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




Test description 0.9.4-MSVC10-64bit /
0.9.3-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
20.90 ms
Δ 27.01%
37.68 Hz /
47.85 Hz
∇ -21.26%
icp-slam (match grid): Run with sample dataset32.17 ms /
18.76 ms
Δ 71.46%
31.08 Hz /
53.30 Hz
∇ -41.68%
poses: CPose3D (+) CPose3D62.83 ns /
41.67 ns
Δ 50.78%
15.92 MHz /
24.00 MHz
∇ -33.68%
poses: CPose3D.composeFrom()41.42 ns /
32.39 ns
Δ 27.88%
24.14 MHz /
30.87 MHz
∇ -21.80%
poses: CPose3D (+) CPoint3D18.89 ns /
8.02 ns
Δ 135.41%
52.94 MHz /
124.63 MHz
∇ -57.52%
poses: CPose3D.composePoint()17.17 ns /
11.53 ns
Δ 48.90%
58.23 MHz /
86.70 MHz
∇ -32.84%
poses: CPoint3D (-) CPose3D88.79 ns /
18.18 ns
Δ 388.28%
11.26 MHz /
54.99 MHz
∇ -79.52%
poses: CPose3D.inverseComposePoint()44.00 ns /
25.21 ns
Δ 74.51%
22.73 MHz /
39.66 MHz
∇ -42.70%
poses: CPose2D (+) CPose2D72.08 ns /
72.10 ns
∇ -0.03%
13.87 MHz /
13.87 MHz
Δ 0.03%
poses: CPose2D.composeFrom()63.27 ns /
69.22 ns
∇ -8.60%
15.81 MHz /
14.45 MHz
Δ 9.41%
poses: CPose2D (+) CPoint2D34.42 ns /
60.48 ns
∇ -43.09%
29.05 MHz /
16.53 MHz
Δ 75.73%
poses: CPose2D.composePoint()26.02 ns /
60.01 ns
∇ -56.64%
38.43 MHz /
16.66 MHz
Δ 130.61%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
42.70 ns
Δ 166.02%
8.80 MHz /
23.42 MHz
∇ -62.41%
poses: CPose3DQuat.composeFrom()82.72 ns /
38.27 ns
Δ 116.14%
12.09 MHz /
26.13 MHz
∇ -53.73%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
17.90 ns
Δ 130.82%
24.20 MHz /
55.85 MHz
∇ -56.68%
poses: CPose3DQuat.composePoint()31.13 ns /
18.44 ns
Δ 68.83%
32.12 MHz /
54.23 MHz
∇ -40.77%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
33.31 ns
Δ 241.88%
8.78 MHz /
30.02 MHz
∇ -70.75%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
19.52 ns
Δ 73.94%
29.46 MHz /
51.24 MHz
∇ -42.51%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
16.27 ns
Δ 62.49%
37.82 MHz /
61.45 MHz
∇ -38.46%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
169.77 ns
∇ -42.68%
10.28 MHz /
5.89 MHz
Δ 74.47%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
799.00 ns
Δ 18.76%
1.05 MHz /
1.25 MHz
∇ -15.79%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
788.50 ns
Δ 19.04%
1.07 MHz /
1.27 MHz
∇ -16.00%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
9.11 us
Δ 132.94%
47.15 KHz /
109.83 KHz
∇ -57.07%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
557.50 ns
∇ -4.49%
1.88 MHz /
1.79 MHz
Δ 4.71%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
558.50 ns
∇ -5.42%
1.89 MHz /
1.79 MHz
Δ 5.73%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
8.42 us
Δ 32.98%
89.35 KHz /
118.81 KHz
∇ -24.80%
matrix: unit, dyn[float], 3x345.20 ns /
17.83 ns
Δ 153.43%
22.13 MHz /
56.07 MHz
∇ -60.54%
matrix: unit, dyn[double], 3x345.86 ns /
19.48 ns
Δ 135.46%
21.81 MHz /
51.35 MHz
∇ -57.53%
matrix: unit, dyn[float], 6x6177.43 ns /
54.85 ns
Δ 223.51%
5.64 MHz /
18.23 MHz
∇ -69.09%
matrix: unit, dyn[double], 6x6169.52 ns /
