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




Test description 0.9.4-MSVC10-32bit /
0.9.3-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
20.90 ms
Δ 77.71%
26.93 Hz /
47.85 Hz
∇ -43.73%
icp-slam (match grid): Run with sample dataset36.34 ms /
18.76 ms
Δ 93.66%
27.52 Hz /
53.30 Hz
∇ -48.36%
poses: CPose3D (+) CPose3D197.08 ns /
41.67 ns
Δ 372.94%
5.07 MHz /
24.00 MHz
∇ -78.86%
poses: CPose3D.composeFrom()33.62 ns /
32.39 ns
Δ 3.81%
29.74 MHz /
30.87 MHz
∇ -3.67%
poses: CPose3D (+) CPoint3D25.13 ns /
8.02 ns
Δ 213.25%
39.79 MHz /
124.63 MHz
∇ -68.08%
poses: CPose3D.composePoint()21.31 ns /
11.53 ns
Δ 84.72%
46.94 MHz /
86.70 MHz
∇ -45.86%
poses: CPoint3D (-) CPose3D89.96 ns /
18.18 ns
Δ 394.74%
11.12 MHz /
54.99 MHz
∇ -79.79%
poses: CPose3D.inverseComposePoint()47.25 ns /
25.21 ns
Δ 87.38%
21.17 MHz /
39.66 MHz
∇ -46.63%
poses: CPose2D (+) CPose2D108.63 ns /
72.10 ns
Δ 50.66%
9.21 MHz /
13.87 MHz
∇ -33.62%
poses: CPose2D.composeFrom()94.77 ns /
69.22 ns
Δ 36.91%
10.55 MHz /
14.45 MHz
∇ -26.96%
poses: CPose2D (+) CPoint2D80.61 ns /
60.48 ns
Δ 33.27%
12.41 MHz /
16.53 MHz
∇ -24.96%
poses: CPose2D.composePoint()67.32 ns /
60.01 ns
Δ 12.18%
14.85 MHz /
16.66 MHz
∇ -10.86%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
42.70 ns
Δ 90.41%
12.30 MHz /
23.42 MHz
∇ -47.48%
poses: CPose3DQuat.composeFrom()51.56 ns /
38.27 ns
Δ 34.74%
19.39 MHz /
26.13 MHz
∇ -25.78%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
17.90 ns
Δ 212.28%
17.89 MHz /
55.85 MHz
∇ -67.98%
poses: CPose3DQuat.composePoint()32.73 ns /
18.44 ns
Δ 77.50%
30.55 MHz /
54.23 MHz
∇ -43.66%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
33.31 ns
Δ 272.29%
8.06 MHz /
30.02 MHz
∇ -73.14%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
19.52 ns
Δ 56.83%
32.67 MHz /
51.24 MHz
∇ -36.23%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
16.27 ns
Δ 72.80%
35.56 MHz /
61.45 MHz
∇ -42.13%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
169.77 ns
Δ 27.72%
4.61 MHz /
5.89 MHz
∇ -21.70%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
799.00 ns
Δ 55.20%
806.40 KHz /
1.25 MHz
∇ -35.57%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
788.50 ns
Δ 51.78%
835.55 KHz /
1.27 MHz
∇ -34.12%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
9.11 us
Δ 121.31%
49.63 KHz /
109.83 KHz
∇ -54.81%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
557.50 ns
Δ 46.65%
1.22 MHz /
1.79 MHz
∇ -31.81%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
558.50 ns
Δ 47.43%
1.21 MHz /
1.79 MHz
∇ -32.17%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
8.42 us
Δ 126.81%
52.39 KHz /
118.81 KHz
∇ -55.91%
matrix: unit, dyn[float], 3x349.67 ns /
17.83 ns
Δ 178.50%
20.13 MHz /
56.07 MHz
∇ -64.09%
matrix: unit, dyn[double], 3x350.90 ns /
19.48 ns
Δ 161.38%
19.64 MHz /
51.35 MHz
∇ -61.74%
matrix: unit, dyn[float], 6x6180.98 ns /
54.85 ns
Δ 229.99%
5.53 MHz /
18.23 MHz
∇ -69.70%
matrix: unit, dyn[double], 6x6177.90 ns /
55.93 ns
