Comparison: 0.9.4-MSVC10-64bit vs. 0.9.3-MSVC9-32bit




Test description 0.9.4-MSVC10-64bit /
0.9.3-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
31.56 ms
∇ -15.89%
37.68 Hz /
31.69 Hz
Δ 18.89%
icp-slam (match grid): Run with sample dataset32.17 ms /
53.95 ms
∇ -40.36%
31.08 Hz /
18.54 Hz
Δ 67.68%
poses: CPose3D (+) CPose3D62.83 ns /
194.14 ns
∇ -67.64%
15.92 MHz /
5.15 MHz
Δ 209.00%
poses: CPose3D.composeFrom()41.42 ns /
34.65 ns
Δ 19.53%
24.14 MHz /
28.86 MHz
∇ -16.34%
poses: CPose3D (+) CPoint3D18.89 ns /
28.67 ns
∇ -34.11%
52.94 MHz /
34.88 MHz
Δ 51.76%
poses: CPose3D.composePoint()17.17 ns /
18.49 ns
∇ -7.12%
58.23 MHz /
54.08 MHz
Δ 7.67%
poses: CPoint3D (-) CPose3D88.79 ns /
93.89 ns
∇ -5.43%
11.26 MHz /
10.65 MHz
Δ 5.74%
poses: CPose3D.inverseComposePoint()44.00 ns /
44.39 ns
∇ -0.88%
22.73 MHz /
22.53 MHz
Δ 0.88%
poses: CPose2D (+) CPose2D72.08 ns /
103.92 ns
∇ -30.64%
13.87 MHz /
9.62 MHz
Δ 44.17%
poses: CPose2D.composeFrom()63.27 ns /
91.82 ns
∇ -31.09%
15.81 MHz /
10.89 MHz
Δ 45.13%
poses: CPose2D (+) CPoint2D34.42 ns /
140.37 ns
∇ -75.48%
29.05 MHz /
7.12 MHz
Δ 307.82%
poses: CPose2D.composePoint()26.02 ns /
66.26 ns
∇ -60.73%
38.43 MHz /
15.09 MHz
Δ 154.62%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
93.35 ns
Δ 21.68%
8.80 MHz /
10.71 MHz
∇ -17.82%
poses: CPose3DQuat.composeFrom()82.72 ns /
60.52 ns
Δ 36.67%
12.09 MHz /
16.52 MHz
∇ -26.83%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
116.72 ns
∇ -64.59%
24.20 MHz /
8.57 MHz
Δ 182.42%
poses: CPose3DQuat.composePoint()31.13 ns /
31.02 ns
Δ 0.35%
32.12 MHz /
32.23 MHz
∇ -0.35%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
126.78 ns
∇ -10.17%
8.78 MHz /
7.89 MHz
Δ 11.32%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
30.88 ns
Δ 9.93%
29.46 MHz /
32.38 MHz
∇ -9.03%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
33.42 ns
∇ -20.86%
37.82 MHz /
29.93 MHz
Δ 26.37%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
211.33 ns
∇ -53.95%
10.28 MHz /
4.73 MHz
Δ 117.17%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
19.45 us
∇ -95.12%
1.05 MHz /
51.41 KHz
Δ 1950.11%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
2.93 us
∇ -67.99%
1.07 MHz /
341.05 KHz
Δ 212.37%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
34.64 us
∇ -38.77%
47.15 KHz /
28.87 KHz
Δ 63.31%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
860.26 ns
∇ -38.11%
1.88 MHz /
1.16 MHz
Δ 61.57%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
880.23 ns
∇ -39.99%
1.89 MHz /
1.14 MHz
Δ 66.64%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
21.76 us
∇ -48.57%
89.35 KHz /
45.95 KHz
Δ 94.45%
matrix: unit, dyn[float], 3x345.20 ns /
44.99 ns
Δ 0.46%
22.13 MHz /
22.23 MHz
∇ -0.46%
matrix: unit, dyn[double], 3x345.86 ns /
45.16 ns
Δ 1.54%
21.81 MHz /
22.14 MHz
∇ -1.51%
matrix: unit, dyn[float], 6x6177.43 ns /
