Comparison: 0.9.4-MSVC10-64bit vs. 0.9.2-MSVC9-32bit




Test description 0.9.4-MSVC10-64bit /
0.9.2-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
30.39 ms
∇ -12.67%
37.68 Hz /
32.90 Hz
Δ 14.51%
icp-slam (match grid): Run with sample dataset32.17 ms /
52.58 ms
∇ -38.81%
31.08 Hz /
19.02 Hz
Δ 63.44%
poses: CPose3D (+) CPose3D62.83 ns /
264.70 ns
∇ -76.26%
15.92 MHz /
3.78 MHz
Δ 321.31%
poses: CPose3D.composeFrom()41.42 ns /
98.01 ns
∇ -57.74%
24.14 MHz /
10.20 MHz
Δ 136.62%
poses: CPose3D (+) CPoint3D18.89 ns /
27.86 ns
∇ -32.20%
52.94 MHz /
35.89 MHz
Δ 47.50%
poses: CPose3D.composePoint()17.17 ns /
19.17 ns
∇ -10.42%
58.23 MHz /
52.16 MHz
Δ 11.63%
poses: CPoint3D (-) CPose3D88.79 ns /
51.66 ns
Δ 71.89%
11.26 MHz /
19.36 MHz
∇ -41.82%
poses: CPose3D.inverseComposePoint()44.00 ns /
46.91 ns
∇ -6.21%
22.73 MHz /
21.32 MHz
Δ 6.62%
poses: CPose2D (+) CPose2D72.08 ns /
99.28 ns
∇ -27.39%
13.87 MHz /
10.07 MHz
Δ 37.73%
poses: CPose2D.composeFrom()63.27 ns /
89.67 ns
∇ -29.45%
15.81 MHz /
11.15 MHz
Δ 41.73%
poses: CPose2D (+) CPoint2D34.42 ns /
82.07 ns
∇ -58.06%
29.05 MHz /
12.18 MHz
Δ 138.44%
poses: CPose2D.composePoint()26.02 ns /
64.58 ns
∇ -59.70%
38.43 MHz /
15.49 MHz
Δ 148.16%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
87.19 ns
Δ 30.28%
8.80 MHz /
11.47 MHz
∇ -23.24%
poses: CPose3DQuat.composeFrom()82.72 ns /
57.14 ns
Δ 44.75%
12.09 MHz /
17.50 MHz
∇ -30.92%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
48.22 ns
∇ -14.30%
24.20 MHz /
20.74 MHz
Δ 16.69%
poses: CPose3DQuat.composePoint()31.13 ns /
29.64 ns
Δ 5.03%
32.12 MHz /
33.74 MHz
∇ -4.79%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
84.32 ns
Δ 35.07%
8.78 MHz /
11.86 MHz
∇ -25.96%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
30.72 ns
Δ 10.51%
29.46 MHz /
32.55 MHz
∇ -9.51%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
33.02 ns
∇ -19.91%
37.82 MHz /
30.29 MHz
Δ 24.86%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
206.69 ns
∇ -52.92%
10.28 MHz /
4.84 MHz
Δ 112.40%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
1.35 us
∇ -29.82%
1.05 MHz /
739.68 KHz
Δ 42.48%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
1.40 us
∇ -33.16%
1.07 MHz /
712.12 KHz
Δ 49.60%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
23.15 us
∇ -8.37%
47.15 KHz /
43.20 KHz
Δ 9.13%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
1.62 us
∇ -67.15%
1.88 MHz /
617.00 KHz
Δ 204.40%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
1.63 us
∇ -67.58%
1.89 MHz /
613.67 KHz
Δ 208.49%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
15.82 us
∇ -29.25%
89.35 KHz /
63.21 KHz
Δ 41.34%
matrix: unit, dyn[float], 3x345.20 ns /
38.75 ns
Δ 16.65%
22.13 MHz /
25.81 MHz
∇ -14.28%
matrix: unit, dyn[double], 3x345.86 ns /
38.69 ns
Δ 18.52%
21.81 MHz /
25.85 MHz
∇ -15.63%
matrix: unit, dyn[float], 6x6177.43 ns /
163.36 ns
Δ 8.62%
5.64 MHz /
6.12 MHz
∇ -7.93%
matrix: unit, dyn[double], 6x6169.52 ns /
213.06 ns
∇ -20.43%
