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




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.2-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
30.39 ms
∇ -32.27%
48.58 Hz /
32.90 Hz
Δ 47.64%
icp-slam (match grid): Run with sample dataset20.64 ms /
52.58 ms
∇ -60.75%
48.45 Hz /
19.02 Hz
Δ 154.78%
poses: CPose3D (+) CPose3D42.90 ns /
264.70 ns
∇ -83.79%
23.31 MHz /
3.78 MHz
Δ 517.03%
poses: CPose3D.composeFrom()37.61 ns /
98.01 ns
∇ -61.62%
26.59 MHz /
10.20 MHz
Δ 160.58%
poses: CPose3D (+) CPoint3D7.25 ns /
27.86 ns
∇ -73.97%
137.89 MHz /
35.89 MHz
Δ 284.20%
poses: CPose3D.composePoint()11.83 ns /
19.17 ns
∇ -38.30%
84.53 MHz /
52.16 MHz
Δ 62.07%
poses: CPoint3D (-) CPose3D39.31 ns /
51.66 ns
∇ -23.90%
25.44 MHz /
19.36 MHz
Δ 31.40%
poses: CPose3D.inverseComposePoint()34.91 ns /
46.91 ns
∇ -25.59%
28.65 MHz /
21.32 MHz
Δ 34.40%
poses: CPose2D (+) CPose2D76.08 ns /
99.28 ns
∇ -23.36%
13.14 MHz /
10.07 MHz
Δ 30.49%
poses: CPose2D.composeFrom()61.61 ns /
89.67 ns
∇ -31.29%
16.23 MHz /
11.15 MHz
Δ 45.55%
poses: CPose2D (+) CPoint2D60.26 ns /
82.07 ns
∇ -26.57%
16.59 MHz /
12.18 MHz
Δ 36.18%
poses: CPose2D.composePoint()62.26 ns /
64.58 ns
∇ -3.58%
16.06 MHz /
15.49 MHz
Δ 3.72%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
87.19 ns
∇ -52.99%
24.40 MHz /
11.47 MHz
Δ 112.71%
poses: CPose3DQuat.composeFrom()39.39 ns /
57.14 ns
∇ -31.07%
25.39 MHz /
17.50 MHz
Δ 45.07%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
48.22 ns
∇ -62.04%
54.63 MHz /
20.74 MHz
Δ 163.45%
poses: CPose3DQuat.composePoint()17.94 ns /
29.64 ns
∇ -39.47%
55.74 MHz /
33.74 MHz
Δ 65.21%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
84.32 ns
∇ -34.23%
18.03 MHz /
11.86 MHz
Δ 52.04%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
30.72 ns
∇ -42.51%
56.63 MHz /
32.55 MHz
Δ 73.95%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
33.02 ns
∇ -49.17%
59.58 MHz /
30.29 MHz
Δ 96.72%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
206.69 ns
∇ -18.06%
5.90 MHz /
4.84 MHz
Δ 22.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
1.35 us
Δ 59006.08%
1.25 KHz /
739.68 KHz
∇ -99.83%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
1.40 us
Δ 57105.38%
1.24 KHz /
712.12 KHz
∇ -99.83%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
23.15 us
∇ -59.21%
105.91 KHz /
43.20 KHz
Δ 145.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
1.62 us
∇ -59.96%
1.54 MHz /
617.00 KHz
Δ 149.77%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
1.63 us
∇ -61.28%
1.58 MHz /
613.67 KHz
Δ 158.25%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
15.82 us
∇ -48.31%
122.30 KHz /
63.21 KHz
Δ 93.46%
matrix: unit, dyn[float], 3x324.43 ns /
38.75 ns
∇ -36.95%
40.94 MHz /
25.81 MHz
Δ 58.62%
matrix: unit, dyn[double], 3x323.18 ns /
38.69 ns
∇ -40.09%
43.14 MHz /
25.85 MHz
Δ 66.91%
matrix: unit, dyn[float], 6x659.50 ns /
163.36 ns
∇ -63.57%
