Test description | 0.9.3-MSVC-32bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 31.56 ms / 30.39 ms | Δ 3.83% | 31.69 Hz / 32.90 Hz | ∇ -3.69% |
icp-slam (match grid): Run with sample dataset | 53.95 ms / 52.58 ms | Δ 2.59% | 18.54 Hz / 19.02 Hz | ∇ -2.53% |
poses: CPose3D (+) CPose3D | 194.14 ns / 264.70 ns | ∇ -26.66% | 5.15 MHz / 3.78 MHz | Δ 36.35% |
poses: CPose3D.composeFrom() | 34.65 ns / 98.01 ns | ∇ -64.64% | 28.86 MHz / 10.20 MHz | Δ 182.83% |
poses: CPose3D (+) CPoint3D | 28.67 ns / 27.86 ns | Δ 2.89% | 34.88 MHz / 35.89 MHz | ∇ -2.81% |
poses: CPose3D.composePoint() | 18.49 ns / 19.17 ns | ∇ -3.55% | 54.08 MHz / 52.16 MHz | Δ 3.68% |
poses: CPoint3D (-) CPose3D | 93.89 ns / 51.66 ns | Δ 81.76% | 10.65 MHz / 19.36 MHz | ∇ -44.98% |
poses: CPose3D.inverseComposePoint() | 44.39 ns / 46.91 ns | ∇ -5.38% | 22.53 MHz / 21.32 MHz | Δ 5.68% |
poses: CPose2D (+) CPose2D | 103.92 ns / 99.28 ns | Δ 4.68% | 9.62 MHz / 10.07 MHz | ∇ -4.47% |
poses: CPose2D.composeFrom() | 91.82 ns / 89.67 ns | Δ 2.39% | 10.89 MHz / 11.15 MHz | ∇ -2.34% |
poses: CPose2D (+) CPoint2D | 140.37 ns / 82.07 ns | Δ 71.03% | 7.12 MHz / 12.18 MHz | ∇ -41.53% |
poses: CPose2D.composePoint() | 66.26 ns / 64.58 ns | Δ 2.60% | 15.09 MHz / 15.49 MHz | ∇ -2.54% |
poses: CPose3DQuat (+) CPose3DQuat | 93.35 ns / 87.19 ns | Δ 7.07% | 10.71 MHz / 11.47 MHz | ∇ -6.60% |
poses: CPose3DQuat.composeFrom() | 60.52 ns / 57.14 ns | Δ 5.91% | 16.52 MHz / 17.50 MHz | ∇ -5.58% |
poses: CPose3DQuat (+) CPoint3D | 116.72 ns / 48.22 ns | Δ 142.04% | 8.57 MHz / 20.74 MHz | ∇ -58.68% |
poses: CPose3DQuat.composePoint() | 31.02 ns / 29.64 ns | Δ 4.66% | 32.23 MHz / 33.74 MHz | ∇ -4.46% |
poses: CPoint3D (-) CPose3DQuat | 126.78 ns / 84.32 ns | Δ 50.36% | 7.89 MHz / 11.86 MHz | ∇ -33.49% |
poses: CPose3DQuat.invcomposePoint() | 30.88 ns / 30.72 ns | Δ 0.52% | 32.38 MHz / 32.55 MHz | ∇ -0.52% |
poses: Conv CPose3DQuat <- CPose3D | 33.42 ns / 33.02 ns | Δ 1.20% | 29.93 MHz / 30.29 MHz | ∇ -1.19% |
poses: Conv CPose3D -> CPose3DQuat | 211.33 ns / 206.69 ns | Δ 2.25% | 4.73 MHz / 4.84 MHz | ∇ -2.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 19.45 us / 1.35 us | Δ 1338.86% | 51.41 KHz / 739.68 KHz | ∇ -93.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 2.93 us / 1.40 us | Δ 108.81% | 341.05 KHz / 712.12 KHz | ∇ -52.11% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 34.64 us / 23.15 us | Δ 49.64% | 28.87 KHz / 43.20 KHz | ∇ -33.17% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 860.26 ns / 1.62 us | ∇ -46.92% | 1.16 MHz / 617.00 KHz | Δ 88.40% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 880.23 ns / 1.63 us | ∇ -45.98% | 1.14 MHz / 613.67 KHz | Δ 85.12% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 21.76 us / 15.82 us | Δ 37.58% | 45.95 KHz / 63.21 KHz | ∇ -27.31% |
