Test description | 0.9.3-GCC-64bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 30.39 ms | ∇ -31.24% | 47.85 Hz / 32.90 Hz | Δ 45.44% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 52.58 ms | ∇ -64.32% | 53.30 Hz / 19.02 Hz | Δ 180.23% |
poses: CPose3D (+) CPose3D | 41.67 ns / 264.70 ns | ∇ -84.26% | 24.00 MHz / 3.78 MHz | Δ 535.24% |
poses: CPose3D.composeFrom() | 32.39 ns / 98.01 ns | ∇ -66.95% | 30.87 MHz / 10.20 MHz | Δ 202.58% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 27.86 ns | ∇ -71.20% | 124.63 MHz / 35.89 MHz | Δ 247.24% |
poses: CPose3D.composePoint() | 11.53 ns / 19.17 ns | ∇ -39.84% | 86.70 MHz / 52.16 MHz | Δ 66.23% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 51.66 ns | ∇ -64.80% | 54.99 MHz / 19.36 MHz | Δ 184.07% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 46.91 ns | ∇ -46.25% | 39.66 MHz / 21.32 MHz | Δ 86.06% |
poses: CPose2D (+) CPose2D | 72.10 ns / 99.28 ns | ∇ -27.37% | 13.87 MHz / 10.07 MHz | Δ 37.69% |
poses: CPose2D.composeFrom() | 69.22 ns / 89.67 ns | ∇ -22.81% | 14.45 MHz / 11.15 MHz | Δ 29.54% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 82.07 ns | ∇ -26.30% | 16.53 MHz / 12.18 MHz | Δ 35.69% |
poses: CPose2D.composePoint() | 60.01 ns / 64.58 ns | ∇ -7.07% | 16.66 MHz / 15.49 MHz | Δ 7.61% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 87.19 ns | ∇ -51.03% | 23.42 MHz / 11.47 MHz | Δ 104.19% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 57.14 ns | ∇ -33.03% | 26.13 MHz / 17.50 MHz | Δ 49.32% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 48.22 ns | ∇ -62.87% | 55.85 MHz / 20.74 MHz | Δ 169.34% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 29.64 ns | ∇ -37.79% | 54.23 MHz / 33.74 MHz | Δ 60.74% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 84.32 ns | ∇ -60.49% | 30.02 MHz / 11.86 MHz | Δ 153.11% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 30.72 ns | ∇ -36.47% | 51.24 MHz / 32.55 MHz | Δ 57.40% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 33.02 ns | ∇ -50.71% | 61.45 MHz / 30.29 MHz | Δ 102.89% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 206.69 ns | ∇ -17.86% | 5.89 MHz / 4.84 MHz | Δ 21.74% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 1.35 us | ∇ -40.90% | 1.25 MHz / 739.68 KHz | Δ 69.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 1.40 us | ∇ -43.85% | 1.27 MHz / 712.12 KHz | Δ 78.09% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 23.15 us | ∇ -60.66% | 109.83 KHz / 43.20 KHz | Δ 154.21% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 1.62 us | ∇ -65.60% | 1.79 MHz / 617.00 KHz | Δ 190.72% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 1.63 us | ∇ -65.73% | 1.79 MHz / 613.67 KHz | Δ 191.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 15.82 us | ∇ -46.80% | 118.81 KHz / 63.21 KHz | Δ 87.95% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 38.75 ns | ∇ -53.97% | 56.07 MHz / 25.81 MHz | Δ 117.25% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 38.69 ns | ∇ -49.67% | 51.35 MHz / 25.85 MHz | Δ 98.67% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 163.36 ns | ∇ -66.43% | 18.23 MHz / 6.12 MHz | Δ 197.84% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 213.06 ns | ∇ -73.75% | 17.88 MHz / 4.69 MHz | Δ 280.92% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.56 ns | ∇ -100.00% | inf THz / 280.77 MHz | Δ inf% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.29 ns | ∇ -100.00% | inf THz / 304.17 MHz | Δ inf% |
