Comparison: 0.9.4-MSVC10-32bit vs. 0.9.1-GCC-64bit




Test description 0.9.4-MSVC10-32bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset37.14 ms /
21.60 ms
Δ 71.94%
26.93 Hz /
46.30 Hz
∇ -41.84%
icp-slam (match grid): Run with sample dataset36.34 ms /
20.51 ms
Δ 77.14%
27.52 Hz /
48.75 Hz
∇ -43.55%
poses: CPose3D (+) CPose3D197.08 ns /
449.02 ns
∇ -56.11%
5.07 MHz /
2.23 MHz
Δ 127.84%
poses: CPose3D.composeFrom()33.62 ns /
233.83 ns
∇ -85.62%
29.74 MHz /
4.28 MHz
Δ 595.42%
poses: CPose3D (+) CPoint3D25.13 ns /
10.67 ns
Δ 135.65%
39.79 MHz /
93.76 MHz
∇ -57.56%
poses: CPose3D.composePoint()21.31 ns /
10.06 ns
Δ 111.75%
46.94 MHz /
99.38 MHz
∇ -52.77%
poses: CPoint3D (-) CPose3D89.96 ns /
37.71 ns
Δ 138.58%
11.12 MHz /
26.52 MHz
∇ -58.09%
poses: CPose3D.inverseComposePoint()47.25 ns /
40.98 ns
Δ 15.30%
21.17 MHz /
24.40 MHz
∇ -13.27%
poses: CPose2D (+) CPose2D108.63 ns /
78.17 ns
Δ 38.96%
9.21 MHz /
12.79 MHz
∇ -28.04%
poses: CPose2D.composeFrom()94.77 ns /
62.17 ns
Δ 52.44%
10.55 MHz /
16.08 MHz
∇ -34.40%
poses: CPose2D (+) CPoint2D80.61 ns /
63.86 ns
Δ 26.22%
12.41 MHz /
15.66 MHz
∇ -20.77%
poses: CPose2D.composePoint()67.32 ns /
61.98 ns
Δ 8.62%
14.85 MHz /
16.13 MHz
∇ -7.94%
poses: CPose3DQuat (+) CPose3DQuat81.31 ns /
47.00 ns
Δ 72.99%
12.30 MHz /
21.28 MHz
∇ -42.19%
poses: CPose3DQuat.composeFrom()51.56 ns /
39.80 ns
Δ 29.56%
19.39 MHz /
25.13 MHz
∇ -22.81%
poses: CPose3DQuat (+) CPoint3D55.91 ns /
22.62 ns
Δ 147.17%
17.89 MHz /
44.21 MHz
∇ -59.54%
poses: CPose3DQuat.composePoint()32.73 ns /
18.93 ns
Δ 72.91%
30.55 MHz /
52.83 MHz
∇ -42.17%
poses: CPoint3D (-) CPose3DQuat 124.02 ns /
391.26 ns
∇ -68.30%
8.06 MHz /
2.56 MHz
Δ 215.49%
poses: CPose3DQuat.invcomposePoint()30.61 ns /
18.05 ns
Δ 69.53%
32.67 MHz /
55.39 MHz
∇ -41.01%
poses: Conv CPose3DQuat <- CPose3D28.12 ns /
355.00 ns
∇ -92.08%
35.56 MHz /
2.82 MHz
Δ 1162.39%
poses: Conv CPose3D -> CPose3DQuat216.84 ns /
173.19 ns
Δ 25.20%
4.61 MHz /
5.77 MHz
∇ -20.13%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.24 us /
814.76 us
∇ -99.85%
806.40 KHz /
1.23 KHz
Δ 65602.22%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.20 us /
821.91 us
∇ -99.85%
835.55 KHz /
1.22 KHz
Δ 68574.20%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)20.15 us /
9.57 us
Δ 110.54%
49.63 KHz /
104.48 KHz
∇ -52.50%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)817.60 ns /
