Test description | 0.9.3-MSVC9-32bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 26.54 ms | Δ 18.89% | 31.69 Hz / 37.68 Hz | ∇ -15.89% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 32.17 ms | Δ 67.68% | 18.54 Hz / 31.08 Hz | ∇ -40.36% |
poses: CPose3D (+) CPose3D | 194.14 ns / 62.83 ns | Δ 209.00% | 5.15 MHz / 15.92 MHz | ∇ -67.64% |
poses: CPose3D.composeFrom() | 34.65 ns / 41.42 ns | ∇ -16.34% | 28.86 MHz / 24.14 MHz | Δ 19.53% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 18.89 ns | Δ 51.76% | 34.88 MHz / 52.94 MHz | ∇ -34.11% |
poses: CPose3D.composePoint() | 18.49 ns / 17.17 ns | Δ 7.67% | 54.08 MHz / 58.23 MHz | ∇ -7.12% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 88.79 ns | Δ 5.74% | 10.65 MHz / 11.26 MHz | ∇ -5.43% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 44.00 ns | Δ 0.88% | 22.53 MHz / 22.73 MHz | ∇ -0.88% |
poses: CPose2D (+) CPose2D | 103.92 ns / 72.08 ns | Δ 44.17% | 9.62 MHz / 13.87 MHz | ∇ -30.64% |
poses: CPose2D.composeFrom() | 91.82 ns / 63.27 ns | Δ 45.13% | 10.89 MHz / 15.81 MHz | ∇ -31.09% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 34.42 ns | Δ 307.82% | 7.12 MHz / 29.05 MHz | ∇ -75.48% |
poses: CPose2D.composePoint() | 66.26 ns / 26.02 ns | Δ 154.62% | 15.09 MHz / 38.43 MHz | ∇ -60.73% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 113.59 ns | ∇ -17.82% | 10.71 MHz / 8.80 MHz | Δ 21.68% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 82.72 ns | ∇ -26.83% | 16.52 MHz / 12.09 MHz | Δ 36.67% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 41.33 ns | Δ 182.42% | 8.57 MHz / 24.20 MHz | ∇ -64.59% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 31.13 ns | ∇ -0.35% | 32.23 MHz / 32.12 MHz | Δ 0.35% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 113.89 ns | Δ 11.32% | 7.89 MHz / 8.78 MHz | ∇ -10.17% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 33.95 ns | ∇ -9.03% | 32.38 MHz / 29.46 MHz | Δ 9.93% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 26.44 ns | Δ 26.37% | 29.93 MHz / 37.82 MHz | ∇ -20.86% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 97.31 ns | Δ 117.17% | 4.73 MHz / 10.28 MHz | ∇ -53.95% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 948.85 ns | Δ 1950.11% | 51.41 KHz / 1.05 MHz | ∇ -95.12% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 938.66 ns | Δ 212.37% | 341.05 KHz / 1.07 MHz | ∇ -67.99% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 21.21 us | Δ 63.31% | 28.87 KHz / 47.15 KHz | ∇ -38.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 532.44 ns | Δ 61.57% | 1.16 MHz / 1.88 MHz | ∇ -38.11% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 528.23 ns | Δ 66.64% | 1.14 MHz / 1.89 MHz | ∇ -39.99% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 11.19 us | Δ 94.45% | 45.95 KHz / 89.35 KHz | ∇ -48.57% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 45.20 ns | ∇ -0.46% | 22.23 MHz / 22.13 MHz | Δ 0.46% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 45.86 ns | ∇ -1.51% | 22.14 MHz / 21.81 MHz | Δ 1.54% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 177.43 ns | ∇ -9.35% | 6.22 MHz / 5.64 MHz | Δ 10.32% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 169.52 ns | ∇ -5.04% | 6.21 MHz / 5.90 MHz | Δ 5.31% |
