Comparison: 0.9.4-MSVC10-64bit vs. 0.9.2preSVN2157-GCC-64bit




Test description 0.9.4-MSVC10-64bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
20.59 ms
Δ 28.93%
37.68 Hz /
48.58 Hz
∇ -22.44%
icp-slam (match grid): Run with sample dataset32.17 ms /
20.64 ms
Δ 55.89%
31.08 Hz /
48.45 Hz
∇ -35.85%
poses: CPose3D (+) CPose3D62.83 ns /
42.90 ns
Δ 46.45%
15.92 MHz /
23.31 MHz
∇ -31.72%
poses: CPose3D.composeFrom()41.42 ns /
37.61 ns
Δ 10.13%
24.14 MHz /
26.59 MHz
∇ -9.20%
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 /
11.83 ns
Δ 45.18%
58.23 MHz /
84.53 MHz
∇ -31.12%
poses: CPoint3D (-) CPose3D88.79 ns /
39.31 ns
Δ 125.86%
11.26 MHz /
25.44 MHz
∇ -55.72%
poses: CPose3D.inverseComposePoint()44.00 ns /
34.91 ns
Δ 26.05%
22.73 MHz /
28.65 MHz
∇ -20.67%
poses: CPose2D (+) CPose2D72.08 ns /
76.08 ns
∇ -5.25%
13.87 MHz /
13.14 MHz
Δ 5.55%
poses: CPose2D.composeFrom()63.27 ns /
61.61 ns
Δ 2.69%
15.81 MHz /
16.23 MHz
∇ -2.62%
poses: CPose2D (+) CPoint2D34.42 ns /
60.26 ns
∇ -42.89%
29.05 MHz /
16.59 MHz
Δ 75.09%
poses: CPose2D.composePoint()26.02 ns /
62.26 ns
∇ -58.20%
38.43 MHz /
16.06 MHz
Δ 139.26%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
40.99 ns
Δ 177.12%
8.80 MHz /
24.40 MHz
∇ -63.91%
poses: CPose3DQuat.composeFrom()82.72 ns /
39.39 ns
Δ 109.99%
12.09 MHz /
25.39 MHz
∇ -52.38%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
18.30 ns
Δ 125.78%
24.20 MHz /
54.63 MHz
∇ -55.71%
poses: CPose3DQuat.composePoint()31.13 ns /
17.94 ns
Δ 73.51%
32.12 MHz /
55.74 MHz
∇ -42.37%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
55.46 ns
Δ 105.37%
8.78 MHz /
18.03 MHz
∇ -51.31%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
17.66 ns
Δ 92.22%
29.46 MHz /
56.63 MHz
∇ -47.98%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
16.78 ns
Δ 57.54%
37.82 MHz /
59.58 MHz
∇ -36.53%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
169.37 ns
∇ -42.54%
10.28 MHz /
5.90 MHz
Δ 74.05%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
799.08 us
∇ -99.88%
1.05 MHz /
1.25 KHz
Δ 84115.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
803.31 us
∇ -99.88%
1.07 MHz /
1.24 KHz
Δ 85479.97%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
9.44 us
Δ 124.62%
47.15 KHz /
105.91 KHz
∇ -55.48%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
648.90 ns
∇ -17.95%
1.88 MHz /
1.54 MHz
Δ 21.87%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
631.00 ns
∇ -16.29%
1.89 MHz /
1.58 MHz
Δ 19.45%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
8.18 us
Δ 36.88%
89.35 KHz /
122.30 KHz
∇ -26.94%
matrix: unit, dyn[float], 3x345.20 ns /
24.43 ns
Δ 85.03%
22.13 MHz /
40.94 MHz
∇ -45.96%
matrix: unit, dyn[double], 3x345.86 ns /
23.18 ns
Δ 97.82%
21.81 MHz /
43.14 MHz
∇ -49.45%
matrix: unit, dyn[float], 6x6177.43 ns /
59.50 ns
Δ 198.18%
5.64 MHz /
16.81 MHz
∇ -66.46%
matrix: unit, dyn[double], 6x6169.52 ns /
62.26 ns
Δ 172.25%
5.90 MHz /
16.06 MHz
∇ -63.27%
matrix: unit, fix[float,3,3]0.00 ns /
0.35 ns
∇ -100.00%
1.#J THz /
2.88 GHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
1.19 ns
∇ -100.00%
1.#J THz /
841.75 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]6.37 ns /
1.70 ns
Δ 273.87%
157.06 MHz /
587.20 MHz
∇ -73.25%
