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




Test description 0.9.4-MSVC10-32bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
19.99 ms
Δ 85.79%
26.93 Hz /
50.03 Hz
∇ -46.17%
icp-slam (match grid): Run with sample dataset36.34 ms /
19.29 ms
Δ 88.35%
27.52 Hz /
51.84 Hz
∇ -46.91%
poses: CPose3D (+) CPose3D197.08 ns /
42.85 ns
Δ 359.92%
5.07 MHz /
23.34 MHz
∇ -78.26%
poses: CPose3D.composeFrom()33.62 ns /
37.80 ns
∇ -11.05%
29.74 MHz /
26.46 MHz
Δ 12.42%
poses: CPose3D (+) CPoint3D25.13 ns /
7.25 ns
Δ 246.59%
39.79 MHz /
137.89 MHz
∇ -71.15%
poses: CPose3D.composePoint()21.31 ns /
11.91 ns
Δ 78.92%
46.94 MHz /
83.98 MHz
∇ -44.11%
poses: CPoint3D (-) CPose3D89.96 ns /
48.98 ns
Δ 83.67%
11.12 MHz /
20.42 MHz
∇ -45.55%
poses: CPose3D.inverseComposePoint()47.25 ns /
34.95 ns
Δ 35.18%
21.17 MHz /
28.61 MHz
∇ -26.02%
poses: CPose2D (+) CPose2D108.63 ns /
78.58 ns
Δ 38.25%
9.21 MHz /
12.73 MHz
∇ -27.66%
poses: CPose2D.composeFrom()94.77 ns /
70.31 ns
Δ 34.79%
10.55 MHz /
14.22 MHz
∇ -25.81%
poses: CPose2D (+) CPoint2D80.61 ns /
61.33 ns
Δ 31.43%
12.41 MHz /
16.31 MHz
∇ -23.92%
poses: CPose2D.composePoint()67.32 ns /
65.17 ns
Δ 3.31%
14.85 MHz /
15.35 MHz
∇ -3.20%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
44.66 ns
Δ 82.06%
12.30 MHz /
22.39 MHz
∇ -45.07%
poses: CPose3DQuat.composeFrom()51.56 ns /
39.43 ns
Δ 30.77%
19.39 MHz /
25.36 MHz
∇ -23.53%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
18.24 ns
Δ 206.59%
17.89 MHz /
54.84 MHz
∇ -67.38%
poses: CPose3DQuat.composePoint()32.73 ns /
17.94 ns
Δ 82.47%
30.55 MHz /
55.75 MHz
∇ -45.20%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
55.43 ns
Δ 123.75%
8.06 MHz /
18.04 MHz
∇ -55.31%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
17.64 ns
Δ 73.50%
32.67 MHz /
56.69 MHz
∇ -42.36%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
16.70 ns
Δ 68.42%
35.56 MHz /
59.89 MHz
∇ -40.63%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
169.28 ns
Δ 28.10%
4.61 MHz /
5.91 MHz
∇ -21.93%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
760.96 us
∇ -99.84%
806.40 KHz /
1.31 KHz
Δ 61263.57%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
760.62 us
∇ -99.84%
835.55 KHz /
1.31 KHz
Δ 63453.05%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
9.47 us
Δ 112.69%
49.63 KHz /
105.55 KHz
∇ -52.98%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
545.30 ns
Δ 49.94%
1.22 MHz /
1.83 MHz
∇ -33.30%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
544.10 ns
Δ 51.33%
1.21 MHz /
1.84 MHz
∇ -33.92%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
8.11 us
Δ 135.44%
52.39 KHz /
123.33 KHz
∇ -57.53%
matrix: unit, dyn[float], 3x349.67 ns /
20.92 ns
Δ 137.44%
20.13 MHz /
47.81 MHz
∇ -57.88%
matrix: unit, dyn[double], 3x350.90 ns /
20.15 ns
Δ 152.64%
19.64 MHz /
49.63 MHz
∇ -60.42%
matrix: unit, dyn[float], 6x6180.98 ns /