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 / 6.37 ns | Δ 5.77% | 148.49 MHz / 157.06 MHz | ∇ -5.45% |
matrix: unit, fix[double,6,6] | 7.86 ns / 7.86 ns | ∇ -0.05% | 127.26 MHz / 127.19 MHz | Δ 0.05% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 485.93 ns | Δ 13.35% | 1.82 MHz / 2.06 MHz | ∇ -11.77% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.05 ns | ∇ -0.00% | 22.08 GHz / 22.08 GHz | Δ 0.00% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 528.41 ns | ∇ -18.06% | 2.31 MHz / 1.89 MHz | Δ 22.04% |
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 / 547.16 ns | Δ 20.72% | 1.51 MHz / 1.83 MHz | ∇ -17.16% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 2.36 ns | Δ 1551.92% | 25.70 MHz / 424.60 MHz | ∇ -93.95% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 391.50 ns | Δ 21.24% | 2.11 MHz / 2.55 MHz | ∇ -17.52% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 2.36 ns | Δ 271.15% | 114.40 MHz / 424.60 MHz | ∇ -73.06% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 2.74 us | Δ 70.66% | 213.59 KHz / 364.51 KHz | ∇ -41.40% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 2.08 us | Δ 112.15% | 226.20 KHz / 479.89 KHz | ∇ -52.86% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 3.47 us | ∇ -6.60% | 308.92 KHz / 288.55 KHz | Δ 7.06% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 2.38 us | ∇ -0.76% | 422.77 KHz / 419.56 KHz | Δ 0.76% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 1.09 us | Δ 37.00% | 672.33 KHz / 921.12 KHz | ∇ -27.01% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 22.19 ns | Δ 44.90% | 31.10 MHz / 45.06 MHz | ∇ -30.99% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 2.78 us | Δ 25.70% | 286.11 KHz / 359.66 KHz | ∇ -20.45% |
matrix: inv, fix[double] 6x6 | 2.72 us / 2.22 us | Δ 22.27% | 368.24 KHz / 450.23 KHz | ∇ -18.21% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 30.71 us | Δ 3.78% | 31.37 KHz / 32.56 KHz | ∇ -3.64% |
matrix: inv, fix[double] 20x20 | 28.91 us / 24.08 us | Δ 20.09% | 34.58 KHz / 41.53 KHz | ∇ -16.73% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 117.18 us | Δ 6.01% | 8.05 KHz / 8.53 KHz | ∇ -5.67% |
matrix: inv, fix[double] 40x40 | 122.24 us / 112.80 us | Δ 8.37% | 8.18 KHz / 8.86 KHz | ∇ -7.72% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 765.51 ns | ∇ -15.40% | 1.54 MHz / 1.31 MHz | Δ 18.20% |
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 / 822.31 ns | Δ 17.91% | 1.03 MHz / 1.22 MHz | ∇ -15.19% |
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 / 1.78 us | Δ 37.55% | 407.46 KHz / 560.47 KHz | ∇ -27.30% |
matrix: det, fix[double] 6x6 | 1.89 us / 1.51 us | Δ 24.79% | 529.99 KHz / 661.35 KHz | ∇ -19.86% |
matrix: det, dyn[double] 20x20 | 22.48 us / 18.54 us | Δ 21.24% | 44.49 KHz / 53.94 KHz | ∇ -17.52% |
matrix: det, fix[double] 20x20 | 21.45 us / 19.01 us | Δ 12.82% | 46.63 KHz / 52.61 KHz | ∇ -11.36% |
matrix: det, dyn[double] 40x40 | 80.28 us / 72.40 us | Δ 10.88% | 12.46 KHz / 13.81 KHz | ∇ -9.82% |
matrix: det, fix[double] 40x40 | 79.04 us / 67.43 us | Δ 17.22% | 12.65 KHz / 14.83 KHz | ∇ -14.69% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 606.90 ns | Δ 79.85% | 916.16 KHz / 1.65 MHz | ∇ -44.40% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 190.22 ns | Δ 66.67% | 3.15 MHz / 5.26 MHz | ∇ -40.00% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 31.59 us | Δ 139.78% | 13.20 KHz / 31.66 KHz | ∇ -58.29% |
