Comparison: 0.9.4-MSVC10-32bit vs. 0.9.2preSVN2157-GCC-64bit




Test description 0.9.4-MSVC10-32bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
20.59 ms
Δ 80.40%
26.93 Hz /
48.58 Hz
∇ -44.57%
icp-slam (match grid): Run with sample dataset36.34 ms /
20.64 ms
Δ 76.07%
27.52 Hz /
48.45 Hz
∇ -43.20%
poses: CPose3D (+) CPose3D197.08 ns /
42.90 ns
Δ 359.38%
5.07 MHz /
23.31 MHz
∇ -78.23%
poses: CPose3D.composeFrom()33.62 ns /
37.61 ns
∇ -10.60%
29.74 MHz /
26.59 MHz
Δ 11.85%
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 /
11.83 ns
Δ 80.10%
46.94 MHz /
84.53 MHz
∇ -44.48%
poses: CPoint3D (-) CPose3D89.96 ns /
39.31 ns
Δ 128.85%
11.12 MHz /
25.44 MHz
∇ -56.30%
poses: CPose3D.inverseComposePoint()47.25 ns /
34.91 ns
Δ 35.35%
21.17 MHz /
28.65 MHz
∇ -26.12%
poses: CPose2D (+) CPose2D108.63 ns /
76.08 ns
Δ 42.78%
9.21 MHz /
13.14 MHz
∇ -29.96%
poses: CPose2D.composeFrom()94.77 ns /
61.61 ns
Δ 53.82%
10.55 MHz /
16.23 MHz
∇ -34.99%
poses: CPose2D (+) CPoint2D80.61 ns /
60.26 ns
Δ 33.76%
12.41 MHz /
16.59 MHz
∇ -25.24%
poses: CPose2D.composePoint()67.32 ns /
62.26 ns
Δ 8.13%
14.85 MHz /
16.06 MHz
∇ -7.51%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
40.99 ns
Δ 98.36%
12.30 MHz /
24.40 MHz
∇ -49.59%
poses: CPose3DQuat.composeFrom()51.56 ns /
39.39 ns
Δ 30.91%
19.39 MHz /
25.39 MHz
∇ -23.61%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
18.30 ns
Δ 205.45%
17.89 MHz /
54.63 MHz
∇ -67.26%
poses: CPose3DQuat.composePoint()32.73 ns /
17.94 ns
Δ 82.43%
30.55 MHz /
55.74 MHz
∇ -45.18%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
55.46 ns
Δ 123.63%
8.06 MHz /
18.03 MHz
∇ -55.28%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
17.66 ns
Δ 73.31%
32.67 MHz /
56.63 MHz
∇ -42.30%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
16.78 ns
Δ 67.54%
35.56 MHz /
59.58 MHz
∇ -40.31%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
169.37 ns
Δ 28.03%
4.61 MHz /
5.90 MHz
∇ -21.89%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
799.08 us
∇ -99.84%
806.40 KHz /
1.25 KHz
Δ 64337.86%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
803.31 us
∇ -99.85%
835.55 KHz /
1.24 KHz
Δ 67019.96%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
9.44 us
Δ 113.41%
49.63 KHz /
105.91 KHz
∇ -53.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
648.90 ns
Δ 26.00%
1.22 MHz /
1.54 MHz
∇ -20.63%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
631.00 ns
Δ 30.49%
1.21 MHz /
1.58 MHz
∇ -23.37%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
8.18 us
Δ 133.46%
52.39 KHz /
122.30 KHz
∇ -57.17%
matrix: unit, dyn[float], 3x349.67 ns /
24.43 ns
Δ 103.33%
20.13 MHz /
40.94 MHz
∇ -50.82%
matrix: unit, dyn[double], 3x350.90 ns /
23.18 ns
Δ 119.59%
19.64 MHz /
43.14 MHz
∇ -54.46%
matrix: unit, dyn[float], 6x6180.98 ns /
59.50 ns
Δ 204.15%
5.53 MHz /
16.81 MHz
∇ -67.12%
matrix: unit, dyn[double], 6x6177.90 ns /
62.26 ns
Δ 185.71%
5.62 MHz /
16.06 MHz
∇ -65.00%
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]6.63 ns /
1.70 ns
Δ 289.35%
150.81 MHz /
587.20 MHz
∇ -74.32%
matrix: unit, fix[double,6,6]8.86 ns /
2.77 ns
Δ 219.72%
112.91 MHz /
361.01 MHz
∇ -68.72%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
85.80 ns
Δ 692.86%
1.47 MHz /
11.66 MHz
∇ -87.39%
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 /
