Test description | 0.9.3-GCC-64bit / 0.9.3-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 20.90 ms / 31.56 ms | ∇ -33.78% | 47.85 Hz / 31.69 Hz | Δ 51.00% |
icp-slam (match grid): Run with sample dataset | 18.76 ms / 53.95 ms | ∇ -65.22% | 53.30 Hz / 18.54 Hz | Δ 187.50% |
poses: CPose3D (+) CPose3D | 41.67 ns / 194.14 ns | ∇ -78.54% | 24.00 MHz / 5.15 MHz | Δ 365.90% |
poses: CPose3D.composeFrom() | 32.39 ns / 34.65 ns | ∇ -6.53% | 30.87 MHz / 28.86 MHz | Δ 6.98% |
poses: CPose3D (+) CPoint3D | 8.02 ns / 28.67 ns | ∇ -72.01% | 124.63 MHz / 34.88 MHz | Δ 257.26% |
poses: CPose3D.composePoint() | 11.53 ns / 18.49 ns | ∇ -37.63% | 86.70 MHz / 54.08 MHz | Δ 60.32% |
poses: CPoint3D (-) CPose3D | 18.18 ns / 93.89 ns | ∇ -80.63% | 54.99 MHz / 10.65 MHz | Δ 416.33% |
poses: CPose3D.inverseComposePoint() | 25.21 ns / 44.39 ns | ∇ -43.20% | 39.66 MHz / 22.53 MHz | Δ 76.05% |
poses: CPose2D (+) CPose2D | 72.10 ns / 103.92 ns | ∇ -30.62% | 13.87 MHz / 9.62 MHz | Δ 44.13% |
poses: CPose2D.composeFrom() | 69.22 ns / 91.82 ns | ∇ -24.61% | 14.45 MHz / 10.89 MHz | Δ 32.64% |
poses: CPose2D (+) CPoint2D | 60.48 ns / 140.37 ns | ∇ -56.91% | 16.53 MHz / 7.12 MHz | Δ 132.07% |
poses: CPose2D.composePoint() | 60.01 ns / 66.26 ns | ∇ -9.43% | 16.66 MHz / 15.09 MHz | Δ 10.41% |
poses: CPose3DQuat (+) CPose3DQuat | 42.70 ns / 93.35 ns | ∇ -54.26% | 23.42 MHz / 10.71 MHz | Δ 118.63% |
poses: CPose3DQuat.composeFrom() | 38.27 ns / 60.52 ns | ∇ -36.77% | 26.13 MHz / 16.52 MHz | Δ 58.15% |
poses: CPose3DQuat (+) CPoint3D | 17.90 ns / 116.72 ns | ∇ -84.66% | 55.85 MHz / 8.57 MHz | Δ 551.89% |
poses: CPose3DQuat.composePoint() | 18.44 ns / 31.02 ns | ∇ -40.56% | 54.23 MHz / 32.23 MHz | Δ 68.24% |
poses: CPoint3D (-) CPose3DQuat | 33.31 ns / 126.78 ns | ∇ -73.73% | 30.02 MHz / 7.89 MHz | Δ 280.59% |
poses: CPose3DQuat.invcomposePoint() | 19.52 ns / 30.88 ns | ∇ -36.80% | 51.24 MHz / 32.38 MHz | Δ 58.23% |
poses: Conv CPose3DQuat <- CPose3D | 16.27 ns / 33.42 ns | ∇ -51.30% | 61.45 MHz / 29.93 MHz | Δ 105.33% |
poses: Conv CPose3D -> CPose3DQuat | 169.77 ns / 211.33 ns | ∇ -19.66% | 5.89 MHz / 4.73 MHz | Δ 24.48% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 799.00 ns / 19.45 us | ∇ -95.89% | 1.25 MHz / 51.41 KHz | Δ 2334.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 788.50 ns / 2.93 us | ∇ -73.11% | 1.27 MHz / 341.05 KHz | Δ 271.86% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.11 us / 34.64 us | ∇ -73.71% | 109.83 KHz / 28.87 KHz | Δ 280.41% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 557.50 ns / 860.26 ns | ∇ -35.19% | 1.79 MHz / 1.16 MHz | Δ 54.