matrix: unit, fix[float,6,6] | 1.50 ns / 2.77 ns | ∇ -45.93% | 667.56 MHz / 360.95 MHz | Δ 84.94% |
matrix: unit, fix[double,6,6] | 5.61 ns / 6.07 ns | ∇ -7.60% | 178.35 MHz / 164.80 MHz | Δ 8.22% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 168.66 ns | Δ 72.71% | 3.43 MHz / 5.93 MHz | ∇ -42.10% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 109.47 ns | ∇ -100.00% | inf THz / 9.14 MHz | Δ inf% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 159.15 ns | Δ 83.79% | 3.42 MHz / 6.28 MHz | ∇ -45.59% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 87.59 ns | ∇ -100.00% | inf THz / 11.42 MHz | Δ inf% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 272.34 ns | Δ 27.60% | 2.88 MHz / 3.67 MHz | ∇ -21.63% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 190.04 ns | ∇ -100.00% | inf THz / 5.26 MHz | Δ inf% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 245.84 ns | Δ 38.46% | 2.94 MHz / 4.07 MHz | ∇ -27.78% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 138.91 ns | ∇ -100.00% | inf THz / 7.20 MHz | Δ inf% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 16.67 us | ∇ -85.48% | 413.19 KHz / 60.00 KHz | Δ 588.70% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 12.92 us | ∇ -82.73% | 448.19 KHz / 77.41 KHz | Δ 479.01% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 13.30 us | ∇ -82.63% | 432.69 KHz / 75.16 KHz | Δ 475.69% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 9.66 us | ∇ -78.02% | 471.08 KHz / 103.53 KHz | Δ 355.03% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 1.47 us | ∇ -46.83% | 1.28 MHz / 681.67 KHz | Δ 88.07% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 30.80 ns | ∇ -100.00% | inf THz / 32.47 MHz | Δ inf% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 5.05 us | ∇ -60.92% | 507.10 KHz / 198.20 KHz | Δ 155.85% |
matrix: inv, fix[double] 6x6 | 1.60 us / 944.32 ns | Δ 69.54% | 624.61 KHz / 1.06 MHz | ∇ -41.02% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 106.06 us | ∇ -84.84% | 62.19 KHz / 9.43 KHz | Δ 559.57% |
matrix: inv, fix[double] 20x20 | 14.48 us / 18.99 us | ∇ -23.79% | 69.08 KHz / 52.65 KHz | Δ 31.21% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 805.07 us | ∇ -91.83% | 15.20 KHz / 1.24 KHz | Δ 1123.79% |
matrix: inv, fix[double] 40x40 | 64.13 us / 129.27 us | ∇ -50.39% | 15.59 KHz / 7.74 KHz | Δ 101.57% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 8.47 ns | Δ 2410.20% | 4.70 MHz / 118.07 MHz | ∇ -96.02% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 323.30 ns / 15.90 ns | Δ 1933.69% | 3.09 MHz / 62.90 MHz | ∇ -95.08% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 6x6 | 774.90 ns / 2.27 us | ∇ -65.85% | 1.29 MHz / 440.64 KHz | Δ 192.86% |
matrix: det, fix[double] 6x6 | 592.30 ns / 409.52 ns | Δ 44.63% | 1.69 MHz / 2.44 MHz | ∇ -30.86% |
matrix: det, dyn[double] 20x20 | 8.50 us / 17.63 us | ∇ -51.78% | 117.63 KHz / 56.72 KHz | Δ 107.37% |
matrix: det, fix[double] 20x20 | 7.72 us / 6.19 us | Δ 24.78% | 129.53 KHz / 161.63 KHz | ∇ -19.86% |
matrix: det, dyn[double] 40x40 | 32.23 us / 112.43 us | ∇ -71.34% | 31.03 KHz / 8.89 KHz | Δ 248.87% |
