Test description | 0.9.3-MSVC9-32bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 37.14 ms | ∇ -15.03% | 31.69 Hz / 26.93 Hz | Δ 17.68% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 36.34 ms | Δ 48.46% | 18.54 Hz / 27.52 Hz | ∇ -32.64% |
poses: CPose3D (+) CPose3D | 194.14 ns / 197.08 ns | ∇ -1.49% | 5.15 MHz / 5.07 MHz | Δ 1.51% |
poses: CPose3D.composeFrom() | 34.65 ns / 33.62 ns | Δ 3.06% | 28.86 MHz / 29.74 MHz | ∇ -2.97% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 25.13 ns | Δ 14.05% | 34.88 MHz / 39.79 MHz | ∇ -12.32% |
poses: CPose3D.composePoint() | 18.49 ns / 21.31 ns | ∇ -13.21% | 54.08 MHz / 46.94 MHz | Δ 15.22% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 89.96 ns | Δ 4.36% | 10.65 MHz / 11.12 MHz | ∇ -4.18% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 47.25 ns | ∇ -6.05% | 22.53 MHz / 21.17 MHz | Δ 6.44% |
poses: CPose2D (+) CPose2D | 103.92 ns / 108.63 ns | ∇ -4.33% | 9.62 MHz / 9.21 MHz | Δ 4.53% |
poses: CPose2D.composeFrom() | 91.82 ns / 94.77 ns | ∇ -3.12% | 10.89 MHz / 10.55 MHz | Δ 3.22% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 80.61 ns | Δ 74.13% | 7.12 MHz / 12.41 MHz | ∇ -42.57% |
poses: CPose2D.composePoint() | 66.26 ns / 67.32 ns | ∇ -1.58% | 15.09 MHz / 14.85 MHz | Δ 1.60% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 81.31 ns | Δ 14.82% | 10.71 MHz / 12.30 MHz | ∇ -12.90% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 51.56 ns | Δ 17.37% | 16.52 MHz / 19.39 MHz | ∇ -14.80% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 55.91 ns | Δ 108.75% | 8.57 MHz / 17.89 MHz | ∇ -52.10% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 32.73 ns | ∇ -5.22% | 32.23 MHz / 30.55 MHz | Δ 5.50% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 124.02 ns | Δ 2.23% | 7.89 MHz / 8.06 MHz | ∇ -2.18% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 30.61 ns | Δ 0.90% | 32.38 MHz / 32.67 MHz | ∇ -0.89% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 28.12 ns | Δ 18.83% | 29.93 MHz / 35.56 MHz | ∇ -15.84% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 216.84 ns | ∇ -2.54% | 4.73 MHz / 4.61 MHz | Δ 2.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 1.24 us | Δ 1468.66% | 51.41 KHz / 806.40 KHz | ∇ -93.63% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 1.20 us | Δ 144.99% | 341.05 KHz / 835.55 KHz | ∇ -59.18% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 20.15 us | Δ 71.89% | 28.87 KHz / 49.63 KHz | ∇ -41.82% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 817.60 ns | Δ 5.22% | 1.16 MHz / 1.22 MHz | ∇ -4.96% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 823.40 ns | Δ 6.90% | 1.14 MHz / 1.21 MHz | ∇ -6.46% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 19.09 us | Δ 14.01% | 45.95 KHz / 52.39 KHz | ∇ -12.29% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 49.67 ns | ∇ -9.42% | 22.23 MHz / 20.13 MHz | Δ 10.40% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 50.90 ns | ∇ -11.28% | 22.14 MHz / 19.64 MHz | Δ 12.71% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 180.98 ns | ∇ -11.13% | 6.22 MHz / 5.53 MHz | Δ 12.52% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 177.90 ns | ∇ -9.52% | 6.21 MHz / 5.62 MHz | Δ 10.52% |
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 / 6.63 ns | Δ 1.56% | 148.49 MHz / 150.81 MHz | ∇ -1.54% |
matrix: unit, fix[double,6,6] | 7.86 ns / 8.86 ns | ∇ -11.27% | 127.26 MHz / 112.91 MHz | Δ 12.70% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 680.28 ns | ∇ -19.03% | 1.82 MHz / 1.47 MHz | Δ 23.51% |
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 / 458.35 ns | ∇ -5.53% | 2.31 MHz / 2.18 MHz | Δ 5.86% |