54.04 ns
Δ 234.94%
5.53 MHz /
18.51 MHz
∇ -70.14%
matrix: unit, dyn[double], 6x6177.90 ns /
55.27 ns
Δ 221.89%
5.62 MHz /
18.09 MHz
∇ -68.93%
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]6.63 ns /
1.70 ns
Δ 290.50%
150.81 MHz /
588.93 MHz
∇ -74.39%
matrix: unit, fix[double,6,6]8.86 ns /
2.77 ns
Δ 219.14%
112.91 MHz /
360.36 MHz
∇ -68.67%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
73.10 ns
Δ 830.61%
1.47 MHz /
13.68 MHz
∇ -89.25%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
23.80 ns
∇ -100.00%
1.#J THz /
42.02 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
72.40 ns
Δ 533.08%
2.18 MHz /
13.81 MHz
∇ -84.20%
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 * 6x3680.46 ns /
110.50 ns
Δ 515.80%
1.47 MHz /
9.05 MHz
∇ -83.76%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
45.10 ns
∇ -21.77%
28.34 MHz /
22.17 MHz
Δ 27.83%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
116.30 ns
Δ 341.97%
1.95 MHz /
8.60 MHz
∇ -77.37%
matrix: multiply, fix[double], 3x6 * 6x33.40 ns /
45.20 ns
∇ -92.48%
294.39 MHz /
22.12 MHz
Δ 1230.65%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
5.19 us
∇ -0.15%
193.06 KHz /
192.77 KHz
Δ 0.15%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
3.55 us
Δ 28.31%
219.44 KHz /
281.56 KHz
∇ -22.06%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
5.18 us
∇ -26.81%
263.78 KHz /
193.05 KHz
Δ 36.64%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
3.61 us
∇ -19.00%
342.06 KHz /
277.05 KHz
Δ 23.46%
matrix: inv, dyn[double] 3x31.50 us /
329.00 ns
Δ 356.77%
665.44 KHz /
3.04 MHz
∇ -78.11%
matrix: inv, fix[double] 3x39.51 ns /
21.00 ns
∇ -54.71%
105.14 MHz /
47.62 MHz
Δ 120.79%
matrix: inv, dyn[double] 6x63.90 us /
1.20 us
Δ 225.03%
256.17 KHz /
832.64 KHz
∇ -69.23%
matrix: inv, fix[double] 6x63.54 us /
578.00 ns
Δ 512.45%
282.49 KHz /
1.73 MHz
∇ -83.67%
matrix: inv, dyn[double] 20x2034.19 us /
25.64 us
Δ 33.37%
29.25 KHz /
39.01 KHz
∇ -25.02%
matrix: inv, fix[double] 20x2029.35 us /
17.36 us
Δ 69.05%
34.07 KHz /
57.60 KHz
∇ -40.85%
matrix: inv, dyn[double] 40x40134.24 us /
189.04 us
∇ -28.99%
7.45 KHz /
5.29 KHz
Δ 40.82%
matrix: inv, fix[double] 40x40126.45 us /
121.47 us
Δ 4.10%
7.91 KHz /
8.23 KHz
∇ -3.94%
matrix: det, dyn[double] 2x2601.74 ns /
6.40 ns
Δ 9302.19%
1.66 MHz /
156.25 MHz
∇ -98.94%
matrix: det, fix[double] 2x20.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3872.81 ns /
10.30 ns
Δ 8373.87%
1.15 MHz /
97.09 MHz
∇ -98.82%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x62.32 us /
696.30 ns
Δ 233.76%
430.29 KHz /
1.44 MHz
∇ -70.04%
matrix: det, fix[double] 6x62.17 us /
212.30 ns
Δ 922.65%
460.60 KHz /
4.71 MHz
∇ -90.22%
matrix: det, dyn[double] 20x2023.14 us /
6.40 us
Δ 261.29%
43.22 KHz /
156.16 KHz
∇ -72.32%
matrix: det, fix[double] 20x2021.38 us /
4.72 us
Δ 352.72%
46.78 KHz /