160.84 ns
Δ 10.32%
5.64 MHz /
6.22 MHz
∇ -9.35%
matrix: unit, dyn[double], 6x6169.52 ns /
160.97 ns
Δ 5.31%
5.90 MHz /
6.21 MHz
∇ -5.04%
matrix: unit, fix[float,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[float,6,6]6.37 ns /
6.73 ns
∇ -5.45%
157.06 MHz /
148.49 MHz
Δ 5.77%
matrix: unit, fix[double,6,6]7.86 ns /
7.86 ns
Δ 0.05%
127.19 MHz /
127.26 MHz
∇ -0.05%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
550.79 ns
∇ -11.77%
2.06 MHz /
1.82 MHz
Δ 13.35%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
0.05 ns
Δ 0.00%
22.08 GHz /
22.08 GHz
∇ -0.00%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
432.98 ns
Δ 22.04%
1.89 MHz /
2.31 MHz
∇ -18.06%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3547.16 ns /
660.53 ns
∇ -17.16%
1.83 MHz /
1.51 MHz
Δ 20.72%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
38.91 ns
∇ -93.95%
424.60 MHz /
25.70 MHz
Δ 1551.92%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
474.65 ns
∇ -17.52%
2.55 MHz /
2.11 MHz
Δ 21.24%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
8.74 ns
∇ -73.06%
424.60 MHz /
114.40 MHz
Δ 271.15%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
4.68 us
∇ -41.40%
364.51 KHz /
213.59 KHz
Δ 70.66%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
4.42 us
∇ -52.86%
479.89 KHz /
226.20 KHz
Δ 112.15%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
3.24 us
Δ 7.06%
288.55 KHz /
308.92 KHz
∇ -6.60%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
2.37 us
Δ 0.76%
419.56 KHz /
422.77 KHz
∇ -0.76%
matrix: inv, dyn[double] 3x31.09 us /
1.49 us
∇ -27.01%
921.12 KHz /
672.33 KHz
Δ 37.00%
matrix: inv, fix[double] 3x322.19 ns /
32.16 ns
∇ -30.99%
45.06 MHz /
31.10 MHz
Δ 44.90%
matrix: inv, dyn[double] 6x62.78 us /
3.50 us
∇ -20.45%
359.66 KHz /
286.11 KHz
Δ 25.70%
matrix: inv, fix[double] 6x62.22 us /
2.72 us
∇ -18.21%
450.23 KHz /
368.24 KHz
Δ 22.27%
matrix: inv, dyn[double] 20x2030.71 us /
31.87 us
∇ -3.64%
32.56 KHz /
31.37 KHz
Δ 3.78%
matrix: inv, fix[double] 20x2024.08 us /
28.91 us
∇ -16.73%
41.53 KHz /
34.58 KHz
Δ 20.09%
matrix: inv, dyn[double] 40x40117.18 us /
124.22 us
∇ -5.67%
8.53 KHz /
8.05 KHz
Δ 6.01%
matrix: inv, fix[double] 40x40112.80 us /
122.24 us
∇ -7.72%
8.86 KHz /
8.18 KHz
Δ 8.37%
matrix: det, dyn[double] 2x2765.51 ns /
647.62 ns
Δ 18.20%
1.31 MHz /
1.54 MHz
∇ -15.40%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3822.31 ns /
969.59 ns
∇ -15.19%
1.22 MHz /
1.03 MHz
Δ 17.91%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x61.78 us /
2.45 us
∇ -27.30%
560.47 KHz /
407.46 KHz
Δ 37.55%
matrix: det, fix[double] 6x61.51 us /
1.89 us
∇ -19.86%
661.35 KHz /
529.99 KHz
Δ 24.79%
matrix: det, dyn[double] 20x2018.54 us /
22.48 us
∇ -17.52%
53.94 KHz /
44.49 KHz
Δ 21.24%
matrix: det, fix[double] 20x2019.01 us /
21.45 us
∇ -11.36%
52.61 KHz /
46.63 KHz
Δ 12.82%
