Comparison: 0.9.4-GCC-64bit vs. 0.9.1-MSVC9-32bit




Test description 0.9.4-GCC-64bit /
0.9.1-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
31.78 ms
∇ -34.73%
48.21 Hz /
31.46 Hz
Δ 53.22%
icp-slam (match grid): Run with sample dataset17.09 ms /
53.70 ms
∇ -68.18%
58.52 Hz /
18.62 Hz
Δ 214.25%
poses: CPose3D (+) CPose3D29.76 ns /
925.38 ns
∇ -96.78%
33.60 MHz /
1.08 MHz
Δ 3009.48%
poses: CPose3D.composeFrom()21.90 ns /
617.00 ns
∇ -96.45%
45.66 MHz /
1.62 MHz
Δ 2717.37%
poses: CPose3D (+) CPoint3D7.23 ns /
35.98 ns
∇ -79.89%
138.24 MHz /
27.80 MHz
Δ 397.32%
poses: CPose3D.composePoint()11.67 ns /
14.62 ns
∇ -20.14%
85.68 MHz /
68.42 MHz
Δ 25.22%
poses: CPoint3D (-) CPose3D13.29 ns /
75.43 ns
∇ -82.39%
75.27 MHz /
13.26 MHz
Δ 467.72%
poses: CPose3D.inverseComposePoint()24.48 ns /
56.48 ns
∇ -56.66%
40.85 MHz /
17.70 MHz
Δ 130.73%
poses: CPose2D (+) CPose2D71.64 ns /
121.60 ns
∇ -41.08%
13.96 MHz /
8.22 MHz
Δ 69.73%
poses: CPose2D.composeFrom()69.41 ns /
66.63 ns
Δ 4.17%
14.41 MHz /
15.01 MHz
∇ -4.01%
poses: CPose2D (+) CPoint2D60.78 ns /
93.73 ns
∇ -35.16%
16.45 MHz /
10.67 MHz
Δ 54.23%
poses: CPose2D.composePoint()60.80 ns /
62.24 ns
∇ -2.31%
16.45 MHz /
16.07 MHz
Δ 2.37%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
100.74 ns
∇ -59.83%
24.71 MHz /
9.93 MHz
Δ 148.92%
poses: CPose3DQuat.composeFrom()37.55 ns /
57.92 ns
∇ -35.17%
26.63 MHz /
17.26 MHz
Δ 54.26%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
61.33 ns
∇ -71.65%
57.51 MHz /
16.31 MHz
Δ 252.71%
poses: CPose3DQuat.composePoint()17.48 ns /
27.34 ns
∇ -36.06%
57.20 MHz /
36.57 MHz
Δ 56.39%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
580.67 ns
∇ -94.32%
30.33 MHz /
1.72 MHz
Δ 1661.31%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
28.18 ns
∇ -32.20%
52.34 MHz /
35.48 MHz
Δ 47.50%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
506.67 ns
∇ -95.38%
42.70 MHz /
1.97 MHz
Δ 2063.39%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
214.86 ns
∇ -19.61%
5.79 MHz /
4.65 MHz
Δ 24.40%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
1.56 us
∇ -56.86%
1.49 MHz /
642.96 KHz
Δ 131.79%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
1.51 us
∇ -56.72%
1.53 MHz /
663.83 KHz
Δ 131.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
23.29 us
∇ -62.47%
114.40 KHz /
42.94 KHz
Δ 166.42%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
1.64 us
∇ -72.31%
2.20 MHz /
609.77 KHz
Δ 261.15%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
1.66 us
∇ -72.79%
2.21 MHz /
600.84 KHz
Δ 267.48%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
16.05 us
∇ -50.30%
125.39 KHz /
62.32 KHz
Δ 101.19%
matrix: unit, dyn[float], 3x317.64 ns /
39.66 ns
∇ -55.53%
56.71 MHz /
25.22 MHz
Δ 124.87%
matrix: unit, dyn[double], 3x319.86 ns /
42.75 ns
∇ -53.53%
50.34 MHz /
23.39 MHz
Δ 115.20%
matrix: unit, dyn[float], 6x657.06 ns /
152.29 ns
∇ -62.53%
17.53 MHz /
6.57 MHz
Δ 166.91%
matrix: unit, dyn[double], 6x660.00 ns /
150.45 ns
∇ -60.12%
16.67 MHz /
6.65 MHz
Δ 150.76%
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]0.00 ns /
3.06 ns
∇ -100.00%
1.#J THz /
327.19 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
