Comparison: 0.9.4-GCC-64bit vs. 0.9.3-MSVC9-32bit




Test description 0.9.4-GCC-64bit /
0.9.3-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
31.56 ms
∇ -34.26%
48.21 Hz /
31.69 Hz
Δ 52.12%
icp-slam (match grid): Run with sample dataset17.09 ms /
53.95 ms
∇ -68.32%
58.52 Hz /
18.54 Hz
Δ 215.66%
poses: CPose3D (+) CPose3D29.76 ns /
194.14 ns
∇ -84.67%
33.60 MHz /
5.15 MHz
Δ 552.35%
poses: CPose3D.composeFrom()21.90 ns /
34.65 ns
∇ -36.80%
45.66 MHz /
28.86 MHz
Δ 58.23%
poses: CPose3D (+) CPoint3D7.23 ns /
28.67 ns
∇ -74.77%
138.24 MHz /
34.88 MHz
Δ 296.28%
poses: CPose3D.composePoint()11.67 ns /
18.49 ns
∇ -36.88%
85.68 MHz /
54.08 MHz
Δ 58.43%
poses: CPoint3D (-) CPose3D13.29 ns /
93.89 ns
∇ -85.85%
75.27 MHz /
10.65 MHz
Δ 606.68%
poses: CPose3D.inverseComposePoint()24.48 ns /
44.39 ns
∇ -44.85%
40.85 MHz /
22.53 MHz
Δ 81.33%
poses: CPose2D (+) CPose2D71.64 ns /
103.92 ns
∇ -31.06%
13.96 MHz /
9.62 MHz
Δ 45.06%
poses: CPose2D.composeFrom()69.41 ns /
91.82 ns
∇ -24.41%
14.41 MHz /
10.89 MHz
Δ 32.29%
poses: CPose2D (+) CPoint2D60.78 ns /
140.37 ns
∇ -56.70%
16.45 MHz /
7.12 MHz
Δ 130.96%
poses: CPose2D.composePoint()60.80 ns /
66.26 ns
∇ -8.24%
16.45 MHz /
15.09 MHz
Δ 8.98%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
93.35 ns
∇ -56.65%
24.71 MHz /
10.71 MHz
Δ 130.67%
poses: CPose3DQuat.composeFrom()37.55 ns /
60.52 ns
∇ -37.96%
26.63 MHz /
16.52 MHz
Δ 61.18%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
116.72 ns
∇ -85.10%
57.51 MHz /
8.57 MHz
Δ 571.24%
poses: CPose3DQuat.composePoint()17.48 ns /
31.02 ns
∇ -43.64%
57.20 MHz /
32.23 MHz
Δ 77.44%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
126.78 ns
∇ -74.00%
30.33 MHz /
7.89 MHz
Δ 284.56%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
30.88 ns
∇ -38.13%
52.34 MHz /
32.38 MHz
Δ 61.63%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
33.42 ns
∇ -29.91%
42.70 MHz /
29.93 MHz
Δ 42.68%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
211.33 ns
∇ -18.27%
5.79 MHz /
4.73 MHz
Δ 22.36%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
19.45 us
∇ -96.55%
1.49 MHz /
51.41 KHz
Δ 2799.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
2.93 us
∇ -77.76%
1.53 MHz /
341.05 KHz
Δ 349.72%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
34.64 us
∇ -74.76%
114.40 KHz /
28.87 KHz
Δ 296.25%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
860.26 ns
∇ -47.21%
2.20 MHz /
1.16 MHz
Δ 89.44%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
880.23 ns
∇ -48.55%
2.21 MHz /
1.14 MHz
Δ 94.35%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
21.76 us
∇ -63.36%
125.39 KHz /
45.95 KHz
Δ 172.89%
matrix: unit, dyn[float], 3x317.64 ns /
44.99 ns
∇ -60.80%
56.71 MHz /
22.23 MHz
Δ 155.11%
matrix: unit, dyn[double], 3x319.86 ns /
45.16 ns
∇ -56.02%
50.34 MHz /
22.14 MHz
Δ 127.37%
matrix: unit, dyn[float], 6x657.06 ns /
160.84 ns
∇ -64.53%
17.53 MHz /
6.22 MHz
Δ 181.91%
matrix: unit, dyn[double], 6x660.00 ns /
160.97 ns
