Test description | 0.9.3-GCC-64bit / 0.9.1-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 31.78 ms | ∇ -34.25% | 47.85 Hz / 31.46 Hz | Δ 52.09% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 53.70 ms | ∇ -65.06% | 53.30 Hz / 18.62 Hz | Δ 186.22% |
poses: CPose3D (+) CPose3D | 41.67 ns / 925.38 ns | ∇ -95.50% | 24.00 MHz / 1.08 MHz | Δ 2120.74% |
poses: CPose3D.composeFrom() | 32.39 ns / 617.00 ns | ∇ -94.75% | 30.87 MHz / 1.62 MHz | Δ 1804.92% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 35.98 ns | ∇ -77.70% | 124.63 MHz / 27.80 MHz | Δ 348.36% |
poses: CPose3D.composePoint() | 11.53 ns / 14.62 ns | ∇ -21.08% | 86.70 MHz / 68.42 MHz | Δ 26.72% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 75.43 ns | ∇ -75.89% | 54.99 MHz / 13.26 MHz | Δ 314.80% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 56.48 ns | ∇ -55.36% | 39.66 MHz / 17.70 MHz | Δ 124.01% |
poses: CPose2D (+) CPose2D | 72.10 ns / 121.60 ns | ∇ -40.70% | 13.87 MHz / 8.22 MHz | Δ 68.65% |
poses: CPose2D.composeFrom() | 69.22 ns / 66.63 ns | Δ 3.90% | 14.45 MHz / 15.01 MHz | ∇ -3.75% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 93.73 ns | ∇ -35.47% | 16.53 MHz / 10.67 MHz | Δ 54.97% |
poses: CPose2D.composePoint() | 60.01 ns / 62.24 ns | ∇ -3.58% | 16.66 MHz / 16.07 MHz | Δ 3.71% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 100.74 ns | ∇ -57.61% | 23.42 MHz / 9.93 MHz | Δ 135.92% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 57.92 ns | ∇ -33.93% | 26.13 MHz / 17.26 MHz | Δ 51.35% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 61.33 ns | ∇ -70.81% | 55.85 MHz / 16.31 MHz | Δ 242.55% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 27.34 ns | ∇ -32.56% | 54.23 MHz / 36.57 MHz | Δ 48.28% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 580.67 ns | ∇ -94.26% | 30.02 MHz / 1.72 MHz | Δ 1643.12% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 28.18 ns | ∇ -30.75% | 51.24 MHz / 35.48 MHz | Δ 44.40% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 506.67 ns | ∇ -96.79% | 61.45 MHz / 1.97 MHz | Δ 3013.35% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 214.86 ns | ∇ -20.98% | 5.89 MHz / 4.65 MHz | Δ 26.55% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 1.56 us | ∇ -48.63% | 1.25 MHz / 642.96 KHz | Δ 94.66% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 1.51 us | ∇ -47.66% | 1.27 MHz / 663.83 KHz | Δ 91.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 23.29 us | ∇ -60.90% | 109.83 KHz / 42.94 KHz | Δ 155.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 1.64 us | ∇ -66.01% | 1.79 MHz / 609.77 KHz | Δ 194.16% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 1.66 us | ∇ -66.44% | 1.79 MHz / 600.84 KHz | Δ 198.00% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 16.05 us | ∇ -47.55% | 118.81 KHz / 62.32 KHz | Δ 90.65% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 39.66 ns | ∇ -55.03% | 56.07 MHz / 25.22 MHz | Δ 122.36% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 42.75 ns | ∇ -54.44% | 51.35 MHz / 23.39 MHz | Δ 119.49% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 152.29 ns | ∇ -63.99% | 18.23 MHz / 6.57 MHz | Δ 177.66% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 150.45 ns | ∇ -62.82% | 17.88 MHz / 6.65 MHz | Δ 168.99% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.30 ns | ∇ -100.00% | 1.#J THz / 303.37 MHz | Δ 1.#J% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.48 ns | ∇ -100.00% | 1.#J THz / 287.56 MHz | Δ 1.#J% |
matrix: unit, fix[float,6,6] | 1.50 ns / 3.06 ns | ∇ -50.99% | 667.56 MHz / 327.19 MHz | Δ 104.02% |
