Comparison: 0.9.1-MSVC9-32bit vs. 0.9.2preSVN2157-GCC-64bit




Test description 0.9.1-MSVC9-32bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset31.78 ms /
20.59 ms
Δ 54.40%
31.46 Hz /
48.58 Hz
∇ -35.23%
icp-slam (match grid): Run with sample dataset53.70 ms /
20.64 ms
Δ 160.22%
18.62 Hz /
48.45 Hz
∇ -61.57%
poses: CPose3D (+) CPose3D925.38 ns /
42.90 ns
Δ 2057.07%
1.08 MHz /
23.31 MHz
∇ -95.36%
poses: CPose3D.composeFrom()617.00 ns /
37.61 ns
Δ 1540.53%
1.62 MHz /
26.59 MHz
∇ -93.90%
poses: CPose3D (+) CPoint3D35.98 ns /
7.25 ns
Δ 396.09%
27.80 MHz /
137.89 MHz
∇ -79.84%
poses: CPose3D.composePoint()14.62 ns /
11.83 ns
Δ 23.55%
68.42 MHz /
84.53 MHz
∇ -19.06%
poses: CPoint3D (-) CPose3D75.43 ns /
39.31 ns
Δ 91.87%
13.26 MHz /
25.44 MHz
∇ -47.88%
poses: CPose3D.inverseComposePoint()56.48 ns /
34.91 ns
Δ 61.81%
17.70 MHz /
28.65 MHz
∇ -38.20%
poses: CPose2D (+) CPose2D121.60 ns /
76.08 ns
Δ 59.83%
8.22 MHz /
13.14 MHz
∇ -37.43%
poses: CPose2D.composeFrom()66.63 ns /
61.61 ns
Δ 8.14%
15.01 MHz /
16.23 MHz
∇ -7.53%
poses: CPose2D (+) CPoint2D93.73 ns /
60.26 ns
Δ 55.54%
10.67 MHz /
16.59 MHz
∇ -35.71%
poses: CPose2D.composePoint()62.24 ns /
62.26 ns
∇ -0.04%
16.07 MHz /
16.06 MHz
Δ 0.04%
poses: CPose3DQuat (+) CPose3DQuat100.74 ns /
40.99 ns
Δ 145.76%
9.93 MHz /
24.40 MHz
∇ -59.31%
poses: CPose3DQuat.composeFrom()57.92 ns /
39.39 ns
Δ 47.05%
17.26 MHz /
25.39 MHz
∇ -32.00%
poses: CPose3DQuat (+) CPoint3D61.33 ns /
18.30 ns
Δ 235.06%
16.31 MHz /
54.63 MHz
∇ -70.15%
poses: CPose3DQuat.composePoint()27.34 ns /
17.94 ns
Δ 52.40%
36.57 MHz /
55.74 MHz
∇ -34.38%
poses: CPoint3D (-) CPose3DQuat 580.67 ns /
55.46 ns
Δ 947.08%
1.72 MHz /
18.03 MHz
∇ -90.45%
poses: CPose3DQuat.invcomposePoint()28.18 ns /
17.66 ns
Δ 59.58%
35.48 MHz /
56.63 MHz
∇ -37.33%
poses: Conv CPose3DQuat <- CPose3D506.67 ns /
16.78 ns
Δ 2918.57%
1.97 MHz /
59.58 MHz
∇ -96.69%
poses: Conv CPose3D -> CPose3DQuat214.86 ns /
169.37 ns
Δ 26.86%
4.65 MHz /
5.90 MHz
∇ -21.17%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.56 us /
799.08 us
∇ -99.81%
642.96 KHz /
1.25 KHz
Δ 51277.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.51 us /
803.31 us
∇ -99.81%
663.83 KHz /
1.24 KHz
Δ 53226.20%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.29 us /
9.44 us
Δ 146.64%
42.94 KHz /
105.91 KHz
∇ -59.45%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.64 us /
648.90 ns
Δ 152.73%
609.77 KHz /
1.54 MHz
