Comparison: 0.9.4-MSVC10-64bit vs. 0.9.1-MSVC9-32bit




Test description 0.9.4-MSVC10-64bit /
0.9.1-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
31.78 ms
∇ -16.49%
37.68 Hz /
31.46 Hz
Δ 19.75%
icp-slam (match grid): Run with sample dataset32.17 ms /
53.70 ms
∇ -40.09%
31.08 Hz /
18.62 Hz
Δ 66.93%
poses: CPose3D (+) CPose3D62.83 ns /
925.38 ns
∇ -93.21%
15.92 MHz /
1.08 MHz
Δ 1372.88%
poses: CPose3D.composeFrom()41.42 ns /
617.00 ns
∇ -93.29%
24.14 MHz /
1.62 MHz
Δ 1389.67%
poses: CPose3D (+) CPoint3D18.89 ns /
35.98 ns
∇ -47.50%
52.94 MHz /
27.80 MHz
Δ 90.46%
poses: CPose3D.composePoint()17.17 ns /
14.62 ns
Δ 17.51%
58.23 MHz /
68.42 MHz
∇ -14.90%
poses: CPoint3D (-) CPose3D88.79 ns /
75.43 ns
Δ 17.72%
11.26 MHz /
13.26 MHz
∇ -15.05%
poses: CPose3D.inverseComposePoint()44.00 ns /
56.48 ns
∇ -22.10%
22.73 MHz /
17.70 MHz
Δ 28.37%
poses: CPose2D (+) CPose2D72.08 ns /
121.60 ns
∇ -40.72%
13.87 MHz /
8.22 MHz
Δ 68.69%
poses: CPose2D.composeFrom()63.27 ns /
66.63 ns
∇ -5.04%
15.81 MHz /
15.01 MHz
Δ 5.31%
poses: CPose2D (+) CPoint2D34.42 ns /
93.73 ns
∇ -63.28%
29.05 MHz /
10.67 MHz
Δ 172.33%
poses: CPose2D.composePoint()26.02 ns /
62.24 ns
∇ -58.19%
38.43 MHz /
16.07 MHz
Δ 139.17%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
100.74 ns
Δ 12.76%
8.80 MHz /
9.93 MHz
∇ -11.32%
poses: CPose3DQuat.composeFrom()82.72 ns /
57.92 ns
Δ 42.80%
12.09 MHz /
17.26 MHz
∇ -29.97%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
61.33 ns
∇ -32.62%
24.20 MHz /
16.31 MHz
Δ 48.40%
poses: CPose3DQuat.composePoint()31.13 ns /
27.34 ns
Δ 13.85%
32.12 MHz /
36.57 MHz
∇ -12.17%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
580.67 ns
∇ -80.39%
8.78 MHz /
1.72 MHz
Δ 409.86%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
28.18 ns
Δ 20.46%
29.46 MHz /
35.48 MHz
∇ -16.98%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
506.67 ns
∇ -94.78%
37.82 MHz /
1.97 MHz
Δ 1816.01%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
214.86 ns
∇ -54.71%
10.28 MHz /
4.65 MHz
Δ 120.80%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
1.56 us
∇ -38.99%
1.05 MHz /
642.96 KHz
Δ 63.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
1.51 us
∇ -37.69%
1.07 MHz /
663.83 KHz
Δ 60.48%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
23.29 us
∇ -8.93%
47.15 KHz /
42.94 KHz
Δ 9.80%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
1.64 us
∇ -67.53%
1.88 MHz /
609.77 KHz
Δ 208.01%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
1.66 us
∇ -68.26%
1.89 MHz /
600.84 KHz
Δ 215.08%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
16.05 us
∇ -30.25%
89.35 KHz /
62.32 KHz
Δ 43.37%
matrix: unit, dyn[float], 3x345.20 ns /
39.66 ns
Δ 13.98%
22.13 MHz /
25.22 MHz
∇ -12.26%
matrix: unit, dyn[double], 3x345.86 ns /
42.75 ns
Δ 7.28%
21.81 MHz /
23.39 MHz
∇ -6.78%
matrix: unit, dyn[float], 6x6177.43 ns /