211.77 KHz
∇ -77.91%
matrix: det, dyn[double] 40x4092.83 us /
32.49 us
Δ 185.69%
10.77 KHz /
30.77 KHz
∇ -65.00%
matrix: det, fix[double] 40x4090.97 us /
27.34 us
Δ 232.77%
10.99 KHz /
36.58 KHz
∇ -69.95%
matrix: chol, dyn[double] 4x4892.24 ns /
130.00 ns
Δ 586.34%
1.12 MHz /
7.69 MHz
∇ -85.43%
matrix: chol, fix[double] 4x4249.10 ns /
140.00 ns
Δ 77.93%
4.01 MHz /
7.14 MHz
∇ -43.80%
matrix: chol, dyn[double] 40x4041.12 us /
18.52 us
Δ 122.05%
24.32 KHz /
54.00 KHz
∇ -54.97%
matrix: chol, fix[double] 40x4026.92 us /
16.55 us
Δ 62.64%
37.15 KHz /
60.42 KHz
∇ -38.51%
matrix: chol, sparse [2x2;2x2]15.31 us /
8.20 us
Δ 86.69%
65.32 KHz /
121.95 KHz
∇ -46.43%
matrix: chol, sparse [30x30;10x10]116.85 us /
82.90 us
Δ 40.95%
8.56 KHz /
12.06 KHz
∇ -29.06%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
52.70 us
Δ 87.78%
10.10 KHz /
18.98 KHz
∇ -46.75%
matrix: chol, sparse 10x[6x6]55.18 us /
38.59 us
Δ 42.99%
18.12 KHz /
25.91 KHz
∇ -30.06%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
409.80 us
Δ 21.54%
2.01 KHz /
2.44 KHz
∇ -17.72%
matrix: chol, sparse 20x[6x6]133.40 us /
70.75 us
Δ 88.55%
7.50 KHz /
14.13 KHz
∇ -46.96%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
8.58 ms
∇ -41.78%
200.30 Hz /
116.60 Hz
Δ 71.77%
matrix: chol, sparse 50x[6x6]243.96 us /
171.20 us
Δ 42.50%
4.10 KHz /
5.84 KHz
∇ -29.83%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
133.58 ms
∇ -77.52%
33.31 Hz /
7.49 Hz
Δ 344.90%
matrix: chol, sparse 100x[6x6]486.08 us /
341.85 us
Δ 42.19%
2.06 KHz /
2.93 KHz
∇ -29.67%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
354.49 ms
∇ -85.35%
19.25 Hz /
2.82 Hz
Δ 582.43%
matrix: chol, sparse 120x[6x6]583.78 us /
401.50 us
Δ 45.40%
1.71 KHz /
2.49 KHz
∇ -31.22%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
773.25 ms
∇ -90.05%
13.00 Hz /
1.29 Hz
Δ 905.45%
matrix: chol, sparse 140x[6x6]649.31 us /
469.25 us
Δ 38.37%
1.54 KHz /
2.13 KHz
∇ -27.73%
gridmap2D: getCell6.44 ns /
0.00 ns
Δ 6441049.15%
155.25 MHz /
10.00 THz
∇ -100.00%
gridmap2D: setCell9.52 ns /
2.58 ns
Δ 269.53%
105.00 MHz /
388.02 MHz
∇ -72.94%
gridmap2D: updateCell9.85 ns /
7.84 ns
Δ 25.64%
101.55 MHz /
127.58 MHz
∇ -20.41%
gridmap2D: updateCell_fast_occupied1.47 ns /
0.55 ns
Δ 167.27%
679.40 MHz /
1.82 GHz
∇ -62.59%
gridmap2D: insert scan w/o widening225.20 us /
102.06 us
Δ 120.66%
4.44 KHz /
9.80 KHz
∇ -54.68%
gridmap2D: insert scan with widening365.80 us /
289.47 us
Δ 26.37%
2.73 KHz /
3.45 KHz
∇ -20.87%
gridmap2D: resize2.56 ms /
1.97 ms
Δ 30.44%
389.96 Hz /
508.65 Hz
∇ -23.33%
gridmap2D: computeLikelihood21.14 us /
15.74 us
Δ 34.36%
47.30 KHz /
63.55 KHz
∇ -25.57%
pointmap: insert 100 scans3.27 ms /
3.04 ms
Δ 7.70%
305.75 Hz /
329.30 Hz
∇ -7.15%
pointmap: build 2D kd-tree of 1 scan6.03 us /
4.32 us
Δ 39.65%
165.76 KHz /
231.48 KHz
∇ -28.39%
pointmap: build 2D kd-tree of 100 scan579.42 us /
