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




Test description 0.9.4-MSVC10-64bit /
0.9.4-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
20.74 ms
Δ 27.95%
37.68 Hz /
48.21 Hz
∇ -21.84%
icp-slam (match grid): Run with sample dataset32.17 ms /
17.09 ms
Δ 88.26%
31.08 Hz /
58.52 Hz
∇ -46.88%
poses: CPose3D (+) CPose3D62.83 ns /
29.76 ns
Δ 111.12%
15.92 MHz /
33.60 MHz
∇ -52.63%
poses: CPose3D.composeFrom()41.42 ns /
21.90 ns
Δ 89.13%
24.14 MHz /
45.66 MHz
∇ -47.13%
poses: CPose3D (+) CPoint3D18.89 ns /
7.23 ns
Δ 161.12%
52.94 MHz /
138.24 MHz
∇ -61.70%
poses: CPose3D.composePoint()17.17 ns /
11.67 ns
Δ 47.14%
58.23 MHz /
85.68 MHz
∇ -32.04%
poses: CPoint3D (-) CPose3D88.79 ns /
13.29 ns
Δ 568.29%
11.26 MHz /
75.27 MHz
∇ -85.04%
poses: CPose3D.inverseComposePoint()44.00 ns /
24.48 ns
Δ 79.74%
22.73 MHz /
40.85 MHz
∇ -44.36%
poses: CPose2D (+) CPose2D72.08 ns /
71.64 ns
Δ 0.61%
13.87 MHz /
13.96 MHz
∇ -0.61%
poses: CPose2D.composeFrom()63.27 ns /
69.41 ns
∇ -8.84%
15.81 MHz /
14.41 MHz
Δ 9.70%
poses: CPose2D (+) CPoint2D34.42 ns /
60.78 ns
∇ -43.37%
29.05 MHz /
16.45 MHz
Δ 76.58%
poses: CPose2D.composePoint()26.02 ns /
60.80 ns
∇ -57.20%
38.43 MHz /
16.45 MHz
Δ 133.64%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
40.47 ns
Δ 180.68%
8.80 MHz /
24.71 MHz
∇ -64.37%
poses: CPose3DQuat.composeFrom()82.72 ns /
37.55 ns
Δ 120.28%
12.09 MHz /
26.63 MHz
∇ -54.60%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
17.39 ns
Δ 137.67%
24.20 MHz /
57.51 MHz
∇ -57.93%
poses: CPose3DQuat.composePoint()31.13 ns /
17.48 ns
Δ 78.06%
32.12 MHz /
57.20 MHz
∇ -43.84%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
32.97 ns
Δ 245.45%
8.78 MHz /
30.33 MHz
∇ -71.05%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
19.11 ns
Δ 77.68%
29.46 MHz /
52.34 MHz
∇ -43.72%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
23.42 ns
Δ 12.91%
37.82 MHz /
42.70 MHz
∇ -11.43%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
172.72 ns
∇ -43.66%
10.28 MHz /
5.79 MHz
Δ 77.49%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
671.00 ns
Δ 41.41%
1.05 MHz /
1.49 MHz
∇ -29.28%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
652.00 ns
Δ 43.97%
1.07 MHz /
1.53 MHz
∇ -30.54%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
8.74 us
Δ 142.64%
47.15 KHz /
114.40 KHz
∇ -58.79%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
454.10 ns
Δ 17.25%
1.88 MHz /
2.20 MHz
∇ -14.71%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
452.90 ns
Δ 16.63%
1.89 MHz /
2.21 MHz
∇ -14.26%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
7.98 us
Δ 40.34%
89.35 KHz /
125.39 KHz
∇ -28.74%
matrix: unit, dyn[float], 3x345.20 ns /
17.64 ns
Δ 156.29%
22.13 MHz /
56.71 MHz
∇ -60.98%
matrix: unit, dyn[double], 3x345.86 ns /
19.86 ns
Δ 130.86%
21.81 MHz /
50.34 MHz
∇ -56.68%
matrix: unit, dyn[float], 6x6177.43 ns /
57.06 ns
Δ 210.98%
5.64 MHz /
17.53 MHz
∇ -67.84%
matrix: unit, dyn[double], 6x6169.52 ns /
60.00 ns
Δ 182.54%
