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




Test description 0.9.4-MSVC10-32bit /
0.9.3-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
31.56 ms
Δ 17.68%
26.93 Hz /
31.69 Hz
∇ -15.03%
icp-slam (match grid): Run with sample dataset36.34 ms /
53.95 ms
∇ -32.64%
27.52 Hz /
18.54 Hz
Δ 48.46%
poses: CPose3D (+) CPose3D197.08 ns /
194.14 ns
Δ 1.51%
5.07 MHz /
5.15 MHz
∇ -1.49%
poses: CPose3D.composeFrom()33.62 ns /
34.65 ns
∇ -2.97%
29.74 MHz /
28.86 MHz
Δ 3.06%
poses: CPose3D (+) CPoint3D25.13 ns /
28.67 ns
∇ -12.32%
39.79 MHz /
34.88 MHz
Δ 14.05%
poses: CPose3D.composePoint()21.31 ns /
18.49 ns
Δ 15.22%
46.94 MHz /
54.08 MHz
∇ -13.21%
poses: CPoint3D (-) CPose3D89.96 ns /
93.89 ns
∇ -4.18%
11.12 MHz /
10.65 MHz
Δ 4.36%
poses: CPose3D.inverseComposePoint()47.25 ns /
44.39 ns
Δ 6.44%
21.17 MHz /
22.53 MHz
∇ -6.05%
poses: CPose2D (+) CPose2D108.63 ns /
103.92 ns
Δ 4.53%
9.21 MHz /
9.62 MHz
∇ -4.33%
poses: CPose2D.composeFrom()94.77 ns /
91.82 ns
Δ 3.22%
10.55 MHz /
10.89 MHz
∇ -3.12%
poses: CPose2D (+) CPoint2D80.61 ns /
140.37 ns
∇ -42.57%
12.41 MHz /
7.12 MHz
Δ 74.13%
poses: CPose2D.composePoint()67.32 ns /
66.26 ns
Δ 1.60%
14.85 MHz /
15.09 MHz
∇ -1.58%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
93.35 ns
∇ -12.90%
12.30 MHz /
10.71 MHz
Δ 14.82%
poses: CPose3DQuat.composeFrom()51.56 ns /
60.52 ns
∇ -14.80%
19.39 MHz /
16.52 MHz
Δ 17.37%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
116.72 ns
∇ -52.10%
17.89 MHz /
8.57 MHz
Δ 108.75%
poses: CPose3DQuat.composePoint()32.73 ns /
31.02 ns
Δ 5.50%
30.55 MHz /
32.23 MHz
∇ -5.22%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
126.78 ns
∇ -2.18%
8.06 MHz /
7.89 MHz
Δ 2.23%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
30.88 ns
∇ -0.89%
32.67 MHz /
32.38 MHz
Δ 0.90%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
33.42 ns
∇ -15.84%
35.56 MHz /
29.93 MHz
Δ 18.83%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
211.33 ns
Δ 2.61%
4.61 MHz /
4.73 MHz
∇ -2.54%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
19.45 us
∇ -93.63%
806.40 KHz /
51.41 KHz
Δ 1468.66%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
2.93 us
∇ -59.18%
835.55 KHz /
341.05 KHz
Δ 144.99%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
34.64 us
∇ -41.82%
49.63 KHz /
28.87 KHz
Δ 71.89%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
860.26 ns
∇ -4.96%
1.22 MHz /
1.16 MHz
Δ 5.22%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
880.23 ns
∇ -6.46%
1.21 MHz /
1.14 MHz
Δ 6.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
21.76 us
∇ -12.29%
52.39 KHz /
45.95 KHz
Δ 14.01%
matrix: unit, dyn[float], 3x349.67 ns /
44.99 ns
Δ 10.40%
20.13 MHz /
22.23 MHz
∇ -9.42%
matrix: unit, dyn[double], 3x350.90 ns /
45.16 ns
Δ 12.71%
19.64 MHz /
22.14 MHz
∇ -11.28%
matrix: unit, dyn[float], 6x6180.98 ns /
160.84 ns
Δ 12.52%
5.53 MHz /
6.22 MHz
∇ -11.13%
matrix: unit, dyn[double], 6x6177.90 ns /
160.97 ns
