Test description | 0.9.3-MSVC9-32bit / 0.9.1-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 21.60 ms | Δ 46.10% | 31.69 Hz / 46.30 Hz | ∇ -31.55% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 20.51 ms | Δ 162.99% | 18.54 Hz / 48.75 Hz | ∇ -61.98% |
poses: CPose3D (+) CPose3D | 194.14 ns / 449.02 ns | ∇ -56.76% | 5.15 MHz / 2.23 MHz | Δ 131.29% |
poses: CPose3D.composeFrom() | 34.65 ns / 233.83 ns | ∇ -85.18% | 28.86 MHz / 4.28 MHz | Δ 574.79% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 10.67 ns | Δ 168.77% | 34.88 MHz / 93.76 MHz | ∇ -62.79% |
poses: CPose3D.composePoint() | 18.49 ns / 10.06 ns | Δ 83.78% | 54.08 MHz / 99.38 MHz | ∇ -45.59% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 37.71 ns | Δ 148.99% | 10.65 MHz / 26.52 MHz | ∇ -59.84% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 40.98 ns | Δ 8.33% | 22.53 MHz / 24.40 MHz | ∇ -7.69% |
poses: CPose2D (+) CPose2D | 103.92 ns / 78.17 ns | Δ 32.95% | 9.62 MHz / 12.79 MHz | ∇ -24.78% |
poses: CPose2D.composeFrom() | 91.82 ns / 62.17 ns | Δ 47.69% | 10.89 MHz / 16.08 MHz | ∇ -32.29% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 63.86 ns | Δ 119.79% | 7.12 MHz / 15.66 MHz | ∇ -54.50% |
poses: CPose2D.composePoint() | 66.26 ns / 61.98 ns | Δ 6.91% | 15.09 MHz / 16.13 MHz | ∇ -6.46% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 47.00 ns | Δ 98.63% | 10.71 MHz / 21.28 MHz | ∇ -49.65% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 39.80 ns | Δ 52.07% | 16.52 MHz / 25.13 MHz | ∇ -34.24% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 22.62 ns | Δ 415.98% | 8.57 MHz / 44.21 MHz | ∇ -80.62% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 18.93 ns | Δ 63.89% | 32.23 MHz / 52.83 MHz | ∇ -38.98% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 391.26 ns | ∇ -67.60% | 7.89 MHz / 2.56 MHz | Δ 208.61% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 18.05 ns | Δ 71.04% | 32.38 MHz / 55.39 MHz | ∇ -41.54% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 355.00 ns | ∇ -90.59% | 29.93 MHz / 2.82 MHz | Δ 962.38% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 173.19 ns | Δ 22.02% | 4.73 MHz / 5.77 MHz | ∇ -18.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 814.76 us | ∇ -97.61% | 51.41 KHz / 1.23 KHz | Δ 4088.44% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 821.91 us | ∇ -99.64% | 341.05 KHz / 1.22 KHz | Δ 27930.95% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 9.57 us | Δ 261.89% | 28.87 KHz / 104.48 KHz | ∇ -72.37% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 682.30 ns | Δ 26.08% | 1.16 MHz / 1.47 MHz | ∇ -20.69% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 533.80 ns | Δ 64.90% | 1.14 MHz / 1.87 MHz | ∇ -39.36% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 8.51 us | Δ 155.61% | 45.95 KHz / 117.45 KHz | ∇ -60.88% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 20.59 ns | Δ 118.48% | 22.23 MHz / 48.56 MHz | ∇ -54.23% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 22.60 ns | Δ 99.80% | 22.14 MHz / 44.24 MHz | ∇ -49.95% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 63.92 ns | Δ 151.61% | 6.22 MHz / 15.64 MHz | ∇ -60.26% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 65.22 ns | Δ 146.82% | 6.21 MHz / 15.33 MHz | ∇ -59.48% |
