Test description | 0.9.3-MSVC-32bit / 0.9.1-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 31.78 ms | ∇ -0.71% | 31.69 Hz / 31.46 Hz | Δ 0.72% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 53.70 ms | Δ 0.45% | 18.54 Hz / 18.62 Hz | ∇ -0.45% |
poses: CPose3D (+) CPose3D | 194.14 ns / 925.38 ns | ∇ -79.02% | 5.15 MHz / 1.08 MHz | Δ 376.66% |
poses: CPose3D.composeFrom() | 34.65 ns / 617.00 ns | ∇ -94.38% | 28.86 MHz / 1.62 MHz | Δ 1680.56% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 35.98 ns | ∇ -20.32% | 34.88 MHz / 27.80 MHz | Δ 25.50% |
poses: CPose3D.composePoint() | 18.49 ns / 14.62 ns | Δ 26.52% | 54.08 MHz / 68.42 MHz | ∇ -20.96% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 75.43 ns | Δ 24.48% | 10.65 MHz / 13.26 MHz | ∇ -19.66% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 56.48 ns | ∇ -21.41% | 22.53 MHz / 17.70 MHz | Δ 27.24% |
poses: CPose2D (+) CPose2D | 103.92 ns / 121.60 ns | ∇ -14.54% | 9.62 MHz / 8.22 MHz | Δ 17.01% |
poses: CPose2D.composeFrom() | 91.82 ns / 66.63 ns | Δ 37.81% | 10.89 MHz / 15.01 MHz | ∇ -27.44% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 93.73 ns | Δ 49.75% | 7.12 MHz / 10.67 MHz | ∇ -33.22% |
poses: CPose2D.composePoint() | 66.26 ns / 62.24 ns | Δ 6.46% | 15.09 MHz / 16.07 MHz | ∇ -6.07% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 100.74 ns | ∇ -7.33% | 10.71 MHz / 9.93 MHz | Δ 7.91% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 57.92 ns | Δ 4.49% | 16.52 MHz / 17.26 MHz | ∇ -4.29% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 61.33 ns | Δ 90.31% | 8.57 MHz / 16.31 MHz | ∇ -47.45% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 27.34 ns | Δ 13.46% | 32.23 MHz / 36.57 MHz | ∇ -11.86% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 580.67 ns | ∇ -78.17% | 7.89 MHz / 1.72 MHz | Δ 358.00% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 28.18 ns | Δ 9.58% | 32.38 MHz / 35.48 MHz | ∇ -8.74% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 506.67 ns | ∇ -93.40% | 29.93 MHz / 1.97 MHz | Δ 1416.25% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 214.86 ns | ∇ -1.64% | 4.73 MHz / 4.65 MHz | Δ 1.67% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 1.56 us | Δ 1150.71% | 51.41 KHz / 642.96 KHz | ∇ -92.00% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 1.51 us | Δ 94.65% | 341.05 KHz / 663.83 KHz | ∇ -48.62% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 23.29 us | Δ 48.73% | 28.87 KHz / 42.94 KHz | ∇ -32.77% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 1.64 us | ∇ -47.54% | 1.16 MHz / 609.77 KHz | Δ 90.64% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 1.66 us | ∇ -47.11% | 1.14 MHz / 600.84 KHz | Δ 89.08% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 16.05 us | Δ 35.63% | 45.95 KHz / 62.32 KHz | ∇ -26.27% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 39.66 ns | Δ 13.45% | 22.23 MHz / 25.22 MHz | ∇ -11.86% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 42.75 ns | Δ 5.65% | 22.14 MHz / 23.39 MHz | ∇ -5.35% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 152.29 ns | Δ 5.62% | 6.22 MHz / 6.57 MHz | ∇ -5.32% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 150.45 ns | Δ 6.99% | 6.21 MHz / 6.65 MHz | ∇ -6.53% |
matrix: unit, fix[float,3,3] | 0.00 ns / 3.30 ns | ∇ -100.00% | inf THz / 303.37 MHz | Δ inf% |
matrix: unit, fix[double,3,3] | 0.00 ns / 3.48 ns | ∇ -100.00% | inf THz / 287.56 MHz | Δ inf% |
matrix: unit, fix[float,6,6] | 6.73 ns / 3.06 ns | Δ 120.34% | 148.49 MHz / 327.19 MHz | ∇ -54.62% |