matrix: det, fix[double] 40x40 | 30.71 us / 35.24 us | ∇ -12.86% | 32.57 KHz / 28.38 KHz | Δ 14.76% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 172.11 ns | Δ 207.95% | 1.89 MHz / 5.81 MHz | ∇ -67.53% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 117.76 ns | Δ 10.40% | 7.69 MHz / 8.49 MHz | ∇ -9.42% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 24.40 us | ∇ -5.83% | 43.52 KHz / 40.98 KHz | Δ 6.19% |
matrix: chol, fix[double] 40x40 | 19.50 us / 17.68 us | Δ 10.31% | 51.28 KHz / 56.57 KHz | ∇ -9.35% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 8.42 us | ∇ -2.66% | 121.95 KHz / 118.71 KHz | Δ 2.73% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 118.80 us | ∇ -28.20% | 11.72 KHz / 8.42 KHz | Δ 39.27% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 69.79 us | ∇ -18.62% | 17.61 KHz / 14.33 KHz | Δ 22.88% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 52.54 us | ∇ -25.18% | 25.44 KHz / 19.03 KHz | Δ 33.65% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 466.09 us | ∇ -42.76% | 3.75 KHz / 2.15 KHz | Δ 74.70% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 89.01 us | ∇ -18.25% | 13.74 KHz / 11.24 KHz | Δ 22.33% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 9.32 ms | ∇ -71.36% | 374.53 Hz / 107.25 Hz | Δ 249.21% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 201.22 us | ∇ -12.44% | 5.68 KHz / 4.97 KHz | Δ 14.21% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 138.07 ms | ∇ -84.98% | 48.23 Hz / 7.24 Hz | Δ 565.94% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 401.45 us | ∇ -12.55% | 2.85 KHz / 2.49 KHz | Δ 14.36% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 453.62 ms | ∇ -92.37% | 28.90 Hz / 2.20 Hz | Δ 1210.91% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 474.18 us | ∇ -12.29% | 2.40 KHz / 2.11 KHz | Δ 14.02% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 945.16 ms | ∇ -94.68% | 19.87 Hz / 1.06 Hz | Δ 1778.34% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 552.77 us | ∇ -12.63% | 2.07 KHz / 1.81 KHz | Δ 14.46% |
gridmap2D: getCell | 0.00 ns / 5.57 ns | ∇ -100.00% | inf THz / 179.64 MHz | Δ inf% |
gridmap2D: setCell | 2.61 ns / 7.80 ns | ∇ -66.59% | 383.63 MHz / 128.17 MHz | Δ 199.30% |
gridmap2D: updateCell | 6.99 ns / 10.65 ns | ∇ -34.32% | 143.02 MHz / 93.93 MHz | Δ 52.26% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 1.20 ns | ∇ -57.22% | 1.95 GHz / 834.82 MHz | Δ 133.77% |
gridmap2D: insert scan w/o widening | 102.59 us / 202.10 us | ∇ -49.24% | 9.75 KHz / 4.95 KHz | Δ 97.00% |
gridmap2D: insert scan with widening | 284.11 us / 338.79 us | ∇ -16.14% | 3.52 KHz / 2.95 KHz | Δ 19.25% |
gridmap2D: resize | 722.00 us / 3.58 ms | ∇ -79.83% | 1.39 KHz / 279.42 Hz | Δ 395.69% |
gridmap2D: computeLikelihood | 15.69 us / 18.09 us | ∇ -13.24% | 63.72 KHz / 55.28 KHz | Δ 15.26% |