∇ -60.43%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.66 us /
631.00 ns
Δ 163.76%
600.84 KHz /
1.58 MHz
∇ -62.09%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)16.05 us /
8.18 us
Δ 96.24%
62.32 KHz /
122.30 KHz
∇ -49.04%
matrix: unit, dyn[float], 3x339.66 ns /
24.43 ns
Δ 62.34%
25.22 MHz /
40.94 MHz
∇ -38.40%
matrix: unit, dyn[double], 3x342.75 ns /
23.18 ns
Δ 84.40%
23.39 MHz /
43.14 MHz
∇ -45.77%
matrix: unit, dyn[float], 6x6152.29 ns /
59.50 ns
Δ 155.92%
6.57 MHz /
16.81 MHz
∇ -60.93%
matrix: unit, dyn[double], 6x6150.45 ns /
62.26 ns
Δ 141.63%
6.65 MHz /
16.06 MHz
∇ -58.61%
matrix: unit, fix[float,3,3]3.30 ns /
0.35 ns
Δ 849.95%
303.37 MHz /
2.88 GHz
∇ -89.47%
matrix: unit, fix[double,3,3]3.48 ns /
1.19 ns
Δ 192.72%
287.56 MHz /
841.75 MHz
∇ -65.84%
matrix: unit, fix[float,6,6]3.06 ns /
1.70 ns
Δ 79.46%
327.19 MHz /
587.20 MHz
∇ -44.28%
matrix: unit, fix[double,6,6]6.65 ns /
2.77 ns
Δ 139.90%
150.48 MHz /
361.01 MHz
∇ -58.32%
matrix: multiply, dyn[float ], 3x3 * 3x3167.81 ns /
85.80 ns
Δ 95.58%
5.96 MHz /
11.66 MHz
∇ -48.87%
matrix: multiply, fix[float ], 3x3 * 3x3108.61 ns /
23.80 ns
Δ 356.34%
9.21 MHz /
42.02 MHz
∇ -78.09%
matrix: multiply, dyn[double], 3x3 * 3x3158.88 ns /
75.90 ns
Δ 109.33%
6.29 MHz /
13.18 MHz
∇ -52.23%
matrix: multiply, fix[double], 3x3 * 3x390.86 ns /
23.50 ns
Δ 286.62%
11.01 MHz /
42.55 MHz
∇ -74.13%
matrix: multiply, dyn[float ], 3x6 * 6x3272.47 ns /
118.10 ns
Δ 130.72%
3.67 MHz /
8.47 MHz
∇ -56.66%
matrix: multiply, fix[float ], 3x6 * 6x3193.12 ns /
44.70 ns
Δ 332.04%
5.18 MHz /
22.37 MHz
∇ -76.85%
matrix: multiply, dyn[double], 3x6 * 6x3238.91 ns /
110.50 ns
Δ 116.21%
4.19 MHz /
9.05 MHz
∇ -53.75%
matrix: multiply, fix[double], 3x6 * 6x3139.05 ns /
45.20 ns
Δ 207.62%
7.19 MHz /
22.12 MHz
∇ -67.49%
matrix: multiply, dyn[float ], 10x40 * 40x1016.80 us /
5.44 us
Δ 209.11%
59.51 KHz /
183.95 KHz
∇ -67.65%
matrix: multiply, fix[float ], 10x40 * 40x1013.06 us /
3.78 us
Δ 245.93%
76.57 KHz /
264.87 KHz
∇ -71.09%
matrix: multiply, dyn[double], 10x40 * 40x1013.55 us /
5.54 us
Δ 144.39%
73.81 KHz /
180.38 KHz
∇ -59.08%
matrix: multiply, fix[double], 10x40 * 40x109.96 us /
4.07 us
Δ 144.46%
100.40 KHz /
245.43 KHz
∇ -59.09%
matrix: inv, dyn[float ] 3x31.50 us /
631.00 ns
Δ 138.01%
665.84 KHz /
1.58 MHz
∇ -57.99%
matrix: inv, fix[float ] 3x359.79 ns /
35.00 ns
Δ 70.81%
16.73 MHz /
28.57 MHz
∇ -41.46%
matrix: inv, dyn[double] 3x31.53 us /
644.00 ns
Δ 137.85%
652.84 KHz /
1.55 MHz
∇ -57.96%