16.81 MHz /
6.12 MHz
Δ 174.52%
matrix: unit, dyn[double], 6x662.26 ns /
213.06 ns
∇ -70.78%
16.06 MHz /
4.69 MHz
Δ 242.18%
matrix: unit, fix[float,3,3]0.35 ns /
3.56 ns
∇ -90.26%
2.88 GHz /
280.77 MHz
Δ 926.42%
matrix: unit, fix[double,3,3]1.19 ns /
3.29 ns
∇ -63.87%
841.75 MHz /
304.17 MHz
Δ 176.74%
matrix: unit, fix[float,6,6]1.70 ns /
2.77 ns
∇ -38.53%
587.20 MHz /
360.95 MHz
Δ 62.68%
matrix: unit, fix[double,6,6]2.77 ns /
6.07 ns
∇ -54.35%
361.01 MHz /
164.80 MHz
Δ 119.07%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
168.66 ns
∇ -49.13%
11.66 MHz /
5.93 MHz
Δ 96.58%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
109.47 ns
∇ -78.26%
42.02 MHz /
9.14 MHz
Δ 359.95%
matrix: multiply, dyn[double], 3x3 * 3x375.90 ns /
159.15 ns
∇ -52.31%
13.18 MHz /
6.28 MHz
Δ 109.69%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
87.59 ns
∇ -73.17%
42.55 MHz /
11.42 MHz
Δ 272.74%
matrix: multiply, dyn[float ], 3x6 * 6x3118.10 ns /
272.34 ns
∇ -56.63%
8.47 MHz /
3.67 MHz
Δ 130.60%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
190.04 ns
∇ -76.48%
22.37 MHz /
5.26 MHz
Δ 325.15%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
245.84 ns
∇ -55.05%
9.05 MHz /
4.07 MHz
Δ 122.48%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
138.91 ns
∇ -67.46%
22.12 MHz /
7.20 MHz
Δ 207.32%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
16.67 us
∇ -67.39%
183.95 KHz /
60.00 KHz
Δ 206.61%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
12.92 us
∇ -70.78%
264.87 KHz /
77.41 KHz
Δ 242.18%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
13.30 us
∇ -58.33%
180.38 KHz /
75.16 KHz
Δ 139.98%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
9.66 us
∇ -57.82%
245.43 KHz /
103.53 KHz
Δ 137.08%
matrix: inv, dyn[float ] 3x3631.00 ns /
1.46 us
∇ -56.73%
1.58 MHz /
685.70 KHz
Δ 131.12%
matrix: inv, fix[float ] 3x335.00 ns /
59.78 ns
∇ -41.46%
28.57 MHz /
16.73 MHz
Δ 70.81%
matrix: inv, dyn[double] 3x3644.00 ns /
1.47 us
∇ -56.10%
1.55 MHz /
681.67 KHz
Δ 127.79%
matrix: inv, fix[double] 3x339.00 ns /
30.80 ns
Δ 26.63%
25.64 MHz /
32.47 MHz
∇ -21.03%
matrix: inv, dyn[float ] 6x62.37 us /
4.39 us
∇ -45.97%
421.76 KHz /
227.86 KHz
Δ 85.10%
matrix: inv, fix[float ] 6x6812.00 ns /
1.39 us
∇ -41.62%
1.23 MHz /
718.96 KHz
Δ 71.29%
matrix: inv, dyn[double] 6x61.26 us /
5.05 us
∇ -75.01%
793.02 KHz /
198.20 KHz
Δ 300.11%
matrix: inv, fix[double] 6x6575.00 ns /
944.32 ns
∇ -39.11%
1.74 MHz /
1.06 MHz
Δ 64.23%
matrix: inv, dyn[float ] 20x2025.94 us /
80.56 us
∇ -67.80%
38.55 KHz /
12.41 KHz
Δ 210.60%
matrix: inv, fix[float ] 20x2014.15 us /
39.77 us
∇ -64.44%
70.70 KHz /
25.14 KHz
Δ 181.19%
matrix: inv, dyn[double] 20x2025.76 us /
106.06 us
∇ -75.72%
38.83 KHz /
9.43 KHz
Δ 311.78%
matrix: inv, fix[double] 20x2017.04 us /
18.99 us
∇ -10.30%
58.69 KHz /
52.65 KHz
Δ 11.48%
matrix: inv, dyn[float ] 40x40205.11 us /
594.37 us
∇ -65.49%
4.88 KHz /
1.68 KHz