682.30 ns
Δ 19.83%
1.22 MHz /
1.47 MHz
∇ -16.55%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)823.40 ns /
533.80 ns
Δ 54.25%
1.21 MHz /
1.87 MHz
∇ -35.17%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)19.09 us /
8.51 us
Δ 124.20%
52.39 KHz /
117.45 KHz
∇ -55.40%
matrix: unit, dyn[float], 3x349.67 ns /
20.59 ns
Δ 141.20%
20.13 MHz /
48.56 MHz
∇ -58.54%
matrix: unit, dyn[double], 3x350.90 ns /
22.60 ns
Δ 125.20%
19.64 MHz /
44.24 MHz
∇ -55.59%
matrix: unit, dyn[float], 6x6180.98 ns /
63.92 ns
Δ 183.12%
5.53 MHz /
15.64 MHz
∇ -64.68%
matrix: unit, dyn[double], 6x6177.90 ns /
65.22 ns
Δ 172.78%
5.62 MHz /
15.33 MHz
∇ -63.34%
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 /
1.68 ns
Δ 294.21%
150.81 MHz /
594.53 MHz
∇ -74.63%
matrix: unit, fix[double,6,6]8.86 ns /
2.86 ns
Δ 209.55%
112.91 MHz /
349.53 MHz
∇ -67.70%
matrix: multiply, dyn[float ], 3x3 * 3x3680.28 ns /
73.50 ns
Δ 825.54%
1.47 MHz /
13.61 MHz
∇ -89.20%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
24.10 ns
∇ -100.00%
1.#J THz /
41.49 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3458.35 ns /
72.10 ns
Δ 535.71%
2.18 MHz /
13.87 MHz
∇ -84.27%
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 /
112.90 ns
Δ 502.71%
1.47 MHz /
8.86 MHz
∇ -83.41%
matrix: multiply, fix[float ], 3x6 * 6x335.28 ns /
45.00 ns
∇ -21.60%
28.34 MHz /
22.22 MHz
Δ 27.54%
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 /
45.10 ns
∇ -92.47%
294.39 MHz /
22.17 MHz
Δ 1227.70%
matrix: multiply, dyn[float ], 10x40 * 40x105.18 us /
5.82 us
∇ -10.95%
193.06 KHz /
171.91 KHz
Δ 12.30%
matrix: multiply, fix[float ], 10x40 * 40x104.56 us /
3.57 us
Δ 27.56%
219.44 KHz /
279.91 KHz
∇ -21.60%
matrix: multiply, dyn[double], 10x40 * 40x103.79 us /
5.88 us
∇ -35.58%
263.78 KHz /
169.93 KHz
Δ 55.23%
matrix: multiply, fix[double], 10x40 * 40x102.92 us /
3.82 us
∇ -23.39%
342.06 KHz /
262.04 KHz
Δ 30.54%
matrix: inv, dyn[double] 3x31.50 us /
413.00 ns
Δ 263.87%
665.44 KHz /
2.42 MHz
∇ -72.52%
matrix: inv, fix[double] 3x39.51 ns /
22.00 ns
∇ -56.77%
105.14 MHz /
45.45 MHz
Δ 131.31%
matrix: inv, dyn[double] 6x63.90 us /
1.25 us
Δ 212.54%
256.17 KHz /
800.64 KHz
∇ -68.00%
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 /
28.58 us
Δ 19.62%
29.25 KHz /
34.98 KHz
∇ -16.40%
matrix: inv, fix[double] 20x2029.35 us /
17.20 us
Δ 70.69%
34.07 KHz /
58.15 KHz
∇ -41.41%