matrix: unit, fix[double,6,6] | 5.61 ns / 6.65 ns | ∇ -15.62% | 178.35 MHz / 150.48 MHz | Δ 18.52% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 167.81 ns | Δ 73.59% | 3.43 MHz / 5.96 MHz | ∇ -42.39% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 108.61 ns | ∇ -100.00% | 1.#J THz / 9.21 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 158.88 ns | Δ 84.10% | 3.42 MHz / 6.29 MHz | ∇ -45.68% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 90.86 ns | ∇ -100.00% | 1.#J THz / 11.01 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 272.47 ns | Δ 27.53% | 2.88 MHz / 3.67 MHz | ∇ -21.59% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 193.12 ns | ∇ -100.00% | 1.#J THz / 5.18 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 238.91 ns | Δ 42.48% | 2.94 MHz / 4.19 MHz | ∇ -29.81% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 139.05 ns | ∇ -100.00% | 1.#J THz / 7.19 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 16.80 us | ∇ -85.60% | 413.19 KHz / 59.51 KHz | Δ 594.32% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 13.06 us | ∇ -82.92% | 448.19 KHz / 76.57 KHz | Δ 485.36% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 13.55 us | ∇ -82.94% | 432.69 KHz / 73.81 KHz | Δ 486.26% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 9.96 us | ∇ -78.69% | 471.08 KHz / 100.40 KHz | Δ 369.20% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 1.53 us | ∇ -49.08% | 1.28 MHz / 652.84 KHz | Δ 96.38% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 31.25 ns | ∇ -100.00% | 1.#J THz / 32.00 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 5.08 us | ∇ -61.22% | 507.10 KHz / 196.68 KHz | Δ 157.83% |
matrix: inv, fix[double] 6x6 | 1.60 us / 926.67 ns | Δ 72.77% | 624.61 KHz / 1.08 MHz | ∇ -42.12% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 108.60 us | ∇ -85.19% | 62.19 KHz / 9.21 KHz | Δ 575.35% |
matrix: inv, fix[double] 20x20 | 14.48 us / 19.22 us | ∇ -24.69% | 69.08 KHz / 52.02 KHz | Δ 32.78% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 818.27 us | ∇ -91.96% | 15.20 KHz / 1.22 KHz | Δ 1143.85% |
matrix: inv, fix[double] 40x40 | 64.13 us / 136.18 us | ∇ -52.91% | 15.59 KHz / 7.34 KHz | Δ 112.35% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 9.56 ns | Δ 2124.65% | 4.70 MHz / 104.64 MHz | ∇ -95.50% |
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 / 15.90 ns | Δ 1933.67% | 3.09 MHz / 62.90 MHz | ∇ -95.08% |
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 / 2.38 us | ∇ -67.42% | 1.29 MHz / 420.40 KHz | Δ 206.97% |
matrix: det, fix[double] 6x6 | 592.30 ns / 422.89 ns | Δ 40.06% | 1.69 MHz / 2.36 MHz | ∇ -28.60% |
matrix: det, dyn[double] 20x20 | 8.50 us / 18.19 us | ∇ -53.25% | 117.63 KHz / 54.99 KHz | Δ 113.92% |
matrix: det, fix[double] 20x20 | 7.72 us / 6.52 us | Δ 18.35% | 129.53 KHz / 153.30 KHz | ∇ -15.51% |
matrix: det, dyn[double] 40x40 | 32.23 us / 114.84 us | ∇ -71.94% | 31.03 KHz / 8.71 KHz | Δ 256.37% |
matrix: det, fix[double] 40x40 | 30.71 us / 36.00 us | ∇ -14.71% | 32.57 KHz / 27.78 KHz | Δ 17.25% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 185.70 ns | Δ 185.41% | 1.89 MHz / 5.39 MHz | ∇ -64.96% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 113.23 ns | Δ 14.81% | 7.69 MHz / 8.83 MHz | ∇ -12.90% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 24.43 us | ∇ -5.94% | 43.52 KHz / 40.93 KHz | Δ 6.31% |