matrix: unit, fix[double,6,6] | 7.86 ns / 6.65 ns | Δ 18.25% | 127.26 MHz / 150.48 MHz | ∇ -15.43% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 167.81 ns | Δ 228.23% | 1.82 MHz / 5.96 MHz | ∇ -69.53% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 108.61 ns | ∇ -99.96% | 22.08 GHz / 9.21 MHz | Δ 239703.15% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 158.88 ns | Δ 172.52% | 2.31 MHz / 6.29 MHz | ∇ -63.30% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 90.86 ns | ∇ -100.00% | inf THz / 11.01 MHz | Δ inf% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 660.53 ns / 272.47 ns | Δ 142.42% | 1.51 MHz / 3.67 MHz | ∇ -58.75% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 193.12 ns | ∇ -79.85% | 25.70 MHz / 5.18 MHz | Δ 396.40% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 238.91 ns | Δ 98.67% | 2.11 MHz / 4.19 MHz | ∇ -49.67% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 139.05 ns | ∇ -93.71% | 114.40 MHz / 7.19 MHz | Δ 1490.69% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 16.80 us | ∇ -72.14% | 213.59 KHz / 59.51 KHz | Δ 258.91% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 13.06 us | ∇ -66.15% | 226.20 KHz / 76.57 KHz | Δ 195.43% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 13.55 us | ∇ -76.11% | 308.92 KHz / 73.81 KHz | Δ 318.57% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 9.96 us | ∇ -76.25% | 422.77 KHz / 100.40 KHz | Δ 321.09% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 1.53 us | ∇ -2.90% | 672.33 KHz / 652.84 KHz | Δ 2.99% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 31.25 ns | Δ 2.90% | 31.10 MHz / 32.00 MHz | ∇ -2.82% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 5.08 us | ∇ -31.26% | 286.11 KHz / 196.68 KHz | Δ 45.47% |
matrix: inv, fix[double] 6x6 | 2.72 us / 926.67 ns | Δ 193.06% | 368.24 KHz / 1.08 MHz | ∇ -65.88% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 108.60 us | ∇ -70.65% | 31.37 KHz / 9.21 KHz | Δ 240.70% |
matrix: inv, fix[double] 20x20 | 28.91 us / 19.22 us | Δ 50.42% | 34.58 KHz / 52.02 KHz | ∇ -33.52% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 818.27 us | ∇ -84.82% | 8.05 KHz / 1.22 KHz | Δ 558.74% |
matrix: inv, fix[double] 40x40 | 122.24 us / 136.18 us | ∇ -10.23% | 8.18 KHz / 7.34 KHz | Δ 11.40% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 9.56 ns | Δ 6676.69% | 1.54 MHz / 104.64 MHz | ∇ -98.52% |
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 / 15.90 ns | Δ 5999.07% | 1.03 MHz / 62.90 MHz | ∇ -98.36% |
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 / 2.38 us | Δ 3.18% | 407.46 KHz / 420.40 KHz | ∇ -3.08% |
matrix: det, fix[double] 6x6 | 1.89 us / 422.89 ns | Δ 346.18% | 529.99 KHz / 2.36 MHz | ∇ -77.59% |
matrix: det, dyn[double] 20x20 | 22.48 us / 18.19 us | Δ 23.59% | 44.49 KHz / 54.99 KHz | ∇ -19.09% |
matrix: det, fix[double] 20x20 | 21.45 us / 6.52 us | Δ 228.77% | 46.63 KHz / 153.30 KHz | ∇ -69.58% |
matrix: det, dyn[double] 40x40 | 80.28 us / 114.84 us | ∇ -30.10% | 12.46 KHz / 8.71 KHz | Δ 43.06% |
matrix: det, fix[double] 40x40 | 79.04 us / 36.00 us | Δ 119.54% | 12.65 KHz / 27.78 KHz | ∇ -54.45% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 185.70 ns | Δ 487.80% | 916.16 KHz / 5.39 MHz | ∇ -82.99% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 113.23 ns | Δ 180.00% | 3.15 MHz / 8.83 MHz | ∇ -64.29% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 24.43 us | Δ 210.01% | 13.20 KHz / 40.93 KHz | ∇ -67.74% |