matrix: det, dyn[double] 40x4072.40 us /
80.28 us
∇ -9.82%
13.81 KHz /
12.46 KHz
Δ 10.88%
matrix: det, fix[double] 40x4067.43 us /
79.04 us
∇ -14.69%
14.83 KHz /
12.65 KHz
Δ 17.22%
matrix: chol, dyn[double] 4x4606.90 ns /
1.09 us
∇ -44.40%
1.65 MHz /
916.16 KHz
Δ 79.85%
matrix: chol, fix[double] 4x4190.22 ns /
317.04 ns
∇ -40.00%
5.26 MHz /
3.15 MHz
Δ 66.67%
matrix: chol, dyn[double] 40x4031.59 us /
75.74 us
∇ -58.29%
31.66 KHz /
13.20 KHz
Δ 139.78%
matrix: chol, fix[double] 40x4020.87 us /
55.31 us
∇ -62.27%
47.93 KHz /
18.08 KHz
Δ 165.07%
matrix: chol, sparse [2x2;2x2]7.11 us /
16.89 us
∇ -57.91%
140.63 KHz /
59.19 KHz
Δ 137.58%
matrix: chol, sparse [30x30;10x10]94.75 us /
247.29 us
∇ -61.68%
10.55 KHz /
4.04 KHz
Δ 160.99%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
180.76 us
∇ -58.18%
13.23 KHz /
5.53 KHz
Δ 139.12%
matrix: chol, sparse 10x[6x6]43.20 us /
91.89 us
∇ -52.98%
23.15 KHz /
10.88 KHz
Δ 112.69%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
765.78 us
∇ -40.79%
2.21 KHz /
1.31 KHz
Δ 68.88%
matrix: chol, sparse 20x[6x6]74.00 us /
116.55 us
∇ -36.51%
13.51 KHz /
8.58 KHz
Δ 57.49%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
4.08 ms
∇ -13.11%
282.19 Hz /
245.20 Hz
Δ 15.09%
matrix: chol, sparse 50x[6x6]178.69 us /
207.46 us
∇ -13.87%
5.60 KHz /
4.82 KHz
Δ 16.10%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
24.43 ms
∇ -8.79%
44.87 Hz /
40.93 Hz
Δ 9.64%
matrix: chol, sparse 100x[6x6]359.36 us /
403.40 us
∇ -10.92%
2.78 KHz /
2.48 KHz
Δ 12.25%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
40.20 ms
∇ -9.74%
27.56 Hz /
24.87 Hz
Δ 10.79%
matrix: chol, sparse 120x[6x6]411.86 us /
479.83 us
∇ -14.16%
2.43 KHz /
2.08 KHz
Δ 16.50%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
59.95 ms
∇ -9.35%
18.40 Hz /
16.68 Hz
Δ 10.31%
matrix: chol, sparse 140x[6x6]488.10 us /
560.09 us
∇ -12.85%
2.05 KHz /
1.79 KHz
Δ 14.75%
gridmap2D: getCell4.13 ns /
5.69 ns
∇ -27.41%
242.07 MHz /
175.73 MHz
Δ 37.75%
gridmap2D: setCell5.65 ns /
8.06 ns
∇ -29.96%
177.14 MHz /
124.07 MHz
Δ 42.78%
gridmap2D: updateCell6.93 ns /
61.98 ns
∇ -88.82%
144.35 MHz /
16.13 MHz
Δ 794.65%
gridmap2D: updateCell_fast_occupied1.20 ns /
1.25 ns
∇ -4.15%
833.40 MHz /
798.82 MHz
Δ 4.33%
gridmap2D: insert scan w/o widening102.16 us /
208.84 us
∇ -51.08%
9.79 KHz /
4.79 KHz
Δ 104.43%
gridmap2D: insert scan with widening276.88 us /
346.08 us
∇ -20.00%
3.61 KHz /
2.89 KHz
Δ 24.99%
gridmap2D: resize3.89 ms /
2.81 ms
Δ 38.33%
257.06 Hz /
355.60 Hz
∇ -27.71%
gridmap2D: computeLikelihood13.92 us /
18.33 us
∇ -24.04%
71.84 KHz /
54.57 KHz
Δ 31.65%
pointmap: insert 100 scans1.87 ms /
6.61 ms
∇ -71.67%
534.24 Hz /
151.33 Hz
Δ 253.03%
pointmap: build 2D kd-tree of 1 scan5.09 us /
6.03 us
∇ -15.62%
196.43 KHz /
165.76 KHz
Δ 18.50%
pointmap: build 2D kd-tree of 100 scan486.39 us /
536.01 us
∇ -9.26%
