Test description | 0.9.3-MSVC-32bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 20.90 ms | Δ 51.00% | 31.69 Hz / 47.85 Hz | ∇ -33.78% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 18.76 ms | Δ 187.50% | 18.54 Hz / 53.30 Hz | ∇ -65.22% |
poses: CPose3D (+) CPose3D | 194.14 ns / 41.67 ns | Δ 365.90% | 5.15 MHz / 24.00 MHz | ∇ -78.54% |
poses: CPose3D.composeFrom() | 34.65 ns / 32.39 ns | Δ 6.98% | 28.86 MHz / 30.87 MHz | ∇ -6.53% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 8.02 ns | Δ 257.26% | 34.88 MHz / 124.63 MHz | ∇ -72.01% |
poses: CPose3D.composePoint() | 18.49 ns / 11.53 ns | Δ 60.32% | 54.08 MHz / 86.70 MHz | ∇ -37.63% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 18.18 ns | Δ 416.33% | 10.65 MHz / 54.99 MHz | ∇ -80.63% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 25.21 ns | Δ 76.05% | 22.53 MHz / 39.66 MHz | ∇ -43.20% |
poses: CPose2D (+) CPose2D | 103.92 ns / 72.10 ns | Δ 44.13% | 9.62 MHz / 13.87 MHz | ∇ -30.62% |
poses: CPose2D.composeFrom() | 91.82 ns / 69.22 ns | Δ 32.64% | 10.89 MHz / 14.45 MHz | ∇ -24.61% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 60.48 ns | Δ 132.07% | 7.12 MHz / 16.53 MHz | ∇ -56.91% |
poses: CPose2D.composePoint() | 66.26 ns / 60.01 ns | Δ 10.41% | 15.09 MHz / 16.66 MHz | ∇ -9.43% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 42.70 ns | Δ 118.63% | 10.71 MHz / 23.42 MHz | ∇ -54.26% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 38.27 ns | Δ 58.15% | 16.52 MHz / 26.13 MHz | ∇ -36.77% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 17.90 ns | Δ 551.89% | 8.57 MHz / 55.85 MHz | ∇ -84.66% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 18.44 ns | Δ 68.24% | 32.23 MHz / 54.23 MHz | ∇ -40.56% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 33.31 ns | Δ 280.59% | 7.89 MHz / 30.02 MHz | ∇ -73.73% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 19.52 ns | Δ 58.23% | 32.38 MHz / 51.24 MHz | ∇ -36.80% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 16.27 ns | Δ 105.33% | 29.93 MHz / 61.45 MHz | ∇ -51.30% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 169.77 ns | Δ 24.48% | 4.73 MHz / 5.89 MHz | ∇ -19.66% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 799.00 ns | Δ 2334.61% | 51.41 KHz / 1.25 MHz | ∇ -95.89% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 788.50 ns | Δ 271.86% | 341.05 KHz / 1.27 MHz | ∇ -73.11% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 9.11 us | Δ 280.41% | 28.87 KHz / 109.83 KHz | ∇ -73.71% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 557.50 ns | Δ 54.31% | 1.16 MHz / 1.79 MHz | ∇ -35.19% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 558.50 ns | Δ 57.61% | 1.14 MHz / 1.79 MHz | ∇ -36.55% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 8.42 us | Δ 158.58% | 45.95 KHz / 118.81 KHz | ∇ -61.33% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 17.83 ns | Δ 152.26% | 22.23 MHz / 56.07 MHz | ∇ -60.36% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 19.48 ns | Δ 131.90% | 22.14 MHz / 51.35 MHz | ∇ -56.88% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 54.85 ns | Δ 193.26% | 6.22 MHz / 18.23 MHz | ∇ -65.90% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 55.93 ns | Δ 187.79% | 6.21 MHz / 17.88 MHz | ∇ -65.25% |
matrix: unit, fix[float,3,3] | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 6.73 ns / 1.50 ns | Δ 349.56% | 148.49 MHz / 667.56 MHz | ∇ -77.76% |
