Test description | 0.9.3-MSVC-32bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 20.59 ms | Δ 53.29% | 31.69 Hz / 48.58 Hz | ∇ -34.77% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 20.64 ms | Δ 161.39% | 18.54 Hz / 48.45 Hz | ∇ -61.74% |
poses: CPose3D (+) CPose3D | 194.14 ns / 42.90 ns | Δ 352.54% | 5.15 MHz / 23.31 MHz | ∇ -77.90% |
poses: CPose3D.composeFrom() | 34.65 ns / 37.61 ns | ∇ -7.86% | 28.86 MHz / 26.59 MHz | Δ 8.54% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 7.25 ns | Δ 295.29% | 34.88 MHz / 137.89 MHz | ∇ -74.70% |
poses: CPose3D.composePoint() | 18.49 ns / 11.83 ns | Δ 56.31% | 54.08 MHz / 84.53 MHz | ∇ -36.02% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 39.31 ns | Δ 138.83% | 10.65 MHz / 25.44 MHz | ∇ -58.13% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 34.91 ns | Δ 27.17% | 22.53 MHz / 28.65 MHz | ∇ -21.36% |
poses: CPose2D (+) CPose2D | 103.92 ns / 76.08 ns | Δ 36.60% | 9.62 MHz / 13.14 MHz | ∇ -26.79% |
poses: CPose2D.composeFrom() | 91.82 ns / 61.61 ns | Δ 49.03% | 10.89 MHz / 16.23 MHz | ∇ -32.90% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 60.26 ns | Δ 132.92% | 7.12 MHz / 16.59 MHz | ∇ -57.07% |
poses: CPose2D.composePoint() | 66.26 ns / 62.26 ns | Δ 6.42% | 15.09 MHz / 16.06 MHz | ∇ -6.03% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 40.99 ns | Δ 127.75% | 10.71 MHz / 24.40 MHz | ∇ -56.09% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 39.39 ns | Δ 53.65% | 16.52 MHz / 25.39 MHz | ∇ -34.92% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 18.30 ns | Δ 537.65% | 8.57 MHz / 54.63 MHz | ∇ -84.32% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 17.94 ns | Δ 72.91% | 32.23 MHz / 55.74 MHz | ∇ -42.17% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 55.46 ns | Δ 128.62% | 7.89 MHz / 18.03 MHz | ∇ -56.26% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 17.66 ns | Δ 74.86% | 32.38 MHz / 56.63 MHz | ∇ -42.81% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 16.78 ns | Δ 99.08% | 29.93 MHz / 59.58 MHz | ∇ -49.77% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 169.37 ns | Δ 24.78% | 4.73 MHz / 5.90 MHz | ∇ -19.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 799.08 us | ∇ -97.57% | 51.41 KHz / 1.25 KHz | Δ 4007.84% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 803.31 us | ∇ -99.63% | 341.05 KHz / 1.24 KHz | Δ 27296.55% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 9.44 us | Δ 266.83% | 28.87 KHz / 105.91 KHz | ∇ -72.74% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 648.90 ns | Δ 32.57% | 1.16 MHz / 1.54 MHz | ∇ -24.57% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 631.00 ns | Δ 39.50% | 1.14 MHz / 1.58 MHz | ∇ -28.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 8.18 us | Δ 166.17% | 45.95 KHz / 122.30 KHz | ∇ -62.43% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 24.43 ns | Δ 84.18% | 22.23 MHz / 40.94 MHz | ∇ -45.70% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 23.18 ns | Δ 94.82% | 22.14 MHz / 43.14 MHz | ∇ -48.67% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 59.50 ns | Δ 170.30% | 6.22 MHz / 16.81 MHz | ∇ -63.00% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 62.26 ns | Δ 158.52% | 6.21 MHz / 16.06 MHz | ∇ -61.32% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.35 ns | ∇ -100.00% | inf THz / 2.88 GHz | Δ inf% |
matrix: unit, fix[double,3,3] | 0.00 ns / 1.19 ns | ∇ -100.00% | inf THz / 841.75 MHz | Δ inf% |
matrix: unit, fix[float,6,6] | 6.73 ns / 1.70 ns | Δ 295.44% | 148.49 MHz / 587.20 MHz | ∇ -74.71% |
