Comparison: 0.9.2-MSVC9-32bit vs. 0.9.2-GCC-64bit




Test description 0.9.2-MSVC9-32bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset30.39 ms /
19.99 ms
Δ 52.05%
32.90 Hz /
50.03 Hz
∇ -34.23%
icp-slam (match grid): Run with sample dataset52.58 ms /
19.29 ms
Δ 172.56%
19.02 Hz /
51.84 Hz
∇ -63.31%
poses: CPose3D (+) CPose3D264.70 ns /
42.85 ns
Δ 517.75%
3.78 MHz /
23.34 MHz
∇ -83.81%
poses: CPose3D.composeFrom()98.01 ns /
37.80 ns
Δ 159.27%
10.20 MHz /
26.46 MHz
∇ -61.43%
poses: CPose3D (+) CPoint3D27.86 ns /
7.25 ns
Δ 284.20%
35.89 MHz /
137.89 MHz
∇ -73.97%
poses: CPose3D.composePoint()19.17 ns /
11.91 ns
Δ 61.01%
52.16 MHz /
83.98 MHz
∇ -37.89%
poses: CPoint3D (-) CPose3D51.66 ns /
48.98 ns
Δ 5.46%
19.36 MHz /
20.42 MHz
∇ -5.18%
poses: CPose3D.inverseComposePoint()46.91 ns /
34.95 ns
Δ 34.22%
21.32 MHz /
28.61 MHz
∇ -25.50%
poses: CPose2D (+) CPose2D99.28 ns /
78.58 ns
Δ 26.34%
10.07 MHz /
12.73 MHz
∇ -20.85%
poses: CPose2D.composeFrom()89.67 ns /
70.31 ns
Δ 27.53%
11.15 MHz /
14.22 MHz
∇ -21.59%
poses: CPose2D (+) CPoint2D82.07 ns /
61.33 ns
Δ 33.82%
12.18 MHz /
16.31 MHz
∇ -25.27%
poses: CPose2D.composePoint()64.58 ns /
65.17 ns
∇ -0.90%
15.49 MHz /
15.35 MHz
Δ 0.91%
poses: CPose3DQuat (+) CPose3DQuat87.19 ns /
44.66 ns
Δ 95.23%
11.47 MHz /
22.39 MHz
∇ -48.78%
poses: CPose3DQuat.composeFrom()57.14 ns /
39.43 ns
Δ 44.92%
17.50 MHz /
25.36 MHz
∇ -31.00%
poses: CPose3DQuat (+) CPoint3D48.22 ns /
18.24 ns
Δ 164.43%
20.74 MHz /
54.84 MHz
∇ -62.18%
poses: CPose3DQuat.composePoint()29.64 ns /
17.94 ns
Δ 65.24%
33.74 MHz /
55.75 MHz
∇ -39.48%
poses: CPoint3D (-) CPose3DQuat 84.32 ns /
55.43 ns
Δ 52.13%
11.86 MHz /
18.04 MHz
∇ -34.27%
poses: CPose3DQuat.invcomposePoint()30.72 ns /
17.64 ns
Δ 74.14%
32.55 MHz /
56.69 MHz
∇ -42.58%
poses: Conv CPose3DQuat <- CPose3D33.02 ns /
16.70 ns
Δ 97.75%
30.29 MHz /
59.89 MHz
∇ -49.43%
poses: Conv CPose3D -> CPose3DQuat206.69 ns /
169.28 ns
Δ 22.10%
4.84 MHz /
5.91 MHz
∇ -18.10%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.35 us /
760.96 us
∇ -99.82%
739.68 KHz /
1.31 KHz
Δ 56186.17%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.40 us /
760.62 us
∇ -99.82%
712.12 KHz /
1.31 KHz
Δ 54065.36%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.15 us /
9.47 us
Δ 144.31%
43.20 KHz /
105.55 KHz
∇ -59.07%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.62 us /
545.30 ns
Δ 197.22%
617.00 KHz /
1.83 MHz
∇ -66.35%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.63 us /