pointmap: insert 100 scans | 2.97 ms / 5.50 ms | ∇ -46.01% | 337.06 Hz / 181.98 Hz | Δ 85.22% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 6.29 us | ∇ -30.64% | 229.36 KHz / 159.07 KHz | Δ 44.18% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 520.70 us | ∇ -31.42% | 2.80 KHz / 1.92 KHz | Δ 45.82% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 5.50 ms | ∇ -23.86% | 238.61 Hz / 181.67 Hz | Δ 31.34% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 6.47 us | ∇ -27.02% | 211.86 KHz / 154.62 KHz | Δ 37.02% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 526.59 us | ∇ -31.13% | 2.76 KHz / 1.90 KHz | Δ 45.19% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 5.63 ms | ∇ -27.27% | 244.09 Hz / 177.52 Hz | Δ 37.50% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 2.04 us | ∇ -31.93% | 720.46 KHz / 490.44 KHz | Δ 46.90% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 137.79 us | ∇ -26.08% | 9.82 KHz / 7.26 KHz | Δ 35.27% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 14.88 ms | ∇ -20.87% | 84.92 Hz / 67.19 Hz | Δ 26.38% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.57 ms | ∇ -34.39% | 177.84 Hz / 116.69 Hz | Δ 52.41% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 191.63 ms | ∇ -31.85% | 7.66 Hz / 5.22 Hz | Δ 46.74% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 8.64 ms | ∇ -34.11% | 175.73 Hz / 115.78 Hz | Δ 51.78% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 194.89 ms | ∇ -32.16% | 7.56 Hz / 5.13 Hz | Δ 47.40% |
random: drawUniform32bit | 15.67 ns / 7.21 ns | Δ 117.30% | 63.82 MHz / 138.68 MHz | ∇ -53.98% |
random: drawUniform | 15.66 ns / 7.18 ns | Δ 117.97% | 63.88 MHz / 139.23 MHz | ∇ -54.12% |
random: drawGaussian1D_normalized | 69.89 ns / 51.37 ns | Δ 36.06% | 14.31 MHz / 19.47 MHz | ∇ -26.50% |
random: drawGaussian1D | 69.86 ns / 51.39 ns | Δ 35.94% | 14.32 MHz / 19.46 MHz | ∇ -26.44% |
random: system rand() | 12.21 ns / 28.61 ns | ∇ -57.31% | 81.87 MHz / 34.95 MHz | Δ 134.26% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 2.55 us | Δ 5.71% | 370.49 KHz / 391.65 KHz | ∇ -5.40% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 8.36 us | ∇ -31.68% | 175.14 KHz / 119.66 KHz | Δ 46.36% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 213.95 ns | ∇ -30.74% | 6.75 MHz / 4.67 MHz | Δ 44.38% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 324.69 ns | ∇ -28.41% | 4.30 MHz / 3.08 MHz | Δ 39.68% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 829.70 ns | ∇ -40.98% | 2.04 MHz / 1.21 MHz | Δ 69.43% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 214.89 ns | ∇ -25.76% | 6.27 MHz / 4.65 MHz | Δ 34.69% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 364.99 ns | ∇ -32.12% | 4.04 MHz / 2.74 MHz | Δ 47.32% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 760.13 ns | ∇ -31.34% | 1.92 MHz / 1.32 MHz | Δ 45.64% |
random: permuteVector (len=10) | 251.30 ns / 420.57 ns | ∇ -40.25% | 3.98 MHz / 2.38 MHz | Δ 67.36% |
random: permuteVector (len=100) | 3.02 us / 3.56 us | ∇ -15.19% | 331.46 KHz / 281.12 KHz | Δ 17.91% |
random: permuteVector (len=1000) | 30.36 us / 33.55 us | ∇ -9.50% | 32.93 KHz / 29.80 KHz | Δ 10.50% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 10.09 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 28.40 ms | Δ 20.22% | 29.29 Hz / 35.21 Hz | ∇ -16.82% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 43.71 ms | Δ 13.99% | 20.07 Hz / 22.88 Hz | ∇ -12.27% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 70.17 ms | Δ 15.02% | 12.39 Hz / 14.25 Hz | ∇ -13.06% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 24.11 ms | Δ 21.79% | 34.05 Hz / 41.48 Hz | ∇ -17.89% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 37.02 ms | Δ 14.64% | 23.56 Hz / 27.01 Hz | ∇ -12.77% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 59.51 ms | Δ 9.91% | 15.29 Hz / 16.80 Hz | ∇ -9.02% |
