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




Test description 0.9.2-MSVC9-32bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset30.39 ms /
20.59 ms
Δ 47.64%
32.90 Hz /
48.58 Hz
∇ -32.27%
icp-slam (match grid): Run with sample dataset52.58 ms /
20.64 ms
Δ 154.78%
19.02 Hz /
48.45 Hz
∇ -60.75%
poses: CPose3D (+) CPose3D264.70 ns /
42.90 ns
Δ 517.03%
3.78 MHz /
23.31 MHz
∇ -83.79%
poses: CPose3D.composeFrom()98.01 ns /
37.61 ns
Δ 160.58%
10.20 MHz /
26.59 MHz
∇ -61.62%
poses: CPose3D (+) CPoint3D27.86 ns /
7.25 ns
Δ 284.20%
35.89 MHz /
137.89 MHz
∇ -73.97%
poses: CPose3D.composePoint()19.17 ns /
11.83 ns
Δ 62.07%
52.16 MHz /
84.53 MHz
∇ -38.30%
poses: CPoint3D (-) CPose3D51.66 ns /
39.31 ns
Δ 31.40%
19.36 MHz /
25.44 MHz
∇ -23.90%
poses: CPose3D.inverseComposePoint()46.91 ns /
34.91 ns
Δ 34.40%
21.32 MHz /
28.65 MHz
∇ -25.59%
poses: CPose2D (+) CPose2D99.28 ns /
76.08 ns
Δ 30.49%
10.07 MHz /
13.14 MHz
∇ -23.36%
poses: CPose2D.composeFrom()89.67 ns /
61.61 ns
Δ 45.55%
11.15 MHz /
16.23 MHz
∇ -31.29%
poses: CPose2D (+) CPoint2D82.07 ns /
60.26 ns
Δ 36.18%
12.18 MHz /
16.59 MHz
∇ -26.57%
poses: CPose2D.composePoint()64.58 ns /
62.26 ns
Δ 3.72%
15.49 MHz /
16.06 MHz
∇ -3.58%
poses: CPose3DQuat (+) CPose3DQuat87.19 ns /
40.99 ns
Δ 112.71%
11.47 MHz /
24.40 MHz
∇ -52.99%
poses: CPose3DQuat.composeFrom()57.14 ns /
39.39 ns
Δ 45.07%
17.50 MHz /
25.39 MHz
∇ -31.07%
poses: CPose3DQuat (+) CPoint3D48.22 ns /
18.30 ns
Δ 163.45%
20.74 MHz /
54.63 MHz
∇ -62.04%
poses: CPose3DQuat.composePoint()29.64 ns /
17.94 ns
Δ 65.21%
33.74 MHz /
55.74 MHz
∇ -39.47%
poses: CPoint3D (-) CPose3DQuat 84.32 ns /
55.46 ns
Δ 52.04%
11.86 MHz /
18.03 MHz
∇ -34.23%
poses: CPose3DQuat.invcomposePoint()30.72 ns /
17.66 ns
Δ 73.95%
32.55 MHz /
56.63 MHz
∇ -42.51%
poses: Conv CPose3DQuat <- CPose3D33.02 ns /
16.78 ns
Δ 96.72%
30.29 MHz /
59.58 MHz
∇ -49.17%
poses: Conv CPose3D -> CPose3DQuat206.69 ns /
169.37 ns
Δ 22.04%
4.84 MHz /
5.90 MHz
∇ -18.06%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.35 us /
799.08 us
∇ -99.83%
739.68 KHz /
1.25 KHz
Δ 59006.08%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.40 us /
803.31 us
∇ -99.83%
712.12 KHz /
1.24 KHz
Δ 57105.38%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.15 us /
9.44 us
Δ 145.14%
43.20 KHz /
105.91 KHz
∇ -59.21%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.62 us /
648.90 ns
Δ 149.77%
617.00 KHz /
1.54 MHz
∇ -59.96%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.63 us /
631.00 ns
Δ 158.25%
613.67 KHz /
1.58 MHz
∇ -61.28%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)15.82 us /
8.18 us
Δ 93.46%
63.21 KHz /
122.30 KHz
∇ -48.31%
matrix: unit, dyn[float], 3x338.75 ns /
