Test description | 0.9.3-GCC-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 37.14 ms | ∇ -43.73% | 47.85 Hz / 26.93 Hz | Δ 77.71% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 36.34 ms | ∇ -48.36% | 53.30 Hz / 27.52 Hz | Δ 93.66% |
poses: CPose3D (+) CPose3D | 41.67 ns / 197.08 ns | ∇ -78.86% | 24.00 MHz / 5.07 MHz | Δ 372.94% |
poses: CPose3D.composeFrom() | 32.39 ns / 33.62 ns | ∇ -3.67% | 30.87 MHz / 29.74 MHz | Δ 3.81% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 25.13 ns | ∇ -68.08% | 124.63 MHz / 39.79 MHz | Δ 213.25% |
poses: CPose3D.composePoint() | 11.53 ns / 21.31 ns | ∇ -45.86% | 86.70 MHz / 46.94 MHz | Δ 84.72% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 89.96 ns | ∇ -79.79% | 54.99 MHz / 11.12 MHz | Δ 394.74% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 47.25 ns | ∇ -46.63% | 39.66 MHz / 21.17 MHz | Δ 87.38% |
poses: CPose2D (+) CPose2D | 72.10 ns / 108.63 ns | ∇ -33.62% | 13.87 MHz / 9.21 MHz | Δ 50.66% |
poses: CPose2D.composeFrom() | 69.22 ns / 94.77 ns | ∇ -26.96% | 14.45 MHz / 10.55 MHz | Δ 36.91% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 80.61 ns | ∇ -24.96% | 16.53 MHz / 12.41 MHz | Δ 33.27% |
poses: CPose2D.composePoint() | 60.01 ns / 67.32 ns | ∇ -10.86% | 16.66 MHz / 14.85 MHz | Δ 12.18% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 81.31 ns | ∇ -47.48% | 23.42 MHz / 12.30 MHz | Δ 90.41% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 51.56 ns | ∇ -25.78% | 26.13 MHz / 19.39 MHz | Δ 34.74% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 55.91 ns | ∇ -67.98% | 55.85 MHz / 17.89 MHz | Δ 212.28% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 32.73 ns | ∇ -43.66% | 54.23 MHz / 30.55 MHz | Δ 77.50% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 124.02 ns | ∇ -73.14% | 30.02 MHz / 8.06 MHz | Δ 272.29% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 30.61 ns | ∇ -36.23% | 51.24 MHz / 32.67 MHz | Δ 56.83% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 28.12 ns | ∇ -42.13% | 61.45 MHz / 35.56 MHz | Δ 72.80% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 216.84 ns | ∇ -21.70% | 5.89 MHz / 4.61 MHz | Δ 27.72% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 1.24 us | ∇ -35.57% | 1.25 MHz / 806.40 KHz | Δ 55.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 1.20 us | ∇ -34.12% | 1.27 MHz / 835.55 KHz | Δ 51.78% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 20.15 us | ∇ -54.81% | 109.83 KHz / 49.63 KHz | Δ 121.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 817.60 ns | ∇ -31.81% | 1.79 MHz / 1.22 MHz | Δ 46.65% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 823.40 ns | ∇ -32.17% | 1.79 MHz / 1.21 MHz | Δ 47.43% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 19.09 us | ∇ -55.91% | 118.81 KHz / 52.39 KHz | Δ 126.81% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 49.67 ns | ∇ -64.09% | 56.07 MHz / 20.13 MHz | Δ 178.50% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 50.90 ns | ∇ -61.74% | 51.35 MHz / 19.64 MHz | Δ 161.38% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 180.98 ns | ∇ -69.70% | 18.23 MHz / 5.53 MHz | Δ 229.99% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 177.90 ns | ∇ -68.56% | 17.88 MHz / 5.62 MHz | Δ 218.06% |
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 / 6.63 ns | ∇ -77.41% | 667.56 MHz / 150.81 MHz | Δ 342.63% |
matrix: unit, fix[double,6,6] | 5.61 ns / 8.86 ns | ∇ -36.69% | 178.35 MHz / 112.91 MHz | Δ 57.95% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 680.28 ns | ∇ -57.18% | 3.43 MHz / 1.47 MHz | Δ 133.53% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 458.35 ns | ∇ -36.18% | 3.42 MHz / 2.18 MHz | Δ 56.70% |
