Test description | 0.9.3-MSVC9-32bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 19.99 ms | Δ 57.87% | 31.69 Hz / 50.03 Hz | ∇ -36.66% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 19.29 ms | Δ 179.63% | 18.54 Hz / 51.84 Hz | ∇ -64.24% |
poses: CPose3D (+) CPose3D | 194.14 ns / 42.85 ns | Δ 353.07% | 5.15 MHz / 23.34 MHz | ∇ -77.93% |
poses: CPose3D.composeFrom() | 34.65 ns / 37.80 ns | ∇ -8.33% | 28.86 MHz / 26.46 MHz | Δ 9.08% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 7.25 ns | Δ 295.29% | 34.88 MHz / 137.89 MHz | ∇ -74.70% |
poses: CPose3D.composePoint() | 18.49 ns / 11.91 ns | Δ 55.29% | 54.08 MHz / 83.98 MHz | ∇ -35.60% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 48.98 ns | Δ 91.68% | 10.65 MHz / 20.42 MHz | ∇ -47.83% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 34.95 ns | Δ 27.00% | 22.53 MHz / 28.61 MHz | ∇ -21.26% |
poses: CPose2D (+) CPose2D | 103.92 ns / 78.58 ns | Δ 32.26% | 9.62 MHz / 12.73 MHz | ∇ -24.39% |
poses: CPose2D.composeFrom() | 91.82 ns / 70.31 ns | Δ 30.59% | 10.89 MHz / 14.22 MHz | ∇ -23.42% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 61.33 ns | Δ 128.87% | 7.12 MHz / 16.31 MHz | ∇ -56.31% |
poses: CPose2D.composePoint() | 66.26 ns / 65.17 ns | Δ 1.68% | 15.09 MHz / 15.35 MHz | ∇ -1.65% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 44.66 ns | Δ 109.03% | 10.71 MHz / 22.39 MHz | ∇ -52.16% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 39.43 ns | Δ 53.49% | 16.52 MHz / 25.36 MHz | ∇ -34.85% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 18.24 ns | Δ 540.03% | 8.57 MHz / 54.84 MHz | ∇ -84.38% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 17.94 ns | Δ 72.95% | 32.23 MHz / 55.75 MHz | ∇ -42.18% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 55.43 ns | Δ 128.74% | 7.89 MHz / 18.04 MHz | ∇ -56.28% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 17.64 ns | Δ 75.06% | 32.38 MHz / 56.69 MHz | ∇ -42.88% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 16.70 ns | Δ 100.13% | 29.93 MHz / 59.89 MHz | ∇ -50.03% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 169.28 ns | Δ 24.84% | 4.73 MHz / 5.91 MHz | ∇ -19.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 760.96 us | ∇ -97.44% | 51.41 KHz / 1.31 KHz | Δ 3811.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 760.62 us | ∇ -99.61% | 341.05 KHz / 1.31 KHz | Δ 25840.64% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 9.47 us | Δ 265.59% | 28.87 KHz / 105.55 KHz | ∇ -72.65% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 545.30 ns | Δ 57.76% | 1.16 MHz / 1.83 MHz | ∇ -36.61% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 544.10 ns | Δ 61.78% | 1.14 MHz / 1.84 MHz | ∇ -38.19% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 8.11 us | Δ 168.42% | 45.95 KHz / 123.33 KHz | ∇ -62.75% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 20.92 ns | Δ 115.07% | 22.23 MHz / 47.81 MHz | ∇ -53.50% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 20.15 ns | Δ 124.14% | 22.14 MHz / 49.63 MHz | ∇ -55.39% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 54.04 ns | Δ 197.66% | 6.22 MHz / 18.51 MHz | ∇ -66.40% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 55.27 ns | Δ 191.25% | 6.21 MHz / 18.09 MHz | ∇ -65.67% |
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] | 6.73 ns / 1.70 ns | Δ 296.60% | 148.49 MHz / 588.93 MHz | ∇ -74.79% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.77 ns | Δ 183.17% | 127.26 MHz / 360.36 MHz | ∇ -64.69% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 73.10 ns | Δ 653.47% | 1.82 MHz / 13.68 MHz | ∇ -86.73% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 23.80 ns | ∇ -99.81% | 22.08 GHz / 42.02 MHz | Δ 52448.95% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 72.40 ns | Δ 498.04% | 2.31 MHz / 13.81 MHz | ∇ -83.28% |