24.43 ns
Δ 58.62%
25.81 MHz /
40.94 MHz
∇ -36.95%
matrix: unit, dyn[double], 3x338.69 ns /
23.18 ns
Δ 66.91%
25.85 MHz /
43.14 MHz
∇ -40.09%
matrix: unit, dyn[float], 6x6163.36 ns /
59.50 ns
Δ 174.52%
6.12 MHz /
16.81 MHz
∇ -63.57%
matrix: unit, dyn[double], 6x6213.06 ns /
62.26 ns
Δ 242.18%
4.69 MHz /
16.06 MHz
∇ -70.78%
matrix: unit, fix[float,3,3]3.56 ns /
0.35 ns
Δ 926.42%
280.77 MHz /
2.88 GHz
∇ -90.26%
matrix: unit, fix[double,3,3]3.29 ns /
1.19 ns
Δ 176.74%
304.17 MHz /
841.75 MHz
∇ -63.87%
matrix: unit, fix[float,6,6]2.77 ns /
1.70 ns
Δ 62.68%
360.95 MHz /
587.20 MHz
∇ -38.53%
matrix: unit, fix[double,6,6]6.07 ns /
2.77 ns
Δ 119.07%
164.80 MHz /
361.01 MHz
∇ -54.35%
matrix: multiply, dyn[float ], 3x3 * 3x3168.66 ns /
85.80 ns
Δ 96.58%
5.93 MHz /
11.66 MHz
∇ -49.13%
matrix: multiply, fix[float ], 3x3 * 3x3109.47 ns /
23.80 ns
Δ 359.95%
9.14 MHz /
42.02 MHz
∇ -78.26%
matrix: multiply, dyn[double], 3x3 * 3x3159.15 ns /
75.90 ns
Δ 109.69%
6.28 MHz /
13.18 MHz
∇ -52.31%
matrix: multiply, fix[double], 3x3 * 3x387.59 ns /
23.50 ns
Δ 272.74%
11.42 MHz /
42.55 MHz
∇ -73.17%
matrix: multiply, dyn[float ], 3x6 * 6x3272.34 ns /
118.10 ns
Δ 130.60%
3.67 MHz /
8.47 MHz
∇ -56.63%
matrix: multiply, fix[float ], 3x6 * 6x3190.04 ns /
44.70 ns
Δ 325.15%
5.26 MHz /
22.37 MHz
∇ -76.48%
matrix: multiply, dyn[double], 3x6 * 6x3245.84 ns /
110.50 ns
Δ 122.48%
4.07 MHz /
9.05 MHz
∇ -55.05%
matrix: multiply, fix[double], 3x6 * 6x3138.91 ns /
45.20 ns
Δ 207.32%
7.20 MHz /
22.12 MHz
∇ -67.46%
matrix: multiply, dyn[float ], 10x40 * 40x1016.67 us /
5.44 us
Δ 206.61%
60.00 KHz /
183.95 KHz
∇ -67.39%
matrix: multiply, fix[float ], 10x40 * 40x1012.92 us /
3.78 us
Δ 242.18%
77.41 KHz /
264.87 KHz
∇ -70.78%
matrix: multiply, dyn[double], 10x40 * 40x1013.30 us /
5.54 us
Δ 139.98%
75.16 KHz /
180.38 KHz
∇ -58.33%
matrix: multiply, fix[double], 10x40 * 40x109.66 us /
4.07 us
Δ 137.08%
103.53 KHz /
245.43 KHz
∇ -57.82%
matrix: inv, dyn[float ] 3x31.46 us /
631.00 ns
Δ 131.12%
685.70 KHz /
1.58 MHz
∇ -56.73%
matrix: inv, fix[float ] 3x359.78 ns /
35.00 ns
Δ 70.81%
16.73 MHz /
28.57 MHz
∇ -41.46%
matrix: inv, dyn[double] 3x31.47 us /
644.00 ns
Δ 127.79%
681.67 KHz /
1.55 MHz
∇ -56.10%
matrix: inv, fix[double] 3x330.80 ns /
39.00 ns
∇ -21.03%
32.47 MHz /
25.64 MHz
Δ 26.63%
matrix: inv, dyn[float ] 6x64.39 us /
2.37 us
Δ 85.10%
227.86 KHz /
421.76 KHz
∇ -45.97%
matrix: inv, fix[float ] 6x61.39 us /
812.00 ns
Δ 71.29%
718.96 KHz /
1.23 MHz
∇ -41.62%
matrix: inv, dyn[double] 6x65.05 us /
1.26 us
Δ 300.11%
198.20 KHz /
793.02 KHz
∇ -75.01%
matrix: inv, fix[double] 6x6944.32 ns /
575.00 ns
Δ 64.23%
1.06 MHz /
1.74 MHz
∇ -39.11%
matrix: inv, dyn[float ] 20x2080.56 us /