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 / 1.68 ns | Δ 300.38% | 148.49 MHz / 594.53 MHz | ∇ -75.02% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.86 ns | Δ 174.66% | 127.26 MHz / 349.53 MHz | ∇ -63.59% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 73.50 ns | Δ 649.37% | 1.82 MHz / 13.61 MHz | ∇ -86.66% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 24.10 ns | ∇ -99.81% | 22.08 GHz / 41.49 MHz | Δ 53111.33% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 72.10 ns | Δ 500.53% | 2.31 MHz / 13.87 MHz | ∇ -83.35% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | 1.#J THz / 42.55 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 660.53 ns / 112.90 ns | Δ 485.05% | 1.51 MHz / 8.86 MHz | ∇ -82.91% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 45.00 ns | ∇ -13.54% | 25.70 MHz / 22.22 MHz | Δ 15.67% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 110.50 ns | Δ 329.55% | 2.11 MHz / 9.05 MHz | ∇ -76.72% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 45.10 ns | ∇ -80.62% | 114.40 MHz / 22.17 MHz | Δ 415.95% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 5.82 us | ∇ -19.51% | 213.59 KHz / 171.91 KHz | Δ 24.24% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 3.57 us | Δ 23.74% | 226.20 KHz / 279.91 KHz | ∇ -19.19% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 5.88 us | ∇ -44.99% | 308.92 KHz / 169.93 KHz | Δ 81.79% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 3.82 us | ∇ -38.02% | 422.77 KHz / 262.04 KHz | Δ 61.34% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 413.00 ns | Δ 260.14% | 672.33 KHz / 2.42 MHz | ∇ -72.23% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 22.00 ns | Δ 46.17% | 31.10 MHz / 45.45 MHz | ∇ -31.58% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 1.25 us | Δ 179.83% | 286.11 KHz / 800.64 KHz | ∇ -64.26% |
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 / 28.58 us | Δ 11.51% | 31.37 KHz / 34.98 KHz | ∇ -10.32% |
matrix: inv, fix[double] 20x20 | 28.91 us / 17.20 us | Δ 68.15% | 34.58 KHz / 58.15 KHz | ∇ -40.53% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 200.95 us | ∇ -38.18% | 8.05 KHz / 4.98 KHz | Δ 61.77% |
matrix: inv, fix[double] 40x40 | 122.24 us / 134.50 us | ∇ -9.11% | 8.18 KHz / 7.43 KHz | Δ 10.03% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 8.80 ns | Δ 7259.29% | 1.54 MHz / 113.64 MHz | ∇ -98.64% |
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 / 739.10 ns | Δ 232.06% | 407.46 KHz / 1.35 MHz | ∇ -69.88% |
matrix: det, fix[double] 6x6 | 1.89 us / 219.80 ns | Δ 758.43% | 529.99 KHz / 4.55 MHz | ∇ -88.35% |
matrix: det, dyn[double] 20x20 | 22.48 us / 6.52 us | Δ 244.59% | 44.49 KHz / 153.32 KHz | ∇ -70.98% |
matrix: det, fix[double] 20x20 | 21.45 us / 4.73 us | Δ 353.66% | 46.63 KHz / 211.54 KHz | ∇ -77.96% |
matrix: det, dyn[double] 40x40 | 80.28 us / 32.40 us | Δ 147.80% | 12.46 KHz / 30.87 KHz | ∇ -59.65% |
matrix: det, fix[double] 40x40 | 79.04 us / 27.53 us | Δ 187.14% | 12.65 KHz / 36.33 KHz | ∇ -65.17% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 170.00 ns | Δ 542.07% | 916.16 KHz / 5.88 MHz | ∇ -84.43% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 130.00 ns | Δ 143.88% | 3.15 MHz / 7.69 MHz | ∇ -59.00% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 18.73 us | Δ 304.36% | 13.20 KHz / 53.39 KHz | ∇ -75.27% |