55.93 ns
Δ 203.08%
5.90 MHz /
17.88 MHz
∇ -67.01%
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 /
1.50 ns
Δ 325.04%
157.06 MHz /
667.56 MHz
∇ -76.47%
matrix: unit, fix[double,6,6]7.86 ns /
5.61 ns
Δ 40.22%
127.19 MHz /
178.35 MHz
∇ -28.68%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
291.30 ns
Δ 66.81%
2.06 MHz /
3.43 MHz
∇ -40.05%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
292.50 ns
Δ 80.65%
1.89 MHz /
3.42 MHz
∇ -44.65%
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 /
347.50 ns
Δ 57.46%
1.83 MHz /
2.88 MHz
∇ -36.49%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
0.00 ns
Δ 1.#J%
424.60 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
340.40 ns
Δ 15.01%
2.55 MHz /
2.94 MHz
∇ -13.05%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
0.00 ns
Δ 1.#J%
424.60 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
2.42 us
Δ 13.35%
364.51 KHz /
413.19 KHz
∇ -11.78%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
2.23 us
∇ -6.61%
479.89 KHz /
448.19 KHz
Δ 7.07%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
2.31 us
Δ 49.96%
288.55 KHz /
432.69 KHz
∇ -33.31%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
2.12 us
Δ 12.28%
419.56 KHz /
471.08 KHz
∇ -10.94%
matrix: inv, dyn[double] 3x31.09 us /
780.00 ns
Δ 39.18%
921.12 KHz /
1.28 MHz
∇ -28.15%
matrix: inv, fix[double] 3x322.19 ns /
0.00 ns
Δ 1.#J%
45.06 MHz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[double] 6x62.78 us /
1.97 us
Δ 41.00%
359.66 KHz /
507.10 KHz
∇ -29.08%
matrix: inv, fix[double] 6x62.22 us /
1.60 us
Δ 38.73%
450.23 KHz /
624.61 KHz
∇ -27.92%
matrix: inv, dyn[double] 20x2030.71 us /
16.08 us
Δ 91.00%
32.56 KHz /
62.19 KHz
∇ -47.64%
matrix: inv, fix[double] 20x2024.08 us /
14.48 us
Δ 66.32%
41.53 KHz /
69.08 KHz
∇ -39.88%
matrix: inv, dyn[double] 40x40117.18 us /
65.78 us
Δ 78.12%
8.53 KHz /
15.20 KHz
∇ -43.86%
matrix: inv, fix[double] 40x40112.80 us /
64.13 us
Δ 75.90%
8.86 KHz /
15.59 KHz
∇ -43.15%
matrix: det, dyn[double] 2x2765.51 ns /
212.60 ns
Δ 260.07%
1.31 MHz /
4.70 MHz
∇ -72.23%
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 /
323.30 ns
Δ 154.35%
1.22 MHz /
3.09 MHz
∇ -60.68%
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 /
774.90 ns
Δ 130.25%
560.47 KHz /
1.29 MHz
∇ -56.57%
matrix: det, fix[double] 6x61.51 us /
592.30 ns
Δ 155.28%
661.35 KHz /
1.69 MHz
∇ -60.83%
matrix: det, dyn[double] 20x2018.54 us /
8.50 us
Δ 118.06%
53.94 KHz /
117.63 KHz
∇ -54.14%
matrix: det, fix[double] 20x2019.01 us /
7.72 us
Δ 146.22%
52.61 KHz /
129.53 KHz
∇ -59.39%
matrix: det, dyn[double] 40x4072.40 us /
32.23 us
Δ 124.65%
13.81 KHz /
31.03 KHz
∇ -55.49%
matrix: det, fix[double] 40x4067.43 us /
30.71 us
Δ 119.59%
14.83 KHz /
32.57 KHz
∇ -54.46%
matrix: chol, dyn[double] 4x4606.90 ns /
530.00 ns
Δ 14.51%
1.65 MHz /
1.89 MHz
∇ -12.67%
matrix: chol, fix[double] 4x4190.22 ns /
130.00 ns
Δ 46.33%
5.26 MHz /
7.69 MHz
∇ -31.66%