6.65 ns
∇ -100.00%
1.#J THz /
150.48 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
167.81 ns
Δ 44.63%
4.12 MHz /
5.96 MHz
∇ -30.86%
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 * 3x3231.60 ns /
158.88 ns
Δ 45.77%
4.32 MHz /
6.29 MHz
∇ -31.40%
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 * 6x3296.50 ns /
272.47 ns
Δ 8.82%
3.37 MHz /
3.67 MHz
∇ -8.10%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
193.12 ns
∇ -99.95%
10.00 GHz /
5.18 MHz
Δ 193023.81%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
238.91 ns
Δ 8.49%
3.86 MHz /
4.19 MHz
∇ -7.83%
matrix: multiply, fix[double], 3x6 * 6x30.00 ns /
139.05 ns
∇ -100.00%
1.#J THz /
7.19 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
16.80 us
∇ -87.54%
477.69 KHz /
59.51 KHz
Δ 702.71%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
13.06 us
∇ -86.30%
559.03 KHz /
76.57 KHz
Δ 630.12%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
13.55 us
∇ -82.07%
411.68 KHz /
73.81 KHz
Δ 457.78%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
9.96 us
∇ -78.28%
462.21 KHz /
100.40 KHz
Δ 360.38%
matrix: inv, dyn[double] 3x3767.00 ns /
1.53 us
∇ -49.93%
1.30 MHz /
652.84 KHz
Δ 99.71%
matrix: inv, fix[double] 3x30.00 ns /
31.25 ns
∇ -100.00%
1.#J THz /
32.00 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
5.08 us
∇ -64.99%
561.80 KHz /
196.68 KHz
Δ 185.64%
matrix: inv, fix[double] 6x61.73 us /
926.67 ns
Δ 86.47%
578.70 KHz /
1.08 MHz
∇ -46.37%
matrix: inv, dyn[double] 20x2016.27 us /
108.60 us
∇ -85.02%
61.47 KHz /
9.21 KHz
Δ 567.59%
matrix: inv, fix[double] 20x2013.44 us /
19.22 us
∇ -30.08%
74.41 KHz /
52.02 KHz
Δ 43.03%
matrix: inv, dyn[double] 40x4068.00 us /
818.27 us
∇ -91.69%
14.70 KHz /
1.22 KHz
Δ 1103.25%
matrix: inv, fix[double] 40x4063.01 us /
136.18 us
∇ -53.73%
15.87 KHz /
7.34 KHz
Δ 116.14%
matrix: det, dyn[double] 2x2209.40 ns /
9.56 ns
Δ 2091.17%
4.78 MHz /
104.64 MHz
∇ -95.44%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3331.30 ns /
15.90 ns
Δ 1983.99%
3.02 MHz /
62.90 MHz
∇ -95.20%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x6943.70 ns /
2.38 us
∇ -60.33%
1.06 MHz /
420.40 KHz
Δ 152.06%
matrix: det, fix[double] 6x6575.90 ns /
422.89 ns
Δ 36.18%
1.74 MHz /
2.36 MHz
∇ -26.57%
matrix: det, dyn[double] 20x208.10 us /
18.19 us
∇ -55.44%
123.40 KHz /
54.99 KHz
Δ 124.41%
matrix: det, fix[double] 20x207.48 us /
6.52 us
Δ 14.74%
133.61 KHz /
153.30 KHz
∇ -12.84%
matrix: det, dyn[double] 40x4030.87 us /
114.84 us
∇ -73.12%
32.39 KHz /
8.71 KHz
Δ 272.00%
matrix: det, fix[double] 40x4029.01 us /
36.00 us
∇ -19.42%
34.47 KHz /
27.78 KHz
Δ 24.10%
matrix: chol, dyn[double] 4x4530.00 ns /
185.70 ns
Δ 185.41%
1.89 MHz /
5.39 MHz
∇ -64.96%
matrix: chol, fix[double] 4x4120.00 ns /
113.23 ns
Δ 5.98%
8.33 MHz /
8.83 MHz
∇ -5.64%
matrix: chol, dyn[double] 40x4020.70 us /
24.43 us
∇ -15.27%
48.31 KHz /
40.93 KHz
Δ 18.02%
matrix: chol, fix[double] 40x4016.54 us /
17.73 us
∇ -6.72%
60.46 KHz /
56.40 KHz
Δ 7.20%
matrix: chol, sparse [2x2;2x2]12.20 us /
10.78 us
Δ 13.18%
81.97 KHz /
92.77 KHz
∇ -11.64%
matrix: chol, sparse [30x30;10x10]87.70 us /
117.89 us
