Test description | 0.9.3-MSVC9-32bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 20.74 ms | Δ 52.12% | 31.69 Hz / 48.21 Hz | ∇ -34.26% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 17.09 ms | Δ 215.66% | 18.54 Hz / 58.52 Hz | ∇ -68.32% |
poses: CPose3D (+) CPose3D | 194.14 ns / 29.76 ns | Δ 552.35% | 5.15 MHz / 33.60 MHz | ∇ -84.67% |
poses: CPose3D.composeFrom() | 34.65 ns / 21.90 ns | Δ 58.23% | 28.86 MHz / 45.66 MHz | ∇ -36.80% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 7.23 ns | Δ 296.28% | 34.88 MHz / 138.24 MHz | ∇ -74.77% |
poses: CPose3D.composePoint() | 18.49 ns / 11.67 ns | Δ 58.43% | 54.08 MHz / 85.68 MHz | ∇ -36.88% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 13.29 ns | Δ 606.68% | 10.65 MHz / 75.27 MHz | ∇ -85.85% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 24.48 ns | Δ 81.33% | 22.53 MHz / 40.85 MHz | ∇ -44.85% |
poses: CPose2D (+) CPose2D | 103.92 ns / 71.64 ns | Δ 45.06% | 9.62 MHz / 13.96 MHz | ∇ -31.06% |
poses: CPose2D.composeFrom() | 91.82 ns / 69.41 ns | Δ 32.29% | 10.89 MHz / 14.41 MHz | ∇ -24.41% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 60.78 ns | Δ 130.96% | 7.12 MHz / 16.45 MHz | ∇ -56.70% |
poses: CPose2D.composePoint() | 66.26 ns / 60.80 ns | Δ 8.98% | 15.09 MHz / 16.45 MHz | ∇ -8.24% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 40.47 ns | Δ 130.67% | 10.71 MHz / 24.71 MHz | ∇ -56.65% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 37.55 ns | Δ 61.18% | 16.52 MHz / 26.63 MHz | ∇ -37.96% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 17.39 ns | Δ 571.24% | 8.57 MHz / 57.51 MHz | ∇ -85.10% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 17.48 ns | Δ 77.44% | 32.23 MHz / 57.20 MHz | ∇ -43.64% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 32.97 ns | Δ 284.56% | 7.89 MHz / 30.33 MHz | ∇ -74.00% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 19.11 ns | Δ 61.63% | 32.38 MHz / 52.34 MHz | ∇ -38.13% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 23.42 ns | Δ 42.68% | 29.93 MHz / 42.70 MHz | ∇ -29.91% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 172.72 ns | Δ 22.36% | 4.73 MHz / 5.79 MHz | ∇ -18.27% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 671.00 ns | Δ 2799.04% | 51.41 KHz / 1.49 MHz | ∇ -96.55% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 652.00 ns | Δ 349.72% | 341.05 KHz / 1.53 MHz | ∇ -77.76% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 8.74 us | Δ 296.25% | 28.87 KHz / 114.40 KHz | ∇ -74.76% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 454.10 ns | Δ 89.44% | 1.16 MHz / 2.20 MHz | ∇ -47.21% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 452.90 ns | Δ 94.35% | 1.14 MHz / 2.21 MHz | ∇ -48.55% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 7.98 us | Δ 172.89% | 45.95 KHz / 125.39 KHz | ∇ -63.36% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 17.64 ns | Δ 155.11% | 22.23 MHz / 56.71 MHz | ∇ -60.80% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 19.86 ns | Δ 127.37% | 22.14 MHz / 50.34 MHz | ∇ -56.02% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 57.06 ns | Δ 181.91% | 6.22 MHz / 17.53 MHz | ∇ -64.53% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 60.00 ns | Δ 168.28% | 6.21 MHz / 16.67 MHz | ∇ -62.73% |
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] | 6.73 ns / 0.00 ns | Δ 1.#J% | 148.49 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 7.86 ns / 0.00 ns | Δ 1.#J% | 127.26 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 242.70 ns | Δ 126.94% | 1.82 MHz / 4.12 MHz | ∇ -55.94% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.00 ns | Δ 1.#J% | 22.08 GHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 231.60 ns | Δ 86.95% | 2.31 MHz / 4.32 MHz | ∇ -46.51% |