Δ 218.06%
5.62 MHz /
17.88 MHz
∇ -68.56%
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]6.63 ns /
1.50 ns
Δ 342.63%
150.81 MHz /
667.56 MHz
∇ -77.41%
matrix: unit, fix[double,6,6]8.86 ns /
5.61 ns
Δ 57.95%
112.91 MHz /
178.35 MHz
∇ -36.69%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
291.30 ns
Δ 133.53%
1.47 MHz /
3.43 MHz
∇ -57.18%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
292.50 ns
Δ 56.70%
2.18 MHz /
3.42 MHz
∇ -36.18%
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 * 6x3680.46 ns /
347.50 ns
Δ 95.81%
1.47 MHz /
2.88 MHz
∇ -48.93%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
0.00 ns
Δ 1.#J%
28.34 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
340.40 ns
Δ 51.00%
1.95 MHz /
2.94 MHz
∇ -33.78%
matrix: multiply, fix[double], 3x6 * 6x33.40 ns /
0.00 ns
Δ 1.#J%
294.39 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
2.42 us
Δ 114.02%
193.06 KHz /
413.19 KHz
∇ -53.28%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
2.23 us
Δ 104.24%
219.44 KHz /
448.19 KHz
∇ -51.04%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
2.31 us
Δ 64.04%
263.78 KHz /
432.69 KHz
∇ -39.04%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
2.12 us
Δ 37.72%
342.06 KHz /
471.08 KHz
∇ -27.39%
matrix: inv, dyn[double] 3x31.50 us /
780.00 ns
Δ 92.66%
665.44 KHz /
1.28 MHz
∇ -48.10%
matrix: inv, fix[double] 3x39.51 ns /
0.00 ns
Δ 1.#J%
105.14 MHz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[double] 6x63.90 us /
1.97 us
Δ 97.95%
256.17 KHz /
507.10 KHz
∇ -49.48%
matrix: inv, fix[double] 6x63.54 us /
1.60 us
Δ 121.11%
282.49 KHz /
624.61 KHz
∇ -54.77%
matrix: inv, dyn[double] 20x2034.19 us /
16.08 us
Δ 112.63%
29.25 KHz /
62.19 KHz
∇ -52.97%
matrix: inv, fix[double] 20x2029.35 us /
14.48 us
Δ 102.76%
34.07 KHz /
69.08 KHz
∇ -50.68%
matrix: inv, dyn[double] 40x40134.24 us /
65.78 us
Δ 104.05%
7.45 KHz /
15.20 KHz
∇ -50.99%
matrix: inv, fix[double] 40x40126.45 us /
64.13 us
Δ 97.18%
7.91 KHz /
15.59 KHz
∇ -49.28%
matrix: det, dyn[double] 2x2601.74 ns /
212.60 ns
Δ 183.04%
1.66 MHz /
4.70 MHz
∇ -64.67%
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 /
323.30 ns
Δ 169.97%
1.15 MHz /
3.09 MHz
∇ -62.96%
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 /
774.90 ns
Δ 199.91%
430.29 KHz /
1.29 MHz
∇ -66.66%
matrix: det, fix[double] 6x62.17 us /
592.30 ns
Δ 266.55%
460.60 KHz /
1.69 MHz
∇ -72.72%
matrix: det, dyn[double] 20x2023.14 us /
8.50 us
Δ 172.14%
43.22 KHz /
117.63 KHz
∇ -63.25%
matrix: det, fix[double] 20x2021.38 us /
7.72 us
Δ 176.91%
46.78 KHz /
129.53 KHz
∇ -63.89%
matrix: det, dyn[double] 40x4092.83 us /
32.23 us
Δ 188.07%
10.77 KHz /
31.03 KHz
∇ -65.29%
matrix: det, fix[double] 40x4090.97 us /
30.71 us
Δ 196.25%
10.99 KHz /
32.57 KHz
∇ -66.25%
matrix: chol, dyn[double] 4x4892.24 ns /
530.00 ns
Δ 68.35%
1.12 MHz /
1.89 MHz
∇ -40.60%
matrix: chol, fix[double] 4x4249.10 ns /
130.00 ns
Δ 91.62%
4.01 MHz /
7.69 MHz
∇ -47.81%
matrix: chol, dyn[double] 40x4041.12 us /
