Test description | 0.9.3-GCC-64bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 19.99 ms | Δ 4.55% | 47.85 Hz / 50.03 Hz | ∇ -4.35% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 19.29 ms | ∇ -2.74% | 53.30 Hz / 51.84 Hz | Δ 2.82% |
poses: CPose3D (+) CPose3D | 41.67 ns / 42.85 ns | ∇ -2.75% | 24.00 MHz / 23.34 MHz | Δ 2.83% |
poses: CPose3D.composeFrom() | 32.39 ns / 37.80 ns | ∇ -14.31% | 30.87 MHz / 26.46 MHz | Δ 16.70% |
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 / 11.91 ns | ∇ -3.14% | 86.70 MHz / 83.98 MHz | Δ 3.24% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 48.98 ns | ∇ -62.88% | 54.99 MHz / 20.42 MHz | Δ 169.37% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 34.95 ns | ∇ -27.86% | 39.66 MHz / 28.61 MHz | Δ 38.62% |
poses: CPose2D (+) CPose2D | 72.10 ns / 78.58 ns | ∇ -8.24% | 13.87 MHz / 12.73 MHz | Δ 8.98% |
poses: CPose2D.composeFrom() | 69.22 ns / 70.31 ns | ∇ -1.55% | 14.45 MHz / 14.22 MHz | Δ 1.57% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 61.33 ns | ∇ -1.38% | 16.53 MHz / 16.31 MHz | Δ 1.40% |
poses: CPose2D.composePoint() | 60.01 ns / 65.17 ns | ∇ -7.91% | 16.66 MHz / 15.35 MHz | Δ 8.59% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 44.66 ns | ∇ -4.39% | 23.42 MHz / 22.39 MHz | Δ 4.59% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 39.43 ns | ∇ -2.94% | 26.13 MHz / 25.36 MHz | Δ 3.03% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 18.24 ns | ∇ -1.82% | 55.85 MHz / 54.84 MHz | Δ 1.85% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 17.94 ns | Δ 2.80% | 54.23 MHz / 55.75 MHz | ∇ -2.72% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 55.43 ns | ∇ -39.90% | 30.02 MHz / 18.04 MHz | Δ 66.38% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 17.64 ns | Δ 10.63% | 51.24 MHz / 56.69 MHz | ∇ -9.61% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 16.70 ns | ∇ -2.53% | 61.45 MHz / 59.89 MHz | Δ 2.60% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 169.28 ns | Δ 0.29% | 5.89 MHz / 5.91 MHz | ∇ -0.29% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 760.96 us | ∇ -99.90% | 1.25 MHz / 1.31 KHz | Δ 95138.42% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 760.62 us | ∇ -99.90% | 1.27 MHz / 1.31 KHz | Δ 96363.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 9.47 us | ∇ -3.89% | 109.83 KHz / 105.55 KHz | Δ 4.05% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 545.30 ns | Δ 2.24% | 1.79 MHz / 1.83 MHz | ∇ -2.19% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 544.10 ns | Δ 2.65% | 1.79 MHz / 1.84 MHz | ∇ -2.58% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 8.11 us | Δ 3.80% | 118.81 KHz / 123.33 KHz | ∇ -3.67% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 20.92 ns | ∇ -14.74% | 56.07 MHz / 47.81 MHz | Δ 17.29% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 20.15 ns | ∇ -3.35% | 51.35 MHz / 49.63 MHz | Δ 3.46% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 54.04 ns | Δ 1.50% | 18.23 MHz / 18.51 MHz | ∇ -1.48% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 55.27 ns | Δ 1.20% | 17.88 MHz / 18.09 MHz | ∇ -1.19% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | 1.#J THz / 2.89 GHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | 1.#J THz / 842.46 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 1.50 ns / 1.70 ns | ∇ -11.78% | 667.56 MHz / 588.93 MHz | Δ 13.35% |
matrix: unit, fix[double,6,6] | 5.61 ns / 2.77 ns | Δ 102.05% | 178.35 MHz / 360.36 MHz | ∇ -50.51% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 73.10 ns | Δ 298.50% | 3.43 MHz / 13.68 MHz | ∇ -74.91% |
