Test description | 0.9.3-GCC-64bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 26.54 ms | ∇ -21.26% | 47.85 Hz / 37.68 Hz | Δ 27.01% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 32.17 ms | ∇ -41.68% | 53.30 Hz / 31.08 Hz | Δ 71.46% |
poses: CPose3D (+) CPose3D | 41.67 ns / 62.83 ns | ∇ -33.68% | 24.00 MHz / 15.92 MHz | Δ 50.78% |
poses: CPose3D.composeFrom() | 32.39 ns / 41.42 ns | ∇ -21.80% | 30.87 MHz / 24.14 MHz | Δ 27.88% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 18.89 ns | ∇ -57.52% | 124.63 MHz / 52.94 MHz | Δ 135.41% |
poses: CPose3D.composePoint() | 11.53 ns / 17.17 ns | ∇ -32.84% | 86.70 MHz / 58.23 MHz | Δ 48.90% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 88.79 ns | ∇ -79.52% | 54.99 MHz / 11.26 MHz | Δ 388.28% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 44.00 ns | ∇ -42.70% | 39.66 MHz / 22.73 MHz | Δ 74.51% |
poses: CPose2D (+) CPose2D | 72.10 ns / 72.08 ns | Δ 0.03% | 13.87 MHz / 13.87 MHz | ∇ -0.03% |
poses: CPose2D.composeFrom() | 69.22 ns / 63.27 ns | Δ 9.41% | 14.45 MHz / 15.81 MHz | ∇ -8.60% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 34.42 ns | Δ 75.73% | 16.53 MHz / 29.05 MHz | ∇ -43.09% |
poses: CPose2D.composePoint() | 60.01 ns / 26.02 ns | Δ 130.61% | 16.66 MHz / 38.43 MHz | ∇ -56.64% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 113.59 ns | ∇ -62.41% | 23.42 MHz / 8.80 MHz | Δ 166.02% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 82.72 ns | ∇ -53.73% | 26.13 MHz / 12.09 MHz | Δ 116.14% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 41.33 ns | ∇ -56.68% | 55.85 MHz / 24.20 MHz | Δ 130.82% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 31.13 ns | ∇ -40.77% | 54.23 MHz / 32.12 MHz | Δ 68.83% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 113.89 ns | ∇ -70.75% | 30.02 MHz / 8.78 MHz | Δ 241.88% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 33.95 ns | ∇ -42.51% | 51.24 MHz / 29.46 MHz | Δ 73.94% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 26.44 ns | ∇ -38.46% | 61.45 MHz / 37.82 MHz | Δ 62.49% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 97.31 ns | Δ 74.47% | 5.89 MHz / 10.28 MHz | ∇ -42.68% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 948.85 ns | ∇ -15.79% | 1.25 MHz / 1.05 MHz | Δ 18.76% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 938.66 ns | ∇ -16.00% | 1.27 MHz / 1.07 MHz | Δ 19.04% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 21.21 us | ∇ -57.07% | 109.83 KHz / 47.15 KHz | Δ 132.94% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 532.44 ns | Δ 4.71% | 1.79 MHz / 1.88 MHz | ∇ -4.49% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 528.23 ns | Δ 5.73% | 1.79 MHz / 1.89 MHz | ∇ -5.42% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 11.19 us | ∇ -24.80% | 118.81 KHz / 89.35 KHz | Δ 32.98% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 45.20 ns | ∇ -60.54% | 56.07 MHz / 22.13 MHz | Δ 153.43% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 45.86 ns | ∇ -57.53% | 51.35 MHz / 21.81 MHz | Δ 135.46% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 177.43 ns | ∇ -69.09% | 18.23 MHz / 5.64 MHz | Δ 223.51% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 169.52 ns | ∇ -67.01% | 17.88 MHz / 5.90 MHz | Δ 203.08% |
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 / 6.37 ns | ∇ -76.47% | 667.56 MHz / 157.06 MHz | Δ 325.04% |
matrix: unit, fix[double,6,6] | 5.61 ns / 7.86 ns | ∇ -28.68% | 178.35 MHz / 127.19 MHz | Δ 40.22% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 485.93 ns | ∇ -40.05% | 3.43 MHz / 2.06 MHz | Δ 66.81% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 528.41 ns | ∇ -44.65% | 3.42 MHz / 1.89 MHz | Δ 80.65% |