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 558.50 ns / 880.23 ns | ∇ -36.55% | 1.79 MHz / 1.14 MHz | Δ 57.61% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.42 us / 21.76 us | ∇ -61.33% | 118.81 KHz / 45.95 KHz | Δ 158.58% |
matrix: unit, dyn[float], 3x3 | 17.83 ns / 44.99 ns | ∇ -60.36% | 56.07 MHz / 22.23 MHz | Δ 152.26% |
matrix: unit, dyn[double], 3x3 | 19.48 ns / 45.16 ns | ∇ -56.88% | 51.35 MHz / 22.14 MHz | Δ 131.90% |
matrix: unit, dyn[float], 6x6 | 54.85 ns / 160.84 ns | ∇ -65.90% | 18.23 MHz / 6.22 MHz | Δ 193.26% |
matrix: unit, dyn[double], 6x6 | 55.93 ns / 160.97 ns | ∇ -65.25% | 17.88 MHz / 6.21 MHz | Δ 187.79% |
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] | 1.50 ns / 6.73 ns | ∇ -77.76% | 667.56 MHz / 148.49 MHz | Δ 349.56% |
matrix: unit, fix[double,6,6] | 5.61 ns / 7.86 ns | ∇ -28.65% | 178.35 MHz / 127.26 MHz | Δ 40.15% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 291.30 ns / 550.79 ns | ∇ -47.11% | 3.43 MHz / 1.82 MHz | Δ 89.08% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | inf THz / 22.08 GHz | Δ inf% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 292.50 ns / 432.98 ns | ∇ -32.45% | 3.42 MHz / 2.31 MHz | Δ 48.03% |
matrix: multiply, fix[double], 3x3 * 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 347.50 ns / 660.53 ns | ∇ -47.39% | 2.88 MHz / 1.51 MHz | Δ 90.08% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 0.00 ns / 38.91 ns | ∇ -100.00% | inf THz / 25.70 MHz | Δ inf% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 340.40 ns / 474.65 ns | ∇ -28.28% | 2.94 MHz / 2.11 MHz | Δ 39.44% |
matrix: multiply, fix[double], 3x6 * 6x3 | 0.00 ns / 8.74 ns | ∇ -100.00% | inf THz / 114.40 MHz | Δ inf% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 2.42 us / 4.68 us | ∇ -48.31% | 413.19 KHz / 213.59 KHz | Δ 93.45% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 2.23 us / 4.42 us | ∇ -49.53% | 448.19 KHz / 226.20 KHz | Δ 98.14% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 2.31 us / 3.24 us | ∇ -28.60% | 432.69 KHz / 308.92 KHz | Δ 40.07% |
matrix: multiply, fix[double], 10x40 * 40x10 | 2.12 us / 2.37 us | ∇ -10.26% | 471.08 KHz / 422.77 KHz | Δ 11.43% |
matrix: inv, dyn[double] 3x3 | 780.00 ns / 1.49 us | ∇ -47.56% | 1.28 MHz / 672.33 KHz | Δ 90.69% |