352.12 us
Δ 64.55%
1.73 KHz /
2.84 KHz
∇ -39.23%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
4.14 ms
Δ 48.29%
162.87 Hz /
241.51 Hz
∇ -32.56%
pointmap: build 3D kd-tree of 1 scan6.68 us /
4.68 us
Δ 42.84%
149.59 KHz /
213.68 KHz
∇ -29.99%
pointmap: build 3D kd-tree of 100 scan519.96 us /
359.52 us
Δ 44.63%
1.92 KHz /
2.78 KHz
∇ -30.86%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
4.03 ms
Δ 64.77%
150.68 Hz /
248.28 Hz
∇ -39.31%
pointmap: kd-tree 2d query on 10 scans1.95 us /
1.41 us
Δ 39.13%
511.57 KHz /
711.74 KHz
∇ -28.12%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
97.21 us
Δ 71.94%
5.98 KHz /
10.29 KHz
∇ -41.84%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
11.62 ms
Δ 50.18%
57.30 Hz /
86.05 Hz
∇ -33.41%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
5.59 ms
Δ 62.90%
109.75 Hz /
178.77 Hz
∇ -38.61%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
129.28 ms
Δ 62.98%
4.75 Hz /
7.73 Hz
∇ -38.64%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
5.66 ms
Δ 47.88%
119.37 Hz /
176.53 Hz
∇ -32.38%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
131.22 ms
Δ 51.44%
5.03 Hz /
7.62 Hz
∇ -33.97%
random: drawUniform32bit7.57 ns /
14.50 ns
∇ -47.81%
132.11 MHz /
68.95 MHz
Δ 91.59%
random: drawUniform7.60 ns /
14.50 ns
∇ -47.58%
131.54 MHz /
68.96 MHz
Δ 90.76%
random: drawGaussian1D_normalized58.48 ns /
68.97 ns
∇ -15.22%
17.10 MHz /
14.50 MHz
Δ 17.95%
random: drawGaussian1D57.62 ns /
68.98 ns
∇ -16.46%
17.35 MHz /
14.50 MHz
Δ 19.71%
random: system rand()29.43 ns /
10.45 ns
Δ 181.69%
33.98 MHz /
95.72 MHz
∇ -64.50%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
1.31 us
Δ 125.56%
339.21 KHz /
765.12 KHz
∇ -55.67%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
2.73 us
Δ 29.50%
282.92 KHz /
366.37 KHz
∇ -22.78%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
158.91 ns
∇ -8.31%
6.86 MHz /
6.29 MHz
Δ 9.06%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
237.40 ns
∇ -4.23%
4.40 MHz /
4.21 MHz
Δ 4.41%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
490.03 ns
Δ 5.00%
1.94 MHz /
2.04 MHz
∇ -4.77%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
164.67 ns
Δ 3.49%
5.87 MHz /
6.07 MHz
∇ -3.37%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
249.81 ns
Δ 13.53%
3.53 MHz /
4.00 MHz
∇ -11.91%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
514.70 ns
Δ 28.47%
1.51 MHz /
1.94 MHz
∇ -22.16%
random: permuteVector (len=10)304.45 ns /
296.20 ns
Δ 2.78%
3.28 MHz /
3.38 MHz
∇ -2.71%
random: permuteVector (len=100)3.47 us /
3.04 us
Δ 14.04%
288.42 KHz /
328.91 KHz
∇ -12.31%
random: permuteVector (len=1000)37.99 us /
30.22 us
Δ 25.68%
26.33 KHz /
33.09 KHz
∇ -20.44%
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%)33.06 ms /
35.06 ms
∇ -5.70%
30.25 Hz /
28.52 Hz
Δ 6.05%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
