Comparison: 0.9.4-GCC-64bit vs. 0.9.2-MSVC9-32bit




Test description 0.9.4-GCC-64bit /
0.9.2-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
30.39 ms
∇ -31.75%
48.21 Hz /
32.90 Hz
Δ 46.51%
icp-slam (match grid): Run with sample dataset17.09 ms /
52.58 ms
∇ -67.50%
58.52 Hz /
19.02 Hz
Δ 207.68%
poses: CPose3D (+) CPose3D29.76 ns /
264.70 ns
∇ -88.76%
33.60 MHz /
3.78 MHz
Δ 789.46%
poses: CPose3D.composeFrom()21.90 ns /
98.01 ns
∇ -77.65%
45.66 MHz /
10.20 MHz
Δ 347.51%
poses: CPose3D (+) CPoint3D7.23 ns /
27.86 ns
∇ -74.04%
138.24 MHz /
35.89 MHz
Δ 285.16%
poses: CPose3D.composePoint()11.67 ns /
19.17 ns
∇ -39.12%
85.68 MHz /
52.16 MHz
Δ 64.26%
poses: CPoint3D (-) CPose3D13.29 ns /
51.66 ns
∇ -74.28%
75.27 MHz /
19.36 MHz
Δ 288.80%
poses: CPose3D.inverseComposePoint()24.48 ns /
46.91 ns
∇ -47.82%
40.85 MHz /
21.32 MHz
Δ 91.64%
poses: CPose2D (+) CPose2D71.64 ns /
99.28 ns
∇ -27.84%
13.96 MHz /
10.07 MHz
Δ 38.57%
poses: CPose2D.composeFrom()69.41 ns /
89.67 ns
∇ -22.60%
14.41 MHz /
11.15 MHz
Δ 29.20%
poses: CPose2D (+) CPoint2D60.78 ns /
82.07 ns
∇ -25.95%
16.45 MHz /
12.18 MHz
Δ 35.04%
poses: CPose2D.composePoint()60.80 ns /
64.58 ns
∇ -5.85%
16.45 MHz /
15.49 MHz
Δ 6.22%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
87.19 ns
∇ -53.58%
24.71 MHz /
11.47 MHz
Δ 115.44%
poses: CPose3DQuat.composeFrom()37.55 ns /
57.14 ns
∇ -34.29%
26.63 MHz /
17.50 MHz
Δ 52.18%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
48.22 ns
∇ -63.94%
57.51 MHz /
20.74 MHz
Δ 177.33%
poses: CPose3DQuat.composePoint()17.48 ns /
29.64 ns
∇ -41.01%
57.20 MHz /
33.74 MHz
Δ 69.53%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
84.32 ns
∇ -60.90%
30.33 MHz /
11.86 MHz
Δ 155.76%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
30.72 ns
∇ -37.80%
52.34 MHz /
32.55 MHz
Δ 60.78%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
33.02 ns
∇ -29.07%
42.70 MHz /
30.29 MHz
Δ 40.99%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
206.69 ns
∇ -16.44%
5.79 MHz /
4.84 MHz
Δ 19.67%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
1.35 us
∇ -50.37%
1.49 MHz /
739.68 KHz
Δ 101.48%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
1.40 us
∇ -53.57%
1.53 MHz /
712.12 KHz
Δ 115.38%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
23.15 us
∇ -62.24%
114.40 KHz /
43.20 KHz
Δ 164.80%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
1.62 us
∇ -71.98%
2.20 MHz /
617.00 KHz
Δ 256.91%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
1.63 us
∇ -72.21%
2.21 MHz /
613.67 KHz
Δ 259.80%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
15.82 us
∇ -49.58%
125.39 KHz /
63.21 KHz
Δ 98.35%
matrix: unit, dyn[float], 3x317.64 ns /
38.75 ns
∇ -54.48%
56.71 MHz /
25.81 MHz
Δ 119.71%
matrix: unit, dyn[double], 3x319.86 ns /
38.69 ns
∇ -48.66%
50.34 MHz /
25.85 MHz
Δ 94.79%
matrix: unit, dyn[float], 6x657.06 ns /
163.36 ns
∇ -65.07%