22.98 us
Δ 78.96%
24.32 KHz /
43.52 KHz
∇ -44.12%
matrix: chol, fix[double] 40x4026.92 us /
19.50 us
Δ 38.03%
37.15 KHz /
51.28 KHz
∇ -27.55%
matrix: chol, sparse [2x2;2x2]15.31 us /
8.20 us
Δ 86.69%
65.32 KHz /
121.95 KHz
∇ -46.43%
matrix: chol, sparse [30x30;10x10]116.85 us /
85.30 us
Δ 36.99%
8.56 KHz /
11.72 KHz
∇ -27.00%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
56.80 us
Δ 74.23%
10.10 KHz /
17.61 KHz
∇ -42.60%
matrix: chol, sparse 10x[6x6]55.18 us /
39.31 us
Δ 40.37%
18.12 KHz /
25.44 KHz
∇ -28.76%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
266.80 us
Δ 86.68%
2.01 KHz /
3.75 KHz
∇ -46.43%
matrix: chol, sparse 20x[6x6]133.40 us /
72.76 us
Δ 83.34%
7.50 KHz /
13.74 KHz
∇ -45.46%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
2.67 ms
Δ 86.99%
200.30 Hz /
374.53 Hz
∇ -46.52%
matrix: chol, sparse 50x[6x6]243.96 us /
176.19 us
Δ 38.47%
4.10 KHz /
5.68 KHz
∇ -27.78%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
20.73 ms
Δ 44.82%
33.31 Hz /
48.23 Hz
∇ -30.95%
matrix: chol, sparse 100x[6x6]486.08 us /
351.05 us
Δ 38.46%
2.06 KHz /
2.85 KHz
∇ -27.78%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
34.60 ms
Δ 50.11%
19.25 Hz /
28.90 Hz
∇ -33.38%
matrix: chol, sparse 120x[6x6]583.78 us /
415.89 us
Δ 40.37%
1.71 KHz /
2.40 KHz
∇ -28.76%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
50.32 ms
Δ 52.84%
13.00 Hz /
19.87 Hz
∇ -34.57%
matrix: chol, sparse 140x[6x6]649.31 us /
482.94 us
Δ 34.45%
1.54 KHz /
2.07 KHz
∇ -25.62%
gridmap2D: getCell6.44 ns /
0.00 ns
Δ 1.#J%
155.25 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell9.52 ns /
2.61 ns
Δ 265.35%
105.00 MHz /
383.63 MHz
∇ -72.63%
gridmap2D: updateCell9.85 ns /
6.99 ns
Δ 40.84%
101.55 MHz /
143.02 MHz
∇ -29.00%
gridmap2D: updateCell_fast_occupied1.47 ns /
0.51 ns
Δ 187.25%
679.40 MHz /
1.95 GHz
∇ -65.19%
gridmap2D: insert scan w/o widening225.20 us /
102.59 us
Δ 119.52%
4.44 KHz /
9.75 KHz
∇ -54.45%
gridmap2D: insert scan with widening365.80 us /
284.11 us
Δ 28.75%
2.73 KHz /
3.52 KHz
∇ -22.33%
gridmap2D: resize2.56 ms /
722.00 us
Δ 255.18%
389.96 Hz /
1.39 KHz
∇ -71.85%
gridmap2D: computeLikelihood21.14 us /
15.69 us
Δ 34.72%
47.30 KHz /
63.72 KHz
∇ -25.77%
pointmap: insert 100 scans3.27 ms /
2.97 ms
Δ 10.24%
305.75 Hz /
337.06 Hz
∇ -9.29%
pointmap: build 2D kd-tree of 1 scan6.03 us /
4.36 us
Δ 38.37%
165.76 KHz /
229.36 KHz
∇ -27.73%
pointmap: build 2D kd-tree of 100 scan579.42 us /
357.08 us
Δ 62.27%
1.73 KHz /
2.80 KHz
∇ -38.37%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
4.19 ms
Δ 46.51%
162.87 Hz /
238.61 Hz
∇ -31.74%
pointmap: build 3D kd-tree of 1 scan6.68 us /
4.72 us
Δ 41.63%
149.59 KHz /
211.86 KHz
∇ -29.39%
pointmap: build 3D kd-tree of 100 scan519.96 us /
362.68 us
Δ 43.37%
1.92 KHz /
2.76 KHz
∇ -30.25%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
4.10 ms
Δ 61.99%
150.68 Hz /
244.09 Hz
∇ -38.27%
pointmap: kd-tree 2d query on 10 scans1.95 us /
1.39 us
Δ 40.83%