75.90 ns
Δ 503.88%
2.18 MHz /
13.18 MHz
∇ -83.44%
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 * 6x3680.46 ns /
118.10 ns
Δ 476.17%
1.47 MHz /
8.47 MHz
∇ -82.64%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
44.70 ns
∇ -21.07%
28.34 MHz /
22.37 MHz
Δ 26.69%
matrix: multiply, dyn[double], 3x6 * 6x3514.01 ns /
110.50 ns
Δ 365.17%
1.95 MHz /
9.05 MHz
∇ -78.50%
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 /
5.44 us
∇ -4.72%
193.06 KHz /
183.95 KHz
Δ 4.95%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
3.78 us
Δ 20.70%
219.44 KHz /
264.87 KHz
∇ -17.15%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
5.54 us
∇ -31.62%
263.78 KHz /
180.38 KHz
Δ 46.24%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
4.07 us
∇ -28.25%
342.06 KHz /
245.43 KHz
Δ 39.37%
matrix: inv, dyn[double] 3x31.50 us /
644.00 ns
Δ 133.35%
665.44 KHz /
1.55 MHz
∇ -57.15%
matrix: inv, fix[double] 3x39.51 ns /
39.00 ns
∇ -75.61%
105.14 MHz /
25.64 MHz
Δ 310.04%
matrix: inv, dyn[double] 6x63.90 us /
1.26 us
Δ 209.57%
256.17 KHz /
793.02 KHz
∇ -67.70%
matrix: inv, fix[double] 6x63.54 us /
575.00 ns
Δ 515.65%
282.49 KHz /
1.74 MHz
∇ -83.76%
matrix: inv, dyn[double] 20x2034.19 us /
25.76 us
Δ 32.75%
29.25 KHz /
38.83 KHz
∇ -24.67%
matrix: inv, fix[double] 20x2029.35 us /
17.04 us
Δ 72.27%
34.07 KHz /
58.69 KHz
∇ -41.95%
matrix: inv, dyn[double] 40x40134.24 us /
207.20 us
∇ -35.21%
7.45 KHz /
4.83 KHz
Δ 54.35%
matrix: inv, fix[double] 40x40126.45 us /
133.80 us
∇ -5.50%
7.91 KHz /
7.47 KHz
Δ 5.82%
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 /
730.30 ns
Δ 218.22%
430.29 KHz /
1.37 MHz
∇ -68.58%
matrix: det, fix[double] 6x62.17 us /
212.10 ns
Δ 923.61%
460.60 KHz /
4.71 MHz
∇ -90.23%
matrix: det, dyn[double] 20x2023.14 us /
6.56 us
Δ 252.43%
43.22 KHz /
152.33 KHz
∇ -71.63%
matrix: det, fix[double] 20x2021.38 us /
5.04 us
Δ 324.09%
46.78 KHz /
198.38 KHz
∇ -76.42%
matrix: det, dyn[double] 40x4092.83 us /
39.41 us
Δ 135.55%
10.77 KHz /
25.37 KHz
∇ -57.55%
matrix: det, fix[double] 40x4090.97 us /
29.04 us
Δ 213.29%
10.99 KHz /
34.44 KHz
∇ -68.08%
matrix: chol, dyn[double] 4x4892.24 ns /
140.00 ns
Δ 537.31%
1.12 MHz /
7.14 MHz
∇ -84.31%
matrix: chol, fix[double] 4x4249.10 ns /
160.00 ns
Δ 55.69%
4.01 MHz /
6.25 MHz
∇ -35.77%
matrix: chol, dyn[double] 40x4041.12 us /
18.38 us
Δ 123.75%
24.32 KHz /
54.41 KHz
∇ -55.31%
matrix: chol, fix[double] 40x4026.92 us /
17.08 us
Δ 57.59%
37.15 KHz /
58.55 KHz
∇ -36.54%
matrix: chol, sparse [2x2;2x2]15.31 us /
8.30 us
Δ 84.44%
65.32 KHz /
120.48 KHz
∇ -45.78%
matrix: chol, sparse [30x30;10x10]116.85 us /
84.40 us
Δ 38.45%
8.56 KHz /
11.85 KHz
∇ -27.77%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
53.00 us
Δ 86.72%
10.10 KHz /
18.87 KHz
∇ -46.44%
matrix: chol, sparse 10x[6x6]55.18 us /
39.49 us
Δ 39.73%
18.12 KHz /
25.32 KHz
∇ -28.43%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
411.70 us
Δ 20.98%
2.01 KHz /
2.43 KHz
∇ -17.34%
matrix: chol, sparse 20x[6x6]133.40 us /
74.09 us
Δ 80.05%
7.50 KHz /
13.50 KHz
∇ -44.46%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
10.38 ms
∇ -51.91%
200.30 Hz /
96.33 Hz
Δ 107.92%
matrix: chol, sparse 50x[6x6]243.96 us /
248.74 us
∇ -1.92%
4.10 KHz /
4.02 KHz
Δ 1.96%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
370.64 ms
∇ -91.90%
