Comparison: 0.9.4-MSVC10-32bit vs. 0.9.1-MSVC9-32bit




Test description 0.9.4-MSVC10-32bit /
0.9.1-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
31.78 ms
Δ 16.84%
26.93 Hz /
31.46 Hz
∇ -14.42%
icp-slam (match grid): Run with sample dataset36.34 ms /
53.70 ms
∇ -32.34%
27.52 Hz /
18.62 Hz
Δ 47.80%
poses: CPose3D (+) CPose3D197.08 ns /
925.38 ns
∇ -78.70%
5.07 MHz /
1.08 MHz
Δ 369.56%
poses: CPose3D.composeFrom()33.62 ns /
617.00 ns
∇ -94.55%
29.74 MHz /
1.62 MHz
Δ 1735.00%
poses: CPose3D (+) CPoint3D25.13 ns /
35.98 ns
∇ -30.13%
39.79 MHz /
27.80 MHz
Δ 43.13%
poses: CPose3D.composePoint()21.31 ns /
14.62 ns
Δ 45.78%
46.94 MHz /
68.42 MHz
∇ -31.40%
poses: CPoint3D (-) CPose3D89.96 ns /
75.43 ns
Δ 19.27%
11.12 MHz /
13.26 MHz
∇ -16.16%
poses: CPose3D.inverseComposePoint()47.25 ns /
56.48 ns
∇ -16.35%
21.17 MHz /
17.70 MHz
Δ 19.55%
poses: CPose2D (+) CPose2D108.63 ns /
121.60 ns
∇ -10.67%
9.21 MHz /
8.22 MHz
Δ 11.94%
poses: CPose2D.composeFrom()94.77 ns /
66.63 ns
Δ 42.24%
10.55 MHz /
15.01 MHz
∇ -29.70%
poses: CPose2D (+) CPoint2D80.61 ns /
93.73 ns
∇ -14.00%
12.41 MHz /
10.67 MHz
Δ 16.28%
poses: CPose2D.composePoint()67.32 ns /
62.24 ns
Δ 8.17%
14.85 MHz /
16.07 MHz
∇ -7.55%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
100.74 ns
∇ -19.29%
12.30 MHz /
9.93 MHz
Δ 23.90%
poses: CPose3DQuat.composeFrom()51.56 ns /
57.92 ns
∇ -10.98%
19.39 MHz /
17.26 MHz
Δ 12.33%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
61.33 ns
∇ -8.84%
17.89 MHz /
16.31 MHz
Δ 9.69%
poses: CPose3DQuat.composePoint()32.73 ns /
27.34 ns
Δ 19.70%
30.55 MHz /
36.57 MHz
∇ -16.46%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
580.67 ns
∇ -78.64%
8.06 MHz /
1.72 MHz
Δ 368.22%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
28.18 ns
Δ 8.60%
32.67 MHz /
35.48 MHz
∇ -7.92%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
506.67 ns
∇ -94.45%
35.56 MHz /
1.97 MHz
Δ 1701.71%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
214.86 ns
Δ 0.92%
4.61 MHz /
4.65 MHz
∇ -0.91%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
1.56 us
∇ -20.27%
806.40 KHz /
642.96 KHz
Δ 25.42%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
1.51 us
∇ -20.55%
835.55 KHz /
663.83 KHz
Δ 25.87%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
23.29 us
∇ -13.47%
49.63 KHz /
42.94 KHz
Δ 15.57%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
1.64 us
∇ -50.15%
1.22 MHz /
609.77 KHz
Δ 100.58%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
1.66 us
∇ -50.53%
1.21 MHz /
600.84 KHz
Δ 102.13%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
16.05 us
Δ 18.97%
52.39 KHz /
62.32 KHz
∇ -15.94%
matrix: unit, dyn[float], 3x349.67 ns /
39.66 ns
Δ 25.25%
20.13 MHz /
25.22 MHz
∇ -20.16%
matrix: unit, dyn[double], 3x350.90 ns /
42.75 ns
Δ 19.09%
19.64 MHz /
23.39 MHz
∇ -16.03%
matrix: unit, dyn[float], 6x6180.98 ns /
152.29 ns
Δ 18.84%
5.53 MHz /
6.57 MHz
∇ -15.86%
matrix: unit, dyn[double], 6x6177.90 ns /
150.45 ns
Δ 18.24%
5.62 MHz /
6.65 MHz
∇ -15.43%
matrix: unit, fix[float,3,3]0.00 ns /
3.30 ns
∇ -100.00%
1.#J THz /
303.37 MHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
3.48 ns
∇ -100.00%
1.#J THz /