matrix: unit, fix[double,6,6]7.86 ns /
2.77 ns
Δ 183.83%
127.19 MHz /
361.01 MHz
∇ -64.77%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
85.80 ns
Δ 466.35%
2.06 MHz /
11.66 MHz
∇ -82.34%
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 /
75.90 ns
Δ 596.20%
1.89 MHz /
13.18 MHz
∇ -85.64%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
23.50 ns
∇ -100.00%
1.#J THz /
42.55 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3547.16 ns /
118.10 ns
Δ 363.31%
1.83 MHz /
8.47 MHz
∇ -78.42%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
44.70 ns
∇ -94.73%
424.60 MHz /
22.37 MHz
Δ 1797.97%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
110.50 ns
Δ 254.30%
2.55 MHz /
9.05 MHz
∇ -71.78%
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 /
5.44 us
∇ -49.53%
364.51 KHz /
183.95 KHz
Δ 98.16%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
3.78 us
∇ -44.81%
479.89 KHz /
264.87 KHz
Δ 81.18%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
5.54 us
∇ -37.49%
288.55 KHz /
180.38 KHz
Δ 59.97%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
4.07 us
∇ -41.50%
419.56 KHz /
245.43 KHz
Δ 70.95%
matrix: inv, dyn[double] 3x31.09 us /
644.00 ns
Δ 68.58%
921.12 KHz /
1.55 MHz
∇ -40.68%
matrix: inv, fix[double] 3x322.19 ns /
39.00 ns
∇ -43.10%
45.06 MHz /
25.64 MHz
Δ 75.73%
matrix: inv, dyn[double] 6x62.78 us /
1.26 us
Δ 120.49%
359.66 KHz /
793.02 KHz
∇ -54.65%
matrix: inv, fix[double] 6x62.22 us /
575.00 ns
Δ 286.28%
450.23 KHz /
1.74 MHz
∇ -74.11%
matrix: inv, dyn[double] 20x2030.71 us /
25.76 us
Δ 19.24%
32.56 KHz /
38.83 KHz
∇ -16.14%
matrix: inv, fix[double] 20x2024.08 us /
17.04 us
Δ 41.31%
41.53 KHz /
58.69 KHz
∇ -29.23%
matrix: inv, dyn[double] 40x40117.18 us /
207.20 us
∇ -43.45%
8.53 KHz /
4.83 KHz
Δ 76.82%
matrix: inv, fix[double] 40x40112.80 us /
133.80 us
∇ -15.69%
8.86 KHz /
7.47 KHz
Δ 18.62%
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 /
730.30 ns
Δ 144.31%
560.47 KHz /
1.37 MHz
∇ -59.07%
matrix: det, fix[double] 6x61.51 us /
212.10 ns
Δ 612.90%
661.35 KHz /
4.71 MHz
∇ -85.97%
matrix: det, dyn[double] 20x2018.54 us /
6.56 us
Δ 182.40%
53.94 KHz /
152.33 KHz
∇ -64.59%
matrix: det, fix[double] 20x2019.01 us /
5.04 us
Δ 277.09%
52.61 KHz /
198.38 KHz
∇ -73.48%
matrix: det, dyn[double] 40x4072.40 us /
39.41 us
Δ 83.70%
13.81 KHz /
25.37 KHz
∇ -45.56%
matrix: det, fix[double] 40x4067.43 us /
29.04 us
Δ 132.22%
14.83 KHz /
34.44 KHz
∇ -56.94%
matrix: chol, dyn[double] 4x4606.90 ns /
140.00 ns
Δ 333.50%
1.65 MHz /
7.14 MHz
∇ -76.93%
matrix: chol, fix[double] 4x4190.22 ns /
160.00 ns
Δ 18.89%
5.26 MHz /
6.25 MHz
∇ -15.89%
matrix: chol, dyn[double] 40x4031.59 us /
18.38 us
Δ 71.85%
31.66 KHz /
54.41 KHz
∇ -41.81%
matrix: chol, fix[double] 40x4020.87 us /
17.08 us
Δ 22.16%
47.93 KHz /
58.55 KHz
∇ -18.14%
matrix: chol, sparse [2x2;2x2]7.11 us /
8.30 us
∇ -14.33%
140.63 KHz /
120.48 KHz
Δ 16.72%
matrix: chol, sparse [30x30;10x10]94.75 us /
84.40 us
Δ 12.26%
10.55 KHz /
11.85 KHz
∇ -10.92%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
53.00 us
Δ 42.62%
13.23 KHz /
18.87 KHz
∇ -29.89%
matrix: chol, sparse 10x[6x6]43.20 us /
39.49 us
Δ 9.40%
23.15 KHz /
25.32 KHz
∇ -8.60%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
