Test description | 0.9.3-GCC-64bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 21.60 ms | ∇ -3.25% | 47.85 Hz / 46.30 Hz | Δ 3.35% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 20.51 ms | ∇ -8.53% | 53.30 Hz / 48.75 Hz | Δ 9.32% |
poses: CPose3D (+) CPose3D | 41.67 ns / 449.02 ns | ∇ -90.72% | 24.00 MHz / 2.23 MHz | Δ 977.56% |
poses: CPose3D.composeFrom() | 32.39 ns / 233.83 ns | ∇ -86.15% | 30.87 MHz / 4.28 MHz | Δ 621.92% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 10.67 ns | ∇ -24.77% | 124.63 MHz / 93.76 MHz | Δ 32.93% |
poses: CPose3D.composePoint() | 11.53 ns / 10.06 ns | Δ 14.63% | 86.70 MHz / 99.38 MHz | ∇ -12.76% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 37.71 ns | ∇ -51.78% | 54.99 MHz / 26.52 MHz | Δ 107.37% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 40.98 ns | ∇ -38.47% | 39.66 MHz / 24.40 MHz | Δ 62.51% |
poses: CPose2D (+) CPose2D | 72.10 ns / 78.17 ns | ∇ -7.76% | 13.87 MHz / 12.79 MHz | Δ 8.42% |
poses: CPose2D.composeFrom() | 69.22 ns / 62.17 ns | Δ 11.34% | 14.45 MHz / 16.08 MHz | ∇ -10.19% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 63.86 ns | ∇ -5.29% | 16.53 MHz / 15.66 MHz | Δ 5.59% |
poses: CPose2D.composePoint() | 60.01 ns / 61.98 ns | ∇ -3.18% | 16.66 MHz / 16.13 MHz | Δ 3.28% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 47.00 ns | ∇ -9.15% | 23.42 MHz / 21.28 MHz | Δ 10.07% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 39.80 ns | ∇ -3.84% | 26.13 MHz / 25.13 MHz | Δ 4.00% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 22.62 ns | ∇ -20.85% | 55.85 MHz / 44.21 MHz | Δ 26.34% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 18.93 ns | ∇ -2.59% | 54.23 MHz / 52.83 MHz | Δ 2.66% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 391.26 ns | ∇ -91.49% | 30.02 MHz / 2.56 MHz | Δ 1074.53% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 18.05 ns | Δ 8.10% | 51.24 MHz / 55.39 MHz | ∇ -7.49% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 355.00 ns | ∇ -95.42% | 61.45 MHz / 2.82 MHz | Δ 2081.40% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 173.19 ns | ∇ -1.97% | 5.89 MHz / 5.77 MHz | Δ 2.01% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 814.76 us | ∇ -99.90% | 1.25 MHz / 1.23 KHz | Δ 101872.15% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 821.91 us | ∇ -99.90% | 1.27 MHz / 1.22 KHz | Δ 104136.97% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 9.57 us | ∇ -4.87% | 109.83 KHz / 104.48 KHz | Δ 5.12% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 682.30 ns | ∇ -18.29% | 1.79 MHz / 1.47 MHz | Δ 22.39% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 533.80 ns | Δ 4.63% | 1.79 MHz / 1.87 MHz | ∇ -4.42% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 8.51 us | ∇ -1.15% | 118.81 KHz / 117.45 KHz | Δ 1.17% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 20.59 ns | ∇ -13.39% | 56.07 MHz / 48.56 MHz | Δ 15.46% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 22.60 ns | ∇ -13.84% | 51.35 MHz / 44.24 MHz | Δ 16.07% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 63.92 ns | ∇ -14.20% | 18.23 MHz / 15.64 MHz | Δ 16.55% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 65.22 ns | ∇ -14.24% | 17.88 MHz / 15.33 MHz | Δ 16.60% |
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 / 1.68 ns | ∇ -10.94% | 667.56 MHz / 594.53 MHz | Δ 12.28% |
matrix: unit, fix[double,6,6] | 5.61 ns / 2.86 ns | Δ 95.98% | 178.35 MHz / 349.53 MHz | ∇ -48.97% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 73.50 ns | Δ 296.33% | 3.43 MHz / 13.61 MHz | ∇ -74.77% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 24.10 ns | ∇ -100.00% | 1.#J THz / 41.49 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 72.10 ns | Δ 305.69% | 3.42 MHz / 13.87 MHz | ∇ -75.35% |