25.94 us
Δ 210.60%
12.41 KHz /
38.55 KHz
∇ -67.80%
matrix: inv, fix[float ] 20x2039.77 us /
14.15 us
Δ 181.19%
25.14 KHz /
70.70 KHz
∇ -64.44%
matrix: inv, dyn[double] 20x20106.06 us /
25.76 us
Δ 311.78%
9.43 KHz /
38.83 KHz
∇ -75.72%
matrix: inv, fix[double] 20x2018.99 us /
17.04 us
Δ 11.48%
52.65 KHz /
58.69 KHz
∇ -10.30%
matrix: inv, dyn[float ] 40x40594.37 us /
205.11 us
Δ 189.78%
1.68 KHz /
4.88 KHz
∇ -65.49%
matrix: inv, fix[float ] 40x40302.87 us /
93.29 us
Δ 224.65%
3.30 KHz /
10.72 KHz
∇ -69.20%
matrix: inv, dyn[double] 40x40805.07 us /
207.20 us
Δ 288.56%
1.24 KHz /
4.83 KHz
∇ -74.26%
matrix: inv, fix[double] 40x40129.27 us /
133.80 us
∇ -3.39%
7.74 KHz /
7.47 KHz
Δ 3.51%
matrix: det, dyn[float ] 2x27.97 ns /
6.40 ns
Δ 24.55%
125.45 MHz /
156.25 MHz
∇ -19.71%
matrix: det, fix[float ] 2x20.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 2x28.47 ns /
6.40 ns
Δ 32.33%
118.07 MHz /
156.25 MHz
∇ -24.43%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 3x320.83 ns /
10.30 ns
Δ 102.27%
48.00 MHz /
97.09 MHz
∇ -50.56%
matrix: det, fix[float ] 3x30.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
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 ] 6x62.28 us /
653.50 ns
Δ 248.74%
438.79 KHz /
1.53 MHz
∇ -71.33%
matrix: det, fix[float ] 6x6455.22 ns /
210.00 ns
Δ 116.77%
2.20 MHz /
4.76 MHz
∇ -53.87%
matrix: det, dyn[double] 6x62.27 us /
730.30 ns
Δ 210.75%
440.64 KHz /
1.37 MHz
∇ -67.82%
matrix: det, fix[double] 6x6409.52 ns /
212.10 ns
Δ 93.08%
2.44 MHz /
4.71 MHz
∇ -48.21%
matrix: det, dyn[float ] 20x2018.23 us /
5.70 us
Δ 219.72%
54.86 KHz /
175.40 KHz
∇ -68.72%
matrix: det, fix[float ] 20x209.64 us /
4.20 us
Δ 129.27%
103.77 KHz /
237.92 KHz
∇ -56.38%
matrix: det, dyn[double] 20x2017.63 us /
6.56 us
Δ 168.55%
56.72 KHz /
152.33 KHz
∇ -62.76%
matrix: det, fix[double] 20x206.19 us /
5.04 us
Δ 22.74%
161.63 KHz /
198.38 KHz
∇ -18.53%
matrix: det, dyn[float ] 40x40109.51 us /
32.38 us
Δ 238.25%
9.13 KHz /
30.89 KHz
∇ -70.44%
matrix: det, fix[float ] 40x4061.78 us /
27.92 us
Δ 121.32%
16.19 KHz /
35.82 KHz
∇ -54.82%
matrix: det, dyn[double] 40x40112.43 us /
39.41 us
Δ 185.27%
8.89 KHz /
25.37 KHz
∇ -64.95%
matrix: det, fix[double] 40x4035.24 us /
29.04 us
Δ 21.36%
28.38 KHz /
34.44 KHz
∇ -17.60%
matrix: chol, dyn[double] 4x4172.11 ns /
140.00 ns
Δ 22.93%
5.81 MHz /
7.14 MHz
∇ -18.65%
matrix: chol, fix[double] 4x4117.76 ns /
160.00 ns
∇ -26.40%
8.49 MHz /
6.25 MHz
Δ 35.87%
matrix: chol, dyn[double] 40x4024.40 us /
18.38 us
Δ 32.77%
40.98 KHz /
54.41 KHz
∇ -24.68%
matrix: chol, fix[double] 40x4017.68 us /
17.08 us
Δ 3.50%
56.57 KHz /
58.55 KHz
∇ -3.38%
matrix: chol, sparse [2x2;2x2]8.42 us /
8.30 us
Δ 1.50%