Δ 189.78%
matrix: inv, fix[float ] 40x4093.29 us /
302.87 us
∇ -69.20%
10.72 KHz /
3.30 KHz
Δ 224.65%
matrix: inv, dyn[double] 40x40207.20 us /
805.07 us
∇ -74.26%
4.83 KHz /
1.24 KHz
Δ 288.56%
matrix: inv, fix[double] 40x40133.80 us /
129.27 us
Δ 3.51%
7.47 KHz /
7.74 KHz
∇ -3.39%
matrix: det, dyn[float ] 2x26.40 ns /
7.97 ns
∇ -19.71%
156.25 MHz /
125.45 MHz
Δ 24.55%
matrix: det, fix[float ] 2x20.00 ns /
0.05 ns
∇ -100.00%
1.#J THz /
22.08 GHz
Δ 1.#J%
matrix: det, dyn[double] 2x26.40 ns /
8.47 ns
∇ -24.43%
156.25 MHz /
118.07 MHz
Δ 32.33%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 3x310.30 ns /
20.83 ns
∇ -50.56%
97.09 MHz /
48.00 MHz
Δ 102.27%
matrix: det, fix[float ] 3x30.00 ns /
0.05 ns
∇ -100.00%
1.#J THz /
22.08 GHz
Δ 1.#J%
matrix: det, dyn[double] 3x310.30 ns /
15.90 ns
∇ -35.21%
97.09 MHz /
62.90 MHz
Δ 54.34%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 6x6653.50 ns /
2.28 us
∇ -71.33%
1.53 MHz /
438.79 KHz
Δ 248.74%
matrix: det, fix[float ] 6x6210.00 ns /
455.22 ns
∇ -53.87%
4.76 MHz /
2.20 MHz
Δ 116.77%
matrix: det, dyn[double] 6x6730.30 ns /
2.27 us
∇ -67.82%
1.37 MHz /
440.64 KHz
Δ 210.75%
matrix: det, fix[double] 6x6212.10 ns /
409.52 ns
∇ -48.21%
4.71 MHz /
2.44 MHz
Δ 93.08%
matrix: det, dyn[float ] 20x205.70 us /
18.23 us
∇ -68.72%
175.40 KHz /
54.86 KHz
Δ 219.72%
matrix: det, fix[float ] 20x204.20 us /
9.64 us
∇ -56.38%
237.92 KHz /
103.77 KHz
Δ 129.27%
matrix: det, dyn[double] 20x206.56 us /
17.63 us
∇ -62.76%
152.33 KHz /
56.72 KHz
Δ 168.55%
matrix: det, fix[double] 20x205.04 us /
6.19 us
∇ -18.53%
198.38 KHz /
161.63 KHz
Δ 22.74%
matrix: det, dyn[float ] 40x4032.38 us /
109.51 us
∇ -70.44%
30.89 KHz /
9.13 KHz
Δ 238.25%
matrix: det, fix[float ] 40x4027.92 us /
61.78 us
∇ -54.82%
35.82 KHz /
16.19 KHz
Δ 121.32%
matrix: det, dyn[double] 40x4039.41 us /
112.43 us
∇ -64.95%
25.37 KHz /
8.89 KHz
Δ 185.27%
matrix: det, fix[double] 40x4029.04 us /
35.24 us
∇ -17.60%
34.44 KHz /
28.38 KHz
Δ 21.36%
matrix: chol, dyn[double] 4x4140.00 ns /
172.11 ns
∇ -18.65%
7.14 MHz /
5.81 MHz
Δ 22.93%
matrix: chol, fix[double] 4x4160.00 ns /
117.76 ns
Δ 35.87%
6.25 MHz /
8.49 MHz
∇ -26.40%
matrix: chol, dyn[double] 40x4018.38 us /
24.40 us
∇ -24.68%
54.41 KHz /
40.98 KHz
Δ 32.77%
matrix: chol, fix[double] 40x4017.08 us /
17.68 us
∇ -3.38%
58.55 KHz /
56.57 KHz
Δ 3.50%
matrix: chol, sparse [2x2;2x2]8.30 us /
8.42 us
∇ -1.47%
120.48 KHz /
118.71 KHz
Δ 1.50%
matrix: chol, sparse [30x30;10x10]84.40 us /
118.80 us
∇ -28.96%
11.85 KHz /
8.42 KHz
Δ 40.76%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
69.79 us
∇ -24.06%
18.87 KHz /
14.33 KHz
Δ 31.69%
matrix: chol, sparse 10x[6x6]39.49 us /
52.54 us
∇ -24.83%
25.32 KHz /
19.03 KHz
Δ 33.04%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
466.09 us
∇ -11.67%
2.43 KHz /
2.15 KHz
Δ 13.21%
matrix: chol, sparse 20x[6x6]74.09 us /
89.01 us
∇ -16.76%
13.50 KHz /
11.24 KHz