33.31 Hz /
2.70 Hz
Δ 1134.43%
matrix: chol, sparse 100x[6x6]486.08 us /
353.56 us
Δ 37.48%
2.06 KHz /
2.83 KHz
∇ -27.26%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
365.56 ms
∇ -85.79%
19.25 Hz /
2.74 Hz
Δ 603.75%
matrix: chol, sparse 120x[6x6]583.78 us /
425.27 us
Δ 37.27%
1.71 KHz /
2.35 KHz
∇ -27.15%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
796.04 ms
∇ -90.34%
13.00 Hz /
1.26 Hz
Δ 935.08%
matrix: chol, sparse 140x[6x6]649.31 us /
490.79 us
Δ 32.30%
1.54 KHz /
2.04 KHz
∇ -24.41%
gridmap2D: getCell6.44 ns /
0.00 ns
Δ 1.#J%
155.25 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell9.52 ns /
2.58 ns
Δ 269.29%
105.00 MHz /
387.76 MHz
∇ -72.92%
gridmap2D: updateCell9.85 ns /
7.44 ns
Δ 32.27%
101.55 MHz /
134.32 MHz
∇ -24.40%
gridmap2D: updateCell_fast_occupied1.47 ns /
0.55 ns
Δ 167.18%
679.40 MHz /
1.82 GHz
∇ -62.57%
gridmap2D: insert scan w/o widening225.20 us /
101.23 us
Δ 122.47%
4.44 KHz /
9.88 KHz
∇ -55.05%
gridmap2D: insert scan with widening365.80 us /
291.30 us
Δ 25.57%
2.73 KHz /
3.43 KHz
∇ -20.37%
gridmap2D: resize2.56 ms /
1.89 ms
Δ 35.83%
389.96 Hz /
529.66 Hz
∇ -26.38%
gridmap2D: computeLikelihood21.14 us /
16.46 us
Δ 28.46%
47.30 KHz /
60.76 KHz
∇ -22.16%
pointmap: insert 100 scans3.27 ms /
3.10 ms
Δ 5.48%
305.75 Hz /
322.50 Hz
∇ -5.20%
pointmap: build 2D kd-tree of 1 scan6.03 us /
4.28 us
Δ 40.95%
165.76 KHz /
233.64 KHz
∇ -29.05%
pointmap: build 2D kd-tree of 100 scan579.42 us /
355.52 us
Δ 62.98%
1.73 KHz /
2.81 KHz
∇ -38.64%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
4.16 ms
Δ 47.51%
162.87 Hz /
240.24 Hz
∇ -32.21%
pointmap: build 3D kd-tree of 1 scan6.68 us /
4.76 us
Δ 40.44%
149.59 KHz /
210.08 KHz
∇ -28.80%
pointmap: build 3D kd-tree of 100 scan519.96 us /
363.20 us
Δ 43.16%
1.92 KHz /
2.75 KHz
∇ -30.15%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
4.09 ms
Δ 62.12%
150.68 Hz /
244.29 Hz
∇ -38.32%
pointmap: kd-tree 2d query on 10 scans1.95 us /
1.38 us
Δ 41.45%
511.57 KHz /
723.59 KHz
∇ -29.30%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
100.93 us
Δ 65.60%
5.98 KHz /
9.91 KHz
∇ -39.61%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
11.91 ms
Δ 46.52%
57.30 Hz /
83.95 Hz
∇ -31.75%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
5.62 ms
Δ 62.20%
109.75 Hz /
178.01 Hz
∇ -38.35%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
130.76 ms
Δ 61.14%
4.75 Hz /
7.65 Hz
∇ -37.94%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
5.67 ms
Δ 47.73%
119.37 Hz /
176.35 Hz
∇ -32.31%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
132.64 ms
Δ 49.82%
5.03 Hz /
7.54 Hz
∇ -33.25%
random: drawUniform32bit7.57 ns /
14.57 ns
∇ -48.05%
132.11 MHz /
68.63 MHz
Δ 92.49%
random: drawUniform7.60 ns /
14.62 ns
∇ -48.00%
131.54 MHz /
68.41 MHz
Δ 92.30%
random: drawGaussian1D_normalized58.48 ns /
68.70 ns
∇ -14.88%
17.10 MHz /
14.56 MHz
Δ 17.48%
random: drawGaussian1D57.62 ns /
68.68 ns
∇ -16.10%
17.35 MHz /
14.56 MHz
Δ 19.19%
random: system rand()29.43 ns /
10.45 ns
Δ 181.53%
33.98 MHz /
95.67 MHz
∇ -64.48%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
1.31 us
Δ 125.46%
339.21 KHz /
764.77 KHz
∇ -55.65%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
2.79 us
Δ 26.86%
282.92 KHz /
358.92 KHz
∇ -21.17%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