∇ -25.61%
11.40 KHz /
8.48 KHz
Δ 34.43%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
70.52 us
∇ -26.69%
19.34 KHz /
14.18 KHz
Δ 36.40%
matrix: chol, sparse 10x[6x6]38.27 us /
52.59 us
∇ -27.23%
26.13 KHz /
19.02 KHz
Δ 37.41%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
491.10 us
∇ -47.97%
3.91 KHz /
2.04 KHz
Δ 92.21%
matrix: chol, sparse 20x[6x6]70.94 us /
85.83 us
∇ -17.35%
14.10 KHz /
11.65 KHz
Δ 20.99%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
9.44 ms
∇ -70.88%
363.64 Hz /
105.88 Hz
Δ 243.45%
matrix: chol, sparse 50x[6x6]169.22 us /
204.52 us
∇ -17.26%
5.91 KHz /
4.89 KHz
Δ 20.86%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
150.13 ms
∇ -85.31%
45.33 Hz /
6.66 Hz
Δ 580.56%
matrix: chol, sparse 100x[6x6]339.61 us /
415.58 us
∇ -18.28%
2.94 KHz /
2.41 KHz
Δ 22.37%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
461.43 ms
∇ -92.05%
27.27 Hz /
2.17 Hz
Δ 1158.46%
matrix: chol, sparse 120x[6x6]402.38 us /
484.92 us
∇ -17.02%
2.49 KHz /
2.06 KHz
Δ 20.51%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
947.45 ms
∇ -94.31%
18.57 Hz /
1.06 Hz
Δ 1659.01%
matrix: chol, sparse 140x[6x6]476.81 us /
586.44 us
∇ -18.69%
2.10 KHz /
1.71 KHz
Δ 22.99%
gridmap2D: getCell0.00 ns /
5.77 ns
∇ -100.00%
1.#J THz /
173.23 MHz
Δ 1.#J%
gridmap2D: setCell2.71 ns /
7.96 ns
∇ -65.98%
369.33 MHz /
125.64 MHz
Δ 193.96%
gridmap2D: updateCell6.04 ns /
10.80 ns
∇ -44.09%
165.59 MHz /
92.58 MHz
Δ 78.86%
gridmap2D: updateCell_fast_occupied0.61 ns /
1.21 ns
∇ -49.23%
1.63 GHz /
826.59 MHz
Δ 96.97%
gridmap2D: insert scan w/o widening99.83 us /
204.23 us
∇ -51.12%
10.02 KHz /
4.90 KHz
Δ 104.58%
gridmap2D: insert scan with widening293.13 us /
344.40 us
∇ -14.89%
3.41 KHz /
2.90 KHz
Δ 17.49%
gridmap2D: resize630.00 us /
2.62 ms
∇ -75.94%
1.59 KHz /
381.93 Hz
Δ 315.61%
gridmap2D: computeLikelihood17.81 us /
18.59 us
∇ -4.19%
56.14 KHz /
53.79 KHz
Δ 4.37%
pointmap: insert 100 scans1.01 ms /
5.62 ms
∇ -82.03%
990.80 Hz /
178.02 Hz
Δ 456.57%
pointmap: build 2D kd-tree of 1 scan4.52 us /
6.21 us
∇ -27.26%
221.24 KHz /
160.93 KHz
Δ 37.48%
pointmap: build 2D kd-tree of 100 scan364.44 us /
511.81 us
∇ -28.79%
2.74 KHz /
1.95 KHz
Δ 40.44%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
5.59 ms
∇ -21.62%
228.21 Hz /
178.86 Hz
Δ 27.59%
pointmap: build 3D kd-tree of 1 scan5.16 us /
7.23 us
∇ -28.62%
193.80 KHz /
138.34 KHz
Δ 40.09%
pointmap: build 3D kd-tree of 100 scan372.44 us /
523.10 us
∇ -28.80%
2.68 KHz /
1.91 KHz
Δ 40.45%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
5.77 ms
∇ -27.24%
238.06 Hz /
173.21 Hz
Δ 37.44%
pointmap: kd-tree 2d query on 10 scans1.42 us /
2.05 us
∇ -30.79%
703.73 KHz /
487.07 KHz
Δ 44.48%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
140.79 us
∇ -27.65%
9.82 KHz /
7.10 KHz
Δ 38.22%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
15.17 ms
∇ -19.77%
82.15 Hz /
65.91 Hz
Δ 24.65%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
8.69 ms
∇ -35.11%
177.25 Hz /
115.01 Hz
Δ 54.12%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
196.44 ms
∇ -32.42%
7.53 Hz /
5.09 Hz
Δ 47.97%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