5.90 MHz /
4.69 MHz
Δ 25.68%
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]6.37 ns /
2.77 ns
Δ 129.82%
157.06 MHz /
360.95 MHz
∇ -56.49%
matrix: unit, fix[double,6,6]7.86 ns /
6.07 ns
Δ 29.56%
127.19 MHz /
164.80 MHz
∇ -22.82%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
168.66 ns
Δ 188.11%
2.06 MHz /
5.93 MHz
∇ -65.29%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
109.47 ns
∇ -99.96%
22.08 GHz /
9.14 MHz
Δ 241598.91%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
159.15 ns
Δ 232.02%
1.89 MHz /
6.28 MHz
∇ -69.88%
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 * 6x3547.16 ns /
272.34 ns
Δ 100.92%
1.83 MHz /
3.67 MHz
∇ -50.23%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
190.04 ns
∇ -98.76%
424.60 MHz /
5.26 MHz
Δ 7969.19%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
245.84 ns
Δ 59.25%
2.55 MHz /
4.07 MHz
∇ -37.21%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
138.91 ns
∇ -98.30%
424.60 MHz /
7.20 MHz
Δ 5798.05%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
16.67 us
∇ -83.54%
364.51 KHz /
60.00 KHz
Δ 507.56%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
12.92 us
∇ -83.87%
479.89 KHz /
77.41 KHz
Δ 519.96%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
13.30 us
∇ -73.95%
288.55 KHz /
75.16 KHz
Δ 283.90%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
9.66 us
∇ -75.33%
419.56 KHz /
103.53 KHz
Δ 305.27%
matrix: inv, dyn[double] 3x31.09 us /
1.47 us
∇ -26.00%
921.12 KHz /
681.67 KHz
Δ 35.13%
matrix: inv, fix[double] 3x322.19 ns /
30.80 ns
∇ -27.94%
45.06 MHz /
32.47 MHz
Δ 38.77%
matrix: inv, dyn[double] 6x62.78 us /
5.05 us
∇ -44.89%
359.66 KHz /
198.20 KHz
Δ 81.46%
matrix: inv, fix[double] 6x62.22 us /
944.32 ns
Δ 135.20%
450.23 KHz /
1.06 MHz
∇ -57.48%
matrix: inv, dyn[double] 20x2030.71 us /
106.06 us
∇ -71.04%
32.56 KHz /
9.43 KHz
Δ 245.33%
matrix: inv, fix[double] 20x2024.08 us /
18.99 us
Δ 26.76%
41.53 KHz /
52.65 KHz
∇ -21.11%
matrix: inv, dyn[double] 40x40117.18 us /
805.07 us
∇ -85.45%
8.53 KHz /
1.24 KHz
Δ 587.07%
matrix: inv, fix[double] 40x40112.80 us /
129.27 us
∇ -12.74%
8.86 KHz /
7.74 KHz
Δ 14.60%
matrix: det, dyn[double] 2x2765.51 ns /
8.47 ns
Δ 8938.54%
1.31 MHz /
118.07 MHz
∇ -98.89%
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 /
15.90 ns
Δ 5072.67%
1.22 MHz /
62.90 MHz
∇ -98.07%
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 /
2.27 us
∇ -21.38%
560.47 KHz /
440.64 KHz
Δ 27.19%
matrix: det, fix[double] 6x61.51 us /
409.52 ns
Δ 269.22%
661.35 KHz /
2.44 MHz
∇ -72.92%
matrix: det, dyn[double] 20x2018.54 us /
17.63 us
Δ 5.16%
53.94 KHz /
56.72 KHz
∇ -4.90%
matrix: det, fix[double] 20x2019.01 us /
6.19 us
Δ 207.23%
52.61 KHz /
161.63 KHz
∇ -67.45%
matrix: det, dyn[double] 40x4072.40 us /
112.43 us
∇ -35.61%
13.81 KHz /
8.89 KHz
Δ 55.29%
matrix: det, fix[double] 40x4067.43 us /
35.24 us
Δ 91.35%
14.83 KHz /
28.38 KHz
∇ -47.74%
matrix: chol, dyn[double] 4x4606.90 ns /
172.11 ns
Δ 252.63%
1.65 MHz /