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 | 660.53 ns / 110.50 ns | Δ 497.76% | 1.51 MHz / 9.05 MHz | ∇ -83.27% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 45.10 ns | ∇ -13.74% | 25.70 MHz / 22.17 MHz | Δ 15.92% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 116.30 ns | Δ 308.13% | 2.11 MHz / 8.60 MHz | ∇ -75.50% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 45.20 ns | ∇ -80.66% | 114.40 MHz / 22.12 MHz | Δ 417.09% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 5.19 us | ∇ -9.75% | 213.59 KHz / 192.77 KHz | Δ 10.80% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 3.55 us | Δ 24.47% | 226.20 KHz / 281.56 KHz | ∇ -19.66% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 5.18 us | ∇ -37.51% | 308.92 KHz / 193.05 KHz | Δ 60.02% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 3.61 us | ∇ -34.47% | 422.77 KHz / 277.05 KHz | Δ 52.59% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 329.00 ns | Δ 352.09% | 672.33 KHz / 3.04 MHz | ∇ -77.88% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 21.00 ns | Δ 53.13% | 31.10 MHz / 47.62 MHz | ∇ -34.69% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 1.20 us | Δ 191.02% | 286.11 KHz / 832.64 KHz | ∇ -65.64% |
matrix: inv, fix[double] 6x6 | 2.72 us / 578.00 ns | Δ 369.84% | 368.24 KHz / 1.73 MHz | ∇ -78.72% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 25.64 us | Δ 24.33% | 31.37 KHz / 39.01 KHz | ∇ -19.57% |
matrix: inv, fix[double] 20x20 | 28.91 us / 17.36 us | Δ 66.54% | 34.58 KHz / 57.60 KHz | ∇ -39.95% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 189.04 us | ∇ -34.29% | 8.05 KHz / 5.29 KHz | Δ 52.18% |
matrix: inv, fix[double] 40x40 | 122.24 us / 121.47 us | Δ 0.64% | 8.18 KHz / 8.23 KHz | ∇ -0.64% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 6.40 ns | Δ 10019.02% | 1.54 MHz / 156.25 MHz | ∇ -99.01% |
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 / 10.30 ns | Δ 9313.51% | 1.03 MHz / 97.09 MHz | ∇ -98.94% |
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 / 696.30 ns | Δ 252.47% | 407.46 KHz / 1.44 MHz | ∇ -71.63% |
matrix: det, fix[double] 6x6 | 1.89 us / 212.30 ns | Δ 788.76% | 529.99 KHz / 4.71 MHz | ∇ -88.75% |
matrix: det, dyn[double] 20x20 | 22.48 us / 6.40 us | Δ 250.98% | 44.49 KHz / 156.16 KHz | ∇ -71.51% |
matrix: det, fix[double] 20x20 | 21.45 us / 4.72 us | Δ 354.16% | 46.63 KHz / 211.77 KHz | ∇ -77.98% |
matrix: det, dyn[double] 40x40 | 80.28 us / 32.49 us | Δ 147.05% | 12.46 KHz / 30.77 KHz | ∇ -59.52% |
matrix: det, fix[double] 40x40 | 79.04 us / 27.34 us | Δ 189.13% | 12.65 KHz / 36.58 KHz | ∇ -65.41% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 130.00 ns | Δ 739.63% | 916.16 KHz / 7.69 MHz | ∇ -88.09% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 140.00 ns | Δ 126.46% | 3.15 MHz / 7.14 MHz | ∇ -55.84% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 18.52 us | Δ 308.94% | 13.20 KHz / 54.00 KHz | ∇ -75.55% |
matrix: chol, fix[double] 40x40 | 55.31 us / 16.55 us | Δ 234.20% | 18.08 KHz / 60.42 KHz | ∇ -70.08% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 8.20 us | Δ 106.02% | 59.19 KHz / 121.95 KHz | ∇ -51.46% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 82.90 us | Δ 198.30% | 4.04 KHz / 12.06 KHz | ∇ -66.48% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 52.70 us | Δ 242.99% | 5.53 KHz / 18.98 KHz | ∇ -70.84% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 38.59 us | Δ 138.12% | 10.88 KHz / 25.91 KHz | ∇ -58.00% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 409.80 us | Δ 86.87% | 1.31 KHz / 2.44 KHz | ∇ -46.49% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 70.75 us | Δ 64.73% | 8.58 KHz / 14.13 KHz | ∇ -39.30% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 8.58 ms | ∇ -52.45% | 245.20 Hz / 116.60 Hz | Δ 110.28% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 171.20 us | Δ 21.18% | 4.82 KHz / 5.84 KHz | ∇ -17.48% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 133.58 ms | ∇ -81.71% | 40.93 Hz / 7.49 Hz | Δ 446.70% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 341.85 us | Δ 18.00% | 2.48 KHz / 2.93 KHz | ∇ -15.26% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 354.49 ms | ∇ -88.66% | 24.87 Hz / 2.82 Hz | Δ 781.77% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 401.50 us | Δ 19.51% | 2.08 KHz / 2.49 KHz | ∇ -16.32% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 773.25 ms | ∇ -92.25% | 16.68 Hz / 1.29 Hz | Δ 1189.87% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 469.25 us | Δ 19.36% | 1.79 KHz / 2.13 KHz | ∇ -16.22% |