∇ -62.73%
16.67 MHz /
6.21 MHz
Δ 168.28%
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]0.00 ns /
6.73 ns
∇ -100.00%
1.#J THz /
148.49 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
7.86 ns
∇ -100.00%
1.#J THz /
127.26 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
550.79 ns
∇ -55.94%
4.12 MHz /
1.82 MHz
Δ 126.94%
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 * 3x3231.60 ns /
432.98 ns
∇ -46.51%
4.32 MHz /
2.31 MHz
Δ 86.95%
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 * 6x3296.50 ns /
660.53 ns
∇ -55.11%
3.37 MHz /
1.51 MHz
Δ 122.77%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
38.91 ns
∇ -99.74%
10.00 GHz /
25.70 MHz
Δ 38805.06%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
474.65 ns
∇ -45.39%
3.86 MHz /
2.11 MHz
Δ 83.12%
matrix: multiply, fix[double], 3x6 * 6x30.00 ns /
8.74 ns
∇ -100.00%
1.#J THz /
114.40 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
4.68 us
∇ -55.29%
477.69 KHz /
213.59 KHz
Δ 123.65%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
4.42 us
∇ -59.54%
559.03 KHz /
226.20 KHz
Δ 147.14%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
3.24 us
∇ -24.96%
411.68 KHz /
308.92 KHz
Δ 33.26%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
2.37 us
∇ -8.53%
462.21 KHz /
422.77 KHz
Δ 9.33%
matrix: inv, dyn[double] 3x3767.00 ns /
1.49 us
∇ -48.43%
1.30 MHz /
672.33 KHz
Δ 93.92%
matrix: inv, fix[double] 3x30.00 ns /
32.16 ns
∇ -100.00%
1.#J THz /
31.10 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
3.50 us
∇ -49.07%
561.80 KHz /
286.11 KHz
Δ 96.35%
matrix: inv, fix[double] 6x61.73 us /
2.72 us
∇ -36.37%
578.70 KHz /
368.24 KHz
Δ 57.16%
matrix: inv, dyn[double] 20x2016.27 us /
31.87 us
∇ -48.96%
61.47 KHz /
31.37 KHz
Δ 95.94%
matrix: inv, fix[double] 20x2013.44 us /
28.91 us
∇ -53.52%
74.41 KHz /
34.58 KHz
Δ 115.15%
matrix: inv, dyn[double] 40x4068.00 us /
124.22 us
∇ -45.25%
14.70 KHz /
8.05 KHz
Δ 82.66%
matrix: inv, fix[double] 40x4063.01 us /
122.24 us
∇ -48.46%
15.87 KHz /
8.18 KHz
Δ 94.02%
matrix: det, dyn[double] 2x2209.40 ns /
647.62 ns
∇ -67.67%
4.78 MHz /
1.54 MHz
Δ 209.27%
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 /
969.59 ns
∇ -65.83%
3.02 MHz /
1.03 MHz
Δ 192.66%
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 /
2.45 us
∇ -61.55%
1.06 MHz /
407.46 KHz
Δ 160.07%
matrix: det, fix[double] 6x6575.90 ns /
1.89 us
∇ -69.48%
1.74 MHz /
529.99 KHz
Δ 227.63%
matrix: det, dyn[double] 20x208.10 us /
22.48 us
∇ -63.94%
123.40 KHz /
44.49 KHz
Δ 177.34%
matrix: det, fix[double] 20x207.48 us /
21.45 us
∇ -65.10%
133.61 KHz /
46.63 KHz
Δ 186.54%
matrix: det, dyn[double] 40x4030.87 us /
80.28 us
∇ -61.54%
32.39 KHz /
12.46 KHz
Δ 160.03%
matrix: det, fix[double] 40x4029.01 us /
79.04 us
∇ -63.29%
34.47 KHz /
12.65 KHz
Δ 172.44%
matrix: chol, dyn[double] 4x4530.00 ns /
1.09 us
∇ -51.44%
1.89 MHz /
916.16 KHz
Δ 105.95%
matrix: chol, fix[double] 4x4120.00 ns /
317.04 ns
∇ -62.15%
8.33 MHz /
3.15 MHz
Δ 164.20%