matrix: chol, fix[double] 40x40 | 55.31 us / 17.73 us | Δ 211.92% | 18.08 KHz / 56.40 KHz | ∇ -67.94% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 10.78 us | Δ 56.72% | 59.19 KHz / 92.77 KHz | ∇ -36.19% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 117.89 us | Δ 109.76% | 4.04 KHz / 8.48 KHz | ∇ -52.33% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 70.52 us | Δ 156.32% | 5.53 KHz / 14.18 KHz | ∇ -60.99% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 52.59 us | Δ 74.74% | 10.88 KHz / 19.02 KHz | ∇ -42.77% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 491.10 us | Δ 55.93% | 1.31 KHz / 2.04 KHz | ∇ -35.87% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 85.83 us | Δ 35.79% | 8.58 KHz / 11.65 KHz | ∇ -26.36% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 9.44 ms | ∇ -56.82% | 245.20 Hz / 105.88 Hz | Δ 131.59% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 204.52 us | Δ 1.44% | 4.82 KHz / 4.89 KHz | ∇ -1.42% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 150.13 ms | ∇ -83.72% | 40.93 Hz / 6.66 Hz | Δ 514.42% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 415.58 us | ∇ -2.93% | 2.48 KHz / 2.41 KHz | Δ 3.02% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 461.43 ms | ∇ -91.29% | 24.87 Hz / 2.17 Hz | Δ 1047.79% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 484.92 us | ∇ -1.05% | 2.08 KHz / 2.06 KHz | Δ 1.06% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 947.45 ms | ∇ -93.67% | 16.68 Hz / 1.06 Hz | Δ 1480.45% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 586.44 us | ∇ -4.49% | 1.79 KHz / 1.71 KHz | Δ 4.70% |
gridmap2D: getCell | 5.69 ns / 5.77 ns | ∇ -1.43% | 175.73 MHz / 173.23 MHz | Δ 1.45% |
gridmap2D: setCell | 8.06 ns / 7.96 ns | Δ 1.27% | 124.07 MHz / 125.64 MHz | ∇ -1.25% |
gridmap2D: updateCell | 61.98 ns / 10.80 ns | Δ 473.80% | 16.13 MHz / 92.58 MHz | ∇ -82.57% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 1.21 ns | Δ 3.48% | 798.82 MHz / 826.59 MHz | ∇ -3.36% |
gridmap2D: insert scan w/o widening | 208.84 us / 204.23 us | Δ 2.26% | 4.79 KHz / 4.90 KHz | ∇ -2.21% |
gridmap2D: insert scan with widening | 346.08 us / 344.40 us | Δ 0.49% | 2.89 KHz / 2.90 KHz | ∇ -0.48% |
gridmap2D: resize | 2.81 ms / 2.62 ms | Δ 7.40% | 355.60 Hz / 381.93 Hz | ∇ -6.89% |
gridmap2D: computeLikelihood | 18.33 us / 18.59 us | ∇ -1.42% | 54.57 KHz / 53.79 KHz | Δ 1.44% |
pointmap: insert 100 scans | 6.61 ms / 5.62 ms | Δ 17.64% | 151.33 Hz / 178.02 Hz | ∇ -14.99% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.21 us | ∇ -2.92% | 165.76 KHz / 160.93 KHz | Δ 3.00% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 511.81 us | Δ 4.73% | 1.87 KHz / 1.95 KHz | ∇ -4.51% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 5.59 ms | Δ 0.96% | 177.17 Hz / 178.86 Hz | ∇ -0.95% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 7.23 us | Δ 6.51% | 129.88 KHz / 138.34 KHz | ∇ -6.12% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 523.10 us | Δ 1.05% | 1.89 KHz / 1.91 KHz | ∇ -1.04% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 5.77 ms | Δ 0.63% | 172.12 Hz / 173.21 Hz | ∇ -0.63% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 2.05 us | Δ 3.86% | 468.98 KHz / 487.07 KHz | ∇ -3.72% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 140.79 us | Δ 3.49% | 6.86 KHz / 7.10 KHz | ∇ -3.37% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 15.17 ms | Δ 2.08% | 64.56 Hz / 65.91 Hz | ∇ -2.04% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 8.69 ms | Δ 2.76% | 111.93 Hz / 115.01 Hz | ∇ -2.68% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 196.44 ms | Δ 1.84% | 5.00 Hz / 5.09 Hz | ∇ -1.81% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 8.73 ms | Δ 2.84% | 111.43 Hz / 114.60 Hz | ∇ -2.76% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 198.48 ms | Δ 1.37% | 4.97 Hz / 5.04 Hz | ∇ -1.35% |
