Comparison: 0.9.4-MSVC10-64bit vs. 0.9.2-GCC-64bit




Test description 0.9.4-MSVC10-64bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
19.99 ms
Δ 32.78%
37.68 Hz /
50.03 Hz
∇ -24.69%
icp-slam (match grid): Run with sample dataset32.17 ms /
19.29 ms
Δ 66.77%
31.08 Hz /
51.84 Hz
∇ -40.04%
poses: CPose3D (+) CPose3D62.83 ns /
42.85 ns
Δ 46.62%
15.92 MHz /
23.34 MHz
∇ -31.80%
poses: CPose3D.composeFrom()41.42 ns /
37.80 ns
Δ 9.57%
24.14 MHz /
26.46 MHz
∇ -8.74%
poses: CPose3D (+) CPoint3D18.89 ns /
7.25 ns
Δ 160.47%
52.94 MHz /
137.89 MHz
∇ -61.61%
poses: CPose3D.composePoint()17.17 ns /
11.91 ns
Δ 44.23%
58.23 MHz /
83.98 MHz
∇ -30.66%
poses: CPoint3D (-) CPose3D88.79 ns /
48.98 ns
Δ 81.27%
11.26 MHz /
20.42 MHz
∇ -44.83%
poses: CPose3D.inverseComposePoint()44.00 ns /
34.95 ns
Δ 25.89%
22.73 MHz /
28.61 MHz
∇ -20.56%
poses: CPose2D (+) CPose2D72.08 ns /
78.58 ns
∇ -8.26%
13.87 MHz /
12.73 MHz
Δ 9.01%
poses: CPose2D.composeFrom()63.27 ns /
70.31 ns
∇ -10.02%
15.81 MHz /
14.22 MHz
Δ 11.13%
poses: CPose2D (+) CPoint2D34.42 ns /
61.33 ns
∇ -43.88%
29.05 MHz /
16.31 MHz
Δ 78.19%
poses: CPose2D.composePoint()26.02 ns /
65.17 ns
∇ -60.07%
38.43 MHz /
15.35 MHz
Δ 150.42%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
44.66 ns
Δ 154.35%
8.80 MHz /
22.39 MHz
∇ -60.68%
poses: CPose3DQuat.composeFrom()82.72 ns /
39.43 ns
Δ 109.78%
12.09 MHz /
25.36 MHz
∇ -52.33%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
18.24 ns
Δ 126.62%
24.20 MHz /
54.84 MHz
∇ -55.87%
poses: CPose3DQuat.composePoint()31.13 ns /
17.94 ns
Δ 73.55%
32.12 MHz /
55.75 MHz
∇ -42.38%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
55.43 ns
Δ 105.48%
8.78 MHz /
18.04 MHz
∇ -51.33%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
17.64 ns
Δ 92.44%
29.46 MHz /
56.69 MHz
∇ -48.04%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
16.70 ns
Δ 58.37%
37.82 MHz /
59.89 MHz
∇ -36.86%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
169.28 ns
∇ -42.51%
10.28 MHz /
5.91 MHz
Δ 73.96%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
760.96 us
∇ -99.88%
1.05 MHz /
1.31 KHz
Δ 80097.36%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
760.62 us
∇ -99.88%
1.07 MHz /
1.31 KHz
Δ 80932.06%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
9.47 us
Δ 123.87%
47.15 KHz /
105.55 KHz
∇ -55.33%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
545.30 ns
∇ -2.36%
1.88 MHz /
1.83 MHz
Δ 2.41%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
544.10 ns
∇ -2.92%
1.89 MHz /
1.84 MHz
Δ 3.00%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
8.11 us
Δ 38.04%
89.35 KHz /
123.33 KHz
∇ -27.56%
matrix: unit, dyn[float], 3x345.20 ns /
20.92 ns
Δ 116.07%
22.13 MHz /
47.81 MHz
∇ -53.72%
matrix: unit, dyn[double], 3x345.86 ns /
20.15 ns
Δ 127.59%
21.81 MHz /
49.63 MHz
∇ -56.06%
matrix: unit, dyn[float], 6x6177.43 ns /
54.04 ns
Δ 228.36%
5.64 MHz /
18.51 MHz
∇ -69.55%
matrix: unit, dyn[double], 6x6169.52 ns /
55.27 ns
Δ 206.73%
5.90 MHz /
18.09 MHz
∇ -67.40%