matrix: chol, fix[double] 40x40 | 19.50 us / 17.73 us | Δ 9.97% | 51.28 KHz / 56.40 KHz | ∇ -9.07% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 10.78 us | ∇ -23.93% | 121.95 KHz / 92.77 KHz | Δ 31.46% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 117.89 us | ∇ -27.65% | 11.72 KHz / 8.48 KHz | Δ 38.21% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 70.52 us | ∇ -19.45% | 17.61 KHz / 14.18 KHz | Δ 24.15% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 52.59 us | ∇ -25.25% | 25.44 KHz / 19.02 KHz | Δ 33.78% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 491.10 us | ∇ -45.67% | 3.75 KHz / 2.04 KHz | Δ 84.07% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 85.83 us | ∇ -15.23% | 13.74 KHz / 11.65 KHz | Δ 17.96% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 9.44 ms | ∇ -71.73% | 374.53 Hz / 105.88 Hz | Δ 253.74% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 204.52 us | ∇ -13.85% | 5.68 KHz / 4.89 KHz | Δ 16.08% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 150.13 ms | ∇ -86.19% | 48.23 Hz / 6.66 Hz | Δ 624.13% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 415.58 us | ∇ -15.53% | 2.85 KHz / 2.41 KHz | Δ 18.38% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 461.43 ms | ∇ -92.50% | 28.90 Hz / 2.17 Hz | Δ 1233.48% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 484.92 us | ∇ -14.24% | 2.40 KHz / 2.06 KHz | Δ 16.60% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 947.45 ms | ∇ -94.69% | 19.87 Hz / 1.06 Hz | Δ 1782.88% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 586.44 us | ∇ -17.65% | 2.07 KHz / 1.71 KHz | Δ 21.43% |
gridmap2D: getCell | 0.00 ns / 5.77 ns | ∇ -100.00% | 1.#J THz / 173.23 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.61 ns / 7.96 ns | ∇ -67.25% | 383.63 MHz / 125.64 MHz | Δ 205.34% |
gridmap2D: updateCell | 6.99 ns / 10.80 ns | ∇ -35.27% | 143.02 MHz / 92.58 MHz | Δ 54.49% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 1.21 ns | ∇ -57.65% | 1.95 GHz / 826.59 MHz | Δ 136.10% |
gridmap2D: insert scan w/o widening | 102.59 us / 204.23 us | ∇ -49.77% | 9.75 KHz / 4.90 KHz | Δ 99.08% |
gridmap2D: insert scan with widening | 284.11 us / 344.40 us | ∇ -17.51% | 3.52 KHz / 2.90 KHz | Δ 21.22% |
gridmap2D: resize | 722.00 us / 2.62 ms | ∇ -72.42% | 1.39 KHz / 381.93 Hz | Δ 262.65% |
gridmap2D: computeLikelihood | 15.69 us / 18.59 us | ∇ -15.58% | 63.72 KHz / 53.79 KHz | Δ 18.45% |
pointmap: insert 100 scans | 2.97 ms / 5.62 ms | ∇ -47.18% | 337.06 Hz / 178.02 Hz | Δ 89.34% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 6.21 us | ∇ -29.84% | 229.36 KHz / 160.93 KHz | Δ 42.52% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 511.81 us | ∇ -30.23% | 2.80 KHz / 1.95 KHz | Δ 43.33% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 5.59 ms | ∇ -25.04% | 238.61 Hz / 178.86 Hz | Δ 33.41% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 7.23 us | ∇ -34.70% | 211.86 KHz / 138.34 KHz | Δ 53.15% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 523.10 us | ∇ -30.67% | 2.76 KHz / 1.91 KHz | Δ 44.23% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 5.77 ms | ∇ -29.04% | 244.09 Hz / 173.21 Hz | Δ 40.92% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 2.05 us | ∇ -32.39% | 720.46 KHz / 487.07 KHz | Δ 47.92% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 140.79 us | ∇ -27.65% | 9.82 KHz / 7.10 KHz | Δ 38.21% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 15.17 ms | ∇ -22.39% | 84.92 Hz / 65.91 Hz | Δ 28.85% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.69 ms | ∇ -35.33% | 177.84 Hz / 115.01 Hz | Δ 54.63% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 196.44 ms | ∇ -33.53% | 7.66 Hz / 5.09 Hz | Δ 50.43% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 8.73 ms | ∇ -34.79% | 175.73 Hz / 114.60 Hz | Δ 53.34% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 198.48 ms | ∇ -33.38% | 7.56 Hz / 5.04 Hz | Δ 50.11% |
random: drawUniform32bit | 15.67 ns / 7.29 ns | Δ 114.83% | 63.82 MHz / 137.11 MHz | ∇ -53.45% |
random: drawUniform | 15.66 ns / 7.33 ns | Δ 113.68% | 63.88 MHz / 136.49 MHz | ∇ -53.20% |
random: drawGaussian1D_normalized | 69.89 ns / 51.27 ns | Δ 36.31% | 14.31 MHz / 19.50 MHz | ∇ -26.64% |
random: drawGaussian1D | 69.86 ns / 51.74 ns | Δ 35.02% | 14.32 MHz / 19.33 MHz | ∇ -25.94% |