5.90 MHz /
16.67 MHz
∇ -64.61%
matrix: unit, fix[float,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[float,6,6]6.37 ns /
0.00 ns
Δ 1.#J%
157.06 MHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,6,6]7.86 ns /
0.00 ns
Δ 1.#J%
127.19 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
242.70 ns
Δ 100.22%
2.06 MHz /
4.12 MHz
∇ -50.05%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
231.60 ns
Δ 128.16%
1.89 MHz /
4.32 MHz
∇ -56.17%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3547.16 ns /
296.50 ns
Δ 84.54%
1.83 MHz /
3.37 MHz
∇ -45.81%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
0.10 ns
Δ 2255.15%
424.60 MHz /
10.00 GHz
∇ -95.75%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
259.20 ns
Δ 51.04%
2.55 MHz /
3.86 MHz
∇ -33.79%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
0.00 ns
Δ 1.#J%
424.60 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
2.09 us
Δ 31.05%
364.51 KHz /
477.69 KHz
∇ -23.69%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
1.79 us
Δ 16.49%
479.89 KHz /
559.03 KHz
∇ -14.16%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
2.43 us
Δ 42.67%
288.55 KHz /
411.68 KHz
∇ -29.91%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
2.16 us
Δ 10.17%
419.56 KHz /
462.21 KHz
∇ -9.23%
matrix: inv, dyn[double] 3x31.09 us /
767.00 ns
Δ 41.54%
921.12 KHz /
1.30 MHz
∇ -29.35%
matrix: inv, fix[double] 3x322.19 ns /
0.00 ns
Δ 1.#J%
45.06 MHz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[double] 6x62.78 us /
1.78 us
Δ 56.20%
359.66 KHz /
561.80 KHz
∇ -35.98%
matrix: inv, fix[double] 6x62.22 us /
1.73 us
Δ 28.54%
450.23 KHz /
578.70 KHz
∇ -22.20%
matrix: inv, dyn[double] 20x2030.71 us /
16.27 us
Δ 88.80%
32.56 KHz /
61.47 KHz
∇ -47.03%
matrix: inv, fix[double] 20x2024.08 us /
13.44 us
Δ 79.16%
41.53 KHz /
74.41 KHz
∇ -44.18%
matrix: inv, dyn[double] 40x40117.18 us /
68.00 us
Δ 72.30%
8.53 KHz /
14.70 KHz
∇ -41.96%
matrix: inv, fix[double] 40x40112.80 us /
63.01 us
Δ 79.04%
8.86 KHz /
15.87 KHz
∇ -44.15%
matrix: det, dyn[double] 2x2765.51 ns /
209.40 ns
Δ 265.57%
1.31 MHz /
4.78 MHz
∇ -72.65%
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 /
331.30 ns
Δ 148.21%
1.22 MHz /
3.02 MHz
∇ -59.71%
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 /
943.70 ns
Δ 89.06%
560.47 KHz /
1.06 MHz
∇ -47.11%
matrix: det, fix[double] 6x61.51 us /
575.90 ns
Δ 162.55%
661.35 KHz /
1.74 MHz
∇ -61.91%
matrix: det, dyn[double] 20x2018.54 us /
8.10 us
Δ 128.76%
53.94 KHz /
123.40 KHz
∇ -56.29%
matrix: det, fix[double] 20x2019.01 us /
7.48 us
Δ 153.98%
52.61 KHz /
133.61 KHz
∇ -60.63%
matrix: det, dyn[double] 40x4072.40 us /
30.87 us
Δ 134.50%
13.81 KHz /
32.39 KHz
∇ -57.36%
matrix: det, fix[double] 40x4067.43 us /
29.01 us
Δ 132.42%
14.83 KHz /
34.47 KHz
∇ -56.97%
matrix: chol, dyn[double] 4x4606.90 ns /
530.00 ns
Δ 14.51%
1.65 MHz /
1.89 MHz
∇ -12.67%
matrix: chol, fix[double] 4x4190.22 ns /
120.00 ns
Δ 58.52%
5.26 MHz /
8.33 MHz
∇ -36.92%
matrix: chol, dyn[double] 40x4031.59 us /