8.73 ms
∇ -34.53%
175.04 Hz /
114.60 Hz
Δ 52.75%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
198.48 ms
∇ -32.12%
7.42 Hz /
5.04 Hz
Δ 47.31%
random: drawUniform32bit14.55 ns /
7.29 ns
Δ 99.43%
68.75 MHz /
137.11 MHz
∇ -49.86%
random: drawUniform14.56 ns /
7.33 ns
Δ 98.71%
68.69 MHz /
136.49 MHz
∇ -49.68%
random: drawGaussian1D_normalized66.87 ns /
51.27 ns
Δ 30.41%
14.96 MHz /
19.50 MHz
∇ -23.32%
random: drawGaussian1D66.81 ns /
51.74 ns
Δ 29.12%
14.97 MHz /
19.33 MHz
∇ -22.56%
random: system rand()10.63 ns /
29.39 ns
∇ -63.84%
94.11 MHz /
34.03 MHz
Δ 176.55%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
2.64 us
∇ -65.81%
1.11 MHz /
378.48 KHz
Δ 192.48%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
8.53 us
∇ -81.13%
621.01 KHz /
117.18 KHz
Δ 429.98%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
215.16 ns
∇ -32.77%
6.91 MHz /
4.65 MHz
Δ 48.74%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
359.98 ns
∇ -39.03%
4.56 MHz /
2.78 MHz
Δ 64.02%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
732.12 ns
∇ -35.42%
2.12 MHz /
1.37 MHz
Δ 54.85%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
213.59 ns
∇ -28.70%
6.57 MHz /
4.68 MHz
Δ 40.25%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
339.30 ns
∇ -30.73%
4.25 MHz /
2.95 MHz
Δ 44.36%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
760.92 ns
∇ -35.39%
2.03 MHz /
1.31 MHz
Δ 54.78%
random: permuteVector (len=10)243.60 ns /
411.34 ns
∇ -40.78%
4.11 MHz /
2.43 MHz
Δ 68.86%
random: permuteVector (len=100)2.99 us /
3.59 us
∇ -16.80%
334.99 KHz /
278.70 KHz
Δ 20.20%
random: permuteVector (len=1000)29.51 us /
34.34 us
∇ -14.04%
33.88 KHz /
29.12 KHz
Δ 16.34%
math: round0.10 ns /
0.00 ns
Δ 1.#J%
10.08 GHz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
27.92 ms
Δ 20.42%
29.74 Hz /
35.81 Hz
∇ -16.96%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
43.53 ms
Δ 14.51%
20.06 Hz /
22.97 Hz
∇ -12.67%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
70.76 ms
∇ -1.65%
14.37 Hz /
14.13 Hz
Δ 1.68%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
23.43 ms
Δ 30.76%
32.63 Hz /
42.67 Hz
∇ -23.53%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
36.52 ms
Δ 20.24%
22.78 Hz /
27.39 Hz
∇ -16.83%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
59.82 ms
Δ 4.53%
15.99 Hz /
16.72 Hz
∇ -4.33%
images: Gauss filter (640x480)3.81 ms /
6.68 ms
∇ -43.01%
262.76 Hz /
149.74 Hz
Δ 75.48%
images: Gauss filter (800x600)5.96 ms /
8.62 ms
∇ -30.81%
167.70 Hz /
116.03 Hz
Δ 44.54%
images: Gauss filter (1024x768)10.46 ms /
14.49 ms
∇ -27.82%
95.61 Hz /
69.01 Hz
Δ 38.54%
images: Half sample GRAY (160x120)1.04 us /
X
961.54 KHz /
X
images: Half sample GRAY (320x240)2.91 us /
X
344.04 KHz /
X
images: Half sample GRAY (640x480)14.63 us /
X
68.35 KHz /
X
images: Half sample GRAY (800x600)27.61 us /
X
36.21 KHz /
X
images: Half sample GRAY (1024x768)43.98 us /
X
22.74 KHz /
X
images: Half sample GRAY (1280x1024)84.93 us /
X
11.77 KHz /
X
images: Half sample RGB (160x120)2.35 us /
X
426.14 KHz /
X
images: Half sample RGB (320x240)8.97 us /
X
111.44 KHz /
X
images: Half sample RGB (640x480)49.58 us /