images: Gauss filter (640x480) | 4.66 ms / 5.29 ms | ∇ -11.87% | 214.40 Hz / 188.95 Hz | Δ 13.47% |
images: Gauss filter (800x600) | 5.98 ms / 8.36 ms | ∇ -28.40% | 167.10 Hz / 119.64 Hz | Δ 39.67% |
images: Gauss filter (1024x768) | 10.42 ms / 13.88 ms | ∇ -24.89% | 95.93 Hz / 72.06 Hz | Δ 33.13% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 18.63 us | ∇ -39.09% | 88.11 KHz / 53.67 KHz | Δ 64.17% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 17.89 us | ∇ -44.31% | 100.40 KHz / 55.91 KHz | Δ 79.57% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 5.05 us | Δ 9.21% | 181.16 KHz / 197.84 KHz | ∇ -8.43% |
feature_extraction [640x480]: Harris | 32.25 ms / 33.27 ms | ∇ -3.05% | 31.01 Hz / 30.06 Hz | Δ 3.14% |
feature_extraction [640x480]: KLT | 25.60 ms / 31.21 ms | ∇ -17.97% | 39.06 Hz / 32.04 Hz | Δ 21.91% |
feature_extraction [640x480]: SIFT | 630.91 ms / 675.81 ms | ∇ -6.65% | 1.59 Hz / 1.48 Hz | Δ 7.12% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 217.19 ms | ∇ -24.45% | 6.09 Hz / 4.60 Hz | Δ 32.36% |
feature_extraction [640x480]: SURF | 207.64 ms / 316.97 ms | ∇ -34.49% | 4.82 Hz / 3.15 Hz | Δ 52.65% |
feature_extraction [640x480]: FAST | 7.60 ms / 7.82 ms | ∇ -2.79% | 131.57 Hz / 127.91 Hz | Δ 2.87% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 103.38 ms | ∇ -41.38% | 16.50 Hz / 9.67 Hz | Δ 70.58% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 56.24 ms | ∇ -21.78% | 22.73 Hz / 17.78 Hz | Δ 27.85% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 47.55 ms | ∇ -23.69% | 27.56 Hz / 21.03 Hz | Δ 31.04% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.34 sec | ∇ -10.62% | 834.47 mHz / 745.82 mHz | Δ 11.89% |
feature_matching [640x480]: SURF | 379.83 ms / 606.64 ms | ∇ -37.39% | 2.63 Hz / 1.65 Hz | Δ 59.71% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 22.36 ms | ∇ -28.29% | 62.36 Hz / 44.72 Hz | Δ 39.46% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 15.00 ms | ∇ -27.62% | 92.14 Hz / 66.69 Hz | Δ 38.16% |
graph(2d): insertEdge x 1e3 | 119.99 us / 313.03 us | ∇ -61.67% | 8.33 KHz / 3.19 KHz | Δ 160.88% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 307.43 us | ∇ -65.14% | 9.33 KHz / 3.25 KHz | Δ 186.84% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 222.64 us | ∇ -62.26% | 11.90 KHz / 4.49 KHz | Δ 164.95% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 222.87 us | ∇ -62.59% | 11.99 KHz / 4.49 KHz | Δ 167.32% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 516.93 us | ∇ -66.99% | 5.86 KHz / 1.93 KHz | Δ 202.98% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 517.18 us | ∇ -64.88% | 5.51 KHz / 1.93 KHz | Δ 184.77% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 405.97 us | ∇ -55.90% | 5.59 KHz / 2.46 KHz | Δ 126.78% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 403.48 us | ∇ -55.74% | 5.60 KHz / 2.48 KHz | Δ 125.93% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 3.36 ms | ∇ -52.96% | 632.00 Hz / 297.28 Hz | Δ 112.59% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 3.35 ms | ∇ -62.22% | 790.83 Hz / 298.76 Hz | Δ 164.70% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 2.22 ms | ∇ -61.10% | 1.16 KHz / 450.51 Hz | Δ 157.09% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 