matrix: unit, dyn[float], 3x3 | 44.99 ns / 38.75 ns | Δ 16.11% | 22.23 MHz / 25.81 MHz | ∇ -13.88% |
matrix: unit, dyn[double], 3x3 | 45.16 ns / 38.69 ns | Δ 16.72% | 22.14 MHz / 25.85 MHz | ∇ -14.33% |
matrix: unit, dyn[float], 6x6 | 160.84 ns / 163.36 ns | ∇ -1.54% | 6.22 MHz / 6.12 MHz | Δ 1.56% |
matrix: unit, dyn[double], 6x6 | 160.97 ns / 213.06 ns | ∇ -24.45% | 6.21 MHz / 4.69 MHz | Δ 32.36% |
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] | 6.73 ns / 2.77 ns | Δ 143.08% | 148.49 MHz / 360.95 MHz | ∇ -58.86% |
matrix: unit, fix[double,6,6] | 7.86 ns / 6.07 ns | Δ 29.50% | 127.26 MHz / 164.80 MHz | ∇ -22.78% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 550.79 ns / 168.66 ns | Δ 226.56% | 1.82 MHz / 5.93 MHz | ∇ -69.38% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.05 ns / 109.47 ns | ∇ -99.96% | 22.08 GHz / 9.14 MHz | Δ 241600.00% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 432.98 ns / 159.15 ns | Δ 172.05% | 2.31 MHz / 6.28 MHz | ∇ -63.24% |
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 | 660.53 ns / 272.34 ns | Δ 142.54% | 1.51 MHz / 3.67 MHz | ∇ -58.77% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 38.91 ns / 190.04 ns | ∇ -79.53% | 25.70 MHz / 5.26 MHz | Δ 388.47% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 474.65 ns / 245.84 ns | Δ 93.07% | 2.11 MHz / 4.07 MHz | ∇ -48.21% |
matrix: multiply, fix[double], 3x6 * 6x3 | 8.74 ns / 138.91 ns | ∇ -93.71% | 114.40 MHz / 7.20 MHz | Δ 1489.12% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 4.68 us / 16.67 us | ∇ -71.91% | 213.59 KHz / 60.00 KHz | Δ 256.01% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 4.42 us / 12.92 us | ∇ -65.78% | 226.20 KHz / 77.41 KHz | Δ 192.22% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 3.24 us / 13.30 us | ∇ -75.67% | 308.92 KHz / 75.16 KHz | Δ 311.01% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.37 us / 9.66 us | ∇ -75.51% | 422.77 KHz / 103.53 KHz | Δ 308.37% |
matrix: inv, dyn[double] 3x3 | 1.49 us / 1.47 us | Δ 1.39% | 672.33 KHz / 681.67 KHz | ∇ -1.37% |
matrix: inv, fix[double] 3x3 | 32.16 ns / 30.80 ns | Δ 4.41% | 31.10 MHz / 32.47 MHz | ∇ -4.23% |
matrix: inv, dyn[double] 6x6 | 3.50 us / 5.05 us | ∇ -30.73% | 286.11 KHz / 198.20 KHz | Δ 44.36% |
matrix: inv, fix[double] 6x6 | 2.72 us / 944.32 ns | Δ 187.58% | 368.24 KHz / 1.06 MHz | ∇ -65.23% |
matrix: inv, dyn[double] 20x20 | 31.87 us / 106.06 us | ∇ -69.95% | 31.37 KHz / 9.43 KHz | Δ 232.74% |
matrix: inv, fix[double] 20x20 | 28.91 us / 18.99 us | Δ 52.23% | 34.58 KHz / 52.65 KHz | ∇ -34.31% |
matrix: inv, dyn[double] 40x40 | 124.22 us / 805.07 us | ∇ -84.57% | 8.05 KHz / 1.24 KHz | Δ 548.12% |
matrix: inv, fix[double] 40x40 | 122.24 us / 129.27 us | ∇ -5.43% | 8.18 KHz / 7.74 KHz | Δ 5.75% |