matrix: inv, dyn[double] 40x40134.24 us /
200.95 us
∇ -33.20%
7.45 KHz /
4.98 KHz
Δ 49.69%
matrix: inv, fix[double] 40x40126.45 us /
134.50 us
∇ -5.99%
7.91 KHz /
7.43 KHz
Δ 6.37%
matrix: det, dyn[double] 2x2601.74 ns /
8.80 ns
Δ 6737.96%
1.66 MHz /
113.64 MHz
∇ -98.54%
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 /
739.10 ns
Δ 214.43%
430.29 KHz /
1.35 MHz
∇ -68.20%
matrix: det, fix[double] 6x62.17 us /
219.80 ns
Δ 887.75%
460.60 KHz /
4.55 MHz
∇ -89.88%
matrix: det, dyn[double] 20x2023.14 us /
6.52 us
Δ 254.71%
43.22 KHz /
153.32 KHz
∇ -71.81%
matrix: det, fix[double] 20x2021.38 us /
4.73 us
Δ 352.22%
46.78 KHz /
211.54 KHz
∇ -77.89%
matrix: det, dyn[double] 40x4092.83 us /
32.40 us
Δ 186.56%
10.77 KHz /
30.87 KHz
∇ -65.10%
matrix: det, fix[double] 40x4090.97 us /
27.53 us
Δ 230.48%
10.99 KHz /
36.33 KHz
∇ -69.74%
matrix: chol, dyn[double] 4x4892.24 ns /
170.00 ns
Δ 424.85%
1.12 MHz /
5.88 MHz
∇ -80.95%
matrix: chol, fix[double] 4x4249.10 ns /
130.00 ns
Δ 91.62%
4.01 MHz /
7.69 MHz
∇ -47.81%
matrix: chol, dyn[double] 40x4041.12 us /
18.73 us
Δ 119.56%
24.32 KHz /
53.39 KHz
∇ -54.46%
matrix: chol, fix[double] 40x4026.92 us /
16.74 us
Δ 60.79%
37.15 KHz /
59.74 KHz
∇ -37.81%
matrix: chol, sparse [2x2;2x2]15.31 us /
8.50 us
Δ 80.10%
65.32 KHz /
117.65 KHz
∇ -44.48%
matrix: chol, sparse [30x30;10x10]116.85 us /
93.90 us
Δ 24.44%
8.56 KHz /
10.65 KHz
∇ -19.64%
matrix: chol, dyn[double] 10x[6x6]98.96 us /
52.90 us
Δ 87.07%
10.10 KHz /
18.90 KHz
∇ -46.54%
matrix: chol, sparse 10x[6x6]55.18 us /
40.03 us
Δ 37.84%
18.12 KHz /
24.98 KHz
∇ -27.45%
matrix: chol, dyn[double] 20x[6x6]498.07 us /
411.30 us
Δ 21.10%
2.01 KHz /
2.43 KHz
∇ -17.42%
matrix: chol, sparse 20x[6x6]133.40 us /
74.98 us
Δ 77.91%
7.50 KHz /
13.34 KHz
∇ -43.79%
matrix: chol, dyn[double] 50x[6x6]4.99 ms /
8.61 ms
∇ -41.99%
200.30 Hz /
116.18 Hz
Δ 72.40%
matrix: chol, sparse 50x[6x6]243.96 us /
185.35 us
Δ 31.62%
4.10 KHz /
5.40 KHz
∇ -24.02%
matrix: chol, dyn[double] 100x[6x6]30.03 ms /
135.40 ms
∇ -77.82%
33.31 Hz /
7.39 Hz
Δ 350.95%
matrix: chol, sparse 100x[6x6]486.08 us /
359.80 us
Δ 35.10%
2.06 KHz /
2.78 KHz
∇ -25.98%
matrix: chol, dyn[double] 120x[6x6]51.94 ms /
364.32 ms
∇ -85.74%
19.25 Hz /
2.74 Hz
Δ 601.35%
matrix: chol, sparse 120x[6x6]583.78 us /
426.39 us
Δ 36.91%
1.71 KHz /
2.35 KHz
∇ -26.96%
matrix: chol, dyn[double] 140x[6x6]76.91 ms /
800.16 ms
∇ -90.39%
13.00 Hz /