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 / 547.16 ns | ∇ -36.49% | 2.88 MHz / 1.83 MHz | Δ 57.46% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 2.36 ns | ∇ -100.00% | 1.#J THz / 424.60 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 391.50 ns | ∇ -13.05% | 2.94 MHz / 2.55 MHz | Δ 15.01% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 2.36 ns | ∇ -100.00% | 1.#J THz / 424.60 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 2.74 us | ∇ -11.78% | 413.19 KHz / 364.51 KHz | Δ 13.35% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 2.08 us | Δ 7.07% | 448.19 KHz / 479.89 KHz | ∇ -6.61% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 3.47 us | ∇ -33.31% | 432.69 KHz / 288.55 KHz | Δ 49.96% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 2.38 us | ∇ -10.94% | 471.08 KHz / 419.56 KHz | Δ 12.28% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 1.09 us | ∇ -28.15% | 1.28 MHz / 921.12 KHz | Δ 39.18% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 22.19 ns | ∇ -100.00% | 1.#J THz / 45.06 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 2.78 us | ∇ -29.08% | 507.10 KHz / 359.66 KHz | Δ 41.00% |
matrix: inv, fix[double] 6x6 | 1.60 us / 2.22 us | ∇ -27.92% | 624.61 KHz / 450.23 KHz | Δ 38.73% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 30.71 us | ∇ -47.64% | 62.19 KHz / 32.56 KHz | Δ 91.00% |
matrix: inv, fix[double] 20x20 | 14.48 us / 24.08 us | ∇ -39.88% | 69.08 KHz / 41.53 KHz | Δ 66.32% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 117.18 us | ∇ -43.86% | 15.20 KHz / 8.53 KHz | Δ 78.12% |
matrix: inv, fix[double] 40x40 | 64.13 us / 112.80 us | ∇ -43.15% | 15.59 KHz / 8.86 KHz | Δ 75.90% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 765.51 ns | ∇ -72.23% | 4.70 MHz / 1.31 MHz | Δ 260.07% |
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 / 822.31 ns | ∇ -60.68% | 3.09 MHz / 1.22 MHz | Δ 154.35% |
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 / 1.78 us | ∇ -56.57% | 1.29 MHz / 560.47 KHz | Δ 130.25% |
matrix: det, fix[double] 6x6 | 592.30 ns / 1.51 us | ∇ -60.83% | 1.69 MHz / 661.35 KHz | Δ 155.28% |
matrix: det, dyn[double] 20x20 | 8.50 us / 18.54 us | ∇ -54.14% | 117.63 KHz / 53.94 KHz | Δ 118.06% |
matrix: det, fix[double] 20x20 | 7.72 us / 19.01 us | ∇ -59.39% | 129.53 KHz / 52.61 KHz | Δ 146.22% |
matrix: det, dyn[double] 40x40 | 32.23 us / 72.40 us | ∇ -55.49% | 31.03 KHz / 13.81 KHz | Δ 124.65% |
matrix: det, fix[double] 40x40 | 30.71 us / 67.43 us | ∇ -54.46% | 32.57 KHz / 14.83 KHz | Δ 119.59% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 606.90 ns | ∇ -12.67% | 1.89 MHz / 1.65 MHz | Δ 14.51% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 190.22 ns | ∇ -31.66% | 7.69 MHz / 5.26 MHz | Δ 46.33% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 31.59 us | ∇ -27.25% | 43.52 KHz / 31.66 KHz | Δ 37.45% |
matrix: chol, fix[double] 40x40 | 19.50 us / 20.87 us | ∇ -6.55% | 51.28 KHz / 47.93 KHz | Δ 7.00% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 7.11 us | Δ 15.32% | 121.95 KHz / 140.63 KHz | ∇ -13.28% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 94.75 us | ∇ -9.97% | 11.72 KHz / 10.55 KHz | Δ 11.08% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 75.59 us | ∇ -24.86% | 17.61 KHz / 13.23 KHz | Δ 33.08% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 43.20 us | ∇ -9.01% | 25.44 KHz / 23.15 KHz | Δ 9.90% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 453.46 us | ∇ -41.16% | 3.75 KHz / 2.21 KHz | Δ 69.96% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 74.00 us | ∇ -1.68% | 13.74 KHz / 13.51 KHz | Δ 1.71% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 3.54 ms | ∇ -24.65% | 374.53 Hz / 282.19 Hz | Δ 32.72% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 178.69 us | ∇ -1.40% | 5.68 KHz / 5.60 KHz | Δ 1.42% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 22.29 ms | ∇ -6.97% | 48.23 Hz / 44.87 Hz | Δ 7.49% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 359.36 us | ∇ -2.31% | 2.85 KHz / 2.78 KHz | Δ 2.37% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 36.29 ms | ∇ -4.64% | 28.90 Hz / 27.56 Hz | Δ 4.86% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 411.86 us | Δ 0.98% | 2.40 KHz / 2.43 KHz | ∇ -0.97% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 54.34 ms | ∇ -7.40% | 19.87 Hz / 18.40 Hz | Δ 8.00% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 488.10 us | ∇ -1.06% | 2.07 KHz / 2.05 KHz | Δ 1.07% |