matrix: inv, fix[double] 3x3 | 0.00 ns / 32.16 ns | ∇ -100.00% | inf THz / 31.10 MHz | Δ inf% |
matrix: inv, dyn[double] 6x6 | 1.97 us / 3.50 us | ∇ -43.58% | 507.10 KHz / 286.11 KHz | Δ 77.24% |
matrix: inv, fix[double] 6x6 | 1.60 us / 2.72 us | ∇ -41.05% | 624.61 KHz / 368.24 KHz | Δ 69.62% |
matrix: inv, dyn[double] 20x20 | 16.08 us / 31.87 us | ∇ -49.55% | 62.19 KHz / 31.37 KHz | Δ 98.22% |
matrix: inv, fix[double] 20x20 | 14.48 us / 28.91 us | ∇ -49.93% | 69.08 KHz / 34.58 KHz | Δ 99.74% |
matrix: inv, dyn[double] 40x40 | 65.78 us / 124.22 us | ∇ -47.04% | 15.20 KHz / 8.05 KHz | Δ 88.82% |
matrix: inv, fix[double] 40x40 | 64.13 us / 122.24 us | ∇ -47.54% | 15.59 KHz / 8.18 KHz | Δ 90.62% |
matrix: det, dyn[double] 2x2 | 212.60 ns / 647.62 ns | ∇ -67.17% | 4.70 MHz / 1.54 MHz | Δ 204.62% |
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 / 969.59 ns | ∇ -66.66% | 3.09 MHz / 1.03 MHz | Δ 199.90% |
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 / 2.45 us | ∇ -68.43% | 1.29 MHz / 407.46 KHz | Δ 216.72% |
matrix: det, fix[double] 6x6 | 592.30 ns / 1.89 us | ∇ -68.61% | 1.69 MHz / 529.99 KHz | Δ 218.56% |
matrix: det, dyn[double] 20x20 | 8.50 us / 22.48 us | ∇ -62.17% | 117.63 KHz / 44.49 KHz | Δ 164.37% |
matrix: det, fix[double] 20x20 | 7.72 us / 21.45 us | ∇ -64.00% | 129.53 KHz / 46.63 KHz | Δ 177.79% |
matrix: det, dyn[double] 40x40 | 32.23 us / 80.28 us | ∇ -59.86% | 31.03 KHz / 12.46 KHz | Δ 149.11% |
matrix: det, fix[double] 40x40 | 30.71 us / 79.04 us | ∇ -61.15% | 32.57 KHz / 12.65 KHz | Δ 157.40% |
matrix: chol, dyn[double] 4x4 | 530.00 ns / 1.09 us | ∇ -51.44% | 1.89 MHz / 916.16 KHz | Δ 105.95% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 317.04 ns | ∇ -59.00% | 7.69 MHz / 3.15 MHz | Δ 143.88% |
matrix: chol, dyn[double] 40x40 | 22.98 us / 75.74 us | ∇ -69.66% | 43.52 KHz / 13.20 KHz | Δ 229.57% |
matrix: chol, fix[double] 40x40 | 19.50 us / 55.31 us | ∇ -64.74% | 51.28 KHz / 18.08 KHz | Δ 183.64% |
matrix: chol, sparse [2x2;2x2] | 8.20 us / 16.89 us | ∇ -51.46% | 121.95 KHz / 59.19 KHz | Δ 106.02% |
matrix: chol, sparse [30x30;10x10] | 85.30 us / 247.29 us | ∇ -65.51% | 11.72 KHz / 4.04 KHz | Δ 189.91% |
matrix: chol, dyn[double] 10x[6x6] | 56.80 us / 180.76 us | ∇ -68.58% | 17.61 KHz / 5.53 KHz | Δ 218.23% |
matrix: chol, sparse 10x[6x6] | 39.31 us / 91.89 us | ∇ -57.22% | 25.44 KHz / 10.88 KHz | Δ 133.76% |
matrix: chol, dyn[double] 20x[6x6] | 266.80 us / 765.78 us | ∇ -65.16% | 3.75 KHz / 1.31 KHz | Δ 187.02% |