118.71 KHz /
120.48 KHz
∇ -1.47%
matrix: chol, sparse [30x30;10x10]118.80 us /
84.40 us
Δ 40.76%
8.42 KHz /
11.85 KHz
∇ -28.96%
matrix: chol, dyn[double] 10x[6x6]69.79 us /
53.00 us
Δ 31.69%
14.33 KHz /
18.87 KHz
∇ -24.06%
matrix: chol, sparse 10x[6x6]52.54 us /
39.49 us
Δ 33.04%
19.03 KHz /
25.32 KHz
∇ -24.83%
matrix: chol, dyn[double] 20x[6x6]466.09 us /
411.70 us
Δ 13.21%
2.15 KHz /
2.43 KHz
∇ -11.67%
matrix: chol, sparse 20x[6x6]89.01 us /
74.09 us
Δ 20.13%
11.24 KHz /
13.50 KHz
∇ -16.76%
matrix: chol, dyn[double] 50x[6x6]9.32 ms /
10.38 ms
∇ -10.18%
107.25 Hz /
96.33 Hz
Δ 11.34%
matrix: chol, sparse 50x[6x6]201.22 us /
248.74 us
∇ -19.10%
4.97 KHz /
4.02 KHz
Δ 23.62%
matrix: chol, dyn[double] 100x[6x6]138.07 ms /
370.64 ms
∇ -62.75%
7.24 Hz /
2.70 Hz
Δ 168.45%
matrix: chol, sparse 100x[6x6]401.45 us /
353.56 us
Δ 13.55%
2.49 KHz /
2.83 KHz
∇ -11.93%
matrix: chol, dyn[double] 120x[6x6]453.62 ms /
365.56 ms
Δ 24.09%
2.20 Hz /
2.74 Hz
∇ -19.41%
matrix: chol, sparse 120x[6x6]474.18 us /
425.27 us
Δ 11.50%
2.11 KHz /
2.35 KHz
∇ -10.31%
matrix: chol, dyn[double] 140x[6x6]945.16 ms /
796.04 ms
Δ 18.73%
1.06 Hz /
1.26 Hz
∇ -15.78%
matrix: chol, sparse 140x[6x6]552.77 us /
490.79 us
Δ 12.63%
1.81 KHz /
2.04 KHz
∇ -11.21%
gridmap2D: getCell5.57 ns /
0.00 ns
Δ 1.#J%
179.64 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell7.80 ns /
2.58 ns
Δ 202.53%
128.17 MHz /
387.76 MHz
∇ -66.95%
gridmap2D: updateCell10.65 ns /
7.44 ns
Δ 43.00%
93.93 MHz /
134.32 MHz
∇ -30.07%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 117.44%
834.82 MHz /
1.82 GHz
∇ -54.01%
gridmap2D: insert scan w/o widening202.10 us /
101.23 us
Δ 99.65%
4.95 KHz /
9.88 KHz
∇ -49.91%
gridmap2D: insert scan with widening338.79 us /
291.30 us
Δ 16.30%
2.95 KHz /
3.43 KHz
∇ -14.02%
gridmap2D: resize3.58 ms /
1.89 ms
Δ 89.56%
279.42 Hz /
529.66 Hz
∇ -47.25%
gridmap2D: computeLikelihood18.09 us /
16.46 us
Δ 9.91%
55.28 KHz /
60.76 KHz
∇ -9.02%
pointmap: insert 100 scans5.50 ms /
3.10 ms
Δ 77.22%
181.98 Hz /
322.50 Hz
∇ -43.57%
pointmap: build 2D kd-tree of 1 scan6.29 us /
4.28 us
Δ 46.88%
159.07 KHz /
233.64 KHz
∇ -31.92%
pointmap: build 2D kd-tree of 100 scan520.70 us /
355.52 us
Δ 46.46%
1.92 KHz /
2.81 KHz
∇ -31.72%
pointmap: build 2D kd-tree of 1000 scan5.50 ms /
4.16 ms
Δ 32.24%
181.67 Hz /
240.24 Hz
∇ -24.38%
pointmap: build 3D kd-tree of 1 scan6.47 us /
4.76 us
Δ 35.87%
154.62 KHz /
210.08 KHz
∇ -26.40%
pointmap: build 3D kd-tree of 100 scan526.59 us /
363.20 us
Δ 44.99%
1.90 KHz /
2.75 KHz
∇ -31.03%
pointmap: build 3D kd-tree of 1000 scan5.63 ms /
4.09 ms
Δ 37.61%
177.52 Hz /
244.29 Hz
∇ -27.33%
pointmap: kd-tree 2d query on 10 scans2.04 us /
1.38 us
Δ 47.54%