Δ 10.52%
5.62 MHz /
6.21 MHz
∇ -9.52%
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 /
6.73 ns
∇ -1.54%
150.81 MHz /
148.49 MHz
Δ 1.56%
matrix: unit, fix[double,6,6]8.86 ns /
7.86 ns
Δ 12.70%
112.91 MHz /
127.26 MHz
∇ -11.27%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
550.79 ns
Δ 23.51%
1.47 MHz /
1.82 MHz
∇ -19.03%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.05 ns
∇ -100.00%
1.#J THz /
22.08 GHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
432.98 ns
Δ 5.86%
2.18 MHz /
2.31 MHz
∇ -5.53%
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 /
660.53 ns
Δ 3.02%
1.47 MHz /
1.51 MHz
∇ -2.93%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
38.91 ns
∇ -9.31%
28.34 MHz /
25.70 MHz
Δ 10.27%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
474.65 ns
Δ 8.29%
1.95 MHz /
2.11 MHz
∇ -7.66%
matrix: multiply, fix[double], 3x6 * 6x33.40 ns /
8.74 ns
∇ -61.14%
294.39 MHz /
114.40 MHz
Δ 157.33%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
4.68 us
Δ 10.63%
193.06 KHz /
213.59 KHz
∇ -9.61%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
4.42 us
Δ 3.08%
219.44 KHz /
226.20 KHz
∇ -2.99%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
3.24 us
Δ 17.11%
263.78 KHz /
308.92 KHz
∇ -14.61%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
2.37 us
Δ 23.59%
342.06 KHz /
422.77 KHz
∇ -19.09%
matrix: inv, dyn[double] 3x31.50 us /
1.49 us
Δ 1.04%
665.44 KHz /
672.33 KHz
∇ -1.03%
matrix: inv, fix[double] 3x39.51 ns /
32.16 ns
∇ -70.42%
105.14 MHz /
31.10 MHz
Δ 238.09%
matrix: inv, dyn[double] 6x63.90 us /
3.50 us
Δ 11.69%
256.17 KHz /
286.11 KHz
∇ -10.47%
matrix: inv, fix[double] 6x63.54 us /
2.72 us
Δ 30.35%
282.49 KHz /
368.24 KHz
∇ -23.29%
matrix: inv, dyn[double] 20x2034.19 us /
31.87 us
Δ 7.27%
29.25 KHz /
31.37 KHz
∇ -6.78%
matrix: inv, fix[double] 20x2029.35 us /
28.91 us
Δ 1.51%
34.07 KHz /
34.58 KHz
∇ -1.49%
matrix: inv, dyn[double] 40x40134.24 us /
124.22 us
Δ 8.07%
7.45 KHz /
8.05 KHz
∇ -7.46%
matrix: inv, fix[double] 40x40126.45 us /
122.24 us
Δ 3.44%
7.91 KHz /
8.18 KHz
∇ -3.33%
matrix: det, dyn[double] 2x2601.74 ns /
647.62 ns
∇ -7.08%
1.66 MHz /
1.54 MHz
Δ 7.62%
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 /
969.59 ns
∇ -9.98%
1.15 MHz /
1.03 MHz
Δ 11.09%
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 /
2.45 us
∇ -5.31%
430.29 KHz /
407.46 KHz
Δ 5.60%
matrix: det, fix[double] 6x62.17 us /
1.89 us
Δ 15.07%
460.60 KHz /
529.99 KHz
∇ -13.09%
matrix: det, dyn[double] 20x2023.14 us /
22.48 us
Δ 2.94%
43.22 KHz /
44.49 KHz
∇ -2.85%
matrix: det, fix[double] 20x2021.38 us /
21.45 us
∇ -0.32%
46.78 KHz /
46.63 KHz
Δ 0.32%
matrix: det, dyn[double] 40x4092.83 us /
80.28 us
Δ 15.64%
10.77 KHz /
12.46 KHz
∇ -13.53%
matrix: det, fix[double] 40x4090.97 us /
79.04 us
Δ 15.09%
10.99 KHz /
12.65 KHz
∇ -13.11%
matrix: chol, dyn[double] 4x4892.24 ns /
1.09 us
∇ -18.26%
1.12 MHz /
916.16 KHz
Δ 22.33%
matrix: chol, fix[double] 4x4249.10 ns /