1.25 Hz
Δ 940.45%
matrix: chol, sparse 140x[6x6]649.31 us /
497.60 us
Δ 30.49%
1.54 KHz /
2.01 KHz
∇ -23.36%
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 268.74%
105.00 MHz /
387.19 MHz
∇ -72.88%
gridmap2D: updateCell9.85 ns /
7.47 ns
Δ 31.76%
101.55 MHz /
133.80 MHz
∇ -24.10%
gridmap2D: updateCell_fast_occupied1.47 ns /
0.55 ns
Δ 169.62%
679.40 MHz /
1.83 GHz
∇ -62.91%
gridmap2D: insert scan w/o widening225.20 us /
104.80 us
Δ 114.89%
4.44 KHz /
9.54 KHz
∇ -53.46%
gridmap2D: insert scan with widening365.80 us /
295.32 us
Δ 23.86%
2.73 KHz /
3.39 KHz
∇ -19.27%
gridmap2D: resize2.56 ms /
1.83 ms
Δ 40.44%
389.96 Hz /
547.65 Hz
∇ -28.79%
gridmap2D: computeLikelihood21.14 us /
16.65 us
Δ 26.98%
47.30 KHz /
60.06 KHz
∇ -21.25%
pointmap: insert 100 scans3.27 ms /
3.11 ms
Δ 5.07%
305.75 Hz /
321.23 Hz
∇ -4.82%
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 /
354.96 us
Δ 63.24%
1.73 KHz /
2.82 KHz
∇ -38.74%
pointmap: build 2D kd-tree of 1000 scan6.14 ms /
4.14 ms
Δ 48.38%
162.87 Hz /
241.67 Hz
∇ -32.61%
pointmap: build 3D kd-tree of 1 scan6.68 us /
4.28 us
Δ 56.19%
149.59 KHz /
233.64 KHz
∇ -35.98%
pointmap: build 3D kd-tree of 100 scan519.96 us /
361.24 us
Δ 43.94%
1.92 KHz /
2.77 KHz
∇ -30.53%
pointmap: build 3D kd-tree of 1000 scan6.64 ms /
4.09 ms
Δ 62.37%
150.68 Hz /
244.66 Hz
∇ -38.41%
pointmap: kd-tree 2d query on 10 scans1.95 us /
1.37 us
Δ 42.89%
511.57 KHz /
730.99 KHz
∇ -30.02%
pointmap: kd-tree 2d query on 1000 scans167.14 us /
98.96 us
Δ 68.89%
5.98 KHz /
10.10 KHz
∇ -40.79%
pointmap: kd-tree 2d query on 10000 scans17.45 ms /
11.96 ms
Δ 45.98%
57.30 Hz /
83.64 Hz
∇ -31.50%
pointmap: (insert scan+2D kd-tree query) x 109.11 ms /
5.60 ms
Δ 62.65%
109.75 Hz /
178.50 Hz
∇ -38.52%
pointmap: (insert scan+2D kd-tree query) x 50210.71 ms /
129.56 ms
Δ 62.64%
4.75 Hz /
7.72 Hz
∇ -38.51%
pointmap: (insert scan+3D kd-tree query) x 108.38 ms /
5.65 ms
Δ 48.14%
119.37 Hz /
176.84 Hz
∇ -32.49%
pointmap: (insert scan+3D kd-tree query) x 50198.71 ms /
132.43 ms
Δ 50.06%
5.03 Hz /
7.55 Hz
∇ -33.36%
random: drawUniform32bit7.57 ns /
15.70 ns
∇ -51.78%
132.11 MHz /
63.70 MHz
Δ 107.40%
random: drawUniform7.60 ns /
15.69 ns
∇ -51.56%
131.54 MHz /
63.72 MHz
Δ 106.45%
random: drawGaussian1D_normalized58.48 ns /
70.40 ns
∇ -16.94%
17.10 MHz /
14.20 MHz
Δ 20.39%
random: drawGaussian1D57.62 ns /
70.38 ns
∇ -18.12%
17.35 MHz /
14.21 MHz