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 | 660.53 ns / 296.50 ns | Δ 122.77% | 1.51 MHz / 3.37 MHz | ∇ -55.11% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 0.10 ns | Δ 38805.06% | 25.70 MHz / 10.00 GHz | ∇ -99.74% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 259.20 ns | Δ 83.12% | 2.11 MHz / 3.86 MHz | ∇ -45.39% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 0.00 ns | Δ 1.#J% | 114.40 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 2.09 us | Δ 123.65% | 213.59 KHz / 477.69 KHz | ∇ -55.29% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 1.79 us | Δ 147.14% | 226.20 KHz / 559.03 KHz | ∇ -59.54% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 2.43 us | Δ 33.26% | 308.92 KHz / 411.68 KHz | ∇ -24.96% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 2.16 us | Δ 9.33% | 422.77 KHz / 462.21 KHz | ∇ -8.53% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 767.00 ns | Δ 93.92% | 672.33 KHz / 1.30 MHz | ∇ -48.43% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 0.00 ns | Δ 1.#J% | 31.10 MHz / 1.#J THz | ∇ -1.#J% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 1.78 us | Δ 96.35% | 286.11 KHz / 561.80 KHz | ∇ -49.07% |
matrix: inv, fix[double] 6x6 | 2.72 us / 1.73 us | Δ 57.16% | 368.24 KHz / 578.70 KHz | ∇ -36.37% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 16.27 us | Δ 95.94% | 31.37 KHz / 61.47 KHz | ∇ -48.96% |
matrix: inv, fix[double] 20x20 | 28.91 us / 13.44 us | Δ 115.15% | 34.58 KHz / 74.41 KHz | ∇ -53.52% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 68.00 us | Δ 82.66% | 8.05 KHz / 14.70 KHz | ∇ -45.25% |
matrix: inv, fix[double] 40x40 | 122.24 us / 63.01 us | Δ 94.02% | 8.18 KHz / 15.87 KHz | ∇ -48.46% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 209.40 ns | Δ 209.27% | 1.54 MHz / 4.78 MHz | ∇ -67.67% |
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 | 969.59 ns / 331.30 ns | Δ 192.66% | 1.03 MHz / 3.02 MHz | ∇ -65.83% |
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 | 2.45 us / 943.70 ns | Δ 160.07% | 407.46 KHz / 1.06 MHz | ∇ -61.55% |
matrix: det, fix[double] 6x6 | 1.89 us / 575.90 ns | Δ 227.63% | 529.99 KHz / 1.74 MHz | ∇ -69.48% |
matrix: det, dyn[double] 20x20 | 22.48 us / 8.10 us | Δ 177.34% | 44.49 KHz / 123.40 KHz | ∇ -63.94% |
matrix: det, fix[double] 20x20 | 21.45 us / 7.48 us | Δ 186.54% | 46.63 KHz / 133.61 KHz | ∇ -65.10% |
matrix: det, dyn[double] 40x40 | 80.28 us / 30.87 us | Δ 160.03% | 12.46 KHz / 32.39 KHz | ∇ -61.54% |
matrix: det, fix[double] 40x40 | 79.04 us / 29.01 us | Δ 172.44% | 12.65 KHz / 34.47 KHz | ∇ -63.29% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 530.00 ns | Δ 105.95% | 916.16 KHz / 1.89 MHz | ∇ -51.44% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 120.00 ns | Δ 164.20% | 3.15 MHz / 8.33 MHz | ∇ -62.15% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 20.70 us | Δ 265.87% | 13.20 KHz / 48.31 KHz | ∇ -72.67% |
matrix: chol, fix[double] 40x40 | 55.31 us / 16.54 us | Δ 234.40% | 18.08 KHz / 60.46 KHz | ∇ -70.10% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 12.20 us | Δ 38.47% | 59.19 KHz / 81.97 KHz | ∇ -27.78% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 87.70 us | Δ 181.97% | 4.04 KHz / 11.40 KHz | ∇ -64.54% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 51.70 us | Δ 249.63% | 5.53 KHz / 19.34 KHz | ∇ -71.40% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 38.27 us | Δ 140.11% | 10.88 KHz / 26.13 KHz | ∇ -58.35% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 255.50 us | Δ 199.72% | 1.31 KHz / 3.91 KHz | ∇ -66.64% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 70.94 us | Δ 64.29% | 8.58 KHz / 14.10 KHz | ∇ -39.13% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 2.75 ms | Δ 48.30% | 245.20 Hz / 363.64 Hz | ∇ -32.57% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 169.22 us | Δ 22.60% | 4.82 KHz / 5.91 KHz | ∇ -18.43% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 22.06 ms | Δ 10.76% | 40.93 Hz / 45.33 Hz | ∇ -9.72% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 339.61 us | Δ 18.78% | 2.48 KHz / 2.94 KHz | ∇ -15.81% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 36.67 ms | Δ 9.64% | 24.87 Hz / 27.27 Hz | ∇ -8.79% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 402.38 us | Δ 19.25% | 2.08 KHz / 2.49 KHz | ∇ -16.14% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 53.86 ms | Δ 11.30% | 16.68 Hz / 18.57 Hz | ∇ -10.15% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 476.81 us | Δ 17.47% | 1.79 KHz / 2.10 KHz | ∇ -14.87% |