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 / 680.46 ns | ∇ -2.93% | 1.51 MHz / 1.47 MHz | Δ 3.02% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 35.28 ns | Δ 10.27% | 25.70 MHz / 28.34 MHz | ∇ -9.31% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 514.01 ns | ∇ -7.66% | 2.11 MHz / 1.95 MHz | Δ 8.29% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 3.40 ns | Δ 157.33% | 114.40 MHz / 294.39 MHz | ∇ -61.14% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 5.18 us | ∇ -9.61% | 213.59 KHz / 193.06 KHz | Δ 10.63% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 4.56 us | ∇ -2.99% | 226.20 KHz / 219.44 KHz | Δ 3.08% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 3.79 us | ∇ -14.61% | 308.92 KHz / 263.78 KHz | Δ 17.11% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 2.92 us | ∇ -19.09% | 422.77 KHz / 342.06 KHz | Δ 23.59% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 1.50 us | ∇ -1.03% | 672.33 KHz / 665.44 KHz | Δ 1.04% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 9.51 ns | Δ 238.09% | 31.10 MHz / 105.14 MHz | ∇ -70.42% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 3.90 us | ∇ -10.47% | 286.11 KHz / 256.17 KHz | Δ 11.69% |
matrix: inv, fix[double] 6x6 | 2.72 us / 3.54 us | ∇ -23.29% | 368.24 KHz / 282.49 KHz | Δ 30.35% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 34.19 us | ∇ -6.78% | 31.37 KHz / 29.25 KHz | Δ 7.27% |
matrix: inv, fix[double] 20x20 | 28.91 us / 29.35 us | ∇ -1.49% | 34.58 KHz / 34.07 KHz | Δ 1.51% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 134.24 us | ∇ -7.46% | 8.05 KHz / 7.45 KHz | Δ 8.07% |
matrix: inv, fix[double] 40x40 | 122.24 us / 126.45 us | ∇ -3.33% | 8.18 KHz / 7.91 KHz | Δ 3.44% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 601.74 ns | Δ 7.62% | 1.54 MHz / 1.66 MHz | ∇ -7.08% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: det, dyn[double] 3x3 | 969.59 ns / 872.81 ns | Δ 11.09% | 1.03 MHz / 1.15 MHz | ∇ -9.98% |
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 / 2.32 us | Δ 5.60% | 407.46 KHz / 430.29 KHz | ∇ -5.31% |
matrix: det, fix[double] 6x6 | 1.89 us / 2.17 us | ∇ -13.09% | 529.99 KHz / 460.60 KHz | Δ 15.07% |
matrix: det, dyn[double] 20x20 | 22.48 us / 23.14 us | ∇ -2.85% | 44.49 KHz / 43.22 KHz | Δ 2.94% |
matrix: det, fix[double] 20x20 | 21.45 us / 21.38 us | Δ 0.32% | 46.63 KHz / 46.78 KHz | ∇ -0.32% |
matrix: det, dyn[double] 40x40 | 80.28 us / 92.83 us | ∇ -13.53% | 12.46 KHz / 10.77 KHz | Δ 15.64% |
matrix: det, fix[double] 40x40 | 79.04 us / 90.97 us | ∇ -13.11% | 12.65 KHz / 10.99 KHz | Δ 15.09% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 892.24 ns | Δ 22.33% | 916.16 KHz / 1.12 MHz | ∇ -18.26% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 249.10 ns | Δ 27.27% | 3.15 MHz / 4.01 MHz | ∇ -21.43% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 41.12 us | Δ 84.16% | 13.20 KHz / 24.32 KHz | ∇ -45.70% |
matrix: chol, fix[double] 40x40 | 55.31 us / 26.92 us | Δ 105.48% | 18.08 KHz / 37.15 KHz | ∇ -51.33% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 15.31 us | Δ 10.35% | 59.19 KHz / 65.32 KHz | ∇ -9.38% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 116.85 us | Δ 111.63% | 4.04 KHz / 8.56 KHz | ∇ -52.75% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 98.96 us | Δ 82.65% | 5.53 KHz / 10.10 KHz | ∇ -45.25% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 55.18 us | Δ 66.53% | 10.88 KHz / 18.12 KHz | ∇ -39.95% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 498.07 us | Δ 53.75% | 1.31 KHz / 2.01 KHz | ∇ -34.96% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 133.40 us | ∇ -12.63% | 8.58 KHz / 7.50 KHz | Δ 14.46% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 4.99 ms | ∇ -18.31% | 245.20 Hz / 200.30 Hz | Δ 22.42% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 243.96 us | ∇ -14.96% | 4.82 KHz / 4.10 KHz | Δ 17.59% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 30.03 ms | ∇ -18.62% | 40.93 Hz / 33.31 Hz | Δ 22.88% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 486.08 us | ∇ -17.01% | 2.48 KHz / 2.06 KHz | Δ 20.50% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 51.94 ms | ∇ -22.61% | 24.87 Hz / 19.25 Hz | Δ 29.21% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 583.78 us | ∇ -17.81% | 2.08 KHz / 1.71 KHz | Δ 21.66% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 76.91 ms | ∇ -22.05% | 16.68 Hz / 13.00 Hz | Δ 28.29% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 649.31 us | ∇ -13.74% | 1.79 KHz / 1.54 KHz | Δ 15.93% |