511.57 KHz /
720.46 KHz
∇ -28.99%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
101.86 us
Δ 64.09%
5.98 KHz /
9.82 KHz
∇ -39.06%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
11.78 ms
Δ 48.22%
57.30 Hz /
84.92 Hz
∇ -32.53%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
5.62 ms
Δ 62.05%
109.75 Hz /
177.84 Hz
∇ -38.29%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
130.59 ms
Δ 61.36%
4.75 Hz /
7.66 Hz
∇ -38.03%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
5.69 ms
Δ 47.21%
119.37 Hz /
175.73 Hz
∇ -32.07%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
132.22 ms
Δ 50.29%
5.03 Hz /
7.56 Hz
∇ -33.46%
random: drawUniform32bit7.57 ns /
15.67 ns
∇ -51.69%
132.11 MHz /
63.82 MHz
Δ 106.99%
random: drawUniform7.60 ns /
15.66 ns
∇ -51.44%
131.54 MHz /
63.88 MHz
Δ 105.94%
random: drawGaussian1D_normalized58.48 ns /
69.89 ns
∇ -16.34%
17.10 MHz /
14.31 MHz
Δ 19.53%
random: drawGaussian1D57.62 ns /
69.86 ns
∇ -17.51%
17.35 MHz /
14.32 MHz
Δ 21.23%
random: system rand()29.43 ns /
12.21 ns
Δ 140.93%
33.98 MHz /
81.87 MHz
∇ -58.49%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
2.70 us
Δ 9.22%
339.21 KHz /
370.49 KHz
∇ -8.44%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
5.71 us
∇ -38.10%
282.92 KHz /
175.14 KHz
Δ 61.54%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
148.19 ns
∇ -1.67%
6.86 MHz /
6.75 MHz
Δ 1.70%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
232.46 ns
∇ -2.19%
4.40 MHz /
4.30 MHz
Δ 2.24%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
489.71 ns
Δ 5.07%
1.94 MHz /
2.04 MHz
∇ -4.83%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
159.54 ns
Δ 6.82%
5.87 MHz /
6.27 MHz
∇ -6.38%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
247.75 ns
Δ 14.47%
3.53 MHz /
4.04 MHz
∇ -12.64%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
521.91 ns
Δ 26.69%
1.51 MHz /
1.92 MHz
∇ -21.07%
random: permuteVector (len=10)304.45 ns /
251.30 ns
Δ 21.15%
3.28 MHz /
3.98 MHz
∇ -17.46%
random: permuteVector (len=100)3.47 us /
3.02 us
Δ 14.92%
288.42 KHz /
331.46 KHz
∇ -12.98%
random: permuteVector (len=1000)37.99 us /
30.36 us
Δ 25.10%
26.33 KHz /
32.93 KHz
∇ -20.06%
math: round0.00 ns /
0.10 ns
∇ -100.00%
220.79 THz /
10.09 GHz
Δ 2188178.43%
images: Save as JPEG (640x480, quality=95%)33.06 ms /
34.14 ms
∇ -3.17%
30.25 Hz /
29.29 Hz
Δ 3.27%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
49.83 ms
Δ 1.62%
19.75 Hz /
20.07 Hz
∇ -1.60%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
80.71 ms
Δ 2.41%
12.10 Hz /
12.39 Hz
∇ -2.36%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
29.36 ms
∇ -6.84%
36.56 Hz /
34.05 Hz
Δ 7.34%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
42.45 ms
Δ 1.90%
23.12 Hz /
23.56 Hz
∇ -1.87%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
65.41 ms
Δ 1.75%
15.03 Hz /
15.29 Hz
∇ -1.72%
images: Gauss filter (640x480)5.57 ms /
4.66 ms
Δ 19.45%
179.49 Hz /
214.40 Hz
∇ -16.28%
images: Gauss filter (800x600)8.84 ms /