490.44 KHz /
723.59 KHz
∇ -32.22%
pointmap: kd-tree 2d query on 1000 scans137.79 us /
100.93 us
Δ 36.53%
7.26 KHz /
9.91 KHz
∇ -26.75%
pointmap: kd-tree 2d query on 10000 scans14.88 ms /
11.91 ms
Δ 24.93%
67.19 Hz /
83.95 Hz
∇ -19.96%
pointmap: (insert scan+2D kd-tree query) x 108.57 ms /
5.62 ms
Δ 52.55%
116.69 Hz /
178.01 Hz
∇ -34.45%
pointmap: (insert scan+2D kd-tree query) x 50191.63 ms /
130.76 ms
Δ 46.55%
5.22 Hz /
7.65 Hz
∇ -31.76%
pointmap: (insert scan+3D kd-tree query) x 108.64 ms /
5.67 ms
Δ 52.32%
115.78 Hz /
176.35 Hz
∇ -34.35%
pointmap: (insert scan+3D kd-tree query) x 50194.89 ms /
132.64 ms
Δ 46.94%
5.13 Hz /
7.54 Hz
∇ -31.94%
random: drawUniform32bit7.21 ns /
14.57 ns
∇ -50.51%
138.68 MHz /
68.63 MHz
Δ 102.08%
random: drawUniform7.18 ns /
14.62 ns
∇ -50.87%
139.23 MHz /
68.41 MHz
Δ 103.53%
random: drawGaussian1D_normalized51.37 ns /
68.70 ns
∇ -25.22%
19.47 MHz /
14.56 MHz
Δ 33.73%
random: drawGaussian1D51.39 ns /
68.68 ns
∇ -25.18%
19.46 MHz /
14.56 MHz
Δ 33.66%
random: system rand()28.61 ns /
10.45 ns
Δ 173.74%
34.95 MHz /
95.67 MHz
∇ -63.47%
random: drawGaussianMultivariate(fixed 3x3)2.55 us /
1.31 us
Δ 95.27%
391.65 KHz /
764.77 KHz
∇ -48.79%
random: drawGaussianMultivariate(dyn 3x3)8.36 us /
2.79 us
Δ 199.95%
119.66 KHz /
358.92 KHz
∇ -66.66%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)213.95 ns /
158.26 ns
Δ 35.19%
4.67 MHz /
6.32 MHz
∇ -26.03%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)324.69 ns /
236.42 ns
Δ 37.34%
3.08 MHz /
4.23 MHz
∇ -27.19%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)829.70 ns /
489.37 ns
Δ 69.55%
1.21 MHz /
2.04 MHz
∇ -41.02%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)214.89 ns /
164.61 ns
Δ 30.54%
4.65 MHz /
6.07 MHz
∇ -23.40%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)364.99 ns /
248.12 ns
Δ 47.10%
2.74 MHz /
4.03 MHz
∇ -32.02%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.13 ns /
514.83 ns
Δ 47.65%
1.32 MHz /
1.94 MHz
∇ -32.27%
random: permuteVector (len=10)420.57 ns /
317.50 ns
Δ 32.46%
2.38 MHz /
3.15 MHz
∇ -24.51%
random: permuteVector (len=100)3.56 us /
3.06 us
Δ 16.16%
281.12 KHz /
326.54 KHz
∇ -13.91%
random: permuteVector (len=1000)33.55 us /
30.27 us
Δ 10.85%
29.80 KHz /
33.04 KHz
∇ -9.79%
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%)28.40 ms /
27.27 ms
Δ 4.15%
35.21 Hz /
36.67 Hz
∇ -3.98%
images: Save as JPEG (800x600, quality=95%)43.71 ms /
43.27 ms
Δ 1.02%
22.88 Hz /
23.11 Hz
∇ -1.01%
images: Save as JPEG (1024x768, quality=95%)70.17 ms /
74.67 ms
∇ -6.02%
14.25 Hz /
13.39 Hz
Δ 6.41%
images: Save as JPEG (640x480, quality=75%)24.11 ms /
26.31 ms
∇ -8.35%
41.48 Hz /
38.01 Hz
Δ 9.11%
images: Save as JPEG (800x600, quality=75%)37.02 ms /