17.53 MHz /
6.12 MHz
Δ 186.31%
matrix: unit, dyn[double], 6x660.00 ns /
213.06 ns
∇ -71.84%
16.67 MHz /
4.69 MHz
Δ 255.10%
matrix: unit, fix[float,3,3]0.00 ns /
3.56 ns
∇ -100.00%
1.#J THz /
280.77 MHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
3.29 ns
∇ -100.00%
1.#J THz /
304.17 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]0.00 ns /
2.77 ns
∇ -100.00%
1.#J THz /
360.95 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
6.07 ns
∇ -100.00%
1.#J THz /
164.80 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
168.66 ns
Δ 43.90%
4.12 MHz /
5.93 MHz
∇ -30.51%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
109.47 ns
∇ -100.00%
1.#J THz /
9.14 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3231.60 ns /
159.15 ns
Δ 45.52%
4.32 MHz /
6.28 MHz
∇ -31.28%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
87.59 ns
∇ -100.00%
1.#J THz /
11.42 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3296.50 ns /
272.34 ns
Δ 8.87%
3.37 MHz /
3.67 MHz
∇ -8.15%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
190.04 ns
∇ -99.95%
10.00 GHz /
5.26 MHz
Δ 189941.48%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
245.84 ns
Δ 5.43%
3.86 MHz /
4.07 MHz
∇ -5.15%
matrix: multiply, fix[double], 3x6 * 6x30.00 ns /
138.91 ns
∇ -100.00%
1.#J THz /
7.20 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
16.67 us
∇ -87.44%
477.69 KHz /
60.00 KHz
Δ 696.21%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
12.92 us
∇ -86.15%
559.03 KHz /
77.41 KHz
Δ 622.21%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
13.30 us
∇ -81.74%
411.68 KHz /
75.16 KHz
Δ 447.72%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
9.66 us
∇ -77.60%
462.21 KHz /
103.53 KHz
Δ 346.47%
matrix: inv, dyn[double] 3x3767.00 ns /
1.47 us
∇ -47.72%
1.30 MHz /
681.67 KHz
Δ 91.26%
matrix: inv, fix[double] 3x30.00 ns /
30.80 ns
∇ -100.00%
1.#J THz /
32.47 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
5.05 us
∇ -64.72%
561.80 KHz /
198.20 KHz
Δ 183.45%
matrix: inv, fix[double] 6x61.73 us /
944.32 ns
Δ 82.99%
578.70 KHz /
1.06 MHz
∇ -45.35%
matrix: inv, dyn[double] 20x2016.27 us /
106.06 us
∇ -84.66%
61.47 KHz /
9.43 KHz
Δ 551.98%
matrix: inv, fix[double] 20x2013.44 us /
18.99 us
∇ -29.25%
74.41 KHz /
52.65 KHz
Δ 41.33%
matrix: inv, dyn[double] 40x4068.00 us /
805.07 us
∇ -91.55%
14.70 KHz /
1.24 KHz
Δ 1083.84%
matrix: inv, fix[double] 40x4063.01 us /
129.27 us
∇ -51.26%
15.87 KHz /
7.74 KHz
Δ 105.17%
matrix: det, dyn[double] 2x2209.40 ns /
8.47 ns
Δ 2372.42%
4.78 MHz /
118.07 MHz
∇ -95.96%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3331.30 ns /
15.90 ns
Δ 1984.02%
3.02 MHz /
62.90 MHz
∇ -95.20%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x6943.70 ns /
2.27 us
∇ -58.42%
1.06 MHz /
440.64 KHz
Δ 140.48%
matrix: det, fix[double] 6x6575.90 ns /
409.52 ns
Δ 40.63%
1.74 MHz /
2.44 MHz
∇ -28.89%