5.98 ms
Δ 47.75%
113.10 Hz /
167.10 Hz
∇ -32.32%
images: Gauss filter (1024x768)14.37 ms /
10.42 ms
Δ 37.88%
69.58 Hz /
95.93 Hz
∇ -27.47%
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 /
11.35 us
Δ 93.54%
45.52 KHz /
88.11 KHz
∇ -48.33%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
9.96 us
Δ 120.95%
45.44 KHz /
100.40 KHz
∇ -54.74%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
5.52 us
Δ 130.23%
78.69 KHz /
181.16 KHz
∇ -56.57%
feature_extraction [640x480]: Harris38.32 ms /
32.25 ms
Δ 18.80%
26.10 Hz /
31.01 Hz
∇ -15.83%
feature_extraction [640x480]: KLT37.22 ms /
25.60 ms
Δ 45.35%
26.87 Hz /
39.06 Hz
∇ -31.20%
feature_extraction [640x480]: SIFT739.68 ms /
630.91 ms
Δ 17.24%
1.35 Hz /
1.59 Hz
∇ -14.71%
feature_extraction [640x480]: SIFT desc.232.95 ms /
164.09 ms
Δ 41.97%
4.29 Hz /
6.09 Hz
∇ -29.56%
feature_extraction [640x480]: SURF309.97 ms /
207.64 ms
Δ 49.28%
3.23 Hz /
4.82 Hz
∇ -33.01%
feature_extraction [640x480]: FAST6.88 ms /
7.60 ms
∇ -9.42%
145.25 Hz /
131.57 Hz
Δ 10.39%
feature_extraction [640x480]: Spin desc.88.28 ms /
60.60 ms
Δ 45.67%
11.33 Hz /
16.50 Hz
∇ -31.35%
feature_matching [640x480]: Harris + CC59.68 ms /
43.99 ms
Δ 35.68%
16.76 Hz /
22.73 Hz
∇ -26.30%
feature_matching [640x480]: Harris + SAD58.57 ms /
36.29 ms
Δ 61.41%
17.07 Hz /
27.56 Hz
∇ -38.05%
feature_matching [640x480]: SIFT1.50 sec /
1.20 sec
Δ 24.92%
668.02 mHz /
834.47 mHz
∇ -19.95%
feature_matching [640x480]: SURF621.62 ms /
379.83 ms
Δ 63.66%
1.61 Hz /
2.63 Hz
∇ -38.90%
feature_matching [640x480]: FAST + CC21.69 ms /
16.04 ms
Δ 35.28%
46.10 Hz /
62.36 Hz
∇ -26.08%
feature_matching [640x480]: FAST + SAD12.64 ms /
10.85 ms
Δ 16.44%
79.13 Hz /
92.14 Hz
∇ -14.12%
graph(2d): insertEdge x 1e3301.62 us /
119.99 us
Δ 151.37%
3.32 KHz /
8.33 KHz
∇ -60.22%
graph(2d,vec): insertEdge x 1e3298.86 us /
107.18 us
Δ 178.84%
3.35 KHz /
9.33 KHz
∇ -64.14%
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
84.03 us
Δ 226.89%
3.64 KHz /
11.90 KHz
∇ -69.41%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
83.37 us
Δ 224.10%
3.70 KHz /
11.99 KHz
∇ -69.14%
graph(2d pdf): insertEdge x 1e3415.87 us /
170.61 us
Δ 143.75%
2.40 KHz /
5.86 KHz
∇ -58.97%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
181.61 us
Δ 123.88%
2.46 KHz /
5.51 KHz
∇ -55.33%
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
179.02 us
Δ 110.89%
2.65 KHz /
5.59 KHz
∇ -52.58%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
178.59 us
Δ 112.47%
2.64 KHz /
5.60 KHz
∇ -52.94%
graph(2d): insertEdge x 1e44.14 ms /
1.58 ms
Δ 161.60%
241.59 Hz /
632.00 Hz
∇ -61.77%
graph(2d,vec): insertEdge x 1e44.00 ms /
1.26 ms
Δ 216.26%
250.06 Hz /
790.83 Hz
∇ -68.38%
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
863.38 us
Δ 240.89%
339.77 Hz /
1.16 KHz
∇ -70.67%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
846.12 us
Δ 241.89%
345.69 Hz /
1.18 KHz
∇ -70.75%
graph(2d pdf): insertEdge x 1e44.77 ms /
1.96 ms
Δ 143.28%
209.57 Hz /
509.85 Hz