X
20.17 KHz /
X
images: Half sample RGB (800x600)83.52 us /
X
11.97 KHz /
X
images: Half sample RGB (1024x768)175.02 us /
X
5.71 KHz /
X
images: Half sample RGB (1280x1024)434.33 us /
X
2.30 KHz /
X
images: Half sample smooth GRAY (160x120)1.52 us /
X
656.46 KHz /
X
images: Half sample smooth GRAY (320x240)5.05 us /
X
197.89 KHz /
X
images: Half sample smooth GRAY (640x480)27.35 us /
X
36.57 KHz /
X
images: Half sample smooth GRAY (800x600)41.00 us /
X
24.39 KHz /
X
images: Half sample smooth GRAY (1024x768)70.54 us /
X
14.18 KHz /
X
images: Half sample smooth GRAY (1280x1024)147.17 us /
X
6.80 KHz /
X
images: Half sample smooth RGB (160x120)87.34 us /
X
11.45 KHz /
X
images: Half sample smooth RGB (320x240)341.55 us /
X
2.93 KHz /
X
images: Half sample smooth RGB (640x480)1.35 ms /
X
740.73 Hz /
X
images: Half sample smooth RGB (800x600)2.13 ms /
X
468.44 Hz /
X
images: Half sample smooth RGB (1024x768)3.55 ms /
X
281.93 Hz /
X
images: Half sample smooth RGB (1280x1024)6.52 ms /
X
153.40 Hz /
X
images: RGB->GRAY 8u (40x30)3.88 us /
X
257.95 KHz /
X
images: RGB->GRAY 8u (80x60)2.78 us /
X
359.28 KHz /
X
images: RGB->GRAY 8u (160x120)9.91 us /
X
100.91 KHz /
X
images: RGB->GRAY 8u (320x240)39.89 us /
X
25.07 KHz /
X
images: RGB->GRAY 8u (640x480)157.22 us /
X
6.36 KHz /
X
images: RGB->GRAY 8u (800x600)266.94 us /
X
3.75 KHz /
X
images: RGB->GRAY 8u (1024x768)485.16 us /
X
2.06 KHz /
X
images: RGB->GRAY 8u (1280x1024)926.17 us /
X
1.08 KHz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]12.69 us /
21.12 us
∇ -39.93%
78.80 KHz /
47.34 KHz
Δ 66.46%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
19.36 us
∇ -49.13%
101.52 KHz /
51.65 KHz
Δ 96.57%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
6.24 us
∇ -15.98%
190.84 KHz /
160.34 KHz
Δ 19.02%
feature_extraction [640x480]: Harris21.14 ms /
40.83 ms
∇ -48.22%
47.31 Hz /
24.49 Hz
Δ 93.13%
feature_extraction [640x480]: KLT21.45 ms /
33.62 ms
∇ -36.18%
46.61 Hz /
29.75 Hz
Δ 56.69%
feature_extraction [640x480]: SIFT591.25 ms /
705.28 ms
∇ -16.17%
1.69 Hz /
1.42 Hz
Δ 19.29%
feature_extraction [640x480]: SIFT desc.162.82 ms /
214.22 ms
∇ -23.99%
6.14 Hz /
4.67 Hz
Δ 31.57%
feature_extraction [640x480]: SURF197.33 ms /
326.57 ms
∇ -39.58%
5.07 Hz /
3.06 Hz
Δ 65.49%
feature_extraction [640x480]: FAST6.89 ms /
7.69 ms
∇ -10.38%
145.15 Hz /
130.08 Hz
Δ 11.59%
feature_extraction [640x480]: Spin desc.63.90 ms /
105.90 ms
∇ -39.66%
15.65 Hz /
9.44 Hz
Δ 65.74%
feature_matching [640x480]: Harris + CC38.54 ms /
57.67 ms
∇ -33.18%
25.95 Hz /
17.34 Hz
Δ 49.66%
feature_matching [640x480]: Harris + SAD33.59 ms /
50.27 ms
∇ -33.18%
29.77 Hz /
19.89 Hz
Δ 49.65%
feature_matching [640x480]: SIFT1.16 sec /
1.38 sec
∇ -16.08%
863.45 mHz /
724.62 mHz
Δ 19.16%
feature_matching [640x480]: SURF375.89 ms /
618.66 ms
∇ -39.24%
2.66 Hz /
1.62 Hz
Δ 64.59%
feature_matching [640x480]: FAST + CC15.89 ms /
22.11 ms
∇ -28.15%
62.95 Hz /
45.22 Hz
Δ 39.19%
feature_matching [640x480]: FAST + SAD10.48 ms /
14.58 ms
∇ -28.14%
95.42 Hz /
68.57 Hz
Δ 39.16%
graph(2d): insertEdge x 1e3158.24 us /
354.58 us
∇ -55.37%
6.32 KHz /
2.82 KHz
Δ 124.08%