152.29 ns
Δ 16.51%
5.64 MHz /
6.57 MHz
∇ -14.17%
matrix: unit, dyn[double], 6x6169.52 ns /
150.45 ns
Δ 12.67%
5.90 MHz /
6.65 MHz
∇ -11.25%
matrix: unit, fix[float,3,3]0.00 ns /
3.30 ns
∇ -100.00%
1.#J THz /
303.37 MHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
3.48 ns
∇ -100.00%
1.#J THz /
287.56 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]6.37 ns /
3.06 ns
Δ 108.33%
157.06 MHz /
327.19 MHz
∇ -52.00%
matrix: unit, fix[double,6,6]7.86 ns /
6.65 ns
Δ 18.31%
127.19 MHz /
150.48 MHz
∇ -15.48%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
167.81 ns
Δ 189.58%
2.06 MHz /
5.96 MHz
∇ -65.47%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
108.61 ns
∇ -99.96%
22.08 GHz /
9.21 MHz
Δ 239702.06%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
158.88 ns
Δ 232.58%
1.89 MHz /
6.29 MHz
∇ -69.93%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
90.86 ns
∇ -100.00%
1.#J THz /
11.01 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3547.16 ns /
272.47 ns
Δ 100.81%
1.83 MHz /
3.67 MHz
∇ -50.20%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
193.12 ns
∇ -98.78%
424.60 MHz /
5.18 MHz
Δ 8100.07%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
238.91 ns
Δ 63.87%
2.55 MHz /
4.19 MHz
∇ -38.97%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
139.05 ns
∇ -98.31%
424.60 MHz /
7.19 MHz
Δ 5803.90%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
16.80 us
∇ -83.67%
364.51 KHz /
59.51 KHz
Δ 512.52%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
13.06 us
∇ -84.04%
479.89 KHz /
76.57 KHz
Δ 526.76%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
13.55 us
∇ -74.42%
288.55 KHz /
73.81 KHz
Δ 290.96%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
9.96 us
∇ -76.07%
419.56 KHz /
100.40 KHz
Δ 317.89%
matrix: inv, dyn[double] 3x31.09 us /
1.53 us
∇ -29.13%
921.12 KHz /
652.84 KHz
Δ 41.09%
matrix: inv, fix[double] 3x322.19 ns /
31.25 ns
∇ -28.99%
45.06 MHz /
32.00 MHz
Δ 40.82%
matrix: inv, dyn[double] 6x62.78 us /
5.08 us
∇ -45.31%
359.66 KHz /
196.68 KHz
Δ 82.87%
matrix: inv, fix[double] 6x62.22 us /
926.67 ns
Δ 139.69%
450.23 KHz /
1.08 MHz
∇ -58.28%
matrix: inv, dyn[double] 20x2030.71 us /
108.60 us
∇ -71.72%
32.56 KHz /
9.21 KHz
Δ 253.59%
matrix: inv, fix[double] 20x2024.08 us /
19.22 us
Δ 25.26%
41.53 KHz /
52.02 KHz
∇ -20.16%
matrix: inv, dyn[double] 40x40117.18 us /
818.27 us
∇ -85.68%
8.53 KHz /
1.22 KHz
Δ 598.33%
matrix: inv, fix[double] 40x40112.80 us /
136.18 us
∇ -17.16%
8.86 KHz /
7.34 KHz
Δ 20.72%
matrix: det, dyn[double] 2x2765.51 ns /
9.56 ns
Δ 7910.36%
1.31 MHz /
104.64 MHz
∇ -98.75%
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 5072.61%
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 /
2.38 us
∇ -24.99%
560.47 KHz /
420.40 KHz
Δ 33.32%
matrix: det, fix[double] 6x61.51 us /
422.89 ns
Δ 257.55%