5.81 MHz
∇ -71.64%
matrix: chol, fix[double] 4x4190.22 ns /
117.76 ns
Δ 61.54%
5.26 MHz /
8.49 MHz
∇ -38.10%
matrix: chol, dyn[double] 40x4031.59 us /
24.40 us
Δ 29.44%
31.66 KHz /
40.98 KHz
∇ -22.74%
matrix: chol, fix[double] 40x4020.87 us /
17.68 us
Δ 18.04%
47.93 KHz /
56.57 KHz
∇ -15.28%
matrix: chol, sparse [2x2;2x2]7.11 us /
8.42 us
∇ -15.59%
140.63 KHz /
118.71 KHz
Δ 18.47%
matrix: chol, sparse [30x30;10x10]94.75 us /
118.80 us
∇ -20.24%
10.55 KHz /
8.42 KHz
Δ 25.38%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
69.79 us
Δ 8.31%
13.23 KHz /
14.33 KHz
∇ -7.67%
matrix: chol, sparse 10x[6x6]43.20 us /
52.54 us
∇ -17.77%
23.15 KHz /
19.03 KHz
Δ 21.61%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
466.09 us
∇ -2.71%
2.21 KHz /
2.15 KHz
Δ 2.79%
matrix: chol, sparse 20x[6x6]74.00 us /
89.01 us
∇ -16.86%
13.51 KHz /
11.24 KHz
Δ 20.28%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
9.32 ms
∇ -61.99%
282.19 Hz /
107.25 Hz
Δ 163.11%
matrix: chol, sparse 50x[6x6]178.69 us /
201.22 us
∇ -11.20%
5.60 KHz /
4.97 KHz
Δ 12.61%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
138.07 ms
∇ -83.86%
44.87 Hz /
7.24 Hz
Δ 519.52%
matrix: chol, sparse 100x[6x6]359.36 us /
401.45 us
∇ -10.48%
2.78 KHz /
2.49 KHz
Δ 11.71%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
453.62 ms
∇ -92.00%
27.56 Hz /
2.20 Hz
Δ 1150.11%
matrix: chol, sparse 120x[6x6]411.86 us /
474.18 us
∇ -13.14%
2.43 KHz /
2.11 KHz
Δ 15.13%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
945.16 ms
∇ -94.25%
18.40 Hz /
1.06 Hz
Δ 1639.27%
matrix: chol, sparse 140x[6x6]488.10 us /
552.77 us
∇ -11.70%
2.05 KHz /
1.81 KHz
Δ 13.25%
gridmap2D: getCell4.13 ns /
5.57 ns
∇ -25.79%
242.07 MHz /
179.64 MHz
Δ 34.76%
gridmap2D: setCell5.65 ns /
7.80 ns
∇ -27.64%
177.14 MHz /
128.17 MHz
Δ 38.21%
gridmap2D: updateCell6.93 ns /
10.65 ns
∇ -34.93%
144.35 MHz /
93.93 MHz
Δ 53.67%
gridmap2D: updateCell_fast_occupied1.20 ns /
1.20 ns
Δ 0.17%
833.40 MHz /
834.82 MHz
∇ -0.17%
gridmap2D: insert scan w/o widening102.16 us /
202.10 us
∇ -49.45%
9.79 KHz /
4.95 KHz
Δ 97.83%
gridmap2D: insert scan with widening276.88 us /
338.79 us
∇ -18.27%
3.61 KHz /
2.95 KHz
Δ 22.36%
gridmap2D: resize3.89 ms /
3.58 ms
Δ 8.69%
257.06 Hz /
279.42 Hz
∇ -8.00%
gridmap2D: computeLikelihood13.92 us /
18.09 us
∇ -23.05%
71.84 KHz /
55.28 KHz
Δ 29.95%
pointmap: insert 100 scans1.87 ms /
5.50 ms
∇ -65.94%
534.24 Hz /
181.98 Hz
Δ 193.58%
pointmap: build 2D kd-tree of 1 scan5.09 us /
6.29 us
∇ -19.02%
196.43 KHz /
159.07 KHz
Δ 23.49%
pointmap: build 2D kd-tree of 100 scan486.39 us /
520.70 us
∇ -6.59%
2.06 KHz /
1.92 KHz
Δ 7.05%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
5.50 ms
∇ -7.40%
196.20 Hz /
181.67 Hz
Δ 7.99%
pointmap: build 3D kd-tree of 1 scan5.56 us /
6.47 us
∇ -14.01%
179.80 KHz /
154.62 KHz
Δ 16.29%
pointmap: build 3D kd-tree of 100 scan467.24 us /
526.59 us
∇ -11.27%
2.14 KHz /
1.90 KHz
Δ 12.70%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