matrix: unit, fix[double,6,6] | 7.86 ns / 5.61 ns | Δ 40.15% | 127.26 MHz / 178.35 MHz | ∇ -28.65% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 291.30 ns | Δ 89.08% | 1.82 MHz / 3.43 MHz | ∇ -47.11% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 0.00 ns | Δ inf% | 22.08 GHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 292.50 ns | Δ 48.03% | 2.31 MHz / 3.42 MHz | ∇ -32.45% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 660.53 ns / 347.50 ns | Δ 90.08% | 1.51 MHz / 2.88 MHz | ∇ -47.39% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 0.00 ns | Δ inf% | 25.70 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 340.40 ns | Δ 39.44% | 2.11 MHz / 2.94 MHz | ∇ -28.28% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 0.00 ns | Δ inf% | 114.40 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 2.42 us | Δ 93.45% | 213.59 KHz / 413.19 KHz | ∇ -48.31% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 2.23 us | Δ 98.14% | 226.20 KHz / 448.19 KHz | ∇ -49.53% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 2.31 us | Δ 40.07% | 308.92 KHz / 432.69 KHz | ∇ -28.60% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 2.12 us | Δ 11.43% | 422.77 KHz / 471.08 KHz | ∇ -10.26% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 780.00 ns | Δ 90.69% | 672.33 KHz / 1.28 MHz | ∇ -47.56% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 0.00 ns | Δ inf% | 31.10 MHz / inf THz | ∇ -nan% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 1.97 us | Δ 77.24% | 286.11 KHz / 507.10 KHz | ∇ -43.58% |
matrix: inv, fix[double] 6x6 | 2.72 us / 1.60 us | Δ 69.62% | 368.24 KHz / 624.61 KHz | ∇ -41.05% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 16.08 us | Δ 98.22% | 31.37 KHz / 62.19 KHz | ∇ -49.55% |
matrix: inv, fix[double] 20x20 | 28.91 us / 14.48 us | Δ 99.74% | 34.58 KHz / 69.08 KHz | ∇ -49.93% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 65.78 us | Δ 88.82% | 8.05 KHz / 15.20 KHz | ∇ -47.04% |
matrix: inv, fix[double] 40x40 | 122.24 us / 64.13 us | Δ 90.62% | 8.18 KHz / 15.59 KHz | ∇ -47.54% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 212.60 ns | Δ 204.62% | 1.54 MHz / 4.70 MHz | ∇ -67.17% |
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 / 323.30 ns | Δ 199.90% | 1.03 MHz / 3.09 MHz | ∇ -66.66% |
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 / 774.90 ns | Δ 216.72% | 407.46 KHz / 1.29 MHz | ∇ -68.43% |
matrix: det, fix[double] 6x6 | 1.89 us / 592.30 ns | Δ 218.56% | 529.99 KHz / 1.69 MHz | ∇ -68.61% |
matrix: det, dyn[double] 20x20 | 22.48 us / 8.50 us | Δ 164.37% | 44.49 KHz / 117.63 KHz | ∇ -62.17% |
matrix: det, fix[double] 20x20 | 21.45 us / 7.72 us | Δ 177.79% | 46.63 KHz / 129.53 KHz | ∇ -64.00% |
matrix: det, dyn[double] 40x40 | 80.28 us / 32.23 us | Δ 149.11% | 12.46 KHz / 31.03 KHz | ∇ -59.86% |
matrix: det, fix[double] 40x40 | 79.04 us / 30.71 us | Δ 157.40% | 12.65 KHz / 32.57 KHz | ∇ -61.15% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 530.00 ns | Δ 105.95% | 916.16 KHz / 1.89 MHz | ∇ -51.44% |
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 / 22.98 us | Δ 229.57% | 13.20 KHz / 43.52 KHz | ∇ -69.66% |
matrix: chol, fix[double] 40x40 | 55.31 us / 19.50 us | Δ 183.64% | 18.08 KHz / 51.28 KHz | ∇ -64.74% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 8.20 us | Δ 106.02% | 59.19 KHz / 121.95 KHz | ∇ -51.46% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 85.30 us | Δ 189.91% | 4.04 KHz / 11.72 KHz | ∇ -65.51% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 56.80 us | Δ 218.23% | 5.53 KHz / 17.61 KHz | ∇ -68.58% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 39.31 us | Δ 133.76% | 10.88 KHz / 25.44 KHz | ∇ -57.22% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 266.80 us | Δ 187.02% | 1.31 KHz / 3.75 KHz | ∇ -65.16% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 72.76 us | Δ 60.18% | 8.58 KHz / 13.74 KHz | ∇ -37.57% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 2.67 ms | Δ 52.74% | 245.20 Hz / 374.53 Hz | ∇ -34.53% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 176.19 us | Δ 17.75% | 4.82 KHz / 5.68 KHz | ∇ -15.07% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 20.73 ms | Δ 17.86% | 40.93 Hz / 48.23 Hz | ∇ -15.15% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 351.05 us | Δ 14.91% | 2.48 KHz / 2.85 KHz | ∇ -12.98% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 34.60 ms | Δ 16.18% | 24.87 Hz / 28.90 Hz | ∇ -13.93% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 415.89 us | Δ 15.37% | 2.08 KHz / 2.40 KHz | ∇ -13.33% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 50.32 ms | Δ 19.14% | 16.68 Hz / 19.87 Hz | ∇ -16.06% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 482.94 us | Δ 15.98% | 1.79 KHz / 2.07 KHz | ∇ -13.77% |