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 / 72.40 ns | Δ 304.01% | 3.42 MHz / 13.81 MHz | ∇ -75.25% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.40 ns | ∇ -100.00% | 1.#J THz / 42.74 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 110.50 ns | Δ 214.48% | 2.88 MHz / 9.05 MHz | ∇ -68.20% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 45.10 ns | ∇ -100.00% | 1.#J THz / 22.17 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 116.30 ns | Δ 192.69% | 2.94 MHz / 8.60 MHz | ∇ -65.83% |
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 / 5.19 us | ∇ -53.34% | 413.19 KHz / 192.77 KHz | Δ 114.34% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 3.55 us | ∇ -37.18% | 448.19 KHz / 281.56 KHz | Δ 59.18% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 5.18 us | ∇ -55.38% | 432.69 KHz / 193.05 KHz | Δ 124.14% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 3.61 us | ∇ -41.19% | 471.08 KHz / 277.05 KHz | Δ 70.03% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 329.00 ns | Δ 137.08% | 1.28 MHz / 3.04 MHz | ∇ -57.82% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 21.00 ns | ∇ -100.00% | 1.#J THz / 47.62 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 1.20 us | Δ 64.20% | 507.10 KHz / 832.64 KHz | ∇ -39.10% |
matrix: inv, fix[double] 6x6 | 1.60 us / 578.00 ns | Δ 176.99% | 624.61 KHz / 1.73 MHz | ∇ -63.90% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 25.64 us | ∇ -37.28% | 62.19 KHz / 39.01 KHz | Δ 59.43% |
matrix: inv, fix[double] 20x20 | 14.48 us / 17.36 us | ∇ -16.62% | 69.08 KHz / 57.60 KHz | Δ 19.94% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 189.04 us | ∇ -65.20% | 15.20 KHz / 5.29 KHz | Δ 187.36% |
matrix: inv, fix[double] 40x40 | 64.13 us / 121.47 us | ∇ -47.20% | 15.59 KHz / 8.23 KHz | Δ 89.41% |
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 / 696.30 ns | Δ 11.29% | 1.29 MHz / 1.44 MHz | ∇ -10.14% |
matrix: det, fix[double] 6x6 | 592.30 ns / 212.30 ns | Δ 178.99% | 1.69 MHz / 4.71 MHz | ∇ -64.16% |
matrix: det, dyn[double] 20x20 | 8.50 us / 6.40 us | Δ 32.76% | 117.63 KHz / 156.16 KHz | ∇ -24.67% |
matrix: det, fix[double] 20x20 | 7.72 us / 4.72 us | Δ 63.49% | 129.53 KHz / 211.77 KHz | ∇ -38.83% |
matrix: det, dyn[double] 40x40 | 32.23 us / 32.49 us | ∇ -0.83% | 31.03 KHz / 30.77 KHz | Δ 0.83% |
matrix: det, fix[double] 40x40 | 30.71 us / 27.34 us | Δ 12.33% | 32.57 KHz / 36.58 KHz | ∇ -10.97% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 130.00 ns | Δ 307.69% | 1.89 MHz / 7.69 MHz | ∇ -75.47% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 140.00 ns | ∇ -7.14% | 7.69 MHz / 7.14 MHz | Δ 7.69% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 18.52 us | Δ 24.08% | 43.52 KHz / 54.00 KHz | ∇ -19.41% |
matrix: chol, fix[double] 40x40 | 19.50 us / 16.55 us | Δ 17.82% | 51.28 KHz / 60.42 KHz | ∇ -15.13% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.20 us | ∇ 0.00% | 121.95 KHz / 121.95 KHz | ∇ 0.00% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 82.90 us | Δ 2.90% | 11.72 KHz / 12.06 KHz | ∇ -2.81% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 52.70 us | Δ 7.78% | 17.61 KHz / 18.98 KHz | ∇ -7.22% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 38.59 us | Δ 1.87% | 25.44 KHz / 25.91 KHz | ∇ -1.83% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 409.80 us | ∇ -34.90% | 3.75 KHz / 2.44 KHz | Δ 53.60% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 70.75 us | Δ 2.84% | 13.74 KHz / 14.13 KHz | ∇ -2.76% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 8.58 ms | ∇ -68.87% | 374.53 Hz / 116.60 Hz | Δ 221.20% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 171.20 us | Δ 2.91% | 5.68 KHz / 5.84 KHz | ∇ -2.83% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 133.58 ms | ∇ -84.48% | 48.23 Hz / 7.49 Hz | Δ 544.32% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 341.85 us | Δ 2.69% | 2.85 KHz / 2.93 KHz | ∇ -2.62% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 354.49 ms | ∇ -90.24% | 28.90 Hz / 2.82 Hz | Δ 924.43% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 401.50 us | Δ 3.58% | 2.40 KHz / 2.49 KHz | ∇ -3.46% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 773.25 ms | ∇ -93.49% | 19.87 Hz / 1.29 Hz | Δ 1436.69% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 469.25 us | Δ 2.92% | 2.07 KHz / 2.13 KHz | ∇ -2.83% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -100.00% | 1.#J THz / 10.00 THz | Δ 1.#J% |