matrix: chol, fix[double] 40x40 | 55.31 us / 20.87 us | Δ 165.07% | 18.08 KHz / 47.93 KHz | ∇ -62.27% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 7.11 us | Δ 137.58% | 59.19 KHz / 140.63 KHz | ∇ -57.91% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 94.75 us | Δ 160.99% | 4.04 KHz / 10.55 KHz | ∇ -61.68% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 75.59 us | Δ 139.12% | 5.53 KHz / 13.23 KHz | ∇ -58.18% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 43.20 us | Δ 112.69% | 10.88 KHz / 23.15 KHz | ∇ -52.98% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 453.46 us | Δ 68.88% | 1.31 KHz / 2.21 KHz | ∇ -40.79% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 74.00 us | Δ 57.49% | 8.58 KHz / 13.51 KHz | ∇ -36.51% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 3.54 ms | Δ 15.09% | 245.20 Hz / 282.19 Hz | ∇ -13.11% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 178.69 us | Δ 16.10% | 4.82 KHz / 5.60 KHz | ∇ -13.87% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 22.29 ms | Δ 9.64% | 40.93 Hz / 44.87 Hz | ∇ -8.79% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 359.36 us | Δ 12.25% | 2.48 KHz / 2.78 KHz | ∇ -10.92% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 36.29 ms | Δ 10.79% | 24.87 Hz / 27.56 Hz | ∇ -9.74% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 411.86 us | Δ 16.50% | 2.08 KHz / 2.43 KHz | ∇ -14.16% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 54.34 ms | Δ 10.31% | 16.68 Hz / 18.40 Hz | ∇ -9.35% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 488.10 us | Δ 14.75% | 1.79 KHz / 2.05 KHz | ∇ -12.85% |
gridmap2D: getCell | 5.69 ns / 4.13 ns | Δ 37.75% | 175.73 MHz / 242.07 MHz | ∇ -27.41% |
gridmap2D: setCell | 8.06 ns / 5.65 ns | Δ 42.78% | 124.07 MHz / 177.14 MHz | ∇ -29.96% |
gridmap2D: updateCell | 61.98 ns / 6.93 ns | Δ 794.65% | 16.13 MHz / 144.35 MHz | ∇ -88.82% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 1.20 ns | Δ 4.33% | 798.82 MHz / 833.40 MHz | ∇ -4.15% |
gridmap2D: insert scan w/o widening | 208.84 us / 102.16 us | Δ 104.43% | 4.79 KHz / 9.79 KHz | ∇ -51.08% |
gridmap2D: insert scan with widening | 346.08 us / 276.88 us | Δ 24.99% | 2.89 KHz / 3.61 KHz | ∇ -20.00% |
gridmap2D: resize | 2.81 ms / 3.89 ms | ∇ -27.71% | 355.60 Hz / 257.06 Hz | Δ 38.33% |
gridmap2D: computeLikelihood | 18.33 us / 13.92 us | Δ 31.65% | 54.57 KHz / 71.84 KHz | ∇ -24.04% |
pointmap: insert 100 scans | 6.61 ms / 1.87 ms | Δ 253.03% | 151.33 Hz / 534.24 Hz | ∇ -71.67% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 5.09 us | Δ 18.50% | 165.76 KHz / 196.43 KHz | ∇ -15.62% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 486.39 us | Δ 10.20% | 1.87 KHz / 2.06 KHz | ∇ -9.26% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 5.10 ms | Δ 10.74% | 177.17 Hz / 196.20 Hz | ∇ -9.70% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 5.56 us | Δ 38.44% | 129.88 KHz / 179.80 KHz | ∇ -27.76% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 467.24 us | Δ 13.13% | 1.89 KHz / 2.14 KHz | ∇ -11.61% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 5.18 ms | Δ 12.12% | 172.12 Hz / 192.98 Hz | ∇ -10.81% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.59 us | Δ 33.75% | 468.98 KHz / 627.25 KHz | ∇ -25.23% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 126.68 us | Δ 15.01% | 6.86 KHz / 7.89 KHz | ∇ -13.05% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 13.86 ms | Δ 11.73% | 64.56 Hz / 72.14 Hz | ∇ -10.50% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 6.54 ms | Δ 36.53% | 111.93 Hz / 152.81 Hz | ∇ -26.76% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 174.77 ms | Δ 14.47% | 5.00 Hz / 5.72 Hz | ∇ -12.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 6.88 ms | Δ 30.38% | 111.43 Hz / 145.28 Hz | ∇ -23.30% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 181.38 ms | Δ 10.94% | 4.97 Hz / 5.51 Hz | ∇ -9.86% |
random: drawUniform32bit | 7.76 ns / 9.54 ns | ∇ -18.66% | 128.93 MHz / 104.87 MHz | Δ 22.94% |
random: drawUniform | 7.61 ns / 9.69 ns | ∇ -21.46% | 131.41 MHz / 103.21 MHz | Δ 27.32% |
random: drawGaussian1D_normalized | 51.84 ns / 52.06 ns | ∇ -0.44% | 19.29 MHz / 19.21 MHz | Δ 0.44% |
random: drawGaussian1D | 52.02 ns / 50.73 ns | Δ 2.54% | 19.22 MHz / 19.71 MHz | ∇ -2.48% |
random: system rand() | 27.43 ns / 24.47 ns | Δ 12.10% | 36.46 MHz / 40.87 MHz | ∇ -10.80% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 1.24 us | Δ 299.84% | 201.38 KHz / 805.20 KHz | ∇ -74.99% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 3.19 us | Δ 234.93% | 93.66 KHz / 313.70 KHz | ∇ -70.14% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 130.03 ns | Δ 18.15% | 6.51 MHz / 7.69 MHz | ∇ -15.36% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 198.35 ns | Δ 26.07% | 4.00 MHz / 5.04 MHz | ∇ -20.68% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 451.66 ns | Δ 47.15% | 1.50 MHz / 2.21 MHz | ∇ -32.04% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 136.92 ns | Δ 11.90% | 6.53 MHz / 7.30 MHz | ∇ -10.64% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 213.52 ns | Δ 18.68% | 3.95 MHz / 4.68 MHz | ∇ -15.74% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 478.55 ns | Δ 30.18% | 1.61 MHz / 2.09 MHz | ∇ -23.18% |
random: permuteVector (len=10) | 342.58 ns / 244.07 ns | Δ 40.36% | 2.92 MHz / 4.10 MHz | ∇ -28.75% |
random: permuteVector (len=100) | 3.62 us / 3.12 us | Δ 15.76% | 276.54 KHz / 320.11 KHz | ∇ -13.61% |
random: permuteVector (len=1000) | 35.68 us / 30.82 us | Δ 15.76% | 28.03 KHz / 32.44 KHz | ∇ -13.61% |
math: round | 0.00 ns / 0.00 ns | ∇ -0.00% | 220.79 THz / 220.79 THz | Δ 0.00% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 29.87 ms | ∇ -5.98% | 35.61 Hz / 33.48 Hz | Δ 6.36% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 42.98 ms | ∇ -0.44% | 23.37 Hz / 23.26 Hz | Δ 0.44% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 69.03 ms | Δ 0.16% | 14.46 Hz / 14.49 Hz | ∇ -0.16% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 22.86 ms | Δ 3.95% | 42.09 Hz / 43.75 Hz | ∇ -3.80% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 35.20 ms | Δ 5.81% | 26.85 Hz / 28.41 Hz | ∇ -5.49% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 57.29 ms | Δ 4.48% | 16.71 Hz / 17.45 Hz | ∇ -4.28% |