2.06 KHz /
1.87 KHz
Δ 10.20%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
5.64 ms
∇ -9.70%
196.20 Hz /
177.17 Hz
Δ 10.74%
pointmap: build 3D kd-tree of 1 scan5.56 us /
7.70 us
∇ -27.76%
179.80 KHz /
129.88 KHz
Δ 38.44%
pointmap: build 3D kd-tree of 100 scan467.24 us /
528.60 us
∇ -11.61%
2.14 KHz /
1.89 KHz
Δ 13.13%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
5.81 ms
∇ -10.81%
192.98 Hz /
172.12 Hz
Δ 12.12%
pointmap: kd-tree 2d query on 10 scans1.59 us /
2.13 us
∇ -25.23%
627.25 KHz /
468.98 KHz
Δ 33.75%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
145.70 us
∇ -13.05%
7.89 KHz /
6.86 KHz
Δ 15.01%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
15.49 ms
∇ -10.50%
72.14 Hz /
64.56 Hz
Δ 11.73%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
8.93 ms
∇ -26.76%
152.81 Hz /
111.93 Hz
Δ 36.53%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
200.06 ms
∇ -12.64%
5.72 Hz /
5.00 Hz
Δ 14.47%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
8.97 ms
∇ -23.30%
145.28 Hz /
111.43 Hz
Δ 30.38%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
201.21 ms
∇ -9.86%
5.51 Hz /
4.97 Hz
Δ 10.94%
random: drawUniform32bit9.54 ns /
7.76 ns
Δ 22.94%
104.87 MHz /
128.93 MHz
∇ -18.66%
random: drawUniform9.69 ns /
7.61 ns
Δ 27.32%
103.21 MHz /
131.41 MHz
∇ -21.46%
random: drawGaussian1D_normalized52.06 ns /
51.84 ns
Δ 0.44%
19.21 MHz /
19.29 MHz
∇ -0.44%
random: drawGaussian1D50.73 ns /
52.02 ns
∇ -2.48%
19.71 MHz /
19.22 MHz
Δ 2.54%
random: system rand()24.47 ns /
27.43 ns
∇ -10.80%
40.87 MHz /
36.46 MHz
Δ 12.10%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
4.97 us
∇ -74.99%
805.20 KHz /
201.38 KHz
Δ 299.84%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
10.68 us
∇ -70.14%
313.70 KHz /
93.66 KHz
Δ 234.93%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
153.63 ns
∇ -15.36%
7.69 MHz /
6.51 MHz
Δ 18.15%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
250.07 ns
∇ -20.68%
5.04 MHz /
4.00 MHz
Δ 26.07%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
664.62 ns
∇ -32.04%
2.21 MHz /
1.50 MHz
Δ 47.15%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
153.22 ns
∇ -10.64%
7.30 MHz /
6.53 MHz
Δ 11.90%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
253.40 ns
∇ -15.74%
4.68 MHz /
3.95 MHz
Δ 18.68%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
622.96 ns
∇ -23.18%
2.09 MHz /
1.61 MHz
Δ 30.18%
random: permuteVector (len=10)244.07 ns /
342.58 ns
∇ -28.75%
4.10 MHz /
2.92 MHz
Δ 40.36%
random: permuteVector (len=100)3.12 us /
3.62 us
∇ -13.61%
320.11 KHz /
276.54 KHz
Δ 15.76%
random: permuteVector (len=1000)30.82 us /
35.68 us
∇ -13.61%
32.44 KHz /
28.03 KHz
Δ 15.76%
math: round0.00 ns /
0.00 ns
Δ 0.00%
220.79 THz /
220.79 THz
∇ -0.00%
images: Save as JPEG (640x480, quality=95%)29.87 ms /
28.08 ms
Δ 6.36%
33.48 Hz /
35.61 Hz