gridmap2D: getCell | 0.00 ns / 4.13 ns | ∇ -100.00% | 1.#J THz / 242.07 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.61 ns / 5.65 ns | ∇ -53.82% | 383.63 MHz / 177.14 MHz | Δ 116.56% |
gridmap2D: updateCell | 6.99 ns / 6.93 ns | Δ 0.93% | 143.02 MHz / 144.35 MHz | ∇ -0.92% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 1.20 ns | ∇ -57.30% | 1.95 GHz / 833.40 MHz | Δ 134.17% |
gridmap2D: insert scan w/o widening | 102.59 us / 102.16 us | Δ 0.42% | 9.75 KHz / 9.79 KHz | ∇ -0.42% |
gridmap2D: insert scan with widening | 284.11 us / 276.88 us | Δ 2.61% | 3.52 KHz / 3.61 KHz | ∇ -2.54% |
gridmap2D: resize | 722.00 us / 3.89 ms | ∇ -81.44% | 1.39 KHz / 257.06 Hz | Δ 438.79% |
gridmap2D: computeLikelihood | 15.69 us / 13.92 us | Δ 12.74% | 63.72 KHz / 71.84 KHz | ∇ -11.30% |
pointmap: insert 100 scans | 2.97 ms / 1.87 ms | Δ 58.50% | 337.06 Hz / 534.24 Hz | ∇ -36.91% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 5.09 us | ∇ -14.35% | 229.36 KHz / 196.43 KHz | Δ 16.76% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 486.39 us | ∇ -26.59% | 2.80 KHz / 2.06 KHz | Δ 36.21% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 5.10 ms | ∇ -17.78% | 238.61 Hz / 196.20 Hz | Δ 21.62% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 5.56 us | ∇ -15.13% | 211.86 KHz / 179.80 KHz | Δ 17.83% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 467.24 us | ∇ -22.38% | 2.76 KHz / 2.14 KHz | Δ 28.83% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 5.18 ms | ∇ -20.94% | 244.09 Hz / 192.98 Hz | Δ 26.48% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.59 us | ∇ -12.94% | 720.46 KHz / 627.25 KHz | Δ 14.86% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 126.68 us | ∇ -19.59% | 9.82 KHz / 7.89 KHz | Δ 24.36% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 13.86 ms | ∇ -15.05% | 84.92 Hz / 72.14 Hz | Δ 17.72% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 6.54 ms | ∇ -14.07% | 177.84 Hz / 152.81 Hz | Δ 16.38% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 174.77 ms | ∇ -25.28% | 7.66 Hz / 5.72 Hz | Δ 33.83% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 6.88 ms | ∇ -17.33% | 175.73 Hz / 145.28 Hz | Δ 20.96% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 181.38 ms | ∇ -27.10% | 7.56 Hz / 5.51 Hz | Δ 37.17% |
random: drawUniform32bit | 15.67 ns / 9.54 ns | Δ 64.32% | 63.82 MHz / 104.87 MHz | ∇ -39.14% |
random: drawUniform | 15.66 ns / 9.69 ns | Δ 61.58% | 63.88 MHz / 103.21 MHz | ∇ -38.11% |
random: drawGaussian1D_normalized | 69.89 ns / 52.06 ns | Δ 34.25% | 14.31 MHz / 19.21 MHz | ∇ -25.51% |
random: drawGaussian1D | 69.86 ns / 50.73 ns | Δ 37.69% | 14.32 MHz / 19.71 MHz | ∇ -27.38% |
random: system rand() | 12.21 ns / 24.47 ns | ∇ -50.08% | 81.87 MHz / 40.87 MHz | Δ 100.33% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 1.24 us | Δ 117.33% | 370.49 KHz / 805.20 KHz | ∇ -53.99% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 3.19 us | Δ 79.11% | 175.14 KHz / 313.70 KHz | ∇ -44.17% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 130.03 ns | Δ 13.97% | 6.75 MHz / 7.69 MHz | ∇ -12.25% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 198.35 ns | Δ 17.19% | 4.30 MHz / 5.04 MHz | ∇ -14.67% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 451.66 ns | Δ 8.42% | 2.04 MHz / 2.21 MHz | ∇ -7.77% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 136.92 ns | Δ 16.52% | 6.27 MHz / 7.30 MHz | ∇ -14.17% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 213.52 ns | Δ 16.03% | 4.04 MHz / 4.68 MHz | ∇ -13.82% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 478.55 ns | Δ 9.06% | 1.92 MHz / 2.09 MHz | ∇ -8.31% |