random: system rand() | 12.21 ns / 29.39 ns | ∇ -58.44% | 81.87 MHz / 34.03 MHz | Δ 140.59% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 2.64 us | Δ 2.16% | 370.49 KHz / 378.48 KHz | ∇ -2.11% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 8.53 us | ∇ -33.10% | 175.14 KHz / 117.18 KHz | Δ 49.47% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 215.16 ns | ∇ -31.13% | 6.75 MHz / 4.65 MHz | Δ 45.20% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 359.98 ns | ∇ -35.43% | 4.30 MHz / 2.78 MHz | Δ 54.86% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 732.12 ns | ∇ -33.11% | 2.04 MHz / 1.37 MHz | Δ 49.50% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 213.59 ns | ∇ -25.31% | 6.27 MHz / 4.68 MHz | Δ 33.88% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 339.30 ns | ∇ -26.98% | 4.04 MHz / 2.95 MHz | Δ 36.95% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 760.92 ns | ∇ -31.41% | 1.92 MHz / 1.31 MHz | Δ 45.79% |
random: permuteVector (len=10) | 251.30 ns / 411.34 ns | ∇ -38.91% | 3.98 MHz / 2.43 MHz | Δ 63.68% |
random: permuteVector (len=100) | 3.02 us / 3.59 us | ∇ -15.92% | 331.46 KHz / 278.70 KHz | Δ 18.93% |
random: permuteVector (len=1000) | 30.36 us / 34.34 us | ∇ -11.57% | 32.93 KHz / 29.12 KHz | Δ 13.08% |
math: round | 0.10 ns / 0.00 ns | Δ 1.#J% | 10.09 GHz / 1.#J THz | ∇ -1.#J% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 27.92 ms | Δ 22.26% | 29.29 Hz / 35.81 Hz | ∇ -18.21% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 43.53 ms | Δ 14.47% | 20.07 Hz / 22.97 Hz | ∇ -12.64% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 70.76 ms | Δ 14.07% | 12.39 Hz / 14.13 Hz | ∇ -12.33% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 23.43 ms | Δ 25.31% | 34.05 Hz / 42.67 Hz | ∇ -20.20% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 36.52 ms | Δ 16.24% | 23.56 Hz / 27.39 Hz | ∇ -13.97% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 59.82 ms | Δ 9.35% | 15.29 Hz / 16.72 Hz | ∇ -8.55% |
images: Gauss filter (640x480) | 4.66 ms / 6.68 ms | ∇ -30.16% | 214.40 Hz / 149.74 Hz | Δ 43.19% |
images: Gauss filter (800x600) | 5.98 ms / 8.62 ms | ∇ -30.56% | 167.10 Hz / 116.03 Hz | Δ 44.02% |
images: Gauss filter (1024x768) | 10.42 ms / 14.49 ms | ∇ -28.06% | 95.93 Hz / 69.01 Hz | Δ 39.00% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 21.12 us | ∇ -46.27% | 88.11 KHz / 47.34 KHz | Δ 86.11% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 19.36 us | ∇ -48.56% | 100.40 KHz / 51.65 KHz | Δ 94.40% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 6.24 us | ∇ -11.49% | 181.16 KHz / 160.34 KHz | Δ 12.98% |
feature_extraction [640x480]: Harris | 32.25 ms / 40.83 ms | ∇ -21.00% | 31.01 Hz / 24.49 Hz | Δ 26.58% |
feature_extraction [640x480]: KLT | 25.60 ms / 33.62 ms | ∇ -23.83% | 39.06 Hz / 29.75 Hz | Δ 31.29% |
feature_extraction [640x480]: SIFT | 630.91 ms / 705.28 ms | ∇ -10.55% | 1.59 Hz / 1.42 Hz | Δ 11.79% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 214.22 ms | ∇ -23.40% | 6.09 Hz / 4.67 Hz | Δ 30.55% |
feature_extraction [640x480]: SURF | 207.64 ms / 326.57 ms | ∇ -36.42% | 4.82 Hz / 3.06 Hz | Δ 57.28% |
feature_extraction [640x480]: FAST | 7.60 ms / 7.69 ms | ∇ -1.14% | 131.57 Hz / 130.08 Hz | Δ 1.15% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 105.90 ms | ∇ -42.77% | 16.50 Hz / 9.44 Hz | Δ 74.75% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 57.67 ms | ∇ -23.73% | 22.73 Hz / 17.34 Hz | Δ 31.11% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 50.27 ms | ∇ -27.82% | 27.56 Hz / 19.89 Hz | Δ 38.54% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.38 sec | ∇ -13.16% | 834.47 mHz / 724.62 mHz | Δ 15.16% |