matrix: unit, fix[float,3,3]0.00 ns /
0.35 ns
∇ -100.00%
1.#J THz /
2.89 GHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
1.19 ns
∇ -100.00%
1.#J THz /
842.46 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]6.37 ns /
1.70 ns
Δ 274.97%
157.06 MHz /
588.93 MHz
∇ -73.33%
matrix: unit, fix[double,6,6]7.86 ns /
2.77 ns
Δ 183.32%
127.19 MHz /
360.36 MHz
∇ -64.70%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
73.10 ns
Δ 564.75%
2.06 MHz /
13.68 MHz
∇ -84.96%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
23.80 ns
∇ -99.81%
22.08 GHz /
42.02 MHz
Δ 52448.71%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
72.40 ns
Δ 629.85%
1.89 MHz /
13.81 MHz
∇ -86.30%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
23.40 ns
∇ -100.00%
1.#J THz /
42.74 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3547.16 ns /
110.50 ns
Δ 395.17%
1.83 MHz /
9.05 MHz
∇ -79.80%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
45.10 ns
∇ -94.78%
424.60 MHz /
22.17 MHz
Δ 1814.95%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
116.30 ns
Δ 236.63%
2.55 MHz /
8.60 MHz
∇ -70.29%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
45.20 ns
∇ -94.79%
424.60 MHz /
22.12 MHz
Δ 1819.20%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
5.19 us
∇ -47.11%
364.51 KHz /
192.77 KHz
Δ 89.09%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
3.55 us
∇ -41.33%
479.89 KHz /
281.56 KHz
Δ 70.44%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
5.18 us
∇ -33.10%
288.55 KHz /
193.05 KHz
Δ 49.47%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
3.61 us
∇ -33.97%
419.56 KHz /
277.05 KHz
Δ 51.44%
matrix: inv, dyn[double] 3x31.09 us /
329.00 ns
Δ 229.98%
921.12 KHz /
3.04 MHz
∇ -69.70%
matrix: inv, fix[double] 3x322.19 ns /
21.00 ns
Δ 5.68%
45.06 MHz /
47.62 MHz
∇ -5.37%
matrix: inv, dyn[double] 6x62.78 us /
1.20 us
Δ 131.51%
359.66 KHz /
832.64 KHz
∇ -56.81%
matrix: inv, fix[double] 6x62.22 us /
578.00 ns
Δ 284.27%
450.23 KHz /
1.73 MHz
∇ -73.98%
matrix: inv, dyn[double] 20x2030.71 us /
25.64 us
Δ 19.80%
32.56 KHz /
39.01 KHz
∇ -16.53%
matrix: inv, fix[double] 20x2024.08 us /
17.36 us
Δ 38.68%
41.53 KHz /
57.60 KHz
∇ -27.89%
matrix: inv, dyn[double] 40x40117.18 us /
189.04 us
∇ -38.01%
8.53 KHz /
5.29 KHz
Δ 61.33%
matrix: inv, fix[double] 40x40112.80 us /
121.47 us
∇ -7.13%
8.86 KHz /
8.23 KHz
Δ 7.68%
matrix: det, dyn[double] 2x2765.51 ns /
6.40 ns
Δ 11861.15%
1.31 MHz /
156.25 MHz
∇ -99.16%
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 /
10.30 ns
Δ 7883.58%
1.22 MHz /
97.09 MHz
∇ -98.75%
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 /
696.30 ns
Δ 156.24%
560.47 KHz /
1.44 MHz
∇ -60.97%
matrix: det, fix[double] 6x61.51 us /
212.30 ns
Δ 612.22%
661.35 KHz /
4.71 MHz
∇ -85.96%
matrix: det, dyn[double] 20x2018.54 us /
6.40 us
Δ 189.50%
53.94 KHz /
156.16 KHz
∇ -65.46%
matrix: det, fix[double] 20x2019.01 us /
4.72 us
Δ 302.54%
52.61 KHz /
211.77 KHz
∇ -75.16%
matrix: det, dyn[double] 40x4072.40 us /
32.49 us
Δ 122.80%
13.81 KHz /