gridmap2D: getCell | 5.69 ns / 0.00 ns | Δ inf% | 175.73 MHz / inf THz | ∇ -nan% |
gridmap2D: setCell | 8.06 ns / 2.61 ns | Δ 209.21% | 124.07 MHz / 383.63 MHz | ∇ -67.66% |
gridmap2D: updateCell | 61.98 ns / 6.99 ns | Δ 786.43% | 16.13 MHz / 143.02 MHz | ∇ -88.72% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 0.51 ns | Δ 144.31% | 798.82 MHz / 1.95 GHz | ∇ -59.07% |
gridmap2D: insert scan w/o widening | 208.84 us / 102.59 us | Δ 103.58% | 4.79 KHz / 9.75 KHz | ∇ -50.88% |
gridmap2D: insert scan with widening | 346.08 us / 284.11 us | Δ 21.81% | 2.89 KHz / 3.52 KHz | ∇ -17.91% |
gridmap2D: resize | 2.81 ms / 722.00 us | Δ 289.49% | 355.60 Hz / 1.39 KHz | ∇ -74.33% |
gridmap2D: computeLikelihood | 18.33 us / 15.69 us | Δ 16.77% | 54.57 KHz / 63.72 KHz | ∇ -14.36% |
pointmap: insert 100 scans | 6.61 ms / 2.97 ms | Δ 122.73% | 151.33 Hz / 337.06 Hz | ∇ -55.10% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 4.36 us | Δ 38.37% | 165.76 KHz / 229.36 KHz | ∇ -27.73% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 357.08 us | Δ 50.11% | 1.87 KHz / 2.80 KHz | ∇ -33.38% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 4.19 ms | Δ 34.68% | 177.17 Hz / 238.61 Hz | ∇ -25.75% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 4.72 us | Δ 63.12% | 129.88 KHz / 211.86 KHz | ∇ -38.70% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 362.68 us | Δ 45.75% | 1.89 KHz / 2.76 KHz | ∇ -31.39% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 4.10 ms | Δ 41.81% | 172.12 Hz / 244.09 Hz | ∇ -29.48% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 1.39 us | Δ 53.62% | 468.98 KHz / 720.46 KHz | ∇ -34.91% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 101.86 us | Δ 43.03% | 6.86 KHz / 9.82 KHz | ∇ -30.09% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 11.78 ms | Δ 31.53% | 64.56 Hz / 84.92 Hz | ∇ -23.97% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 5.62 ms | Δ 58.89% | 111.93 Hz / 177.84 Hz | ∇ -37.06% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 130.59 ms | Δ 53.20% | 5.00 Hz / 7.66 Hz | ∇ -34.73% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 5.69 ms | Δ 57.70% | 111.43 Hz / 175.73 Hz | ∇ -36.59% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 132.22 ms | Δ 52.17% | 4.97 Hz / 7.56 Hz | ∇ -34.29% |
random: drawUniform32bit | 7.76 ns / 15.67 ns | ∇ -50.50% | 128.93 MHz / 63.82 MHz | Δ 102.02% |
random: drawUniform | 7.61 ns / 15.66 ns | ∇ -51.39% | 131.41 MHz / 63.88 MHz | Δ 105.73% |
random: drawGaussian1D_normalized | 51.84 ns / 69.89 ns | ∇ -25.84% | 19.29 MHz / 14.31 MHz | Δ 34.84% |
random: drawGaussian1D | 52.02 ns / 69.86 ns | ∇ -25.53% | 19.22 MHz / 14.32 MHz | Δ 34.28% |
random: system rand() | 27.43 ns / 12.21 ns | Δ 124.57% | 36.46 MHz / 81.87 MHz | ∇ -55.47% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 2.70 us | Δ 83.97% | 201.38 KHz / 370.49 KHz | ∇ -45.64% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 5.71 us | Δ 87.00% | 93.66 KHz / 175.14 KHz | ∇ -46.52% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 148.19 ns | Δ 3.67% | 6.51 MHz / 6.75 MHz | ∇ -3.54% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 232.46 ns | Δ 7.58% | 4.00 MHz / 4.30 MHz | ∇ -7.04% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 489.71 ns | Δ 35.72% | 1.50 MHz / 2.04 MHz | ∇ -26.32% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 159.54 ns | ∇ -3.96% | 6.53 MHz / 6.27 MHz | Δ 4.12% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 247.75 ns | Δ 2.28% | 3.95 MHz / 4.04 MHz | ∇ -2.23% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 521.91 ns | Δ 19.36% | 1.61 MHz / 1.92 MHz | ∇ -16.22% |