gridmap2D: getCell | 5.69 ns / 0.00 ns | Δ 5690410.47% | 175.73 MHz / 10.00 THz | ∇ -100.00% |
gridmap2D: setCell | 8.06 ns / 2.58 ns | Δ 212.74% | 124.07 MHz / 388.02 MHz | ∇ -68.03% |
gridmap2D: updateCell | 61.98 ns / 7.84 ns | Δ 690.76% | 16.13 MHz / 127.58 MHz | ∇ -87.35% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 0.55 ns | Δ 127.32% | 798.82 MHz / 1.82 GHz | ∇ -56.01% |
gridmap2D: insert scan w/o widening | 208.84 us / 102.06 us | Δ 104.64% | 4.79 KHz / 9.80 KHz | ∇ -51.13% |
gridmap2D: insert scan with widening | 346.08 us / 289.47 us | Δ 19.56% | 2.89 KHz / 3.45 KHz | ∇ -16.36% |
gridmap2D: resize | 2.81 ms / 1.97 ms | Δ 43.04% | 355.60 Hz / 508.65 Hz | ∇ -30.09% |
gridmap2D: computeLikelihood | 18.33 us / 15.74 us | Δ 16.46% | 54.57 KHz / 63.55 KHz | ∇ -14.13% |
pointmap: insert 100 scans | 6.61 ms / 3.04 ms | Δ 117.60% | 151.33 Hz / 329.30 Hz | ∇ -54.04% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.32 us | Δ 39.65% | 165.76 KHz / 231.48 KHz | ∇ -28.39% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 352.12 us | Δ 52.22% | 1.87 KHz / 2.84 KHz | ∇ -34.31% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 4.14 ms | Δ 36.32% | 177.17 Hz / 241.51 Hz | ∇ -26.64% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 4.68 us | Δ 64.52% | 129.88 KHz / 213.68 KHz | ∇ -39.22% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 359.52 us | Δ 47.03% | 1.89 KHz / 2.78 KHz | ∇ -31.99% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 4.03 ms | Δ 44.24% | 172.12 Hz / 248.28 Hz | ∇ -30.67% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.41 us | Δ 51.77% | 468.98 KHz / 711.74 KHz | ∇ -34.11% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 97.21 us | Δ 49.88% | 6.86 KHz / 10.29 KHz | ∇ -33.28% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 11.62 ms | Δ 33.27% | 64.56 Hz / 86.05 Hz | ∇ -24.97% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 5.59 ms | Δ 59.72% | 111.93 Hz / 178.77 Hz | ∇ -37.39% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 129.28 ms | Δ 54.74% | 5.00 Hz / 7.73 Hz | ∇ -35.38% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 5.66 ms | Δ 58.42% | 111.43 Hz / 176.53 Hz | ∇ -36.88% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 131.22 ms | Δ 53.34% | 4.97 Hz / 7.62 Hz | ∇ -34.78% |
random: drawUniform32bit | 7.76 ns / 14.50 ns | ∇ -46.52% | 128.93 MHz / 68.95 MHz | Δ 86.99% |
random: drawUniform | 7.61 ns / 14.50 ns | ∇ -47.52% | 131.41 MHz / 68.96 MHz | Δ 90.57% |
random: drawGaussian1D_normalized | 51.84 ns / 68.97 ns | ∇ -24.85% | 19.29 MHz / 14.50 MHz | Δ 33.06% |
random: drawGaussian1D | 52.02 ns / 68.98 ns | ∇ -24.58% | 19.22 MHz / 14.50 MHz | Δ 32.60% |
random: system rand() | 27.43 ns / 10.45 ns | Δ 162.56% | 36.46 MHz / 95.72 MHz | ∇ -61.91% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 1.31 us | Δ 279.93% | 201.38 KHz / 765.12 KHz | ∇ -73.68% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 2.73 us | Δ 291.18% | 93.66 KHz / 366.37 KHz | ∇ -74.44% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 158.91 ns | ∇ -3.32% | 6.51 MHz / 6.29 MHz | Δ 3.44% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 237.40 ns | Δ 5.34% | 4.00 MHz / 4.21 MHz | ∇ -5.07% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 490.03 ns | Δ 35.63% | 1.50 MHz / 2.04 MHz | ∇ -26.27% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 164.67 ns | ∇ -6.95% | 6.53 MHz / 6.07 MHz | Δ 7.47% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 249.81 ns | Δ 1.44% | 3.95 MHz / 4.00 MHz | ∇ -1.42% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 514.70 ns | Δ 21.03% | 1.61 MHz / 1.94 MHz | ∇ -17.38% |