20.70 us
Δ 52.59%
31.66 KHz /
48.31 KHz
∇ -34.46%
matrix: chol, fix[double] 40x4020.87 us /
16.54 us
Δ 26.15%
47.93 KHz /
60.46 KHz
∇ -20.73%
matrix: chol, sparse [2x2;2x2]7.11 us /
12.20 us
∇ -41.72%
140.63 KHz /
81.97 KHz
Δ 71.57%
matrix: chol, sparse [30x30;10x10]94.75 us /
87.70 us
Δ 8.04%
10.55 KHz /
11.40 KHz
∇ -7.44%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
51.70 us
Δ 46.21%
13.23 KHz /
19.34 KHz
∇ -31.61%
matrix: chol, sparse 10x[6x6]43.20 us /
38.27 us
Δ 12.89%
23.15 KHz /
26.13 KHz
∇ -11.42%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
255.50 us
Δ 77.48%
2.21 KHz /
3.91 KHz
∇ -43.66%
matrix: chol, sparse 20x[6x6]74.00 us /
70.94 us
Δ 4.32%
13.51 KHz /
14.10 KHz
∇ -4.14%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
2.75 ms
Δ 28.86%
282.19 Hz /
363.64 Hz
∇ -22.40%
matrix: chol, sparse 50x[6x6]178.69 us /
169.22 us
Δ 5.59%
5.60 KHz /
5.91 KHz
∇ -5.30%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
22.06 ms
Δ 1.02%
44.87 Hz /
45.33 Hz
∇ -1.01%
matrix: chol, sparse 100x[6x6]359.36 us /
339.61 us
Δ 5.82%
2.78 KHz /
2.94 KHz
∇ -5.50%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
36.67 ms
∇ -1.04%
27.56 Hz /
27.27 Hz
Δ 1.05%
matrix: chol, sparse 120x[6x6]411.86 us /
402.38 us
Δ 2.36%
2.43 KHz /
2.49 KHz
∇ -2.30%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
53.86 ms
Δ 0.89%
18.40 Hz /
18.57 Hz
∇ -0.88%
matrix: chol, sparse 140x[6x6]488.10 us /
476.81 us
Δ 2.37%
2.05 KHz /
2.10 KHz
∇ -2.31%
gridmap2D: getCell4.13 ns /
0.00 ns
Δ 1.#J%
242.07 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell5.65 ns /
2.71 ns
Δ 108.49%
177.14 MHz /
369.33 MHz
∇ -52.04%
gridmap2D: updateCell6.93 ns /
6.04 ns
Δ 14.72%
144.35 MHz /
165.59 MHz
∇ -12.83%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.61 ns
Δ 95.36%
833.40 MHz /
1.63 GHz
∇ -48.81%
gridmap2D: insert scan w/o widening102.16 us /
99.83 us
Δ 2.33%
9.79 KHz /
10.02 KHz
∇ -2.28%
gridmap2D: insert scan with widening276.88 us /
293.13 us
∇ -5.54%
3.61 KHz /
3.41 KHz
Δ 5.87%
gridmap2D: resize3.89 ms /
630.00 us
Δ 517.47%
257.06 Hz /
1.59 KHz
∇ -83.80%
gridmap2D: computeLikelihood13.92 us /
17.81 us
∇ -21.85%
71.84 KHz /
56.14 KHz
Δ 27.95%
pointmap: insert 100 scans1.87 ms /
1.01 ms
Δ 85.46%
534.24 Hz /
990.80 Hz
∇ -46.08%
pointmap: build 2D kd-tree of 1 scan5.09 us /
4.52 us
Δ 12.63%
196.43 KHz /
221.24 KHz
∇ -11.21%
pointmap: build 2D kd-tree of 100 scan486.39 us /
364.44 us
Δ 33.46%
2.06 KHz /
2.74 KHz
∇ -25.07%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
4.38 ms
Δ 16.32%
196.20 Hz /
228.21 Hz
∇ -14.03%
pointmap: build 3D kd-tree of 1 scan5.56 us /
5.16 us
Δ 7.79%
179.80 KHz /
193.80 KHz
∇ -7.22%
pointmap: build 3D kd-tree of 100 scan467.24 us /
372.44 us
Δ 25.45%
2.14 KHz /
2.68 KHz
∇ -20.29%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
4.20 ms
Δ 23.36%
192.98 Hz /
238.06 Hz
∇ -18.94%
pointmap: kd-tree 2d query on 10 scans1.59 us /
1.42 us
Δ 12.19%
627.25 KHz /
703.73 KHz
