Comparison: 0.9.4-MSVC10-32bit vs. 0.9.2-MSVC9-32bit




Test description 0.9.4-MSVC10-32bit /
0.9.2-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
30.39 ms
Δ 22.19%
26.93 Hz /
32.90 Hz
∇ -18.16%
icp-slam (match grid): Run with sample dataset36.34 ms /
52.58 ms
∇ -30.89%
27.52 Hz /
19.02 Hz
Δ 44.71%
poses: CPose3D (+) CPose3D197.08 ns /
264.70 ns
∇ -25.55%
5.07 MHz /
3.78 MHz
Δ 34.32%
poses: CPose3D.composeFrom()33.62 ns /
98.01 ns
∇ -65.69%
29.74 MHz /
10.20 MHz
Δ 191.47%
poses: CPose3D (+) CPoint3D25.13 ns /
27.86 ns
∇ -9.79%
39.79 MHz /
35.89 MHz
Δ 10.85%
poses: CPose3D.composePoint()21.31 ns /
19.17 ns
Δ 11.13%
46.94 MHz /
52.16 MHz
∇ -10.01%
poses: CPoint3D (-) CPose3D89.96 ns /
51.66 ns
Δ 74.16%
11.12 MHz /
19.36 MHz
∇ -42.58%
poses: CPose3D.inverseComposePoint()47.25 ns /
46.91 ns
Δ 0.71%
21.17 MHz /
21.32 MHz
∇ -0.71%
poses: CPose2D (+) CPose2D108.63 ns /
99.28 ns
Δ 9.42%
9.21 MHz /
10.07 MHz
∇ -8.61%
poses: CPose2D.composeFrom()94.77 ns /
89.67 ns
Δ 5.69%
10.55 MHz /
11.15 MHz
∇ -5.38%
poses: CPose2D (+) CPoint2D80.61 ns /
82.07 ns
∇ -1.78%
12.41 MHz /
12.18 MHz
Δ 1.81%
poses: CPose2D.composePoint()67.32 ns /
64.58 ns
Δ 4.25%
14.85 MHz /
15.49 MHz
∇ -4.08%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
87.19 ns
∇ -6.75%
12.30 MHz /
11.47 MHz
Δ 7.24%
poses: CPose3DQuat.composeFrom()51.56 ns /
57.14 ns
∇ -9.76%
19.39 MHz /
17.50 MHz
Δ 10.82%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
48.22 ns
Δ 15.94%
17.89 MHz /
20.74 MHz
∇ -13.75%
poses: CPose3DQuat.composePoint()32.73 ns /
29.64 ns
Δ 10.42%
30.55 MHz /
33.74 MHz
∇ -9.44%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
84.32 ns
Δ 47.08%
8.06 MHz /
11.86 MHz
∇ -32.01%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
30.72 ns
∇ -0.37%
32.67 MHz /
32.55 MHz
Δ 0.37%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
33.02 ns
∇ -14.83%
35.56 MHz /
30.29 MHz
Δ 17.42%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
206.69 ns
Δ 4.91%
4.61 MHz /
4.84 MHz
∇ -4.68%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
1.35 us
∇ -8.27%
806.40 KHz /
739.68 KHz
Δ 9.02%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
1.40 us
∇ -14.77%
835.55 KHz /
712.12 KHz
Δ 17.33%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
23.15 us
∇ -12.94%
49.63 KHz /
43.20 KHz
Δ 14.87%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
1.62 us
∇ -49.55%
1.22 MHz /
617.00 KHz
Δ 98.23%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
1.63 us
∇ -49.47%
1.21 MHz /
613.67 KHz
Δ 97.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
15.82 us
Δ 20.67%
52.39 KHz /
63.21 KHz
∇ -17.13%
matrix: unit, dyn[float], 3x349.67 ns /
38.75 ns
Δ 28.19%
20.13 MHz /
25.81 MHz
∇ -21.99%
matrix: unit, dyn[double], 3x350.90 ns /
38.69 ns
Δ 31.56%
19.64 MHz /
25.85 MHz
∇ -23.99%
matrix: unit, dyn[float], 6x6180.98 ns /
163.36 ns
Δ 10.79%
5.53 MHz /
6.12 MHz
∇ -9.74%
matrix: unit, dyn[double], 6x6177.90 ns /
213.06 ns
∇ -16.50%
5.62 MHz /
4.69 MHz
Δ 19.76%
matrix: unit, fix[float,3,3]0.00 ns /