random: permuteVector (len=10) | 342.58 ns / 296.20 ns | Δ 15.66% | 2.92 MHz / 3.38 MHz | ∇ -13.54% |
random: permuteVector (len=100) | 3.62 us / 3.04 us | Δ 18.94% | 276.54 KHz / 328.91 KHz | ∇ -15.93% |
random: permuteVector (len=1000) | 35.68 us / 30.22 us | Δ 18.06% | 28.03 KHz / 33.09 KHz | ∇ -15.30% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188188.34% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 35.06 ms | ∇ -19.90% | 35.61 Hz / 28.52 Hz | Δ 24.84% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 48.96 ms | ∇ -12.59% | 23.37 Hz / 20.42 Hz | Δ 14.41% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 74.65 ms | ∇ -7.39% | 14.46 Hz / 13.40 Hz | Δ 7.98% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 29.96 ms | ∇ -20.71% | 42.09 Hz / 33.37 Hz | Δ 26.12% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 42.79 ms | ∇ -12.94% | 26.85 Hz / 23.37 Hz | Δ 14.87% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 64.15 ms | ∇ -6.69% | 16.71 Hz / 15.59 Hz | Δ 7.17% |
images: Gauss filter (640x480) | 7.21 ms / 3.90 ms | Δ 84.72% | 138.75 Hz / 256.30 Hz | ∇ -45.86% |
images: Gauss filter (800x600) | 8.67 ms / 6.21 ms | Δ 39.61% | 115.32 Hz / 160.99 Hz | ∇ -28.37% |
images: Gauss filter (1024x768) | 14.94 ms / 10.55 ms | Δ 41.55% | 66.93 Hz / 94.74 Hz | ∇ -29.35% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 5.06 us | Δ 399.19% | 39.59 KHz / 197.63 KHz | ∇ -79.97% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 4.30 us | Δ 464.87% | 41.17 KHz / 232.56 KHz | ∇ -82.30% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 2.10 us | Δ 558.02% | 72.37 KHz / 476.19 KHz | ∇ -84.80% |
feature_extraction [640x480]: Harris | 53.60 ms / 24.28 ms | Δ 120.80% | 18.66 Hz / 41.19 Hz | ∇ -54.71% |
feature_extraction [640x480]: KLT | 32.67 ms / 24.43 ms | Δ 33.74% | 30.61 Hz / 40.94 Hz | ∇ -25.23% |
feature_extraction [640x480]: SIFT | 724.51 ms / 610.42 ms | Δ 18.69% | 1.38 Hz / 1.64 Hz | ∇ -15.75% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 167.77 ms | Δ 29.54% | 4.60 Hz / 5.96 Hz | ∇ -22.80% |
feature_extraction [640x480]: SURF | 320.21 ms / 197.61 ms | Δ 62.04% | 3.12 Hz / 5.06 Hz | ∇ -38.29% |
feature_extraction [640x480]: FAST | 9.58 ms / 5.24 ms | Δ 82.69% | 104.37 Hz / 190.68 Hz | ∇ -45.26% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 59.98 ms | Δ 85.32% | 9.00 Hz / 16.67 Hz | ∇ -46.04% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 40.88 ms | Δ 58.39% | 15.44 Hz / 24.46 Hz | ∇ -36.87% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 35.50 ms | Δ 42.15% | 19.82 Hz / 28.17 Hz | ∇ -29.65% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.21 sec | Δ 13.05% | 732.49 mHz / 828.07 mHz | ∇ -11.54% |
feature_matching [640x480]: SURF | 602.11 ms / 379.92 ms | Δ 58.49% | 1.66 Hz / 2.63 Hz | ∇ -36.90% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 16.06 ms | Δ 46.61% | 42.46 Hz / 62.26 Hz | ∇ -31.79% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 10.73 ms | Δ 46.35% | 63.67 Hz / 93.18 Hz | ∇ -31.67% |
graph(2d): insertEdge x 1e3 | 300.22 us / 117.65 us | Δ 155.18% | 3.33 KHz / 8.50 KHz | ∇ -60.81% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 105.13 us | Δ 186.26% | 3.32 KHz / 9.51 KHz | ∇ -65.07% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 85.19 us | Δ 187.85% | 4.08 KHz / 11.74 KHz | ∇ -65.26% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 84.46 us | Δ 199.31% | 3.96 KHz / 11.84 KHz | ∇ -66.59% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 172.53 us | Δ 211.61% | 1.86 KHz / 5.80 KHz | ∇ -67.91% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 187.97 us | Δ 142.83% | 2.19 KHz / 