matrix: det, dyn[double] 20x208.10 us /
17.63 us
∇ -54.03%
123.40 KHz /
56.72 KHz
Δ 117.54%
matrix: det, fix[double] 20x207.48 us /
6.19 us
Δ 20.97%
133.61 KHz /
161.63 KHz
∇ -17.33%
matrix: det, dyn[double] 40x4030.87 us /
112.43 us
∇ -72.54%
32.39 KHz /
8.89 KHz
Δ 264.17%
matrix: det, fix[double] 40x4029.01 us /
35.24 us
∇ -17.67%
34.47 KHz /
28.38 KHz
Δ 21.46%
matrix: chol, dyn[double] 4x4530.00 ns /
172.11 ns
Δ 207.95%
1.89 MHz /
5.81 MHz
∇ -67.53%
matrix: chol, fix[double] 4x4120.00 ns /
117.76 ns
Δ 1.90%
8.33 MHz /
8.49 MHz
∇ -1.87%
matrix: chol, dyn[double] 40x4020.70 us /
24.40 us
∇ -15.17%
48.31 KHz /
40.98 KHz
Δ 17.89%
matrix: chol, fix[double] 40x4016.54 us /
17.68 us
∇ -6.43%
60.46 KHz /
56.57 KHz
Δ 6.87%
matrix: chol, sparse [2x2;2x2]12.20 us /
8.42 us
Δ 44.82%
81.97 KHz /
118.71 KHz
∇ -30.95%
matrix: chol, sparse [30x30;10x10]87.70 us /
118.80 us
∇ -26.18%
11.40 KHz /
8.42 KHz
Δ 35.46%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
69.79 us
∇ -25.92%
19.34 KHz /
14.33 KHz
Δ 35.00%
matrix: chol, sparse 10x[6x6]38.27 us /
52.54 us
∇ -27.16%
26.13 KHz /
19.03 KHz
Δ 37.28%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
466.09 us
∇ -45.18%
3.91 KHz /
2.15 KHz
Δ 82.42%
matrix: chol, sparse 20x[6x6]70.94 us /
89.01 us
∇ -20.30%
14.10 KHz /
11.24 KHz
Δ 25.47%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
9.32 ms
∇ -70.51%
363.64 Hz /
107.25 Hz
Δ 239.05%
matrix: chol, sparse 50x[6x6]169.22 us /
201.22 us
∇ -15.90%
5.91 KHz /
4.97 KHz
Δ 18.91%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
138.07 ms
∇ -84.02%
45.33 Hz /
7.24 Hz
Δ 525.87%
matrix: chol, sparse 100x[6x6]339.61 us /
401.45 us
∇ -15.40%
2.94 KHz /
2.49 KHz
Δ 18.21%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
453.62 ms
∇ -91.92%
27.27 Hz /
2.20 Hz
Δ 1137.15%
matrix: chol, sparse 120x[6x6]402.38 us /
474.18 us
∇ -15.14%
2.49 KHz /
2.11 KHz
Δ 17.84%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
945.16 ms
∇ -94.30%
18.57 Hz /
1.06 Hz
Δ 1654.77%
matrix: chol, sparse 140x[6x6]476.81 us /
552.77 us
∇ -13.74%
2.10 KHz /
1.81 KHz
Δ 15.93%
gridmap2D: getCell0.00 ns /
5.57 ns
∇ -100.00%
1.#J THz /
179.64 MHz
Δ 1.#J%
gridmap2D: setCell2.71 ns /
7.80 ns
∇ -65.30%
369.33 MHz /
128.17 MHz
Δ 188.15%
gridmap2D: updateCell6.04 ns /
10.65 ns
∇ -43.28%
165.59 MHz /
93.93 MHz
Δ 76.29%
gridmap2D: updateCell_fast_occupied0.61 ns /
1.20 ns
∇ -48.73%
1.63 GHz /
834.82 MHz
Δ 95.03%
gridmap2D: insert scan w/o widening99.83 us /
202.10 us
∇ -50.60%
10.02 KHz /
4.95 KHz
Δ 102.44%
gridmap2D: insert scan with widening293.13 us /
338.79 us
∇ -13.48%
3.41 KHz /
2.95 KHz
Δ 15.58%
gridmap2D: resize630.00 us /
3.58 ms
∇ -82.40%
1.59 KHz /
279.42 Hz
Δ 468.08%
gridmap2D: computeLikelihood17.81 us /
18.09 us
∇ -1.54%
56.14 KHz /
55.28 KHz
Δ 1.56%
pointmap: insert 100 scans1.01 ms /
5.50 ms
∇ -81.63%
990.80 Hz /
181.98 Hz
Δ 444.47%
pointmap: build 2D kd-tree of 1 scan4.52 us /