3.56 ns
∇ -100.00%
1.#J THz /
280.77 MHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
3.29 ns
∇ -100.00%
1.#J THz /
304.17 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]6.63 ns /
2.77 ns
Δ 139.33%
150.81 MHz /
360.95 MHz
∇ -58.22%
matrix: unit, fix[double,6,6]8.86 ns /
6.07 ns
Δ 45.95%
112.91 MHz /
164.80 MHz
∇ -31.48%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
168.66 ns
Δ 303.33%
1.47 MHz /
5.93 MHz
∇ -75.21%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
109.47 ns
∇ -100.00%
1.#J THz /
9.14 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
159.15 ns
Δ 187.99%
2.18 MHz /
6.28 MHz
∇ -65.28%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
87.59 ns
∇ -100.00%
1.#J THz /
11.42 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3680.46 ns /
272.34 ns
Δ 149.86%
1.47 MHz /
3.67 MHz
∇ -59.98%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
190.04 ns
∇ -81.43%
28.34 MHz /
5.26 MHz
Δ 438.64%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
245.84 ns
Δ 109.08%
1.95 MHz /
4.07 MHz
∇ -52.17%
matrix: multiply, fix[double], 3x6 * 6x33.40 ns /
138.91 ns
∇ -97.55%
294.39 MHz /
7.20 MHz
Δ 3989.31%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
16.67 us
∇ -68.92%
193.06 KHz /
60.00 KHz
Δ 221.79%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
12.92 us
∇ -64.73%
219.44 KHz /
77.41 KHz
Δ 183.49%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
13.30 us
∇ -71.51%
263.78 KHz /
75.16 KHz
Δ 250.95%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
9.66 us
∇ -69.73%
342.06 KHz /
103.53 KHz
Δ 230.41%
matrix: inv, dyn[double] 3x31.50 us /
1.47 us
Δ 2.44%
665.44 KHz /
681.67 KHz
∇ -2.38%
matrix: inv, fix[double] 3x39.51 ns /
30.80 ns
∇ -69.12%
105.14 MHz /
32.47 MHz
Δ 223.81%
matrix: inv, dyn[double] 6x63.90 us /
5.05 us
∇ -22.63%
256.17 KHz /
198.20 KHz
Δ 29.25%
matrix: inv, fix[double] 6x63.54 us /
944.32 ns
Δ 274.87%
282.49 KHz /
1.06 MHz
∇ -73.32%
matrix: inv, dyn[double] 20x2034.19 us /
106.06 us
∇ -67.76%
29.25 KHz /
9.43 KHz
Δ 210.19%
matrix: inv, fix[double] 20x2029.35 us /
18.99 us
Δ 54.53%
34.07 KHz /
52.65 KHz
∇ -35.29%
matrix: inv, dyn[double] 40x40134.24 us /
805.07 us
∇ -83.33%
7.45 KHz /
1.24 KHz
Δ 499.74%
matrix: inv, fix[double] 40x40126.45 us /
129.27 us
∇ -2.18%
7.91 KHz /
7.74 KHz
Δ 2.23%
matrix: det, dyn[double] 2x2601.74 ns /
8.47 ns
Δ 7004.85%
1.66 MHz /
118.07 MHz
∇ -98.59%
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 /
15.90 ns
Δ 5390.34%
1.15 MHz /
62.90 MHz
∇ -98.18%
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 /
2.27 us
Δ 2.41%
430.29 KHz /
440.64 KHz
∇ -2.35%
matrix: det, fix[double] 6x62.17 us /
409.52 ns
Δ 430.15%
460.60 KHz /
2.44 MHz
∇ -81.14%
matrix: det, dyn[double] 20x2023.14 us /
17.63 us
Δ 31.23%
43.22 KHz /
56.72 KHz
∇ -23.80%
matrix: det, fix[double] 20x2021.38 us /
6.19 us
Δ 245.52%
46.78 KHz /
161.63 KHz
∇ -71.06%
matrix: det, dyn[double] 40x4092.83 us /
112.43 us
∇ -17.43%
10.77 KHz /
8.89 KHz
Δ 21.11%
matrix: det, fix[double] 40x4090.97 us /