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 / 112.90 ns | Δ 207.79% | 2.88 MHz / 8.86 MHz | ∇ -67.51% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 45.00 ns | ∇ -100.00% | 1.#J THz / 22.22 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 / 45.10 ns | ∇ -100.00% | 1.#J THz / 22.17 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 5.82 us | ∇ -58.39% | 413.19 KHz / 171.91 KHz | Δ 140.35% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 3.57 us | ∇ -37.55% | 448.19 KHz / 279.91 KHz | Δ 60.12% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 5.88 us | ∇ -60.73% | 432.69 KHz / 169.93 KHz | Δ 154.63% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 3.82 us | ∇ -44.37% | 471.08 KHz / 262.04 KHz | Δ 79.77% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 413.00 ns | Δ 88.86% | 1.28 MHz / 2.42 MHz | ∇ -47.05% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 22.00 ns | ∇ -100.00% | 1.#J THz / 45.45 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 1.25 us | Δ 57.89% | 507.10 KHz / 800.64 KHz | ∇ -36.66% |
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 / 28.58 us | ∇ -43.74% | 62.19 KHz / 34.98 KHz | Δ 77.76% |
matrix: inv, fix[double] 20x20 | 14.48 us / 17.20 us | ∇ -15.82% | 69.08 KHz / 58.15 KHz | Δ 18.79% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 200.95 us | ∇ -67.26% | 15.20 KHz / 4.98 KHz | Δ 205.46% |
matrix: inv, fix[double] 40x40 | 64.13 us / 134.50 us | ∇ -52.32% | 15.59 KHz / 7.43 KHz | Δ 109.73% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 8.80 ns | Δ 2315.91% | 4.70 MHz / 113.64 MHz | ∇ -95.86% |
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 / 739.10 ns | Δ 4.84% | 1.29 MHz / 1.35 MHz | ∇ -4.62% |
matrix: det, fix[double] 6x6 | 592.30 ns / 219.80 ns | Δ 169.47% | 1.69 MHz / 4.55 MHz | ∇ -62.89% |
matrix: det, dyn[double] 20x20 | 8.50 us / 6.52 us | Δ 30.34% | 117.63 KHz / 153.32 KHz | ∇ -23.28% |
matrix: det, fix[double] 20x20 | 7.72 us / 4.73 us | Δ 63.31% | 129.53 KHz / 211.54 KHz | ∇ -38.77% |
matrix: det, dyn[double] 40x40 | 32.23 us / 32.40 us | ∇ -0.52% | 31.03 KHz / 30.87 KHz | Δ 0.53% |
matrix: det, fix[double] 40x40 | 30.71 us / 27.53 us | Δ 11.55% | 32.57 KHz / 36.33 KHz | ∇ -10.36% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 170.00 ns | Δ 211.76% | 1.89 MHz / 5.88 MHz | ∇ -67.92% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 130.00 ns | ∇ 0.00% | 7.69 MHz / 7.69 MHz | ∇ 0.00% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 18.73 us | Δ 22.69% | 43.52 KHz / 53.39 KHz | ∇ -18.49% |
matrix: chol, fix[double] 40x40 | 19.50 us / 16.74 us | Δ 16.49% | 51.28 KHz / 59.74 KHz | ∇ -14.15% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.50 us | ∇ -3.53% | 121.95 KHz / 117.65 KHz | Δ 3.66% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 93.90 us | ∇ -9.16% | 11.72 KHz / 10.65 KHz | Δ 10.08% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 52.90 us | Δ 7.37% | 17.61 KHz / 18.90 KHz | ∇ -6.87% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 40.03 us | ∇ -1.80% | 25.44 KHz / 24.98 KHz | Δ 1.83% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 411.30 us | ∇ -35.13% | 3.75 KHz / 2.43 KHz | Δ 54.16% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 74.98 us | ∇ -2.96% | 13.74 KHz / 13.34 KHz | Δ 3.05% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 8.61 ms | ∇ -68.98% | 374.53 Hz / 116.18 Hz | Δ 222.36% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 185.35 us | ∇ -4.94% | 5.68 KHz / 5.40 KHz | Δ 5.20% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 135.40 ms | ∇ -84.69% | 48.23 Hz / 7.39 Hz | Δ 553.08% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 359.80 us | ∇ -2.43% | 2.85 KHz / 2.78 KHz | Δ 2.49% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 364.32 ms | ∇ -90.50% | 28.90 Hz / 2.74 Hz | Δ 952.83% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 426.39 us | ∇ -2.46% | 2.40 KHz / 2.35 KHz | Δ 2.52% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 800.16 ms | ∇ -93.71% | 19.87 Hz / 1.25 Hz | Δ 1490.17% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 497.60 us | ∇ -2.95% | 2.07 KHz / 2.01 KHz | Δ 3.04% |
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 0.93% | 383.63 MHz / 387.19 MHz | ∇ -0.92% |
gridmap2D: updateCell | 6.99 ns / 7.47 ns | ∇ -6.45% | 143.02 MHz / 133.80 MHz | Δ 6.89% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 0.55 ns | ∇ -6.14% | 1.95 GHz / 1.83 GHz | Δ 6.54% |