random: drawUniform32bit | 7.76 ns / 7.29 ns | Δ 6.34% | 128.93 MHz / 137.11 MHz | ∇ -5.97% |
random: drawUniform | 7.61 ns / 7.33 ns | Δ 3.87% | 131.41 MHz / 136.49 MHz | ∇ -3.72% |
random: drawGaussian1D_normalized | 51.84 ns / 51.27 ns | Δ 1.09% | 19.29 MHz / 19.50 MHz | ∇ -1.08% |
random: drawGaussian1D | 52.02 ns / 51.74 ns | Δ 0.55% | 19.22 MHz / 19.33 MHz | ∇ -0.54% |
random: system rand() | 27.43 ns / 29.39 ns | ∇ -6.66% | 36.46 MHz / 34.03 MHz | Δ 7.13% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 2.64 us | Δ 87.94% | 201.38 KHz / 378.48 KHz | ∇ -46.79% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 8.53 us | Δ 25.11% | 93.66 KHz / 117.18 KHz | ∇ -20.07% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 215.16 ns | ∇ -28.60% | 6.51 MHz / 4.65 MHz | Δ 40.05% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 359.98 ns | ∇ -30.53% | 4.00 MHz / 2.78 MHz | Δ 43.95% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 732.12 ns | ∇ -9.22% | 1.50 MHz / 1.37 MHz | Δ 10.16% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 213.59 ns | ∇ -28.26% | 6.53 MHz / 4.68 MHz | Δ 39.40% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 339.30 ns | ∇ -25.32% | 3.95 MHz / 2.95 MHz | Δ 33.90% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 760.92 ns | ∇ -18.13% | 1.61 MHz / 1.31 MHz | Δ 22.15% |
random: permuteVector (len=10) | 342.58 ns / 411.34 ns | ∇ -16.72% | 2.92 MHz / 2.43 MHz | Δ 20.07% |
random: permuteVector (len=100) | 3.62 us / 3.59 us | Δ 0.78% | 276.54 KHz / 278.70 KHz | ∇ -0.78% |
random: permuteVector (len=1000) | 35.68 us / 34.34 us | Δ 3.92% | 28.03 KHz / 29.12 KHz | ∇ -3.77% |
math: round | 0.00 ns / 0.00 ns | Δ inf% | 220.79 THz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 27.92 ms | Δ 0.57% | 35.61 Hz / 35.81 Hz | ∇ -0.57% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 43.53 ms | ∇ -1.69% | 23.37 Hz / 22.97 Hz | Δ 1.72% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 70.76 ms | ∇ -2.29% | 14.46 Hz / 14.13 Hz | Δ 2.35% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 23.43 ms | Δ 1.39% | 42.09 Hz / 42.67 Hz | ∇ -1.37% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 36.52 ms | Δ 2.01% | 26.85 Hz / 27.39 Hz | ∇ -1.97% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 59.82 ms | Δ 0.07% | 16.71 Hz / 16.72 Hz | ∇ -0.07% |
images: Gauss filter (640x480) | 7.21 ms / 6.68 ms | Δ 7.92% | 138.75 Hz / 149.74 Hz | ∇ -7.34% |
images: Gauss filter (800x600) | 8.67 ms / 8.62 ms | Δ 0.62% | 115.32 Hz / 116.03 Hz | ∇ -0.61% |
images: Gauss filter (1024x768) | 14.94 ms / 14.49 ms | Δ 3.11% | 66.93 Hz / 69.01 Hz | ∇ -3.01% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 21.12 us | Δ 19.57% | 39.59 KHz / 47.34 KHz | ∇ -16.37% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 19.36 us | Δ 25.45% | 41.17 KHz / 51.65 KHz | ∇ -20.29% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 6.24 us | Δ 121.57% | 72.37 KHz / 160.34 KHz | ∇ -54.87% |
feature_extraction [640x480]: Harris | 53.60 ms / 40.83 ms | Δ 31.29% | 18.66 Hz / 24.49 Hz | ∇ -23.83% |
feature_extraction [640x480]: KLT | 32.67 ms / 33.62 ms | ∇ -2.82% | 30.61 Hz / 29.75 Hz | Δ 2.90% |
feature_extraction [640x480]: SIFT | 724.51 ms / 705.28 ms | Δ 2.73% | 1.38 Hz / 1.42 Hz | ∇ -2.65% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 214.22 ms | Δ 1.45% | 4.60 Hz / 4.67 Hz | ∇ -1.43% |
feature_extraction [640x480]: SURF | 320.21 ms / 326.57 ms | ∇ -1.95% | 3.12 Hz / 3.06 Hz | Δ 1.99% |