matrix: unit, fix[double,6,6] | 7.86 ns / 2.77 ns | Δ 183.68% | 127.26 MHz / 361.01 MHz | ∇ -64.75% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 85.80 ns | Δ 541.94% | 1.82 MHz / 11.66 MHz | ∇ -84.42% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 23.80 ns | ∇ -99.81% | 22.08 GHz / 42.02 MHz | Δ 52448.95% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 75.90 ns | Δ 470.47% | 2.31 MHz / 13.18 MHz | ∇ -82.47% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 23.50 ns | ∇ -100.00% | inf THz / 42.55 MHz | Δ inf% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 660.53 ns / 118.10 ns | Δ 459.29% | 1.51 MHz / 8.47 MHz | ∇ -82.12% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 44.70 ns | ∇ -12.96% | 25.70 MHz / 22.37 MHz | Δ 14.90% |
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 / 45.20 ns | ∇ -80.66% | 114.40 MHz / 22.12 MHz | Δ 417.09% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 5.44 us | ∇ -13.88% | 213.59 KHz / 183.95 KHz | Δ 16.11% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 3.78 us | Δ 17.09% | 226.20 KHz / 264.87 KHz | ∇ -14.60% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 5.54 us | ∇ -41.61% | 308.92 KHz / 180.38 KHz | Δ 71.27% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 4.07 us | ∇ -41.95% | 422.77 KHz / 245.43 KHz | Δ 72.25% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 644.00 ns | Δ 130.96% | 672.33 KHz / 1.55 MHz | ∇ -56.70% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 39.00 ns | ∇ -17.55% | 31.10 MHz / 25.64 MHz | Δ 21.28% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 1.26 us | Δ 177.17% | 286.11 KHz / 793.02 KHz | ∇ -63.92% |
matrix: inv, fix[double] 6x6 | 2.72 us / 575.00 ns | Δ 372.29% | 368.24 KHz / 1.74 MHz | ∇ -78.83% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 25.76 us | Δ 23.75% | 31.37 KHz / 38.83 KHz | ∇ -19.19% |
matrix: inv, fix[double] 20x20 | 28.91 us / 17.04 us | Δ 69.70% | 34.58 KHz / 58.69 KHz | ∇ -41.07% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 207.20 us | ∇ -40.05% | 8.05 KHz / 4.83 KHz | Δ 66.80% |
matrix: inv, fix[double] 40x40 | 122.24 us / 133.80 us | ∇ -8.64% | 8.18 KHz / 7.47 KHz | Δ 9.46% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 6.40 ns | Δ 10019.02% | 1.54 MHz / 156.25 MHz | ∇ -99.01% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
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 | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 6x6 | 2.45 us / 730.30 ns | Δ 236.06% | 407.46 KHz / 1.37 MHz | ∇ -70.24% |
matrix: det, fix[double] 6x6 | 1.89 us / 212.10 ns | Δ 789.59% | 529.99 KHz / 4.71 MHz | ∇ -88.76% |
matrix: det, dyn[double] 20x20 | 22.48 us / 6.56 us | Δ 242.37% | 44.49 KHz / 152.33 KHz | ∇ -70.79% |
matrix: det, fix[double] 20x20 | 21.45 us / 5.04 us | Δ 325.44% | 46.63 KHz / 198.38 KHz | ∇ -76.50% |
matrix: det, dyn[double] 40x40 | 80.28 us / 39.41 us | Δ 103.69% | 12.46 KHz / 25.37 KHz | ∇ -50.91% |
matrix: det, fix[double] 40x40 | 79.04 us / 29.04 us | Δ 172.20% | 12.65 KHz / 34.44 KHz | ∇ -63.26% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 140.00 ns | Δ 679.65% | 916.16 KHz / 7.14 MHz | ∇ -87.17% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 160.00 ns | Δ 98.15% | 3.15 MHz / 6.25 MHz | ∇ -49.53% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 18.38 us | Δ 312.06% | 13.20 KHz / 54.41 KHz | ∇ -75.73% |