random: permuteVector (len=10) | 251.30 ns / 244.07 ns | Δ 2.96% | 3.98 MHz / 4.10 MHz | ∇ -2.88% |
random: permuteVector (len=100) | 3.02 us / 3.12 us | ∇ -3.42% | 331.46 KHz / 320.11 KHz | Δ 3.54% |
random: permuteVector (len=1000) | 30.36 us / 30.82 us | ∇ -1.49% | 32.93 KHz / 32.44 KHz | Δ 1.51% |
math: round | 0.10 ns / 0.00 ns | Δ 2188178.43% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 29.87 ms | Δ 14.30% | 29.29 Hz / 33.48 Hz | ∇ -12.51% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 42.98 ms | Δ 15.92% | 20.07 Hz / 23.26 Hz | ∇ -13.74% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 69.03 ms | Δ 16.93% | 12.39 Hz / 14.49 Hz | ∇ -14.48% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 22.86 ms | Δ 28.48% | 34.05 Hz / 43.75 Hz | ∇ -22.16% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 35.20 ms | Δ 20.57% | 23.56 Hz / 28.41 Hz | ∇ -17.06% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 57.29 ms | Δ 14.16% | 15.29 Hz / 17.45 Hz | ∇ -12.41% |
images: Gauss filter (640x480) | 4.66 ms / 4.45 ms | Δ 4.80% | 214.40 Hz / 224.70 Hz | ∇ -4.58% |
images: Gauss filter (800x600) | 5.98 ms / 8.06 ms | ∇ -25.71% | 167.10 Hz / 124.15 Hz | Δ 34.60% |
images: Gauss filter (1024x768) | 10.42 ms / 13.86 ms | ∇ -24.78% | 95.93 Hz / 72.16 Hz | Δ 32.94% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 17.29 us | ∇ -34.35% | 88.11 KHz / 57.84 KHz | Δ 52.31% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 16.49 us | ∇ -39.59% | 100.40 KHz / 60.66 KHz | Δ 65.52% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 9.72 us | ∇ -43.21% | 181.16 KHz / 102.89 KHz | Δ 76.08% |
feature_extraction [640x480]: Harris | 32.25 ms / 31.46 ms | Δ 2.52% | 31.01 Hz / 31.79 Hz | ∇ -2.46% |
feature_extraction [640x480]: KLT | 25.60 ms / 30.94 ms | ∇ -17.26% | 39.06 Hz / 32.32 Hz | Δ 20.86% |
feature_extraction [640x480]: SIFT | 630.91 ms / 653.53 ms | ∇ -3.46% | 1.59 Hz / 1.53 Hz | Δ 3.59% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 210.38 ms | ∇ -22.00% | 6.09 Hz / 4.75 Hz | Δ 28.21% |
feature_extraction [640x480]: SURF | 207.64 ms / 243.66 ms | ∇ -14.78% | 4.82 Hz / 4.10 Hz | Δ 17.35% |
feature_extraction [640x480]: FAST | 7.60 ms / 6.32 ms | Δ 20.23% | 131.57 Hz / 158.19 Hz | ∇ -16.83% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 45.12 ms | Δ 34.32% | 16.50 Hz / 22.16 Hz | ∇ -25.55% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 46.60 ms | ∇ -5.59% | 22.73 Hz / 21.46 Hz | Δ 5.93% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 40.89 ms | ∇ -11.26% | 27.56 Hz / 24.46 Hz | Δ 12.69% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.28 sec | ∇ -6.68% | 834.47 mHz / 778.73 mHz | Δ 7.16% |
feature_matching [640x480]: SURF | 379.83 ms / 502.54 ms | ∇ -24.42% | 2.63 Hz / 1.99 Hz | Δ 32.31% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 19.71 ms | ∇ -18.64% | 62.36 Hz / 50.74 Hz | Δ 22.91% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 13.01 ms | ∇ -16.58% | 92.14 Hz / 76.86 Hz | Δ 19.88% |
graph(2d): insertEdge x 1e3 | 119.99 us / 236.53 us | ∇ -49.27% | 8.33 KHz / 4.23 KHz | Δ 97.12% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 246.73 us | ∇ -56.56% | 9.33 KHz / 4.05 KHz | Δ 130.20% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 218.81 us | ∇ -61.60% | 11.90 KHz / 4.57 KHz | Δ 160.39% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 209.21 us | ∇ -60.15% | 11.99 KHz / 4.78 KHz | Δ 150.94% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 329.87 us | ∇ -48.28% | 5.86 KHz / 3.03 KHz | Δ 93.34% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 303.60 us | ∇ -40.18% | 5.51 KHz / 3.29 KHz | Δ 