∇ -5.98%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
42.80 ms
Δ 0.44%
23.26 Hz /
23.37 Hz
∇ -0.44%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
69.14 ms
∇ -0.16%
14.49 Hz /
14.46 Hz
Δ 0.16%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
23.76 ms
∇ -3.80%
43.75 Hz /
42.09 Hz
Δ 3.95%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
37.25 ms
∇ -5.49%
28.41 Hz /
26.85 Hz
Δ 5.81%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
59.86 ms
∇ -4.28%
17.45 Hz /
16.71 Hz
Δ 4.48%
images: Gauss filter (640x480)4.45 ms /
7.21 ms
∇ -38.25%
224.70 Hz /
138.75 Hz
Δ 61.95%
images: Gauss filter (800x600)8.06 ms /
8.67 ms
∇ -7.11%
124.15 Hz /
115.32 Hz
Δ 7.66%
images: Gauss filter (1024x768)13.86 ms /
14.94 ms
∇ -7.25%
72.16 Hz /
66.93 Hz
Δ 7.81%
images: Half sample GRAY (160x120)1.32 us /
X
755.28 KHz /
X
images: Half sample GRAY (320x240)4.41 us /
X
226.69 KHz /
X
images: Half sample GRAY (640x480)18.51 us /
X
54.02 KHz /
X
images: Half sample GRAY (800x600)29.74 us /
X
33.62 KHz /
X
images: Half sample GRAY (1024x768)52.65 us /
X
18.99 KHz /
X
images: Half sample GRAY (1280x1024)107.42 us /
X
9.31 KHz /
X
images: Half sample RGB (160x120)9.33 us /
X
107.15 KHz /
X
images: Half sample RGB (320x240)11.01 us /
X
90.82 KHz /
X
images: Half sample RGB (640x480)53.51 us /
X
18.69 KHz /
X
images: Half sample RGB (800x600)126.28 us /
X
7.92 KHz /
X
images: Half sample RGB (1024x768)248.04 us /
X
4.03 KHz /
X
images: Half sample RGB (1280x1024)667.92 us /
X
1.50 KHz /
X
images: Half sample smooth GRAY (160x120)1.83 us /
X
546.97 KHz /
X
images: Half sample smooth GRAY (320x240)6.09 us /
X
164.16 KHz /
X
images: Half sample smooth GRAY (640x480)28.72 us /
X
34.81 KHz /
X
images: Half sample smooth GRAY (800x600)44.06 us /
X
22.70 KHz /
X
images: Half sample smooth GRAY (1024x768)78.59 us /
X
12.72 KHz /
X
images: Half sample smooth GRAY (1280x1024)168.62 us /
X
5.93 KHz /
X
images: Half sample smooth RGB (160x120)88.54 us /
X
11.29 KHz /
X
images: Half sample smooth RGB (320x240)381.77 us /
X
2.62 KHz /
X
images: Half sample smooth RGB (640x480)1.50 ms /
X
665.62 Hz /
X
images: Half sample smooth RGB (800x600)2.40 ms /
X
417.30 Hz /
X
images: Half sample smooth RGB (1024x768)3.77 ms /
X
265.35 Hz /
X
images: Half sample smooth RGB (1280x1024)6.50 ms /
X
153.82 Hz /
X
images: RGB->GRAY 8u (40x30)3.88 us /
X
257.84 KHz /
X
images: RGB->GRAY 8u (80x60)2.89 us /
X
345.89 KHz /
X
images: RGB->GRAY 8u (160x120)10.09 us /
X
99.10 KHz /
X
images: RGB->GRAY 8u (320x240)39.97 us /
X
25.02 KHz /
X
images: RGB->GRAY 8u (640x480)172.29 us /
X
5.80 KHz /
X
images: RGB->GRAY 8u (800x600)303.41 us /
X
3.30 KHz /
X
images: RGB->GRAY 8u (1024x768)645.96 us /
X
1.55 KHz /
X
images: RGB->GRAY 8u (1280x1024)1.76 ms /
X
569.41 Hz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]17.29 us /
25.26 us
∇ -31.56%