544.10 ns
Δ 199.49%
613.67 KHz /
1.84 MHz
∇ -66.61%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)15.82 us /
8.11 us
Δ 95.10%
63.21 KHz /
123.33 KHz
∇ -48.75%
matrix: unit, dyn[float], 3x338.75 ns /
20.92 ns
Δ 85.22%
25.81 MHz /
47.81 MHz
∇ -46.01%
matrix: unit, dyn[double], 3x338.69 ns /
20.15 ns
Δ 92.03%
25.85 MHz /
49.63 MHz
∇ -47.92%
matrix: unit, dyn[float], 6x6163.36 ns /
54.04 ns
Δ 202.31%
6.12 MHz /
18.51 MHz
∇ -66.92%
matrix: unit, dyn[double], 6x6213.06 ns /
55.27 ns
Δ 285.50%
4.69 MHz /
18.09 MHz
∇ -74.06%
matrix: unit, fix[float,3,3]3.56 ns /
0.35 ns
Δ 929.39%
280.77 MHz /
2.89 GHz
∇ -90.29%
matrix: unit, fix[double,3,3]3.29 ns /
1.19 ns
Δ 176.97%
304.17 MHz /
842.46 MHz
∇ -63.90%
matrix: unit, fix[float,6,6]2.77 ns /
1.70 ns
Δ 63.16%
360.95 MHz /
588.93 MHz
∇ -38.71%
matrix: unit, fix[double,6,6]6.07 ns /
2.77 ns
Δ 118.67%
164.80 MHz /
360.36 MHz
∇ -54.27%
matrix: multiply, dyn[float ], 3x3 * 3x3168.66 ns /
73.10 ns
Δ 130.73%
5.93 MHz /
13.68 MHz
∇ -56.66%
matrix: multiply, fix[float ], 3x3 * 3x3109.47 ns /
23.80 ns
Δ 359.95%
9.14 MHz /
42.02 MHz
∇ -78.26%
matrix: multiply, dyn[double], 3x3 * 3x3159.15 ns /
72.40 ns
Δ 119.82%
6.28 MHz /
13.81 MHz
∇ -54.51%
matrix: multiply, fix[double], 3x3 * 3x387.59 ns /
23.40 ns
Δ 274.33%
11.42 MHz /
42.74 MHz
∇ -73.29%
matrix: multiply, dyn[float ], 3x6 * 6x3272.34 ns /
110.50 ns
Δ 146.46%
3.67 MHz /
9.05 MHz
∇ -59.43%
matrix: multiply, fix[float ], 3x6 * 6x3190.04 ns /
45.10 ns
Δ 321.38%
5.26 MHz /
22.17 MHz
∇ -76.27%
matrix: multiply, dyn[double], 3x6 * 6x3245.84 ns /
116.30 ns
Δ 111.38%
4.07 MHz /
8.60 MHz
∇ -52.69%
matrix: multiply, fix[double], 3x6 * 6x3138.91 ns /
45.20 ns
Δ 207.32%
7.20 MHz /
22.12 MHz
∇ -67.46%
matrix: multiply, dyn[float ], 10x40 * 40x1016.67 us /
5.19 us
Δ 221.31%
60.00 KHz /
192.77 KHz
∇ -68.88%
matrix: multiply, fix[float ], 10x40 * 40x1012.92 us /
3.55 us
Δ 263.74%
77.41 KHz /
281.56 KHz
∇ -72.51%
matrix: multiply, dyn[double], 10x40 * 40x1013.30 us /
5.18 us
Δ 156.85%
75.16 KHz /
193.05 KHz
∇ -61.07%
matrix: multiply, fix[double], 10x40 * 40x109.66 us /
3.61 us
Δ 167.62%
103.53 KHz /
277.05 KHz
∇ -62.63%
matrix: inv, dyn[float ] 3x31.46 us /
333.00 ns
Δ 337.95%
685.70 KHz /
3.00 MHz
∇ -77.17%
matrix: inv, fix[float ] 3x359.78 ns /
21.00 ns
Δ 184.69%
16.73 MHz /
47.62 MHz
∇ -64.87%
matrix: inv, dyn[double] 3x31.47 us /
329.00 ns
Δ 345.89%
681.67 KHz /
3.04 MHz
∇ -77.57%
matrix: inv, fix[double] 3x330.80 ns /