5.63 ms
∇ -8.01%
192.98 Hz /
177.52 Hz
Δ 8.71%
pointmap: kd-tree 2d query on 10 scans1.59 us /
2.04 us
∇ -21.81%
627.25 KHz /
490.44 KHz
Δ 27.90%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
137.79 us
∇ -8.07%
7.89 KHz /
7.26 KHz
Δ 8.78%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
14.88 ms
∇ -6.85%
72.14 Hz /
67.19 Hz
Δ 7.36%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
8.57 ms
∇ -23.64%
152.81 Hz /
116.69 Hz
Δ 30.96%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
191.63 ms
∇ -8.80%
5.72 Hz /
5.22 Hz
Δ 9.65%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
8.64 ms
∇ -20.31%
145.28 Hz /
115.78 Hz
Δ 25.48%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
194.89 ms
∇ -6.94%
5.51 Hz /
5.13 Hz
Δ 7.45%
random: drawUniform32bit9.54 ns /
7.21 ns
Δ 32.24%
104.87 MHz /
138.68 MHz
∇ -24.38%
random: drawUniform9.69 ns /
7.18 ns
Δ 34.90%
103.21 MHz /
139.23 MHz
∇ -25.87%
random: drawGaussian1D_normalized52.06 ns /
51.37 ns
Δ 1.34%
19.21 MHz /
19.47 MHz
∇ -1.33%
random: drawGaussian1D50.73 ns /
51.39 ns
∇ -1.27%
19.71 MHz /
19.46 MHz
Δ 1.29%
random: system rand()24.47 ns /
28.61 ns
∇ -14.49%
40.87 MHz /
34.95 MHz
Δ 16.94%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
2.55 us
∇ -51.36%
805.20 KHz /
391.65 KHz
Δ 105.59%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
8.36 us
∇ -61.85%
313.70 KHz /
119.66 KHz
Δ 162.15%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
213.95 ns
∇ -39.23%
7.69 MHz /
4.67 MHz
Δ 64.54%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
324.69 ns
∇ -38.91%
5.04 MHz /
3.08 MHz
Δ 63.69%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
829.70 ns
∇ -45.56%
2.21 MHz /
1.21 MHz
Δ 83.70%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
214.89 ns
∇ -36.28%
7.30 MHz /
4.65 MHz
Δ 56.94%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
364.99 ns
∇ -41.50%
4.68 MHz /
2.74 MHz
Δ 70.94%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
760.13 ns
∇ -37.04%
2.09 MHz /
1.32 MHz
Δ 58.84%
random: permuteVector (len=10)244.07 ns /
420.57 ns
∇ -41.97%
4.10 MHz /
2.38 MHz
Δ 72.31%
random: permuteVector (len=100)3.12 us /
3.56 us
∇ -12.18%
320.11 KHz /
281.12 KHz
Δ 13.87%
random: permuteVector (len=1000)30.82 us /
33.55 us
∇ -8.13%
32.44 KHz /
29.80 KHz
Δ 8.85%
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%)29.87 ms /
28.40 ms
Δ 5.18%
33.48 Hz /
35.21 Hz
∇ -4.92%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
43.71 ms
∇ -1.67%
23.26 Hz /
22.88 Hz
Δ 1.70%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
70.17 ms
∇ -1.63%
14.49 Hz /
14.25 Hz
Δ 1.66%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
24.11 ms
∇ -5.20%
43.75 Hz /
41.48 Hz
Δ 5.49%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
37.02 ms
∇ -4.92%
28.41 Hz /
27.01 Hz
Δ 5.17%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
59.51 ms
∇ -3.72%
17.45 Hz /
16.80 Hz
Δ 3.87%
images: Gauss filter (640x480)4.45 ms /
5.29 ms
∇ -15.91%
224.70 Hz /
188.95 Hz