matrix: inv, fix[double] 3x331.25 ns /
39.00 ns
∇ -19.87%
32.00 MHz /
25.64 MHz
Δ 24.79%
matrix: inv, dyn[float ] 6x65.07 us /
2.37 us
Δ 113.81%
197.26 KHz /
421.76 KHz
∇ -53.23%
matrix: inv, fix[float ] 6x61.33 us /
812.00 ns
Δ 64.32%
749.46 KHz /
1.23 MHz
∇ -39.14%
matrix: inv, dyn[double] 6x65.08 us /
1.26 us
Δ 303.21%
196.68 KHz /
793.02 KHz
∇ -75.20%
matrix: inv, fix[double] 6x6926.67 ns /
575.00 ns
Δ 61.16%
1.08 MHz /
1.74 MHz
∇ -37.95%
matrix: inv, dyn[float ] 20x2081.86 us /
25.94 us
Δ 215.61%
12.22 KHz /
38.55 KHz
∇ -68.32%
matrix: inv, fix[float ] 20x2040.71 us /
14.15 us
Δ 187.82%
24.56 KHz /
70.70 KHz
∇ -65.26%
matrix: inv, dyn[double] 20x20108.60 us /
25.76 us
Δ 321.64%
9.21 KHz /
38.83 KHz
∇ -76.28%
matrix: inv, fix[double] 20x2019.22 us /
17.04 us
Δ 12.82%
52.02 KHz /
58.69 KHz
∇ -11.36%
matrix: inv, dyn[float ] 40x40609.15 us /
205.11 us
Δ 196.99%
1.64 KHz /
4.88 KHz
∇ -66.33%
matrix: inv, fix[float ] 40x40307.68 us /
93.29 us
Δ 229.81%
3.25 KHz /
10.72 KHz
∇ -69.68%
matrix: inv, dyn[double] 40x40818.27 us /
207.20 us
Δ 294.93%
1.22 KHz /
4.83 KHz
∇ -74.68%
matrix: inv, fix[double] 40x40136.18 us /
133.80 us
Δ 1.77%
7.34 KHz /
7.47 KHz
∇ -1.74%
matrix: det, dyn[float ] 2x29.15 ns /
6.40 ns
Δ 42.95%
109.30 MHz /
156.25 MHz
∇ -30.05%
matrix: det, fix[float ] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 2x29.56 ns /
6.40 ns
Δ 49.32%
104.64 MHz /
156.25 MHz
∇ -33.03%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 3x319.70 ns /
10.30 ns
Δ 91.28%
50.76 MHz /
97.09 MHz
∇ -47.72%
matrix: det, fix[float ] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x315.90 ns /
10.30 ns
Δ 54.34%
62.90 MHz /
97.09 MHz
∇ -35.21%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 6x62.32 us /
653.50 ns
Δ 254.72%
431.38 KHz /
1.53 MHz
∇ -71.81%
matrix: det, fix[float ] 6x6434.76 ns /
210.00 ns
Δ 107.03%
2.30 MHz /
4.76 MHz
∇ -51.70%
matrix: det, dyn[double] 6x62.38 us /
730.30 ns
Δ 225.71%
420.40 KHz /
1.37 MHz
∇ -69.30%
matrix: det, fix[double] 6x6422.89 ns /
212.10 ns
Δ 99.38%
2.36 MHz /
4.71 MHz
∇ -49.84%
matrix: det, dyn[float ] 20x2018.34 us /
5.70 us
Δ 221.62%
54.54 KHz /
175.40 KHz
∇ -68.91%
matrix: det, fix[float ] 20x209.85 us /
4.20 us
Δ 134.26%
101.56 KHz /
237.92 KHz
∇ -57.31%
matrix: det, dyn[double] 20x2018.19 us /
6.56 us
Δ 177.02%
54.99 KHz /
152.33 KHz
∇ -63.90%
matrix: det, fix[double] 20x206.52 us /
5.04 us
Δ 29.41%
153.30 KHz /
198.38 KHz
∇ -22.72%
matrix: det, dyn[float ] 40x40111.92 us /