317.04 ns
∇ -21.43%
4.01 MHz /
3.15 MHz
Δ 27.27%
matrix: chol, dyn[double] 40x4041.12 us /
75.74 us
∇ -45.70%
24.32 KHz /
13.20 KHz
Δ 84.16%
matrix: chol, fix[double] 40x4026.92 us /
55.31 us
∇ -51.33%
37.15 KHz /
18.08 KHz
Δ 105.48%
matrix: chol, sparse [2x2;2x2]15.31 us /
16.89 us
∇ -9.38%
65.32 KHz /
59.19 KHz
Δ 10.35%
matrix: chol, sparse [30x30;10x10]116.85 us /
247.29 us
∇ -52.75%
8.56 KHz /
4.04 KHz
Δ 111.63%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
180.76 us
∇ -45.25%
10.10 KHz /
5.53 KHz
Δ 82.65%
matrix: chol, sparse 10x[6x6]55.18 us /
91.89 us
∇ -39.95%
18.12 KHz /
10.88 KHz
Δ 66.53%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
765.78 us
∇ -34.96%
2.01 KHz /
1.31 KHz
Δ 53.75%
matrix: chol, sparse 20x[6x6]133.40 us /
116.55 us
Δ 14.46%
7.50 KHz /
8.58 KHz
∇ -12.63%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
4.08 ms
Δ 22.42%
200.30 Hz /
245.20 Hz
∇ -18.31%
matrix: chol, sparse 50x[6x6]243.96 us /
207.46 us
Δ 17.59%
4.10 KHz /
4.82 KHz
∇ -14.96%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
24.43 ms
Δ 22.88%
33.31 Hz /
40.93 Hz
∇ -18.62%
matrix: chol, sparse 100x[6x6]486.08 us /
403.40 us
Δ 20.50%
2.06 KHz /
2.48 KHz
∇ -17.01%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
40.20 ms
Δ 29.21%
19.25 Hz /
24.87 Hz
∇ -22.61%
matrix: chol, sparse 120x[6x6]583.78 us /
479.83 us
Δ 21.66%
1.71 KHz /
2.08 KHz
∇ -17.81%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
59.95 ms
Δ 28.29%
13.00 Hz /
16.68 Hz
∇ -22.05%
matrix: chol, sparse 140x[6x6]649.31 us /
560.09 us
Δ 15.93%
1.54 KHz /
1.79 KHz
∇ -13.74%
gridmap2D: getCell6.44 ns /
5.69 ns
Δ 13.19%
155.25 MHz /
175.73 MHz
∇ -11.65%
gridmap2D: setCell9.52 ns /
8.06 ns
Δ 18.16%
105.00 MHz /
124.07 MHz
∇ -15.37%
gridmap2D: updateCell9.85 ns /
61.98 ns
∇ -84.11%
101.55 MHz /
16.13 MHz
Δ 529.38%
gridmap2D: updateCell_fast_occupied1.47 ns /
1.25 ns
Δ 17.58%
679.40 MHz /
798.82 MHz
∇ -14.95%
gridmap2D: insert scan w/o widening225.20 us /
208.84 us
Δ 7.83%
4.44 KHz /
4.79 KHz
∇ -7.26%
gridmap2D: insert scan with widening365.80 us /
346.08 us
Δ 5.70%
2.73 KHz /
2.89 KHz
∇ -5.39%
gridmap2D: resize2.56 ms /
2.81 ms
∇ -8.81%
389.96 Hz /
355.60 Hz
Δ 9.66%
gridmap2D: computeLikelihood21.14 us /
18.33 us
Δ 15.37%
47.30 KHz /
54.57 KHz
∇ -13.32%
pointmap: insert 100 scans3.27 ms /
6.61 ms
∇ -50.50%
305.75 Hz /
151.33 Hz
Δ 102.04%
pointmap: build 2D kd-tree of 1 scan6.03 us /
6.03 us
Δ 0.00%
165.76 KHz /
165.76 KHz
∇ -0.00%
pointmap: build 2D kd-tree of 100 scan579.42 us /
536.01 us
Δ 8.10%
1.73 KHz /
1.87 KHz
∇ -7.49%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
5.64 ms
Δ 8.78%
162.87 Hz /
177.17 Hz
∇ -8.07%
pointmap: build 3D kd-tree of 1 scan6.68 us /
7.70 us
∇ -13.18%
149.59 KHz /
129.88 KHz
Δ 15.18%
pointmap: build 3D kd-tree of 100 scan519.96 us /
528.60 us
∇ -1.63%
1.92 KHz /
1.89 KHz
Δ 1.66%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
5.81 ms
Δ 14.23%
150.68 Hz /