411.70 us
Δ 10.14%
2.21 KHz /
2.43 KHz
∇ -9.21%
matrix: chol, sparse 20x[6x6]74.00 us /
74.09 us
∇ -0.12%
13.51 KHz /
13.50 KHz
Δ 0.12%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
10.38 ms
∇ -65.86%
282.19 Hz /
96.33 Hz
Δ 192.94%
matrix: chol, sparse 50x[6x6]178.69 us /
248.74 us
∇ -28.16%
5.60 KHz /
4.02 KHz
Δ 39.20%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
370.64 ms
∇ -93.99%
44.87 Hz /
2.70 Hz
Δ 1563.11%
matrix: chol, sparse 100x[6x6]359.36 us /
353.56 us
Δ 1.64%
2.78 KHz /
2.83 KHz
∇ -1.62%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
365.56 ms
∇ -90.07%
27.56 Hz /
2.74 Hz
Δ 907.43%
matrix: chol, sparse 120x[6x6]411.86 us /
425.27 us
∇ -3.15%
2.43 KHz /
2.35 KHz
Δ 3.26%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
796.04 ms
∇ -93.17%
18.40 Hz /
1.26 Hz
Δ 1364.85%
matrix: chol, sparse 140x[6x6]488.10 us /
490.79 us
∇ -0.55%
2.05 KHz /
2.04 KHz
Δ 0.55%
gridmap2D: getCell4.13 ns /
0.00 ns
Δ 1.#J%
242.07 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell5.65 ns /
2.58 ns
Δ 118.90%
177.14 MHz /
387.76 MHz
∇ -54.32%
gridmap2D: updateCell6.93 ns /
7.44 ns
∇ -6.95%
144.35 MHz /
134.32 MHz
Δ 7.47%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 117.81%
833.40 MHz /
1.82 GHz
∇ -54.09%
gridmap2D: insert scan w/o widening102.16 us /
101.23 us
Δ 0.92%
9.79 KHz /
9.88 KHz
∇ -0.91%
gridmap2D: insert scan with widening276.88 us /
291.30 us
∇ -4.95%
3.61 KHz /
3.43 KHz
Δ 5.21%
gridmap2D: resize3.89 ms /
1.89 ms
Δ 106.04%
257.06 Hz /
529.66 Hz
∇ -51.47%
gridmap2D: computeLikelihood13.92 us /
16.46 us
∇ -15.42%
71.84 KHz /
60.76 KHz
Δ 18.23%
pointmap: insert 100 scans1.87 ms /
3.10 ms
∇ -39.63%
534.24 Hz /
322.50 Hz
Δ 65.66%
pointmap: build 2D kd-tree of 1 scan5.09 us /
4.28 us
Δ 18.94%
196.43 KHz /
233.64 KHz
∇ -15.93%
pointmap: build 2D kd-tree of 100 scan486.39 us /
355.52 us
Δ 36.81%
2.06 KHz /
2.81 KHz
∇ -26.91%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
4.16 ms
Δ 22.45%
196.20 Hz /
240.24 Hz
∇ -18.33%
pointmap: build 3D kd-tree of 1 scan5.56 us /
4.76 us
Δ 16.84%
179.80 KHz /
210.08 KHz
∇ -14.42%
pointmap: build 3D kd-tree of 100 scan467.24 us /
363.20 us
Δ 28.65%
2.14 KHz /
2.75 KHz
∇ -22.27%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
4.09 ms
Δ 26.59%
192.98 Hz /
244.29 Hz
∇ -21.00%
pointmap: kd-tree 2d query on 10 scans1.59 us /
1.38 us
Δ 15.36%
627.25 KHz /
723.59 KHz
∇ -13.31%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
100.93 us
Δ 25.51%
7.89 KHz /
9.91 KHz
∇ -20.33%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
11.91 ms
Δ 16.37%
72.14 Hz /
83.95 Hz
∇ -14.07%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
5.62 ms
Δ 16.49%
152.81 Hz /
178.01 Hz
∇ -14.16%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
130.76 ms
Δ 33.65%
5.72 Hz /
7.65 Hz
∇ -25.18%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
5.67 ms
Δ 21.39%
145.28 Hz /
176.35 Hz
∇ -17.62%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
132.64 ms
Δ 36.75%
5.51 Hz /
7.54 Hz
∇ -26.87%
random: drawUniform32bit9.54 ns /
14.57 ns
∇ -34.56%
104.87 MHz /
68.63 MHz
Δ 52.81%
random: drawUniform9.69 ns /
14.62 ns
∇ -33.72%
103.21 MHz /
68.41 MHz
Δ 50.88%
random: drawGaussian1D_normalized52.06 ns /