Δ 20.13%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
9.32 ms
Δ 11.34%
96.33 Hz /
107.25 Hz
∇ -10.18%
matrix: chol, sparse 50x[6x6]248.74 us /
201.22 us
Δ 23.62%
4.02 KHz /
4.97 KHz
∇ -19.10%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
138.07 ms
Δ 168.45%
2.70 Hz /
7.24 Hz
∇ -62.75%
matrix: chol, sparse 100x[6x6]353.56 us /
401.45 us
∇ -11.93%
2.83 KHz /
2.49 KHz
Δ 13.55%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
453.62 ms
∇ -19.41%
2.74 Hz /
2.20 Hz
Δ 24.09%
matrix: chol, sparse 120x[6x6]425.27 us /
474.18 us
∇ -10.31%
2.35 KHz /
2.11 KHz
Δ 11.50%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
945.16 ms
∇ -15.78%
1.26 Hz /
1.06 Hz
Δ 18.73%
matrix: chol, sparse 140x[6x6]490.79 us /
552.77 us
∇ -11.21%
2.04 KHz /
1.81 KHz
Δ 12.63%
gridmap2D: getCell0.00 ns /
5.57 ns
∇ -100.00%
1.#J THz /
179.64 MHz
Δ 1.#J%
gridmap2D: setCell2.58 ns /
7.80 ns
∇ -66.95%
387.76 MHz /
128.17 MHz
Δ 202.53%
gridmap2D: updateCell7.44 ns /
10.65 ns
∇ -30.07%
134.32 MHz /
93.93 MHz
Δ 43.00%
gridmap2D: updateCell_fast_occupied0.55 ns /
1.20 ns
∇ -54.01%
1.82 GHz /
834.82 MHz
Δ 117.44%
gridmap2D: insert scan w/o widening101.23 us /
202.10 us
∇ -49.91%
9.88 KHz /
4.95 KHz
Δ 99.65%
gridmap2D: insert scan with widening291.30 us /
338.79 us
∇ -14.02%
3.43 KHz /
2.95 KHz
Δ 16.30%
gridmap2D: resize1.89 ms /
3.58 ms
∇ -47.25%
529.66 Hz /
279.42 Hz
Δ 89.56%
gridmap2D: computeLikelihood16.46 us /
18.09 us
∇ -9.02%
60.76 KHz /
55.28 KHz
Δ 9.91%
pointmap: insert 100 scans3.10 ms /
5.50 ms
∇ -43.57%
322.50 Hz /
181.98 Hz
Δ 77.22%
pointmap: build 2D kd-tree of 1 scan4.28 us /
6.29 us
∇ -31.92%
233.64 KHz /
159.07 KHz
Δ 46.88%
pointmap: build 2D kd-tree of 100 scan355.52 us /
520.70 us
∇ -31.72%
2.81 KHz /
1.92 KHz
Δ 46.46%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
5.50 ms
∇ -24.38%
240.24 Hz /
181.67 Hz
Δ 32.24%
pointmap: build 3D kd-tree of 1 scan4.76 us /
6.47 us
∇ -26.40%
210.08 KHz /
154.62 KHz
Δ 35.87%
pointmap: build 3D kd-tree of 100 scan363.20 us /
526.59 us
∇ -31.03%
2.75 KHz /
1.90 KHz
Δ 44.99%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
5.63 ms
∇ -27.33%
244.29 Hz /
177.52 Hz
Δ 37.61%
pointmap: kd-tree 2d query on 10 scans1.38 us /
2.04 us
∇ -32.22%
723.59 KHz /
490.44 KHz
Δ 47.54%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
137.79 us
∇ -26.75%
9.91 KHz /
7.26 KHz
Δ 36.53%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
14.88 ms
∇ -19.96%
83.95 Hz /
67.19 Hz
Δ 24.93%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
8.57 ms
∇ -34.45%
178.01 Hz /
116.69 Hz
Δ 52.55%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
191.63 ms
∇ -31.76%
7.65 Hz /
5.22 Hz
Δ 46.55%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
8.64 ms
∇ -34.35%
176.35 Hz /
115.78 Hz
Δ 52.32%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
194.89 ms
∇ -31.94%
7.54 Hz /
5.13 Hz
Δ 46.94%
random: drawUniform32bit14.57 ns /