feature_matching [640x480]: SURF | 379.83 ms / 618.66 ms | ∇ -38.60% | 2.63 Hz / 1.62 Hz | Δ 62.88% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 22.11 ms | ∇ -27.48% | 62.36 Hz / 45.22 Hz | Δ 37.90% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 14.58 ms | ∇ -25.58% | 92.14 Hz / 68.57 Hz | Δ 34.38% |
graph(2d): insertEdge x 1e3 | 119.99 us / 354.58 us | ∇ -66.16% | 8.33 KHz / 2.82 KHz | Δ 195.51% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / X | 9.33 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 284.04 us | ∇ -70.42% | 11.90 KHz / 3.52 KHz | Δ 238.01% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / X | 11.99 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 549.28 us | ∇ -68.94% | 5.86 KHz / 1.82 KHz | Δ 221.95% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / X | 5.51 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 452.79 us | ∇ -60.46% | 5.59 KHz / 2.21 KHz | Δ 152.93% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / X | 5.60 KHz / X | ||
graph(2d): insertEdge x 1e4 | 1.58 ms / 3.86 ms | ∇ -59.00% | 632.00 Hz / 259.12 Hz | Δ 143.90% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / X | 790.83 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 2.88 ms | ∇ -69.98% | 1.16 KHz / 347.75 Hz | Δ 233.06% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / X | 1.18 KHz / X | ||
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 5.74 ms | ∇ -65.82% | 509.85 Hz / 174.28 Hz | Δ 192.54% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / X | 445.23 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.44 ms | ∇ -55.97% | 511.72 Hz / 225.33 Hz | Δ 127.10% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / X | 512.69 Hz / X | ||
graph(3d): insertEdge x 1e3 | 169.26 us / 1.35 ms | ∇ -87.42% | 5.91 KHz / 743.07 Hz | Δ 695.08% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / X | 5.93 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 1.09 ms | ∇ -85.89% | 6.51 KHz / 917.96 Hz | Δ 608.79% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / X | 6.49 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 1.74 ms | ∇ -72.93% | 2.12 KHz / 573.66 Hz | Δ 269.36% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / X | 2.09 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 1.46 ms | ∇ -69.84% | 2.27 KHz / 683.28 Hz | Δ 231.62% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / X | 2.25 KHz / X | ||
graph(3d): insertEdge x 1e4 | 2.46 ms / 13.92 ms | ∇ -82.35% | 407.06 Hz / 71.86 Hz | Δ 466.42% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / X | 406.51 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 11.12 ms | ∇ -84.72% | 588.45 Hz / 89.92 Hz | Δ 554.40% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / X | 587.97 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 17.58 ms | ∇ -61.98% | 149.62 Hz / 56.89 Hz | Δ 163.01% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / X | 148.06 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 14.12 ms | ∇ -67.53% | 218.07 Hz / 70.81 Hz | Δ 207.98% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / X | 218.58 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 89.04 us / X | 11.23 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / X | 13.28 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 1.11 ms / X | 903.43 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / X | 1.41 KHz / X | ||
graph(3d): dijkstra 1e4 nodes | 18.54 ms / X | 53.94 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / X | 102.51 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 252.57 ms / X | 3.96 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / X | 8.91 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 256.02 ms / X | 3.91 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / X | 9.42 Hz / X |