21.00 ns
Δ 46.66%
32.47 MHz /
47.62 MHz
∇ -31.81%
matrix: inv, dyn[float ] 6x64.39 us /
1.22 us
Δ 260.62%
227.86 KHz /
821.69 KHz
∇ -72.27%
matrix: inv, fix[float ] 6x61.39 us /
468.00 ns
Δ 197.20%
718.96 KHz /
2.14 MHz
∇ -66.35%
matrix: inv, dyn[double] 6x65.05 us /
1.20 us
Δ 320.10%
198.20 KHz /
832.64 KHz
∇ -76.20%
matrix: inv, fix[double] 6x6944.32 ns /
578.00 ns
Δ 63.38%
1.06 MHz /
1.73 MHz
∇ -38.79%
matrix: inv, dyn[float ] 20x2080.56 us /
25.24 us
Δ 219.20%
12.41 KHz /
39.62 KHz
∇ -68.67%
matrix: inv, fix[float ] 20x2039.77 us /
12.60 us
Δ 215.65%
25.14 KHz /
79.36 KHz
∇ -68.32%
matrix: inv, dyn[double] 20x20106.06 us /
25.64 us
Δ 313.69%
9.43 KHz /
39.01 KHz
∇ -75.83%
matrix: inv, fix[double] 20x2018.99 us /
17.36 us
Δ 9.40%
52.65 KHz /
57.60 KHz
∇ -8.59%
matrix: inv, dyn[float ] 40x40594.37 us /
190.86 us
Δ 211.41%
1.68 KHz /
5.24 KHz
∇ -67.89%
matrix: inv, fix[float ] 40x40302.87 us /
88.89 us
Δ 240.73%
3.30 KHz /
11.25 KHz
∇ -70.65%
matrix: inv, dyn[double] 40x40805.07 us /
189.04 us
Δ 325.88%
1.24 KHz /
5.29 KHz
∇ -76.52%
matrix: inv, fix[double] 40x40129.27 us /
121.47 us
Δ 6.42%
7.74 KHz /
8.23 KHz
∇ -6.04%
matrix: det, dyn[float ] 2x27.97 ns /
6.40 ns
Δ 24.55%
125.45 MHz /
156.25 MHz
∇ -19.71%
matrix: det, fix[float ] 2x20.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 2x28.47 ns /
6.40 ns
Δ 32.33%
118.07 MHz /
156.25 MHz
∇ -24.43%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 3x320.83 ns /
10.30 ns
Δ 102.27%
48.00 MHz /
97.09 MHz
∇ -50.56%
matrix: det, fix[float ] 3x30.05 ns /
0.00 ns
Δ 1.#J%
22.08 GHz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x315.90 ns /
10.30 ns
Δ 54.34%
62.90 MHz /
97.09 MHz
∇ -35.21%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 6x62.28 us /
692.40 ns
Δ 229.15%
438.79 KHz /
1.44 MHz
∇ -69.62%
matrix: det, fix[float ] 6x6455.22 ns /
207.00 ns
Δ 119.91%
2.20 MHz /
4.83 MHz
∇ -54.53%
matrix: det, dyn[double] 6x62.27 us /
696.30 ns
Δ 225.92%
440.64 KHz /
1.44 MHz
∇ -69.32%
matrix: det, fix[double] 6x6409.52 ns /
212.30 ns
Δ 92.90%
2.44 MHz /
4.71 MHz
∇ -48.16%
matrix: det, dyn[float ] 20x2018.23 us /
5.39 us
Δ 238.25%
54.86 KHz /
185.56 KHz
∇ -70.44%
matrix: det, fix[float ] 20x209.64 us /
3.90 us
Δ 147.04%
103.77 KHz /
256.35 KHz
∇ -59.52%
matrix: det, dyn[double] 20x2017.63 us /
6.40 us
Δ 175.30%
56.72 KHz /
156.16 KHz
∇ -63.68%
matrix: det, fix[double] 20x206.19 us /
4.72 us
Δ 31.02%
161.63 KHz /
211.77 KHz
∇ -23.68%
matrix: det, dyn[float ] 40x40109.51 us /