gridmap2D: setCell | 2.61 ns / 2.58 ns | Δ 1.14% | 383.63 MHz / 388.02 MHz | ∇ -1.13% |
gridmap2D: updateCell | 6.99 ns / 7.84 ns | ∇ -10.79% | 143.02 MHz / 127.58 MHz | Δ 12.10% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 0.55 ns | ∇ -6.95% | 1.95 GHz / 1.82 GHz | Δ 7.47% |
gridmap2D: insert scan w/o widening | 102.59 us / 102.06 us | Δ 0.52% | 9.75 KHz / 9.80 KHz | ∇ -0.52% |
gridmap2D: insert scan with widening | 284.11 us / 289.47 us | ∇ -1.85% | 3.52 KHz / 3.45 KHz | Δ 1.89% |
gridmap2D: resize | 722.00 us / 1.97 ms | ∇ -63.28% | 1.39 KHz / 508.65 Hz | Δ 172.30% |
gridmap2D: computeLikelihood | 15.69 us / 15.74 us | ∇ -0.27% | 63.72 KHz / 63.55 KHz | Δ 0.27% |
pointmap: insert 100 scans | 2.97 ms / 3.04 ms | ∇ -2.30% | 337.06 Hz / 329.30 Hz | Δ 2.36% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 4.32 us | Δ 0.93% | 229.36 KHz / 231.48 KHz | ∇ -0.92% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 352.12 us | Δ 1.41% | 2.80 KHz / 2.84 KHz | ∇ -1.39% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 4.14 ms | Δ 1.22% | 238.61 Hz / 241.51 Hz | ∇ -1.20% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 4.68 us | Δ 0.85% | 211.86 KHz / 213.68 KHz | ∇ -0.85% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 359.52 us | Δ 0.88% | 2.76 KHz / 2.78 KHz | ∇ -0.87% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 4.03 ms | Δ 1.72% | 244.09 Hz / 248.28 Hz | ∇ -1.69% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.41 us | ∇ -1.21% | 720.46 KHz / 711.74 KHz | Δ 1.22% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 97.21 us | Δ 4.79% | 9.82 KHz / 10.29 KHz | ∇ -4.57% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 11.62 ms | Δ 1.33% | 84.92 Hz / 86.05 Hz | ∇ -1.31% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.59 ms | Δ 0.52% | 177.84 Hz / 178.77 Hz | ∇ -0.52% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 129.28 ms | Δ 1.01% | 7.66 Hz / 7.73 Hz | ∇ -1.00% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 5.66 ms | Δ 0.46% | 175.73 Hz / 176.53 Hz | ∇ -0.46% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 131.22 ms | Δ 0.77% | 7.56 Hz / 7.62 Hz | ∇ -0.76% |
random: drawUniform32bit | 15.67 ns / 14.50 ns | Δ 8.04% | 63.82 MHz / 68.95 MHz | ∇ -7.44% |
random: drawUniform | 15.66 ns / 14.50 ns | Δ 7.95% | 63.88 MHz / 68.96 MHz | ∇ -7.37% |
random: drawGaussian1D_normalized | 69.89 ns / 68.97 ns | Δ 1.34% | 14.31 MHz / 14.50 MHz | ∇ -1.32% |
random: drawGaussian1D | 69.86 ns / 68.98 ns | Δ 1.27% | 14.32 MHz / 14.50 MHz | ∇ -1.26% |
random: system rand() | 12.21 ns / 10.45 ns | Δ 16.92% | 81.87 MHz / 95.72 MHz | ∇ -14.47% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 1.31 us | Δ 106.51% | 370.49 KHz / 765.12 KHz | ∇ -51.58% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 2.73 us | Δ 109.19% | 175.14 KHz / 366.37 KHz | ∇ -52.20% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 158.91 ns | ∇ -6.75% | 6.75 MHz / 6.29 MHz | Δ 7.24% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 237.40 ns | ∇ -2.08% | 4.30 MHz / 4.21 MHz | Δ 2.13% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 490.03 ns | ∇ -0.07% | 2.04 MHz / 2.04 MHz | Δ 0.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 164.67 ns | ∇ -3.12% | 6.27 MHz / 6.07 MHz | Δ 3.22% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 249.81 ns | ∇ -0.83% | 4.04 MHz / 4.00 MHz | Δ 0.83% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 514.70 ns | Δ 1.40% | 1.92 MHz / 1.94 MHz | ∇ -1.38% |