matrix: chol, fix[double] 40x40 | 55.31 us / 16.74 us | Δ 230.40% | 18.08 KHz / 59.74 KHz | ∇ -69.73% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 8.50 us | Δ 98.75% | 59.19 KHz / 117.65 KHz | ∇ -49.69% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 93.90 us | Δ 163.35% | 4.04 KHz / 10.65 KHz | ∇ -62.03% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 52.90 us | Δ 241.70% | 5.53 KHz / 18.90 KHz | ∇ -70.73% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 40.03 us | Δ 129.56% | 10.88 KHz / 24.98 KHz | ∇ -56.44% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 411.30 us | Δ 86.19% | 1.31 KHz / 2.43 KHz | ∇ -46.29% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 74.98 us | Δ 55.44% | 8.58 KHz / 13.34 KHz | ∇ -35.67% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 8.61 ms | ∇ -52.62% | 245.20 Hz / 116.18 Hz | Δ 111.05% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 185.35 us | Δ 11.93% | 4.82 KHz / 5.40 KHz | ∇ -10.66% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 135.40 ms | ∇ -81.95% | 40.93 Hz / 7.39 Hz | Δ 454.13% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 359.80 us | Δ 12.12% | 2.48 KHz / 2.78 KHz | ∇ -10.81% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 364.32 ms | ∇ -88.97% | 24.87 Hz / 2.74 Hz | Δ 806.22% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 426.39 us | Δ 12.53% | 2.08 KHz / 2.35 KHz | ∇ -11.14% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 800.16 ms | ∇ -92.51% | 16.68 Hz / 1.25 Hz | Δ 1234.76% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 497.60 us | Δ 12.56% | 1.79 KHz / 2.01 KHz | ∇ -11.16% |
gridmap2D: getCell | 5.69 ns / 0.00 ns | Δ 1.#J% | 175.73 MHz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 8.06 ns / 2.58 ns | Δ 212.08% | 124.07 MHz / 387.19 MHz | ∇ -67.96% |
gridmap2D: updateCell | 61.98 ns / 7.47 ns | Δ 729.27% | 16.13 MHz / 133.80 MHz | ∇ -87.94% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 0.55 ns | Δ 129.32% | 798.82 MHz / 1.83 GHz | ∇ -56.39% |
gridmap2D: insert scan w/o widening | 208.84 us / 104.80 us | Δ 99.29% | 4.79 KHz / 9.54 KHz | ∇ -49.82% |
gridmap2D: insert scan with widening | 346.08 us / 295.32 us | Δ 17.19% | 2.89 KHz / 3.39 KHz | ∇ -14.67% |
gridmap2D: resize | 2.81 ms / 1.83 ms | Δ 54.00% | 355.60 Hz / 547.65 Hz | ∇ -35.07% |
gridmap2D: computeLikelihood | 18.33 us / 16.65 us | Δ 10.06% | 54.57 KHz / 60.06 KHz | ∇ -9.14% |
pointmap: insert 100 scans | 6.61 ms / 3.11 ms | Δ 112.27% | 151.33 Hz / 321.23 Hz | ∇ -52.89% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.28 us | Δ 40.95% | 165.76 KHz / 233.64 KHz | ∇ -29.05% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 354.96 us | Δ 51.01% | 1.87 KHz / 2.82 KHz | ∇ -33.78% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 4.14 ms | Δ 36.41% | 177.17 Hz / 241.67 Hz | ∇ -26.69% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 4.28 us | Δ 79.89% | 129.88 KHz / 233.64 KHz | ∇ -44.41% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 361.24 us | Δ 46.33% | 1.89 KHz / 2.77 KHz | ∇ -31.66% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 4.09 ms | Δ 42.14% | 172.12 Hz / 244.66 Hz | ∇ -29.65% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.37 us | Δ 55.87% | 468.98 KHz / 730.99 KHz | ∇ -35.84% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 98.96 us | Δ 47.22% | 6.86 KHz / 10.10 KHz | ∇ -32.08% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 11.96 ms | Δ 29.54% | 64.56 Hz / 83.64 Hz | ∇ -22.80% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 5.60 ms | Δ 59.48% | 111.93 Hz / 178.50 Hz | ∇ -37.29% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 129.56 ms | Δ 54.41% | 5.00 Hz / 7.72 Hz | ∇ -35.24% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 5.65 ms | Δ 58.69% | 111.43 Hz / 176.84 Hz | ∇ -36.99% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 132.43 ms | Δ 51.94% | 4.97 Hz / 7.55 Hz | ∇ -34.18% |
random: drawUniform32bit | 7.76 ns / 15.70 ns | ∇ -50.60% | 128.93 MHz / 63.70 MHz | Δ 102.41% |
random: drawUniform | 7.61 ns / 15.69 ns | ∇ -51.51% | 131.41 MHz / 63.72 MHz | Δ 106.24% |