48.96 ms
Δ 3.42%
19.75 Hz /
20.42 Hz
∇ -3.31%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
74.65 ms
Δ 10.73%
12.10 Hz /
13.40 Hz
∇ -9.69%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
29.96 ms
∇ -8.70%
36.56 Hz /
33.37 Hz
Δ 9.53%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
42.79 ms
Δ 1.09%
23.12 Hz /
23.37 Hz
∇ -1.08%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
64.15 ms
Δ 3.75%
15.03 Hz /
15.59 Hz
∇ -3.61%
images: Gauss filter (640x480)5.57 ms /
3.90 ms
Δ 42.79%
179.49 Hz /
256.30 Hz
∇ -29.97%
images: Gauss filter (800x600)8.84 ms /
6.21 ms
Δ 42.34%
113.10 Hz /
160.99 Hz
∇ -29.75%
images: Gauss filter (1024x768)14.37 ms /
10.55 ms
Δ 36.17%
69.58 Hz /
94.74 Hz
∇ -26.56%
images: Half sample GRAY (160x120)1.63 us /
X
612.18 KHz /
X
images: Half sample GRAY (320x240)4.13 us /
X
241.92 KHz /
X
images: Half sample GRAY (640x480)19.15 us /
X
52.22 KHz /
X
images: Half sample GRAY (800x600)31.65 us /
X
31.59 KHz /
X
images: Half sample GRAY (1024x768)50.27 us /
X
19.89 KHz /
X
images: Half sample GRAY (1280x1024)87.87 us /
X
11.38 KHz /
X
images: Half sample RGB (160x120)3.54 us /
X
282.58 KHz /
X
images: Half sample RGB (320x240)11.27 us /
X
88.76 KHz /
X
images: Half sample RGB (640x480)57.50 us /
X
17.39 KHz /
X
images: Half sample RGB (800x600)80.68 us /
X
12.39 KHz /
X
images: Half sample RGB (1024x768)391.11 us /
X
2.56 KHz /
X
images: Half sample RGB (1280x1024)826.49 us /
X
1.21 KHz /
X
images: Half sample smooth GRAY (160x120)2.87 us /
X
348.99 KHz /
X
images: Half sample smooth GRAY (320x240)8.64 us /
X
115.70 KHz /
X
images: Half sample smooth GRAY (640x480)29.52 us /
X
33.88 KHz /
X
images: Half sample smooth GRAY (800x600)66.07 us /
X
15.14 KHz /
X
images: Half sample smooth GRAY (1024x768)90.65 us /
X
11.03 KHz /
X
images: Half sample smooth GRAY (1280x1024)132.57 us /
X
7.54 KHz /
X
images: Half sample smooth RGB (160x120)202.00 us /
X
4.95 KHz /
X
images: Half sample smooth RGB (320x240)779.03 us /
X
1.28 KHz /
X
images: Half sample smooth RGB (640x480)3.10 ms /
X
323.08 Hz /
X
images: Half sample smooth RGB (800x600)4.82 ms /
X
207.41 Hz /
X
images: Half sample smooth RGB (1024x768)8.63 ms /
X
115.89 Hz /
X
images: Half sample smooth RGB (1280x1024)14.76 ms /
X
67.77 Hz /
X
images: RGB->GRAY 8u (40x30)6.40 us /
X
156.37 KHz /
X
images: RGB->GRAY 8u (80x60)4.33 us /
X
230.95 KHz /
X
images: RGB->GRAY 8u (160x120)11.84 us /
X
84.43 KHz /
X
images: RGB->GRAY 8u (320x240)44.50 us /
X
22.47 KHz /
X
images: RGB->GRAY 8u (640x480)191.53 us /
X
5.22 KHz /
X
images: RGB->GRAY 8u (800x600)350.56 us /
X
2.85 KHz /
X
images: RGB->GRAY 8u (1024x768)968.81 us /
X
1.03 KHz /
X
images: RGB->GRAY 8u (1280x1024)1.71 ms /
X
584.85 Hz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]21.97 us /
5.06 us
Δ 334.12%
45.52 KHz /
197.63 KHz