5.32 KHz | ∇ -58.82% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 168.61 us | Δ 137.94% | 2.49 KHz / 5.93 KHz | ∇ -57.97% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 167.39 us | Δ 135.40% | 2.54 KHz / 5.97 KHz | ∇ -57.52% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 1.73 ms | Δ 111.57% | 273.78 Hz / 579.22 Hz | ∇ -52.73% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 1.45 ms | Δ 155.20% | 270.61 Hz / 690.59 Hz | ∇ -60.82% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 884.69 us | Δ 183.28% | 399.01 Hz / 1.13 KHz | ∇ -64.70% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 862.22 us | Δ 195.61% | 392.34 Hz / 1.16 KHz | ∇ -66.17% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 1.97 ms | Δ 143.61% | 207.97 Hz / 506.65 Hz | ∇ -58.95% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.31 ms | Δ 110.71% | 205.85 Hz / 433.74 Hz | ∇ -52.54% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 1.86 ms | Δ 116.76% | 248.25 Hz / 538.12 Hz | ∇ -53.87% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 1.86 ms | Δ 115.28% | 250.07 Hz / 538.35 Hz | ∇ -53.55% |
graph(3d): insertEdge x 1e3 | 338.14 us / 177.23 us | Δ 90.79% | 2.96 KHz / 5.64 KHz | ∇ -47.59% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 178.36 us | Δ 86.16% | 3.01 KHz / 5.61 KHz | ∇ -46.28% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 157.86 us | Δ 91.57% | 3.31 KHz / 6.33 KHz | ∇ -47.80% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 159.54 us | Δ 94.09% | 3.23 KHz / 6.27 KHz | ∇ -48.48% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 507.00 us | Δ 31.90% | 1.50 KHz / 1.97 KHz | ∇ -24.18% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 509.46 us | Δ 32.08% | 1.49 KHz / 1.96 KHz | ∇ -24.29% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 473.36 us | Δ 41.21% | 1.50 KHz / 2.11 KHz | ∇ -29.18% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 474.07 us | Δ 42.72% | 1.48 KHz / 2.11 KHz | ∇ -29.93% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 2.47 ms | Δ 45.78% | 277.54 Hz / 404.60 Hz | ∇ -31.40% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 2.48 ms | Δ 45.75% | 276.39 Hz / 402.82 Hz | ∇ -31.39% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 1.75 ms | Δ 73.40% | 328.99 Hz / 570.48 Hz | ∇ -42.33% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 1.77 ms | Δ 70.96% | 330.96 Hz / 565.81 Hz | ∇ -41.51% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 5.53 ms | Δ 28.32% | 141.02 Hz / 180.97 Hz | ∇ -22.07% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 5.56 ms | Δ 27.23% | 141.24 Hz / 179.70 Hz | ∇ -21.40% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 4.85 ms | Δ 38.03% | 149.36 Hz / 206.16 Hz | ∇ -27.55% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 4.85 ms | Δ 41.81% | 145.34 Hz / 206.11 Hz | ∇ -29.48% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 96.04 us | Δ 190.64% | 3.58 KHz / 10.41 KHz | ∇ -65.59% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 80.39 us | Δ 419.78% | 2.39 KHz / 12.44 KHz | ∇ -80.76% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 1.13 ms | Δ 177.92% | 318.46 Hz / 885.05 Hz | ∇ -64.02% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 804.04 us | Δ 358.19% | 271.44 Hz / 1.24 KHz | ∇ -78.17% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 19.14 ms | Δ 93.84% | 26.96 Hz / 52.26 Hz | ∇ -48.41% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 9.65 ms | Δ 341.93% | 23.45 Hz / 103.63 Hz | ∇ -77.37% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 290.37 ms | Δ 49.37% | 2.31 Hz / 3.44 Hz | ∇ -33.05% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 117.73 ms | Δ 299.93% | 2.12 Hz / 8.49 Hz | ∇ -75.00% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 268.93 ms | Δ 59.21% | 2.34 Hz / 3.72 Hz | ∇ -37.19% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 103.05 ms | Δ 351.53% | 2.15 Hz / 9.70 Hz | ∇ -77.85% |