∇ -10.87%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
101.86 us
Δ 24.37%
7.89 KHz /
9.82 KHz
∇ -19.59%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
12.17 ms
Δ 13.88%
72.14 Hz /
82.15 Hz
∇ -12.19%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
5.64 ms
Δ 15.99%
152.81 Hz /
177.25 Hz
∇ -13.79%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
132.76 ms
Δ 31.64%
5.72 Hz /
7.53 Hz
∇ -24.04%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
5.71 ms
Δ 20.48%
145.28 Hz /
175.04 Hz
∇ -17.00%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
134.74 ms
Δ 34.61%
5.51 Hz /
7.42 Hz
∇ -25.71%
random: drawUniform32bit9.54 ns /
14.55 ns
∇ -34.45%
104.87 MHz /
68.75 MHz
Δ 52.54%
random: drawUniform9.69 ns /
14.56 ns
∇ -33.45%
103.21 MHz /
68.69 MHz
Δ 50.26%
random: drawGaussian1D_normalized52.06 ns /
66.87 ns
∇ -22.14%
19.21 MHz /
14.96 MHz
Δ 28.44%
random: drawGaussian1D50.73 ns /
66.81 ns
∇ -24.06%
19.71 MHz /
14.97 MHz
Δ 31.68%
random: system rand()24.47 ns /
10.63 ns
Δ 130.27%
40.87 MHz /
94.11 MHz
∇ -56.57%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
903.36 ns
Δ 37.48%
805.20 KHz /
1.11 MHz
∇ -27.26%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
1.61 us
Δ 97.97%
313.70 KHz /
621.01 KHz
∇ -49.49%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
144.65 ns
∇ -10.11%
7.69 MHz /
6.91 MHz
Δ 11.25%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
219.48 ns
∇ -9.62%
5.04 MHz /
4.56 MHz
Δ 10.65%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
472.80 ns
∇ -4.47%
2.21 MHz /
2.12 MHz
Δ 4.68%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
152.29 ns
∇ -10.09%
7.30 MHz /
6.57 MHz
Δ 11.22%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
235.04 ns
∇ -9.16%
4.68 MHz /
4.25 MHz
Δ 10.08%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
491.60 ns
∇ -2.65%
2.09 MHz /
2.03 MHz
Δ 2.73%
random: permuteVector (len=10)244.07 ns /
243.60 ns
Δ 0.19%
4.10 MHz /
4.11 MHz
∇ -0.19%
random: permuteVector (len=100)3.12 us /
2.99 us
Δ 4.65%
320.11 KHz /
334.99 KHz
∇ -4.44%
random: permuteVector (len=1000)30.82 us /
29.51 us
Δ 4.44%
32.44 KHz /
33.88 KHz
∇ -4.25%
math: round0.00 ns /
0.10 ns
∇ -100.00%
220.79 THz /
10.08 GHz
Δ 2189944.78%
images: Save as JPEG (640x480, quality=95%)29.87 ms /
33.63 ms
∇ -11.17%
33.48 Hz /
29.74 Hz
Δ 12.58%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
49.85 ms
∇ -13.77%
23.26 Hz /
20.06 Hz
Δ 15.97%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
69.59 ms
∇ -0.81%
14.49 Hz /
14.37 Hz
Δ 0.82%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
30.64 ms
∇ -25.41%
43.75 Hz /
32.63 Hz
Δ 34.07%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
43.91 ms
∇ -19.82%
28.41 Hz /
22.78 Hz
Δ 24.71%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
62.52 ms
∇ -8.37%
17.45 Hz /
15.99 Hz
Δ 9.13%
images: Gauss filter (640x480)4.45 ms /
3.81 ms
Δ 16.93%
224.70 Hz /
262.76 Hz
∇ -14.48%
images: Gauss filter (800x600)8.06 ms /
5.96 ms
Δ 35.09%
124.15 Hz /
167.70 Hz