30.35 us
Δ 260.83%
9.13 KHz /
32.95 KHz
∇ -72.29%
matrix: det, fix[float ] 40x4061.78 us /
26.47 us
Δ 133.39%
16.19 KHz /
37.78 KHz
∇ -57.15%
matrix: det, dyn[double] 40x40112.43 us /
32.49 us
Δ 245.98%
8.89 KHz /
30.77 KHz
∇ -71.10%
matrix: det, fix[double] 40x4035.24 us /
27.34 us
Δ 28.90%
28.38 KHz /
36.58 KHz
∇ -22.42%
matrix: chol, dyn[double] 4x4172.11 ns /
130.00 ns
Δ 32.39%
5.81 MHz /
7.69 MHz
∇ -24.47%
matrix: chol, fix[double] 4x4117.76 ns /
140.00 ns
∇ -15.89%
8.49 MHz /
7.14 MHz
Δ 18.89%
matrix: chol, dyn[double] 40x4024.40 us /
18.52 us
Δ 31.76%
40.98 KHz /
54.00 KHz
∇ -24.11%
matrix: chol, fix[double] 40x4017.68 us /
16.55 us
Δ 6.81%
56.57 KHz /
60.42 KHz
∇ -6.38%
matrix: chol, sparse [2x2;2x2]8.42 us /
8.20 us
Δ 2.73%
118.71 KHz /
121.95 KHz
∇ -2.66%
matrix: chol, sparse [30x30;10x10]118.80 us /
82.90 us
Δ 43.30%
8.42 KHz /
12.06 KHz
∇ -30.22%
matrix: chol, dyn[double] 10x[6x6]69.79 us /
52.70 us
Δ 32.44%
14.33 KHz /
18.98 KHz
∇ -24.49%
matrix: chol, sparse 10x[6x6]52.54 us /
38.59 us
Δ 36.14%
19.03 KHz /
25.91 KHz
∇ -26.55%
matrix: chol, dyn[double] 20x[6x6]466.09 us /
409.80 us
Δ 13.74%
2.15 KHz /
2.44 KHz
∇ -12.08%
matrix: chol, sparse 20x[6x6]89.01 us /
70.75 us
Δ 25.80%
11.24 KHz /
14.13 KHz
∇ -20.51%
matrix: chol, dyn[double] 50x[6x6]9.32 ms /
8.58 ms
Δ 8.72%
107.25 Hz /
116.60 Hz
∇ -8.02%
matrix: chol, sparse 50x[6x6]201.22 us /
171.20 us
Δ 17.53%
4.97 KHz /
5.84 KHz
∇ -14.92%
matrix: chol, dyn[double] 100x[6x6]138.07 ms /
133.58 ms
Δ 3.36%
7.24 Hz /
7.49 Hz
∇ -3.25%
matrix: chol, sparse 100x[6x6]401.45 us /
341.85 us
Δ 17.43%
2.49 KHz /
2.93 KHz
∇ -14.85%
matrix: chol, dyn[double] 120x[6x6]453.62 ms /
354.49 ms
Δ 27.96%
2.20 Hz /
2.82 Hz
∇ -21.85%
matrix: chol, sparse 120x[6x6]474.18 us /
401.50 us
Δ 18.10%
2.11 KHz /
2.49 KHz
∇ -15.33%
matrix: chol, dyn[double] 140x[6x6]945.16 ms /
773.25 ms
Δ 22.23%
1.06 Hz /
1.29 Hz
∇ -18.19%
matrix: chol, sparse 140x[6x6]552.77 us /
469.25 us
Δ 17.80%
1.81 KHz /
2.13 KHz
∇ -15.11%
gridmap2D: getCell5.57 ns /
0.00 ns
Δ 5566675.17%
179.64 MHz /
10.00 THz
∇ -100.00%
gridmap2D: setCell7.80 ns /
2.58 ns
Δ 202.73%
128.17 MHz /
388.02 MHz
∇ -66.97%
gridmap2D: updateCell10.65 ns /
7.84 ns
Δ 35.83%
93.93 MHz /
127.58 MHz
∇ -26.38%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 117.52%
834.82 MHz /
1.82 GHz
∇ -54.03%
gridmap2D: insert scan w/o widening202.10 us /
102.06 us
Δ 98.03%
4.95 KHz /
9.80 KHz
∇ -49.50%