∇ -76.96%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
4.30 us
Δ 411.79%
45.44 KHz /
232.56 KHz
∇ -80.46%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
2.10 us
Δ 505.18%
78.69 KHz /
476.19 KHz
∇ -83.48%
feature_extraction [640x480]: Harris38.32 ms /
24.28 ms
Δ 57.84%
26.10 Hz /
41.19 Hz
∇ -36.65%
feature_extraction [640x480]: KLT37.22 ms /
24.43 ms
Δ 52.36%
26.87 Hz /
40.94 Hz
∇ -34.37%
feature_extraction [640x480]: SIFT739.68 ms /
610.42 ms
Δ 21.17%
1.35 Hz /
1.64 Hz
∇ -17.47%
feature_extraction [640x480]: SIFT desc.232.95 ms /
167.77 ms
Δ 38.85%
4.29 Hz /
5.96 Hz
∇ -27.98%
feature_extraction [640x480]: SURF309.97 ms /
197.61 ms
Δ 56.86%
3.23 Hz /
5.06 Hz
∇ -36.25%
feature_extraction [640x480]: FAST6.88 ms /
5.24 ms
Δ 31.28%
145.25 Hz /
190.68 Hz
∇ -23.82%
feature_extraction [640x480]: Spin desc.88.28 ms /
59.98 ms
Δ 47.18%
11.33 Hz /
16.67 Hz
∇ -32.06%
feature_matching [640x480]: Harris + CC59.68 ms /
40.88 ms
Δ 46.00%
16.76 Hz /
24.46 Hz
∇ -31.51%
feature_matching [640x480]: Harris + SAD58.57 ms /
35.50 ms
Δ 65.00%
17.07 Hz /
28.17 Hz
∇ -39.40%
feature_matching [640x480]: SIFT1.50 sec /
1.21 sec
Δ 23.96%
668.02 mHz /
828.07 mHz
∇ -19.33%
feature_matching [640x480]: SURF621.62 ms /
379.92 ms
Δ 63.62%
1.61 Hz /
2.63 Hz
∇ -38.88%
feature_matching [640x480]: FAST + CC21.69 ms /
16.06 ms
Δ 35.05%
46.10 Hz /
62.26 Hz
∇ -25.95%
feature_matching [640x480]: FAST + SAD12.64 ms /
10.73 ms
Δ 17.76%
79.13 Hz /
93.18 Hz
∇ -15.08%
graph(2d): insertEdge x 1e3301.62 us /
117.65 us
Δ 156.37%
3.32 KHz /
8.50 KHz
∇ -60.99%
graph(2d,vec): insertEdge x 1e3298.86 us /
105.13 us
Δ 184.29%
3.35 KHz /
9.51 KHz
∇ -64.82%
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
85.19 us
Δ 222.46%
3.64 KHz /
11.74 KHz
∇ -68.99%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
84.46 us
Δ 219.91%
3.70 KHz /
11.84 KHz
∇ -68.74%
graph(2d pdf): insertEdge x 1e3415.87 us /
172.53 us
Δ 141.04%
2.40 KHz /
5.80 KHz
∇ -58.51%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
187.97 us
Δ 116.31%
2.46 KHz /
5.32 KHz
∇ -53.77%
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
168.61 us
Δ 123.92%
2.65 KHz /
5.93 KHz
∇ -55.34%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
167.39 us
Δ 126.69%
2.64 KHz /
5.97 KHz
∇ -55.89%
graph(2d): insertEdge x 1e44.14 ms /
1.73 ms
Δ 139.76%
241.59 Hz /
579.22 Hz
∇ -58.29%
graph(2d,vec): insertEdge x 1e44.00 ms /
1.45 ms
Δ 176.17%
250.06 Hz /
690.59 Hz
∇ -63.79%
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
884.69 us
Δ 232.68%
339.77 Hz /
1.13 KHz
∇ -69.94%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
862.22 us
Δ 235.51%
345.69 Hz /
1.16 KHz
∇ -70.19%
graph(2d pdf): insertEdge x 1e44.77 ms /
1.97 ms
Δ 141.75%
209.57 Hz /
506.65 Hz
∇ -58.64%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
2.31 ms
Δ 110.98%
205.59 Hz /
433.74 Hz
∇ -52.60%