∇ -25.97%
images: Gauss filter (1024x768)13.86 ms /
10.46 ms
Δ 32.49%
72.16 Hz /
95.61 Hz
∇ -24.52%
images: Half sample GRAY (160x120)1.32 us /
1.04 us
Δ 27.31%
755.28 KHz /
961.54 KHz
∇ -21.45%
images: Half sample GRAY (320x240)4.41 us /
2.91 us
Δ 51.77%
226.69 KHz /
344.04 KHz
∇ -34.11%
images: Half sample GRAY (640x480)18.51 us /
14.63 us
Δ 26.53%
54.02 KHz /
68.35 KHz
∇ -20.97%
images: Half sample GRAY (800x600)29.74 us /
27.61 us
Δ 7.71%
33.62 KHz /
36.21 KHz
∇ -7.15%
images: Half sample GRAY (1024x768)52.65 us /
43.98 us
Δ 19.70%
18.99 KHz /
22.74 KHz
∇ -16.46%
images: Half sample GRAY (1280x1024)107.42 us /
84.93 us
Δ 26.48%
9.31 KHz /
11.77 KHz
∇ -20.94%
images: Half sample RGB (160x120)9.33 us /
2.35 us
Δ 297.71%
107.15 KHz /
426.14 KHz
∇ -74.86%
images: Half sample RGB (320x240)11.01 us /
8.97 us
Δ 22.70%
90.82 KHz /
111.44 KHz
∇ -18.50%
images: Half sample RGB (640x480)53.51 us /
49.58 us
Δ 7.93%
18.69 KHz /
20.17 KHz
∇ -7.34%
images: Half sample RGB (800x600)126.28 us /
83.52 us
Δ 51.20%
7.92 KHz /
11.97 KHz
∇ -33.86%
images: Half sample RGB (1024x768)248.04 us /
175.02 us
Δ 41.72%
4.03 KHz /
5.71 KHz
∇ -29.44%
images: Half sample RGB (1280x1024)667.92 us /
434.33 us
Δ 53.78%
1.50 KHz /
2.30 KHz
∇ -34.97%
images: Half sample smooth GRAY (160x120)1.83 us /
1.52 us
Δ 20.02%
546.97 KHz /
656.46 KHz
∇ -16.68%
images: Half sample smooth GRAY (320x240)6.09 us /
5.05 us
Δ 20.55%
164.16 KHz /
197.89 KHz
∇ -17.05%
images: Half sample smooth GRAY (640x480)28.72 us /
27.35 us
Δ 5.04%
34.81 KHz /
36.57 KHz
∇ -4.79%
images: Half sample smooth GRAY (800x600)44.06 us /
41.00 us
Δ 7.45%
22.70 KHz /
24.39 KHz
∇ -6.93%
images: Half sample smooth GRAY (1024x768)78.59 us /
70.54 us
Δ 11.41%
12.72 KHz /
14.18 KHz
∇ -10.24%
images: Half sample smooth GRAY (1280x1024)168.62 us /
147.17 us
Δ 14.58%
5.93 KHz /
6.80 KHz
∇ -12.72%
images: Half sample smooth RGB (160x120)88.54 us /
87.34 us
Δ 1.38%
11.29 KHz /
11.45 KHz
∇ -1.36%
images: Half sample smooth RGB (320x240)381.77 us /
341.55 us
Δ 11.77%
2.62 KHz /
2.93 KHz
∇ -10.53%
images: Half sample smooth RGB (640x480)1.50 ms /
1.35 ms
Δ 11.29%
665.62 Hz /
740.73 Hz
∇ -10.14%
images: Half sample smooth RGB (800x600)2.40 ms /
2.13 ms
Δ 12.26%
417.30 Hz /
468.44 Hz
∇ -10.92%
images: Half sample smooth RGB (1024x768)3.77 ms /
3.55 ms
Δ 6.25%
265.35 Hz /
281.93 Hz
∇ -5.88%
images: Half sample smooth RGB (1280x1024)6.50 ms /
6.52 ms
∇ -0.27%
153.82 Hz /
153.40 Hz
Δ 0.27%
images: RGB->GRAY 8u (40x30)3.88 us /
3.88 us
Δ 0.05%
257.84 KHz /
257.95 KHz
∇ -0.05%
images: RGB->GRAY 8u (80x60)2.89 us /
2.78 us
Δ 3.87%
345.89 KHz /
359.28 KHz
∇ -3.73%
images: RGB->GRAY 8u (160x120)10.09 us /
9.91 us
Δ 1.83%
99.10 KHz /
100.91 KHz
∇ -1.79%
images: RGB->GRAY 8u (320x240)39.97 us /
39.89 us
Δ 0.19%
25.02 KHz /
25.07 KHz
∇ -0.19%
images: RGB->GRAY 8u (640x480)172.29 us /
157.22 us
Δ 9.58%
5.80 KHz /
6.36 KHz
∇ -8.74%
images: RGB->GRAY 8u (800x600)303.41 us /
266.94 us
Δ 13.66%
3.30 KHz /
3.75 KHz