35.24 us
Δ 158.16%
10.99 KHz /
28.38 KHz
∇ -61.26%
matrix: chol, dyn[double] 4x4892.24 ns /
172.11 ns
Δ 418.42%
1.12 MHz /
5.81 MHz
∇ -80.71%
matrix: chol, fix[double] 4x4249.10 ns /
117.76 ns
Δ 111.54%
4.01 MHz /
8.49 MHz
∇ -52.73%
matrix: chol, dyn[double] 40x4041.12 us /
24.40 us
Δ 68.52%
24.32 KHz /
40.98 KHz
∇ -40.66%
matrix: chol, fix[double] 40x4026.92 us /
17.68 us
Δ 52.27%
37.15 KHz /
56.57 KHz
∇ -34.33%
matrix: chol, sparse [2x2;2x2]15.31 us /
8.42 us
Δ 81.72%
65.32 KHz /
118.71 KHz
∇ -44.97%
matrix: chol, sparse [30x30;10x10]116.85 us /
118.80 us
∇ -1.64%
8.56 KHz /
8.42 KHz
Δ 1.67%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
69.79 us
Δ 41.79%
10.10 KHz /
14.33 KHz
∇ -29.47%
matrix: chol, sparse 10x[6x6]55.18 us /
52.54 us
Δ 5.03%
18.12 KHz /
19.03 KHz
∇ -4.79%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
466.09 us
Δ 6.86%
2.01 KHz /
2.15 KHz
∇ -6.42%
matrix: chol, sparse 20x[6x6]133.40 us /
89.01 us
Δ 49.87%
7.50 KHz /
11.24 KHz
∇ -33.28%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
9.32 ms
∇ -46.45%
200.30 Hz /
107.25 Hz
Δ 86.75%
matrix: chol, sparse 50x[6x6]243.96 us /
201.22 us
Δ 21.24%
4.10 KHz /
4.97 KHz
∇ -17.52%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
138.07 ms
∇ -78.25%
33.31 Hz /
7.24 Hz
Δ 359.83%
matrix: chol, sparse 100x[6x6]486.08 us /
401.45 us
Δ 21.08%
2.06 KHz /
2.49 KHz
∇ -17.41%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
453.62 ms
∇ -88.55%
19.25 Hz /
2.20 Hz
Δ 773.27%
matrix: chol, sparse 120x[6x6]583.78 us /
474.18 us
Δ 23.11%
1.71 KHz /
2.11 KHz
∇ -18.77%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
945.16 ms
∇ -91.86%
13.00 Hz /
1.06 Hz
Δ 1128.99%
matrix: chol, sparse 140x[6x6]649.31 us /
552.77 us
Δ 17.46%
1.54 KHz /
1.81 KHz
∇ -14.87%
gridmap2D: getCell6.44 ns /
5.57 ns
Δ 15.71%
155.25 MHz /
179.64 MHz
∇ -13.57%
gridmap2D: setCell9.52 ns /
7.80 ns
Δ 22.07%
105.00 MHz /
128.17 MHz
∇ -18.08%
gridmap2D: updateCell9.85 ns /
10.65 ns
∇ -7.50%
101.55 MHz /
93.93 MHz
Δ 8.11%
gridmap2D: updateCell_fast_occupied1.47 ns /
1.20 ns
Δ 22.88%
679.40 MHz /
834.82 MHz
∇ -18.62%
gridmap2D: insert scan w/o widening225.20 us /
202.10 us
Δ 11.43%
4.44 KHz /
4.95 KHz
∇ -10.26%
gridmap2D: insert scan with widening365.80 us /
338.79 us
Δ 7.97%
2.73 KHz /
2.95 KHz
∇ -7.38%
gridmap2D: resize2.56 ms /
3.58 ms
∇ -28.35%
389.96 Hz /
279.42 Hz
Δ 39.56%
gridmap2D: computeLikelihood21.14 us /
18.09 us
Δ 16.88%
47.30 KHz /
55.28 KHz
∇ -14.44%
pointmap: insert 100 scans3.27 ms /
5.50 ms
∇ -40.48%
305.75 Hz /
181.98 Hz
Δ 68.01%
pointmap: build 2D kd-tree of 1 scan6.03 us /
6.29 us
∇ -4.03%
165.76 KHz /
159.07 KHz
Δ 4.20%
pointmap: build 2D kd-tree of 100 scan579.42 us /
520.70 us
Δ 11.28%
1.73 KHz /
1.92 KHz
∇ -10.13%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
5.50 ms
Δ 11.55%
162.87 Hz /
181.67 Hz
∇ -10.35%
pointmap: build 3D kd-tree of 1 scan6.68 us /
6.47 us
Δ 3.36%
149.59 KHz /
154.62 KHz
∇ -3.25%
pointmap: build 3D kd-tree of 100 scan519.96 us /