661.35 KHz /
2.36 MHz
∇ -72.03%
matrix: det, dyn[double] 20x2018.54 us /
18.19 us
Δ 1.94%
53.94 KHz /
54.99 KHz
∇ -1.90%
matrix: det, fix[double] 20x2019.01 us /
6.52 us
Δ 191.40%
52.61 KHz /
153.30 KHz
∇ -65.68%
matrix: det, dyn[double] 40x4072.40 us /
114.84 us
∇ -36.96%
13.81 KHz /
8.71 KHz
Δ 58.63%
matrix: det, fix[double] 40x4067.43 us /
36.00 us
Δ 87.29%
14.83 KHz /
27.78 KHz
∇ -46.61%
matrix: chol, dyn[double] 4x4606.90 ns /
185.70 ns
Δ 226.83%
1.65 MHz /
5.39 MHz
∇ -69.40%
matrix: chol, fix[double] 4x4190.22 ns /
113.23 ns
Δ 68.00%
5.26 MHz /
8.83 MHz
∇ -40.48%
matrix: chol, dyn[double] 40x4031.59 us /
24.43 us
Δ 29.29%
31.66 KHz /
40.93 KHz
∇ -22.65%
matrix: chol, fix[double] 40x4020.87 us /
17.73 us
Δ 17.67%
47.93 KHz /
56.40 KHz
∇ -15.02%
matrix: chol, sparse [2x2;2x2]7.11 us /
10.78 us
∇ -34.03%
140.63 KHz /
92.77 KHz
Δ 51.59%
matrix: chol, sparse [30x30;10x10]94.75 us /
117.89 us
∇ -19.63%
10.55 KHz /
8.48 KHz
Δ 24.43%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
70.52 us
Δ 7.19%
13.23 KHz /
14.18 KHz
∇ -6.71%
matrix: chol, sparse 10x[6x6]43.20 us /
52.59 us
∇ -17.85%
23.15 KHz /
19.02 KHz
Δ 21.72%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
491.10 us
∇ -7.66%
2.21 KHz /
2.04 KHz
Δ 8.30%
matrix: chol, sparse 20x[6x6]74.00 us /
85.83 us
∇ -13.78%
13.51 KHz /
11.65 KHz
Δ 15.98%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
9.44 ms
∇ -62.48%
282.19 Hz /
105.88 Hz
Δ 166.53%
matrix: chol, sparse 50x[6x6]178.69 us /
204.52 us
∇ -12.63%
5.60 KHz /
4.89 KHz
Δ 14.46%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
150.13 ms
∇ -85.16%
44.87 Hz /
6.66 Hz
Δ 573.66%
matrix: chol, sparse 100x[6x6]359.36 us /
415.58 us
∇ -13.53%
2.78 KHz /
2.41 KHz
Δ 15.64%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
461.43 ms
∇ -92.14%
27.56 Hz /
2.17 Hz
Δ 1171.64%
matrix: chol, sparse 120x[6x6]411.86 us /
484.92 us
∇ -15.07%
2.43 KHz /
2.06 KHz
Δ 17.74%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
947.45 ms
∇ -94.26%
18.40 Hz /
1.06 Hz
Δ 1643.47%
matrix: chol, sparse 140x[6x6]488.10 us /
586.44 us
∇ -16.77%
2.05 KHz /
1.71 KHz
Δ 20.15%
gridmap2D: getCell4.13 ns /
5.77 ns
∇ -28.44%
242.07 MHz /
173.23 MHz
Δ 39.74%
gridmap2D: setCell5.65 ns /
7.96 ns
∇ -29.08%
177.14 MHz /
125.64 MHz
Δ 41.00%
gridmap2D: updateCell6.93 ns /
10.80 ns
∇ -35.86%
144.35 MHz /
92.58 MHz
Δ 55.92%
gridmap2D: updateCell_fast_occupied1.20 ns /
1.21 ns
∇ -0.82%
833.40 MHz /
826.59 MHz
Δ 0.82%
gridmap2D: insert scan w/o widening102.16 us /
204.23 us
∇ -49.98%
9.79 KHz /
4.90 KHz
Δ 99.92%
gridmap2D: insert scan with widening276.88 us /
344.40 us
∇ -19.61%
3.61 KHz /
2.90 KHz
Δ 24.39%
gridmap2D: resize3.89 ms /
2.62 ms
Δ 48.57%
257.06 Hz /
381.93 Hz
∇ -32.69%
gridmap2D: computeLikelihood13.92 us /
18.59 us
∇ -25.12%
71.84 KHz /
53.79 KHz
Δ 33.54%
pointmap: insert 100 scans1.87 ms /