∇ -12.02%
images: RGB->GRAY 8u (1024x768)645.96 us /
485.16 us
Δ 33.14%
1.55 KHz /
2.06 KHz
∇ -24.89%
images: RGB->GRAY 8u (1280x1024)1.76 ms /
926.17 us
Δ 89.62%
569.41 Hz /
1.08 KHz
∇ -47.26%
scan_matching: 6D LS Rigid Trans. [CPose3D]17.29 us /
12.69 us
Δ 36.23%
57.84 KHz /
78.80 KHz
∇ -26.60%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
9.85 us
Δ 67.37%
60.66 KHz /
101.52 KHz
∇ -40.25%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
5.24 us
Δ 85.49%
102.89 KHz /
190.84 KHz
∇ -46.09%
feature_extraction [640x480]: Harris31.46 ms /
21.14 ms
Δ 48.82%
31.79 Hz /
47.31 Hz
∇ -32.81%
feature_extraction [640x480]: KLT30.94 ms /
21.45 ms
Δ 44.24%
32.32 Hz /
46.61 Hz
∇ -30.67%
feature_extraction [640x480]: SIFT653.53 ms /
591.25 ms
Δ 10.53%
1.53 Hz /
1.69 Hz
∇ -9.53%
feature_extraction [640x480]: SIFT desc.210.38 ms /
162.82 ms
Δ 29.21%
4.75 Hz /
6.14 Hz
∇ -22.61%
feature_extraction [640x480]: SURF243.66 ms /
197.33 ms
Δ 23.48%
4.10 Hz /
5.07 Hz
∇ -19.01%
feature_extraction [640x480]: FAST6.32 ms /
6.89 ms
∇ -8.25%
158.19 Hz /
145.15 Hz
Δ 8.99%
feature_extraction [640x480]: Spin desc.45.12 ms /
63.90 ms
∇ -29.39%
22.16 Hz /
15.65 Hz
Δ 41.62%
feature_matching [640x480]: Harris + CC46.60 ms /
38.54 ms
Δ 20.91%
21.46 Hz /
25.95 Hz
∇ -17.30%
feature_matching [640x480]: Harris + SAD40.89 ms /
33.59 ms
Δ 21.73%
24.46 Hz /
29.77 Hz
∇ -17.85%
feature_matching [640x480]: SIFT1.28 sec /
1.16 sec
Δ 10.88%
778.73 mHz /
863.45 mHz
∇ -9.81%
feature_matching [640x480]: SURF502.54 ms /
375.89 ms
Δ 33.69%
1.99 Hz /
2.66 Hz
∇ -25.20%
feature_matching [640x480]: FAST + CC19.71 ms /
15.89 ms
Δ 24.06%
50.74 Hz /
62.95 Hz
∇ -19.39%
feature_matching [640x480]: FAST + SAD13.01 ms /
10.48 ms
Δ 24.15%
76.86 Hz /
95.42 Hz
∇ -19.45%
graph(2d): insertEdge x 1e3236.53 us /
158.24 us
Δ 49.47%
4.23 KHz /
6.32 KHz
∇ -33.10%
graph(2d,vec): insertEdge x 1e3246.73 us /
133.69 us
Δ 84.56%
4.05 KHz /
7.48 KHz
∇ -45.82%
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
84.43 us
Δ 159.18%
4.57 KHz /
11.84 KHz
∇ -61.42%
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
81.78 us
Δ 155.83%
4.78 KHz /
12.23 KHz
∇ -60.91%
graph(2d pdf): insertEdge x 1e3329.87 us /
207.17 us
Δ 59.23%
3.03 KHz /
4.83 KHz
∇ -37.20%
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
232.57 us
Δ 30.54%
3.29 KHz /
4.30 KHz
∇ -23.40%
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
246.74 us
Δ 13.52%
3.57 KHz /
4.05 KHz
∇ -11.91%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
192.59 us
Δ 47.60%
3.52 KHz /
5.19 KHz
∇ -32.25%
graph(2d): insertEdge x 1e42.72 ms /
2.08 ms
Δ 30.80%
367.00 Hz /
480.05 Hz
∇ -23.55%
graph(2d,vec): insertEdge x 1e42.73 ms /
1.62 ms
Δ 68.69%
366.67 Hz /
618.53 Hz
∇ -40.72%
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
870.19 us
Δ 124.30%
512.34 Hz /
1.15 KHz
∇ -55.42%
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
846.92 us
Δ 127.13%
519.87 Hz /
1.18 KHz
∇ -55.97%
graph(2d pdf): insertEdge x 1e43.21 ms /
2.34 ms