random: drawGaussian1D_normalized | 51.84 ns / 70.40 ns | ∇ -26.37% | 19.29 MHz / 14.20 MHz | Δ 35.81% |
random: drawGaussian1D | 52.02 ns / 70.38 ns | ∇ -26.08% | 19.22 MHz / 14.21 MHz | Δ 35.28% |
random: system rand() | 27.43 ns / 11.07 ns | Δ 147.88% | 36.46 MHz / 90.37 MHz | ∇ -59.66% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 1.33 us | Δ 273.40% | 201.38 KHz / 751.96 KHz | ∇ -73.22% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 3.04 us | Δ 251.26% | 93.66 KHz / 328.99 KHz | ∇ -71.53% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 162.81 ns | ∇ -5.64% | 6.51 MHz / 6.14 MHz | Δ 5.98% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 245.58 ns | Δ 1.83% | 4.00 MHz / 4.07 MHz | ∇ -1.79% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 514.74 ns | Δ 29.12% | 1.50 MHz / 1.94 MHz | ∇ -22.55% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 173.84 ns | ∇ -11.86% | 6.53 MHz / 5.75 MHz | Δ 13.45% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 259.42 ns | ∇ -2.32% | 3.95 MHz / 3.85 MHz | Δ 2.38% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 523.99 ns | Δ 18.89% | 1.61 MHz / 1.91 MHz | ∇ -15.89% |
random: permuteVector (len=10) | 342.58 ns / 288.60 ns | Δ 18.70% | 2.92 MHz / 3.47 MHz | ∇ -15.76% |
random: permuteVector (len=100) | 3.62 us / 3.07 us | Δ 17.74% | 276.54 KHz / 325.61 KHz | ∇ -15.07% |
random: permuteVector (len=1000) | 35.68 us / 30.26 us | Δ 17.93% | 28.03 KHz / 33.05 KHz | ∇ -15.20% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 9.77 GHz | Δ 2260167.15% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 31.77 ms | ∇ -11.60% | 35.61 Hz / 31.48 Hz | Δ 13.12% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 45.70 ms | ∇ -6.35% | 23.37 Hz / 21.88 Hz | Δ 6.78% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 73.33 ms | ∇ -5.73% | 14.46 Hz / 13.64 Hz | Δ 6.07% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 27.15 ms | ∇ -12.50% | 42.09 Hz / 36.83 Hz | Δ 14.28% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 40.31 ms | ∇ -7.59% | 26.85 Hz / 24.81 Hz | Δ 8.22% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 64.44 ms | ∇ -7.11% | 16.71 Hz / 15.52 Hz | Δ 7.66% |
images: Gauss filter (640x480) | 7.21 ms / 4.52 ms | Δ 59.49% | 138.75 Hz / 221.30 Hz | ∇ -37.30% |
images: Gauss filter (800x600) | 8.67 ms / 7.35 ms | Δ 17.98% | 115.32 Hz / 136.05 Hz | ∇ -15.24% |
images: Gauss filter (1024x768) | 14.94 ms / 11.22 ms | Δ 33.17% | 66.93 Hz / 89.13 Hz | ∇ -24.91% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 6.32 us | Δ 299.67% | 39.59 KHz / 158.23 KHz | ∇ -74.98% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 4.78 us | Δ 408.15% | 41.17 KHz / 209.21 KHz | ∇ -80.32% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 2.14 us | Δ 545.72% | 72.37 KHz / 467.29 KHz | ∇ -84.51% |
feature_extraction [640x480]: Harris | 53.60 ms / 28.31 ms | Δ 89.31% | 18.66 Hz / 35.32 Hz | ∇ -47.18% |
feature_extraction [640x480]: KLT | 32.67 ms / 27.34 ms | Δ 19.48% | 30.61 Hz / 36.57 Hz | ∇ -16.31% |
feature_extraction [640x480]: SIFT | 724.51 ms / 641.91 ms | Δ 12.87% | 1.38 Hz / 1.56 Hz | ∇ -11.40% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 170.65 ms | Δ 27.35% | 4.60 Hz / 5.86 Hz | ∇ -21.48% |
feature_extraction [640x480]: SURF | 320.21 ms / 201.21 ms | Δ 59.14% | 3.12 Hz / 4.97 Hz | ∇ -37.16% |