30.77 KHz
∇ -55.12%
matrix: det, fix[double] 40x4067.43 us /
27.34 us
Δ 146.66%
14.83 KHz /
36.58 KHz
∇ -59.46%
matrix: chol, dyn[double] 4x4606.90 ns /
130.00 ns
Δ 366.85%
1.65 MHz /
7.69 MHz
∇ -78.58%
matrix: chol, fix[double] 4x4190.22 ns /
140.00 ns
Δ 35.87%
5.26 MHz /
7.14 MHz
∇ -26.40%
matrix: chol, dyn[double] 40x4031.59 us /
18.52 us
Δ 70.55%
31.66 KHz /
54.00 KHz
∇ -41.37%
matrix: chol, fix[double] 40x4020.87 us /
16.55 us
Δ 26.08%
47.93 KHz /
60.42 KHz
∇ -20.68%
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 /
82.90 us
Δ 14.29%
10.55 KHz /
12.06 KHz
∇ -12.51%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
52.70 us
Δ 43.44%
13.23 KHz /
18.98 KHz
∇ -30.28%
matrix: chol, sparse 10x[6x6]43.20 us /
38.59 us
Δ 11.95%
23.15 KHz /
25.91 KHz
∇ -10.68%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
409.80 us
Δ 10.65%
2.21 KHz /
2.44 KHz
∇ -9.63%
matrix: chol, sparse 20x[6x6]74.00 us /
70.75 us
Δ 4.60%
13.51 KHz /
14.13 KHz
∇ -4.39%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
8.58 ms
∇ -58.68%
282.19 Hz /
116.60 Hz
Δ 142.01%
matrix: chol, sparse 50x[6x6]178.69 us /
171.20 us
Δ 4.37%
5.60 KHz /
5.84 KHz
∇ -4.19%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
133.58 ms
∇ -83.32%
44.87 Hz /
7.49 Hz
Δ 499.41%
matrix: chol, sparse 100x[6x6]359.36 us /
341.85 us
Δ 5.12%
2.78 KHz /
2.93 KHz
∇ -4.87%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
354.49 ms
∇ -89.76%
27.56 Hz /
2.82 Hz
Δ 876.92%
matrix: chol, sparse 120x[6x6]411.86 us /
401.50 us
Δ 2.58%
2.43 KHz /
2.49 KHz
∇ -2.52%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
773.25 ms
∇ -92.97%
18.40 Hz /
1.29 Hz
Δ 1322.91%
matrix: chol, sparse 140x[6x6]488.10 us /
469.25 us
Δ 4.02%
2.05 KHz /
2.13 KHz
∇ -3.86%
gridmap2D: getCell4.13 ns /
0.00 ns
Δ 4130920.52%
242.07 MHz /
10.00 THz
∇ -100.00%
gridmap2D: setCell5.65 ns /
2.58 ns
Δ 119.04%
177.14 MHz /
388.02 MHz
∇ -54.35%
gridmap2D: updateCell6.93 ns /
7.84 ns
∇ -11.61%
144.35 MHz /
127.58 MHz
Δ 13.14%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 117.89%
833.40 MHz /
1.82 GHz
∇ -54.10%
gridmap2D: insert scan w/o widening102.16 us /
102.06 us
Δ 0.10%
9.79 KHz /
9.80 KHz
∇ -0.10%
gridmap2D: insert scan with widening276.88 us /
289.47 us
∇ -4.35%
3.61 KHz /
3.45 KHz
Δ 4.55%
gridmap2D: resize3.89 ms /
1.97 ms
Δ 97.87%
257.06 Hz /
508.65 Hz
∇ -49.46%
gridmap2D: computeLikelihood13.92 us /
15.74 us
∇ -11.54%
71.84 KHz /
63.55 KHz
Δ 13.04%
pointmap: insert 100 scans1.87 ms /
3.04 ms
∇ -38.36%
534.24 Hz /
329.30 Hz
Δ 62.24%
pointmap: build 2D kd-tree of 1 scan5.09 us /
4.32 us
Δ 17.84%
196.43 KHz /
231.48 KHz
∇ -15.14%
pointmap: build 2D kd-tree of 100 scan486.39 us /
352.12 us
Δ 38.13%
2.06 KHz /
2.84 KHz
∇ -27.61%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
4.14 ms
Δ 23.10%
196.20 Hz /
241.51 Hz
∇ -18.76%
pointmap: build 3D kd-tree of 1 scan5.56 us /
4.68 us
Δ 18.84%
179.80 KHz /
213.68 KHz
∇ -15.85%
pointmap: build 3D kd-tree of 100 scan467.24 us /
359.52 us
Δ 29.96%
2.14 KHz /