67.17% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 280.10 us | ∇ -36.09% | 5.59 KHz / 3.57 KHz | Δ 56.46% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 284.27 us | ∇ -37.18% | 5.60 KHz / 3.52 KHz | Δ 59.18% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 2.72 ms | ∇ -41.93% | 632.00 Hz / 367.00 Hz | Δ 72.21% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 2.73 ms | ∇ -53.63% | 790.83 Hz / 366.67 Hz | Δ 115.68% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 1.95 ms | ∇ -55.77% | 1.16 KHz / 512.34 Hz | Δ 126.07% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 1.92 ms | ∇ -56.01% | 1.18 KHz / 519.87 Hz | Δ 127.34% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 3.21 ms | ∇ -38.87% | 509.85 Hz / 311.68 Hz | Δ 63.58% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 3.24 ms | ∇ -30.64% | 445.23 Hz / 308.83 Hz | Δ 44.17% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 3.23 ms | ∇ -39.43% | 511.72 Hz / 309.95 Hz | Δ 65.10% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 3.17 ms | ∇ -38.57% | 512.69 Hz / 314.97 Hz | Δ 62.78% |
graph(3d): insertEdge x 1e3 | 169.26 us / 274.22 us | ∇ -38.28% | 5.91 KHz / 3.65 KHz | Δ 62.01% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 264.66 us | ∇ -36.23% | 5.93 KHz / 3.78 KHz | Δ 56.81% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 263.97 us | ∇ -41.78% | 6.51 KHz / 3.79 KHz | Δ 71.75% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 267.33 us | ∇ -42.32% | 6.49 KHz / 3.74 KHz | Δ 73.38% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 589.01 us | ∇ -19.87% | 2.12 KHz / 1.70 KHz | Δ 24.80% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 596.64 us | ∇ -19.62% | 2.09 KHz / 1.68 KHz | Δ 24.41% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 562.97 us | ∇ -21.61% | 2.27 KHz / 1.78 KHz | Δ 27.56% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 559.03 us | ∇ -20.39% | 2.25 KHz / 1.79 KHz | Δ 25.61% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 3.23 ms | ∇ -24.05% | 407.06 Hz / 309.17 Hz | Δ 31.66% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 3.13 ms | ∇ -21.45% | 406.51 Hz / 319.30 Hz | Δ 27.31% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 2.62 ms | ∇ -35.14% | 588.45 Hz / 381.66 Hz | Δ 54.18% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 2.55 ms | ∇ -33.20% | 587.97 Hz / 392.76 Hz | Δ 49.70% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 6.11 ms | Δ 9.32% | 149.62 Hz / 163.57 Hz | ∇ -8.53% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 5.61 ms | Δ 20.47% | 148.06 Hz / 178.36 Hz | ∇ -16.99% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 5.21 ms | ∇ -11.95% | 218.07 Hz / 192.01 Hz | Δ 13.57% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 5.18 ms | ∇ -11.76% | 218.58 Hz / 192.88 Hz | Δ 13.32% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 156.43 us | ∇ -43.08% | 11.23 KHz / 6.39 KHz | Δ 75.67% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 192.33 us | ∇ -60.83% | 13.28 KHz / 5.20 KHz | Δ 155.32% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 2.18 ms | ∇ -49.18% | 903.43 Hz / 459.11 Hz | Δ 96.78% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 1.80 ms | ∇ -60.51% | 1.41 KHz / 555.25 Hz | Δ 153.23% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 26.67 ms | ∇ -30.48% | 53.94 Hz / 37.50 Hz | Δ 43.85% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 22.83 ms | ∇ -57.27% | 102.51 Hz / 43.80 Hz | Δ 134.05% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 307.16 ms | ∇ -17.77% | 3.96 Hz / 3.26 Hz | Δ 21.61% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 266.80 ms | ∇ -57.93% | 8.91 Hz / 3.75 Hz | Δ 137.71% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 302.10 ms | ∇ -15.25% | 3.91 Hz / 3.31 Hz | Δ 18.00% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 262.78 ms | ∇ -59.60% | 9.42 Hz / 3.81 Hz | Δ 147.53% |