6.29 us
∇ -28.10%
221.24 KHz /
159.07 KHz
Δ 39.08%
pointmap: build 2D kd-tree of 100 scan364.44 us /
520.70 us
∇ -30.01%
2.74 KHz /
1.92 KHz
Δ 42.88%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
5.50 ms
∇ -20.39%
228.21 Hz /
181.67 Hz
Δ 25.61%
pointmap: build 3D kd-tree of 1 scan5.16 us /
6.47 us
∇ -20.22%
193.80 KHz /
154.62 KHz
Δ 25.34%
pointmap: build 3D kd-tree of 100 scan372.44 us /
526.59 us
∇ -29.27%
2.68 KHz /
1.90 KHz
Δ 41.39%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
5.63 ms
∇ -25.43%
238.06 Hz /
177.52 Hz
Δ 34.11%
pointmap: kd-tree 2d query on 10 scans1.42 us /
2.04 us
∇ -30.31%
703.73 KHz /
490.44 KHz
Δ 43.49%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
137.79 us
∇ -26.08%
9.82 KHz /
7.26 KHz
Δ 35.28%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
14.88 ms
∇ -18.21%
82.15 Hz /
67.19 Hz
Δ 22.26%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
8.57 ms
∇ -34.17%
177.25 Hz /
116.69 Hz
Δ 51.90%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
191.63 ms
∇ -30.72%
7.53 Hz /
5.22 Hz
Δ 44.34%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
8.64 ms
∇ -33.86%
175.04 Hz /
115.78 Hz
Δ 51.19%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
194.89 ms
∇ -30.87%
7.42 Hz /
5.13 Hz
Δ 44.65%
random: drawUniform32bit14.55 ns /
7.21 ns
Δ 101.73%
68.75 MHz /
138.68 MHz
∇ -50.43%
random: drawUniform14.56 ns /
7.18 ns
Δ 102.70%
68.69 MHz /
139.23 MHz
∇ -50.67%
random: drawGaussian1D_normalized66.87 ns /
51.37 ns
Δ 30.16%
14.96 MHz /
19.47 MHz
∇ -23.17%
random: drawGaussian1D66.81 ns /
51.39 ns
Δ 30.01%
14.97 MHz /
19.46 MHz
∇ -23.08%
random: system rand()10.63 ns /
28.61 ns
∇ -62.86%
94.11 MHz /
34.95 MHz
Δ 169.27%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
2.55 us
∇ -64.62%
1.11 MHz /
391.65 KHz
Δ 182.64%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
8.36 us
∇ -80.73%
621.01 KHz /
119.66 KHz
Δ 418.97%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
213.95 ns
∇ -32.39%
6.91 MHz /
4.67 MHz
Δ 47.90%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
324.69 ns
∇ -32.40%
4.56 MHz /
3.08 MHz
Δ 47.94%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
829.70 ns
∇ -43.02%
2.12 MHz /
1.21 MHz
Δ 75.49%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
214.89 ns
∇ -29.13%
6.57 MHz /
4.65 MHz
Δ 41.10%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
364.99 ns
∇ -35.61%
4.25 MHz /
2.74 MHz
Δ 55.29%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
760.13 ns
∇ -35.33%
2.03 MHz /
1.32 MHz
Δ 54.62%
random: permuteVector (len=10)243.60 ns /
420.57 ns
∇ -42.08%
4.11 MHz /
2.38 MHz
Δ 72.65%
random: permuteVector (len=100)2.99 us /
3.56 us
∇ -16.08%
334.99 KHz /
281.12 KHz
Δ 19.16%
random: permuteVector (len=1000)29.51 us /
33.55 us
∇ -12.03%
33.88 KHz /
29.80 KHz
Δ 13.68%
math: round0.10 ns /
0.00 ns
Δ 1.#J%