matrix: chol, dyn[double] 40x4031.59 us /
22.98 us
Δ 37.45%
31.66 KHz /
43.52 KHz
∇ -27.25%
matrix: chol, fix[double] 40x4020.87 us /
19.50 us
Δ 7.00%
47.93 KHz /
51.28 KHz
∇ -6.55%
matrix: chol, sparse [2x2;2x2]7.11 us /
8.20 us
∇ -13.28%
140.63 KHz /
121.95 KHz
Δ 15.32%
matrix: chol, sparse [30x30;10x10]94.75 us /
85.30 us
Δ 11.08%
10.55 KHz /
11.72 KHz
∇ -9.97%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
56.80 us
Δ 33.08%
13.23 KHz /
17.61 KHz
∇ -24.86%
matrix: chol, sparse 10x[6x6]43.20 us /
39.31 us
Δ 9.90%
23.15 KHz /
25.44 KHz
∇ -9.01%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
266.80 us
Δ 69.96%
2.21 KHz /
3.75 KHz
∇ -41.16%
matrix: chol, sparse 20x[6x6]74.00 us /
72.76 us
Δ 1.71%
13.51 KHz /
13.74 KHz
∇ -1.68%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
2.67 ms
Δ 32.72%
282.19 Hz /
374.53 Hz
∇ -24.65%
matrix: chol, sparse 50x[6x6]178.69 us /
176.19 us
Δ 1.42%
5.60 KHz /
5.68 KHz
∇ -1.40%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
20.73 ms
Δ 7.49%
44.87 Hz /
48.23 Hz
∇ -6.97%
matrix: chol, sparse 100x[6x6]359.36 us /
351.05 us
Δ 2.37%
2.78 KHz /
2.85 KHz
∇ -2.31%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
34.60 ms
Δ 4.86%
27.56 Hz /
28.90 Hz
∇ -4.64%
matrix: chol, sparse 120x[6x6]411.86 us /
415.89 us
∇ -0.97%
2.43 KHz /
2.40 KHz
Δ 0.98%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
50.32 ms
Δ 8.00%
18.40 Hz /
19.87 Hz
∇ -7.40%
matrix: chol, sparse 140x[6x6]488.10 us /
482.94 us
Δ 1.07%
2.05 KHz /
2.07 KHz
∇ -1.06%
gridmap2D: getCell4.13 ns /
0.00 ns
Δ 1.#J%
242.07 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell5.65 ns /
2.61 ns
Δ 116.56%
177.14 MHz /
383.63 MHz
∇ -53.82%
gridmap2D: updateCell6.93 ns /
6.99 ns
∇ -0.92%
144.35 MHz /
143.02 MHz
Δ 0.93%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.51 ns
Δ 134.17%
833.40 MHz /
1.95 GHz
∇ -57.30%
gridmap2D: insert scan w/o widening102.16 us /
102.59 us
∇ -0.42%
9.79 KHz /
9.75 KHz
Δ 0.42%
gridmap2D: insert scan with widening276.88 us /
284.11 us
∇ -2.54%
3.61 KHz /
3.52 KHz
Δ 2.61%
gridmap2D: resize3.89 ms /
722.00 us
Δ 438.79%
257.06 Hz /
1.39 KHz
∇ -81.44%
gridmap2D: computeLikelihood13.92 us /
15.69 us
∇ -11.30%
71.84 KHz /
63.72 KHz
Δ 12.74%
pointmap: insert 100 scans1.87 ms /
2.97 ms
∇ -36.91%
534.24 Hz /
337.06 Hz
Δ 58.50%
pointmap: build 2D kd-tree of 1 scan5.09 us /
4.36 us
Δ 16.76%
196.43 KHz /
229.36 KHz
∇ -14.35%
pointmap: build 2D kd-tree of 100 scan486.39 us /
357.08 us
Δ 36.21%
2.06 KHz /
2.80 KHz
∇ -26.59%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
4.19 ms
Δ 21.62%
196.20 Hz /
238.61 Hz
∇ -17.78%
pointmap: build 3D kd-tree of 1 scan5.56 us /
4.72 us
Δ 17.83%
179.80 KHz /
211.86 KHz
∇ -15.13%
pointmap: build 3D kd-tree of 100 scan467.24 us /
362.68 us
Δ 28.83%
2.14 KHz /
2.76 KHz
∇ -22.38%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
4.10 ms
Δ 26.48%
192.98 Hz /
244.09 Hz
∇ -20.94%
pointmap: kd-tree 2d query on 10 scans1.59 us /
1.39 us