40.92 ms
∇ -9.51%
27.01 Hz /
24.44 Hz
Δ 10.51%
images: Save as JPEG (1024x768, quality=75%)59.51 ms /
62.56 ms
∇ -4.88%
16.80 Hz /
15.99 Hz
Δ 5.13%
images: Gauss filter (640x480)5.29 ms /
4.48 ms
Δ 18.03%
188.95 Hz /
223.01 Hz
∇ -15.27%
images: Gauss filter (800x600)8.36 ms /
7.46 ms
Δ 12.06%
119.64 Hz /
134.07 Hz
∇ -10.76%
images: Gauss filter (1024x768)13.88 ms /
12.41 ms
Δ 11.81%
72.06 Hz /
80.57 Hz
∇ -10.56%
scan_matching: 6D LS Rigid Trans. [CPose3D]18.63 us /
5.15 us
Δ 261.80%
53.67 KHz /
194.17 KHz
∇ -72.36%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]17.89 us /
4.35 us
Δ 311.16%
55.91 KHz /
229.89 KHz
∇ -75.68%
scan_matching: 6D LS Rigid Trans. [vector of points]5.05 us /
2.12 us
Δ 138.42%
197.84 KHz /
471.70 KHz
∇ -58.06%
feature_extraction [640x480]: Harris33.27 ms /
33.18 ms
Δ 0.26%
30.06 Hz /
30.14 Hz
∇ -0.26%
feature_extraction [640x480]: KLT31.21 ms /
29.64 ms
Δ 5.33%
32.04 Hz /
33.74 Hz
∇ -5.06%
feature_extraction [640x480]: SIFT675.81 ms /
637.68 ms
Δ 5.98%
1.48 Hz /
1.57 Hz
∇ -5.64%
feature_extraction [640x480]: SIFT desc.217.19 ms /
173.14 ms
Δ 25.44%
4.60 Hz /
5.78 Hz
∇ -20.28%
feature_extraction [640x480]: SURF316.97 ms /
202.84 ms
Δ 56.27%
3.15 Hz /
4.93 Hz
∇ -36.01%
feature_extraction [640x480]: FAST7.82 ms /
5.10 ms
Δ 53.19%
127.91 Hz /
195.94 Hz
∇ -34.72%
feature_extraction [640x480]: Spin desc.103.38 ms /
61.22 ms
Δ 68.87%
9.67 Hz /
16.33 Hz
∇ -40.78%
feature_matching [640x480]: Harris + CC56.24 ms /
43.90 ms
Δ 28.11%
17.78 Hz /
22.78 Hz
∇ -21.95%
feature_matching [640x480]: Harris + SAD47.55 ms /
38.32 ms
Δ 24.08%
21.03 Hz /
26.09 Hz
∇ -19.40%
feature_matching [640x480]: SIFT1.34 sec /
1.28 sec
Δ 4.97%
745.82 mHz /
782.87 mHz
∇ -4.73%
feature_matching [640x480]: SURF606.64 ms /
387.99 ms
Δ 56.35%
1.65 Hz /
2.58 Hz
∇ -36.04%
feature_matching [640x480]: FAST + CC22.36 ms /
15.73 ms
Δ 42.17%
44.72 Hz /
63.57 Hz
∇ -29.66%
feature_matching [640x480]: FAST + SAD15.00 ms /
10.56 ms
Δ 42.00%
66.69 Hz /
94.70 Hz
∇ -29.58%
graph(2d): insertEdge x 1e3313.03 us /
104.46 us
Δ 199.66%
3.19 KHz /
9.57 KHz
∇ -66.63%
graph(2d,vec): insertEdge x 1e3307.43 us /
X
3.25 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3222.64 us /
85.19 us
Δ 161.35%
4.49 KHz /
11.74 KHz
∇ -61.74%
graph(2d,vec): insertEdgeAtEnd x 1e3222.87 us /
X
4.49 KHz /
X
graph(2d pdf): insertEdge x 1e3516.93 us /
134.65 us
Δ 283.91%
1.93 KHz /
7.43 KHz
∇ -73.95%
graph(2d pdf,vec): insertEdge x 1e3517.18 us /
X
1.93 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3405.97 us /
119.89 us
Δ 238.62%
2.46 KHz /
8.34 KHz
∇ -70.47%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3403.48 us /
X
2.48 KHz /
X