10.08 GHz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
28.40 ms
Δ 18.41%
29.74 Hz /
35.21 Hz
∇ -15.55%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
43.71 ms
Δ 14.03%
20.06 Hz /
22.88 Hz
∇ -12.31%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
70.17 ms
∇ -0.83%
14.37 Hz /
14.25 Hz
Δ 0.84%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
24.11 ms
Δ 27.09%
32.63 Hz /
41.48 Hz
∇ -21.32%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
37.02 ms
Δ 18.58%
22.78 Hz /
27.01 Hz
∇ -15.67%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
59.51 ms
Δ 5.07%
15.99 Hz /
16.80 Hz
∇ -4.83%
images: Gauss filter (640x480)3.81 ms /
5.29 ms
∇ -28.09%
262.76 Hz /
188.95 Hz
Δ 39.06%
images: Gauss filter (800x600)5.96 ms /
8.36 ms
∇ -28.66%
167.70 Hz /
119.64 Hz
Δ 40.17%
images: Gauss filter (1024x768)10.46 ms /
13.88 ms
∇ -24.63%
95.61 Hz /
72.06 Hz
Δ 32.69%
images: Half sample GRAY (160x120)1.04 us /
X
961.54 KHz /
X
images: Half sample GRAY (320x240)2.91 us /
X
344.04 KHz /
X
images: Half sample GRAY (640x480)14.63 us /
X
68.35 KHz /
X
images: Half sample GRAY (800x600)27.61 us /
X
36.21 KHz /
X
images: Half sample GRAY (1024x768)43.98 us /
X
22.74 KHz /
X
images: Half sample GRAY (1280x1024)84.93 us /
X
11.77 KHz /
X
images: Half sample RGB (160x120)2.35 us /
X
426.14 KHz /
X
images: Half sample RGB (320x240)8.97 us /
X
111.44 KHz /
X
images: Half sample RGB (640x480)49.58 us /
X
20.17 KHz /
X
images: Half sample RGB (800x600)83.52 us /
X
11.97 KHz /
X
images: Half sample RGB (1024x768)175.02 us /
X
5.71 KHz /
X
images: Half sample RGB (1280x1024)434.33 us /
X
2.30 KHz /
X
images: Half sample smooth GRAY (160x120)1.52 us /
X
656.46 KHz /
X
images: Half sample smooth GRAY (320x240)5.05 us /
X
197.89 KHz /
X
images: Half sample smooth GRAY (640x480)27.35 us /
X
36.57 KHz /
X
images: Half sample smooth GRAY (800x600)41.00 us /
X
24.39 KHz /
X
images: Half sample smooth GRAY (1024x768)70.54 us /
X
14.18 KHz /
X
images: Half sample smooth GRAY (1280x1024)147.17 us /
X
6.80 KHz /
X
images: Half sample smooth RGB (160x120)87.34 us /
X
11.45 KHz /
X
images: Half sample smooth RGB (320x240)341.55 us /
X
2.93 KHz /
X
images: Half sample smooth RGB (640x480)1.35 ms /
X
740.73 Hz /
X
images: Half sample smooth RGB (800x600)2.13 ms /
X
468.44 Hz /
X
images: Half sample smooth RGB (1024x768)3.55 ms /
X
281.93 Hz /
X
images: Half sample smooth RGB (1280x1024)6.52 ms /
X
153.40 Hz /
X
images: RGB->GRAY 8u (40x30)3.88 us /
X
257.95 KHz /
X
images: RGB->GRAY 8u (80x60)2.78 us /
X
359.28 KHz /
X
images: RGB->GRAY 8u (160x120)9.91 us /
X
100.91 KHz /
X
images: RGB->GRAY 8u (320x240)39.89 us /
X
25.07 KHz /
X
images: RGB->GRAY 8u (640x480)157.22 us /
X
6.36 KHz /
X
images: RGB->GRAY 8u (800x600)266.94 us /
X
3.75 KHz /
X
images: RGB->GRAY 8u (1024x768)485.16 us /
X
2.06 KHz /
X
images: RGB->GRAY 8u (1280x1024)926.17 us /
X