526.59 us
∇ -1.26%
1.92 KHz /
1.90 KHz
Δ 1.27%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
5.63 ms
Δ 17.81%
150.68 Hz /
177.52 Hz
∇ -15.12%
pointmap: kd-tree 2d query on 10 scans1.95 us /
2.04 us
∇ -4.13%
511.57 KHz /
490.44 KHz
Δ 4.31%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
137.79 us
Δ 21.30%
5.98 KHz /
7.26 KHz
∇ -17.56%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
14.88 ms
Δ 17.28%
57.30 Hz /
67.19 Hz
∇ -14.73%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
8.57 ms
Δ 6.33%
109.75 Hz /
116.69 Hz
∇ -5.95%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
191.63 ms
Δ 9.96%
4.75 Hz /
5.22 Hz
∇ -9.06%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
8.64 ms
∇ -3.01%
119.37 Hz /
115.78 Hz
Δ 3.11%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
194.89 ms
Δ 1.96%
5.03 Hz /
5.13 Hz
∇ -1.92%
random: drawUniform32bit7.57 ns /
7.21 ns
Δ 4.98%
132.11 MHz /
138.68 MHz
∇ -4.74%
random: drawUniform7.60 ns /
7.18 ns
Δ 5.84%
131.54 MHz /
139.23 MHz
∇ -5.52%
random: drawGaussian1D_normalized58.48 ns /
51.37 ns
Δ 13.83%
17.10 MHz /
19.47 MHz
∇ -12.15%
random: drawGaussian1D57.62 ns /
51.39 ns
Δ 12.14%
17.35 MHz /
19.46 MHz
∇ -10.82%
random: system rand()29.43 ns /
28.61 ns
Δ 2.85%
33.98 MHz /
34.95 MHz
∇ -2.77%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
2.55 us
Δ 15.46%
339.21 KHz /
391.65 KHz
∇ -13.39%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
8.36 us
∇ -57.71%
282.92 KHz /
119.66 KHz
Δ 136.44%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
213.95 ns
∇ -31.89%
6.86 MHz /
4.67 MHz
Δ 46.83%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
324.69 ns
∇ -29.97%
4.40 MHz /
3.08 MHz
Δ 42.81%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
829.70 ns
∇ -37.98%
1.94 MHz /
1.21 MHz
Δ 61.25%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
214.89 ns
∇ -20.70%
5.87 MHz /
4.65 MHz
Δ 26.10%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
364.99 ns
∇ -22.30%
3.53 MHz /
2.74 MHz
Δ 28.70%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
760.13 ns
∇ -13.01%
1.51 MHz /
1.32 MHz
Δ 14.96%
random: permuteVector (len=10)304.45 ns /
420.57 ns
∇ -27.61%
3.28 MHz /
2.38 MHz
Δ 38.14%
random: permuteVector (len=100)3.47 us /
3.56 us
∇ -2.53%
288.42 KHz /
281.12 KHz
Δ 2.60%
random: permuteVector (len=1000)37.99 us /
33.55 us
Δ 13.21%
26.33 KHz /
29.80 KHz
∇ -11.67%
math: round0.00 ns /
0.00 ns
Δ 1.#J%
220.79 THz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)33.06 ms /
28.40 ms
Δ 16.41%
30.25 Hz /
35.21 Hz
∇ -14.10%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
43.71 ms
Δ 15.84%
19.75 Hz /
22.88 Hz
∇ -13.67%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
70.17 ms
Δ 17.79%
12.10 Hz /
14.25 Hz
∇ -15.10%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
24.11 ms
Δ 13.46%
36.56 Hz /
41.48 Hz
∇ -11.86%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
37.02 ms
Δ 16.82%
23.12 Hz /
27.01 Hz
∇ -14.40%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
59.51 ms
Δ 11.84%