287.56 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]6.63 ns /
3.06 ns
Δ 116.95%
150.81 MHz /
327.19 MHz
∇ -53.91%
matrix: unit, fix[double,6,6]8.86 ns /
6.65 ns
Δ 33.27%
112.91 MHz /
150.48 MHz
∇ -24.97%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
167.81 ns
Δ 305.39%
1.47 MHz /
5.96 MHz
∇ -75.33%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
108.61 ns
∇ -100.00%
1.#J THz /
9.21 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
158.88 ns
Δ 188.48%
2.18 MHz /
6.29 MHz
∇ -65.34%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
90.86 ns
∇ -100.00%
1.#J THz /
11.01 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3680.46 ns /
272.47 ns
Δ 149.73%
1.47 MHz /
3.67 MHz
∇ -59.96%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
193.12 ns
∇ -81.73%
28.34 MHz /
5.18 MHz
Δ 447.37%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
238.91 ns
Δ 115.15%
1.95 MHz /
4.19 MHz
∇ -53.52%
matrix: multiply, fix[double], 3x6 * 6x33.40 ns /
139.05 ns
∇ -97.56%
294.39 MHz /
7.19 MHz
Δ 3993.37%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
16.80 us
∇ -69.18%
193.06 KHz /
59.51 KHz
Δ 224.42%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
13.06 us
∇ -65.11%
219.44 KHz /
76.57 KHz
Δ 186.60%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
13.55 us
∇ -72.02%
263.78 KHz /
73.81 KHz
Δ 257.40%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
9.96 us
∇ -70.65%
342.06 KHz /
100.40 KHz
Δ 240.70%
matrix: inv, dyn[double] 3x31.50 us /
1.53 us
∇ -1.89%
665.44 KHz /
652.84 KHz
Δ 1.93%
matrix: inv, fix[double] 3x39.51 ns /
31.25 ns
∇ -69.57%
105.14 MHz /
32.00 MHz
Δ 228.57%
matrix: inv, dyn[double] 6x63.90 us /
5.08 us
∇ -23.22%
256.17 KHz /
196.68 KHz
Δ 30.25%
matrix: inv, fix[double] 6x63.54 us /
926.67 ns
Δ 282.01%
282.49 KHz /
1.08 MHz
∇ -73.82%
matrix: inv, dyn[double] 20x2034.19 us /
108.60 us
∇ -68.52%
29.25 KHz /
9.21 KHz
Δ 217.61%
matrix: inv, fix[double] 20x2029.35 us /
19.22 us
Δ 52.70%
34.07 KHz /
52.02 KHz
∇ -34.51%
matrix: inv, dyn[double] 40x40134.24 us /
818.27 us
∇ -83.59%
7.45 KHz /
1.22 KHz
Δ 509.57%
matrix: inv, fix[double] 40x40126.45 us /
136.18 us
∇ -7.14%
7.91 KHz /
7.34 KHz
Δ 7.69%
matrix: det, dyn[double] 2x2601.74 ns /
9.56 ns
Δ 6196.63%
1.66 MHz /
104.64 MHz
∇ -98.41%
matrix: det, fix[double] 2x20.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3872.81 ns /
15.90 ns
Δ 5390.27%
1.15 MHz /
62.90 MHz
∇ -98.18%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x62.32 us /
2.38 us
∇ -2.30%
430.29 KHz /
420.40 KHz
Δ 2.35%
matrix: det, fix[double] 6x62.17 us /
422.89 ns
Δ 413.39%
460.60 KHz /
2.36 MHz
∇ -80.52%
matrix: det, dyn[double] 20x2023.14 us /
18.19 us
Δ 27.22%
43.22 KHz /
54.99 KHz
∇ -21.40%
matrix: det, fix[double] 20x2021.38 us /
6.52 us
Δ 227.72%
46.78 KHz /
153.30 KHz
∇ -69.49%
matrix: det, dyn[double] 40x4092.83 us /
114.84 us
∇ -19.17%
10.77 KHz /
8.71 KHz
Δ 23.71%
matrix: det, fix[double] 40x4090.97 us /
36.00 us
Δ 152.68%
10.99 KHz /
27.78 KHz
∇ -60.42%
matrix: chol, dyn[double] 4x4892.24 ns /
185.70 ns
Δ 380.48%
1.12 MHz /
5.39 MHz
∇ -79.19%
matrix: chol, fix[double] 4x4249.10 ns /
113.23 ns
Δ 120.00%
4.01 MHz /
8.83 MHz
∇ -54.55%
matrix: chol, dyn[double] 40x4041.12 us /
24.43 us