matrix: chol, sparse 20x[6x6] | 72.76 us / 116.55 us | ∇ -37.57% | 13.74 KHz / 8.58 KHz | Δ 60.18% |
matrix: chol, dyn[double] 50x[6x6] | 2.67 ms / 4.08 ms | ∇ -34.53% | 374.53 Hz / 245.20 Hz | Δ 52.74% |
matrix: chol, sparse 50x[6x6] | 176.19 us / 207.46 us | ∇ -15.07% | 5.68 KHz / 4.82 KHz | Δ 17.75% |
matrix: chol, dyn[double] 100x[6x6] | 20.73 ms / 24.43 ms | ∇ -15.15% | 48.23 Hz / 40.93 Hz | Δ 17.86% |
matrix: chol, sparse 100x[6x6] | 351.05 us / 403.40 us | ∇ -12.98% | 2.85 KHz / 2.48 KHz | Δ 14.91% |
matrix: chol, dyn[double] 120x[6x6] | 34.60 ms / 40.20 ms | ∇ -13.93% | 28.90 Hz / 24.87 Hz | Δ 16.18% |
matrix: chol, sparse 120x[6x6] | 415.89 us / 479.83 us | ∇ -13.33% | 2.40 KHz / 2.08 KHz | Δ 15.37% |
matrix: chol, dyn[double] 140x[6x6] | 50.32 ms / 59.95 ms | ∇ -16.06% | 19.87 Hz / 16.68 Hz | Δ 19.14% |
matrix: chol, sparse 140x[6x6] | 482.94 us / 560.09 us | ∇ -13.77% | 2.07 KHz / 1.79 KHz | Δ 15.98% |
gridmap2D: getCell | 0.00 ns / 5.69 ns | ∇ -100.00% | inf THz / 175.73 MHz | Δ inf% |
gridmap2D: setCell | 2.61 ns / 8.06 ns | ∇ -67.66% | 383.63 MHz / 124.07 MHz | Δ 209.21% |
gridmap2D: updateCell | 6.99 ns / 61.98 ns | ∇ -88.72% | 143.02 MHz / 16.13 MHz | Δ 786.43% |
gridmap2D: updateCell_fast_occupied | 0.51 ns / 1.25 ns | ∇ -59.07% | 1.95 GHz / 798.82 MHz | Δ 144.31% |
gridmap2D: insert scan w/o widening | 102.59 us / 208.84 us | ∇ -50.88% | 9.75 KHz / 4.79 KHz | Δ 103.58% |
gridmap2D: insert scan with widening | 284.11 us / 346.08 us | ∇ -17.91% | 3.52 KHz / 2.89 KHz | Δ 21.81% |
gridmap2D: resize | 722.00 us / 2.81 ms | ∇ -74.33% | 1.39 KHz / 355.60 Hz | Δ 289.49% |
gridmap2D: computeLikelihood | 15.69 us / 18.33 us | ∇ -14.36% | 63.72 KHz / 54.57 KHz | Δ 16.77% |
pointmap: insert 100 scans | 2.97 ms / 6.61 ms | ∇ -55.10% | 337.06 Hz / 151.33 Hz | Δ 122.73% |
pointmap: build 2D kd-tree of 1 scan | 4.36 us / 6.03 us | ∇ -27.73% | 229.36 KHz / 165.76 KHz | Δ 38.37% |
pointmap: build 2D kd-tree of 100 scan | 357.08 us / 536.01 us | ∇ -33.38% | 2.80 KHz / 1.87 KHz | Δ 50.11% |
pointmap: build 2D kd-tree of 1000 scan | 4.19 ms / 5.64 ms | ∇ -25.75% | 238.61 Hz / 177.17 Hz | Δ 34.68% |
pointmap: build 3D kd-tree of 1 scan | 4.72 us / 7.70 us | ∇ -38.70% | 211.86 KHz / 129.88 KHz | Δ 63.12% |
pointmap: build 3D kd-tree of 100 scan | 362.68 us / 528.60 us | ∇ -31.39% | 2.76 KHz / 1.89 KHz | Δ 45.75% |
pointmap: build 3D kd-tree of 1000 scan | 4.10 ms / 5.81 ms | ∇ -29.48% | 244.09 Hz / 172.12 Hz | Δ 41.81% |