matrix: det, dyn[double] 2x2 | 647.62 ns / 8.47 ns | Δ 7546.52% | 1.54 MHz / 118.07 MHz | ∇ -98.69% |
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 5999.15% | 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 / 2.27 us | Δ 8.14% | 407.46 KHz / 440.64 KHz | ∇ -7.53% |
matrix: det, fix[double] 6x6 | 1.89 us / 409.52 ns | Δ 360.74% | 529.99 KHz / 2.44 MHz | ∇ -78.30% |
matrix: det, dyn[double] 20x20 | 22.48 us / 17.63 us | Δ 27.49% | 44.49 KHz / 56.72 KHz | ∇ -21.56% |
matrix: det, fix[double] 20x20 | 21.45 us / 6.19 us | Δ 246.62% | 46.63 KHz / 161.63 KHz | ∇ -71.15% |
matrix: det, dyn[double] 40x40 | 80.28 us / 112.43 us | ∇ -28.60% | 12.46 KHz / 8.89 KHz | Δ 40.05% |
matrix: det, fix[double] 40x40 | 79.04 us / 35.24 us | Δ 124.30% | 12.65 KHz / 28.38 KHz | ∇ -55.42% |
matrix: chol, dyn[double] 4x4 | 1.09 us / 172.11 ns | Δ 534.21% | 916.16 KHz / 5.81 MHz | ∇ -84.23% |
matrix: chol, fix[double] 4x4 | 317.04 ns / 117.76 ns | Δ 169.23% | 3.15 MHz / 8.49 MHz | ∇ -62.86% |
matrix: chol, dyn[double] 40x40 | 75.74 us / 24.40 us | Δ 210.36% | 13.20 KHz / 40.98 KHz | ∇ -67.78% |
matrix: chol, fix[double] 40x40 | 55.31 us / 17.68 us | Δ 212.89% | 18.08 KHz / 56.57 KHz | ∇ -68.04% |
matrix: chol, sparse [2x2;2x2] | 16.89 us / 8.42 us | Δ 100.54% | 59.19 KHz / 118.71 KHz | ∇ -50.13% |
matrix: chol, sparse [30x30;10x10] | 247.29 us / 118.80 us | Δ 108.16% | 4.04 KHz / 8.42 KHz | ∇ -51.96% |
matrix: chol, dyn[double] 10x[6x6] | 180.76 us / 69.79 us | Δ 158.99% | 5.53 KHz / 14.33 KHz | ∇ -61.39% |
matrix: chol, sparse 10x[6x6] | 91.89 us / 52.54 us | Δ 74.91% | 10.88 KHz / 19.03 KHz | ∇ -42.83% |
matrix: chol, dyn[double] 20x[6x6] | 765.78 us / 466.09 us | Δ 64.30% | 1.31 KHz / 2.15 KHz | ∇ -39.14% |
matrix: chol, sparse 20x[6x6] | 116.55 us / 89.01 us | Δ 30.94% | 8.58 KHz / 11.24 KHz | ∇ -23.63% |
matrix: chol, dyn[double] 50x[6x6] | 4.08 ms / 9.32 ms | ∇ -56.26% | 245.20 Hz / 107.25 Hz | Δ 128.62% |
matrix: chol, sparse 50x[6x6] | 207.46 us / 201.22 us | Δ 3.10% | 4.82 KHz / 4.97 KHz | ∇ -3.01% |
matrix: chol, dyn[double] 100x[6x6] | 24.43 ms / 138.07 ms | ∇ -82.30% | 40.93 Hz / 7.24 Hz | Δ 465.05% |
matrix: chol, sparse 100x[6x6] | 403.40 us / 401.45 us | Δ 0.49% | 2.48 KHz / 2.49 KHz | ∇ -0.48% |
matrix: chol, dyn[double] 120x[6x6] | 40.20 ms / 453.62 ms | ∇ -91.14% | 24.87 Hz / 2.20 Hz | Δ 1028.36% |
matrix: chol, sparse 120x[6x6] | 479.83 us / 474.18 us | Δ 1.19% | 2.08 KHz / 2.11 KHz | ∇ -1.18% |
matrix: chol, dyn[double] 140x[6x6] | 59.95 ms / 945.16 ms | ∇ -93.66% | 16.68 Hz / 1.06 Hz | Δ 1476.65% |
matrix: chol, sparse 140x[6x6] | 560.09 us / 552.77 us | Δ 1.32% | 1.79 KHz / 1.81 KHz | ∇ -1.31% |
gridmap2D: getCell | 5.69 ns / 5.57 ns | Δ 2.22% | 175.73 MHz / 179.64 MHz | ∇ -2.17% |