5.62 ms
∇ -66.68%
534.24 Hz /
178.02 Hz
Δ 200.10%
pointmap: build 2D kd-tree of 1 scan5.09 us /
6.21 us
∇ -18.08%
196.43 KHz /
160.93 KHz
Δ 22.07%
pointmap: build 2D kd-tree of 100 scan486.39 us /
511.81 us
∇ -4.97%
2.06 KHz /
1.95 KHz
Δ 5.23%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
5.59 ms
∇ -8.83%
196.20 Hz /
178.86 Hz
Δ 9.69%
pointmap: build 3D kd-tree of 1 scan5.56 us /
7.23 us
∇ -23.06%
179.80 KHz /
138.34 KHz
Δ 29.97%
pointmap: build 3D kd-tree of 100 scan467.24 us /
523.10 us
∇ -10.68%
2.14 KHz /
1.91 KHz
Δ 11.95%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
5.77 ms
∇ -10.24%
192.98 Hz /
173.21 Hz
Δ 11.41%
pointmap: kd-tree 2d query on 10 scans1.59 us /
2.05 us
∇ -22.35%
627.25 KHz /
487.07 KHz
Δ 28.78%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
140.79 us
∇ -10.02%
7.89 KHz /
7.10 KHz
Δ 11.14%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
15.17 ms
∇ -8.64%
72.14 Hz /
65.91 Hz
Δ 9.45%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
8.69 ms
∇ -24.74%
152.81 Hz /
115.01 Hz
Δ 32.87%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
196.44 ms
∇ -11.03%
5.72 Hz /
5.09 Hz
Δ 12.40%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
8.73 ms
∇ -21.12%
145.28 Hz /
114.60 Hz
Δ 26.78%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
198.48 ms
∇ -8.62%
5.51 Hz /
5.04 Hz
Δ 9.43%
random: drawUniform32bit9.54 ns /
7.29 ns
Δ 30.74%
104.87 MHz /
137.11 MHz
∇ -23.51%
random: drawUniform9.69 ns /
7.33 ns
Δ 32.25%
103.21 MHz /
136.49 MHz
∇ -24.38%
random: drawGaussian1D_normalized52.06 ns /
51.27 ns
Δ 1.54%
19.21 MHz /
19.50 MHz
∇ -1.51%
random: drawGaussian1D50.73 ns /
51.74 ns
∇ -1.94%
19.71 MHz /
19.33 MHz
Δ 1.98%
random: system rand()24.47 ns /
29.39 ns
∇ -16.73%
40.87 MHz /
34.03 MHz
Δ 20.10%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
2.64 us
∇ -53.00%
805.20 KHz /
378.48 KHz
Δ 112.74%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
8.53 us
∇ -62.65%
313.70 KHz /
117.18 KHz
Δ 167.71%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
215.16 ns
∇ -39.57%
7.69 MHz /
4.65 MHz
Δ 65.48%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
359.98 ns
∇ -44.90%
5.04 MHz /
2.78 MHz
Δ 81.49%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
732.12 ns
∇ -38.31%
2.21 MHz /
1.37 MHz
Δ 62.09%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
213.59 ns
∇ -35.89%
7.30 MHz /
4.68 MHz
Δ 55.99%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
339.30 ns
∇ -37.07%
4.68 MHz /
2.95 MHz
Δ 58.91%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
760.92 ns
∇ -37.11%
2.09 MHz /
1.31 MHz
Δ 59.00%
random: permuteVector (len=10)244.07 ns /
411.34 ns
∇ -40.66%
4.10 MHz /
2.43 MHz
Δ 68.53%
random: permuteVector (len=100)3.12 us /
3.59 us
∇ -12.94%
320.11 KHz /
278.70 KHz
Δ 14.86%
random: permuteVector (len=1000)30.82 us /
34.34 us
∇ -10.23%