158.26 ns
∇ -7.93%
6.86 MHz /
6.32 MHz
Δ 8.61%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
236.42 ns
∇ -3.83%
4.40 MHz /
4.23 MHz
Δ 3.98%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
489.37 ns
Δ 5.15%
1.94 MHz /
2.04 MHz
∇ -4.90%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
164.61 ns
Δ 3.52%
5.87 MHz /
6.07 MHz
∇ -3.40%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
248.12 ns
Δ 14.30%
3.53 MHz /
4.03 MHz
∇ -12.51%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
514.83 ns
Δ 28.43%
1.51 MHz /
1.94 MHz
∇ -22.14%
random: permuteVector (len=10)304.45 ns /
317.50 ns
∇ -4.11%
3.28 MHz /
3.15 MHz
Δ 4.29%
random: permuteVector (len=100)3.47 us /
3.06 us
Δ 13.22%
288.42 KHz /
326.54 KHz
∇ -11.67%
random: permuteVector (len=1000)37.99 us /
30.27 us
Δ 25.49%
26.33 KHz /
33.04 KHz
∇ -20.31%
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%)33.06 ms /
27.27 ms
Δ 21.24%
30.25 Hz /
36.67 Hz
∇ -17.52%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
43.27 ms
Δ 17.02%
19.75 Hz /
23.11 Hz
∇ -14.55%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
74.67 ms
Δ 10.70%
12.10 Hz /
13.39 Hz
∇ -9.66%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
26.31 ms
Δ 3.98%
36.56 Hz /
38.01 Hz
∇ -3.83%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
40.92 ms
Δ 5.71%
23.12 Hz /
24.44 Hz
∇ -5.40%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
62.56 ms
Δ 6.39%
15.03 Hz /
15.99 Hz
∇ -6.00%
images: Gauss filter (640x480)5.57 ms /
4.48 ms
Δ 24.25%
179.49 Hz /
223.01 Hz
∇ -19.52%
images: Gauss filter (800x600)8.84 ms /
7.46 ms
Δ 18.54%
113.10 Hz /
134.07 Hz
∇ -15.64%
images: Gauss filter (1024x768)14.37 ms /
12.41 ms
Δ 15.80%
69.58 Hz /
80.57 Hz
∇ -13.64%
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 /
5.15 us
Δ 326.53%
45.52 KHz /
194.17 KHz
∇ -76.55%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
4.35 us
Δ 405.91%
45.44 KHz /
229.89 KHz
∇ -80.23%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
2.12 us
Δ 499.47%
78.69 KHz /
471.70 KHz
∇ -83.32%
feature_extraction [640x480]: Harris38.32 ms /
33.18 ms
Δ 15.48%
26.10 Hz /
30.14 Hz
∇ -13.41%
feature_extraction [640x480]: KLT37.22 ms /
29.64 ms
Δ 25.58%
26.87 Hz /
33.74 Hz
∇ -20.37%
feature_extraction [640x480]: SIFT739.68 ms /
637.68 ms
Δ 16.00%
1.35 Hz /
1.57 Hz
∇ -13.79%
feature_extraction [640x480]: SIFT desc.232.95 ms /
173.14 ms
Δ 34.54%
4.29 Hz /
5.78 Hz
∇ -25.67%
feature_extraction [640x480]: SURF309.97 ms /
202.84 ms
Δ 52.82%
3.23 Hz /
4.93 Hz
∇ -34.56%
feature_extraction [640x480]: FAST6.88 ms /
5.10 ms
Δ 34.90%
145.25 Hz /
195.94 Hz
∇ -25.87%
feature_extraction [640x480]: Spin desc.88.28 ms /
61.22 ms
Δ 44.21%
11.33 Hz /
16.33 Hz
∇ -30.65%
feature_matching [640x480]: Harris + CC59.68 ms /
43.90 ms
Δ 35.96%
16.76 Hz /
22.78 Hz
∇ -26.45%
feature_matching [640x480]: Harris + SAD58.57 ms /
38.32 ms
Δ 52.83%
17.07 Hz /
26.09 Hz
∇ -34.57%
feature_matching [640x480]: SIFT1.50 sec /
1.28 sec
Δ 17.19%
668.02 mHz /
782.87 mHz
∇ -14.67%
feature_matching [640x480]: SURF621.62 ms /
387.99 ms
Δ 60.21%
1.61 Hz /
2.58 Hz
∇ -37.58%
feature_matching [640x480]: FAST + CC21.69 ms /
15.73 ms
Δ 37.90%
46.10 Hz /
63.57 Hz
∇ -27.48%
feature_matching [640x480]: FAST + SAD12.64 ms /
10.56 ms
Δ 19.68%
79.13 Hz /
94.70 Hz
∇ -16.44%