feature_extraction [640x480]: FAST | 9.58 ms / 7.69 ms | Δ 24.63% | 104.37 Hz / 130.08 Hz | ∇ -19.76% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 105.90 ms | Δ 4.96% | 9.00 Hz / 9.44 Hz | ∇ -4.73% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 57.67 ms | Δ 12.27% | 15.44 Hz / 17.34 Hz | ∇ -10.93% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 50.27 ms | Δ 0.37% | 19.82 Hz / 19.89 Hz | ∇ -0.37% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.38 sec | ∇ -1.07% | 732.49 mHz / 724.62 mHz | Δ 1.09% |
feature_matching [640x480]: SURF | 602.11 ms / 618.66 ms | ∇ -2.67% | 1.66 Hz / 1.62 Hz | Δ 2.75% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 22.11 ms | Δ 6.50% | 42.46 Hz / 45.22 Hz | ∇ -6.11% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 14.58 ms | Δ 7.69% | 63.67 Hz / 68.57 Hz | ∇ -7.14% |
graph(2d): insertEdge x 1e3 | 300.22 us / 354.58 us | ∇ -15.33% | 3.33 KHz / 2.82 KHz | Δ 18.11% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / X | 3.32 KHz / X | ||
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 284.04 us | ∇ -13.67% | 4.08 KHz / 3.52 KHz | Δ 15.84% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / X | 3.96 KHz / X | ||
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 549.28 us | ∇ -2.13% | 1.86 KHz / 1.82 KHz | Δ 2.17% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / X | 2.19 KHz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 452.79 us | ∇ -11.40% | 2.49 KHz / 2.21 KHz | Δ 12.86% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / X | 2.54 KHz / X | ||
graph(2d): insertEdge x 1e4 | 3.65 ms / 3.86 ms | ∇ -5.35% | 273.78 Hz / 259.12 Hz | Δ 5.66% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / X | 270.61 Hz / X | ||
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 2.88 ms | ∇ -12.85% | 399.01 Hz / 347.75 Hz | Δ 14.74% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / X | 392.34 Hz / X | ||
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 5.74 ms | ∇ -16.20% | 207.97 Hz / 174.28 Hz | Δ 19.33% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / X | 205.85 Hz / X | ||
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 4.44 ms | ∇ -9.23% | 248.25 Hz / 225.33 Hz | Δ 10.17% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / X | 250.07 Hz / X | ||
graph(3d): insertEdge x 1e3 | 338.14 us / 1.35 ms | ∇ -74.87% | 2.96 KHz / 743.07 Hz | Δ 297.99% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / X | 3.01 KHz / X | ||
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 1.09 ms | ∇ -72.24% | 3.31 KHz / 917.96 Hz | Δ 260.23% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / X | 3.23 KHz / X | ||
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 1.74 ms | ∇ -61.64% | 1.50 KHz / 573.66 Hz | Δ 160.68% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / X | 1.49 KHz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 1.46 ms | ∇ -54.33% | 1.50 KHz / 683.28 Hz | Δ 118.96% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / X | 1.48 KHz / X | ||
graph(3d): insertEdge x 1e4 | 3.60 ms / 13.92 ms | ∇ -74.11% | 277.54 Hz / 71.86 Hz | Δ 286.20% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / X | 276.39 Hz / X | ||
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 11.12 ms | ∇ -72.67% | 328.99 Hz / 89.92 Hz | Δ 265.87% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / X | 330.96 Hz / X | ||
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 17.58 ms | ∇ -59.66% | 141.02 Hz / 56.89 Hz | Δ 147.90% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / X | 141.24 Hz / X | ||
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 14.12 ms | ∇ -52.59% | 149.36 Hz / 70.81 Hz | Δ 110.94% |
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 |