random: permuteVector (len=10) | 251.30 ns / 296.20 ns | ∇ -15.16% | 3.98 MHz / 3.38 MHz | Δ 17.87% |
random: permuteVector (len=100) | 3.02 us / 3.04 us | ∇ -0.77% | 331.46 KHz / 328.91 KHz | Δ 0.77% |
random: permuteVector (len=1000) | 30.36 us / 30.22 us | Δ 0.47% | 32.93 KHz / 33.09 KHz | ∇ -0.47% |
math: round | 0.10 ns / 0.10 ns | ∇ 0.00% | 10.09 GHz / 10.09 GHz | ∇ 0.00% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 35.06 ms | ∇ -2.62% | 29.29 Hz / 28.52 Hz | Δ 2.69% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 48.96 ms | Δ 1.77% | 20.07 Hz / 20.42 Hz | ∇ -1.74% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 74.65 ms | Δ 8.12% | 12.39 Hz / 13.40 Hz | ∇ -7.51% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 29.96 ms | ∇ -2.00% | 34.05 Hz / 33.37 Hz | Δ 2.04% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 42.79 ms | ∇ -0.80% | 23.56 Hz / 23.37 Hz | Δ 0.80% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 64.15 ms | Δ 1.96% | 15.29 Hz / 15.59 Hz | ∇ -1.92% |
images: Gauss filter (640x480) | 4.66 ms / 3.90 ms | Δ 19.54% | 214.40 Hz / 256.30 Hz | ∇ -16.35% |
images: Gauss filter (800x600) | 5.98 ms / 6.21 ms | ∇ -3.66% | 167.10 Hz / 160.99 Hz | Δ 3.79% |
images: Gauss filter (1024x768) | 10.42 ms / 10.55 ms | ∇ -1.24% | 95.93 Hz / 94.74 Hz | Δ 1.25% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 5.06 us | Δ 124.31% | 88.11 KHz / 197.63 KHz | ∇ -55.42% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 4.30 us | Δ 131.63% | 100.40 KHz / 232.56 KHz | ∇ -56.83% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 2.10 us | Δ 162.86% | 181.16 KHz / 476.19 KHz | ∇ -61.96% |
feature_extraction [640x480]: Harris | 32.25 ms / 24.28 ms | Δ 32.86% | 31.01 Hz / 41.19 Hz | ∇ -24.73% |
feature_extraction [640x480]: KLT | 25.60 ms / 24.43 ms | Δ 4.82% | 39.06 Hz / 40.94 Hz | ∇ -4.60% |
feature_extraction [640x480]: SIFT | 630.91 ms / 610.42 ms | Δ 3.36% | 1.59 Hz / 1.64 Hz | ∇ -3.25% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 167.77 ms | ∇ -2.20% | 6.09 Hz / 5.96 Hz | Δ 2.25% |
feature_extraction [640x480]: SURF | 207.64 ms / 197.61 ms | Δ 5.07% | 4.82 Hz / 5.06 Hz | ∇ -4.83% |
feature_extraction [640x480]: FAST | 7.60 ms / 5.24 ms | Δ 44.92% | 131.57 Hz / 190.68 Hz | ∇ -31.00% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 59.98 ms | Δ 1.04% | 16.50 Hz / 16.67 Hz | ∇ -1.03% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 40.88 ms | Δ 7.61% | 22.73 Hz / 24.46 Hz | ∇ -7.07% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 35.50 ms | Δ 2.22% | 27.56 Hz / 28.17 Hz | ∇ -2.18% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.21 sec | ∇ -0.77% | 834.47 mHz / 828.07 mHz | Δ 0.77% |
feature_matching [640x480]: SURF | 379.83 ms / 379.92 ms | ∇ -0.02% | 2.63 Hz / 2.63 Hz | Δ 0.02% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 16.06 ms | ∇ -0.17% | 62.36 Hz / 62.26 Hz | Δ 0.17% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 10.73 ms | Δ 1.13% | 92.14 Hz / 93.18 Hz | ∇ -1.12% |
graph(2d): insertEdge x 1e3 | 119.99 us / 117.65 us | Δ 1.99% | 8.33 KHz / 8.50 KHz | ∇ -1.95% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 105.13 us | Δ 1.96% | 9.33 KHz / 9.51 KHz | ∇ -1.92% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 85.19 us | ∇ -1.35% | 11.90 KHz / 11.74 KHz | Δ 1.37% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 84.46 us | ∇ -1.29% | 11.99 KHz / 11.84 KHz | Δ 1.31% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 172.53 us | ∇ -1.11% | 5.86 KHz / 5.80 KHz | Δ 1.12% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 187.97 us | ∇ -3.38% | 5.51 KHz / 5.32 KHz | Δ 3.50% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 