gridmap2D: insert scan w/o widening | 102.59 us / 104.80 us | ∇ -2.11% | 9.75 KHz / 9.54 KHz | Δ 2.15% |
gridmap2D: insert scan with widening | 284.11 us / 295.32 us | ∇ -3.80% | 3.52 KHz / 3.39 KHz | Δ 3.95% |
gridmap2D: resize | 722.00 us / 1.83 ms | ∇ -60.46% | 1.39 KHz / 547.65 Hz | Δ 152.91% |
gridmap2D: computeLikelihood | 15.69 us / 16.65 us | ∇ -5.75% | 63.72 KHz / 60.06 KHz | Δ 6.10% |
pointmap: insert 100 scans | 2.97 ms / 3.11 ms | ∇ -4.69% | 337.06 Hz / 321.23 Hz | Δ 4.93% |
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 / 354.96 us | Δ 0.60% | 2.80 KHz / 2.82 KHz | ∇ -0.59% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 4.14 ms | Δ 1.28% | 238.61 Hz / 241.67 Hz | ∇ -1.26% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 4.28 us | Δ 10.28% | 211.86 KHz / 233.64 KHz | ∇ -9.32% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 361.24 us | Δ 0.40% | 2.76 KHz / 2.77 KHz | ∇ -0.40% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 4.09 ms | Δ 0.23% | 244.09 Hz / 244.66 Hz | ∇ -0.23% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.37 us | Δ 1.46% | 720.46 KHz / 730.99 KHz | ∇ -1.44% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 98.96 us | Δ 2.93% | 9.82 KHz / 10.10 KHz | ∇ -2.85% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 11.96 ms | ∇ -1.51% | 84.92 Hz / 83.64 Hz | Δ 1.53% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 5.60 ms | Δ 0.37% | 177.84 Hz / 178.50 Hz | ∇ -0.37% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 129.56 ms | Δ 0.79% | 7.66 Hz / 7.72 Hz | ∇ -0.79% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 5.65 ms | Δ 0.63% | 175.73 Hz / 176.84 Hz | ∇ -0.63% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 132.43 ms | ∇ -0.15% | 7.56 Hz / 7.55 Hz | Δ 0.15% |
random: drawUniform32bit | 15.67 ns / 15.70 ns | ∇ -0.19% | 63.82 MHz / 63.70 MHz | Δ 0.19% |
random: drawUniform | 15.66 ns / 15.69 ns | ∇ -0.25% | 63.88 MHz / 63.72 MHz | Δ 0.25% |
random: drawGaussian1D_normalized | 69.89 ns / 70.40 ns | ∇ -0.72% | 14.31 MHz / 14.20 MHz | Δ 0.72% |
random: drawGaussian1D | 69.86 ns / 70.38 ns | ∇ -0.74% | 14.32 MHz / 14.21 MHz | Δ 0.74% |
random: system rand() | 12.21 ns / 11.07 ns | Δ 10.38% | 81.87 MHz / 90.37 MHz | ∇ -9.41% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 1.33 us | Δ 102.96% | 370.49 KHz / 751.96 KHz | ∇ -50.73% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 3.04 us | Δ 87.84% | 175.14 KHz / 328.99 KHz | ∇ -46.76% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 162.81 ns | ∇ -8.98% | 6.75 MHz / 6.14 MHz | Δ 9.87% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 245.58 ns | ∇ -5.34% | 4.30 MHz / 4.07 MHz | Δ 5.65% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 514.74 ns | ∇ -4.86% | 2.04 MHz / 1.94 MHz | Δ 5.11% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 173.84 ns | ∇ -8.22% | 6.27 MHz / 5.75 MHz | Δ 8.96% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 259.42 ns | ∇ -4.50% | 4.04 MHz / 3.85 MHz | Δ 4.71% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 523.99 ns | ∇ -0.40% | 1.92 MHz / 1.91 MHz | Δ 0.40% |
random: permuteVector (len=10) | 251.30 ns / 288.60 ns | ∇ -12.92% | 3.98 MHz / 3.47 MHz | Δ 14.84% |
random: permuteVector (len=100) | 3.02 us / 3.07 us | ∇ -1.76% | 331.46 KHz / 325.61 KHz | Δ 1.80% |
random: permuteVector (len=1000) | 30.36 us / 30.26 us | Δ 0.35% | 32.93 KHz / 33.05 KHz | ∇ -0.35% |
math: round | 0.10 ns / 0.10 ns | ∇ -3.18% | 10.09 GHz / 9.77 GHz | Δ 3.29% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 31.77 ms | Δ 7.47% | 29.29 Hz / 31.48 Hz | ∇ -6.95% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 45.70 ms | Δ 9.04% | 20.07 Hz / 21.88 Hz | ∇ -8.29% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 73.33 ms | Δ 10.06% | 12.39 Hz / 13.64 Hz | ∇ -9.14% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 27.15 ms | Δ 8.15% | 34.05 Hz / 36.83 Hz | ∇ -7.53% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 40.31 ms | Δ 5.30% | 23.56 Hz / 24.81 Hz | ∇ -5.03% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 64.44 ms | Δ 1.50% | 15.29 Hz / 15.52 Hz | ∇ -1.48% |