random: permuteVector (len=10) | 342.58 ns / 251.30 ns | Δ 36.32% | 2.92 MHz / 3.98 MHz | ∇ -26.65% |
random: permuteVector (len=100) | 3.62 us / 3.02 us | Δ 19.86% | 276.54 KHz / 331.46 KHz | ∇ -16.57% |
random: permuteVector (len=1000) | 35.68 us / 30.36 us | Δ 17.51% | 28.03 KHz / 32.93 KHz | ∇ -14.90% |
math: round | 0.00 ns / 0.10 ns | ∇ -100.00% | 220.79 THz / 10.09 GHz | Δ 2188188.34% |
images: Save as JPEG (640x480, quality=95%) | 28.08 ms / 34.14 ms | ∇ -17.74% | 35.61 Hz / 29.29 Hz | Δ 21.57% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 49.83 ms | ∇ -14.11% | 23.37 Hz / 20.07 Hz | Δ 16.43% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 80.71 ms | ∇ -14.34% | 14.46 Hz / 12.39 Hz | Δ 16.75% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 29.36 ms | ∇ -19.09% | 42.09 Hz / 34.05 Hz | Δ 23.59% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 42.45 ms | ∇ -12.24% | 26.85 Hz / 23.56 Hz | Δ 13.95% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 65.41 ms | ∇ -8.49% | 16.71 Hz / 15.29 Hz | Δ 9.27% |
images: Gauss filter (640x480) | 7.21 ms / 4.66 ms | Δ 54.52% | 138.75 Hz / 214.40 Hz | ∇ -35.28% |
images: Gauss filter (800x600) | 8.67 ms / 5.98 ms | Δ 44.91% | 115.32 Hz / 167.10 Hz | ∇ -30.99% |
images: Gauss filter (1024x768) | 14.94 ms / 10.42 ms | Δ 43.32% | 66.93 Hz / 95.93 Hz | ∇ -30.23% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 11.35 us | Δ 122.54% | 39.59 KHz / 88.11 KHz | ∇ -55.07% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 9.96 us | Δ 143.87% | 41.17 KHz / 100.40 KHz | ∇ -58.99% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 5.52 us | Δ 150.33% | 72.37 KHz / 181.16 KHz | ∇ -60.05% |
feature_extraction [640x480]: Harris | 53.60 ms / 32.25 ms | Δ 66.19% | 18.66 Hz / 31.01 Hz | ∇ -39.83% |
feature_extraction [640x480]: KLT | 32.67 ms / 25.60 ms | Δ 27.59% | 30.61 Hz / 39.06 Hz | ∇ -21.63% |
feature_extraction [640x480]: SIFT | 724.51 ms / 630.91 ms | Δ 14.84% | 1.38 Hz / 1.59 Hz | ∇ -12.92% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 164.09 ms | Δ 32.45% | 4.60 Hz / 6.09 Hz | ∇ -24.50% |
feature_extraction [640x480]: SURF | 320.21 ms / 207.64 ms | Δ 54.21% | 3.12 Hz / 4.82 Hz | ∇ -35.16% |
feature_extraction [640x480]: FAST | 9.58 ms / 7.60 ms | Δ 26.06% | 104.37 Hz / 131.57 Hz | ∇ -20.67% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 60.60 ms | Δ 83.41% | 9.00 Hz / 16.50 Hz | ∇ -45.48% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 43.99 ms | Δ 47.19% | 15.44 Hz / 22.73 Hz | ∇ -32.06% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 36.29 ms | Δ 39.06% | 19.82 Hz / 27.56 Hz | ∇ -28.09% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.20 sec | Δ 13.92% | 732.49 mHz / 834.47 mHz | ∇ -12.22% |
feature_matching [640x480]: SURF | 602.11 ms / 379.83 ms | Δ 58.52% | 1.66 Hz / 2.63 Hz | ∇ -36.92% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 16.04 ms | Δ 46.86% | 42.46 Hz / 62.36 Hz | ∇ -31.91% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 10.85 ms | Δ 44.71% | 63.67 Hz / 92.14 Hz | ∇ -30.90% |
graph(2d): insertEdge x 1e3 | 300.22 us / 119.99 us | Δ 150.20% | 3.33 KHz / 8.33 KHz | ∇ -60.03% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 107.18 us | Δ 180.77% | 3.32 KHz / 9.33 KHz | ∇ -64.38% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 84.03 us | Δ 191.80% | 4.08 KHz / 11.90 KHz | ∇ -65.73% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 83.37 us | Δ 203.23% | 3.96 KHz / 11.99 KHz | ∇ -67.02% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 170.61 us | Δ 215.10% | 1.86 KHz / 5.86 KHz | ∇ -68.26% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 181.61 us | Δ 151.33% | 2.19 KHz / 5.51 KHz | ∇ -60.21% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 179.02 us | Δ 124.10% | 2.49 KHz / 5.59 KHz | ∇ -55.38% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 178.59 us | Δ 120.64% | 2.54 KHz / 5.60 KHz | ∇ -54.68% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 1.58 ms | Δ 130.84% | 273.78 Hz / 632.00 Hz | ∇ -56.68% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 1.26 ms | Δ 192.24% | 270.61 Hz / 790.83 Hz | ∇ -65.78% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 863.38 us | Δ 190.28% | 399.01 Hz / 1.16 KHz | ∇ -65.55% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 846.12 us | Δ 201.24% | 392.34 Hz / 1.18 KHz | ∇ -66.80% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 1.96 ms | Δ 145.15% | 207.97 Hz / 509.85 Hz | ∇ -59.21% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 2.25 ms | Δ 116.29% | 205.85 Hz / 445.23 Hz | ∇ -53.77% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 1.95 ms | Δ 106.13% | 248.25 Hz / 511.72 Hz | ∇ -51.49% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 1.95 ms | Δ 105.02% | 250.07 Hz / 512.69 Hz | ∇ -51.22% |
graph(3d): insertEdge x 1e3 | 338.14 us / 169.26 us | Δ 99.78% | 2.96 KHz / 5.91 KHz | ∇ -49.94% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 168.78 us | Δ 96.73% | 3.01 KHz / 5.93 KHz | ∇ -49.17% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 153.69 us | Δ 96.76% | 3.31 KHz / 6.51 KHz | ∇ -49.18% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 154.19 us | Δ 100.82% | 3.23 KHz / 6.49 KHz | ∇ -50.21% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 471.95 us | Δ 41.69% | 1.50 KHz / 2.12 KHz | ∇ -29.42% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 479.58 us | Δ 40.32% | 1.49 KHz / 2.09 KHz | ∇ -28.73% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 441.33 us | Δ 51.45% | 1.50 KHz / 2.27 KHz | ∇ -33.97% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 445.05 us | Δ 52.02% | 1.48 KHz / 2.25 KHz | ∇ -34.22% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 2.46 ms | Δ 46.66% | 277.54 Hz / 407.06 Hz | ∇ -31.82% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 2.46 ms | Δ 47.08% | 276.39 Hz / 406.51 Hz | ∇ -32.01% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 1.70 ms | Δ 78.86% | 328.99 Hz / 588.45 Hz | ∇ -44.09% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 1.70 ms | Δ 77.66% | 330.96 Hz / 587.97 Hz | ∇ -43.71% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 6.68 ms | Δ 6.10% | 141.02 Hz / 149.62 Hz | ∇ -5.75% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 6.75 ms | Δ 4.83% | 141.24 Hz / 148.06 Hz | ∇ -4.61% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 4.59 ms | Δ 46.01% | 149.36 Hz / 218.07 Hz | ∇ -31.51% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 4.58 ms | Δ 50.39% | 145.34 Hz / 218.58 Hz | ∇ -33.51% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 89.04 us | Δ 213.49% | 3.58 KHz / 11.23 KHz | ∇ -68.10% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 75.33 us | Δ 454.69% | 2.39 KHz / 13.28 KHz | ∇ -81.97% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 1.11 ms | Δ 183.69% | 318.46 Hz / 903.43 Hz | ∇ -64.75% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 711.20 us | Δ 418.00% | 271.44 Hz / 1.41 KHz | ∇ -80.69% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 18.54 ms | Δ 100.08% | 26.96 Hz / 53.94 Hz | ∇ -50.02% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 9.76 ms | Δ 337.15% | 23.45 Hz / 102.51 Hz | ∇ -77.12% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 252.57 ms | Δ 71.73% | 2.31 Hz / 3.96 Hz | ∇ -41.77% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 112.23 ms | Δ 319.51% | 2.12 Hz / 8.91 Hz | ∇ -76.16% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 256.02 ms | Δ 67.25% | 2.34 Hz / 3.91 Hz | ∇ -40.21% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 106.16 ms | Δ 338.28% | 2.15 Hz / 9.42 Hz | ∇ -77.18% |