gridmap2D: getCell | 5.69 ns / 0.00 ns | Δ 1.#J% | 175.73 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 8.06 ns / 2.71 ns | Δ 197.68% | 124.07 MHz / 369.33 MHz | ∇ -66.41% |
gridmap2D: updateCell | 61.98 ns / 6.04 ns | Δ 926.32% | 16.13 MHz / 165.59 MHz | ∇ -90.26% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 0.61 ns | Δ 103.82% | 798.82 MHz / 1.63 GHz | ∇ -50.94% |
gridmap2D: insert scan w/o widening | 208.84 us / 99.83 us | Δ 109.19% | 4.79 KHz / 10.02 KHz | ∇ -52.20% |
gridmap2D: insert scan with widening | 346.08 us / 293.13 us | Δ 18.07% | 2.89 KHz / 3.41 KHz | ∇ -15.30% |
gridmap2D: resize | 2.81 ms / 630.00 us | Δ 346.37% | 355.60 Hz / 1.59 KHz | ∇ -77.60% |
gridmap2D: computeLikelihood | 18.33 us / 17.81 us | Δ 2.89% | 54.57 KHz / 56.14 KHz | ∇ -2.81% |
pointmap: insert 100 scans | 6.61 ms / 1.01 ms | Δ 554.73% | 151.33 Hz / 990.80 Hz | ∇ -84.73% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.52 us | Δ 33.47% | 165.76 KHz / 221.24 KHz | ∇ -25.08% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 364.44 us | Δ 47.08% | 1.87 KHz / 2.74 KHz | ∇ -32.01% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 4.38 ms | Δ 28.81% | 177.17 Hz / 228.21 Hz | ∇ -22.37% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 5.16 us | Δ 49.21% | 129.88 KHz / 193.80 KHz | ∇ -32.98% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 372.44 us | Δ 41.93% | 1.89 KHz / 2.68 KHz | ∇ -29.54% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 4.20 ms | Δ 38.31% | 172.12 Hz / 238.06 Hz | ∇ -27.70% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.42 us | Δ 50.06% | 468.98 KHz / 703.73 KHz | ∇ -33.36% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 101.86 us | Δ 43.04% | 6.86 KHz / 9.82 KHz | ∇ -30.09% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 12.17 ms | Δ 27.24% | 64.56 Hz / 82.15 Hz | ∇ -21.41% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 5.64 ms | Δ 58.37% | 111.93 Hz / 177.25 Hz | ∇ -36.85% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 132.76 ms | Δ 50.69% | 5.00 Hz / 7.53 Hz | ∇ -33.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 5.71 ms | Δ 57.08% | 111.43 Hz / 175.04 Hz | ∇ -36.34% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 134.74 ms | Δ 49.33% | 4.97 Hz / 7.42 Hz | ∇ -33.04% |
random: drawUniform32bit | 7.76 ns / 14.55 ns | ∇ -46.68% | 128.93 MHz / 68.75 MHz | Δ 87.54% |
random: drawUniform | 7.61 ns / 14.56 ns | ∇ -47.73% | 131.41 MHz / 68.69 MHz | Δ 91.31% |
random: drawGaussian1D_normalized | 51.84 ns / 66.87 ns | ∇ -22.48% | 19.29 MHz / 14.96 MHz | Δ 29.00% |
random: drawGaussian1D | 52.02 ns / 66.81 ns | ∇ -22.13% | 19.22 MHz / 14.97 MHz | Δ 28.42% |
random: system rand() | 27.43 ns / 10.63 ns | Δ 158.14% | 36.46 MHz / 94.11 MHz | ∇ -61.26% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 903.36 ns | Δ 449.69% | 201.38 KHz / 1.11 MHz | ∇ -81.81% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 1.61 us | Δ 563.06% | 93.66 KHz / 621.01 KHz | ∇ -84.92% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 144.65 ns | Δ 6.21% | 6.51 MHz / 6.91 MHz | ∇ -5.84% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 219.48 ns | Δ 13.94% | 4.00 MHz / 4.56 MHz | ∇ -12.23% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 472.80 ns | Δ 40.57% | 1.50 MHz / 2.12 MHz | ∇ -28.86% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 152.29 ns | Δ 0.61% | 6.53 MHz / 6.57 MHz | ∇ -0.61% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 235.04 ns | Δ 7.81% | 3.95 MHz / 4.25 MHz | ∇ -7.25% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 491.60 ns | Δ 26.72% | 1.61 MHz / 2.03 MHz | ∇ -21.09% |