32.44 KHz /
29.12 KHz
Δ 11.40%
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 /
27.92 ms
Δ 6.97%
33.48 Hz /
35.81 Hz
∇ -6.51%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
43.53 ms
∇ -1.26%
23.26 Hz /
22.97 Hz
Δ 1.27%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
70.76 ms
∇ -2.45%
14.49 Hz /
14.13 Hz
Δ 2.51%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
23.43 ms
∇ -2.46%
43.75 Hz /
42.67 Hz
Δ 2.53%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
36.52 ms
∇ -3.59%
28.41 Hz /
27.39 Hz
Δ 3.72%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
59.82 ms
∇ -4.22%
17.45 Hz /
16.72 Hz
Δ 4.40%
images: Gauss filter (640x480)4.45 ms /
6.68 ms
∇ -33.36%
224.70 Hz /
149.74 Hz
Δ 50.07%
images: Gauss filter (800x600)8.06 ms /
8.62 ms
∇ -6.54%
124.15 Hz /
116.03 Hz
Δ 7.00%
images: Gauss filter (1024x768)13.86 ms /
14.49 ms
∇ -4.37%
72.16 Hz /
69.01 Hz
Δ 4.56%
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 /
21.12 us
∇ -18.16%
57.84 KHz /
47.34 KHz
Δ 22.19%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
19.36 us
∇ -14.85%
60.66 KHz /
51.65 KHz
Δ 17.45%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
6.24 us
Δ 55.84%
102.89 KHz /
160.34 KHz
∇ -35.83%
feature_extraction [640x480]: Harris31.46 ms /
40.83 ms
∇ -22.94%
31.79 Hz /
24.49 Hz
Δ 29.77%
feature_extraction [640x480]: KLT30.94 ms /
33.62 ms
∇ -7.95%
32.32 Hz /
29.75 Hz
Δ 8.63%
feature_extraction [640x480]: SIFT653.53 ms /
705.28 ms
∇ -7.34%
1.53 Hz /
1.42 Hz
Δ 7.92%
feature_extraction [640x480]: SIFT desc.210.38 ms /
214.22 ms
∇ -1.79%
4.75 Hz /
4.67 Hz
Δ 1.82%
feature_extraction [640x480]: SURF243.66 ms /
326.57 ms
∇ -25.39%
4.10 Hz /
3.06 Hz
Δ 34.03%
feature_extraction [640x480]: FAST6.32 ms /
7.69 ms
∇ -17.77%
158.19 Hz /
130.08 Hz
Δ 21.62%
feature_extraction [640x480]: Spin desc.45.12 ms /
105.90 ms
∇ -57.40%
22.16 Hz /
9.44 Hz
Δ 134.72%
feature_matching [640x480]: Harris + CC46.60 ms /
57.67 ms
∇ -19.21%
21.46 Hz /
17.34 Hz
Δ 23.77%
feature_matching [640x480]: Harris + SAD40.89 ms /
50.27 ms
∇ -18.66%
24.46 Hz /
19.89 Hz
Δ 22.94%
feature_matching [640x480]: SIFT1.28 sec /
1.38 sec
∇ -6.95%
778.73 mHz /
724.62 mHz
Δ 7.47%
feature_matching [640x480]: SURF502.54 ms /
618.66 ms
∇ -18.77%
1.99 Hz /
1.62 Hz
Δ 23.11%
feature_matching [640x480]: FAST + CC19.71 ms /
22.11 ms
∇ -10.87%
50.74 Hz /
45.22 Hz
Δ 12.19%
feature_matching [640x480]: FAST + SAD13.01 ms /
14.58 ms
∇ -10.79%
76.86 Hz /
68.57 Hz
Δ 12.10%
graph(2d): insertEdge x 1e3236.53 us /
354.58 us
∇ -33.29%
4.23 KHz /
2.82 KHz
Δ 49.91%
graph(2d,vec): insertEdge x 1e3246.73 us /
X
4.05 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
284.04 us
∇ -22.96%
4.57 KHz /
3.52 KHz
Δ 29.81%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
X
4.78 KHz /
X
graph(2d pdf): insertEdge x 1e3329.87 us /
549.28 us
∇ -39.95%
3.03 KHz /
1.82 KHz