matrix: chol, fix[double] 40x40 | 55.31 us / 17.08 us | Δ 223.83% | 18.08 KHz / 58.55 KHz | ∇ -69.12% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 8.30 us | Δ 103.54% | 59.19 KHz / 120.48 KHz | ∇ -50.87% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 84.40 us | Δ 193.00% | 4.04 KHz / 11.85 KHz | ∇ -65.87% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 53.00 us | Δ 241.05% | 5.53 KHz / 18.87 KHz | ∇ -70.68% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 39.49 us | Δ 132.69% | 10.88 KHz / 25.32 KHz | ∇ -57.03% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 411.70 us | Δ 86.00% | 1.31 KHz / 2.43 KHz | ∇ -46.24% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 74.09 us | Δ 57.31% | 8.58 KHz / 13.50 KHz | ∇ -36.43% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 10.38 ms | ∇ -60.71% | 245.20 Hz / 96.33 Hz | Δ 154.54% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 248.74 us | ∇ -16.60% | 4.82 KHz / 4.02 KHz | Δ 19.90% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 370.64 ms | ∇ -93.41% | 40.93 Hz / 2.70 Hz | Δ 1416.88% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 353.56 us | Δ 14.10% | 2.48 KHz / 2.83 KHz | ∇ -12.35% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 365.56 ms | ∇ -89.00% | 24.87 Hz / 2.74 Hz | Δ 809.31% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 425.27 us | Δ 12.83% | 2.08 KHz / 2.35 KHz | ∇ -11.37% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 796.04 ms | ∇ -92.47% | 16.68 Hz / 1.26 Hz | Δ 1227.89% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 490.79 us | Δ 14.12% | 1.79 KHz / 2.04 KHz | ∇ -12.37% |
gridmap2D: getCell | 5.69 ns / 0.00 ns | Δ inf% | 175.73 MHz / inf THz | ∇ -nan% |
gridmap2D: setCell | 8.06 ns / 2.58 ns | Δ 212.54% | 124.07 MHz / 387.76 MHz | ∇ -68.00% |
gridmap2D: updateCell | 61.98 ns / 7.44 ns | Δ 732.50% | 16.13 MHz / 134.32 MHz | ∇ -87.99% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 0.55 ns | Δ 127.24% | 798.82 MHz / 1.82 GHz | ∇ -55.99% |
gridmap2D: insert scan w/o widening | 208.84 us / 101.23 us | Δ 106.31% | 4.79 KHz / 9.88 KHz | ∇ -51.53% |
gridmap2D: insert scan with widening | 346.08 us / 291.30 us | Δ 18.81% | 2.89 KHz / 3.43 KHz | ∇ -15.83% |
gridmap2D: resize | 2.81 ms / 1.89 ms | Δ 48.95% | 355.60 Hz / 529.66 Hz | ∇ -32.86% |
gridmap2D: computeLikelihood | 18.33 us / 16.46 us | Δ 11.35% | 54.57 KHz / 60.76 KHz | ∇ -10.19% |
pointmap: insert 100 scans | 6.61 ms / 3.10 ms | Δ 113.11% | 151.33 Hz / 322.50 Hz | ∇ -53.08% |
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 / 355.52 us | Δ 50.77% | 1.87 KHz / 2.81 KHz | ∇ -33.67% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 4.16 ms | Δ 35.60% | 177.17 Hz / 240.24 Hz | ∇ -26.26% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 4.76 us | Δ 61.75% | 129.88 KHz / 210.08 KHz | ∇ -38.18% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 363.20 us | Δ 45.54% | 1.89 KHz / 2.75 KHz | ∇ -31.29% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 4.09 ms | Δ 41.93% | 172.12 Hz / 244.29 Hz | ∇ -29.54% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.38 us | Δ 54.29% | 468.98 KHz / 723.59 KHz | ∇ -35.19% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 100.93 us | Δ 44.36% | 6.86 KHz / 9.91 KHz | ∇ -30.73% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 11.91 ms | Δ 30.02% | 64.56 Hz / 83.95 Hz | ∇ -23.09% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 5.62 ms | Δ 59.04% | 111.93 Hz / 178.01 Hz | ∇ -37.12% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 130.76 ms | Δ 53.00% | 5.00 Hz / 7.65 Hz | ∇ -34.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 5.67 ms | Δ 58.26% | 111.43 Hz / 176.35 Hz | ∇ -36.81% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 132.64 ms | Δ 51.70% | 4.97 Hz / 7.54 Hz | ∇ -34.08% |