1.08 KHz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]12.69 us /
18.63 us
∇ -31.89%
78.80 KHz /
53.67 KHz
Δ 46.83%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
17.89 us
∇ -44.93%
101.52 KHz /
55.91 KHz
Δ 81.58%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
5.05 us
Δ 3.67%
190.84 KHz /
197.84 KHz
∇ -3.54%
feature_extraction [640x480]: Harris21.14 ms /
33.27 ms
∇ -36.46%
47.31 Hz /
30.06 Hz
Δ 57.37%
feature_extraction [640x480]: KLT21.45 ms /
31.21 ms
∇ -31.27%
46.61 Hz /
32.04 Hz
Δ 45.50%
feature_extraction [640x480]: SIFT591.25 ms /
675.81 ms
∇ -12.51%
1.69 Hz /
1.48 Hz
Δ 14.30%
feature_extraction [640x480]: SIFT desc.162.82 ms /
217.19 ms
∇ -25.04%
6.14 Hz /
4.60 Hz
Δ 33.40%
feature_extraction [640x480]: SURF197.33 ms /
316.97 ms
∇ -37.74%
5.07 Hz /
3.15 Hz
Δ 60.63%
feature_extraction [640x480]: FAST6.89 ms /
7.82 ms
∇ -11.88%
145.15 Hz /
127.91 Hz
Δ 13.48%
feature_extraction [640x480]: Spin desc.63.90 ms /
103.38 ms
∇ -38.19%
15.65 Hz /
9.67 Hz
Δ 61.79%
feature_matching [640x480]: Harris + CC38.54 ms /
56.24 ms
∇ -31.48%
25.95 Hz /
17.78 Hz
Δ 45.93%
feature_matching [640x480]: Harris + SAD33.59 ms /
47.55 ms
∇ -29.36%
29.77 Hz /
21.03 Hz
Δ 41.56%
feature_matching [640x480]: SIFT1.16 sec /
1.34 sec
∇ -13.62%
863.45 mHz /
745.82 mHz
Δ 15.77%
feature_matching [640x480]: SURF375.89 ms /
606.64 ms
∇ -38.04%
2.66 Hz /
1.65 Hz
Δ 61.39%
feature_matching [640x480]: FAST + CC15.89 ms /
22.36 ms
∇ -28.96%
62.95 Hz /
44.72 Hz
Δ 40.76%
feature_matching [640x480]: FAST + SAD10.48 ms /
15.00 ms
∇ -30.11%
95.42 Hz /
66.69 Hz
Δ 43.08%
graph(2d): insertEdge x 1e3158.24 us /
313.03 us
∇ -49.45%
6.32 KHz /
3.19 KHz
Δ 97.82%
graph(2d,vec): insertEdge x 1e3133.69 us /
307.43 us
∇ -56.51%
7.48 KHz /
3.25 KHz
Δ 129.96%
graph(2d): insertEdgeAtEnd x 1e384.43 us /
222.64 us
∇ -62.08%
11.84 KHz /
4.49 KHz
Δ 163.71%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
222.87 us
∇ -63.31%
12.23 KHz /
4.49 KHz
Δ 172.54%
graph(2d pdf): insertEdge x 1e3207.17 us /
516.93 us
∇ -59.92%
4.83 KHz /
1.93 KHz
Δ 149.52%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
517.18 us
∇ -55.03%
4.30 KHz /
1.93 KHz
Δ 122.37%
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
405.97 us
∇ -39.22%
4.05 KHz /
2.46 KHz
Δ 64.53%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
403.48 us
∇ -52.27%
5.19 KHz /
2.48 KHz
Δ 109.50%
graph(2d): insertEdge x 1e42.08 ms /
3.36 ms
∇ -38.07%
480.05 Hz /
297.28 Hz
Δ 61.48%
graph(2d,vec): insertEdge x 1e41.62 ms /
3.35 ms
∇ -51.70%
618.53 Hz /
298.76 Hz
Δ 107.03%
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
2.22 ms
∇ -60.80%
1.15 KHz /
450.51 Hz
Δ 155.08%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
2.22 ms
∇ -61.87%
1.18 KHz /
450.21 Hz
Δ 162.27%
graph(2d pdf): insertEdge x 1e42.34 ms /
5.45 ms
∇ -57.07%
427.14 Hz /
183.37 Hz
Δ 132.94%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
5.44 ms
∇ -48.35%