graph(2d,vec): insertEdge x 1e3133.69 us /
X
7.48 KHz /
X
graph(2d): insertEdgeAtEnd x 1e384.43 us /
284.04 us
∇ -70.28%
11.84 KHz /
3.52 KHz
Δ 236.43%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
X
12.23 KHz /
X
graph(2d pdf): insertEdge x 1e3207.17 us /
549.28 us
∇ -62.28%
4.83 KHz /
1.82 KHz
Δ 165.14%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
X
4.30 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
452.79 us
∇ -45.51%
4.05 KHz /
2.21 KHz
Δ 83.51%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
X
5.19 KHz /
X
graph(2d): insertEdge x 1e42.08 ms /
3.86 ms
∇ -46.02%
480.05 Hz /
259.12 Hz
Δ 85.26%
graph(2d,vec): insertEdge x 1e41.62 ms /
X
618.53 Hz /
X
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
2.88 ms
∇ -69.74%
1.15 KHz /
347.75 Hz
Δ 230.46%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
X
1.18 KHz /
X
graph(2d pdf): insertEdge x 1e42.34 ms /
5.74 ms
∇ -59.20%
427.14 Hz /
174.28 Hz
Δ 145.09%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
X
356.06 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
4.44 ms
∇ -52.09%
470.35 Hz /
225.33 Hz
Δ 108.74%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
X
469.13 Hz /
X
graph(3d): insertEdge x 1e3220.82 us /
1.35 ms
∇ -83.59%
4.53 KHz /
743.07 Hz
Δ 509.46%
graph(3d,vec): insertEdge x 1e3221.81 us /
X
4.51 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
1.09 ms
∇ -83.18%
5.46 KHz /
917.96 Hz
Δ 494.70%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
X
5.36 KHz /
X
graph(3d pdf): insertEdge x 1e3532.35 us /
1.74 ms
∇ -69.46%
1.88 KHz /
573.66 Hz
Δ 227.45%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
X
1.86 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
1.46 ms
∇ -66.68%
2.05 KHz /
683.28 Hz
Δ 200.15%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
X
2.03 KHz /
X
graph(3d): insertEdge x 1e42.78 ms /
13.92 ms
∇ -80.01%
359.55 Hz /
71.86 Hz
Δ 400.32%
graph(3d,vec): insertEdge x 1e42.77 ms /
X
360.52 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
11.12 ms
∇ -81.17%
477.61 Hz /
89.92 Hz
Δ 431.15%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
X
487.11 Hz /
X
graph(3d pdf): insertEdge x 1e47.36 ms /
17.58 ms
∇ -58.11%
135.81 Hz /
56.89 Hz
Δ 138.72%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
X
143.42 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
14.12 ms
∇ -62.58%
189.20 Hz /
70.81 Hz
Δ 167.21%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
X
182.28 Hz /
X
graph(3d): dijkstra 1e2 nodes90.55 us /
X
11.04 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
X
11.98 KHz /
X
graph(3d): dijkstra 1e3 nodes1.13 ms /
X
882.20 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
X
1.30 KHz /
X
graph(3d): dijkstra 1e4 nodes21.12 ms /
X
47.35 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
X
92.06 Hz /
X
graph(3d): dijkstra 1e5 nodes341.35 ms /
X
2.93 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
X
7.02 Hz /
X
graph(2d): dijkstra 1e5 nodes320.28 ms /
X
3.12 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
X
7.48 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:38.331454 with MRPT 0.9.4 by 'mrpt-performance'.