Δ 68.33%
24.32 KHz /
40.93 KHz
∇ -40.59%
matrix: chol, fix[double] 40x4026.92 us /
17.73 us
Δ 51.80%
37.15 KHz /
56.40 KHz
∇ -34.12%
matrix: chol, sparse [2x2;2x2]15.31 us /
10.78 us
Δ 42.02%
65.32 KHz /
92.77 KHz
∇ -29.59%
matrix: chol, sparse [30x30;10x10]116.85 us /
117.89 us
∇ -0.88%
8.56 KHz /
8.48 KHz
Δ 0.89%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
70.52 us
Δ 40.33%
10.10 KHz /
14.18 KHz
∇ -28.74%
matrix: chol, sparse 10x[6x6]55.18 us /
52.59 us
Δ 4.93%
18.12 KHz /
19.02 KHz
∇ -4.69%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
491.10 us
Δ 1.42%
2.01 KHz /
2.04 KHz
∇ -1.40%
matrix: chol, sparse 20x[6x6]133.40 us /
85.83 us
Δ 55.42%
7.50 KHz /
11.65 KHz
∇ -35.66%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
9.44 ms
∇ -47.14%
200.30 Hz /
105.88 Hz
Δ 89.18%
matrix: chol, sparse 50x[6x6]243.96 us /
204.52 us
Δ 19.28%
4.10 KHz /
4.89 KHz
∇ -16.17%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
150.13 ms
∇ -80.00%
33.31 Hz /
6.66 Hz
Δ 400.01%
matrix: chol, sparse 100x[6x6]486.08 us /
415.58 us
Δ 16.96%
2.06 KHz /
2.41 KHz
∇ -14.50%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
461.43 ms
∇ -88.74%
19.25 Hz /
2.17 Hz
Δ 788.31%
matrix: chol, sparse 120x[6x6]583.78 us /
484.92 us
Δ 20.39%
1.71 KHz /
2.06 KHz
∇ -16.93%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
947.45 ms
∇ -91.88%
13.00 Hz /
1.06 Hz
Δ 1131.96%
matrix: chol, sparse 140x[6x6]649.31 us /
586.44 us
Δ 10.72%
1.54 KHz /
1.71 KHz
∇ -9.68%
gridmap2D: getCell6.44 ns /
5.77 ns
Δ 11.58%
155.25 MHz /
173.23 MHz
∇ -10.38%
gridmap2D: setCell9.52 ns /
7.96 ns
Δ 19.65%
105.00 MHz /
125.64 MHz
∇ -16.42%
gridmap2D: updateCell9.85 ns /
10.80 ns
∇ -8.83%
101.55 MHz /
92.58 MHz
Δ 9.69%
gridmap2D: updateCell_fast_occupied1.47 ns /
1.21 ns
Δ 21.66%
679.40 MHz /
826.59 MHz
∇ -17.81%
gridmap2D: insert scan w/o widening225.20 us /
204.23 us
Δ 10.26%
4.44 KHz /
4.90 KHz
∇ -9.31%
gridmap2D: insert scan with widening365.80 us /
344.40 us
Δ 6.21%
2.73 KHz /
2.90 KHz
∇ -5.85%
gridmap2D: resize2.56 ms /
2.62 ms
∇ -2.06%
389.96 Hz /
381.93 Hz
Δ 2.10%
gridmap2D: computeLikelihood21.14 us /
18.59 us
Δ 13.73%
47.30 KHz /
53.79 KHz
∇ -12.07%
pointmap: insert 100 scans3.27 ms /
5.62 ms
∇ -41.78%
305.75 Hz /
178.02 Hz
Δ 71.75%
pointmap: build 2D kd-tree of 1 scan6.03 us /
6.21 us
∇ -2.92%
165.76 KHz /
160.93 KHz
Δ 3.00%
pointmap: build 2D kd-tree of 100 scan579.42 us /
511.81 us
Δ 13.21%
1.73 KHz /
1.95 KHz
∇ -11.67%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
5.59 ms
Δ 9.82%
162.87 Hz /
178.86 Hz
∇ -8.94%
pointmap: build 3D kd-tree of 1 scan6.68 us /
7.23 us
∇ -7.52%
149.59 KHz /
138.34 KHz
Δ 8.13%
pointmap: build 3D kd-tree of 100 scan519.96 us /
523.10 us
∇ -0.60%
1.92 KHz /
1.91 KHz
Δ 0.60%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
5.77 ms
Δ 14.95%
150.68 Hz /
173.21 Hz
∇ -13.01%
pointmap: kd-tree 2d query on 10 scans1.95 us /
2.05 us
∇ -4.79%
511.57 KHz /
487.07 KHz
Δ 5.03%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
140.79 us
Δ 18.72%
5.98 KHz /
7.10 KHz
∇ -15.77%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
15.17 ms
Δ 15.03%
57.30 Hz /
65.91 Hz
∇ -13.07%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