Δ 18.92%
images: Gauss filter (800x600)8.06 ms /
8.36 ms
∇ -3.63%
124.15 Hz /
119.64 Hz
Δ 3.77%
images: Gauss filter (1024x768)13.86 ms /
13.88 ms
∇ -0.15%
72.16 Hz /
72.06 Hz
Δ 0.15%
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 /
18.63 us
∇ -7.22%
57.84 KHz /
53.67 KHz
Δ 7.78%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
17.89 us
∇ -7.82%
60.66 KHz /
55.91 KHz
Δ 8.49%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
5.05 us
Δ 92.29%
102.89 KHz /
197.84 KHz
∇ -48.00%
feature_extraction [640x480]: Harris31.46 ms /
33.27 ms
∇ -5.43%
31.79 Hz /
30.06 Hz
Δ 5.74%
feature_extraction [640x480]: KLT30.94 ms /
31.21 ms
∇ -0.86%
32.32 Hz /
32.04 Hz
Δ 0.87%
feature_extraction [640x480]: SIFT653.53 ms /
675.81 ms
∇ -3.30%
1.53 Hz /
1.48 Hz
Δ 3.41%
feature_extraction [640x480]: SIFT desc.210.38 ms /
217.19 ms
∇ -3.14%
4.75 Hz /
4.60 Hz
Δ 3.24%
feature_extraction [640x480]: SURF243.66 ms /
316.97 ms
∇ -23.13%
4.10 Hz /
3.15 Hz
Δ 30.09%
feature_extraction [640x480]: FAST6.32 ms /
7.82 ms
∇ -19.15%
158.19 Hz /
127.91 Hz
Δ 23.68%
feature_extraction [640x480]: Spin desc.45.12 ms /
103.38 ms
∇ -56.36%
22.16 Hz /
9.67 Hz
Δ 129.13%
feature_matching [640x480]: Harris + CC46.60 ms /
56.24 ms
∇ -17.15%
21.46 Hz /
17.78 Hz
Δ 20.69%
feature_matching [640x480]: Harris + SAD40.89 ms /
47.55 ms
∇ -14.00%
24.46 Hz /
21.03 Hz
Δ 16.29%
feature_matching [640x480]: SIFT1.28 sec /
1.34 sec
∇ -4.23%
778.73 mHz /
745.82 mHz
Δ 4.41%
feature_matching [640x480]: SURF502.54 ms /
606.64 ms
∇ -17.16%
1.99 Hz /
1.65 Hz
Δ 20.71%
feature_matching [640x480]: FAST + CC19.71 ms /
22.36 ms
∇ -11.87%
50.74 Hz /
44.72 Hz
Δ 13.47%
feature_matching [640x480]: FAST + SAD13.01 ms /
15.00 ms
∇ -13.24%
76.86 Hz /
66.69 Hz
Δ 15.25%
graph(2d): insertEdge x 1e3236.53 us /
313.03 us
∇ -24.44%
4.23 KHz /
3.19 KHz
Δ 32.34%
graph(2d,vec): insertEdge x 1e3246.73 us /
307.43 us
∇ -19.75%
4.05 KHz /
3.25 KHz
Δ 24.60%
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
222.64 us
∇ -1.72%
4.57 KHz /
4.49 KHz
Δ 1.75%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
222.87 us
∇ -6.13%
4.78 KHz /
4.49 KHz
Δ 6.53%
graph(2d pdf): insertEdge x 1e3329.87 us /
516.93 us
∇ -36.19%
3.03 KHz /
1.93 KHz
Δ 56.71%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
517.18 us
∇ -41.30%
3.29 KHz /
1.93 KHz
Δ 70.35%
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
405.97 us
∇ -31.01%
3.57 KHz /
2.46 KHz
Δ 44.94%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
403.48 us
∇ -29.54%
3.52 KHz /
2.48 KHz
Δ 41.93%
graph(2d): insertEdge x 1e42.72 ms /
3.36 ms
∇ -19.00%
367.00 Hz /
297.28 Hz
Δ 23.45%
graph(2d,vec): insertEdge x 1e42.73 ms /
3.35 ms
∇ -18.52%
366.67 Hz /
298.76 Hz
Δ 22.73%
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
2.22 ms
∇ -12.07%
512.34 Hz /
450.51 Hz
Δ 13.72%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
2.22 ms
∇ -13.40%
519.87 Hz /
450.21 Hz
Δ 15.47%
graph(2d pdf): insertEdge x 1e43.21 ms /
5.45 ms
∇ -41.17%