gridmap2D: setCell | 8.06 ns / 7.80 ns | Δ 3.31% | 124.07 MHz / 128.17 MHz | ∇ -3.20% |
gridmap2D: updateCell | 61.98 ns / 10.65 ns | Δ 482.18% | 16.13 MHz / 93.93 MHz | ∇ -82.82% |
gridmap2D: updateCell_fast_occupied | 1.25 ns / 1.20 ns | Δ 4.51% | 798.82 MHz / 834.82 MHz | ∇ -4.31% |
gridmap2D: insert scan w/o widening | 208.84 us / 202.10 us | Δ 3.34% | 4.79 KHz / 4.95 KHz | ∇ -3.23% |
gridmap2D: insert scan with widening | 346.08 us / 338.79 us | Δ 2.15% | 2.89 KHz / 2.95 KHz | ∇ -2.11% |
gridmap2D: resize | 2.81 ms / 3.58 ms | ∇ -21.42% | 355.60 Hz / 279.42 Hz | Δ 27.27% |
gridmap2D: computeLikelihood | 18.33 us / 18.09 us | Δ 1.31% | 54.57 KHz / 55.28 KHz | ∇ -1.29% |
pointmap: insert 100 scans | 6.61 ms / 5.50 ms | Δ 20.25% | 151.33 Hz / 181.98 Hz | ∇ -16.84% |
pointmap: build 2D kd-tree of 1 scan | 6.03 us / 6.29 us | ∇ -4.03% | 165.76 KHz / 159.07 KHz | Δ 4.20% |
pointmap: build 2D kd-tree of 100 scan | 536.01 us / 520.70 us | Δ 2.94% | 1.87 KHz / 1.92 KHz | ∇ -2.86% |
pointmap: build 2D kd-tree of 1000 scan | 5.64 ms / 5.50 ms | Δ 2.54% | 177.17 Hz / 181.67 Hz | ∇ -2.48% |
pointmap: build 3D kd-tree of 1 scan | 7.70 us / 6.47 us | Δ 19.05% | 129.88 KHz / 154.62 KHz | ∇ -16.00% |
pointmap: build 3D kd-tree of 100 scan | 528.60 us / 526.59 us | Δ 0.38% | 1.89 KHz / 1.90 KHz | ∇ -0.38% |
pointmap: build 3D kd-tree of 1000 scan | 5.81 ms / 5.63 ms | Δ 3.13% | 172.12 Hz / 177.52 Hz | ∇ -3.04% |
pointmap: kd-tree 2d query on 10 scans | 2.13 us / 2.04 us | Δ 4.58% | 468.98 KHz / 490.44 KHz | ∇ -4.38% |
pointmap: kd-tree 2d query on 1000 scans | 145.70 us / 137.79 us | Δ 5.74% | 6.86 KHz / 7.26 KHz | ∇ -5.42% |
pointmap: kd-tree 2d query on 10000 scans | 15.49 ms / 14.88 ms | Δ 4.07% | 64.56 Hz / 67.19 Hz | ∇ -3.91% |
pointmap: (insert scan+2D kd-tree query) x 10 | 8.93 ms / 8.57 ms | Δ 4.25% | 111.93 Hz / 116.69 Hz | ∇ -4.08% |
pointmap: (insert scan+2D kd-tree query) x 50 | 200.06 ms / 191.63 ms | Δ 4.40% | 5.00 Hz / 5.22 Hz | ∇ -4.21% |
pointmap: (insert scan+3D kd-tree query) x 10 | 8.97 ms / 8.64 ms | Δ 3.90% | 111.43 Hz / 115.78 Hz | ∇ -3.75% |
pointmap: (insert scan+3D kd-tree query) x 50 | 201.21 ms / 194.89 ms | Δ 3.24% | 4.97 Hz / 5.13 Hz | ∇ -3.14% |
random: drawUniform32bit | 7.76 ns / 7.21 ns | Δ 7.57% | 128.93 MHz / 138.68 MHz | ∇ -7.03% |
random: drawUniform | 7.61 ns / 7.18 ns | Δ 5.95% | 131.41 MHz / 139.23 MHz | ∇ -5.62% |
random: drawGaussian1D_normalized | 51.84 ns / 51.37 ns | Δ 0.90% | 19.29 MHz / 19.47 MHz | ∇ -0.90% |
random: drawGaussian1D | 52.02 ns / 51.39 ns | Δ 1.23% | 19.22 MHz / 19.46 MHz | ∇ -1.22% |
random: system rand() | 27.43 ns / 28.61 ns | ∇ -4.14% | 36.46 MHz / 34.95 MHz | Δ 4.31% |
random: drawGaussianMultivariate(fixed 3x3) | 4.97 us / 2.55 us | Δ 94.48% | 201.38 KHz / 391.65 KHz | ∇ -48.58% |