32.38 us
Δ 245.69%
8.93 KHz /
30.89 KHz
∇ -71.07%
matrix: det, fix[float ] 40x4063.43 us /
27.92 us
Δ 127.21%
15.77 KHz /
35.82 KHz
∇ -55.99%
matrix: det, dyn[double] 40x40114.84 us /
39.41 us
Δ 191.40%
8.71 KHz /
25.37 KHz
∇ -65.68%
matrix: det, fix[double] 40x4036.00 us /
29.04 us
Δ 23.99%
27.78 KHz /
34.44 KHz
∇ -19.35%
matrix: chol, dyn[double] 4x4185.70 ns /
140.00 ns
Δ 32.64%
5.39 MHz /
7.14 MHz
∇ -24.61%
matrix: chol, fix[double] 4x4113.23 ns /
160.00 ns
∇ -29.23%
8.83 MHz /
6.25 MHz
Δ 41.31%
matrix: chol, dyn[double] 40x4024.43 us /
18.38 us
Δ 32.92%
40.93 KHz /
54.41 KHz
∇ -24.77%
matrix: chol, fix[double] 40x4017.73 us /
17.08 us
Δ 3.82%
56.40 KHz /
58.55 KHz
∇ -3.68%
matrix: chol, sparse [2x2;2x2]10.78 us /
8.30 us
Δ 29.87%
92.77 KHz /
120.48 KHz
∇ -23.00%
matrix: chol, sparse [30x30;10x10]117.89 us /
84.40 us
Δ 39.69%
8.48 KHz /
11.85 KHz
∇ -28.41%
matrix: chol, dyn[double] 10x[6x6]70.52 us /
53.00 us
Δ 33.06%
14.18 KHz /
18.87 KHz
∇ -24.84%
matrix: chol, sparse 10x[6x6]52.59 us /
39.49 us
Δ 33.17%
19.02 KHz /
25.32 KHz
∇ -24.91%
matrix: chol, dyn[double] 20x[6x6]491.10 us /
411.70 us
Δ 19.29%
2.04 KHz /
2.43 KHz
∇ -16.17%
matrix: chol, sparse 20x[6x6]85.83 us /
74.09 us
Δ 15.84%
11.65 KHz /
13.50 KHz
∇ -13.68%
matrix: chol, dyn[double] 50x[6x6]9.44 ms /
10.38 ms
∇ -9.02%
105.88 Hz /
96.33 Hz
Δ 9.91%
matrix: chol, sparse 50x[6x6]204.52 us /
248.74 us
∇ -17.78%
4.89 KHz /
4.02 KHz
Δ 21.62%
matrix: chol, dyn[double] 100x[6x6]150.13 ms /
370.64 ms
∇ -59.49%
6.66 Hz /
2.70 Hz
Δ 146.88%
matrix: chol, sparse 100x[6x6]415.58 us /
353.56 us
Δ 17.54%
2.41 KHz /
2.83 KHz
∇ -14.92%
matrix: chol, dyn[double] 120x[6x6]461.43 ms /
365.56 ms
Δ 26.23%
2.17 Hz /
2.74 Hz
∇ -20.78%
matrix: chol, sparse 120x[6x6]484.92 us /
425.27 us
Δ 14.03%
2.06 KHz /
2.35 KHz
∇ -12.30%
matrix: chol, dyn[double] 140x[6x6]947.45 ms /
796.04 ms
Δ 19.02%
1.06 Hz /
1.26 Hz
∇ -15.98%
matrix: chol, sparse 140x[6x6]586.44 us /
490.79 us
Δ 19.49%
1.71 KHz /
2.04 KHz
∇ -16.31%
gridmap2D: getCell5.77 ns /
0.00 ns
Δ 1.#J%
173.23 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell7.96 ns /
2.58 ns
Δ 208.63%
125.64 MHz /
387.76 MHz
∇ -67.60%
gridmap2D: updateCell10.80 ns /
7.44 ns
Δ 45.09%
92.58 MHz /
134.32 MHz
∇ -31.08%
gridmap2D: updateCell_fast_occupied1.21 ns /
0.55 ns
Δ 119.60%
826.59 MHz /
1.82 GHz
∇ -54.46%
gridmap2D: insert scan w/o widening204.23 us /
101.23 us
Δ 101.76%
4.90 KHz /
9.88 KHz
∇ -50.44%