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
1.86 ms
Δ 118.18%
246.64 Hz /
538.12 Hz
∇ -54.17%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
1.86 ms
Δ 126.65%
237.52 Hz /
538.35 Hz
∇ -55.88%
graph(3d): insertEdge x 1e3381.69 us /
177.23 us
Δ 115.36%
2.62 KHz /
5.64 KHz
∇ -53.57%
graph(3d,vec): insertEdge x 1e3407.21 us /
178.36 us
Δ 128.31%
2.46 KHz /
5.61 KHz
∇ -56.20%
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
157.86 us
Δ 115.11%
2.94 KHz /
6.33 KHz
∇ -53.51%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
159.54 us
Δ 109.70%
2.99 KHz /
6.27 KHz
∇ -52.31%
graph(3d pdf): insertEdge x 1e3688.91 us /
507.00 us
Δ 35.88%
1.45 KHz /
1.97 KHz
∇ -26.41%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
509.46 us
Δ 34.39%
1.46 KHz /
1.96 KHz
∇ -25.59%
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
473.36 us
Δ 44.34%
1.46 KHz /
2.11 KHz
∇ -30.72%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
474.07 us
Δ 44.36%
1.46 KHz /
2.11 KHz
∇ -30.73%
graph(3d): insertEdge x 1e43.89 ms /
2.47 ms
Δ 57.19%
257.39 Hz /
404.60 Hz
∇ -36.38%
graph(3d,vec): insertEdge x 1e43.79 ms /
2.48 ms
Δ 52.70%
263.81 Hz /
402.82 Hz
∇ -34.51%
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
1.75 ms
Δ 104.54%
278.91 Hz /
570.48 Hz
∇ -51.11%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
1.77 ms
Δ 99.03%
284.28 Hz /
565.81 Hz
∇ -49.76%
graph(3d pdf): insertEdge x 1e47.80 ms /
5.53 ms
Δ 41.21%
128.15 Hz /
180.97 Hz
∇ -29.18%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
5.56 ms
Δ 40.27%
128.11 Hz /
179.70 Hz
∇ -28.71%
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
4.85 ms
Δ 54.49%
133.45 Hz /
206.16 Hz
∇ -35.27%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
4.85 ms
Δ 55.97%
132.15 Hz /
206.11 Hz
∇ -35.88%
graph(3d): dijkstra 1e2 nodes213.16 us /
96.04 us
Δ 121.94%
4.69 KHz /
10.41 KHz
∇ -54.94%
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
80.39 us
Δ 287.62%
3.21 KHz /
12.44 KHz
∇ -74.20%
graph(3d): dijkstra 1e3 nodes2.57 ms /
1.13 ms
Δ 127.13%
389.66 Hz /
885.05 Hz
∇ -55.97%
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
804.04 us
Δ 235.96%
370.20 Hz /
1.24 KHz
∇ -70.23%
graph(3d): dijkstra 1e4 nodes31.29 ms /
19.14 ms
Δ 63.50%
31.96 Hz /
52.26 Hz
∇ -38.84%
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
9.65 ms
Δ 241.09%
30.38 Hz /
103.63 Hz
∇ -70.68%
graph(3d): dijkstra 1e5 nodes393.68 ms /
290.37 ms
Δ 35.58%
2.54 Hz /
3.44 Hz
∇ -26.24%
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
117.73 ms
Δ 227.54%
2.59 Hz /
8.49 Hz
∇ -69.47%
graph(2d): dijkstra 1e5 nodes380.30 ms /
268.93 ms
Δ 41.41%
2.63 Hz /
3.72 Hz
∇ -29.28%
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
103.05 ms
Δ 265.70%
2.65 Hz /
9.70 Hz
∇ -72.66%

 


Page generated automatically at 2011/06/03,22:26:38.000435 with MRPT 0.9.4 by 'mrpt-performance'.