random: drawGaussianMultivariate(dyn 3x3) | 10.68 us / 8.36 us | Δ 27.76% | 93.66 KHz / 119.66 KHz | ∇ -21.73% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 153.63 ns / 213.95 ns | ∇ -28.19% | 6.51 MHz / 4.67 MHz | Δ 39.26% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 250.07 ns / 324.69 ns | ∇ -22.98% | 4.00 MHz / 3.08 MHz | Δ 29.84% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 664.62 ns / 829.70 ns | ∇ -19.90% | 1.50 MHz / 1.21 MHz | Δ 24.84% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 153.22 ns / 214.89 ns | ∇ -28.70% | 6.53 MHz / 4.65 MHz | Δ 40.25% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 253.40 ns / 364.99 ns | ∇ -30.57% | 3.95 MHz / 2.74 MHz | Δ 44.04% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 622.96 ns / 760.13 ns | ∇ -18.04% | 1.61 MHz / 1.32 MHz | Δ 22.02% |
random: permuteVector (len=10) | 342.58 ns / 420.57 ns | ∇ -18.54% | 2.92 MHz / 2.38 MHz | Δ 22.77% |
random: permuteVector (len=100) | 3.62 us / 3.56 us | Δ 1.66% | 276.54 KHz / 281.12 KHz | ∇ -1.63% |
random: permuteVector (len=1000) | 35.68 us / 33.55 us | Δ 6.35% | 28.03 KHz / 29.80 KHz | ∇ -5.97% |
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 / 28.40 ms | ∇ -1.11% | 35.61 Hz / 35.21 Hz | Δ 1.12% |
images: Save as JPEG (800x600, quality=95%) | 42.80 ms / 43.71 ms | ∇ -2.10% | 23.37 Hz / 22.88 Hz | Δ 2.14% |
images: Save as JPEG (1024x768, quality=95%) | 69.14 ms / 70.17 ms | ∇ -1.48% | 14.46 Hz / 14.25 Hz | Δ 1.50% |
images: Save as JPEG (640x480, quality=75%) | 23.76 ms / 24.11 ms | ∇ -1.46% | 42.09 Hz / 41.48 Hz | Δ 1.48% |
images: Save as JPEG (800x600, quality=75%) | 37.25 ms / 37.02 ms | Δ 0.61% | 26.85 Hz / 27.01 Hz | ∇ -0.60% |
images: Save as JPEG (1024x768, quality=75%) | 59.86 ms / 59.51 ms | Δ 0.59% | 16.71 Hz / 16.80 Hz | ∇ -0.58% |
images: Gauss filter (640x480) | 7.21 ms / 5.29 ms | Δ 36.18% | 138.75 Hz / 188.95 Hz | ∇ -26.57% |
images: Gauss filter (800x600) | 8.67 ms / 8.36 ms | Δ 3.75% | 115.32 Hz / 119.64 Hz | ∇ -3.61% |
images: Gauss filter (1024x768) | 14.94 ms / 13.88 ms | Δ 7.65% | 66.93 Hz / 72.06 Hz | ∇ -7.11% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 25.26 us / 18.63 us | Δ 35.56% | 39.59 KHz / 53.67 KHz | ∇ -26.23% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 24.29 us / 17.89 us | Δ 35.81% | 41.17 KHz / 55.91 KHz | ∇ -26.37% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 13.82 us / 5.05 us | Δ 173.39% | 72.37 KHz / 197.84 KHz | ∇ -63.42% |
feature_extraction [640x480]: Harris | 53.60 ms / 33.27 ms | Δ 61.12% | 18.66 Hz / 30.06 Hz | ∇ -37.94% |
feature_extraction [640x480]: KLT | 32.67 ms / 31.21 ms | Δ 4.66% | 30.61 Hz / 32.04 Hz | ∇ -4.45% |
feature_extraction [640x480]: SIFT | 724.51 ms / 675.81 ms | Δ 7.21% | 1.38 Hz / 1.48 Hz | ∇ -6.72% |