8.69 ms
Δ 4.80%
109.75 Hz /
115.01 Hz
∇ -4.58%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
196.44 ms
Δ 7.26%
4.75 Hz /
5.09 Hz
∇ -6.77%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
8.73 ms
∇ -4.00%
119.37 Hz /
114.60 Hz
Δ 4.17%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
198.48 ms
Δ 0.12%
5.03 Hz /
5.04 Hz
∇ -0.12%
random: drawUniform32bit7.57 ns /
7.29 ns
Δ 3.79%
132.11 MHz /
137.11 MHz
∇ -3.65%
random: drawUniform7.60 ns /
7.33 ns
Δ 3.76%
131.54 MHz /
136.49 MHz
∇ -3.62%
random: drawGaussian1D_normalized58.48 ns /
51.27 ns
Δ 14.05%
17.10 MHz /
19.50 MHz
∇ -12.32%
random: drawGaussian1D57.62 ns /
51.74 ns
Δ 11.38%
17.35 MHz /
19.33 MHz
∇ -10.22%
random: system rand()29.43 ns /
29.39 ns
Δ 0.14%
33.98 MHz /
34.03 MHz
∇ -0.14%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
2.64 us
Δ 11.58%
339.21 KHz /
378.48 KHz
∇ -10.38%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
8.53 us
∇ -58.58%
282.92 KHz /
117.18 KHz
Δ 141.45%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
215.16 ns
∇ -32.28%
6.86 MHz /
4.65 MHz
Δ 47.66%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
359.98 ns
∇ -36.84%
4.40 MHz /
2.78 MHz
Δ 58.33%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
732.12 ns
∇ -29.72%
1.94 MHz /
1.37 MHz
Δ 42.28%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
213.59 ns
∇ -20.21%
5.87 MHz /
4.68 MHz
Δ 25.33%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
339.30 ns
∇ -16.41%
3.53 MHz /
2.95 MHz
Δ 19.64%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
760.92 ns
∇ -13.10%
1.51 MHz /
1.31 MHz
Δ 15.08%
random: permuteVector (len=10)304.45 ns /
411.34 ns
∇ -25.99%
3.28 MHz /
2.43 MHz
Δ 35.11%
random: permuteVector (len=100)3.47 us /
3.59 us
∇ -3.37%
288.42 KHz /
278.70 KHz
Δ 3.49%
random: permuteVector (len=1000)37.99 us /
34.34 us
Δ 10.63%
26.33 KHz /
29.12 KHz
∇ -9.61%
math: round0.00 ns /
0.00 ns
Δ 1.#J%
220.79 THz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)33.06 ms /
27.92 ms
Δ 18.39%
30.25 Hz /
35.81 Hz
∇ -15.54%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
43.53 ms
Δ 16.32%
19.75 Hz /
22.97 Hz
∇ -14.03%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
70.76 ms
Δ 16.82%
12.10 Hz /
14.13 Hz
∇ -14.40%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
23.43 ms
Δ 16.74%
36.56 Hz /
42.67 Hz
∇ -14.34%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
36.52 ms
Δ 18.45%
23.12 Hz /
27.39 Hz
∇ -15.58%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
59.82 ms
Δ 11.27%
15.03 Hz /
16.72 Hz
∇ -10.12%
images: Gauss filter (640x480)5.57 ms /
6.68 ms
∇ -16.58%
179.49 Hz /
149.74 Hz
Δ 19.87%
images: Gauss filter (800x600)8.84 ms /
8.62 ms
Δ 2.59%
113.10 Hz /
116.03 Hz
∇ -2.52%
images: Gauss filter (1024x768)14.37 ms /
14.49 ms
∇ -0.81%
69.58 Hz /
69.01 Hz
Δ 0.82%
images: Half sample GRAY (160x120)1.63 us /
X
612.18 KHz /
X
images: Half sample GRAY (320x240)4.13 us /
X
241.92 KHz /
X
images: Half sample GRAY (640x480)19.15 us /
X
52.22 KHz /
X
images: Half sample GRAY (800x600)31.65 us /
X
31.59 KHz /
X
images: Half sample GRAY (1024x768)50.27 us /
X
19.89 KHz /
X
images: Half sample GRAY (1280x1024)87.87 us /
X
11.38 KHz /
X