images: Gauss filter (640x480) | 7.21 ms / 4.45 ms | Δ 61.95% | 138.75 Hz / 224.70 Hz | ∇ -38.25% |
images: Gauss filter (800x600) | 8.67 ms / 8.06 ms | Δ 7.66% | 115.32 Hz / 124.15 Hz | ∇ -7.11% |
images: Gauss filter (1024x768) | 14.94 ms / 13.86 ms | Δ 7.81% | 66.93 Hz / 72.16 Hz | ∇ -7.25% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 17.29 us | Δ 46.11% | 39.59 KHz / 57.84 KHz | ∇ -31.56% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 16.49 us | Δ 47.33% | 41.17 KHz / 60.66 KHz | ∇ -32.13% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 9.72 us | Δ 42.17% | 72.37 KHz / 102.89 KHz | ∇ -29.66% |
feature_extraction [640x480]: Harris | 53.60 ms / 31.46 ms | Δ 70.38% | 18.66 Hz / 31.79 Hz | ∇ -41.31% |
feature_extraction [640x480]: KLT | 32.67 ms / 30.94 ms | Δ 5.57% | 30.61 Hz / 32.32 Hz | ∇ -5.28% |
feature_extraction [640x480]: SIFT | 724.51 ms / 653.53 ms | Δ 10.86% | 1.38 Hz / 1.53 Hz | ∇ -9.80% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 210.38 ms | Δ 3.30% | 4.60 Hz / 4.75 Hz | ∇ -3.20% |
feature_extraction [640x480]: SURF | 320.21 ms / 243.66 ms | Δ 31.42% | 3.12 Hz / 4.10 Hz | ∇ -23.91% |
feature_extraction [640x480]: FAST | 9.58 ms / 6.32 ms | Δ 51.57% | 104.37 Hz / 158.19 Hz | ∇ -34.02% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 45.12 ms | Δ 146.37% | 9.00 Hz / 22.16 Hz | ∇ -59.41% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 46.60 ms | Δ 38.96% | 15.44 Hz / 21.46 Hz | ∇ -28.03% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 40.89 ms | Δ 23.40% | 19.82 Hz / 24.46 Hz | ∇ -18.96% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.28 sec | Δ 6.31% | 732.49 mHz / 778.73 mHz | ∇ -5.94% |
feature_matching [640x480]: SURF | 602.11 ms / 502.54 ms | Δ 19.81% | 1.66 Hz / 1.99 Hz | ∇ -16.54% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 19.71 ms | Δ 19.49% | 42.46 Hz / 50.74 Hz | ∇ -16.31% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 13.01 ms | Δ 20.72% | 63.67 Hz / 76.86 Hz | ∇ -17.16% |
graph(2d): insertEdge x 1e3 | 300.22 us / 236.53 us | Δ 26.93% | 3.33 KHz / 4.23 KHz | ∇ -21.21% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 246.73 us | Δ 21.97% | 3.32 KHz / 4.05 KHz | ∇ -18.01% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 218.81 us | Δ 12.06% | 4.08 KHz / 4.57 KHz | ∇ -10.76% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 209.21 us | Δ 20.84% | 3.96 KHz / 4.78 KHz | ∇ -17.25% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 329.87 us | Δ 62.98% | 1.86 KHz / 3.03 KHz | ∇ -38.64% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 303.60 us | Δ 50.34% | 2.19 KHz / 3.29 KHz | ∇ -33.49% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 280.10 us | Δ 43.23% | 2.49 KHz / 3.57 KHz | ∇ -30.18% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 284.27 us | Δ 38.61% | 2.54 KHz / 3.52 KHz | ∇ -27.85% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 2.72 ms | Δ 34.05% | 273.78 Hz / 367.00 Hz | ∇ -25.40% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 2.73 ms | Δ 35.50% | 270.61 Hz / 366.67 Hz | ∇ -26.20% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 1.95 ms | Δ 28.40% | 399.01 Hz / 512.34 Hz | ∇ -22.12% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 1.92 ms | Δ 32.50% | 392.34 Hz / 519.87 Hz | ∇ -24.53% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 3.21 ms | Δ 49.87% | 207.97 Hz / 311.68 Hz | ∇ -33.27% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 3.24 ms | Δ 50.03% | 205.85 Hz / 308.83 Hz | ∇ -33.35% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 3.23 ms | Δ 24.85% | 248.25 Hz / 309.95 Hz | ∇ -19.91% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 3.17 ms | Δ 25.95% | 250.07 Hz / 314.97 Hz | ∇ -20.61% |