gridmap2D: insert scan with widening344.40 us /
291.30 us
Δ 18.23%
2.90 KHz /
3.43 KHz
∇ -15.42%
gridmap2D: resize2.62 ms /
1.89 ms
Δ 38.68%
381.93 Hz /
529.66 Hz
∇ -27.89%
gridmap2D: computeLikelihood18.59 us /
16.46 us
Δ 12.95%
53.79 KHz /
60.76 KHz
∇ -11.47%
pointmap: insert 100 scans5.62 ms /
3.10 ms
Δ 81.16%
178.02 Hz /
322.50 Hz
∇ -44.80%
pointmap: build 2D kd-tree of 1 scan6.21 us /
4.28 us
Δ 45.19%
160.93 KHz /
233.64 KHz
∇ -31.12%
pointmap: build 2D kd-tree of 100 scan511.81 us /
355.52 us
Δ 43.96%
1.95 KHz /
2.81 KHz
∇ -30.54%
pointmap: build 2D kd-tree of 1000 scan5.59 ms /
4.16 ms
Δ 34.32%
178.86 Hz /
240.24 Hz
∇ -25.55%
pointmap: build 3D kd-tree of 1 scan7.23 us /
4.76 us
Δ 51.86%
138.34 KHz /
210.08 KHz
∇ -34.15%
pointmap: build 3D kd-tree of 100 scan523.10 us /
363.20 us
Δ 44.03%
1.91 KHz /
2.75 KHz
∇ -30.57%
pointmap: build 3D kd-tree of 1000 scan5.77 ms /
4.09 ms
Δ 41.03%
173.21 Hz /
244.29 Hz
∇ -29.09%
pointmap: kd-tree 2d query on 10 scans2.05 us /
1.38 us
Δ 48.56%
487.07 KHz /
723.59 KHz
∇ -32.69%
pointmap: kd-tree 2d query on 1000 scans140.79 us /
100.93 us
Δ 39.49%
7.10 KHz /
9.91 KHz
∇ -28.31%
pointmap: kd-tree 2d query on 10000 scans15.17 ms /
11.91 ms
Δ 27.37%
65.91 Hz /
83.95 Hz
∇ -21.49%
pointmap: (insert scan+2D kd-tree query) x 108.69 ms /
5.62 ms
Δ 54.78%
115.01 Hz /
178.01 Hz
∇ -35.39%
pointmap: (insert scan+2D kd-tree query) x 50196.44 ms /
130.76 ms
Δ 50.23%
5.09 Hz /
7.65 Hz
∇ -33.44%
pointmap: (insert scan+3D kd-tree query) x 108.73 ms /
5.67 ms
Δ 53.89%
114.60 Hz /
176.35 Hz
∇ -35.02%
pointmap: (insert scan+3D kd-tree query) x 50198.48 ms /
132.64 ms
Δ 49.65%
5.04 Hz /
7.54 Hz
∇ -33.18%
random: drawUniform32bit7.29 ns /
14.57 ns
∇ -49.95%
137.11 MHz /
68.63 MHz
Δ 99.78%
random: drawUniform7.33 ns /
14.62 ns
∇ -49.88%
136.49 MHz /
68.41 MHz
Δ 99.53%
random: drawGaussian1D_normalized51.27 ns /
68.70 ns
∇ -25.37%
19.50 MHz /
14.56 MHz
Δ 33.99%
random: drawGaussian1D51.74 ns /
68.68 ns
∇ -24.67%
19.33 MHz /
14.56 MHz
Δ 32.75%
random: system rand()29.39 ns /
10.45 ns
Δ 181.13%
34.03 MHz /
95.67 MHz
∇ -64.43%
random: drawGaussianMultivariate(fixed 3x3)2.64 us /
1.31 us
Δ 102.06%
378.48 KHz /
764.77 KHz
∇ -50.51%
random: drawGaussianMultivariate(dyn 3x3)8.53 us /
2.79 us
Δ 206.31%
117.18 KHz /
358.92 KHz
∇ -67.35%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)215.16 ns /
158.26 ns
Δ 35.96%
4.65 MHz /
6.32 MHz
∇ -26.45%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)359.98 ns /