57.84 KHz /
39.59 KHz
Δ 46.11%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
24.29 us
∇ -32.13%
60.66 KHz /
41.17 KHz
Δ 47.33%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
13.82 us
∇ -29.66%
102.89 KHz /
72.37 KHz
Δ 42.17%
feature_extraction [640x480]: Harris31.46 ms /
53.60 ms
∇ -41.31%
31.79 Hz /
18.66 Hz
Δ 70.38%
feature_extraction [640x480]: KLT30.94 ms /
32.67 ms
∇ -5.28%
32.32 Hz /
30.61 Hz
Δ 5.57%
feature_extraction [640x480]: SIFT653.53 ms /
724.51 ms
∇ -9.80%
1.53 Hz /
1.38 Hz
Δ 10.86%
feature_extraction [640x480]: SIFT desc.210.38 ms /
217.33 ms
∇ -3.20%
4.75 Hz /
4.60 Hz
Δ 3.30%
feature_extraction [640x480]: SURF243.66 ms /
320.21 ms
∇ -23.91%
4.10 Hz /
3.12 Hz
Δ 31.42%
feature_extraction [640x480]: FAST6.32 ms /
9.58 ms
∇ -34.02%
158.19 Hz /
104.37 Hz
Δ 51.57%
feature_extraction [640x480]: Spin desc.45.12 ms /
111.16 ms
∇ -59.41%
22.16 Hz /
9.00 Hz
Δ 146.37%
feature_matching [640x480]: Harris + CC46.60 ms /
64.75 ms
∇ -28.03%
21.46 Hz /
15.44 Hz
Δ 38.96%
feature_matching [640x480]: Harris + SAD40.89 ms /
50.46 ms
∇ -18.96%
24.46 Hz /
19.82 Hz
Δ 23.40%
feature_matching [640x480]: SIFT1.28 sec /
1.37 sec
∇ -5.94%
778.73 mHz /
732.49 mHz
Δ 6.31%
feature_matching [640x480]: SURF502.54 ms /
602.11 ms
∇ -16.54%
1.99 Hz /
1.66 Hz
Δ 19.81%
feature_matching [640x480]: FAST + CC19.71 ms /
23.55 ms
∇ -16.31%
50.74 Hz /
42.46 Hz
Δ 19.49%
feature_matching [640x480]: FAST + SAD13.01 ms /
15.71 ms
∇ -17.16%
76.86 Hz /
63.67 Hz
Δ 20.72%
graph(2d): insertEdge x 1e3236.53 us /
300.22 us
∇ -21.21%
4.23 KHz /
3.33 KHz
Δ 26.93%
graph(2d,vec): insertEdge x 1e3246.73 us /
300.93 us
∇ -18.01%
4.05 KHz /
3.32 KHz
Δ 21.97%
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
245.20 us
∇ -10.76%
4.57 KHz /
4.08 KHz
Δ 12.06%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
252.81 us
∇ -17.25%
4.78 KHz /
3.96 KHz
Δ 20.84%
graph(2d pdf): insertEdge x 1e3329.87 us /
537.61 us
∇ -38.64%
3.03 KHz /
1.86 KHz
Δ 62.98%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
456.45 us
∇ -33.49%
3.29 KHz /
2.19 KHz
Δ 50.34%
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
401.18 us
∇ -30.18%
3.57 KHz /
2.49 KHz
Δ 43.23%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
394.03 us
∇ -27.85%
3.52 KHz /
2.54 KHz
Δ 38.61%
graph(2d): insertEdge x 1e42.72 ms /
3.65 ms
∇ -25.40%
367.00 Hz /
273.78 Hz
Δ 34.05%
graph(2d,vec): insertEdge x 1e42.73 ms /
3.70 ms
∇ -26.20%
366.67 Hz /
270.61 Hz
Δ 35.50%
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
2.51 ms
∇ -22.12%
512.34 Hz /
399.01 Hz
Δ 28.40%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
2.55 ms
∇ -24.53%
519.87 Hz /
392.34 Hz
Δ 32.50%
graph(2d pdf): insertEdge x 1e43.21 ms /
4.81 ms
∇ -33.27%
311.68 Hz /
207.97 Hz
Δ 49.87%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
4.86 ms
∇ -33.35%
308.83 Hz /
205.85 Hz