168.61 us | Δ 6.17% | 5.59 KHz / 5.93 KHz | ∇ -5.82% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 167.39 us | Δ 6.69% | 5.60 KHz / 5.97 KHz | ∇ -6.27% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 1.73 ms | ∇ -8.35% | 632.00 Hz / 579.22 Hz | Δ 9.11% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 1.45 ms | ∇ -12.67% | 790.83 Hz / 690.59 Hz | Δ 14.51% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 884.69 us | ∇ -2.41% | 1.16 KHz / 1.13 KHz | Δ 2.47% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 862.22 us | ∇ -1.87% | 1.18 KHz / 1.16 KHz | Δ 1.90% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 1.97 ms | ∇ -0.63% | 509.85 Hz / 506.65 Hz | Δ 0.63% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 2.31 ms | ∇ -2.58% | 445.23 Hz / 433.74 Hz | Δ 2.65% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 1.86 ms | Δ 5.16% | 511.72 Hz / 538.12 Hz | ∇ -4.91% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 1.86 ms | Δ 5.00% | 512.69 Hz / 538.35 Hz | ∇ -4.77% |
graph(3d): insertEdge x 1e3 | 169.26 us / 177.23 us | ∇ -4.50% | 5.91 KHz / 5.64 KHz | Δ 4.71% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 178.36 us | ∇ -5.37% | 5.93 KHz / 5.61 KHz | Δ 5.68% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 157.86 us | ∇ -2.64% | 6.51 KHz / 6.33 KHz | Δ 2.71% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 159.54 us | ∇ -3.35% | 6.49 KHz / 6.27 KHz | Δ 3.47% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 507.00 us | ∇ -6.91% | 2.12 KHz / 1.97 KHz | Δ 7.43% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 509.46 us | ∇ -5.87% | 2.09 KHz / 1.96 KHz | Δ 6.23% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 473.36 us | ∇ -6.77% | 2.27 KHz / 2.11 KHz | Δ 7.26% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 474.07 us | ∇ -6.12% | 2.25 KHz / 2.11 KHz | Δ 6.52% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 2.47 ms | ∇ -0.60% | 407.06 Hz / 404.60 Hz | Δ 0.61% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 2.48 ms | ∇ -0.91% | 406.51 Hz / 402.82 Hz | Δ 0.91% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 1.75 ms | ∇ -3.05% | 588.45 Hz / 570.48 Hz | Δ 3.15% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 1.77 ms | ∇ -3.77% | 587.97 Hz / 565.81 Hz | Δ 3.92% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 5.53 ms | Δ 20.95% | 149.62 Hz / 180.97 Hz | ∇ -17.32% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 5.56 ms | Δ 21.37% | 148.06 Hz / 179.70 Hz | ∇ -17.61% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 4.85 ms | ∇ -5.46% | 218.07 Hz / 206.16 Hz | Δ 5.78% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 4.85 ms | ∇ -5.70% | 218.58 Hz / 206.11 Hz | Δ 6.05% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 96.04 us | ∇ -7.29% | 11.23 KHz / 10.41 KHz | Δ 7.86% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 80.39 us | ∇ -6.29% | 13.28 KHz / 12.44 KHz | Δ 6.71% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 1.13 ms | ∇ -2.03% | 903.43 Hz / 885.05 Hz | Δ 2.08% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 804.04 us | ∇ -11.55% | 1.41 KHz / 1.24 KHz | Δ 13.05% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 19.14 ms | ∇ -3.12% | 53.94 Hz / 52.26 Hz | Δ 3.22% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 9.65 ms | Δ 1.09% | 102.51 Hz / 103.63 Hz | ∇ -1.08% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 290.37 ms | ∇ -13.02% | 3.96 Hz / 3.44 Hz | Δ 14.97% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 117.73 ms | ∇ -4.67% | 8.91 Hz / 8.49 Hz | Δ 4.90% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 268.93 ms | ∇ -4.80% | 3.91 Hz / 3.72 Hz | Δ 5.04% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 103.05 ms | Δ 3.02% | 9.42 Hz / 9.70 Hz | ∇ -2.93% |