graph(2d): insertEdge x 1e3301.62 us /
104.46 us
Δ 188.74%
3.32 KHz /
9.57 KHz
∇ -65.37%
graph(2d,vec): insertEdge x 1e3298.86 us /
X
3.35 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
85.19 us
Δ 222.45%
3.64 KHz /
11.74 KHz
∇ -68.99%
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
X
3.70 KHz /
X
graph(2d pdf): insertEdge x 1e3415.87 us /
134.65 us
Δ 208.85%
2.40 KHz /
7.43 KHz
∇ -67.62%
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
X
2.46 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
119.89 us
Δ 214.91%
2.65 KHz /
8.34 KHz
∇ -68.24%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
X
2.64 KHz /
X
graph(2d): insertEdge x 1e44.14 ms /
1.39 ms
Δ 198.84%
241.59 Hz /
721.96 Hz
∇ -66.54%
graph(2d,vec): insertEdge x 1e44.00 ms /
X
250.06 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
854.04 us
Δ 244.62%
339.77 Hz /
1.17 KHz
∇ -70.98%
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
X
345.69 Hz /
X
graph(2d pdf): insertEdge x 1e44.77 ms /
1.61 ms
Δ 196.70%
209.57 Hz /
621.80 Hz
∇ -66.30%
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
X
205.59 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
1.20 ms
Δ 237.65%
246.64 Hz /
832.81 Hz
∇ -70.38%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
X
237.52 Hz /
X
graph(3d): insertEdge x 1e3381.69 us /
132.91 us
Δ 187.18%
2.62 KHz /
7.52 KHz
∇ -65.18%
graph(3d,vec): insertEdge x 1e3407.21 us /
X
2.46 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
109.11 us
Δ 211.22%
2.94 KHz /
9.17 KHz
∇ -67.87%
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
X
2.99 KHz /
X
graph(3d pdf): insertEdge x 1e3688.91 us /
349.74 us
Δ 96.98%
1.45 KHz /
2.86 KHz
∇ -49.23%
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
X
1.46 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
321.54 us
Δ 112.49%
1.46 KHz /
3.11 KHz
∇ -52.94%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
X
1.46 KHz /
X
graph(3d): insertEdge x 1e43.89 ms /
1.89 ms
Δ 105.56%
257.39 Hz /
529.10 Hz
∇ -51.35%
graph(3d,vec): insertEdge x 1e43.79 ms /
X
263.81 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
1.10 ms
Δ 226.36%
278.91 Hz /
910.25 Hz
∇ -69.36%
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
X
284.28 Hz /
X
graph(3d pdf): insertEdge x 1e47.80 ms /
4.65 ms
Δ 67.92%
128.15 Hz /
215.20 Hz
∇ -40.45%
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
X
128.11 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
4.05 ms
Δ 84.94%
133.45 Hz /
246.81 Hz
∇ -45.93%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.57 ms /
X
132.15 Hz /
X
graph(3d): dijkstra 1e2 nodes213.16 us /
X
4.69 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes311.59 us /
X
3.21 KHz /
X
graph(3d): dijkstra 1e3 nodes2.57 ms /
X
389.66 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes2.70 ms /
X
370.20 Hz /
X
graph(3d): dijkstra 1e4 nodes31.29 ms /
X
31.96 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes32.92 ms /
X
30.38 Hz /
X
graph(3d): dijkstra 1e5 nodes393.68 ms /
X
2.54 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes385.61 ms /
X
2.59 Hz /
X
graph(2d): dijkstra 1e5 nodes380.30 ms /
X
2.63 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes376.84 ms /
X
2.65 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:37.943432 with MRPT 0.9.4 by 'mrpt-performance'.