random: permuteVector (len=10) | 342.58 ns / 243.60 ns | Δ 40.63% | 2.92 MHz / 4.11 MHz | ∇ -28.89% |
random: permuteVector (len=100) | 3.62 us / 2.99 us | Δ 21.14% | 276.54 KHz / 334.99 KHz | ∇ -17.45% |
random: permuteVector (len=1000) | 35.68 us / 29.51 us | Δ 20.89% | 28.03 KHz / 33.88 KHz | ∇ -17.28% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.08 GHz | Δ 2189954.69% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 33.63 ms | ∇ -16.49% | 35.61 Hz / 29.74 Hz | Δ 19.74% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 49.85 ms | ∇ -14.14% | 23.37 Hz / 20.06 Hz | Δ 16.48% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 69.59 ms | ∇ -0.65% | 14.46 Hz / 14.37 Hz | Δ 0.66% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 30.64 ms | ∇ -22.46% | 42.09 Hz / 32.63 Hz | Δ 28.97% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 43.91 ms | ∇ -15.16% | 26.85 Hz / 22.78 Hz | Δ 17.87% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 62.52 ms | ∇ -4.27% | 16.71 Hz / 15.99 Hz | Δ 4.46% |
images: Gauss filter (640x480) | 7.21 ms / 3.81 ms | Δ 89.37% | 138.75 Hz / 262.76 Hz | ∇ -47.19% |
images: Gauss filter (800x600) | 8.67 ms / 5.96 ms | Δ 45.43% | 115.32 Hz / 167.70 Hz | ∇ -31.24% |
images: Gauss filter (1024x768) | 14.94 ms / 10.46 ms | Δ 42.84% | 66.93 Hz / 95.61 Hz | ∇ -29.99% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 12.69 us | Δ 99.05% | 39.59 KHz / 78.80 KHz | ∇ -49.76% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 9.85 us | Δ 146.60% | 41.17 KHz / 101.52 KHz | ∇ -59.45% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 5.24 us | Δ 163.71% | 72.37 KHz / 190.84 KHz | ∇ -62.08% |
feature_extraction [640x480]: Harris | 53.60 ms / 21.14 ms | Δ 153.56% | 18.66 Hz / 47.31 Hz | ∇ -60.56% |
feature_extraction [640x480]: KLT | 32.67 ms / 21.45 ms | Δ 52.28% | 30.61 Hz / 46.61 Hz | ∇ -34.33% |
feature_extraction [640x480]: SIFT | 724.51 ms / 591.25 ms | Δ 22.54% | 1.38 Hz / 1.69 Hz | ∇ -18.39% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 162.82 ms | Δ 33.48% | 4.60 Hz / 6.14 Hz | ∇ -25.08% |
feature_extraction [640x480]: SURF | 320.21 ms / 197.33 ms | Δ 62.27% | 3.12 Hz / 5.07 Hz | ∇ -38.37% |
feature_extraction [640x480]: FAST | 9.58 ms / 6.89 ms | Δ 39.07% | 104.37 Hz / 145.15 Hz | ∇ -28.09% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 63.90 ms | Δ 73.96% | 9.00 Hz / 15.65 Hz | ∇ -42.52% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 38.54 ms | Δ 68.01% | 15.44 Hz / 25.95 Hz | ∇ -40.48% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 33.59 ms | Δ 50.21% | 19.82 Hz / 29.77 Hz | ∇ -33.43% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.16 sec | Δ 17.88% | 732.49 mHz / 863.45 mHz | ∇ -15.17% |
feature_matching [640x480]: SURF | 602.11 ms / 375.89 ms | Δ 60.18% | 1.66 Hz / 2.66 Hz | ∇ -37.57% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 15.89 ms | Δ 48.24% | 42.46 Hz / 62.95 Hz | ∇ -32.54% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 10.48 ms | Δ 49.87% | 63.67 Hz / 95.42 Hz | ∇ -33.28% |
graph(2d): insertEdge x 1e3 | 300.22 us / 158.24 us | Δ 89.72% | 3.33 KHz / 6.32 KHz | ∇ -47.29% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 133.69 us | Δ 125.10% | 3.32 KHz / 7.48 KHz | ∇ -55.58% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 84.43 us | Δ 190.44% | 4.08 KHz / 11.84 KHz | ∇ -65.57% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 81.78 us | Δ 209.15% | 3.96 KHz / 12.23 KHz | ∇ -67.65% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 207.17 us | Δ 159.51% | 1.86 KHz / 4.83 KHz | ∇ -61.47% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 232.57 us | Δ 96.26% | 2.19 KHz / 4.30 KHz | ∇ -49.05% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 246.74 us | Δ 62.59% | 2.49 KHz / 4.05 KHz | ∇ -38.50% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 192.59 us | Δ 104.59% | 2.54 KHz / 5.19 KHz | ∇ -51.12% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 2.08 ms | Δ 75.34% | 273.78 Hz / 480.05 Hz | ∇ -42.97% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 1.62 ms | Δ 128.57% | 270.61 Hz / 618.53 Hz | ∇ -56.25% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 870.19 us | Δ 188.00% | 399.01 Hz / 1.15 KHz | ∇ -65.28% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 846.92 us | Δ 200.95% | 392.34 Hz / 1.18 KHz | ∇ -66.77% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 2.34 ms | Δ 105.38% | 207.97 Hz / 427.14 Hz | ∇ -51.31% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.81 ms | Δ 72.97% | 205.85 Hz / 356.06 Hz | ∇ -42.19% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 2.13 ms | Δ 89.46% | 248.25 Hz / 470.35 Hz | ∇ -47.22% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 2.13 ms | Δ 87.60% | 250.07 Hz / 469.13 Hz | ∇ -46.70% |
graph(3d): insertEdge x 1e3 | 338.14 us / 220.82 us | Δ 53.13% | 2.96 KHz / 4.53 KHz | ∇ -34.70% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 221.81 us | Δ 49.69% | 3.01 KHz / 4.51 KHz | ∇ -33.20% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 183.18 us | Δ 65.09% | 3.31 KHz / 5.46 KHz | ∇ -39.43% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 186.52 us | Δ 66.02% | 3.23 KHz / 5.36 KHz | ∇ -39.77% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 532.35 us | Δ 25.62% | 1.50 KHz / 1.88 KHz | ∇ -20.39% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 537.98 us | Δ 25.08% | 1.49 KHz / 1.86 KHz | ∇ -20.05% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 487.59 us | Δ 37.08% | 1.50 KHz / 2.05 KHz | ∇ -27.05% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 493.50 us | Δ 37.10% | 1.48 KHz / 2.03 KHz | ∇ -27.06% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 2.78 ms | Δ 29.55% | 277.54 Hz / 359.55 Hz | ∇ -22.81% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 2.77 ms | Δ 30.44% | 276.39 Hz / 360.52 Hz | ∇ -23.34% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 2.09 ms | Δ 45.17% | 328.99 Hz / 477.61 Hz | ∇ -31.12% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 2.05 ms | Δ 47.18% | 330.96 Hz / 487.11 Hz | ∇ -32.06% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 7.36 ms | ∇ -3.70% | 141.02 Hz / 135.81 Hz | Δ 3.84% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 6.97 ms | Δ 1.55% | 141.24 Hz / 143.42 Hz | ∇ -1.52% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 5.29 ms | Δ 26.68% | 149.36 Hz / 189.20 Hz | ∇ -21.06% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 5.49 ms | Δ 25.42% | 145.34 Hz / 182.28 Hz | ∇ -20.27% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 90.55 us | Δ 208.27% | 3.58 KHz / 11.04 KHz | ∇ -67.56% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 83.50 us | Δ 400.38% | 2.39 KHz / 11.98 KHz | ∇ -80.02% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 1.13 ms | Δ 177.02% | 318.46 Hz / 882.20 Hz | ∇ -63.90% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 767.67 us | Δ 379.89% | 271.44 Hz / 1.30 KHz | ∇ -79.16% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 21.12 ms | Δ 75.63% | 26.96 Hz / 47.35 Hz | ∇ -43.06% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 10.86 ms | Δ 292.62% | 23.45 Hz / 92.06 Hz | ∇ -74.53% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 341.35 ms | Δ 27.06% | 2.31 Hz / 2.93 Hz | ∇ -21.30% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 142.53 ms | Δ 230.34% | 2.12 Hz / 7.02 Hz | ∇ -69.73% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 320.28 ms | Δ 33.69% | 2.34 Hz / 3.12 Hz | ∇ -25.20% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 133.66 ms | Δ 248.12% | 2.15 Hz / 7.48 Hz | ∇ -71.27% |