graph(2d): insertEdge x 1e43.36 ms /
1.39 ms
Δ 142.85%
297.28 Hz /
721.96 Hz
∇ -58.82%
graph(2d,vec): insertEdge x 1e43.35 ms /
X
298.76 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.22 ms /
854.04 us
Δ 159.91%
450.51 Hz /
1.17 KHz
∇ -61.52%
graph(2d,vec): insertEdgeAtEnd x 1e42.22 ms /
X
450.21 Hz /
X
graph(2d pdf): insertEdge x 1e45.45 ms /
1.61 ms
Δ 239.09%
183.37 Hz /
621.80 Hz
∇ -70.51%
graph(2d pdf,vec): insertEdge x 1e45.44 ms /
X
183.91 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.07 ms /
1.20 ms
Δ 238.90%
245.74 Hz /
832.81 Hz
∇ -70.49%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.06 ms /
X
246.50 Hz /
X
graph(3d): insertEdge x 1e3447.20 us /
132.91 us
Δ 236.47%
2.24 KHz /
7.52 KHz
∇ -70.28%
graph(3d,vec): insertEdge x 1e3442.12 us /
X
2.26 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3346.69 us /
109.11 us
Δ 217.74%
2.88 KHz /
9.17 KHz
∇ -68.53%
graph(3d,vec): insertEdgeAtEnd x 1e3347.20 us /
X
2.88 KHz /
X
graph(3d pdf): insertEdge x 1e3944.03 us /
349.74 us
Δ 169.92%
1.06 KHz /
2.86 KHz
∇ -62.95%
graph(3d pdf,vec): insertEdge x 1e3978.08 us /
X
1.02 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3793.19 us /
321.54 us
Δ 146.68%
1.26 KHz /
3.11 KHz
∇ -59.46%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3793.52 us /
X
1.26 KHz /
X
graph(3d): insertEdge x 1e44.62 ms /
1.89 ms
Δ 144.47%
216.43 Hz /
529.10 Hz
∇ -59.10%
graph(3d,vec): insertEdge x 1e44.62 ms /
X
216.67 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.48 ms /
1.10 ms
Δ 216.85%
287.28 Hz /
910.25 Hz
∇ -68.44%
graph(3d,vec): insertEdgeAtEnd x 1e43.47 ms /
X
287.84 Hz /
X
graph(3d pdf): insertEdge x 1e410.55 ms /
4.65 ms
Δ 127.11%
94.75 Hz /
215.20 Hz
∇ -55.97%
graph(3d pdf,vec): insertEdge x 1e49.75 ms /
X
102.54 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.93 ms /
4.05 ms
Δ 95.75%
126.08 Hz /
246.81 Hz
∇ -48.92%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.94 ms /
X
125.93 Hz /
X
graph(3d): dijkstra 1e2 nodes262.18 us /
X
3.81 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes363.67 us /
X
2.75 KHz /
X
graph(3d): dijkstra 1e3 nodes2.97 ms /
X
336.14 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes3.29 ms /
X
303.75 Hz /
X
graph(3d): dijkstra 1e4 nodes34.21 ms /
X
29.23 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes38.12 ms /
X
26.23 Hz /
X
graph(3d): dijkstra 1e5 nodes389.54 ms /
X
2.57 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes428.64 ms /
X
2.33 Hz /
X
graph(2d): dijkstra 1e5 nodes382.11 ms /
X
2.62 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes417.45 ms /
X
2.40 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:39.259507 with MRPT 0.9.4 by 'mrpt-performance'.