236.42 ns
Δ 52.27%
2.78 MHz /
4.23 MHz
∇ -34.33%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)732.12 ns /
489.37 ns
Δ 49.60%
1.37 MHz /
2.04 MHz
∇ -33.16%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)213.59 ns /
164.61 ns
Δ 29.75%
4.68 MHz /
6.07 MHz
∇ -22.93%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)339.30 ns /
248.12 ns
Δ 36.75%
2.95 MHz /
4.03 MHz
∇ -26.87%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.92 ns /
514.83 ns
Δ 47.80%
1.31 MHz /
1.94 MHz
∇ -32.34%
random: permuteVector (len=10)411.34 ns /
317.50 ns
Δ 29.56%
2.43 MHz /
3.15 MHz
∇ -22.81%
random: permuteVector (len=100)3.59 us /
3.06 us
Δ 17.17%
278.70 KHz /
326.54 KHz
∇ -14.65%
random: permuteVector (len=1000)34.34 us /
30.27 us
Δ 13.44%
29.12 KHz /
33.04 KHz
∇ -11.85%
math: round0.00 ns /
0.10 ns
∇ -100.00%
1.#J THz /
10.09 GHz
Δ 1.#J%
images: Save as JPEG (640x480, quality=95%)27.92 ms /
27.27 ms
Δ 2.40%
35.81 Hz /
36.67 Hz
∇ -2.35%
images: Save as JPEG (800x600, quality=95%)43.53 ms /
43.27 ms
Δ 0.60%
22.97 Hz /
23.11 Hz
∇ -0.60%
images: Save as JPEG (1024x768, quality=95%)70.76 ms /
74.67 ms
∇ -5.24%
14.13 Hz /
13.39 Hz
Δ 5.53%
images: Save as JPEG (640x480, quality=75%)23.43 ms /
26.31 ms
∇ -10.92%
42.67 Hz /
38.01 Hz
Δ 12.26%
images: Save as JPEG (800x600, quality=75%)36.52 ms /
40.92 ms
∇ -10.76%
27.39 Hz /
24.44 Hz
Δ 12.05%
images: Save as JPEG (1024x768, quality=75%)59.82 ms /
62.56 ms
∇ -4.38%
16.72 Hz /
15.99 Hz
Δ 4.59%
images: Gauss filter (640x480)6.68 ms /
4.48 ms
Δ 48.94%
149.74 Hz /
223.01 Hz
∇ -32.86%
images: Gauss filter (800x600)8.62 ms /
7.46 ms
Δ 15.55%
116.03 Hz /
134.07 Hz
∇ -13.46%
images: Gauss filter (1024x768)14.49 ms /
12.41 ms
Δ 16.74%
69.01 Hz /
80.57 Hz
∇ -14.34%
scan_matching: 6D LS Rigid Trans. [CPose3D]21.12 us /
5.15 us
Δ 310.18%
47.34 KHz /
194.17 KHz
∇ -75.62%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]19.36 us /
4.35 us
Δ 345.11%
51.65 KHz /
229.89 KHz
∇ -77.53%
scan_matching: 6D LS Rigid Trans. [vector of points]6.24 us /
2.12 us
Δ 194.18%
160.34 KHz /
471.70 KHz
∇ -66.01%
feature_extraction [640x480]: Harris40.83 ms /
33.18 ms
Δ 23.04%
24.49 Hz /
30.14 Hz
∇ -18.73%
feature_extraction [640x480]: KLT33.62 ms /
29.64 ms
Δ 13.43%
29.75 Hz /
33.74 Hz
∇ -11.84%
feature_extraction [640x480]: SIFT705.28 ms /
637.68 ms
Δ 10.60%
1.42 Hz /
1.57 Hz
∇ -9.59%
feature_extraction [640x480]: SIFT desc.214.22 ms /
173.14 ms
Δ 23.72%
4.67 Hz /
5.78 Hz
∇ -19.17%