pointmap: kd-tree 2d query on 10 scans | 1.39 us / 2.13 us | ∇ -34.91% | 720.46 KHz / 468.98 KHz | Δ 53.62% |
pointmap: kd-tree 2d query on 1000 scans | 101.86 us / 145.70 us | ∇ -30.09% | 9.82 KHz / 6.86 KHz | Δ 43.03% |
pointmap: kd-tree 2d query on 10000 scans | 11.78 ms / 15.49 ms | ∇ -23.97% | 84.92 Hz / 64.56 Hz | Δ 31.53% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.62 ms / 8.93 ms | ∇ -37.06% | 177.84 Hz / 111.93 Hz | Δ 58.89% |
pointmap: (insert scan+2D kd-tree query) x 50 | 130.59 ms / 200.06 ms | ∇ -34.73% | 7.66 Hz / 5.00 Hz | Δ 53.20% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.69 ms / 8.97 ms | ∇ -36.59% | 175.73 Hz / 111.43 Hz | Δ 57.70% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.22 ms / 201.21 ms | ∇ -34.29% | 7.56 Hz / 4.97 Hz | Δ 52.17% |
random: drawUniform32bit | 15.67 ns / 7.76 ns | Δ 102.02% | 63.82 MHz / 128.93 MHz | ∇ -50.50% |
random: drawUniform | 15.66 ns / 7.61 ns | Δ 105.73% | 63.88 MHz / 131.41 MHz | ∇ -51.39% |
random: drawGaussian1D_normalized | 69.89 ns / 51.84 ns | Δ 34.84% | 14.31 MHz / 19.29 MHz | ∇ -25.84% |
random: drawGaussian1D | 69.86 ns / 52.02 ns | Δ 34.28% | 14.32 MHz / 19.22 MHz | ∇ -25.53% |
random: system rand() | 12.21 ns / 27.43 ns | ∇ -55.47% | 81.87 MHz / 36.46 MHz | Δ 124.57% |
random: drawGaussianMultivariate(fixed 3x3) | 2.70 us / 4.97 us | ∇ -45.64% | 370.49 KHz / 201.38 KHz | Δ 83.97% |
random: drawGaussianMultivariate(dyn 3x3) | 5.71 us / 10.68 us | ∇ -46.52% | 175.14 KHz / 93.66 KHz | Δ 87.00% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 148.19 ns / 153.63 ns | ∇ -3.54% | 6.75 MHz / 6.51 MHz | Δ 3.67% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 232.46 ns / 250.07 ns | ∇ -7.04% | 4.30 MHz / 4.00 MHz | Δ 7.58% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 489.71 ns / 664.62 ns | ∇ -26.32% | 2.04 MHz / 1.50 MHz | Δ 35.72% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 159.54 ns / 153.22 ns | Δ 4.12% | 6.27 MHz / 6.53 MHz | ∇ -3.96% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 247.75 ns / 253.40 ns | ∇ -2.23% | 4.04 MHz / 3.95 MHz | Δ 2.28% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 521.91 ns / 622.96 ns | ∇ -16.22% | 1.92 MHz / 1.61 MHz | Δ 19.36% |
random: permuteVector (len=10) | 251.30 ns / 342.58 ns | ∇ -26.65% | 3.98 MHz / 2.92 MHz | Δ 36.32% |
random: permuteVector (len=100) | 3.02 us / 3.62 us | ∇ -16.57% | 331.46 KHz / 276.54 KHz | Δ 19.86% |