gridmap2D: getCell | 5.69 ns / 6.44 ns | ∇ -11.65% | 175.73 MHz / 155.25 MHz | Δ 13.19% |
gridmap2D: setCell | 8.06 ns / 9.52 ns | ∇ -15.37% | 124.07 MHz / 105.00 MHz | Δ 18.16% |
gridmap2D: updateCell | 61.98 ns / 9.85 ns | Δ 529.38% | 16.13 MHz / 101.55 MHz | ∇ -84.11% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 1.47 ns | ∇ -14.95% | 798.82 MHz / 679.40 MHz | Δ 17.58% |
gridmap2D: insert scan w/o widening | 208.84 us / 225.20 us | ∇ -7.26% | 4.79 KHz / 4.44 KHz | Δ 7.83% |
gridmap2D: insert scan with widening | 346.08 us / 365.80 us | ∇ -5.39% | 2.89 KHz / 2.73 KHz | Δ 5.70% |
gridmap2D: resize | 2.81 ms / 2.56 ms | Δ 9.66% | 355.60 Hz / 389.96 Hz | ∇ -8.81% |
gridmap2D: computeLikelihood | 18.33 us / 21.14 us | ∇ -13.32% | 54.57 KHz / 47.30 KHz | Δ 15.37% |
pointmap: insert 100 scans | 6.61 ms / 3.27 ms | Δ 102.04% | 151.33 Hz / 305.75 Hz | ∇ -50.50% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.03 us | ∇ -0.00% | 165.76 KHz / 165.76 KHz | Δ 0.00% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 579.42 us | ∇ -7.49% | 1.87 KHz / 1.73 KHz | Δ 8.10% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 6.14 ms | ∇ -8.07% | 177.17 Hz / 162.87 Hz | Δ 8.78% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 6.68 us | Δ 15.18% | 129.88 KHz / 149.59 KHz | ∇ -13.18% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 519.96 us | Δ 1.66% | 1.89 KHz / 1.92 KHz | ∇ -1.63% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 6.64 ms | ∇ -12.46% | 172.12 Hz / 150.68 Hz | Δ 14.23% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.95 us | Δ 9.08% | 468.98 KHz / 511.57 KHz | ∇ -8.33% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 167.14 us | ∇ -12.83% | 6.86 KHz / 5.98 KHz | Δ 14.72% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 17.45 ms | ∇ -11.26% | 64.56 Hz / 57.30 Hz | Δ 12.69% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 9.11 ms | ∇ -1.95% | 111.93 Hz / 109.75 Hz | Δ 1.99% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 210.71 ms | ∇ -5.06% | 5.00 Hz / 4.75 Hz | Δ 5.33% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 8.38 ms | Δ 7.13% | 111.43 Hz / 119.37 Hz | ∇ -6.65% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 198.71 ms | Δ 1.26% | 4.97 Hz / 5.03 Hz | ∇ -1.24% |
random: drawUniform32bit | 7.76 ns / 7.57 ns | Δ 2.46% | 128.93 MHz / 132.11 MHz | ∇ -2.40% |
random: drawUniform | 7.61 ns / 7.60 ns | Δ 0.10% | 131.41 MHz / 131.54 MHz | ∇ -0.10% |
random: drawGaussian1D_normalized | 51.84 ns / 58.48 ns | ∇ -11.36% | 19.29 MHz / 17.10 MHz | Δ 12.81% |
random: drawGaussian1D | 52.02 ns / 57.62 ns | ∇ -9.72% | 19.22 MHz / 17.35 MHz | Δ 10.77% |
random: system rand() | 27.43 ns / 29.43 ns | ∇ -6.79% | 36.46 MHz / 33.98 MHz | Δ 7.28% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 2.95 us | Δ 68.44% | 201.38 KHz / 339.21 KHz | ∇ -40.63% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 3.53 us | Δ 202.08% | 93.66 KHz / 282.92 KHz | ∇ -66.90% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 145.71 ns | Δ 5.43% | 6.51 MHz / 6.86 MHz | ∇ -5.15% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 227.37 ns | Δ 9.99% | 4.00 MHz / 4.40 MHz | ∇ -9.08% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 514.56 ns | Δ 29.16% | 1.50 MHz / 1.94 MHz | ∇ -22.58% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 170.42 ns | ∇ -10.09% | 6.53 MHz / 5.87 MHz | Δ 11.22% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 283.60 ns | ∇ -10.65% | 3.95 MHz / 3.53 MHz | Δ 11.92% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 661.22 ns | ∇ -5.79% | 1.61 MHz / 1.51 MHz | Δ 6.14% |