random: drawUniform32bit | 7.76 ns / 14.57 ns | ∇ -46.77% | 128.93 MHz / 68.63 MHz | Δ 87.87% |
random: drawUniform | 7.61 ns / 14.62 ns | ∇ -47.94% | 131.41 MHz / 68.41 MHz | Δ 92.10% |
random: drawGaussian1D_normalized | 51.84 ns / 68.70 ns | ∇ -24.55% | 19.29 MHz / 14.56 MHz | Δ 32.54% |
random: drawGaussian1D | 52.02 ns / 68.68 ns | ∇ -24.26% | 19.22 MHz / 14.56 MHz | Δ 32.03% |
random: system rand() | 27.43 ns / 10.45 ns | Δ 162.42% | 36.46 MHz / 95.67 MHz | ∇ -61.89% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 1.31 us | Δ 279.76% | 201.38 KHz / 764.77 KHz | ∇ -73.67% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 2.79 us | Δ 283.22% | 93.66 KHz / 358.92 KHz | ∇ -73.91% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 158.26 ns | ∇ -2.93% | 6.51 MHz / 6.32 MHz | Δ 3.01% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 236.42 ns | Δ 5.77% | 4.00 MHz / 4.23 MHz | ∇ -5.46% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 489.37 ns | Δ 35.81% | 1.50 MHz / 2.04 MHz | ∇ -26.37% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 164.61 ns | ∇ -6.92% | 6.53 MHz / 6.07 MHz | Δ 7.44% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 248.12 ns | Δ 2.13% | 3.95 MHz / 4.03 MHz | ∇ -2.08% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 514.83 ns | Δ 21.00% | 1.61 MHz / 1.94 MHz | ∇ -17.36% |
random: permuteVector (len=10) | 342.58 ns / 317.50 ns | Δ 7.90% | 2.92 MHz / 3.15 MHz | ∇ -7.32% |
random: permuteVector (len=100) | 3.62 us / 3.06 us | Δ 18.08% | 276.54 KHz / 326.54 KHz | ∇ -15.31% |
random: permuteVector (len=1000) | 35.68 us / 30.27 us | Δ 17.88% | 28.03 KHz / 33.04 KHz | ∇ -15.17% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188409.14% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 27.27 ms | Δ 2.99% | 35.61 Hz / 36.67 Hz | ∇ -2.90% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 43.27 ms | ∇ -1.10% | 23.37 Hz / 23.11 Hz | Δ 1.11% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 74.67 ms | ∇ -7.42% | 14.46 Hz / 13.39 Hz | Δ 8.01% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 26.31 ms | ∇ -9.69% | 42.09 Hz / 38.01 Hz | Δ 10.73% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 40.92 ms | ∇ -8.96% | 26.85 Hz / 24.44 Hz | Δ 9.85% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 62.56 ms | ∇ -4.32% | 16.71 Hz / 15.99 Hz | Δ 4.51% |
images: Gauss filter (640x480) | 7.21 ms / 4.48 ms | Δ 60.73% | 138.75 Hz / 223.01 Hz | ∇ -37.78% |
images: Gauss filter (800x600) | 8.67 ms / 7.46 ms | Δ 16.26% | 115.32 Hz / 134.07 Hz | ∇ -13.99% |
images: Gauss filter (1024x768) | 14.94 ms / 12.41 ms | Δ 20.37% | 66.93 Hz / 80.57 Hz | ∇ -16.92% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 5.15 us | Δ 390.46% | 39.59 KHz / 194.17 KHz | ∇ -79.61% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 4.35 us | Δ 458.38% | 41.17 KHz / 229.89 KHz | ∇ -82.09% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 2.12 us | Δ 551.81% | 72.37 KHz / 471.70 KHz | ∇ -84.66% |
feature_extraction [640x480]: Harris | 53.60 ms / 33.18 ms | Δ 61.54% | 18.66 Hz / 30.14 Hz | ∇ -38.10% |
feature_extraction [640x480]: KLT | 32.67 ms / 29.64 ms | Δ 10.23% | 30.61 Hz / 33.74 Hz | ∇ -9.28% |
feature_extraction [640x480]: SIFT | 724.51 ms / 637.68 ms | Δ 13.62% | 1.38 Hz / 1.57 Hz | ∇ -11.99% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 173.14 ms | Δ 25.52% | 4.60 Hz / 5.78 Hz | ∇ -20.33% |
feature_extraction [640x480]: SURF | 320.21 ms / 202.84 ms | Δ 57.87% | 3.12 Hz / 4.93 Hz | ∇ -36.65% |