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 / 680.46 ns | ∇ -48.93% | 2.88 MHz / 1.47 MHz | Δ 95.81% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 35.28 ns | ∇ -100.00% | 1.#J THz / 28.34 MHz | Δ 1.#J% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 514.01 ns | ∇ -33.78% | 2.94 MHz / 1.95 MHz | Δ 51.00% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 3.40 ns | ∇ -100.00% | 1.#J THz / 294.39 MHz | Δ 1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 5.18 us | ∇ -53.28% | 413.19 KHz / 193.06 KHz | Δ 114.02% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 4.56 us | ∇ -51.04% | 448.19 KHz / 219.44 KHz | Δ 104.24% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 3.79 us | ∇ -39.04% | 432.69 KHz / 263.78 KHz | Δ 64.04% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 2.92 us | ∇ -27.39% | 471.08 KHz / 342.06 KHz | Δ 37.72% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 1.50 us | ∇ -48.10% | 1.28 MHz / 665.44 KHz | Δ 92.66% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 9.51 ns | ∇ -100.00% | 1.#J THz / 105.14 MHz | Δ 1.#J% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 3.90 us | ∇ -49.48% | 507.10 KHz / 256.17 KHz | Δ 97.95% |
matrix: inv, fix[double] 6x6 | 1.60 us / 3.54 us | ∇ -54.77% | 624.61 KHz / 282.49 KHz | Δ 121.11% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 34.19 us | ∇ -52.97% | 62.19 KHz / 29.25 KHz | Δ 112.63% |
matrix: inv, fix[double] 20x20 | 14.48 us / 29.35 us | ∇ -50.68% | 69.08 KHz / 34.07 KHz | Δ 102.76% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 134.24 us | ∇ -50.99% | 15.20 KHz / 7.45 KHz | Δ 104.05% |
matrix: inv, fix[double] 40x40 | 64.13 us / 126.45 us | ∇ -49.28% | 15.59 KHz / 7.91 KHz | Δ 97.18% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 601.74 ns | ∇ -64.67% | 4.70 MHz / 1.66 MHz | Δ 183.04% |
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 | 323.30 ns / 872.81 ns | ∇ -62.96% | 3.09 MHz / 1.15 MHz | Δ 169.97% |
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 / 2.32 us | ∇ -66.66% | 1.29 MHz / 430.29 KHz | Δ 199.91% |
matrix: det, fix[double] 6x6 | 592.30 ns / 2.17 us | ∇ -72.72% | 1.69 MHz / 460.60 KHz | Δ 266.55% |
matrix: det, dyn[double] 20x20 | 8.50 us / 23.14 us | ∇ -63.25% | 117.63 KHz / 43.22 KHz | Δ 172.14% |
matrix: det, fix[double] 20x20 | 7.72 us / 21.38 us | ∇ -63.89% | 129.53 KHz / 46.78 KHz | Δ 176.91% |
matrix: det, dyn[double] 40x40 | 32.23 us / 92.83 us | ∇ -65.29% | 31.03 KHz / 10.77 KHz | Δ 188.07% |
matrix: det, fix[double] 40x40 | 30.71 us / 90.97 us | ∇ -66.25% | 32.57 KHz / 10.99 KHz | Δ 196.25% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 892.24 ns | ∇ -40.60% | 1.89 MHz / 1.12 MHz | Δ 68.35% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 249.10 ns | ∇ -47.81% | 7.69 MHz / 4.01 MHz | Δ 91.62% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 41.12 us | ∇ -44.12% | 43.52 KHz / 24.32 KHz | Δ 78.96% |
matrix: chol, fix[double] 40x40 | 19.50 us / 26.92 us | ∇ -27.55% | 51.28 KHz / 37.15 KHz | Δ 38.03% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 15.31 us | ∇ -46.43% | 121.95 KHz / 65.32 KHz | Δ 86.69% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 116.85 us | ∇ -27.00% | 11.72 KHz / 8.56 KHz | Δ 36.99% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 98.96 us | ∇ -42.60% | 17.61 KHz / 10.10 KHz | Δ 74.23% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 55.18 us | ∇ -28.76% | 25.44 KHz / 18.12 KHz | Δ 40.37% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 498.07 us | ∇ -46.43% | 3.75 KHz / 2.01 KHz | Δ 86.68% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 133.40 us | ∇ -45.46% | 13.74 KHz / 7.50 KHz | Δ 83.34% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 4.99 ms | ∇ -46.52% | 374.53 Hz / 200.30 Hz | Δ 86.99% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 243.96 us | ∇ -27.78% | 5.68 KHz / 4.10 KHz | Δ 38.47% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 30.03 ms | ∇ -30.95% | 48.23 Hz / 33.31 Hz | Δ 44.82% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 486.08 us | ∇ -27.78% | 2.85 KHz / 2.06 KHz | Δ 38.46% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 51.94 ms | ∇ -33.38% | 28.90 Hz / 19.25 Hz | Δ 50.11% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 583.78 us | ∇ -28.76% | 2.40 KHz / 1.71 KHz | Δ 40.37% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 76.91 ms | ∇ -34.57% | 19.87 Hz / 13.00 Hz | Δ 52.84% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 649.31 us | ∇ -25.62% | 2.07 KHz / 1.54 KHz | Δ 34.45% |