gridmap2D: insert scan with widening338.79 us /
289.47 us
Δ 17.04%
2.95 KHz /
3.45 KHz
∇ -14.56%
gridmap2D: resize3.58 ms /
1.97 ms
Δ 82.04%
279.42 Hz /
508.65 Hz
∇ -45.07%
gridmap2D: computeLikelihood18.09 us /
15.74 us
Δ 14.96%
55.28 KHz /
63.55 KHz
∇ -13.01%
pointmap: insert 100 scans5.50 ms /
3.04 ms
Δ 80.96%
181.98 Hz /
329.30 Hz
∇ -44.74%
pointmap: build 2D kd-tree of 1 scan6.29 us /
4.32 us
Δ 45.52%
159.07 KHz /
231.48 KHz
∇ -31.28%
pointmap: build 2D kd-tree of 100 scan520.70 us /
352.12 us
Δ 47.88%
1.92 KHz /
2.84 KHz
∇ -32.38%
pointmap: build 2D kd-tree of 1000 scan5.50 ms /
4.14 ms
Δ 32.94%
181.67 Hz /
241.51 Hz
∇ -24.78%
pointmap: build 3D kd-tree of 1 scan6.47 us /
4.68 us
Δ 38.20%
154.62 KHz /
213.68 KHz
∇ -27.64%
pointmap: build 3D kd-tree of 100 scan526.59 us /
359.52 us
Δ 46.47%
1.90 KHz /
2.78 KHz
∇ -31.73%
pointmap: build 3D kd-tree of 1000 scan5.63 ms /
4.03 ms
Δ 39.86%
177.52 Hz /
248.28 Hz
∇ -28.50%
pointmap: kd-tree 2d query on 10 scans2.04 us /
1.41 us
Δ 45.12%
490.44 KHz /
711.74 KHz
∇ -31.09%
pointmap: kd-tree 2d query on 1000 scans137.79 us /
97.21 us
Δ 41.75%
7.26 KHz /
10.29 KHz
∇ -29.45%
pointmap: kd-tree 2d query on 10000 scans14.88 ms /
11.62 ms
Δ 28.06%
67.19 Hz /
86.05 Hz
∇ -21.91%
pointmap: (insert scan+2D kd-tree query) x 108.57 ms /
5.59 ms
Δ 53.21%
116.69 Hz /
178.77 Hz
∇ -34.73%
pointmap: (insert scan+2D kd-tree query) x 50191.63 ms /
129.28 ms
Δ 48.22%
5.22 Hz /
7.73 Hz
∇ -32.53%
pointmap: (insert scan+3D kd-tree query) x 108.64 ms /
5.66 ms
Δ 52.48%
115.78 Hz /
176.53 Hz
∇ -34.42%
pointmap: (insert scan+3D kd-tree query) x 50194.89 ms /
131.22 ms
Δ 48.52%
5.13 Hz /
7.62 Hz
∇ -32.67%
random: drawUniform32bit7.21 ns /
14.50 ns
∇ -50.28%
138.68 MHz /
68.95 MHz
Δ 101.13%
random: drawUniform7.18 ns /
14.50 ns
∇ -50.47%
139.23 MHz /
68.96 MHz
Δ 101.91%
random: drawGaussian1D_normalized51.37 ns /
68.97 ns
∇ -25.52%
19.47 MHz /
14.50 MHz
Δ 34.26%
random: drawGaussian1D51.39 ns /
68.98 ns
∇ -25.50%
19.46 MHz /
14.50 MHz
Δ 34.24%
random: system rand()28.61 ns /
10.45 ns
Δ 173.89%
34.95 MHz /
95.72 MHz
∇ -63.49%
random: drawGaussianMultivariate(fixed 3x3)2.55 us /
1.31 us
Δ 95.36%
391.65 KHz /
765.12 KHz
∇ -48.81%
random: drawGaussianMultivariate(dyn 3x3)8.36 us /
2.73 us
Δ 206.17%
119.66 KHz /
366.37 KHz
∇ -67.34%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)213.95 ns /
158.91 ns
Δ 34.63%
4.67 MHz /
6.29 MHz
∇ -25.72%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)324.69 ns /
237.40 ns