68.70 ns
∇ -24.22%
19.21 MHz /
14.56 MHz
Δ 31.96%
random: drawGaussian1D50.73 ns /
68.68 ns
∇ -26.14%
19.71 MHz /
14.56 MHz
Δ 35.39%
random: system rand()24.47 ns /
10.45 ns
Δ 134.09%
40.87 MHz /
95.67 MHz
∇ -57.28%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
1.31 us
∇ -5.02%
805.20 KHz /
764.77 KHz
Δ 5.29%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
2.79 us
Δ 14.42%
313.70 KHz /
358.92 KHz
∇ -12.60%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
158.26 ns
∇ -17.84%
7.69 MHz /
6.32 MHz
Δ 21.71%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
236.42 ns
∇ -16.10%
5.04 MHz /
4.23 MHz
Δ 19.19%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
489.37 ns
∇ -7.70%
2.21 MHz /
2.04 MHz
Δ 8.35%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
164.61 ns
∇ -16.82%
7.30 MHz /
6.07 MHz
Δ 20.22%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
248.12 ns
∇ -13.95%
4.68 MHz /
4.03 MHz
Δ 16.21%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
514.83 ns
∇ -7.05%
2.09 MHz /
1.94 MHz
Δ 7.58%
random: permuteVector (len=10)244.07 ns /
317.50 ns
∇ -23.13%
4.10 MHz /
3.15 MHz
Δ 30.08%
random: permuteVector (len=100)3.12 us /
3.06 us
Δ 2.01%
320.11 KHz /
326.54 KHz
∇ -1.97%
random: permuteVector (len=1000)30.82 us /
30.27 us
Δ 1.84%
32.44 KHz /
33.04 KHz
∇ -1.80%
math: round0.00 ns /
0.10 ns
∇ -100.00%
220.79 THz /
10.09 GHz
Δ 2188399.22%
images: Save as JPEG (640x480, quality=95%)29.87 ms /
27.27 ms
Δ 9.54%
33.48 Hz /
36.67 Hz
∇ -8.71%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
43.27 ms
∇ -0.66%
23.26 Hz /
23.11 Hz
Δ 0.67%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
74.67 ms
∇ -7.56%
14.49 Hz /
13.39 Hz
Δ 8.18%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
26.31 ms
∇ -13.12%
43.75 Hz /
38.01 Hz
Δ 15.10%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
40.92 ms
∇ -13.96%
28.41 Hz /
24.44 Hz
Δ 16.23%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
62.56 ms
∇ -8.42%
17.45 Hz /
15.99 Hz
Δ 9.19%
images: Gauss filter (640x480)4.45 ms /
4.48 ms
∇ -0.75%
224.70 Hz /
223.01 Hz
Δ 0.76%
images: Gauss filter (800x600)8.06 ms /
7.46 ms
Δ 7.99%
124.15 Hz /
134.07 Hz
∇ -7.40%
images: Gauss filter (1024x768)13.86 ms /
12.41 ms
Δ 11.65%
72.16 Hz /
80.57 Hz
∇ -10.43%
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 /
5.15 us
Δ 235.68%
57.84 KHz /
194.17 KHz
∇ -70.21%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
4.35 us
Δ 278.99%
60.66 KHz /
229.89 KHz
∇ -73.61%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
2.12 us
Δ 358.47%
102.89 KHz /
471.70 KHz
∇ -78.19%
feature_extraction [640x480]: Harris31.46 ms /
33.18 ms
∇ -5.19%
31.79 Hz /
30.14 Hz
Δ 5.47%
feature_extraction [640x480]: KLT30.94 ms /
29.64 ms
Δ 4.42%
32.32 Hz /
33.74 Hz
∇ -4.23%
feature_extraction [640x480]: SIFT653.53 ms /
637.68 ms
Δ 2.49%
1.53 Hz /
1.57 Hz
∇ -2.43%
feature_extraction [640x480]: SIFT desc.210.38 ms /
173.14 ms
Δ 21.51%
4.75 Hz /
5.78 Hz
∇ -17.70%
feature_extraction [640x480]: SURF243.66 ms /
202.84 ms
Δ 20.13%
4.10 Hz /
4.93 Hz
∇ -16.75%
feature_extraction [640x480]: FAST6.32 ms /
5.10 ms
Δ 23.86%
158.19 Hz /
195.94 Hz
∇ -19.26%
feature_extraction [640x480]: Spin desc.45.12 ms /
61.22 ms
∇ -26.30%