matrix: chol, dyn[double] 40x4020.70 us /
75.74 us
∇ -72.67%
48.31 KHz /
13.20 KHz
Δ 265.87%
matrix: chol, fix[double] 40x4016.54 us /
55.31 us
∇ -70.10%
60.46 KHz /
18.08 KHz
Δ 234.40%
matrix: chol, sparse [2x2;2x2]12.20 us /
16.89 us
∇ -27.78%
81.97 KHz /
59.19 KHz
Δ 38.47%
matrix: chol, sparse [30x30;10x10]87.70 us /
247.29 us
∇ -64.54%
11.40 KHz /
4.04 KHz
Δ 181.97%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
180.76 us
∇ -71.40%
19.34 KHz /
5.53 KHz
Δ 249.63%
matrix: chol, sparse 10x[6x6]38.27 us /
91.89 us
∇ -58.35%
26.13 KHz /
10.88 KHz
Δ 140.11%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
765.78 us
∇ -66.64%
3.91 KHz /
1.31 KHz
Δ 199.72%
matrix: chol, sparse 20x[6x6]70.94 us /
116.55 us
∇ -39.13%
14.10 KHz /
8.58 KHz
Δ 64.29%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
4.08 ms
∇ -32.57%
363.64 Hz /
245.20 Hz
Δ 48.30%
matrix: chol, sparse 50x[6x6]169.22 us /
207.46 us
∇ -18.43%
5.91 KHz /
4.82 KHz
Δ 22.60%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
24.43 ms
∇ -9.72%
45.33 Hz /
40.93 Hz
Δ 10.76%
matrix: chol, sparse 100x[6x6]339.61 us /
403.40 us
∇ -15.81%
2.94 KHz /
2.48 KHz
Δ 18.78%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
40.20 ms
∇ -8.79%
27.27 Hz /
24.87 Hz
Δ 9.64%
matrix: chol, sparse 120x[6x6]402.38 us /
479.83 us
∇ -16.14%
2.49 KHz /
2.08 KHz
Δ 19.25%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
59.95 ms
∇ -10.15%
18.57 Hz /
16.68 Hz
Δ 11.30%
matrix: chol, sparse 140x[6x6]476.81 us /
560.09 us
∇ -14.87%
2.10 KHz /
1.79 KHz
Δ 17.47%
gridmap2D: getCell0.00 ns /
5.69 ns
∇ -100.00%
1.#J THz /
175.73 MHz
Δ 1.#J%
gridmap2D: setCell2.71 ns /
8.06 ns
∇ -66.41%
369.33 MHz /
124.07 MHz
Δ 197.68%
gridmap2D: updateCell6.04 ns /
61.98 ns
∇ -90.26%
165.59 MHz /
16.13 MHz
Δ 926.32%
gridmap2D: updateCell_fast_occupied0.61 ns /
1.25 ns
∇ -50.94%
1.63 GHz /
798.82 MHz
Δ 103.82%
gridmap2D: insert scan w/o widening99.83 us /
208.84 us
∇ -52.20%
10.02 KHz /
4.79 KHz
Δ 109.19%
gridmap2D: insert scan with widening293.13 us /
346.08 us
∇ -15.30%
3.41 KHz /
2.89 KHz
Δ 18.07%
gridmap2D: resize630.00 us /
2.81 ms
∇ -77.60%
1.59 KHz /
355.60 Hz
Δ 346.37%
gridmap2D: computeLikelihood17.81 us /
18.33 us
∇ -2.81%
56.14 KHz /
54.57 KHz
Δ 2.89%
pointmap: insert 100 scans1.01 ms /
6.61 ms
∇ -84.73%
990.80 Hz /
151.33 Hz
Δ 554.73%
pointmap: build 2D kd-tree of 1 scan4.52 us /
6.03 us
∇ -25.08%
221.24 KHz /
165.76 KHz
Δ 33.47%
pointmap: build 2D kd-tree of 100 scan364.44 us /
536.01 us
∇ -32.01%
2.74 KHz /
1.87 KHz
Δ 47.08%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
5.64 ms
∇ -22.37%
228.21 Hz /
177.17 Hz
Δ 28.81%
pointmap: build 3D kd-tree of 1 scan5.16 us /
7.70 us
∇ -32.98%
193.80 KHz /
129.88 KHz
Δ 49.21%
pointmap: build 3D kd-tree of 100 scan372.44 us /
528.60 us
∇ -29.54%
2.68 KHz /
1.89 KHz
Δ 41.93%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
5.81 ms
∇ -27.70%
238.06 Hz /
172.12 Hz
Δ 38.31%
pointmap: kd-tree 2d query on 10 scans1.42 us /