random: permuteVector (len=1000) | 30.36 us / 35.68 us | ∇ -14.90% | 32.93 KHz / 28.03 KHz | Δ 17.51% |
math: round | 0.10 ns / 0.00 ns | Δ 2188188.34% | 10.09 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 34.14 ms / 28.08 ms | Δ 21.57% | 29.29 Hz / 35.61 Hz | ∇ -17.74% |
images: Save as JPEG (800x600, quality=95%) | 49.83 ms / 42.80 ms | Δ 16.43% | 20.07 Hz / 23.37 Hz | ∇ -14.11% |
images: Save as JPEG (1024x768, quality=95%) | 80.71 ms / 69.14 ms | Δ 16.75% | 12.39 Hz / 14.46 Hz | ∇ -14.34% |
images: Save as JPEG (640x480, quality=75%) | 29.36 ms / 23.76 ms | Δ 23.59% | 34.05 Hz / 42.09 Hz | ∇ -19.09% |
images: Save as JPEG (800x600, quality=75%) | 42.45 ms / 37.25 ms | Δ 13.95% | 23.56 Hz / 26.85 Hz | ∇ -12.24% |
images: Save as JPEG (1024x768, quality=75%) | 65.41 ms / 59.86 ms | Δ 9.27% | 15.29 Hz / 16.71 Hz | ∇ -8.49% |
images: Gauss filter (640x480) | 4.66 ms / 7.21 ms | ∇ -35.28% | 214.40 Hz / 138.75 Hz | Δ 54.52% |
images: Gauss filter (800x600) | 5.98 ms / 8.67 ms | ∇ -30.99% | 167.10 Hz / 115.32 Hz | Δ 44.91% |
images: Gauss filter (1024x768) | 10.42 ms / 14.94 ms | ∇ -30.23% | 95.93 Hz / 66.93 Hz | Δ 43.32% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 11.35 us / 25.26 us | ∇ -55.07% | 88.11 KHz / 39.59 KHz | Δ 122.54% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 9.96 us / 24.29 us | ∇ -58.99% | 100.40 KHz / 41.17 KHz | Δ 143.87% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 5.52 us / 13.82 us | ∇ -60.05% | 181.16 KHz / 72.37 KHz | Δ 150.33% |
feature_extraction [640x480]: Harris | 32.25 ms / 53.60 ms | ∇ -39.83% | 31.01 Hz / 18.66 Hz | Δ 66.19% |
feature_extraction [640x480]: KLT | 25.60 ms / 32.67 ms | ∇ -21.63% | 39.06 Hz / 30.61 Hz | Δ 27.59% |
feature_extraction [640x480]: SIFT | 630.91 ms / 724.51 ms | ∇ -12.92% | 1.59 Hz / 1.38 Hz | Δ 14.84% |
feature_extraction [640x480]: SIFT desc. | 164.09 ms / 217.33 ms | ∇ -24.50% | 6.09 Hz / 4.60 Hz | Δ 32.45% |
feature_extraction [640x480]: SURF | 207.64 ms / 320.21 ms | ∇ -35.16% | 4.82 Hz / 3.12 Hz | Δ 54.21% |
feature_extraction [640x480]: FAST | 7.60 ms / 9.58 ms | ∇ -20.67% | 131.57 Hz / 104.37 Hz | Δ 26.06% |
feature_extraction [640x480]: Spin desc. | 60.60 ms / 111.16 ms | ∇ -45.48% | 16.50 Hz / 9.00 Hz | Δ 83.41% |
feature_matching [640x480]: Harris + CC | 43.99 ms / 64.75 ms | ∇ -32.06% | 22.73 Hz / 15.44 Hz | Δ 47.19% |
feature_matching [640x480]: Harris + SAD | 36.29 ms / 50.46 ms | ∇ -28.09% | 27.56 Hz / 19.82 Hz | Δ 39.06% |