feature_extraction [640x480]: SIFT desc. | 217.33 ms / 217.19 ms | Δ 0.07% | 4.60 Hz / 4.60 Hz | ∇ -0.07% |
feature_extraction [640x480]: SURF | 320.21 ms / 316.97 ms | Δ 1.02% | 3.12 Hz / 3.15 Hz | ∇ -1.01% |
feature_extraction [640x480]: FAST | 9.58 ms / 7.82 ms | Δ 22.55% | 104.37 Hz / 127.91 Hz | ∇ -18.40% |
feature_extraction [640x480]: Spin desc. | 111.16 ms / 103.38 ms | Δ 7.52% | 9.00 Hz / 9.67 Hz | ∇ -7.00% |
feature_matching [640x480]: Harris + CC | 64.75 ms / 56.24 ms | Δ 15.13% | 15.44 Hz / 17.78 Hz | ∇ -13.14% |
feature_matching [640x480]: Harris + SAD | 50.46 ms / 47.55 ms | Δ 6.12% | 19.82 Hz / 21.03 Hz | ∇ -5.76% |
feature_matching [640x480]: SIFT | 1.37 sec / 1.34 sec | Δ 1.82% | 732.49 mHz / 745.82 mHz | ∇ -1.79% |
feature_matching [640x480]: SURF | 602.11 ms / 606.64 ms | ∇ -0.75% | 1.66 Hz / 1.65 Hz | Δ 0.75% |
feature_matching [640x480]: FAST + CC | 23.55 ms / 22.36 ms | Δ 5.31% | 42.46 Hz / 44.72 Hz | ∇ -5.04% |
feature_matching [640x480]: FAST + SAD | 15.71 ms / 15.00 ms | Δ 4.74% | 63.67 Hz / 66.69 Hz | ∇ -4.53% |
graph(2d): insertEdge x 1e3 | 300.22 us / 313.03 us | ∇ -4.09% | 3.33 KHz / 3.19 KHz | Δ 4.27% |
graph(2d,vec): insertEdge x 1e3 | 300.93 us / 307.43 us | ∇ -2.12% | 3.32 KHz / 3.25 KHz | Δ 2.16% |
graph(2d): insertEdgeAtEnd x 1e3 | 245.20 us / 222.64 us | Δ 10.13% | 4.08 KHz / 4.49 KHz | ∇ -9.20% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 252.81 us / 222.87 us | Δ 13.43% | 3.96 KHz / 4.49 KHz | ∇ -11.84% |
graph(2d pdf): insertEdge x 1e3 | 537.61 us / 516.93 us | Δ 4.00% | 1.86 KHz / 1.93 KHz | ∇ -3.85% |
graph(2d pdf,vec): insertEdge x 1e3 | 456.45 us / 517.18 us | ∇ -11.74% | 2.19 KHz / 1.93 KHz | Δ 13.31% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 401.18 us / 405.97 us | ∇ -1.18% | 2.49 KHz / 2.46 KHz | Δ 1.19% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 394.03 us / 403.48 us | ∇ -2.34% | 2.54 KHz / 2.48 KHz | Δ 2.40% |
graph(2d): insertEdge x 1e4 | 3.65 ms / 3.36 ms | Δ 8.59% | 273.78 Hz / 297.28 Hz | ∇ -7.91% |
graph(2d,vec): insertEdge x 1e4 | 3.70 ms / 3.35 ms | Δ 10.41% | 270.61 Hz / 298.76 Hz | ∇ -9.42% |
graph(2d): insertEdgeAtEnd x 1e4 | 2.51 ms / 2.22 ms | Δ 12.91% | 399.01 Hz / 450.51 Hz | ∇ -11.43% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 2.55 ms / 2.22 ms | Δ 14.75% | 392.34 Hz / 450.21 Hz | ∇ -12.86% |
graph(2d pdf): insertEdge x 1e4 | 4.81 ms / 5.45 ms | ∇ -11.83% | 207.97 Hz / 183.37 Hz | Δ 13.42% |
graph(2d pdf,vec): insertEdge x 1e4 | 4.86 ms / 5.44 ms | ∇ -10.66% | 205.85 Hz / 183.91 Hz | Δ 11.93% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 4.03 ms / 4.07 ms | ∇ -1.01% | 248.25 Hz / 245.74 Hz | Δ 1.02% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 4.00 ms / 4.06 ms | ∇ -1.42% | 250.07 Hz / 246.50 Hz | Δ 1.45% |