images: Gauss filter (640x480) | 4.66 ms / 4.52 ms | Δ 3.22% | 214.40 Hz / 221.30 Hz | ∇ -3.12% |
images: Gauss filter (800x600) | 5.98 ms / 7.35 ms | ∇ -18.58% | 167.10 Hz / 136.05 Hz | Δ 22.82% |
images: Gauss filter (1024x768) | 10.42 ms / 11.22 ms | ∇ -7.08% | 95.93 Hz / 89.13 Hz | Δ 7.63% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 6.32 us | Δ 79.59% | 88.11 KHz / 158.23 KHz | ∇ -44.32% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 4.78 us | Δ 108.37% | 100.40 KHz / 209.21 KHz | ∇ -52.01% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 2.14 us | Δ 157.94% | 181.16 KHz / 467.29 KHz | ∇ -61.23% |
feature_extraction [640x480]: Harris | 32.25 ms / 28.31 ms | Δ 13.91% | 31.01 Hz / 35.32 Hz | ∇ -12.22% |
feature_extraction [640x480]: KLT | 25.60 ms / 27.34 ms | ∇ -6.35% | 39.06 Hz / 36.57 Hz | Δ 6.79% |
feature_extraction [640x480]: SIFT | 630.91 ms / 641.91 ms | ∇ -1.71% | 1.59 Hz / 1.56 Hz | Δ 1.74% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 170.65 ms | ∇ -3.85% | 6.09 Hz / 5.86 Hz | Δ 4.00% |
feature_extraction [640x480]: SURF | 207.64 ms / 201.21 ms | Δ 3.19% | 4.82 Hz / 4.97 Hz | ∇ -3.10% |
feature_extraction [640x480]: FAST | 7.60 ms / 5.22 ms | Δ 45.54% | 131.57 Hz / 191.49 Hz | ∇ -31.29% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 60.81 ms | ∇ -0.34% | 16.50 Hz / 16.44 Hz | Δ 0.34% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 43.26 ms | Δ 1.69% | 22.73 Hz / 23.12 Hz | ∇ -1.66% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 39.91 ms | ∇ -9.08% | 27.56 Hz / 25.06 Hz | Δ 9.99% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.28 sec | ∇ -6.13% | 834.47 mHz / 783.36 mHz | Δ 6.53% |
feature_matching [640x480]: SURF | 379.83 ms / 386.18 ms | ∇ -1.64% | 2.63 Hz / 2.59 Hz | Δ 1.67% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 16.12 ms | ∇ -0.54% | 62.36 Hz / 62.03 Hz | Δ 0.54% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 10.93 ms | ∇ -0.74% | 92.14 Hz / 91.46 Hz | Δ 0.74% |
graph(2d): insertEdge x 1e3 | 119.99 us / X | 8.33 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 107.18 us / X | 9.33 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / X | 11.90 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / X | 11.99 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 170.61 us / X | 5.86 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / X | 5.51 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / X | 5.59 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / X | 5.60 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.58 ms / X | 632.00 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / X | 790.83 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / X | 1.16 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / X | 509.85 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / X | 445.23 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / X | 511.72 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / X | 512.69 Hz / X | ||
graph(3d): insertEdge x 1e3 | 169.26 us / X | 5.91 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 168.78 us / X | 5.93 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / X | 6.51 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / X | 6.49 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 471.95 us / X | 2.12 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / X | 2.09 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / X | 2.27 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / X | 2.25 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.46 ms / X | 407.06 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / X | 406.51 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / X | 588.45 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / X | 587.97 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / X | 149.62 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / X | 148.06 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / X | 218.07 Hz / X | ||
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 |