2.13 us
∇ -33.36%
703.73 KHz /
468.98 KHz
Δ 50.06%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
145.70 us
∇ -30.09%
9.82 KHz /
6.86 KHz
Δ 43.04%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
15.49 ms
∇ -21.41%
82.15 Hz /
64.56 Hz
Δ 27.24%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
8.93 ms
∇ -36.85%
177.25 Hz /
111.93 Hz
Δ 58.37%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
200.06 ms
∇ -33.64%
7.53 Hz /
5.00 Hz
Δ 50.69%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
8.97 ms
∇ -36.34%
175.04 Hz /
111.43 Hz
Δ 57.08%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
201.21 ms
∇ -33.04%
7.42 Hz /
4.97 Hz
Δ 49.33%
random: drawUniform32bit14.55 ns /
7.76 ns
Δ 87.54%
68.75 MHz /
128.93 MHz
∇ -46.68%
random: drawUniform14.56 ns /
7.61 ns
Δ 91.31%
68.69 MHz /
131.41 MHz
∇ -47.73%
random: drawGaussian1D_normalized66.87 ns /
51.84 ns
Δ 29.00%
14.96 MHz /
19.29 MHz
∇ -22.48%
random: drawGaussian1D66.81 ns /
52.02 ns
Δ 28.42%
14.97 MHz /
19.22 MHz
∇ -22.13%
random: system rand()10.63 ns /
27.43 ns
∇ -61.26%
94.11 MHz /
36.46 MHz
Δ 158.14%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
4.97 us
∇ -81.81%
1.11 MHz /
201.38 KHz
Δ 449.69%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
10.68 us
∇ -84.92%
621.01 KHz /
93.66 KHz
Δ 563.06%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
153.63 ns
∇ -5.84%
6.91 MHz /
6.51 MHz
Δ 6.21%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
250.07 ns
∇ -12.23%
4.56 MHz /
4.00 MHz
Δ 13.94%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
664.62 ns
∇ -28.86%
2.12 MHz /
1.50 MHz
Δ 40.57%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
153.22 ns
∇ -0.61%
6.57 MHz /
6.53 MHz
Δ 0.61%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
253.40 ns
∇ -7.25%
4.25 MHz /
3.95 MHz
Δ 7.81%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
622.96 ns
∇ -21.09%
2.03 MHz /
1.61 MHz
Δ 26.72%
random: permuteVector (len=10)243.60 ns /
342.58 ns
∇ -28.89%
4.11 MHz /
2.92 MHz
Δ 40.63%
random: permuteVector (len=100)2.99 us /
3.62 us
∇ -17.45%
334.99 KHz /
276.54 KHz
Δ 21.14%
random: permuteVector (len=1000)29.51 us /
35.68 us
∇ -17.28%
33.88 KHz /
28.03 KHz
Δ 20.89%
math: round0.10 ns /
0.00 ns
Δ 2189954.69%
10.08 GHz /
220.79 THz
∇ -100.00%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
28.08 ms
Δ 19.74%
29.74 Hz /
35.61 Hz
∇ -16.49%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
42.80 ms
Δ 16.48%
20.06 Hz /
23.37 Hz
∇ -14.14%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
69.14 ms
Δ 0.66%
14.37 Hz /
14.46 Hz
∇ -0.65%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
23.76 ms
Δ 28.97%
32.63 Hz /
42.09 Hz
∇ -22.46%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
37.25 ms
Δ 17.87%
22.78 Hz /
26.85 Hz
∇ -15.16%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
59.86 ms
Δ 4.46%
15.99 Hz /
16.71 Hz
∇ -4.27%
images: Gauss filter (640x480)3.81 ms /
7.21 ms
∇ -47.19%
262.76 Hz /
138.75 Hz
Δ 89.37%