feature_matching [640x480]: SIFT | 1.20 sec / 1.37 sec | ∇ -12.22% | 834.47 mHz / 732.49 mHz | Δ 13.92% |
feature_matching [640x480]: SURF | 379.83 ms / 602.11 ms | ∇ -36.92% | 2.63 Hz / 1.66 Hz | Δ 58.52% |
feature_matching [640x480]: FAST + CC | 16.04 ms / 23.55 ms | ∇ -31.91% | 62.36 Hz / 42.46 Hz | Δ 46.86% |
feature_matching [640x480]: FAST + SAD | 10.85 ms / 15.71 ms | ∇ -30.90% | 92.14 Hz / 63.67 Hz | Δ 44.71% |
graph(2d): insertEdge x 1e3 | 119.99 us / 300.22 us | ∇ -60.03% | 8.33 KHz / 3.33 KHz | Δ 150.20% |
graph(2d,vec): insertEdge x 1e3 | 107.18 us / 300.93 us | ∇ -64.38% | 9.33 KHz / 3.32 KHz | Δ 180.77% |
graph(2d): insertEdgeAtEnd x 1e3 | 84.03 us / 245.20 us | ∇ -65.73% | 11.90 KHz / 4.08 KHz | Δ 191.80% |
graph(2d,vec): insertEdgeAtEnd x 1e3 | 83.37 us / 252.81 us | ∇ -67.02% | 11.99 KHz / 3.96 KHz | Δ 203.23% |
graph(2d pdf): insertEdge x 1e3 | 170.61 us / 537.61 us | ∇ -68.26% | 5.86 KHz / 1.86 KHz | Δ 215.10% |
graph(2d pdf,vec): insertEdge x 1e3 | 181.61 us / 456.45 us | ∇ -60.21% | 5.51 KHz / 2.19 KHz | Δ 151.33% |
graph(2d pdf): insertEdgeAtEnd x 1e3 | 179.02 us / 401.18 us | ∇ -55.38% | 5.59 KHz / 2.49 KHz | Δ 124.10% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 | 178.59 us / 394.03 us | ∇ -54.68% | 5.60 KHz / 2.54 KHz | Δ 120.64% |
graph(2d): insertEdge x 1e4 | 1.58 ms / 3.65 ms | ∇ -56.68% | 632.00 Hz / 273.78 Hz | Δ 130.84% |
graph(2d,vec): insertEdge x 1e4 | 1.26 ms / 3.70 ms | ∇ -65.78% | 790.83 Hz / 270.61 Hz | Δ 192.24% |
graph(2d): insertEdgeAtEnd x 1e4 | 863.38 us / 2.51 ms | ∇ -65.55% | 1.16 KHz / 399.01 Hz | Δ 190.28% |
graph(2d,vec): insertEdgeAtEnd x 1e4 | 846.12 us / 2.55 ms | ∇ -66.80% | 1.18 KHz / 392.34 Hz | Δ 201.24% |
graph(2d pdf): insertEdge x 1e4 | 1.96 ms / 4.81 ms | ∇ -59.21% | 509.85 Hz / 207.97 Hz | Δ 145.15% |
graph(2d pdf,vec): insertEdge x 1e4 | 2.25 ms / 4.86 ms | ∇ -53.77% | 445.23 Hz / 205.85 Hz | Δ 116.29% |
graph(2d pdf): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.03 ms | ∇ -51.49% | 511.72 Hz / 248.25 Hz | Δ 106.13% |
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 | 1.95 ms / 4.00 ms | ∇ -51.22% | 512.69 Hz / 250.07 Hz | Δ 105.02% |
graph(3d): insertEdge x 1e3 | 169.26 us / 338.14 us | ∇ -49.94% | 5.91 KHz / 2.96 KHz | Δ 99.78% |
graph(3d,vec): insertEdge x 1e3 | 168.78 us / 332.03 us | ∇ -49.17% | 5.93 KHz / 3.01 KHz | Δ 96.73% |
graph(3d): insertEdgeAtEnd x 1e3 | 153.69 us / 302.41 us | ∇ -49.18% | 6.51 KHz / 3.31 KHz | Δ 96.76% |