2.78 KHz
∇ -23.06%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
4.03 ms
Δ 28.65%
192.98 Hz /
248.28 Hz
∇ -22.27%
pointmap: kd-tree 2d query on 10 scans1.59 us /
1.41 us
Δ 13.47%
627.25 KHz /
711.74 KHz
∇ -11.87%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
97.21 us
Δ 30.32%
7.89 KHz /
10.29 KHz
∇ -23.26%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
11.62 ms
Δ 19.28%
72.14 Hz /
86.05 Hz
∇ -16.16%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
5.59 ms
Δ 16.99%
152.81 Hz /
178.77 Hz
∇ -14.52%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
129.28 ms
Δ 35.18%
5.72 Hz /
7.73 Hz
∇ -26.03%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
5.66 ms
Δ 21.51%
145.28 Hz /
176.53 Hz
∇ -17.70%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
131.22 ms
Δ 38.22%
5.51 Hz /
7.62 Hz
∇ -27.65%
random: drawUniform32bit9.54 ns /
14.50 ns
∇ -34.25%
104.87 MHz /
68.95 MHz
Δ 52.10%
random: drawUniform9.69 ns /
14.50 ns
∇ -33.19%
103.21 MHz /
68.96 MHz
Δ 49.67%
random: drawGaussian1D_normalized52.06 ns /
68.97 ns
∇ -24.52%
19.21 MHz /
14.50 MHz
Δ 32.48%
random: drawGaussian1D50.73 ns /
68.98 ns
∇ -26.45%
19.71 MHz /
14.50 MHz
Δ 35.97%
random: system rand()24.47 ns /
10.45 ns
Δ 134.21%
40.87 MHz /
95.72 MHz
∇ -57.30%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
1.31 us
∇ -4.98%
805.20 KHz /
765.12 KHz
Δ 5.24%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
2.73 us
Δ 16.79%
313.70 KHz /
366.37 KHz
∇ -14.38%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
158.91 ns
∇ -18.18%
7.69 MHz /
6.29 MHz
Δ 22.21%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
237.40 ns
∇ -16.45%
5.04 MHz /
4.21 MHz
Δ 19.69%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
490.03 ns
∇ -7.83%
2.21 MHz /
2.04 MHz
Δ 8.49%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
164.67 ns
∇ -16.85%
7.30 MHz /
6.07 MHz
Δ 20.26%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
249.81 ns
∇ -14.53%
4.68 MHz /
4.00 MHz
Δ 17.00%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
514.70 ns
∇ -7.02%
2.09 MHz /
1.94 MHz
Δ 7.55%
random: permuteVector (len=10)244.07 ns /
296.20 ns
∇ -17.60%
4.10 MHz /
3.38 MHz
Δ 21.36%
random: permuteVector (len=100)3.12 us /
3.04 us
Δ 2.75%
320.11 KHz /
328.91 KHz
∇ -2.68%
random: permuteVector (len=1000)30.82 us /
30.22 us
Δ 1.99%
32.44 KHz /
33.09 KHz
∇ -1.95%
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 /
35.06 ms
∇ -14.80%
33.48 Hz /
28.52 Hz
Δ 17.38%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
48.96 ms
∇ -12.21%
23.26 Hz /
20.42 Hz
Δ 13.91%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
74.65 ms
∇ -7.53%
14.49 Hz /
13.40 Hz
Δ 8.15%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
29.96 ms
∇ -23.72%
43.75 Hz /
33.37 Hz
Δ 31.10%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
42.79 ms
∇ -17.72%
28.41 Hz /
23.37 Hz
Δ 21.54%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
64.15 ms
∇ -10.69%
17.45 Hz /
15.59 Hz
Δ 11.97%
images: Gauss filter (640x480)4.45 ms /