Δ 66.52%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
X
3.29 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
452.79 us
∇ -38.14%
3.57 KHz /
2.21 KHz
Δ 61.66%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
X
3.52 KHz /
X
graph(2d): insertEdge x 1e42.72 ms /
3.86 ms
∇ -29.40%
367.00 Hz /
259.12 Hz
Δ 41.63%
graph(2d,vec): insertEdge x 1e42.73 ms /
X
366.67 Hz /
X
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
2.88 ms
∇ -32.12%
512.34 Hz /
347.75 Hz
Δ 47.33%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
X
519.87 Hz /
X
graph(2d pdf): insertEdge x 1e43.21 ms /
5.74 ms
∇ -44.08%
311.68 Hz /
174.28 Hz
Δ 78.84%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
X
308.83 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
4.44 ms
∇ -27.30%
309.95 Hz /
225.33 Hz
Δ 37.55%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
X
314.97 Hz /
X
graph(3d): insertEdge x 1e3274.22 us /
1.35 ms
∇ -79.62%
3.65 KHz /
743.07 Hz
Δ 390.76%
graph(3d,vec): insertEdge x 1e3264.66 us /
X
3.78 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
1.09 ms
∇ -75.77%
3.79 KHz /
917.96 Hz
Δ 312.68%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
X
3.74 KHz /
X
graph(3d pdf): insertEdge x 1e3589.01 us /
1.74 ms
∇ -66.21%
1.70 KHz /
573.66 Hz
Δ 195.95%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
X
1.68 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
1.46 ms
∇ -61.53%
1.78 KHz /
683.28 Hz
Δ 159.97%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
X
1.79 KHz /
X
graph(3d): insertEdge x 1e43.23 ms /
13.92 ms
∇ -76.76%
309.17 Hz /
71.86 Hz
Δ 330.21%
graph(3d,vec): insertEdge x 1e43.13 ms /
X
319.30 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
11.12 ms
∇ -76.44%
381.66 Hz /
89.92 Hz
Δ 324.43%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
X
392.76 Hz /
X
graph(3d pdf): insertEdge x 1e46.11 ms /
17.58 ms
∇ -65.22%
163.57 Hz /
56.89 Hz
Δ 187.53%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
X
178.36 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
14.12 ms
∇ -63.12%
192.01 Hz /
70.81 Hz
Δ 171.17%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
X
192.88 Hz /
X
graph(3d): dijkstra 1e2 nodes156.43 us /
X
6.39 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
X
5.20 KHz /
X
graph(3d): dijkstra 1e3 nodes2.18 ms /
X
459.11 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
X
555.25 Hz /
X
graph(3d): dijkstra 1e4 nodes26.67 ms /
X
37.50 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
X
43.80 Hz /
X
graph(3d): dijkstra 1e5 nodes307.16 ms /
X
3.26 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
X
3.75 Hz /
X
graph(2d): dijkstra 1e5 nodes302.10 ms /
X
3.31 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
X
3.81 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:37.752421 with MRPT 0.9.4 by 'mrpt-performance'.