15.03 Hz /
16.80 Hz
∇ -10.59%
images: Gauss filter (640x480)5.57 ms /
5.29 ms
Δ 5.27%
179.49 Hz /
188.95 Hz
∇ -5.01%
images: Gauss filter (800x600)8.84 ms /
8.36 ms
Δ 5.78%
113.10 Hz /
119.64 Hz
∇ -5.47%
images: Gauss filter (1024x768)14.37 ms /
13.88 ms
Δ 3.56%
69.58 Hz /
72.06 Hz
∇ -3.44%
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 /
18.63 us
Δ 17.89%
45.52 KHz /
53.67 KHz
∇ -15.18%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
17.89 us
Δ 23.04%
45.44 KHz /
55.91 KHz
∇ -18.73%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
5.05 us
Δ 151.43%
78.69 KHz /
197.84 KHz
∇ -60.23%
feature_extraction [640x480]: Harris38.32 ms /
33.27 ms
Δ 15.18%
26.10 Hz /
30.06 Hz
∇ -13.18%
feature_extraction [640x480]: KLT37.22 ms /
31.21 ms
Δ 19.23%
26.87 Hz /
32.04 Hz
∇ -16.13%
feature_extraction [640x480]: SIFT739.68 ms /
675.81 ms
Δ 9.45%
1.35 Hz /
1.48 Hz
∇ -8.63%
feature_extraction [640x480]: SIFT desc.232.95 ms /
217.19 ms
Δ 7.26%
4.29 Hz /
4.60 Hz
∇ -6.77%
feature_extraction [640x480]: SURF309.97 ms /
316.97 ms
∇ -2.21%
3.23 Hz /
3.15 Hz
Δ 2.26%
feature_extraction [640x480]: FAST6.88 ms /
7.82 ms
∇ -11.94%
145.25 Hz /
127.91 Hz
Δ 13.56%
feature_extraction [640x480]: Spin desc.88.28 ms /
103.38 ms
∇ -14.60%
11.33 Hz /
9.67 Hz
Δ 17.10%
feature_matching [640x480]: Harris + CC59.68 ms /
56.24 ms
Δ 6.12%
16.76 Hz /
17.78 Hz
∇ -5.77%
feature_matching [640x480]: Harris + SAD58.57 ms /
47.55 ms
Δ 23.18%
17.07 Hz /
21.03 Hz
∇ -18.81%
feature_matching [640x480]: SIFT1.50 sec /
1.34 sec
Δ 11.65%
668.02 mHz /
745.82 mHz
∇ -10.43%
feature_matching [640x480]: SURF621.62 ms /
606.64 ms
Δ 2.47%
1.61 Hz /
1.65 Hz
∇ -2.41%
feature_matching [640x480]: FAST + CC21.69 ms /
22.36 ms
∇ -3.00%
46.10 Hz /
44.72 Hz
Δ 3.09%
feature_matching [640x480]: FAST + SAD12.64 ms /
15.00 ms
∇ -15.72%
79.13 Hz /
66.69 Hz
Δ 18.65%
graph(2d): insertEdge x 1e3301.62 us /
313.03 us
∇ -3.65%
3.32 KHz /
3.19 KHz
Δ 3.78%
graph(2d,vec): insertEdge x 1e3298.86 us /
307.43 us
∇ -2.79%
3.35 KHz /
3.25 KHz
Δ 2.87%
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
222.64 us
Δ 23.38%
3.64 KHz /
4.49 KHz
∇ -18.95%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
222.87 us
Δ 21.24%
3.70 KHz /
4.49 KHz
∇ -17.52%
graph(2d pdf): insertEdge x 1e3415.87 us /
516.93 us
∇ -19.55%
2.40 KHz /
1.93 KHz
Δ 24.30%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
517.18 us
∇ -21.38%
2.46 KHz /
1.93 KHz
Δ 27.20%
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
405.97 us
∇ -7.00%
2.65 KHz /
2.46 KHz
Δ 7.53%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
403.48 us
∇ -5.96%
2.64 KHz /
2.48 KHz
Δ 6.33%
graph(2d): insertEdge x 1e44.14 ms /
3.36 ms
Δ 23.05%
241.59 Hz /
297.28 Hz
∇ -18.74%
graph(2d,vec): insertEdge x 1e44.00 ms /
3.35 ms
Δ 19.48%
250.06 Hz /
298.76 Hz
∇ -16.30%
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
2.22 ms
Δ 32.60%
339.77 Hz /
450.51 Hz
∇ -24.58%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
2.22 ms
Δ 30.24%
345.69 Hz /
450.21 Hz
∇ -23.22%