graph(3d): insertEdge x 1e3 | 338.14 us / 447.20 us | ∇ -24.39% | 2.96 KHz / 2.24 KHz | Δ 32.25% |
graph(3d,vec): insertEdge x 1e3 | 332.03 us / 442.12 us | ∇ -24.90% | 3.01 KHz / 2.26 KHz | Δ 33.16% |
graph(3d): insertEdgeAtEnd x 1e3 | 302.41 us / 346.69 us | ∇ -12.77% | 3.31 KHz / 2.88 KHz | Δ 14.64% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 309.65 us / 347.20 us | ∇ -10.81% | 3.23 KHz / 2.88 KHz | Δ 12.13% |
graph(3d pdf): insertEdge x 1e3 | 668.72 us / 944.03 us | ∇ -29.16% | 1.50 KHz / 1.06 KHz | Δ 41.17% |
graph(3d pdf,vec): insertEdge x 1e3 | 672.92 us / 978.08 us | ∇ -31.20% | 1.49 KHz / 1.02 KHz | Δ 45.35% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 668.41 us / 793.19 us | ∇ -15.73% | 1.50 KHz / 1.26 KHz | Δ 18.67% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 676.59 us / 793.52 us | ∇ -14.74% | 1.48 KHz / 1.26 KHz | Δ 17.28% |
graph(3d): insertEdge x 1e4 | 3.60 ms / 4.62 ms | ∇ -22.02% | 277.54 Hz / 216.43 Hz | Δ 28.24% |
graph(3d,vec): insertEdge x 1e4 | 3.62 ms / 4.62 ms | ∇ -21.61% | 276.39 Hz / 216.67 Hz | Δ 27.56% |
graph(3d): insertEdgeAtEnd x 1e4 | 3.04 ms / 3.48 ms | ∇ -12.68% | 328.99 Hz / 287.28 Hz | Δ 14.52% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 3.02 ms / 3.47 ms | ∇ -13.03% | 330.96 Hz / 287.84 Hz | Δ 14.98% |
graph(3d pdf): insertEdge x 1e4 | 7.09 ms / 10.55 ms | ∇ -32.81% | 141.02 Hz / 94.75 Hz | Δ 48.83% |
graph(3d pdf,vec): insertEdge x 1e4 | 7.08 ms / 9.75 ms | ∇ -27.40% | 141.24 Hz / 102.54 Hz | Δ 37.73% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 6.70 ms / 7.93 ms | ∇ -15.59% | 149.36 Hz / 126.08 Hz | Δ 18.46% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 6.88 ms / 7.94 ms | ∇ -13.35% | 145.34 Hz / 125.93 Hz | Δ 15.41% |
graph(3d): dijkstra 1e2 nodes | 279.15 us / 262.18 us | Δ 6.47% | 3.58 KHz / 3.81 KHz | ∇ -6.08% |
graph(3d,vec): dijkstra 1e2 nodes | 417.83 us / 363.67 us | Δ 14.89% | 2.39 KHz / 2.75 KHz | ∇ -12.96% |
graph(3d): dijkstra 1e3 nodes | 3.14 ms / 2.97 ms | Δ 5.55% | 318.46 Hz / 336.14 Hz | ∇ -5.26% |
graph(3d,vec): dijkstra 1e3 nodes | 3.68 ms / 3.29 ms | Δ 11.90% | 271.44 Hz / 303.75 Hz | ∇ -10.64% |
graph(3d): dijkstra 1e4 nodes | 37.09 ms / 34.21 ms | Δ 8.42% | 26.96 Hz / 29.23 Hz | ∇ -7.77% |
graph(3d,vec): dijkstra 1e4 nodes | 42.65 ms / 38.12 ms | Δ 11.86% | 23.45 Hz / 26.23 Hz | ∇ -10.60% |
graph(3d): dijkstra 1e5 nodes | 433.73 ms / 389.54 ms | Δ 11.34% | 2.31 Hz / 2.57 Hz | ∇ -10.19% |
graph(3d,vec): dijkstra 1e5 nodes | 470.84 ms / 428.64 ms | Δ 9.84% | 2.12 Hz / 2.33 Hz | ∇ -8.96% |
graph(2d): dijkstra 1e5 nodes | 428.18 ms / 382.11 ms | Δ 12.06% | 2.34 Hz / 2.62 Hz | ∇ -10.76% |
graph(2d,vec): dijkstra 1e5 nodes | 465.28 ms / 417.45 ms | Δ 11.46% | 2.15 Hz / 2.40 Hz | ∇ -10.28% |