gridmap2D: getCell | 0.00 ns / 6.44 ns | ∇ -100.00% | 1.#J THz / 155.25 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.61 ns / 9.52 ns | ∇ -72.63% | 383.63 MHz / 105.00 MHz | Δ 265.35% |
gridmap2D: updateCell | 6.99 ns / 9.85 ns | ∇ -29.00% | 143.02 MHz / 101.55 MHz | Δ 40.84% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 1.47 ns | ∇ -65.19% | 1.95 GHz / 679.40 MHz | Δ 187.25% |
gridmap2D: insert scan w/o widening | 102.59 us / 225.20 us | ∇ -54.45% | 9.75 KHz / 4.44 KHz | Δ 119.52% |
gridmap2D: insert scan with widening | 284.11 us / 365.80 us | ∇ -22.33% | 3.52 KHz / 2.73 KHz | Δ 28.75% |
gridmap2D: resize | 722.00 us / 2.56 ms | ∇ -71.85% | 1.39 KHz / 389.96 Hz | Δ 255.18% |
gridmap2D: computeLikelihood | 15.69 us / 21.14 us | ∇ -25.77% | 63.72 KHz / 47.30 KHz | Δ 34.72% |
pointmap: insert 100 scans | 2.97 ms / 3.27 ms | ∇ -9.29% | 337.06 Hz / 305.75 Hz | Δ 10.24% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 6.03 us | ∇ -27.73% | 229.36 KHz / 165.76 KHz | Δ 38.37% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 579.42 us | ∇ -38.37% | 2.80 KHz / 1.73 KHz | Δ 62.27% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 6.14 ms | ∇ -31.74% | 238.61 Hz / 162.87 Hz | Δ 46.51% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 6.68 us | ∇ -29.39% | 211.86 KHz / 149.59 KHz | Δ 41.63% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 519.96 us | ∇ -30.25% | 2.76 KHz / 1.92 KHz | Δ 43.37% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 6.64 ms | ∇ -38.27% | 244.09 Hz / 150.68 Hz | Δ 61.99% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 1.95 us | ∇ -28.99% | 720.46 KHz / 511.57 KHz | Δ 40.83% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 167.14 us | ∇ -39.06% | 9.82 KHz / 5.98 KHz | Δ 64.09% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 17.45 ms | ∇ -32.53% | 84.92 Hz / 57.30 Hz | Δ 48.22% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 9.11 ms | ∇ -38.29% | 177.84 Hz / 109.75 Hz | Δ 62.05% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 210.71 ms | ∇ -38.03% | 7.66 Hz / 4.75 Hz | Δ 61.36% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 8.38 ms | ∇ -32.07% | 175.73 Hz / 119.37 Hz | Δ 47.21% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 198.71 ms | ∇ -33.46% | 7.56 Hz / 5.03 Hz | Δ 50.29% |
random: drawUniform32bit | 15.67 ns / 7.57 ns | Δ 106.99% | 63.82 MHz / 132.11 MHz | ∇ -51.69% |
random: drawUniform | 15.66 ns / 7.60 ns | Δ 105.94% | 63.88 MHz / 131.54 MHz | ∇ -51.44% |
random: drawGaussian1D_normalized | 69.89 ns / 58.48 ns | Δ 19.53% | 14.31 MHz / 17.10 MHz | ∇ -16.34% |
random: drawGaussian1D | 69.86 ns / 57.62 ns | Δ 21.23% | 14.32 MHz / 17.35 MHz | ∇ -17.51% |
random: system rand() | 12.21 ns / 29.43 ns | ∇ -58.49% | 81.87 MHz / 33.98 MHz | Δ 140.93% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 2.95 us | ∇ -8.44% | 370.49 KHz / 339.21 KHz | Δ 9.22% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 3.53 us | Δ 61.54% | 175.14 KHz / 282.92 KHz | ∇ -38.10% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 145.71 ns | Δ 1.70% | 6.75 MHz / 6.86 MHz | ∇ -1.67% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 227.37 ns | Δ 2.24% | 4.30 MHz / 4.40 MHz | ∇ -2.19% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 514.56 ns | ∇ -4.83% | 2.04 MHz / 1.94 MHz | Δ 5.07% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 170.42 ns | ∇ -6.38% | 6.27 MHz / 5.87 MHz | Δ 6.82% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 283.60 ns | ∇ -12.64% | 4.04 MHz / 3.53 MHz | Δ 14.47% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 661.22 ns | ∇ -21.07% | 1.92 MHz / 1.51 MHz | Δ 26.69% |