Δ 36.77%
3.08 MHz /
4.21 MHz
∇ -26.88%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)829.70 ns /
490.03 ns
Δ 69.32%
1.21 MHz /
2.04 MHz
∇ -40.94%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)214.89 ns /
164.67 ns
Δ 30.50%
4.65 MHz /
6.07 MHz
∇ -23.37%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)364.99 ns /
249.81 ns
Δ 46.11%
2.74 MHz /
4.00 MHz
∇ -31.56%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.13 ns /
514.70 ns
Δ 47.68%
1.32 MHz /
1.94 MHz
∇ -32.29%
random: permuteVector (len=10)420.57 ns /
296.20 ns
Δ 41.99%
2.38 MHz /
3.38 MHz
∇ -29.57%
random: permuteVector (len=100)3.56 us /
3.04 us
Δ 17.00%
281.12 KHz /
328.91 KHz
∇ -14.53%
random: permuteVector (len=1000)33.55 us /
30.22 us
Δ 11.02%
29.80 KHz /
33.09 KHz
∇ -9.92%
math: round0.00 ns /
0.10 ns
∇ -100.00%
1.#J THz /
10.09 GHz
Δ 1.#J%
images: Save as JPEG (640x480, quality=95%)28.40 ms /
35.06 ms
∇ -19.00%
35.21 Hz /
28.52 Hz
Δ 23.45%
images: Save as JPEG (800x600, quality=95%)43.71 ms /
48.96 ms
∇ -10.72%
22.88 Hz /
20.42 Hz
Δ 12.00%
images: Save as JPEG (1024x768, quality=95%)70.17 ms /
74.65 ms
∇ -6.00%
14.25 Hz /
13.40 Hz
Δ 6.38%
images: Save as JPEG (640x480, quality=75%)24.11 ms /
29.96 ms
∇ -19.54%
41.48 Hz /
33.37 Hz
Δ 24.28%
images: Save as JPEG (800x600, quality=75%)37.02 ms /
42.79 ms
∇ -13.47%
27.01 Hz /
23.37 Hz
Δ 15.57%
images: Save as JPEG (1024x768, quality=75%)59.51 ms /
64.15 ms
∇ -7.24%
16.80 Hz /
15.59 Hz
Δ 7.80%
images: Gauss filter (640x480)5.29 ms /
3.90 ms
Δ 35.64%
188.95 Hz /
256.30 Hz
∇ -26.28%
images: Gauss filter (800x600)8.36 ms /
6.21 ms
Δ 34.56%
119.64 Hz /
160.99 Hz
∇ -25.69%
images: Gauss filter (1024x768)13.88 ms /
10.55 ms
Δ 31.49%
72.06 Hz /
94.74 Hz
∇ -23.95%
scan_matching: 6D LS Rigid Trans. [CPose3D]18.63 us /
5.06 us
Δ 268.24%
53.67 KHz /
197.63 KHz
∇ -72.84%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]17.89 us /
4.30 us
Δ 315.94%
55.91 KHz /
232.56 KHz
∇ -75.96%
scan_matching: 6D LS Rigid Trans. [vector of points]5.05 us /
2.10 us
Δ 140.69%
197.84 KHz /
476.19 KHz
∇ -58.45%
feature_extraction [640x480]: Harris33.27 ms /
24.28 ms
Δ 37.04%
30.06 Hz /
41.19 Hz
∇ -27.03%
feature_extraction [640x480]: KLT31.21 ms /
24.43 ms
Δ 27.79%
32.04 Hz /
40.94 Hz
∇ -21.75%
feature_extraction [640x480]: SIFT675.81 ms /
610.42 ms
Δ 10.71%
1.48 Hz /
1.64 Hz
∇ -9.68%
feature_extraction [640x480]: SIFT desc.217.19 ms /
167.77 ms
Δ 29.46%
4.60 Hz /
5.96 Hz
∇ -22.75%
feature_extraction [640x480]: SURF316.97 ms /