∇ -58.90%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
2.25 ms
Δ 116.56%
205.59 Hz /
445.23 Hz
∇ -53.82%
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
1.95 ms
Δ 107.47%
246.64 Hz /
511.72 Hz
∇ -51.80%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
1.95 ms
Δ 115.85%
237.52 Hz /
512.69 Hz
∇ -53.67%
graph(3d): insertEdge x 1e3381.69 us /
169.26 us
Δ 125.50%
2.62 KHz /
5.91 KHz
∇ -55.65%
graph(3d,vec): insertEdge x 1e3407.21 us /
168.78 us
Δ 141.27%
2.46 KHz /
5.93 KHz
∇ -58.55%
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
153.69 us
Δ 120.94%
2.94 KHz /
6.51 KHz
∇ -54.74%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
154.19 us
Δ 116.97%
2.99 KHz /
6.49 KHz
∇ -53.91%
graph(3d pdf): insertEdge x 1e3688.91 us /
471.95 us
Δ 45.97%
1.45 KHz /
2.12 KHz
∇ -31.49%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
479.58 us
Δ 42.77%
1.46 KHz /
2.09 KHz
∇ -29.96%
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
441.33 us
Δ 54.81%
1.46 KHz /
2.27 KHz
∇ -35.41%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
445.05 us
Δ 53.77%
1.46 KHz /
2.25 KHz
∇ -34.97%
graph(3d): insertEdge x 1e43.89 ms /
2.46 ms
Δ 58.15%
257.39 Hz /
407.06 Hz
∇ -36.77%
graph(3d,vec): insertEdge x 1e43.79 ms /
2.46 ms
Δ 54.09%
263.81 Hz /
406.51 Hz
∇ -35.10%
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
1.70 ms
Δ 110.98%
278.91 Hz /
588.45 Hz
∇ -52.60%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
1.70 ms
Δ 106.83%
284.28 Hz /
587.97 Hz
∇ -51.65%
graph(3d pdf): insertEdge x 1e47.80 ms /
6.68 ms
Δ 16.75%
128.15 Hz /
149.62 Hz
∇ -14.35%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
6.75 ms
Δ 15.57%
128.11 Hz /
148.06 Hz
∇ -13.47%
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
4.59 ms
Δ 63.41%
133.45 Hz /
218.07 Hz
∇ -38.80%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
4.58 ms
Δ 65.40%
132.15 Hz /
218.58 Hz
∇ -39.54%
graph(3d): dijkstra 1e2 nodes213.16 us /
89.04 us
Δ 139.38%
4.69 KHz /
11.23 KHz
∇ -58.23%
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
75.33 us
Δ 313.65%
3.21 KHz /
13.28 KHz
∇ -75.82%
graph(3d): dijkstra 1e3 nodes2.57 ms /
1.11 ms
Δ 131.85%
389.66 Hz /
903.43 Hz
∇ -56.87%
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
711.20 us
Δ 279.82%
370.20 Hz /
1.41 KHz
∇ -73.67%
graph(3d): dijkstra 1e4 nodes31.29 ms /
18.54 ms
Δ 68.75%
31.96 Hz /
53.94 Hz
∇ -40.74%
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
9.76 ms
Δ 237.40%
30.38 Hz /
102.51 Hz
∇ -70.36%
graph(3d): dijkstra 1e5 nodes393.68 ms /
252.57 ms
Δ 55.87%
2.54 Hz /
3.96 Hz
∇ -35.84%
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
112.23 ms
Δ 243.58%
2.59 Hz /
8.91 Hz
∇ -70.89%
graph(2d): dijkstra 1e5 nodes380.30 ms /
256.02 ms
Δ 48.54%
2.63 Hz /
3.91 Hz
∇ -32.68%
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
106.16 ms
Δ 254.97%
2.65 Hz /
9.42 Hz
∇ -71.83%

 


Page generated automatically at 2011/06/03,22:26:37.914430 with MRPT 0.9.4 by 'mrpt-performance'.