random: permuteVector (len=10) | 251.30 ns / 304.45 ns | ∇ -17.46% | 3.98 MHz / 3.28 MHz | Δ 21.15% |
random: permuteVector (len=100) | 3.02 us / 3.47 us | ∇ -12.98% | 331.46 KHz / 288.42 KHz | Δ 14.92% |
random: permuteVector (len=1000) | 30.36 us / 37.99 us | ∇ -20.06% | 32.93 KHz / 26.33 KHz | Δ 25.10% |
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 / 33.06 ms | Δ 3.27% | 29.29 Hz / 30.25 Hz | ∇ -3.17% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 50.64 ms | ∇ -1.60% | 20.07 Hz / 19.75 Hz | Δ 1.62% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 82.66 ms | ∇ -2.36% | 12.39 Hz / 12.10 Hz | Δ 2.41% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 27.36 ms | Δ 7.34% | 34.05 Hz / 36.56 Hz | ∇ -6.84% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 43.25 ms | ∇ -1.87% | 23.56 Hz / 23.12 Hz | Δ 1.90% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 66.55 ms | ∇ -1.72% | 15.29 Hz / 15.03 Hz | Δ 1.75% |
images: Gauss filter (640x480) | 4.66 ms / 5.57 ms | ∇ -16.28% | 214.40 Hz / 179.49 Hz | Δ 19.45% |
images: Gauss filter (800x600) | 5.98 ms / 8.84 ms | ∇ -32.32% | 167.10 Hz / 113.10 Hz | Δ 47.75% |
images: Gauss filter (1024x768) | 10.42 ms / 14.37 ms | ∇ -27.47% | 95.93 Hz / 69.58 Hz | Δ 37.88% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 21.97 us | ∇ -48.33% | 88.11 KHz / 45.52 KHz | Δ 93.54% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 22.01 us | ∇ -54.74% | 100.40 KHz / 45.44 KHz | Δ 120.95% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 12.71 us | ∇ -56.57% | 181.16 KHz / 78.69 KHz | Δ 130.23% |
feature_extraction [640x480]: Harris | 32.25 ms / 38.32 ms | ∇ -15.83% | 31.01 Hz / 26.10 Hz | Δ 18.80% |
feature_extraction [640x480]: KLT | 25.60 ms / 37.22 ms | ∇ -31.20% | 39.06 Hz / 26.87 Hz | Δ 45.35% |
feature_extraction [640x480]: SIFT | 630.91 ms / 739.68 ms | ∇ -14.71% | 1.59 Hz / 1.35 Hz | Δ 17.24% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 232.95 ms | ∇ -29.56% | 6.09 Hz / 4.29 Hz | Δ 41.97% |
feature_extraction [640x480]: SURF | 207.64 ms / 309.97 ms | ∇ -33.01% | 4.82 Hz / 3.23 Hz | Δ 49.28% |
feature_extraction [640x480]: FAST | 7.60 ms / 6.88 ms | Δ 10.39% | 131.57 Hz / 145.25 Hz | ∇ -9.42% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 88.28 ms | ∇ -31.35% | 16.50 Hz / 11.33 Hz | Δ 45.67% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 59.68 ms | ∇ -26.30% | 22.73 Hz / 16.76 Hz | Δ 35.68% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 58.57 ms | ∇ -38.05% | 27.56 Hz / 17.07 Hz | Δ 61.41% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.50 sec | ∇ -19.95% | 834.47 mHz / 668.02 mHz | Δ 24.92% |
feature_matching [640x480]: SURF | 379.83 ms / 621.62 ms | ∇ -38.90% | 2.63 Hz / 1.61 Hz | Δ 63.66% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 21.69 ms | ∇ -26.08% | 62.36 Hz / 46.10 Hz | Δ 35.28% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 12.64 ms | ∇ -14.12% | 92.14 Hz / 79.13 Hz | Δ 16.44% |
graph(2d): insertEdge x 1e3 | 119.99 us / 301.62 us | ∇ -60.22% | 8.33 KHz / 3.32 KHz | Δ 151.37% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 298.86 us | ∇ -64.14% | 9.33 KHz / 3.35 KHz | Δ 178.84% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 274.69 us | ∇ -69.41% | 11.90 KHz / 3.64 KHz | Δ 226.89% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 270.21 us | ∇ -69.14% | 11.99 KHz / 3.70 KHz | Δ 224.10% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 415.87 us | ∇ -58.97% | 5.86 KHz / 2.40 KHz | Δ 143.75% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 406.59 us | ∇ -55.33% | 5.51 KHz / 2.46 KHz | Δ 