Δ 50.03%
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
4.03 ms
∇ -19.91%
309.95 Hz /
248.25 Hz
Δ 24.85%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
4.00 ms
∇ -20.61%
314.97 Hz /
250.07 Hz
Δ 25.95%
graph(3d): insertEdge x 1e3274.22 us /
338.14 us
∇ -18.90%
3.65 KHz /
2.96 KHz
Δ 23.31%
graph(3d,vec): insertEdge x 1e3264.66 us /
332.03 us
∇ -20.29%
3.78 KHz /
3.01 KHz
Δ 25.46%
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
302.41 us
∇ -12.71%
3.79 KHz /
3.31 KHz
Δ 14.56%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
309.65 us
∇ -13.67%
3.74 KHz /
3.23 KHz
Δ 15.83%
graph(3d pdf): insertEdge x 1e3589.01 us /
668.72 us
∇ -11.92%
1.70 KHz /
1.50 KHz
Δ 13.53%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
672.92 us
∇ -11.34%
1.68 KHz /
1.49 KHz
Δ 12.79%
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
668.41 us
∇ -15.78%
1.78 KHz /
1.50 KHz
Δ 18.73%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
676.59 us
∇ -17.38%
1.79 KHz /
1.48 KHz
Δ 21.03%
graph(3d): insertEdge x 1e43.23 ms /
3.60 ms
∇ -10.23%
309.17 Hz /
277.54 Hz
Δ 11.40%
graph(3d,vec): insertEdge x 1e43.13 ms /
3.62 ms
∇ -13.44%
319.30 Hz /
276.39 Hz
Δ 15.53%
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
3.04 ms
∇ -13.80%
381.66 Hz /
328.99 Hz
Δ 16.01%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
3.02 ms
∇ -15.74%
392.76 Hz /
330.96 Hz
Δ 18.67%
graph(3d pdf): insertEdge x 1e46.11 ms /
7.09 ms
∇ -13.78%
163.57 Hz /
141.02 Hz
Δ 15.99%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
7.08 ms
∇ -20.81%
178.36 Hz /
141.24 Hz
Δ 26.29%
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
6.70 ms
∇ -22.21%
192.01 Hz /
149.36 Hz
Δ 28.56%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
6.88 ms
∇ -24.65%
192.88 Hz /
145.34 Hz
Δ 32.71%
graph(3d): dijkstra 1e2 nodes156.43 us /
279.15 us
∇ -43.96%
6.39 KHz /
3.58 KHz
Δ 78.45%
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
417.83 us
∇ -53.97%
5.20 KHz /
2.39 KHz
Δ 117.25%
graph(3d): dijkstra 1e3 nodes2.18 ms /
3.14 ms
∇ -30.64%
459.11 Hz /
318.46 Hz
Δ 44.17%
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
3.68 ms
∇ -51.11%
555.25 Hz /
271.44 Hz
Δ 104.56%
graph(3d): dijkstra 1e4 nodes26.67 ms /
37.09 ms
∇ -28.10%
37.50 Hz /
26.96 Hz
Δ 39.09%
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
42.65 ms
∇ -46.46%
43.80 Hz /
23.45 Hz
Δ 86.78%
graph(3d): dijkstra 1e5 nodes307.16 ms /
433.73 ms
∇ -29.18%
3.26 Hz /
2.31 Hz
Δ 41.21%
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
470.84 ms
∇ -43.34%
3.75 Hz /
2.12 Hz
Δ 76.48%
graph(2d): dijkstra 1e5 nodes302.10 ms /
428.18 ms
∇ -29.44%
3.31 Hz /
2.34 Hz
Δ 41.73%
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
465.28 ms
∇ -43.52%
3.81 Hz /
2.15 Hz
Δ 77.06%

 


Page generated automatically at 2011/06/03,22:26:37.584411 with MRPT 0.9.4 by 'mrpt-performance'.