images: Half sample RGB (160x120)3.54 us /
X
282.58 KHz /
X
images: Half sample RGB (320x240)11.27 us /
X
88.76 KHz /
X
images: Half sample RGB (640x480)57.50 us /
X
17.39 KHz /
X
images: Half sample RGB (800x600)80.68 us /
X
12.39 KHz /
X
images: Half sample RGB (1024x768)391.11 us /
X
2.56 KHz /
X
images: Half sample RGB (1280x1024)826.49 us /
X
1.21 KHz /
X
images: Half sample smooth GRAY (160x120)2.87 us /
X
348.99 KHz /
X
images: Half sample smooth GRAY (320x240)8.64 us /
X
115.70 KHz /
X
images: Half sample smooth GRAY (640x480)29.52 us /
X
33.88 KHz /
X
images: Half sample smooth GRAY (800x600)66.07 us /
X
15.14 KHz /
X
images: Half sample smooth GRAY (1024x768)90.65 us /
X
11.03 KHz /
X
images: Half sample smooth GRAY (1280x1024)132.57 us /
X
7.54 KHz /
X
images: Half sample smooth RGB (160x120)202.00 us /
X
4.95 KHz /
X
images: Half sample smooth RGB (320x240)779.03 us /
X
1.28 KHz /
X
images: Half sample smooth RGB (640x480)3.10 ms /
X
323.08 Hz /
X
images: Half sample smooth RGB (800x600)4.82 ms /
X
207.41 Hz /
X
images: Half sample smooth RGB (1024x768)8.63 ms /
X
115.89 Hz /
X
images: Half sample smooth RGB (1280x1024)14.76 ms /
X
67.77 Hz /
X
images: RGB->GRAY 8u (40x30)6.40 us /
X
156.37 KHz /
X
images: RGB->GRAY 8u (80x60)4.33 us /
X
230.95 KHz /
X
images: RGB->GRAY 8u (160x120)11.84 us /
X
84.43 KHz /
X
images: RGB->GRAY 8u (320x240)44.50 us /
X
22.47 KHz /
X
images: RGB->GRAY 8u (640x480)191.53 us /
X
5.22 KHz /
X
images: RGB->GRAY 8u (800x600)350.56 us /
X
2.85 KHz /
X
images: RGB->GRAY 8u (1024x768)968.81 us /
X
1.03 KHz /
X
images: RGB->GRAY 8u (1280x1024)1.71 ms /
X
584.85 Hz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]21.97 us /
21.12 us
Δ 3.99%
45.52 KHz /
47.34 KHz
∇ -3.83%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
19.36 us
Δ 13.66%
45.44 KHz /
51.65 KHz
∇ -12.02%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
6.24 us
Δ 103.77%
78.69 KHz /
160.34 KHz
∇ -50.93%
feature_extraction [640x480]: Harris38.32 ms /
40.83 ms
∇ -6.15%
26.10 Hz /
24.49 Hz
Δ 6.55%
feature_extraction [640x480]: KLT37.22 ms /
33.62 ms
Δ 10.71%
26.87 Hz /
29.75 Hz
∇ -9.67%
feature_extraction [640x480]: SIFT739.68 ms /
705.28 ms
Δ 4.88%
1.35 Hz /
1.42 Hz
∇ -4.65%
feature_extraction [640x480]: SIFT desc.232.95 ms /
214.22 ms
Δ 8.75%
4.29 Hz /
4.67 Hz
∇ -8.04%
feature_extraction [640x480]: SURF309.97 ms /
326.57 ms
∇ -5.08%
3.23 Hz /
3.06 Hz
Δ 5.36%
feature_extraction [640x480]: FAST6.88 ms /
7.69 ms
∇ -10.45%
145.25 Hz /
130.08 Hz
Δ 11.67%
feature_extraction [640x480]: Spin desc.88.28 ms /
105.90 ms
∇ -16.64%
11.33 Hz /
9.44 Hz
Δ 19.96%
feature_matching [640x480]: Harris + CC59.68 ms /
57.67 ms
Δ 3.48%
16.76 Hz /
17.34 Hz
∇ -3.37%
feature_matching [640x480]: Harris + SAD58.57 ms /
50.27 ms
Δ 16.51%
17.07 Hz /
19.89 Hz
∇ -14.17%
feature_matching [640x480]: SIFT1.50 sec /
1.38 sec
Δ 8.47%
668.02 mHz /
724.62 mHz
∇ -7.81%
feature_matching [640x480]: SURF621.62 ms /
618.66 ms
Δ 0.48%
1.61 Hz /
1.62 Hz
∇ -0.48%
feature_matching [640x480]: FAST + CC21.69 ms /
22.11 ms
∇ -1.90%
46.10 Hz /
45.22 Hz
Δ 1.94%
feature_matching [640x480]: FAST + SAD12.64 ms /
14.58 ms
∇ -13.35%
79.13 Hz /
68.57 Hz
Δ 15.40%
graph(2d): insertEdge x 1e3301.62 us /