graph(3d,vec): insertEdgeAtEnd x 1e3 | 154.19 us / 309.65 us | ∇ -50.21% | 6.49 KHz / 3.23 KHz | Δ 100.82% |
graph(3d pdf): insertEdge x 1e3 | 471.95 us / 668.72 us | ∇ -29.42% | 2.12 KHz / 1.50 KHz | Δ 41.69% |
graph(3d pdf,vec): insertEdge x 1e3 | 479.58 us / 672.92 us | ∇ -28.73% | 2.09 KHz / 1.49 KHz | Δ 40.32% |
graph(3d pdf): insertEdgeAtEnd x 1e3 | 441.33 us / 668.41 us | ∇ -33.97% | 2.27 KHz / 1.50 KHz | Δ 51.45% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 | 445.05 us / 676.59 us | ∇ -34.22% | 2.25 KHz / 1.48 KHz | Δ 52.02% |
graph(3d): insertEdge x 1e4 | 2.46 ms / 3.60 ms | ∇ -31.82% | 407.06 Hz / 277.54 Hz | Δ 46.66% |
graph(3d,vec): insertEdge x 1e4 | 2.46 ms / 3.62 ms | ∇ -32.01% | 406.51 Hz / 276.39 Hz | Δ 47.08% |
graph(3d): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.04 ms | ∇ -44.09% | 588.45 Hz / 328.99 Hz | Δ 78.86% |
graph(3d,vec): insertEdgeAtEnd x 1e4 | 1.70 ms / 3.02 ms | ∇ -43.71% | 587.97 Hz / 330.96 Hz | Δ 77.66% |
graph(3d pdf): insertEdge x 1e4 | 6.68 ms / 7.09 ms | ∇ -5.75% | 149.62 Hz / 141.02 Hz | Δ 6.10% |
graph(3d pdf,vec): insertEdge x 1e4 | 6.75 ms / 7.08 ms | ∇ -4.61% | 148.06 Hz / 141.24 Hz | Δ 4.83% |
graph(3d pdf): insertEdgeAtEnd x 1e4 | 4.59 ms / 6.70 ms | ∇ -31.51% | 218.07 Hz / 149.36 Hz | Δ 46.01% |
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 | 4.58 ms / 6.88 ms | ∇ -33.51% | 218.58 Hz / 145.34 Hz | Δ 50.39% |
graph(3d): dijkstra 1e2 nodes | 89.04 us / 279.15 us | ∇ -68.10% | 11.23 KHz / 3.58 KHz | Δ 213.49% |
graph(3d,vec): dijkstra 1e2 nodes | 75.33 us / 417.83 us | ∇ -81.97% | 13.28 KHz / 2.39 KHz | Δ 454.69% |
graph(3d): dijkstra 1e3 nodes | 1.11 ms / 3.14 ms | ∇ -64.75% | 903.43 Hz / 318.46 Hz | Δ 183.69% |
graph(3d,vec): dijkstra 1e3 nodes | 711.20 us / 3.68 ms | ∇ -80.69% | 1.41 KHz / 271.44 Hz | Δ 418.00% |
graph(3d): dijkstra 1e4 nodes | 18.54 ms / 37.09 ms | ∇ -50.02% | 53.94 Hz / 26.96 Hz | Δ 100.08% |
graph(3d,vec): dijkstra 1e4 nodes | 9.76 ms / 42.65 ms | ∇ -77.12% | 102.51 Hz / 23.45 Hz | Δ 337.15% |
graph(3d): dijkstra 1e5 nodes | 252.57 ms / 433.73 ms | ∇ -41.77% | 3.96 Hz / 2.31 Hz | Δ 71.73% |
graph(3d,vec): dijkstra 1e5 nodes | 112.23 ms / 470.84 ms | ∇ -76.16% | 8.91 Hz / 2.12 Hz | Δ 319.51% |
graph(2d): dijkstra 1e5 nodes | 256.02 ms / 428.18 ms | ∇ -40.21% | 3.91 Hz / 2.34 Hz | Δ 67.25% |
graph(2d,vec): dijkstra 1e5 nodes | 106.16 ms / 465.28 ms | ∇ -77.18% | 9.42 Hz / 2.15 Hz | Δ 338.28% |