197.61 ms
Δ 60.40%
3.15 Hz /
5.06 Hz
∇ -37.66%
feature_extraction [640x480]: FAST7.82 ms /
5.24 ms
Δ 49.08%
127.91 Hz /
190.68 Hz
∇ -32.92%
feature_extraction [640x480]: Spin desc.103.38 ms /
59.98 ms
Δ 72.35%
9.67 Hz /
16.67 Hz
∇ -41.98%
feature_matching [640x480]: Harris + CC56.24 ms /
40.88 ms
Δ 37.58%
17.78 Hz /
24.46 Hz
∇ -27.31%
feature_matching [640x480]: Harris + SAD47.55 ms /
35.50 ms
Δ 33.96%
21.03 Hz /
28.17 Hz
∇ -25.35%
feature_matching [640x480]: SIFT1.34 sec /
1.21 sec
Δ 11.03%
745.82 mHz /
828.07 mHz
∇ -9.93%
feature_matching [640x480]: SURF606.64 ms /
379.92 ms
Δ 59.68%
1.65 Hz /
2.63 Hz
∇ -37.37%
feature_matching [640x480]: FAST + CC22.36 ms /
16.06 ms
Δ 39.22%
44.72 Hz /
62.26 Hz
∇ -28.17%
feature_matching [640x480]: FAST + SAD15.00 ms /
10.73 ms
Δ 39.72%
66.69 Hz /
93.18 Hz
∇ -28.43%
graph(2d): insertEdge x 1e3313.03 us /
117.65 us
Δ 166.07%
3.19 KHz /
8.50 KHz
∇ -62.42%
graph(2d,vec): insertEdge x 1e3307.43 us /
105.13 us
Δ 192.45%
3.25 KHz /
9.51 KHz
∇ -65.81%
graph(2d): insertEdgeAtEnd x 1e3222.64 us /
85.19 us
Δ 161.36%
4.49 KHz /
11.74 KHz
∇ -61.74%
graph(2d,vec): insertEdgeAtEnd x 1e3222.87 us /
84.46 us
Δ 163.87%
4.49 KHz /
11.84 KHz
∇ -62.10%
graph(2d pdf): insertEdge x 1e3516.93 us /
172.53 us
Δ 199.62%
1.93 KHz /
5.80 KHz
∇ -66.62%
graph(2d pdf,vec): insertEdge x 1e3517.18 us /
187.97 us
Δ 175.14%
1.93 KHz /
5.32 KHz
∇ -63.65%
graph(2d pdf): insertEdgeAtEnd x 1e3405.97 us /
168.61 us
Δ 140.78%
2.46 KHz /
5.93 KHz
∇ -58.47%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3403.48 us /
167.39 us
Δ 141.05%
2.48 KHz /
5.97 KHz
∇ -58.51%
graph(2d): insertEdge x 1e43.36 ms /
1.73 ms
Δ 94.84%
297.28 Hz /
579.22 Hz
∇ -48.68%
graph(2d,vec): insertEdge x 1e43.35 ms /
1.45 ms
Δ 131.15%
298.76 Hz /
690.59 Hz
∇ -56.74%
graph(2d): insertEdgeAtEnd x 1e42.22 ms /
884.69 us
Δ 150.90%
450.51 Hz /
1.13 KHz
∇ -60.14%
graph(2d,vec): insertEdgeAtEnd x 1e42.22 ms /
862.22 us
Δ 157.61%
450.21 Hz /
1.16 KHz
∇ -61.18%
graph(2d pdf): insertEdge x 1e45.45 ms /
1.97 ms
Δ 176.30%
183.37 Hz /
506.65 Hz
∇ -63.81%
graph(2d pdf,vec): insertEdge x 1e45.44 ms /
2.31 ms
Δ 135.84%
183.91 Hz /
433.74 Hz
∇ -57.60%
graph(2d pdf): insertEdgeAtEnd x 1e44.07 ms /
1.86 ms
Δ 118.98%
245.74 Hz /
538.12 Hz
∇ -54.33%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.06 ms /
1.86 ms
Δ 118.39%
246.50 Hz /
538.35 Hz
∇ -54.21%
graph(3d): insertEdge x 1e3447.20 us /
177.23 us
Δ 152.33%
2.24 KHz /
5.64 KHz
∇ -60.37%