354.58 us
∇ -14.94%
3.32 KHz /
2.82 KHz
Δ 17.56%
graph(2d,vec): insertEdge x 1e3298.86 us /
X
3.35 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
284.04 us
∇ -3.29%
3.64 KHz /
3.52 KHz
Δ 3.40%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
X
3.70 KHz /
X
graph(2d pdf): insertEdge x 1e3415.87 us /
549.28 us
∇ -24.29%
2.40 KHz /
1.82 KHz
Δ 32.08%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
X
2.46 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
452.79 us
∇ -16.62%
2.65 KHz /
2.21 KHz
Δ 19.93%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
X
2.64 KHz /
X
graph(2d): insertEdge x 1e44.14 ms /
3.86 ms
Δ 7.26%
241.59 Hz /
259.12 Hz
∇ -6.77%
graph(2d,vec): insertEdge x 1e44.00 ms /
X
250.06 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
2.88 ms
Δ 2.35%
339.77 Hz /
347.75 Hz
∇ -2.30%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
X
345.69 Hz /
X
graph(2d pdf): insertEdge x 1e44.77 ms /
5.74 ms
∇ -16.84%
209.57 Hz /
174.28 Hz
Δ 20.25%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
X
205.59 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
4.44 ms
∇ -8.64%
246.64 Hz /
225.33 Hz
Δ 9.46%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
X
237.52 Hz /
X
graph(3d): insertEdge x 1e3381.69 us /
1.35 ms
∇ -71.64%
2.62 KHz /
743.07 Hz
Δ 252.58%
graph(3d,vec): insertEdge x 1e3407.21 us /
X
2.46 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
1.09 ms
∇ -68.83%
2.94 KHz /
917.96 Hz
Δ 220.81%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
X
2.99 KHz /
X
graph(3d pdf): insertEdge x 1e3688.91 us /
1.74 ms
∇ -60.48%
1.45 KHz /
573.66 Hz
Δ 153.04%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
X
1.46 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
1.46 ms
∇ -53.32%
1.46 KHz /
683.28 Hz
Δ 114.20%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
X
1.46 KHz /
X
graph(3d): insertEdge x 1e43.89 ms /
13.92 ms
∇ -72.08%
257.39 Hz /
71.86 Hz
Δ 258.16%
graph(3d,vec): insertEdge x 1e43.79 ms /
X
263.81 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
11.12 ms
∇ -67.76%
278.91 Hz /
89.92 Hz
Δ 210.17%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
X
284.28 Hz /
X
graph(3d pdf): insertEdge x 1e47.80 ms /
17.58 ms
∇ -55.61%
128.15 Hz /
56.89 Hz
Δ 125.27%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
X
128.11 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
14.12 ms
∇ -46.94%
133.45 Hz /
70.81 Hz
Δ 88.47%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
X
132.15 Hz /
X
graph(3d): dijkstra 1e2 nodes213.16 us /
X
4.69 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
X
3.21 KHz /
X
graph(3d): dijkstra 1e3 nodes2.57 ms /
X
389.66 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
X
370.20 Hz /
X
graph(3d): dijkstra 1e4 nodes31.29 ms /
X
31.96 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
X
30.38 Hz /
X
graph(3d): dijkstra 1e5 nodes393.68 ms /
X
2.54 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
X
2.59 Hz /
X
graph(2d): dijkstra 1e5 nodes380.30 ms /
X
2.63 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
X
2.65 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:38.031437 with MRPT 0.9.4 by 'mrpt-performance'.