22.16 Hz /
16.33 Hz
Δ 35.69%
feature_matching [640x480]: Harris + CC46.60 ms /
43.90 ms
Δ 6.15%
21.46 Hz /
22.78 Hz
∇ -5.79%
feature_matching [640x480]: Harris + SAD40.89 ms /
38.32 ms
Δ 6.70%
24.46 Hz /
26.09 Hz
∇ -6.28%
feature_matching [640x480]: SIFT1.28 sec /
1.28 sec
Δ 0.53%
778.73 mHz /
782.87 mHz
∇ -0.53%
feature_matching [640x480]: SURF502.54 ms /
387.99 ms
Δ 29.52%
1.99 Hz /
2.58 Hz
∇ -22.79%
feature_matching [640x480]: FAST + CC19.71 ms /
15.73 ms
Δ 25.29%
50.74 Hz /
63.57 Hz
∇ -20.19%
feature_matching [640x480]: FAST + SAD13.01 ms /
10.56 ms
Δ 23.21%
76.86 Hz /
94.70 Hz
∇ -18.84%
graph(2d): insertEdge x 1e3236.53 us /
104.46 us
Δ 126.43%
4.23 KHz /
9.57 KHz
∇ -55.84%
graph(2d,vec): insertEdge x 1e3246.73 us /
X
4.05 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
85.19 us
Δ 156.85%
4.57 KHz /
11.74 KHz
∇ -61.07%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
X
4.78 KHz /
X
graph(2d pdf): insertEdge x 1e3329.87 us /
134.65 us
Δ 144.98%
3.03 KHz /
7.43 KHz
∇ -59.18%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
X
3.29 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
119.89 us
Δ 133.63%
3.57 KHz /
8.34 KHz
∇ -57.20%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
X
3.52 KHz /
X
graph(2d): insertEdge x 1e42.72 ms /
1.39 ms
Δ 96.72%
367.00 Hz /
721.96 Hz
∇ -49.17%
graph(2d,vec): insertEdge x 1e42.73 ms /
X
366.67 Hz /
X
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
854.04 us
Δ 128.54%
512.34 Hz /
1.17 KHz
∇ -56.24%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
X
519.87 Hz /
X
graph(2d pdf): insertEdge x 1e43.21 ms /
1.61 ms
Δ 99.50%
311.68 Hz /
621.80 Hz
∇ -49.87%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
X
308.83 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
1.20 ms
Δ 168.69%
309.95 Hz /
832.81 Hz
∇ -62.78%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
X
314.97 Hz /
X
graph(3d): insertEdge x 1e3274.22 us /
132.91 us
Δ 106.32%
3.65 KHz /
7.52 KHz
∇ -51.53%
graph(3d,vec): insertEdge x 1e3264.66 us /
X
3.78 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
109.11 us
Δ 141.93%
3.79 KHz /
9.17 KHz
∇ -58.67%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
X
3.74 KHz /
X
graph(3d pdf): insertEdge x 1e3589.01 us /
349.74 us
Δ 68.41%
1.70 KHz /
2.86 KHz
∇ -40.62%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
X
1.68 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
321.54 us
Δ 75.08%
1.78 KHz /
3.11 KHz
∇ -42.88%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
X
1.79 KHz /
X
graph(3d): insertEdge x 1e43.23 ms /
1.89 ms
Δ 71.13%
309.17 Hz /
529.10 Hz
∇ -41.57%
graph(3d,vec): insertEdge x 1e43.13 ms /
X
319.30 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
1.10 ms
Δ 138.50%
381.66 Hz /
910.25 Hz
∇ -58.07%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
X
392.76 Hz /
X
graph(3d pdf): insertEdge x 1e46.11 ms /
4.65 ms
Δ 31.56%
163.57 Hz /
215.20 Hz
∇ -23.99%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
X
178.36 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
4.05 ms
Δ 28.54%
192.01 Hz /
246.81 Hz
∇ -22.20%
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 2011/06/03,22:26:37.644415 with MRPT 0.9.4 by 'mrpt-performance'.