123.88% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 377.54 us | ∇ -52.58% | 5.59 KHz / 2.65 KHz | Δ 110.89% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 379.45 us | ∇ -52.94% | 5.60 KHz / 2.64 KHz | Δ 112.47% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 4.14 ms | ∇ -61.77% | 632.00 Hz / 241.59 Hz | Δ 161.60% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 4.00 ms | ∇ -68.38% | 790.83 Hz / 250.06 Hz | Δ 216.26% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 2.94 ms | ∇ -70.67% | 1.16 KHz / 339.77 Hz | Δ 240.89% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 2.89 ms | ∇ -70.75% | 1.18 KHz / 345.69 Hz | Δ 241.89% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 4.77 ms | ∇ -58.90% | 509.85 Hz / 209.57 Hz | Δ 143.28% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 4.86 ms | ∇ -53.82% | 445.23 Hz / 205.59 Hz | Δ 116.56% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.05 ms | ∇ -51.80% | 511.72 Hz / 246.64 Hz | Δ 107.47% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.21 ms | ∇ -53.67% | 512.69 Hz / 237.52 Hz | Δ 115.85% |
graph(3d): insertEdge x 1e3 | 169.26 us / 381.69 us | ∇ -55.65% | 5.91 KHz / 2.62 KHz | Δ 125.50% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 407.21 us | ∇ -58.55% | 5.93 KHz / 2.46 KHz | Δ 141.27% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 339.57 us | ∇ -54.74% | 6.51 KHz / 2.94 KHz | Δ 120.94% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 334.55 us | ∇ -53.91% | 6.49 KHz / 2.99 KHz | Δ 116.97% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 688.91 us | ∇ -31.49% | 2.12 KHz / 1.45 KHz | Δ 45.97% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 684.69 us | ∇ -29.96% | 2.09 KHz / 1.46 KHz | Δ 42.77% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 683.24 us | ∇ -35.41% | 2.27 KHz / 1.46 KHz | Δ 54.81% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 684.37 us | ∇ -34.97% | 2.25 KHz / 1.46 KHz | Δ 53.77% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 3.89 ms | ∇ -36.77% | 407.06 Hz / 257.39 Hz | Δ 58.15% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 3.79 ms | ∇ -35.10% | 406.51 Hz / 263.81 Hz | Δ 54.09% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.59 ms | ∇ -52.60% | 588.45 Hz / 278.91 Hz | Δ 110.98% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.52 ms | ∇ -51.65% | 587.97 Hz / 284.28 Hz | Δ 106.83% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 7.80 ms | ∇ -14.35% | 149.62 Hz / 128.15 Hz | Δ 16.75% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 7.81 ms | ∇ -13.47% | 148.06 Hz / 128.11 Hz | Δ 15.57% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 7.49 ms | ∇ -38.80% | 218.07 Hz / 133.45 Hz | Δ 63.41% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 7.57 ms | ∇ -39.54% | 218.58 Hz / 132.15 Hz | Δ 65.40% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 213.16 us | ∇ -58.23% | 11.23 KHz / 4.69 KHz | Δ 139.38% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 311.59 us | ∇ -75.82% | 13.28 KHz / 3.21 KHz | Δ 313.65% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 2.57 ms | ∇ -56.87% | 903.43 Hz / 389.66 Hz | Δ 131.85% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 2.70 ms | ∇ -73.67% | 1.41 KHz / 370.20 Hz | Δ 279.82% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 31.29 ms | ∇ -40.74% | 53.94 Hz / 31.96 Hz | Δ 68.75% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 32.92 ms | ∇ -70.36% | 102.51 Hz / 30.38 Hz | Δ 237.40% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 393.68 ms | ∇ -35.84% | 3.96 Hz / 2.54 Hz | Δ 55.87% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 385.61 ms | ∇ -70.89% | 8.91 Hz / 2.59 Hz | Δ 243.58% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 380.30 ms | ∇ -32.68% | 3.91 Hz / 2.63 Hz | Δ 48.54% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 376.84 ms | ∇ -71.83% | 9.42 Hz / 2.65 Hz | Δ 254.97% |