graph(3d): insertEdge x 1e3 | 338.14 us / 274.22 us | Δ 23.31% | 2.96 KHz / 3.65 KHz | ∇ -18.90% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 264.66 us | Δ 25.46% | 3.01 KHz / 3.78 KHz | ∇ -20.29% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 263.97 us | Δ 14.56% | 3.31 KHz / 3.79 KHz | ∇ -12.71% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 267.33 us | Δ 15.83% | 3.23 KHz / 3.74 KHz | ∇ -13.67% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 589.01 us | Δ 13.53% | 1.50 KHz / 1.70 KHz | ∇ -11.92% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 596.64 us | Δ 12.79% | 1.49 KHz / 1.68 KHz | ∇ -11.34% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 562.97 us | Δ 18.73% | 1.50 KHz / 1.78 KHz | ∇ -15.78% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 559.03 us | Δ 21.03% | 1.48 KHz / 1.79 KHz | ∇ -17.38% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 3.23 ms | Δ 11.40% | 277.54 Hz / 309.17 Hz | ∇ -10.23% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 3.13 ms | Δ 15.53% | 276.39 Hz / 319.30 Hz | ∇ -13.44% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 2.62 ms | Δ 16.01% | 328.99 Hz / 381.66 Hz | ∇ -13.80% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 2.55 ms | Δ 18.67% | 330.96 Hz / 392.76 Hz | ∇ -15.74% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 6.11 ms | Δ 15.99% | 141.02 Hz / 163.57 Hz | ∇ -13.78% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 5.61 ms | Δ 26.29% | 141.24 Hz / 178.36 Hz | ∇ -20.81% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 5.21 ms | Δ 28.56% | 149.36 Hz / 192.01 Hz | ∇ -22.21% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 5.18 ms | Δ 32.71% | 145.34 Hz / 192.88 Hz | ∇ -24.65% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 156.43 us | Δ 78.45% | 3.58 KHz / 6.39 KHz | ∇ -43.96% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 192.33 us | Δ 117.25% | 2.39 KHz / 5.20 KHz | ∇ -53.97% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 2.18 ms | Δ 44.17% | 318.46 Hz / 459.11 Hz | ∇ -30.64% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 1.80 ms | Δ 104.56% | 271.44 Hz / 555.25 Hz | ∇ -51.11% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 26.67 ms | Δ 39.09% | 26.96 Hz / 37.50 Hz | ∇ -28.10% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 22.83 ms | Δ 86.78% | 23.45 Hz / 43.80 Hz | ∇ -46.46% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 307.16 ms | Δ 41.21% | 2.31 Hz / 3.26 Hz | ∇ -29.18% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 266.80 ms | Δ 76.48% | 2.12 Hz / 3.75 Hz | ∇ -43.34% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 302.10 ms | Δ 41.73% | 2.34 Hz / 3.31 Hz | ∇ -29.44% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 262.78 ms | Δ 77.06% | 2.15 Hz / 3.81 Hz | ∇ -43.52% |