graph(3d,vec): insertEdge x 1e3442.12 us /
178.36 us
Δ 147.88%
2.26 KHz /
5.61 KHz
∇ -59.66%
graph(3d): insertEdgeAtEnd x 1e3346.69 us /
157.86 us
Δ 119.62%
2.88 KHz /
6.33 KHz
∇ -54.47%
graph(3d,vec): insertEdgeAtEnd x 1e3347.20 us /
159.54 us
Δ 117.63%
2.88 KHz /
6.27 KHz
∇ -54.05%
graph(3d pdf): insertEdge x 1e3944.03 us /
507.00 us
Δ 86.20%
1.06 KHz /
1.97 KHz
∇ -46.29%
graph(3d pdf,vec): insertEdge x 1e3978.08 us /
509.46 us
Δ 91.98%
1.02 KHz /
1.96 KHz
∇ -47.91%
graph(3d pdf): insertEdgeAtEnd x 1e3793.19 us /
473.36 us
Δ 67.56%
1.26 KHz /
2.11 KHz
∇ -40.32%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3793.52 us /
474.07 us
Δ 67.39%
1.26 KHz /
2.11 KHz
∇ -40.26%
graph(3d): insertEdge x 1e44.62 ms /
2.47 ms
Δ 86.95%
216.43 Hz /
404.60 Hz
∇ -46.51%
graph(3d,vec): insertEdge x 1e44.62 ms /
2.48 ms
Δ 85.92%
216.67 Hz /
402.82 Hz
∇ -46.21%
graph(3d): insertEdgeAtEnd x 1e43.48 ms /
1.75 ms
Δ 98.58%
287.28 Hz /
570.48 Hz
∇ -49.64%
graph(3d,vec): insertEdgeAtEnd x 1e43.47 ms /
1.77 ms
Δ 96.57%
287.84 Hz /
565.81 Hz
∇ -49.13%
graph(3d pdf): insertEdge x 1e410.55 ms /
5.53 ms
Δ 90.99%
94.75 Hz /
180.97 Hz
∇ -47.64%
graph(3d pdf,vec): insertEdge x 1e49.75 ms /
5.56 ms
Δ 75.24%
102.54 Hz /
179.70 Hz
∇ -42.94%
graph(3d pdf): insertEdgeAtEnd x 1e47.93 ms /
4.85 ms
Δ 63.52%
126.08 Hz /
206.16 Hz
∇ -38.84%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.94 ms /
4.85 ms
Δ 63.67%
125.93 Hz /
206.11 Hz
∇ -38.90%
graph(3d): dijkstra 1e2 nodes262.18 us /
96.04 us
Δ 172.98%
3.81 KHz /
10.41 KHz
∇ -63.37%
graph(3d,vec): dijkstra 1e2 nodes363.67 us /
80.39 us
Δ 352.41%
2.75 KHz /
12.44 KHz
∇ -77.90%
graph(3d): dijkstra 1e3 nodes2.97 ms /
1.13 ms
Δ 163.30%
336.14 Hz /
885.05 Hz
∇ -62.02%
graph(3d,vec): dijkstra 1e3 nodes3.29 ms /
804.04 us
Δ 309.46%
303.75 Hz /
1.24 KHz
∇ -75.58%
graph(3d): dijkstra 1e4 nodes34.21 ms /
19.14 ms
Δ 78.78%
29.23 Hz /
52.26 Hz
∇ -44.07%
graph(3d,vec): dijkstra 1e4 nodes38.12 ms /
9.65 ms
Δ 295.07%
26.23 Hz /
103.63 Hz
∇ -74.69%
graph(3d): dijkstra 1e5 nodes389.54 ms /
290.37 ms
Δ 34.15%
2.57 Hz /
3.44 Hz
∇ -25.46%
graph(3d,vec): dijkstra 1e5 nodes428.64 ms /
117.73 ms
Δ 264.08%
2.33 Hz /
8.49 Hz
∇ -72.53%
graph(2d): dijkstra 1e5 nodes382.11 ms /
268.93 ms
Δ 42.08%
2.62 Hz /
3.72 Hz
∇ -29.62%
graph(2d,vec): dijkstra 1e5 nodes417.45 ms /
103.05 ms
Δ 305.11%
2.40 Hz /
9.70 Hz
∇ -75.32%

 


Page generated automatically at 2011/06/03,22:26:39.291509 with MRPT 0.9.4 by 'mrpt-performance'.