172.12 Hz
∇ -12.46%
pointmap: kd-tree 2d query on 10 scans1.95 us /
2.13 us
∇ -8.33%
511.57 KHz /
468.98 KHz
Δ 9.08%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
145.70 us
Δ 14.72%
5.98 KHz /
6.86 KHz
∇ -12.83%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
15.49 ms
Δ 12.69%
57.30 Hz /
64.56 Hz
∇ -11.26%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
8.93 ms
Δ 1.99%
109.75 Hz /
111.93 Hz
∇ -1.95%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
200.06 ms
Δ 5.33%
4.75 Hz /
5.00 Hz
∇ -5.06%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
8.97 ms
∇ -6.65%
119.37 Hz /
111.43 Hz
Δ 7.13%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
201.21 ms
∇ -1.24%
5.03 Hz /
4.97 Hz
Δ 1.26%
random: drawUniform32bit7.57 ns /
7.76 ns
∇ -2.40%
132.11 MHz /
128.93 MHz
Δ 2.46%
random: drawUniform7.60 ns /
7.61 ns
∇ -0.10%
131.54 MHz /
131.41 MHz
Δ 0.10%
random: drawGaussian1D_normalized58.48 ns /
51.84 ns
Δ 12.81%
17.10 MHz /
19.29 MHz
∇ -11.36%
random: drawGaussian1D57.62 ns /
52.02 ns
Δ 10.77%
17.35 MHz /
19.22 MHz
∇ -9.72%
random: system rand()29.43 ns /
27.43 ns
Δ 7.28%
33.98 MHz /
36.46 MHz
∇ -6.79%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
4.97 us
∇ -40.63%
339.21 KHz /
201.38 KHz
Δ 68.44%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
10.68 us
∇ -66.90%
282.92 KHz /
93.66 KHz
Δ 202.08%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
153.63 ns
∇ -5.15%
6.86 MHz /
6.51 MHz
Δ 5.43%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
250.07 ns
∇ -9.08%
4.40 MHz /
4.00 MHz
Δ 9.99%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
664.62 ns
∇ -22.58%
1.94 MHz /
1.50 MHz
Δ 29.16%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
153.22 ns
Δ 11.22%
5.87 MHz /
6.53 MHz
∇ -10.09%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
253.40 ns
Δ 11.92%
3.53 MHz /
3.95 MHz
∇ -10.65%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
622.96 ns
Δ 6.14%
1.51 MHz /
1.61 MHz
∇ -5.79%
random: permuteVector (len=10)304.45 ns /
342.58 ns
∇ -11.13%
3.28 MHz /
2.92 MHz
Δ 12.53%
random: permuteVector (len=100)3.47 us /
3.62 us
∇ -4.12%
288.42 KHz /
276.54 KHz
Δ 4.30%
random: permuteVector (len=1000)37.99 us /
35.68 us
Δ 6.46%
26.33 KHz /
28.03 KHz
∇ -6.06%
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%)33.06 ms /
28.08 ms
Δ 17.72%
30.25 Hz /
35.61 Hz
∇ -15.05%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
42.80 ms
Δ 18.32%
19.75 Hz /
23.37 Hz
∇ -15.48%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
69.14 ms
Δ 19.56%
12.10 Hz /
14.46 Hz
∇ -16.36%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
23.76 ms
Δ 15.14%
36.56 Hz /
42.09 Hz
∇ -13.15%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
37.25 ms
Δ 16.12%
23.12 Hz /
26.85 Hz
∇ -13.88%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
59.86 ms
Δ 11.19%
15.03 Hz /
16.71 Hz
∇ -10.06%
images: Gauss filter (640x480)5.57 ms /
7.21 ms
∇ -22.70%
179.49 Hz /
138.75 Hz
Δ 29.36%