graph(2d pdf): insertEdge x 1e44.77 ms /
5.45 ms
∇ -12.50%
209.57 Hz /
183.37 Hz
Δ 14.29%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
5.44 ms
∇ -10.54%
205.59 Hz /
183.91 Hz
Δ 11.79%
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
4.07 ms
∇ -0.37%
246.64 Hz /
245.74 Hz
Δ 0.37%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
4.06 ms
Δ 3.78%
237.52 Hz /
246.50 Hz
∇ -3.64%
graph(3d): insertEdge x 1e3381.69 us /
447.20 us
∇ -14.65%
2.62 KHz /
2.24 KHz
Δ 17.16%
graph(3d,vec): insertEdge x 1e3407.21 us /
442.12 us
∇ -7.90%
2.46 KHz /
2.26 KHz
Δ 8.57%
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
346.69 us
∇ -2.05%
2.94 KHz /
2.88 KHz
Δ 2.10%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
347.20 us
∇ -3.64%
2.99 KHz /
2.88 KHz
Δ 3.78%
graph(3d pdf): insertEdge x 1e3688.91 us /
944.03 us
∇ -27.02%
1.45 KHz /
1.06 KHz
Δ 37.03%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
978.08 us
∇ -30.00%
1.46 KHz /
1.02 KHz
Δ 42.85%
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
793.19 us
∇ -13.86%
1.46 KHz /
1.26 KHz
Δ 16.09%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
793.52 us
∇ -13.76%
1.46 KHz /
1.26 KHz
Δ 15.95%
graph(3d): insertEdge x 1e43.89 ms /
4.62 ms
∇ -15.92%
257.39 Hz /
216.43 Hz
Δ 18.93%
graph(3d,vec): insertEdge x 1e43.79 ms /
4.62 ms
∇ -17.87%
263.81 Hz /
216.67 Hz
Δ 21.76%
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
3.48 ms
Δ 3.00%
278.91 Hz /
287.28 Hz
∇ -2.92%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
3.47 ms
Δ 1.25%
284.28 Hz /
287.84 Hz
∇ -1.24%
graph(3d pdf): insertEdge x 1e47.80 ms /
10.55 ms
∇ -26.06%
128.15 Hz /
94.75 Hz
Δ 35.25%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
9.75 ms
∇ -19.96%
128.11 Hz /
102.54 Hz
Δ 24.93%
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
7.93 ms
∇ -5.52%
133.45 Hz /
126.08 Hz
Δ 5.85%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
7.94 ms
∇ -4.70%
132.15 Hz /
125.93 Hz
Δ 4.94%
graph(3d): dijkstra 1e2 nodes213.16 us /
262.18 us
∇ -18.70%
4.69 KHz /
3.81 KHz
Δ 23.00%
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
363.67 us
∇ -14.32%
3.21 KHz /
2.75 KHz
Δ 16.71%
graph(3d): dijkstra 1e3 nodes2.57 ms /
2.97 ms
∇ -13.74%
389.66 Hz /
336.14 Hz
Δ 15.92%
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
3.29 ms
∇ -17.95%
370.20 Hz /
303.75 Hz
Δ 21.88%
graph(3d): dijkstra 1e4 nodes31.29 ms /
34.21 ms
∇ -8.55%
31.96 Hz /
29.23 Hz
Δ 9.35%
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
38.12 ms
∇ -13.66%
30.38 Hz /
26.23 Hz
Δ 15.83%
graph(3d): dijkstra 1e5 nodes393.68 ms /
389.54 ms
Δ 1.06%
2.54 Hz /
2.57 Hz
∇ -1.05%
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
428.64 ms
∇ -10.04%
2.59 Hz /
2.33 Hz
Δ 11.16%
graph(2d): dijkstra 1e5 nodes380.30 ms /
382.11 ms
∇ -0.47%
2.63 Hz /
2.62 Hz
Δ 0.48%
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
417.45 ms
∇ -9.73%
2.65 Hz /
2.40 Hz
Δ 10.78%

 


Page generated automatically at 2011/06/03,22:26:37.973434 with MRPT 0.9.4 by 'mrpt-performance'.