311.68 Hz /
183.37 Hz
Δ 69.97%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
5.44 ms
∇ -40.45%
308.83 Hz /
183.91 Hz
Δ 67.93%
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
4.07 ms
∇ -20.72%
309.95 Hz /
245.74 Hz
Δ 26.13%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
4.06 ms
∇ -21.74%
314.97 Hz /
246.50 Hz
Δ 27.77%
graph(3d): insertEdge x 1e3274.22 us /
447.20 us
∇ -38.68%
3.65 KHz /
2.24 KHz
Δ 63.08%
graph(3d,vec): insertEdge x 1e3264.66 us /
442.12 us
∇ -40.14%
3.78 KHz /
2.26 KHz
Δ 67.05%
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
346.69 us
∇ -23.86%
3.79 KHz /
2.88 KHz
Δ 31.34%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
347.20 us
∇ -23.00%
3.74 KHz /
2.88 KHz
Δ 29.87%
graph(3d pdf): insertEdge x 1e3589.01 us /
944.03 us
∇ -37.61%
1.70 KHz /
1.06 KHz
Δ 60.27%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
978.08 us
∇ -39.00%
1.68 KHz /
1.02 KHz
Δ 63.93%
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
793.19 us
∇ -29.02%
1.78 KHz /
1.26 KHz
Δ 40.89%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
793.52 us
∇ -29.55%
1.79 KHz /
1.26 KHz
Δ 41.95%
graph(3d): insertEdge x 1e43.23 ms /
4.62 ms
∇ -30.00%
309.17 Hz /
216.43 Hz
Δ 42.85%
graph(3d,vec): insertEdge x 1e43.13 ms /
4.62 ms
∇ -32.14%
319.30 Hz /
216.67 Hz
Δ 47.37%
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
3.48 ms
∇ -24.73%
381.66 Hz /
287.28 Hz
Δ 32.85%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
3.47 ms
∇ -26.71%
392.76 Hz /
287.84 Hz
Δ 36.45%
graph(3d pdf): insertEdge x 1e46.11 ms /
10.55 ms
∇ -42.07%
163.57 Hz /
94.75 Hz
Δ 72.63%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
9.75 ms
∇ -42.51%
178.36 Hz /
102.54 Hz
Δ 73.94%
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
7.93 ms
∇ -34.34%
192.01 Hz /
126.08 Hz
Δ 52.29%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
7.94 ms
∇ -34.71%
192.88 Hz /
125.93 Hz
Δ 53.16%
graph(3d): dijkstra 1e2 nodes156.43 us /
262.18 us
∇ -40.34%
6.39 KHz /
3.81 KHz
Δ 67.61%
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
363.67 us
∇ -47.12%
5.20 KHz /
2.75 KHz
Δ 89.09%
graph(3d): dijkstra 1e3 nodes2.18 ms /
2.97 ms
∇ -26.78%
459.11 Hz /
336.14 Hz
Δ 36.58%
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
3.29 ms
∇ -45.30%
555.25 Hz /
303.75 Hz
Δ 82.80%
graph(3d): dijkstra 1e4 nodes26.67 ms /
34.21 ms
∇ -22.05%
37.50 Hz /
29.23 Hz
Δ 28.28%
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
38.12 ms
∇ -40.11%
43.80 Hz /
26.23 Hz
Δ 66.97%
graph(3d): dijkstra 1e5 nodes307.16 ms /
389.54 ms
∇ -21.15%
3.26 Hz /
2.57 Hz
Δ 26.82%
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
428.64 ms
∇ -37.76%
3.75 Hz /
2.33 Hz
Δ 60.66%
graph(2d): dijkstra 1e5 nodes302.10 ms /
382.11 ms
∇ -20.94%
3.31 Hz /
2.62 Hz
Δ 26.48%
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
417.45 ms
∇ -37.05%
3.81 Hz /
2.40 Hz
Δ 58.86%

 


Page generated automatically at 2011/06/03,22:26:37.686417 with MRPT 0.9.4 by 'mrpt-performance'.