images: Gauss filter (800x600)8.84 ms /
8.67 ms
Δ 1.96%
113.10 Hz /
115.32 Hz
∇ -1.92%
images: Gauss filter (1024x768)14.37 ms /
14.94 ms
∇ -3.80%
69.58 Hz /
66.93 Hz
Δ 3.95%
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 /
25.26 us
∇ -13.04%
45.52 KHz /
39.59 KHz
Δ 14.99%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
24.29 us
∇ -9.40%
45.44 KHz /
41.17 KHz
Δ 10.37%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
13.82 us
∇ -8.03%
78.69 KHz /
72.37 KHz
Δ 8.73%
feature_extraction [640x480]: Harris38.32 ms /
53.60 ms
∇ -28.51%
26.10 Hz /
18.66 Hz
Δ 39.89%
feature_extraction [640x480]: KLT37.22 ms /
32.67 ms
Δ 13.92%
26.87 Hz /
30.61 Hz
∇ -12.22%
feature_extraction [640x480]: SIFT739.68 ms /
724.51 ms
Δ 2.09%
1.35 Hz /
1.38 Hz
∇ -2.05%
feature_extraction [640x480]: SIFT desc.232.95 ms /
217.33 ms
Δ 7.19%
4.29 Hz /
4.60 Hz
∇ -6.70%
feature_extraction [640x480]: SURF309.97 ms /
320.21 ms
∇ -3.20%
3.23 Hz /
3.12 Hz
Δ 3.30%
feature_extraction [640x480]: FAST6.88 ms /
9.58 ms
∇ -28.14%
145.25 Hz /
104.37 Hz
Δ 39.16%
feature_extraction [640x480]: Spin desc.88.28 ms /
111.16 ms
∇ -20.58%
11.33 Hz /
9.00 Hz
Δ 25.91%
feature_matching [640x480]: Harris + CC59.68 ms /
64.75 ms
∇ -7.82%
16.76 Hz /
15.44 Hz
Δ 8.49%
feature_matching [640x480]: Harris + SAD58.57 ms /
50.46 ms
Δ 16.08%
17.07 Hz /
19.82 Hz
∇ -13.85%
feature_matching [640x480]: SIFT1.50 sec /
1.37 sec
Δ 9.65%
668.02 mHz /
732.49 mHz
∇ -8.80%
feature_matching [640x480]: SURF621.62 ms /
602.11 ms
Δ 3.24%
1.61 Hz /
1.66 Hz
∇ -3.14%
feature_matching [640x480]: FAST + CC21.69 ms /
23.55 ms
∇ -7.89%
46.10 Hz /
42.46 Hz
Δ 8.57%
feature_matching [640x480]: FAST + SAD12.64 ms /
15.71 ms
∇ -19.54%
79.13 Hz /
63.67 Hz
Δ 24.28%
graph(2d): insertEdge x 1e3301.62 us /
300.22 us
Δ 0.47%
3.32 KHz /
3.33 KHz
∇ -0.47%
graph(2d,vec): insertEdge x 1e3298.86 us /
300.93 us
∇ -0.69%
3.35 KHz /
3.32 KHz
Δ 0.69%
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
245.20 us
Δ 12.03%
3.64 KHz /
4.08 KHz
∇ -10.74%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
252.81 us
Δ 6.88%
3.70 KHz /
3.96 KHz
∇ -6.44%
graph(2d pdf): insertEdge x 1e3415.87 us /
537.61 us
∇ -22.64%
2.40 KHz /
1.86 KHz
Δ 29.27%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
456.45 us
∇ -10.92%
2.46 KHz /
2.19 KHz
Δ 12.26%
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
401.18 us
∇ -5.89%
2.65 KHz /
2.49 KHz
Δ 6.26%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
394.03 us
∇ -3.70%
2.64 KHz /
2.54 KHz
Δ 3.84%
graph(2d): insertEdge x 1e44.14 ms /
3.65 ms
Δ 13.33%
241.59 Hz /
273.78 Hz
∇ -11.76%
graph(2d,vec): insertEdge x 1e44.00 ms /
3.70 ms
Δ 8.22%
250.06 Hz /
270.61 Hz
∇ -7.59%
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
2.51 ms
Δ 17.44%
339.77 Hz /
399.01 Hz
∇ -14.85%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
2.55 ms
Δ 13.50%
345.69 Hz /
392.34 Hz
∇ -11.89%
graph(2d pdf): insertEdge x 1e44.77 ms /
4.81 ms
∇ -0.76%