7.21 ns
Δ 102.08%
68.63 MHz /
138.68 MHz
∇ -50.51%
random: drawUniform14.62 ns /
7.18 ns
Δ 103.53%
68.41 MHz /
139.23 MHz
∇ -50.87%
random: drawGaussian1D_normalized68.70 ns /
51.37 ns
Δ 33.73%
14.56 MHz /
19.47 MHz
∇ -25.22%
random: drawGaussian1D68.68 ns /
51.39 ns
Δ 33.66%
14.56 MHz /
19.46 MHz
∇ -25.18%
random: system rand()10.45 ns /
28.61 ns
∇ -63.47%
95.67 MHz /
34.95 MHz
Δ 173.74%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
2.55 us
∇ -48.79%
764.77 KHz /
391.65 KHz
Δ 95.27%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
8.36 us
∇ -66.66%
358.92 KHz /
119.66 KHz
Δ 199.95%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
213.95 ns
∇ -26.03%
6.32 MHz /
4.67 MHz
Δ 35.19%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
324.69 ns
∇ -27.19%
4.23 MHz /
3.08 MHz
Δ 37.34%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
829.70 ns
∇ -41.02%
2.04 MHz /
1.21 MHz
Δ 69.55%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
214.89 ns
∇ -23.40%
6.07 MHz /
4.65 MHz
Δ 30.54%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
364.99 ns
∇ -32.02%
4.03 MHz /
2.74 MHz
Δ 47.10%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
760.13 ns
∇ -32.27%
1.94 MHz /
1.32 MHz
Δ 47.65%
random: permuteVector (len=10)317.50 ns /
420.57 ns
∇ -24.51%
3.15 MHz /
2.38 MHz
Δ 32.46%
random: permuteVector (len=100)3.06 us /
3.56 us
∇ -13.91%
326.54 KHz /
281.12 KHz
Δ 16.16%
random: permuteVector (len=1000)30.27 us /
33.55 us
∇ -9.79%
33.04 KHz /
29.80 KHz
Δ 10.85%
math: round0.10 ns /
0.00 ns
Δ 1.#J%
10.09 GHz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
28.40 ms
∇ -3.98%
36.67 Hz /
35.21 Hz
Δ 4.15%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
43.71 ms
∇ -1.01%
23.11 Hz /
22.88 Hz
Δ 1.02%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
70.17 ms
Δ 6.41%
13.39 Hz /
14.25 Hz
∇ -6.02%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
24.11 ms
Δ 9.11%
38.01 Hz /
41.48 Hz
∇ -8.35%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
37.02 ms
Δ 10.51%
24.44 Hz /
27.01 Hz
∇ -9.51%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
59.51 ms
Δ 5.13%
15.99 Hz /
16.80 Hz
∇ -4.88%
images: Gauss filter (640x480)4.48 ms /
5.29 ms
∇ -15.27%
223.01 Hz /
188.95 Hz
Δ 18.03%
images: Gauss filter (800x600)7.46 ms /
8.36 ms
∇ -10.76%
134.07 Hz /
119.64 Hz
Δ 12.06%
images: Gauss filter (1024x768)12.41 ms /
13.88 ms
∇ -10.56%
80.57 Hz /
72.06 Hz
Δ 11.81%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
18.63 us
∇ -72.36%
194.17 KHz /
53.67 KHz
Δ 261.80%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
17.89 us
∇ -75.68%
229.89 KHz /
55.91 KHz
Δ 311.16%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
5.05 us
∇ -58.06%
471.70 KHz /
197.84 KHz
Δ 138.42%
feature_extraction [640x480]: Harris33.18 ms /
33.27 ms
∇ -0.26%
30.14 Hz /
30.06 Hz
Δ 0.26%
feature_extraction [640x480]: KLT29.64 ms /
31.21 ms
∇ -5.06%
33.74 Hz /
