∇ -0.36% |
images: Gauss filter (1024x768) | 10.42 ms / 10.46 ms | ∇ -0.34% | 95.93 Hz / 95.61 Hz | Δ 0.34% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 12.69 us | ∇ -10.56% | 88.11 KHz / 78.80 KHz | Δ 11.81% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 9.85 us | Δ 1.12% | 100.40 KHz / 101.52 KHz | ∇ -1.10% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 5.24 us | Δ 5.34% | 181.16 KHz / 190.84 KHz | ∇ -5.07% |
feature_extraction [640x480]: Harris | 32.25 ms / 21.14 ms | Δ 52.58% | 31.01 Hz / 47.31 Hz | ∇ -34.46% |
feature_extraction [640x480]: KLT | 25.60 ms / 21.45 ms | Δ 19.35% | 39.06 Hz / 46.61 Hz | ∇ -16.21% |
feature_extraction [640x480]: SIFT | 630.91 ms / 591.25 ms | Δ 6.71% | 1.59 Hz / 1.69 Hz | ∇ -6.29% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 162.82 ms | Δ 0.78% | 6.09 Hz / 6.14 Hz | ∇ -0.77% |
feature_extraction [640x480]: SURF | 207.64 ms / 197.33 ms | Δ 5.22% | 4.82 Hz / 5.07 Hz | ∇ -4.96% |
feature_extraction [640x480]: FAST | 7.60 ms / 6.89 ms | Δ 10.32% | 131.57 Hz / 145.15 Hz | ∇ -9.35% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 63.90 ms | ∇ -5.15% | 16.50 Hz / 15.65 Hz | Δ 5.43% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 38.54 ms | Δ 14.15% | 22.73 Hz / 25.95 Hz | ∇ -12.39% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 33.59 ms | Δ 8.02% | 27.56 Hz / 29.77 Hz | ∇ -7.43% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.16 sec | Δ 3.47% | 834.47 mHz / 863.45 mHz | ∇ -3.36% |
feature_matching [640x480]: SURF | 379.83 ms / 375.89 ms | Δ 1.05% | 2.63 Hz / 2.66 Hz | ∇ -1.04% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 15.89 ms | Δ 0.93% | 62.36 Hz / 62.95 Hz | ∇ -0.93% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 10.48 ms | Δ 3.56% | 92.14 Hz / 95.42 Hz | ∇ -3.44% |
graph(2d): insertEdge x 1e3 | 119.99 us / 158.24 us | ∇ -24.17% | 8.33 KHz / 6.32 KHz | Δ 31.88% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 133.69 us | ∇ -19.83% | 9.33 KHz / 7.48 KHz | Δ 24.73% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 84.43 us | ∇ -0.47% | 11.90 KHz / 11.84 KHz | Δ 0.47% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 81.78 us | Δ 1.95% | 11.99 KHz / 12.23 KHz | ∇ -1.91% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 207.17 us | ∇ -17.64% | 5.86 KHz / 4.83 KHz | Δ 21.43% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 232.57 us | ∇ -21.91% | 5.51 KHz / 4.30 KHz | Δ 28.06% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 246.74 us | ∇ -27.45% | 5.59 KHz / 4.05 KHz | Δ 37.83% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 192.59 us | ∇ -7.27% | 5.60 KHz / 5.19 KHz | Δ 7.84% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 2.08 ms | ∇ -24.04% | 632.00 Hz / 480.05 Hz | Δ 31.65% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 1.62 ms | ∇ -21.79% | 790.83 Hz / 618.53 Hz | Δ 27.86% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 870.19 us | ∇ -0.78% | 1.16 KHz / 1.15 KHz | Δ 0.79% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 846.92 us | ∇ -0.09% | 1.18 KHz / 1.18 KHz | Δ 0.09% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 2.34 ms | ∇ -16.22% | 509.85 Hz / 427.14 Hz | Δ 19.36% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 2.81 ms | ∇ -20.03% | 445.23 Hz / 356.06 Hz | Δ 25.04% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.13 ms | ∇ -8.08% | 511.72 Hz / 470.35 Hz | Δ 8.80% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 2.13 ms | ∇ -8.50% | 512.69 Hz / 469.13 Hz | Δ 9.29% |
graph(3d): insertEdge x 1e3 | 169.26 us / 220.82 us | ∇ -23.35% | 5.91 KHz / 4.53 KHz | Δ 30.46% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 221.81 us | ∇ -23.91% | 5.93 KHz / 4.51 KHz | Δ 31.43% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 183.18 us | ∇ -16.10% | 6.51 KHz / 5.46 KHz | Δ 19.19% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 186.52 us | ∇ -17.33% | 6.49 KHz / 5.36 KHz | Δ 20.97% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 532.35 us | ∇ -11.35% | 2.12 KHz / 1.88 KHz | Δ 12.80% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 537.98 us | ∇ -10.86% | 2.09 KHz / 1.86 KHz | Δ 12.18% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 487.59 us | ∇ -9.49% | 2.27 KHz / 2.05 KHz | Δ 10.48% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 493.50 us | ∇ -9.82% | 2.25 KHz / 2.03 KHz | Δ 10.88% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 2.78 ms | ∇ -11.67% | 407.06 Hz / 359.55 Hz | Δ 13.21% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 2.77 ms | ∇ -11.31% | 406.51 Hz / 360.52 Hz | Δ 12.76% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 2.09 ms | ∇ -18.83% | 588.45 Hz / 477.61 Hz | Δ 23.21% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 2.05 ms | ∇ -17.15% | 587.97 Hz / 487.11 Hz | Δ 20.71% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 7.36 ms | ∇ -9.23% | 149.62 Hz / 135.81 Hz | Δ 10.17% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 6.97 ms | ∇ -3.13% | 148.06 Hz / 143.42 Hz | Δ 3.23% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 5.29 ms | ∇ -13.24% | 218.07 Hz / 189.20 Hz | Δ 15.26% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 5.49 ms | ∇ -16.60% | 218.58 Hz / 182.28 Hz | Δ 19.91% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 90.55 us | ∇ -1.67% | 11.23 KHz / 11.04 KHz | Δ 1.70% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 83.50 us | ∇ -9.79% | 13.28 KHz / 11.98 KHz | Δ 10.85% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 1.13 ms | ∇ -2.35% | 903.43 Hz / 882.20 Hz | Δ 2.41% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 767.67 us | ∇ -7.36% | 1.41 KHz / 1.30 KHz | Δ 7.94% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 21.12 ms | ∇ -12.22% | 53.94 Hz / 47.35 Hz | Δ 13.92% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 10.86 ms | ∇ -10.19% | 102.51 Hz / 92.06 Hz | Δ 11.34% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 341.35 ms | ∇ -26.01% | 3.96 Hz / 2.93 Hz | Δ 35.15% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 142.53 ms | ∇ -21.26% | 8.91 Hz / 7.02 Hz | Δ 26.99% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 320.28 ms | ∇ -20.07% | 3.91 Hz / 3.12 Hz | Δ 25.10% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 133.66 ms | ∇ -20.57% | 9.42 Hz / 7.48 Hz | Δ 25.90% |