Δ 37.04%
311.68 Hz /
427.14 Hz
∇ -27.03%
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
2.81 ms
Δ 15.29%
308.83 Hz /
356.06 Hz
∇ -13.26%
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
2.13 ms
Δ 51.75%
309.95 Hz /
470.35 Hz
∇ -34.10%
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
2.13 ms
Δ 48.94%
314.97 Hz /
469.13 Hz
∇ -32.86%
graph(3d): insertEdge x 1e3274.22 us /
220.82 us
Δ 24.19%
3.65 KHz /
4.53 KHz
∇ -19.48%
graph(3d,vec): insertEdge x 1e3264.66 us /
221.81 us
Δ 19.32%
3.78 KHz /
4.51 KHz
∇ -16.19%
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
183.18 us
Δ 44.10%
3.79 KHz /
5.46 KHz
∇ -30.61%
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
186.52 us
Δ 43.33%
3.74 KHz /
5.36 KHz
∇ -30.23%
graph(3d pdf): insertEdge x 1e3589.01 us /
532.35 us
Δ 10.64%
1.70 KHz /
1.88 KHz
∇ -9.62%
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
537.98 us
Δ 10.90%
1.68 KHz /
1.86 KHz
∇ -9.83%
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
487.59 us
Δ 15.46%
1.78 KHz /
2.05 KHz
∇ -13.39%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
493.50 us
Δ 13.28%
1.79 KHz /
2.03 KHz
∇ -11.72%
graph(3d): insertEdge x 1e43.23 ms /
2.78 ms
Δ 16.30%
309.17 Hz /
359.55 Hz
∇ -14.01%
graph(3d,vec): insertEdge x 1e43.13 ms /
2.77 ms
Δ 12.91%
319.30 Hz /
360.52 Hz
∇ -11.43%
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
2.09 ms
Δ 25.14%
381.66 Hz /
477.61 Hz
∇ -20.09%
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
2.05 ms
Δ 24.02%
392.76 Hz /
487.11 Hz
∇ -19.37%
graph(3d pdf): insertEdge x 1e46.11 ms /
7.36 ms
∇ -16.97%
163.57 Hz /
135.81 Hz
Δ 20.44%
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
6.97 ms
∇ -19.59%
178.36 Hz /
143.42 Hz
Δ 24.36%
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
5.29 ms
∇ -1.46%
192.01 Hz /
189.20 Hz
Δ 1.48%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
5.49 ms
∇ -5.49%
192.88 Hz /
182.28 Hz
Δ 5.81%
graph(3d): dijkstra 1e2 nodes156.43 us /
90.55 us
Δ 72.74%
6.39 KHz /
11.04 KHz
∇ -42.11%
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
83.50 us
Δ 130.32%
5.20 KHz /
11.98 KHz
∇ -56.58%
graph(3d): dijkstra 1e3 nodes2.18 ms /
1.13 ms
Δ 92.16%
459.11 Hz /
882.20 Hz
∇ -47.96%
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
767.67 us
Δ 134.60%
555.25 Hz /
1.30 KHz
∇ -57.38%
graph(3d): dijkstra 1e4 nodes26.67 ms /
21.12 ms
Δ 26.27%
37.50 Hz /
47.35 Hz
∇ -20.81%
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
10.86 ms
Δ 110.21%
43.80 Hz /
92.06 Hz
∇ -52.43%
graph(3d): dijkstra 1e5 nodes307.16 ms /
341.35 ms
∇ -10.02%
3.26 Hz /
2.93 Hz
Δ 11.13%
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
142.53 ms
Δ 87.19%
3.75 Hz /
7.02 Hz
∇ -46.58%
graph(2d): dijkstra 1e5 nodes302.10 ms /
320.28 ms
∇ -5.68%
3.31 Hz /
3.12 Hz
Δ 6.02%
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
133.66 ms
Δ 96.61%
3.81 Hz /
7.48 Hz
∇ -49.14%

 


Page generated automatically at 2011/06/03,22:26:37.553410 with MRPT 0.9.4 by 'mrpt-performance'.