2.22 ms | ∇ -61.91% | 1.18 KHz / 450.21 Hz | Δ 162.51% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 5.45 ms | ∇ -64.03% | 509.85 Hz / 183.37 Hz | Δ 178.04% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 5.44 ms | ∇ -58.69% | 445.23 Hz / 183.91 Hz | Δ 142.09% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.07 ms | ∇ -51.98% | 511.72 Hz / 245.74 Hz | Δ 108.24% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.06 ms | ∇ -51.92% | 512.69 Hz / 246.50 Hz | Δ 107.99% |
graph(3d): insertEdge x 1e3 | 169.26 us / 447.20 us | ∇ -62.15% | 5.91 KHz / 2.24 KHz | Δ 164.20% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 442.12 us | ∇ -61.83% | 5.93 KHz / 2.26 KHz | Δ 161.96% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 346.69 us | ∇ -55.67% | 6.51 KHz / 2.88 KHz | Δ 125.57% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 347.20 us | ∇ -55.59% | 6.49 KHz / 2.88 KHz | Δ 125.17% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 944.03 us | ∇ -50.01% | 2.12 KHz / 1.06 KHz | Δ 100.03% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 978.08 us | ∇ -50.97% | 2.09 KHz / 1.02 KHz | Δ 103.95% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 793.19 us | ∇ -44.36% | 2.27 KHz / 1.26 KHz | Δ 79.73% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 793.52 us | ∇ -43.91% | 2.25 KHz / 1.26 KHz | Δ 78.30% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 4.62 ms | ∇ -46.83% | 407.06 Hz / 216.43 Hz | Δ 88.08% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 4.62 ms | ∇ -46.70% | 406.51 Hz / 216.67 Hz | Δ 87.62% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.48 ms | ∇ -51.18% | 588.45 Hz / 287.28 Hz | Δ 104.83% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.47 ms | ∇ -51.04% | 587.97 Hz / 287.84 Hz | Δ 104.27% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 10.55 ms | ∇ -36.67% | 149.62 Hz / 94.75 Hz | Δ 57.90% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 9.75 ms | ∇ -30.74% | 148.06 Hz / 102.54 Hz | Δ 44.39% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 7.93 ms | ∇ -42.18% | 218.07 Hz / 126.08 Hz | Δ 72.96% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 7.94 ms | ∇ -42.39% | 218.58 Hz / 125.93 Hz | Δ 73.57% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 262.18 us | ∇ -66.04% | 11.23 KHz / 3.81 KHz | Δ 194.44% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 363.67 us | ∇ -79.29% | 13.28 KHz / 2.75 KHz | Δ 382.79% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 2.97 ms | ∇ -62.79% | 903.43 Hz / 336.14 Hz | Δ 168.77% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 3.29 ms | ∇ -78.40% | 1.41 KHz / 303.75 Hz | Δ 362.91% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 34.21 ms | ∇ -45.81% | 53.94 Hz / 29.23 Hz | Δ 84.53% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 38.12 ms | ∇ -74.41% | 102.51 Hz / 26.23 Hz | Δ 290.79% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 389.54 ms | ∇ -35.16% | 3.96 Hz / 2.57 Hz | Δ 54.23% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 428.64 ms | ∇ -73.82% | 8.91 Hz / 2.33 Hz | Δ 281.91% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 382.11 ms | ∇ -33.00% | 3.91 Hz / 2.62 Hz | Δ 49.25% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 417.45 ms | ∇ -74.57% | 9.42 Hz / 2.40 Hz | Δ 293.22% |