images: Gauss filter (800x600)5.96 ms /
8.67 ms
∇ -31.24%
167.70 Hz /
115.32 Hz
Δ 45.43%
images: Gauss filter (1024x768)10.46 ms /
14.94 ms
∇ -29.99%
95.61 Hz /
66.93 Hz
Δ 42.84%
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 /
25.26 us
∇ -49.76%
78.80 KHz /
39.59 KHz
Δ 99.05%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
24.29 us
∇ -59.45%
101.52 KHz /
41.17 KHz
Δ 146.60%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
13.82 us
∇ -62.08%
190.84 KHz /
72.37 KHz
Δ 163.71%
feature_extraction [640x480]: Harris21.14 ms /
53.60 ms
∇ -60.56%
47.31 Hz /
18.66 Hz
Δ 153.56%
feature_extraction [640x480]: KLT21.45 ms /
32.67 ms
∇ -34.33%
46.61 Hz /
30.61 Hz
Δ 52.28%
feature_extraction [640x480]: SIFT591.25 ms /
724.51 ms
∇ -18.39%
1.69 Hz /
1.38 Hz
Δ 22.54%
feature_extraction [640x480]: SIFT desc.162.82 ms /
217.33 ms
∇ -25.08%
6.14 Hz /
4.60 Hz
Δ 33.48%
feature_extraction [640x480]: SURF197.33 ms /
320.21 ms
∇ -38.37%
5.07 Hz /
3.12 Hz
Δ 62.27%
feature_extraction [640x480]: FAST6.89 ms /
9.58 ms
∇ -28.09%
145.15 Hz /
104.37 Hz
Δ 39.07%
feature_extraction [640x480]: Spin desc.63.90 ms /
111.16 ms
∇ -42.52%
15.65 Hz /
9.00 Hz
Δ 73.96%
feature_matching [640x480]: Harris + CC38.54 ms /
64.75 ms
∇ -40.48%
25.95 Hz /
15.44 Hz
Δ 68.01%
feature_matching [640x480]: Harris + SAD33.59 ms /
50.46 ms
∇ -33.43%
29.77 Hz /
19.82 Hz
Δ 50.21%
feature_matching [640x480]: SIFT1.16 sec /
1.37 sec
∇ -15.17%
863.45 mHz /
732.49 mHz
Δ 17.88%
feature_matching [640x480]: SURF375.89 ms /
602.11 ms
∇ -37.57%
2.66 Hz /
1.66 Hz
Δ 60.18%
feature_matching [640x480]: FAST + CC15.89 ms /
23.55 ms
∇ -32.54%
62.95 Hz /
42.46 Hz
Δ 48.24%
feature_matching [640x480]: FAST + SAD10.48 ms /
15.71 ms
∇ -33.28%
95.42 Hz /
63.67 Hz
Δ 49.87%
graph(2d): insertEdge x 1e3158.24 us /
300.22 us
∇ -47.29%
6.32 KHz /
3.33 KHz
Δ 89.72%
graph(2d,vec): insertEdge x 1e3133.69 us /
300.93 us
∇ -55.58%
7.48 KHz /
3.32 KHz
Δ 125.10%
graph(2d): insertEdgeAtEnd x 1e384.43 us /
245.20 us
∇ -65.57%
11.84 KHz /
4.08 KHz
Δ 190.44%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
252.81 us
∇ -67.65%
12.23 KHz /
3.96 KHz
Δ 209.15%
graph(2d pdf): insertEdge x 1e3207.17 us /
537.61 us
∇ -61.47%
4.83 KHz /
1.86 KHz
Δ 159.51%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
456.45 us
∇ -49.05%
4.30 KHz /
2.19 KHz
Δ 96.26%
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
401.18 us
∇ -38.50%
4.05 KHz /
2.49 KHz
Δ 62.59%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
394.03 us
∇ -51.12%
5.19 KHz /
2.54 KHz
Δ 104.59%
graph(2d): insertEdge x 1e42.08 ms /
3.65 ms
∇ -42.97%
480.05 Hz /
273.78 Hz
Δ 75.34%
graph(2d,vec): insertEdge x 1e41.62 ms /
3.70 ms
∇ -56.25%
618.53 Hz /
270.61 Hz
Δ 128.57%
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
2.51 ms
∇ -65.28%
1.15 KHz /
399.01 Hz
Δ 188.00%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
2.55 ms
∇ -66.77%
1.18 KHz /
392.34 Hz
Δ 200.95%
graph(2d pdf): insertEdge x 1e42.34 ms /
4.81 ms
∇ -51.31%
427.14 Hz /