Δ 14.86%
627.25 KHz /
720.46 KHz
∇ -12.94%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
101.86 us
Δ 24.36%
7.89 KHz /
9.82 KHz
∇ -19.59%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
11.78 ms
Δ 17.72%
72.14 Hz /
84.92 Hz
∇ -15.05%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
5.62 ms
Δ 16.38%
152.81 Hz /
177.84 Hz
∇ -14.07%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
130.59 ms
Δ 33.83%
5.72 Hz /
7.66 Hz
∇ -25.28%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
5.69 ms
Δ 20.96%
145.28 Hz /
175.73 Hz
∇ -17.33%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
132.22 ms
Δ 37.17%
5.51 Hz /
7.56 Hz
∇ -27.10%
random: drawUniform32bit9.54 ns /
15.67 ns
∇ -39.14%
104.87 MHz /
63.82 MHz
Δ 64.32%
random: drawUniform9.69 ns /
15.66 ns
∇ -38.11%
103.21 MHz /
63.88 MHz
Δ 61.58%
random: drawGaussian1D_normalized52.06 ns /
69.89 ns
∇ -25.51%
19.21 MHz /
14.31 MHz
Δ 34.25%
random: drawGaussian1D50.73 ns /
69.86 ns
∇ -27.38%
19.71 MHz /
14.32 MHz
Δ 37.69%
random: system rand()24.47 ns /
12.21 ns
Δ 100.33%
40.87 MHz /
81.87 MHz
∇ -50.08%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
2.70 us
∇ -53.99%
805.20 KHz /
370.49 KHz
Δ 117.33%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
5.71 us
∇ -44.17%
313.70 KHz /
175.14 KHz
Δ 79.11%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
148.19 ns
∇ -12.25%
7.69 MHz /
6.75 MHz
Δ 13.97%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
232.46 ns
∇ -14.67%
5.04 MHz /
4.30 MHz
Δ 17.19%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
489.71 ns
∇ -7.77%
2.21 MHz /
2.04 MHz
Δ 8.42%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
159.54 ns
∇ -14.17%
7.30 MHz /
6.27 MHz
Δ 16.52%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
247.75 ns
∇ -13.82%
4.68 MHz /
4.04 MHz
Δ 16.03%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
521.91 ns
∇ -8.31%
2.09 MHz /
1.92 MHz
Δ 9.06%
random: permuteVector (len=10)244.07 ns /
251.30 ns
∇ -2.88%
4.10 MHz /
3.98 MHz
Δ 2.96%
random: permuteVector (len=100)3.12 us /
3.02 us
Δ 3.54%
320.11 KHz /
331.46 KHz
∇ -3.42%
random: permuteVector (len=1000)30.82 us /
30.36 us
Δ 1.51%
32.44 KHz /
32.93 KHz
∇ -1.49%
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%)29.87 ms /
34.14 ms
∇ -12.51%
33.48 Hz /
29.29 Hz
Δ 14.30%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
49.83 ms
∇ -13.74%
23.26 Hz /
20.07 Hz
Δ 15.92%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
80.71 ms
∇ -14.48%
14.49 Hz /
12.39 Hz
Δ 16.93%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
29.36 ms
∇ -22.16%
43.75 Hz /
34.05 Hz
Δ 28.48%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
42.45 ms
∇ -17.06%
28.41 Hz /
23.56 Hz
Δ 20.57%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
65.41 ms
∇ -12.41%
17.45 Hz /
15.29 Hz
Δ 14.16%
images: Gauss filter (640x480)4.45 ms /
4.66 ms
∇ -4.58%
224.70 Hz /
214.40 Hz
Δ 4.80%
images: Gauss filter (800x600)8.06 ms /
5.98 ms
Δ 34.60%