356.06 Hz /
183.91 Hz
Δ 93.61%
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
4.07 ms
∇ -47.75%
470.35 Hz /
245.74 Hz
Δ 91.40%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
4.06 ms
∇ -47.45%
469.13 Hz /
246.50 Hz
Δ 90.31%
graph(3d): insertEdge x 1e3220.82 us /
447.20 us
∇ -50.62%
4.53 KHz /
2.24 KHz
Δ 102.52%
graph(3d,vec): insertEdge x 1e3221.81 us /
442.12 us
∇ -49.83%
4.51 KHz /
2.26 KHz
Δ 99.32%
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
346.69 us
∇ -47.16%
5.46 KHz /
2.88 KHz
Δ 89.26%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
347.20 us
∇ -46.28%
5.36 KHz /
2.88 KHz
Δ 86.15%
graph(3d pdf): insertEdge x 1e3532.35 us /
944.03 us
∇ -43.61%
1.88 KHz /
1.06 KHz
Δ 77.33%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
978.08 us
∇ -45.00%
1.86 KHz /
1.02 KHz
Δ 81.81%
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
793.19 us
∇ -38.53%
2.05 KHz /
1.26 KHz
Δ 62.67%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
793.52 us
∇ -37.81%
2.03 KHz /
1.26 KHz
Δ 60.80%
graph(3d): insertEdge x 1e42.78 ms /
4.62 ms
∇ -39.81%
359.55 Hz /
216.43 Hz
Δ 66.13%
graph(3d,vec): insertEdge x 1e42.77 ms /
4.62 ms
∇ -39.90%
360.52 Hz /
216.67 Hz
Δ 66.39%
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
3.48 ms
∇ -39.85%
477.61 Hz /
287.28 Hz
Δ 66.25%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
3.47 ms
∇ -40.91%
487.11 Hz /
287.84 Hz
Δ 69.23%
graph(3d pdf): insertEdge x 1e47.36 ms /
10.55 ms
∇ -30.23%
135.81 Hz /
94.75 Hz
Δ 43.33%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
9.75 ms
∇ -28.50%
143.42 Hz /
102.54 Hz
Δ 39.86%
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
7.93 ms
∇ -33.36%
189.20 Hz /
126.08 Hz
Δ 50.06%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
7.94 ms
∇ -30.91%
182.28 Hz /
125.93 Hz
Δ 44.75%
graph(3d): dijkstra 1e2 nodes90.55 us /
262.18 us
∇ -65.46%
11.04 KHz /
3.81 KHz
Δ 189.53%
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
363.67 us
∇ -77.04%
11.98 KHz /
2.75 KHz
Δ 335.52%
graph(3d): dijkstra 1e3 nodes1.13 ms /
2.97 ms
∇ -61.90%
882.20 Hz /
336.14 Hz
Δ 162.45%
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
3.29 ms
∇ -76.68%
1.30 KHz /
303.75 Hz
Δ 328.86%
graph(3d): dijkstra 1e4 nodes21.12 ms /
34.21 ms
∇ -38.27%
47.35 Hz /
29.23 Hz
Δ 61.99%
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
38.12 ms
∇ -71.51%
92.06 Hz /
26.23 Hz
Δ 250.98%
graph(3d): dijkstra 1e5 nodes341.35 ms /
389.54 ms
∇ -12.37%
2.93 Hz /
2.57 Hz
Δ 14.12%
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
428.64 ms
∇ -66.75%
7.02 Hz /
2.33 Hz
Δ 200.73%
graph(2d): dijkstra 1e5 nodes320.28 ms /
382.11 ms
∇ -16.18%
3.12 Hz /
2.62 Hz
Δ 19.30%
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
417.45 ms
∇ -67.98%
7.48 Hz /
2.40 Hz
Δ 212.33%

 


Page generated automatically at 2011/06/03,22:26:38.273451 with MRPT 0.9.4 by 'mrpt-performance'.