3.90 ms
Δ 14.06%
224.70 Hz /
256.30 Hz
∇ -12.33%
images: Gauss filter (800x600)8.06 ms /
6.21 ms
Δ 29.68%
124.15 Hz /
160.99 Hz
∇ -22.89%
images: Gauss filter (1024x768)13.86 ms /
10.55 ms
Δ 31.29%
72.16 Hz /
94.74 Hz
∇ -23.83%
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 /
5.06 us
Δ 241.65%
57.84 KHz /
197.63 KHz
∇ -70.73%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
4.30 us
Δ 283.40%
60.66 KHz /
232.56 KHz
∇ -73.92%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
2.10 us
Δ 362.83%
102.89 KHz /
476.19 KHz
∇ -78.39%
feature_extraction [640x480]: Harris31.46 ms /
24.28 ms
Δ 29.59%
31.79 Hz /
41.19 Hz
∇ -22.84%
feature_extraction [640x480]: KLT30.94 ms /
24.43 ms
Δ 26.69%
32.32 Hz /
40.94 Hz
∇ -21.06%
feature_extraction [640x480]: SIFT653.53 ms /
610.42 ms
Δ 7.06%
1.53 Hz /
1.64 Hz
∇ -6.60%
feature_extraction [640x480]: SIFT desc.210.38 ms /
167.77 ms
Δ 25.40%
4.75 Hz /
5.96 Hz
∇ -20.25%
feature_extraction [640x480]: SURF243.66 ms /
197.61 ms
Δ 23.30%
4.10 Hz /
5.06 Hz
∇ -18.90%
feature_extraction [640x480]: FAST6.32 ms /
5.24 ms
Δ 20.53%
158.19 Hz /
190.68 Hz
∇ -17.04%
feature_extraction [640x480]: Spin desc.45.12 ms /
59.98 ms
∇ -24.78%
22.16 Hz /
16.67 Hz
Δ 32.94%
feature_matching [640x480]: Harris + CC46.60 ms /
40.88 ms
Δ 13.99%
21.46 Hz /
24.46 Hz
∇ -12.27%
feature_matching [640x480]: Harris + SAD40.89 ms /
35.50 ms
Δ 15.20%
24.46 Hz /
28.17 Hz
∇ -13.19%
feature_matching [640x480]: SIFT1.28 sec /
1.21 sec
Δ 6.34%
778.73 mHz /
828.07 mHz
∇ -5.96%
feature_matching [640x480]: SURF502.54 ms /
379.92 ms
Δ 32.28%
1.99 Hz /
2.63 Hz
∇ -24.40%
feature_matching [640x480]: FAST + CC19.71 ms /
16.06 ms
Δ 22.70%
50.74 Hz /
62.26 Hz
∇ -18.50%
feature_matching [640x480]: FAST + SAD13.01 ms /
10.73 ms
Δ 21.23%
76.86 Hz /
93.18 Hz
∇ -17.51%
graph(2d): insertEdge x 1e3236.53 us /
117.65 us
Δ 101.05%
4.23 KHz /
8.50 KHz
∇ -50.26%
graph(2d,vec): insertEdge x 1e3246.73 us /
105.13 us
Δ 134.70%
4.05 KHz /
9.51 KHz
∇ -57.39%
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
85.19 us
Δ 156.86%
4.57 KHz /
11.74 KHz
∇ -61.07%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
84.46 us
Δ 147.69%
4.78 KHz /
11.84 KHz
∇ -59.63%
graph(2d pdf): insertEdge x 1e3329.87 us /
172.53 us
Δ 91.20%
3.03 KHz /
5.80 KHz
∇ -47.70%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
187.97 us
Δ 61.52%
3.29 KHz /
5.32 KHz
∇ -38.09%
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
168.61 us
Δ 66.12%
3.57 KHz /
5.93 KHz
∇ -39.80%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
167.39 us
Δ 69.83%
3.52 KHz /
5.97 KHz
∇ -41.12%
graph(2d): insertEdge x 1e42.72 ms /
1.73 ms
Δ 57.83%
367.00 Hz /
579.22 Hz
∇ -36.64%
graph(2d,vec): insertEdge x 1e42.73 ms /
1.45 ms
Δ 88.34%
366.67 Hz /
690.59 Hz
∇ -46.91%
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
884.69 us
Δ 120.62%
512.34 Hz /
1.13 KHz
∇ -54.67%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
862.22 us
Δ 123.10%
519.87 Hz /
1.16 KHz
∇ -55.18%
graph(2d pdf): insertEdge x 1e43.21 ms /