124.15 Hz /
167.10 Hz
∇ -25.71%
images: Gauss filter (1024x768)13.86 ms /
10.42 ms
Δ 32.94%
72.16 Hz /
95.93 Hz
∇ -24.78%
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 /
11.35 us
Δ 52.31%
57.84 KHz /
88.11 KHz
∇ -34.35%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
9.96 us
Δ 65.52%
60.66 KHz /
100.40 KHz
∇ -39.59%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
5.52 us
Δ 76.08%
102.89 KHz /
181.16 KHz
∇ -43.21%
feature_extraction [640x480]: Harris31.46 ms /
32.25 ms
∇ -2.46%
31.79 Hz /
31.01 Hz
Δ 2.52%
feature_extraction [640x480]: KLT30.94 ms /
25.60 ms
Δ 20.86%
32.32 Hz /
39.06 Hz
∇ -17.26%
feature_extraction [640x480]: SIFT653.53 ms /
630.91 ms
Δ 3.59%
1.53 Hz /
1.59 Hz
∇ -3.46%
feature_extraction [640x480]: SIFT desc.210.38 ms /
164.09 ms
Δ 28.21%
4.75 Hz /
6.09 Hz
∇ -22.00%
feature_extraction [640x480]: SURF243.66 ms /
207.64 ms
Δ 17.35%
4.10 Hz /
4.82 Hz
∇ -14.78%
feature_extraction [640x480]: FAST6.32 ms /
7.60 ms
∇ -16.83%
158.19 Hz /
131.57 Hz
Δ 20.23%
feature_extraction [640x480]: Spin desc.45.12 ms /
60.60 ms
∇ -25.55%
22.16 Hz /
16.50 Hz
Δ 34.32%
feature_matching [640x480]: Harris + CC46.60 ms /
43.99 ms
Δ 5.93%
21.46 Hz /
22.73 Hz
∇ -5.59%
feature_matching [640x480]: Harris + SAD40.89 ms /
36.29 ms
Δ 12.69%
24.46 Hz /
27.56 Hz
∇ -11.26%
feature_matching [640x480]: SIFT1.28 sec /
1.20 sec
Δ 7.16%
778.73 mHz /
834.47 mHz
∇ -6.68%
feature_matching [640x480]: SURF502.54 ms /
379.83 ms
Δ 32.31%
1.99 Hz /
2.63 Hz
∇ -24.42%
feature_matching [640x480]: FAST + CC19.71 ms /
16.04 ms
Δ 22.91%
50.74 Hz /
62.36 Hz
∇ -18.64%
feature_matching [640x480]: FAST + SAD13.01 ms /
10.85 ms
Δ 19.88%
76.86 Hz /
92.14 Hz
∇ -16.58%
graph(2d): insertEdge x 1e3236.53 us /
119.99 us
Δ 97.12%
4.23 KHz /
8.33 KHz
∇ -49.27%
graph(2d,vec): insertEdge x 1e3246.73 us /
107.18 us
Δ 130.20%
4.05 KHz /
9.33 KHz
∇ -56.56%
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
84.03 us
Δ 160.39%
4.57 KHz /
11.90 KHz
∇ -61.60%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
83.37 us
Δ 150.94%
4.78 KHz /
11.99 KHz
∇ -60.15%
graph(2d pdf): insertEdge x 1e3329.87 us /
170.61 us
Δ 93.34%
3.03 KHz /
5.86 KHz
∇ -48.28%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
181.61 us
Δ 67.17%
3.29 KHz /
5.51 KHz
∇ -40.18%
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
179.02 us
Δ 56.46%
3.57 KHz /
5.59 KHz
∇ -36.09%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
178.59 us
Δ 59.18%
3.52 KHz /
5.60 KHz
∇ -37.18%
graph(2d): insertEdge x 1e42.72 ms /
1.58 ms
Δ 72.21%
367.00 Hz /
632.00 Hz
∇ -41.93%
graph(2d,vec): insertEdge x 1e42.73 ms /
1.26 ms
Δ 115.68%
366.67 Hz /
790.83 Hz
∇ -53.63%
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
863.38 us
Δ 126.07%
512.34 Hz /
1.16 KHz
∇ -55.77%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
846.12 us
Δ 127.34%
519.87 Hz /
1.18 KHz
∇ -56.01%
graph(2d pdf): insertEdge x 1e43.21 ms /
1.96 ms
Δ 63.58%
311.68 Hz /
509.85 Hz