209.57 Hz /
207.97 Hz
Δ 0.77%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
4.86 ms
Δ 0.13%
205.59 Hz /
205.85 Hz
∇ -0.13%
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
4.03 ms
Δ 0.65%
246.64 Hz /
248.25 Hz
∇ -0.65%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
4.00 ms
Δ 5.28%
237.52 Hz /
250.07 Hz
∇ -5.02%
graph(3d): insertEdge x 1e3381.69 us /
338.14 us
Δ 12.88%
2.62 KHz /
2.96 KHz
∇ -11.41%
graph(3d,vec): insertEdge x 1e3407.21 us /
332.03 us
Δ 22.64%
2.46 KHz /
3.01 KHz
∇ -18.46%
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
302.41 us
Δ 12.29%
2.94 KHz /
3.31 KHz
∇ -10.94%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
309.65 us
Δ 8.04%
2.99 KHz /
3.23 KHz
∇ -7.44%
graph(3d pdf): insertEdge x 1e3688.91 us /
668.72 us
Δ 3.02%
1.45 KHz /
1.50 KHz
∇ -2.93%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
672.92 us
Δ 1.75%
1.46 KHz /
1.49 KHz
∇ -1.72%
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
668.41 us
Δ 2.22%
1.46 KHz /
1.50 KHz
∇ -2.17%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
676.59 us
Δ 1.15%
1.46 KHz /
1.48 KHz
∇ -1.14%
graph(3d): insertEdge x 1e43.89 ms /
3.60 ms
Δ 7.83%
257.39 Hz /
277.54 Hz
∇ -7.26%
graph(3d,vec): insertEdge x 1e43.79 ms /
3.62 ms
Δ 4.77%
263.81 Hz /
276.39 Hz
∇ -4.55%
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
3.04 ms
Δ 17.96%
278.91 Hz /
328.99 Hz
∇ -15.22%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
3.02 ms
Δ 16.42%
284.28 Hz /
330.96 Hz
∇ -14.10%
graph(3d pdf): insertEdge x 1e47.80 ms /
7.09 ms
Δ 10.04%
128.15 Hz /
141.02 Hz
∇ -9.13%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
7.08 ms
Δ 10.25%
128.11 Hz /
141.24 Hz
∇ -9.29%
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
6.70 ms
Δ 11.92%
133.45 Hz /
149.36 Hz
∇ -10.65%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
6.88 ms
Δ 9.99%
132.15 Hz /
145.34 Hz
∇ -9.08%
graph(3d): dijkstra 1e2 nodes213.16 us /
279.15 us
∇ -23.64%
4.69 KHz /
3.58 KHz
Δ 30.96%
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
417.83 us
∇ -25.43%
3.21 KHz /
2.39 KHz
Δ 34.10%
graph(3d): dijkstra 1e3 nodes2.57 ms /
3.14 ms
∇ -18.27%
389.66 Hz /
318.46 Hz
Δ 22.36%
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
3.68 ms
∇ -26.68%
370.20 Hz /
271.44 Hz
Δ 36.38%
graph(3d): dijkstra 1e4 nodes31.29 ms /
37.09 ms
∇ -15.65%
31.96 Hz /
26.96 Hz
Δ 18.56%
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
42.65 ms
∇ -22.82%
30.38 Hz /
23.45 Hz
Δ 29.57%
graph(3d): dijkstra 1e5 nodes393.68 ms /
433.73 ms
∇ -9.23%
2.54 Hz /
2.31 Hz
Δ 10.17%
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
470.84 ms
∇ -18.10%
2.59 Hz /
2.12 Hz
Δ 22.10%
graph(2d): dijkstra 1e5 nodes380.30 ms /
428.18 ms
∇ -11.18%
2.63 Hz /
2.34 Hz
Δ 12.59%
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
465.28 ms
∇ -19.01%
2.65 Hz /
2.15 Hz
Δ 23.47%

 


Page generated automatically at 2011/06/03,22:26:37.878428 with MRPT 0.9.4 by 'mrpt-performance'.