1.97 ms
Δ 62.55%
311.68 Hz /
506.65 Hz
∇ -38.48%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
2.31 ms
Δ 40.45%
308.83 Hz /
433.74 Hz
∇ -28.80%
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
1.86 ms
Δ 73.62%
309.95 Hz /
538.12 Hz
∇ -42.40%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
1.86 ms
Δ 70.92%
314.97 Hz /
538.35 Hz
∇ -41.49%
graph(3d): insertEdge x 1e3274.22 us /
177.23 us
Δ 54.73%
3.65 KHz /
5.64 KHz
∇ -35.37%
graph(3d,vec): insertEdge x 1e3264.66 us /
178.36 us
Δ 48.39%
3.78 KHz /
5.61 KHz
∇ -32.61%
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
157.86 us
Δ 67.22%
3.79 KHz /
6.33 KHz
∇ -40.20%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
159.54 us
Δ 67.57%
3.74 KHz /
6.27 KHz
∇ -40.32%
graph(3d pdf): insertEdge x 1e3589.01 us /
507.00 us
Δ 16.18%
1.70 KHz /
1.97 KHz
∇ -13.92%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
509.46 us
Δ 17.11%
1.68 KHz /
1.96 KHz
∇ -14.61%
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
473.36 us
Δ 18.93%
1.78 KHz /
2.11 KHz
∇ -15.92%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
474.07 us
Δ 17.92%
1.79 KHz /
2.11 KHz
∇ -15.20%
graph(3d): insertEdge x 1e43.23 ms /
2.47 ms
Δ 30.87%
309.17 Hz /
404.60 Hz
∇ -23.59%
graph(3d,vec): insertEdge x 1e43.13 ms /
2.48 ms
Δ 26.16%
319.30 Hz /
402.82 Hz
∇ -20.73%
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
1.75 ms
Δ 49.48%
381.66 Hz /
570.48 Hz
∇ -33.10%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
1.77 ms
Δ 44.06%
392.76 Hz /
565.81 Hz
∇ -30.58%
graph(3d pdf): insertEdge x 1e46.11 ms /
5.53 ms
Δ 10.64%
163.57 Hz /
180.97 Hz
∇ -9.61%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
5.56 ms
Δ 0.75%
178.36 Hz /
179.70 Hz
∇ -0.74%
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
4.85 ms
Δ 7.37%
192.01 Hz /
206.16 Hz
∇ -6.86%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
4.85 ms
Δ 6.86%
192.88 Hz /
206.11 Hz
∇ -6.42%
graph(3d): dijkstra 1e2 nodes156.43 us /
96.04 us
Δ 62.87%
6.39 KHz /
10.41 KHz
∇ -38.60%
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
80.39 us
Δ 139.26%
5.20 KHz /
12.44 KHz
∇ -58.20%
graph(3d): dijkstra 1e3 nodes2.18 ms /
1.13 ms
Δ 92.78%
459.11 Hz /
885.05 Hz
∇ -48.13%
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
804.04 us
Δ 123.99%
555.25 Hz /
1.24 KHz
∇ -55.36%
graph(3d): dijkstra 1e4 nodes26.67 ms /
19.14 ms
Δ 39.37%
37.50 Hz /
52.26 Hz
∇ -28.25%
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
9.65 ms
Δ 136.61%
43.80 Hz /
103.63 Hz
∇ -57.74%
graph(3d): dijkstra 1e5 nodes307.16 ms /
290.37 ms
Δ 5.78%
3.26 Hz /
3.44 Hz
∇ -5.47%
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
117.73 ms
Δ 126.62%
3.75 Hz /
8.49 Hz
∇ -55.87%
graph(2d): dijkstra 1e5 nodes302.10 ms /
268.93 ms
Δ 12.33%
3.31 Hz /
3.72 Hz
∇ -10.98%
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
103.05 ms
Δ 155.01%
3.81 Hz /
9.70 Hz
∇ -60.79%

 


Page generated automatically at 2011/06/03,22:26:37.720419 with MRPT 0.9.4 by 'mrpt-performance'.