feature_extraction [640x480]: FAST | 9.58 ms / 5.22 ms | Δ 83.47% | 104.37 Hz / 191.49 Hz | ∇ -45.50% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 60.81 ms | Δ 82.79% | 9.00 Hz / 16.44 Hz | ∇ -45.29% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 43.26 ms | Δ 49.67% | 15.44 Hz / 23.12 Hz | ∇ -33.19% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 39.91 ms | Δ 26.42% | 19.82 Hz / 25.06 Hz | ∇ -20.90% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.28 sec | Δ 6.95% | 732.49 mHz / 783.36 mHz | ∇ -6.49% |
feature_matching [640x480]: SURF | 602.11 ms / 386.18 ms | Δ 55.92% | 1.66 Hz / 2.59 Hz | ∇ -35.86% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 16.12 ms | Δ 46.08% | 42.46 Hz / 62.03 Hz | ∇ -31.54% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 10.93 ms | Δ 43.65% | 63.67 Hz / 91.46 Hz | ∇ -30.38% |
graph(2d): insertEdge x 1e3 | 300.22 us / X | 3.33 KHz / X | ||
graph(2d,vec): insertEdge x 1e3 | 300.93 us / X | 3.32 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / X | 4.08 KHz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / X | 3.96 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 537.61 us / X | 1.86 KHz / X | ||
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / X | 2.19 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / X | 2.49 KHz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / X | 2.54 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.65 ms / X | 273.78 Hz / X | ||
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / X | 270.61 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / X | 399.01 Hz / X | ||
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.34 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / X | 207.97 Hz / X | ||
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.85 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / X | 248.25 Hz / X | ||
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / X | 250.07 Hz / X | ||
graph(3d): insertEdge x 1e3 | 338.14 us / X | 2.96 KHz / X | ||
graph(3d,vec): insertEdge x 1e3 | 332.03 us / X | 3.01 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / X | 3.31 KHz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / X | 3.23 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 668.72 us / X | 1.50 KHz / X | ||
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / X | 1.49 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / X | 1.50 KHz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / X | 1.48 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.60 ms / X | 277.54 Hz / X | ||
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / X | 276.39 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / X | 328.99 Hz / X | ||
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / X | 330.96 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / X | 141.02 Hz / X | ||
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / X | 141.24 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / X | 149.36 Hz / X | ||
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / X | 145.34 Hz / X | ||
graph(3d): dijkstra 1e2 nodes | 279.15 us / X | 3.58 KHz / X | ||
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / X | 2.39 KHz / X | ||
graph(3d): dijkstra 1e3 nodes | 3.14 ms / X | 318.46 Hz / X | ||
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / X | 271.44 Hz / X | ||
graph(3d): dijkstra 1e4 nodes | 37.09 ms / X | 26.96 Hz / X | ||
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / X | 23.45 Hz / X | ||
graph(3d): dijkstra 1e5 nodes | 433.73 ms / X | 2.31 Hz / X | ||
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / X | 2.12 Hz / X | ||
graph(2d): dijkstra 1e5 nodes | 428.18 ms / X | 2.34 Hz / X | ||
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / X | 2.15 Hz / X |