random: permuteVector (len=10) | 342.58 ns / 304.45 ns | Δ 12.53% | 2.92 MHz / 3.28 MHz | ∇ -11.13% |
random: permuteVector (len=100) | 3.62 us / 3.47 us | Δ 4.30% | 276.54 KHz / 288.42 KHz | ∇ -4.12% |
random: permuteVector (len=1000) | 35.68 us / 37.99 us | ∇ -6.06% | 28.03 KHz / 26.33 KHz | Δ 6.46% |
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 / 33.06 ms | ∇ -15.05% | 35.61 Hz / 30.25 Hz | Δ 17.72% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 50.64 ms | ∇ -15.48% | 23.37 Hz / 19.75 Hz | Δ 18.32% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 82.66 ms | ∇ -16.36% | 14.46 Hz / 12.10 Hz | Δ 19.56% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 27.36 ms | ∇ -13.15% | 42.09 Hz / 36.56 Hz | Δ 15.14% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 43.25 ms | ∇ -13.88% | 26.85 Hz / 23.12 Hz | Δ 16.12% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 66.55 ms | ∇ -10.06% | 16.71 Hz / 15.03 Hz | Δ 11.19% |
images: Gauss filter (640x480) | 7.21 ms / 5.57 ms | Δ 29.36% | 138.75 Hz / 179.49 Hz | ∇ -22.70% |
images: Gauss filter (800x600) | 8.67 ms / 8.84 ms | ∇ -1.92% | 115.32 Hz / 113.10 Hz | Δ 1.96% |
images: Gauss filter (1024x768) | 14.94 ms / 14.37 ms | Δ 3.95% | 66.93 Hz / 69.58 Hz | ∇ -3.80% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 21.97 us | Δ 14.99% | 39.59 KHz / 45.52 KHz | ∇ -13.04% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 22.01 us | Δ 10.37% | 41.17 KHz / 45.44 KHz | ∇ -9.40% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 12.71 us | Δ 8.73% | 72.37 KHz / 78.69 KHz | ∇ -8.03% |
feature_extraction [640x480]: Harris | 53.60 ms / 38.32 ms | Δ 39.89% | 18.66 Hz / 26.10 Hz | ∇ -28.51% |
feature_extraction [640x480]: KLT | 32.67 ms / 37.22 ms | ∇ -12.22% | 30.61 Hz / 26.87 Hz | Δ 13.92% |
feature_extraction [640x480]: SIFT | 724.51 ms / 739.68 ms | ∇ -2.05% | 1.38 Hz / 1.35 Hz | Δ 2.09% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 232.95 ms | ∇ -6.70% | 4.60 Hz / 4.29 Hz | Δ 7.19% |
feature_extraction [640x480]: SURF | 320.21 ms / 309.97 ms | Δ 3.30% | 3.12 Hz / 3.23 Hz | ∇ -3.20% |
feature_extraction [640x480]: FAST | 9.58 ms / 6.88 ms | Δ 39.16% | 104.37 Hz / 145.25 Hz | ∇ -28.14% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 88.28 ms | Δ 25.91% | 9.00 Hz / 11.33 Hz | ∇ -20.58% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 59.68 ms | Δ 8.49% | 15.44 Hz / 16.76 Hz | ∇ -7.82% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 58.57 ms | ∇ -13.85% | 19.82 Hz / 17.07 Hz | Δ 16.08% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.50 sec | ∇ -8.80% | 732.49 mHz / 668.02 mHz | Δ 9.65% |
feature_matching [640x480]: SURF | 602.11 ms / 621.62 ms | ∇ -3.14% | 1.66 Hz / 1.61 Hz | Δ 3.24% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 21.69 ms | Δ 8.57% | 42.46 Hz / 46.10 Hz | ∇ -7.89% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 12.64 ms | Δ 24.28% | 63.67 Hz / 79.13 Hz | ∇ -19.54% |
graph(2d): insertEdge x 1e3 | 300.22 us / 301.62 us | ∇ -0.47% | 3.33 KHz / 3.32 KHz | Δ 0.47% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 298.86 us | Δ 0.69% | 3.32 KHz / 3.35 KHz | ∇ -0.69% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 274.69 us | ∇ -10.74% | 4.08 KHz / 3.64 KHz | Δ 12.03% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 270.21 us | ∇ -6.44% | 3.96 KHz / 3.70 KHz | Δ 6.88% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 415.87 us | Δ 29.27% | 1.86 KHz / 2.40 KHz | ∇ -22.64% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 406.59 us | Δ 12.26% | 2.19 KHz / 2.46 KHz | ∇ -10.92% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 377.54 us | Δ 6.26% | 2.49 KHz / 2.65 KHz | ∇ -5.89% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 379.45 us | Δ 3.84% | 2.54 KHz / 2.64 KHz | ∇ -3.70% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 4.14 ms | ∇ -11.76% | 273.78 Hz / 241.59 Hz | Δ 13.33% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 4.00 ms | ∇ -7.59% | 270.61 Hz / 250.06 Hz | Δ 8.22% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 2.94 ms | ∇ -14.85% | 399.01 Hz / 339.77 Hz | Δ 17.44% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 2.89 ms | ∇ -11.89% | 392.34 Hz / 345.69 Hz | Δ 13.50% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 4.77 ms | Δ 0.77% | 207.97 Hz / 209.57 Hz | ∇ -0.76% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 4.86 ms | ∇ -0.13% | 205.85 Hz / 205.59 Hz | Δ 0.13% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 4.05 ms | ∇ -0.65% | 248.25 Hz / 246.64 Hz | Δ 0.65% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 4.21 ms | ∇ -5.02% | 250.07 Hz / 237.52 Hz | Δ 5.28% |
graph(3d): insertEdge x 1e3 | 338.14 us / 381.69 us | ∇ -11.41% | 2.96 KHz / 2.62 KHz | Δ 12.88% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 407.21 us | ∇ -18.46% | 3.01 KHz / 2.46 KHz | Δ 22.64% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 339.57 us | ∇ -10.94% | 3.31 KHz / 2.94 KHz | Δ 12.29% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 334.55 us | ∇ -7.44% | 3.23 KHz / 2.99 KHz | Δ 8.04% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 688.91 us | ∇ -2.93% | 1.50 KHz / 1.45 KHz | Δ 3.02% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 684.69 us | ∇ -1.72% | 1.49 KHz / 1.46 KHz | Δ 1.75% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 683.24 us | ∇ -2.17% | 1.50 KHz / 1.46 KHz | Δ 2.22% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 684.37 us | ∇ -1.14% | 1.48 KHz / 1.46 KHz | Δ 1.15% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 3.89 ms | ∇ -7.26% | 277.54 Hz / 257.39 Hz | Δ 7.83% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 3.79 ms | ∇ -4.55% | 276.39 Hz / 263.81 Hz | Δ 4.77% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 3.59 ms | ∇ -15.22% | 328.99 Hz / 278.91 Hz | Δ 17.96% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 3.52 ms | ∇ -14.10% | 330.96 Hz / 284.28 Hz | Δ 16.42% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 7.80 ms | ∇ -9.13% | 141.02 Hz / 128.15 Hz | Δ 10.04% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 7.81 ms | ∇ -9.29% | 141.24 Hz / 128.11 Hz | Δ 10.25% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 7.49 ms | ∇ -10.65% | 149.36 Hz / 133.45 Hz | Δ 11.92% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 7.57 ms | ∇ -9.08% | 145.34 Hz / 132.15 Hz | Δ 9.99% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 213.16 us | Δ 30.96% | 3.58 KHz / 4.69 KHz | ∇ -23.64% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 311.59 us | Δ 34.10% | 2.39 KHz / 3.21 KHz | ∇ -25.43% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 2.57 ms | Δ 22.36% | 318.46 Hz / 389.66 Hz | ∇ -18.27% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 2.70 ms | Δ 36.38% | 271.44 Hz / 370.20 Hz | ∇ -26.68% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 31.29 ms | Δ 18.56% | 26.96 Hz / 31.96 Hz | ∇ -15.65% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 32.92 ms | Δ 29.57% | 23.45 Hz / 30.38 Hz | ∇ -22.82% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 393.68 ms | Δ 10.17% | 2.31 Hz / 2.54 Hz | ∇ -9.23% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 385.61 ms | Δ 22.10% | 2.12 Hz / 2.59 Hz | ∇ -18.10% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 380.30 ms | Δ 12.59% | 2.34 Hz / 2.63 Hz | ∇ -11.18% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 376.84 ms | Δ 23.47% | 2.15 Hz / 2.65 Hz | ∇ -19.01% |