feature_extraction [640x480]: SURF326.57 ms /
202.84 ms
Δ 61.00%
3.06 Hz /
4.93 Hz
∇ -37.89%
feature_extraction [640x480]: FAST7.69 ms /
5.10 ms
Δ 50.63%
130.08 Hz /
195.94 Hz
∇ -33.61%
feature_extraction [640x480]: Spin desc.105.90 ms /
61.22 ms
Δ 72.99%
9.44 Hz /
16.33 Hz
∇ -42.19%
feature_matching [640x480]: Harris + CC57.67 ms /
43.90 ms
Δ 31.38%
17.34 Hz /
22.78 Hz
∇ -23.89%
feature_matching [640x480]: Harris + SAD50.27 ms /
38.32 ms
Δ 31.17%
19.89 Hz /
26.09 Hz
∇ -23.76%
feature_matching [640x480]: SIFT1.38 sec /
1.28 sec
Δ 8.04%
724.62 mHz /
782.87 mHz
∇ -7.44%
feature_matching [640x480]: SURF618.66 ms /
387.99 ms
Δ 59.45%
1.62 Hz /
2.58 Hz
∇ -37.29%
feature_matching [640x480]: FAST + CC22.11 ms /
15.73 ms
Δ 40.57%
45.22 Hz /
63.57 Hz
∇ -28.86%
feature_matching [640x480]: FAST + SAD14.58 ms /
10.56 ms
Δ 38.11%
68.57 Hz /
94.70 Hz
∇ -27.59%
graph(2d): insertEdge x 1e3354.58 us /
104.46 us
Δ 239.44%
2.82 KHz /
9.57 KHz
∇ -70.54%
graph(2d): insertEdgeAtEnd x 1e3284.04 us /
85.19 us
Δ 233.42%
3.52 KHz /
11.74 KHz
∇ -70.01%
graph(2d pdf): insertEdge x 1e3549.28 us /
134.65 us
Δ 307.93%
1.82 KHz /
7.43 KHz
∇ -75.49%
graph(2d pdf): insertEdgeAtEnd x 1e3452.79 us /
119.89 us
Δ 277.67%
2.21 KHz /
8.34 KHz
∇ -73.52%
graph(2d): insertEdge x 1e43.86 ms /
1.39 ms
Δ 178.62%
259.12 Hz /
721.96 Hz
∇ -64.11%
graph(2d): insertEdgeAtEnd x 1e42.88 ms /
854.04 us
Δ 236.71%
347.75 Hz /
1.17 KHz
∇ -70.30%
graph(2d pdf): insertEdge x 1e45.74 ms /
1.61 ms
Δ 256.78%
174.28 Hz /
621.80 Hz
∇ -71.97%
graph(2d pdf): insertEdgeAtEnd x 1e44.44 ms /
1.20 ms
Δ 269.59%
225.33 Hz /
832.81 Hz
∇ -72.94%
graph(3d): insertEdge x 1e31.35 ms /
132.91 us
Δ 912.55%
743.07 Hz /
7.52 KHz
∇ -90.12%
graph(3d): insertEdgeAtEnd x 1e31.09 ms /
109.11 us
Δ 898.41%
917.96 Hz /
9.17 KHz
∇ -89.98%
graph(3d pdf): insertEdge x 1e31.74 ms /
349.74 us
Δ 398.43%
573.66 Hz /
2.86 KHz
∇ -79.94%
graph(3d pdf): insertEdgeAtEnd x 1e31.46 ms /
321.54 us
Δ 355.16%
683.28 Hz /
3.11 KHz
∇ -78.03%
graph(3d): insertEdge x 1e413.92 ms /
1.89 ms
Δ 636.24%
71.86 Hz /
529.10 Hz
∇ -86.42%
graph(3d): insertEdgeAtEnd x 1e411.12 ms /
1.10 ms
Δ 912.27%
89.92 Hz /
910.25 Hz
∇ -90.12%
graph(3d pdf): insertEdge x 1e417.58 ms /
4.65 ms
Δ 278.28%
56.89 Hz /
215.20 Hz
∇ -73.56%
graph(3d pdf): insertEdgeAtEnd x 1e414.12 ms /
4.05 ms
Δ 248.57%
70.81 Hz /
246.81 Hz
∇ -71.31%

 


Page generated automatically at 2011/06/03,22:26:39.830540 with MRPT 0.9.4 by 'mrpt-performance'.