∇ -38.87%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
2.25 ms
Δ 44.17%
308.83 Hz /
445.23 Hz
∇ -30.64%
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
1.95 ms
Δ 65.10%
309.95 Hz /
511.72 Hz
∇ -39.43%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
1.95 ms
Δ 62.78%
314.97 Hz /
512.69 Hz
∇ -38.57%
graph(3d): insertEdge x 1e3274.22 us /
169.26 us
Δ 62.01%
3.65 KHz /
5.91 KHz
∇ -38.28%
graph(3d,vec): insertEdge x 1e3264.66 us /
168.78 us
Δ 56.81%
3.78 KHz /
5.93 KHz
∇ -36.23%
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
153.69 us
Δ 71.75%
3.79 KHz /
6.51 KHz
∇ -41.78%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
154.19 us
Δ 73.38%
3.74 KHz /
6.49 KHz
∇ -42.32%
graph(3d pdf): insertEdge x 1e3589.01 us /
471.95 us
Δ 24.80%
1.70 KHz /
2.12 KHz
∇ -19.87%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
479.58 us
Δ 24.41%
1.68 KHz /
2.09 KHz
∇ -19.62%
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
441.33 us
Δ 27.56%
1.78 KHz /
2.27 KHz
∇ -21.61%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
445.05 us
Δ 25.61%
1.79 KHz /
2.25 KHz
∇ -20.39%
graph(3d): insertEdge x 1e43.23 ms /
2.46 ms
Δ 31.66%
309.17 Hz /
407.06 Hz
∇ -24.05%
graph(3d,vec): insertEdge x 1e43.13 ms /
2.46 ms
Δ 27.31%
319.30 Hz /
406.51 Hz
∇ -21.45%
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
1.70 ms
Δ 54.18%
381.66 Hz /
588.45 Hz
∇ -35.14%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
1.70 ms
Δ 49.70%
392.76 Hz /
587.97 Hz
∇ -33.20%
graph(3d pdf): insertEdge x 1e46.11 ms /
6.68 ms
∇ -8.53%
163.57 Hz /
149.62 Hz
Δ 9.32%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
6.75 ms
∇ -16.99%
178.36 Hz /
148.06 Hz
Δ 20.47%
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
4.59 ms
Δ 13.57%
192.01 Hz /
218.07 Hz
∇ -11.95%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
4.58 ms
Δ 13.32%
192.88 Hz /
218.58 Hz
∇ -11.76%
graph(3d): dijkstra 1e2 nodes156.43 us /
89.04 us
Δ 75.67%
6.39 KHz /
11.23 KHz
∇ -43.08%
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
75.33 us
Δ 155.32%
5.20 KHz /
13.28 KHz
∇ -60.83%
graph(3d): dijkstra 1e3 nodes2.18 ms /
1.11 ms
Δ 96.78%
459.11 Hz /
903.43 Hz
∇ -49.18%
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
711.20 us
Δ 153.23%
555.25 Hz /
1.41 KHz
∇ -60.51%
graph(3d): dijkstra 1e4 nodes26.67 ms /
18.54 ms
Δ 43.85%
37.50 Hz /
53.94 Hz
∇ -30.48%
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
9.76 ms
Δ 134.05%
43.80 Hz /
102.51 Hz
∇ -57.27%
graph(3d): dijkstra 1e5 nodes307.16 ms /
252.57 ms
Δ 21.61%
3.26 Hz /
3.96 Hz
∇ -17.77%
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
112.23 ms
Δ 137.71%
3.75 Hz /
8.91 Hz
∇ -57.93%
graph(2d): dijkstra 1e5 nodes302.10 ms /
256.02 ms
Δ 18.00%
3.31 Hz /
3.91 Hz
∇ -15.25%
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
106.16 ms
Δ 147.53%
3.81 Hz /
9.42 Hz
∇ -59.60%

 


Page generated automatically at 2011/06/03,22:26:37.614413 with MRPT 0.9.4 by 'mrpt-performance'.