32.04 Hz
Δ 5.33%
feature_extraction [640x480]: SIFT637.68 ms /
675.81 ms
∇ -5.64%
1.57 Hz /
1.48 Hz
Δ 5.98%
feature_extraction [640x480]: SIFT desc.173.14 ms /
217.19 ms
∇ -20.28%
5.78 Hz /
4.60 Hz
Δ 25.44%
feature_extraction [640x480]: SURF202.84 ms /
316.97 ms
∇ -36.01%
4.93 Hz /
3.15 Hz
Δ 56.27%
feature_extraction [640x480]: FAST5.10 ms /
7.82 ms
∇ -34.72%
195.94 Hz /
127.91 Hz
Δ 53.19%
feature_extraction [640x480]: Spin desc.61.22 ms /
103.38 ms
∇ -40.78%
16.33 Hz /
9.67 Hz
Δ 68.87%
feature_matching [640x480]: Harris + CC43.90 ms /
56.24 ms
∇ -21.95%
22.78 Hz /
17.78 Hz
Δ 28.11%
feature_matching [640x480]: Harris + SAD38.32 ms /
47.55 ms
∇ -19.40%
26.09 Hz /
21.03 Hz
Δ 24.08%
feature_matching [640x480]: SIFT1.28 sec /
1.34 sec
∇ -4.73%
782.87 mHz /
745.82 mHz
Δ 4.97%
feature_matching [640x480]: SURF387.99 ms /
606.64 ms
∇ -36.04%
2.58 Hz /
1.65 Hz
Δ 56.35%
feature_matching [640x480]: FAST + CC15.73 ms /
22.36 ms
∇ -29.66%
63.57 Hz /
44.72 Hz
Δ 42.17%
feature_matching [640x480]: FAST + SAD10.56 ms /
15.00 ms
∇ -29.58%
94.70 Hz /
66.69 Hz
Δ 42.00%
graph(2d): insertEdge x 1e3104.46 us /
313.03 us
∇ -66.63%
9.57 KHz /
3.19 KHz
Δ 199.66%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
222.64 us
∇ -61.74%
11.74 KHz /
4.49 KHz
Δ 161.35%
graph(2d pdf): insertEdge x 1e3134.65 us /
516.93 us
∇ -73.95%
7.43 KHz /
1.93 KHz
Δ 283.91%
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
405.97 us
∇ -70.47%
8.34 KHz /
2.46 KHz
Δ 238.62%
graph(2d): insertEdge x 1e41.39 ms /
3.36 ms
∇ -58.82%
721.96 Hz /
297.28 Hz
Δ 142.85%
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
2.22 ms
∇ -61.52%
1.17 KHz /
450.51 Hz
Δ 159.91%
graph(2d pdf): insertEdge x 1e41.61 ms /
5.45 ms
∇ -70.51%
621.80 Hz /
183.37 Hz
Δ 239.09%
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
4.07 ms
∇ -70.49%
832.81 Hz /
245.74 Hz
Δ 238.90%
graph(3d): insertEdge x 1e3132.91 us /
447.20 us
∇ -70.28%
7.52 KHz /
2.24 KHz
Δ 236.47%
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
346.69 us
∇ -68.53%
9.17 KHz /
2.88 KHz
Δ 217.74%
graph(3d pdf): insertEdge x 1e3349.74 us /
944.03 us
∇ -62.95%
2.86 KHz /
1.06 KHz
Δ 169.92%
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
793.19 us
∇ -59.46%
3.11 KHz /
1.26 KHz
Δ 146.68%
graph(3d): insertEdge x 1e41.89 ms /
4.62 ms
∇ -59.10%
529.10 Hz /
216.43 Hz
Δ 144.47%
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
3.48 ms
∇ -68.44%
910.25 Hz /
287.28 Hz
Δ 216.85%
graph(3d pdf): insertEdge x 1e44.65 ms /
10.55 ms
∇ -55.97%
215.20 Hz /
94.75 Hz
Δ 127.11%
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
7.93 ms
∇ -48.92%
246.81 Hz /
126.08 Hz
Δ 95.75%
graph(3d,map): dijkstra 1e2 nodes94.48 us /
X
10.58 KHz /
X
graph(3d,map): dijkstra 1e3 nodes1.16 ms /
X
860.07 Hz /
X
graph(3d,map): dijkstra 1e4 nodes19.13 ms /
X
52.28 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:39.031494 with MRPT 0.9.4 by 'mrpt-performance'.