feature_extraction [640x480]: FAST | 9.58 ms / 5.10 ms | Δ 87.73% | 104.37 Hz / 195.94 Hz | ∇ -46.73% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 61.22 ms | Δ 81.57% | 9.00 Hz / 16.33 Hz | ∇ -44.93% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 43.90 ms | Δ 47.50% | 15.44 Hz / 22.78 Hz | ∇ -32.20% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 38.32 ms | Δ 31.66% | 19.82 Hz / 26.09 Hz | ∇ -24.05% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.28 sec | Δ 6.88% | 732.49 mHz / 782.87 mHz | ∇ -6.44% |
feature_matching [640x480]: SURF | 602.11 ms / 387.99 ms | Δ 55.19% | 1.66 Hz / 2.58 Hz | ∇ -35.56% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 15.73 ms | Δ 49.71% | 42.46 Hz / 63.57 Hz | ∇ -33.21% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 10.56 ms | Δ 48.73% | 63.67 Hz / 94.70 Hz | ∇ -32.77% |
graph(2d): insertEdge x 1e3 | 300.22 us / 104.46 us | Δ 187.40% | 3.33 KHz / 9.57 KHz | ∇ -65.21% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / X | 3.32 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 85.19 us | Δ 187.83% | 4.08 KHz / 11.74 KHz | ∇ -65.26% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / X | 3.96 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 134.65 us | Δ 299.26% | 1.86 KHz / 7.43 KHz | ∇ -74.95% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / X | 2.19 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 119.89 us | Δ 234.62% | 2.49 KHz / 8.34 KHz | ∇ -70.12% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / X | 2.54 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.65 ms / 1.39 ms | Δ 163.70% | 273.78 Hz / 721.96 Hz | ∇ -62.08% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / X | 270.61 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 854.04 us | Δ 193.45% | 399.01 Hz / 1.17 KHz | ∇ -65.92% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.34 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 1.61 ms | Δ 198.98% | 207.97 Hz / 621.80 Hz | ∇ -66.55% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.85 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 1.20 ms | Δ 235.46% | 248.25 Hz / 832.81 Hz | ∇ -70.19% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / X | 250.07 Hz / X | ||
graph(3d): insertEdge x 1e3 | 338.14 us / 132.91 us | Δ 154.42% | 2.96 KHz / 7.52 KHz | ∇ -60.69% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / X | 3.01 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 109.11 us | Δ 177.16% | 3.31 KHz / 9.17 KHz | ∇ -63.92% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / X | 3.23 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 349.74 us | Δ 91.20% | 1.50 KHz / 2.86 KHz | ∇ -47.70% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / X | 1.49 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 321.54 us | Δ 107.88% | 1.50 KHz / 3.11 KHz | ∇ -51.90% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / X | 1.48 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.60 ms / 1.89 ms | Δ 90.64% | 277.54 Hz / 529.10 Hz | ∇ -47.54% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / X | 276.39 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 1.10 ms | Δ 176.68% | 328.99 Hz / 910.25 Hz | ∇ -63.86% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / X | 330.96 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 4.65 ms | Δ 52.60% | 141.02 Hz / 215.20 Hz | ∇ -34.47% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / X | 141.24 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 4.05 ms | Δ 65.25% | 149.36 Hz / 246.81 Hz | ∇ -39.48% |
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 |