207.97 Hz
Δ 105.38%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
4.86 ms
∇ -42.19%
356.06 Hz /
205.85 Hz
Δ 72.97%
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
4.03 ms
∇ -47.22%
470.35 Hz /
248.25 Hz
Δ 89.46%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
4.00 ms
∇ -46.70%
469.13 Hz /
250.07 Hz
Δ 87.60%
graph(3d): insertEdge x 1e3220.82 us /
338.14 us
∇ -34.70%
4.53 KHz /
2.96 KHz
Δ 53.13%
graph(3d,vec): insertEdge x 1e3221.81 us /
332.03 us
∇ -33.20%
4.51 KHz /
3.01 KHz
Δ 49.69%
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
302.41 us
∇ -39.43%
5.46 KHz /
3.31 KHz
Δ 65.09%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
309.65 us
∇ -39.77%
5.36 KHz /
3.23 KHz
Δ 66.02%
graph(3d pdf): insertEdge x 1e3532.35 us /
668.72 us
∇ -20.39%
1.88 KHz /
1.50 KHz
Δ 25.62%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
672.92 us
∇ -20.05%
1.86 KHz /
1.49 KHz
Δ 25.08%
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
668.41 us
∇ -27.05%
2.05 KHz /
1.50 KHz
Δ 37.08%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
676.59 us
∇ -27.06%
2.03 KHz /
1.48 KHz
Δ 37.10%
graph(3d): insertEdge x 1e42.78 ms /
3.60 ms
∇ -22.81%
359.55 Hz /
277.54 Hz
Δ 29.55%
graph(3d,vec): insertEdge x 1e42.77 ms /
3.62 ms
∇ -23.34%
360.52 Hz /
276.39 Hz
Δ 30.44%
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
3.04 ms
∇ -31.12%
477.61 Hz /
328.99 Hz
Δ 45.17%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
3.02 ms
∇ -32.06%
487.11 Hz /
330.96 Hz
Δ 47.18%
graph(3d pdf): insertEdge x 1e47.36 ms /
7.09 ms
Δ 3.84%
135.81 Hz /
141.02 Hz
∇ -3.70%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
7.08 ms
∇ -1.52%
143.42 Hz /
141.24 Hz
Δ 1.55%
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
6.70 ms
∇ -21.06%
189.20 Hz /
149.36 Hz
Δ 26.68%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
6.88 ms
∇ -20.27%
182.28 Hz /
145.34 Hz
Δ 25.42%
graph(3d): dijkstra 1e2 nodes90.55 us /
279.15 us
∇ -67.56%
11.04 KHz /
3.58 KHz
Δ 208.27%
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
417.83 us
∇ -80.02%
11.98 KHz /
2.39 KHz
Δ 400.38%
graph(3d): dijkstra 1e3 nodes1.13 ms /
3.14 ms
∇ -63.90%
882.20 Hz /
318.46 Hz
Δ 177.02%
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
3.68 ms
∇ -79.16%
1.30 KHz /
271.44 Hz
Δ 379.89%
graph(3d): dijkstra 1e4 nodes21.12 ms /
37.09 ms
∇ -43.06%
47.35 Hz /
26.96 Hz
Δ 75.63%
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
42.65 ms
∇ -74.53%
92.06 Hz /
23.45 Hz
Δ 292.62%
graph(3d): dijkstra 1e5 nodes341.35 ms /
433.73 ms
∇ -21.30%
2.93 Hz /
2.31 Hz
Δ 27.06%
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
470.84 ms
∇ -69.73%
7.02 Hz /
2.12 Hz
Δ 230.34%
graph(2d): dijkstra 1e5 nodes320.28 ms /
428.18 ms
∇ -25.20%
3.12 Hz /
2.34 Hz
Δ 33.69%
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
465.28 ms
∇ -71.27%
7.48 Hz /
2.15 Hz
Δ 248.12%

 


Page generated automatically at 2011/06/03,22:26:38.171445 with MRPT 0.9.4 by 'mrpt-performance'.