Δ 22.13%
random: system rand()29.43 ns /
11.07 ns
Δ 165.94%
33.98 MHz /
90.37 MHz
∇ -62.40%
random: drawGaussianMultivariate(fixed 3x3)2.95 us /
1.33 us
Δ 121.68%
339.21 KHz /
751.96 KHz
∇ -54.89%
random: drawGaussianMultivariate(dyn 3x3)3.53 us /
3.04 us
Δ 16.28%
282.92 KHz /
328.99 KHz
∇ -14.00%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)145.71 ns /
162.81 ns
∇ -10.50%
6.86 MHz /
6.14 MHz
Δ 11.73%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)227.37 ns /
245.58 ns
∇ -7.42%
4.40 MHz /
4.07 MHz
Δ 8.01%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.56 ns /
514.74 ns
∇ -0.04%
1.94 MHz /
1.94 MHz
Δ 0.04%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)170.42 ns /
173.84 ns
∇ -1.97%
5.87 MHz /
5.75 MHz
Δ 2.01%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)283.60 ns /
259.42 ns
Δ 9.32%
3.53 MHz /
3.85 MHz
∇ -8.53%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)661.22 ns /
523.99 ns
Δ 26.19%
1.51 MHz /
1.91 MHz
∇ -20.75%
random: permuteVector (len=10)304.45 ns /
288.60 ns
Δ 5.49%
3.28 MHz /
3.47 MHz
∇ -5.21%
random: permuteVector (len=100)3.47 us /
3.07 us
Δ 12.89%
288.42 KHz /
325.61 KHz
∇ -11.42%
random: permuteVector (len=1000)37.99 us /
30.26 us
Δ 25.54%
26.33 KHz /
33.05 KHz
∇ -20.34%
math: round0.00 ns /
0.10 ns
∇ -100.00%
220.79 THz /
9.77 GHz
Δ 2260156.92%
images: Save as JPEG (640x480, quality=95%)33.06 ms /
31.77 ms
Δ 4.07%
30.25 Hz /
31.48 Hz
∇ -3.91%
images: Save as JPEG (800x600, quality=95%)50.64 ms /
45.70 ms
Δ 10.81%
19.75 Hz /
21.88 Hz
∇ -9.76%
images: Save as JPEG (1024x768, quality=95%)82.66 ms /
73.33 ms
Δ 12.72%
12.10 Hz /
13.64 Hz
∇ -11.28%
images: Save as JPEG (640x480, quality=75%)27.36 ms /
27.15 ms
Δ 0.75%
36.56 Hz /
36.83 Hz
∇ -0.74%
images: Save as JPEG (800x600, quality=75%)43.25 ms /
40.31 ms
Δ 7.30%
23.12 Hz /
24.81 Hz
∇ -6.81%
images: Save as JPEG (1024x768, quality=75%)66.55 ms /
64.44 ms
Δ 3.28%
15.03 Hz /
15.52 Hz
∇ -3.18%
images: Gauss filter (640x480)5.57 ms /
4.52 ms
Δ 23.29%
179.49 Hz /
221.30 Hz
∇ -18.89%
images: Gauss filter (800x600)8.84 ms /
7.35 ms
Δ 20.29%
113.10 Hz /
136.05 Hz
∇ -16.87%
images: Gauss filter (1024x768)14.37 ms /
11.22 ms
Δ 28.11%
69.58 Hz /
89.13 Hz
∇ -21.94%
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 /
6.32 us
Δ 247.57%
45.52 KHz /
158.23 KHz
∇ -71.23%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]22.01 us /
4.78 us
Δ 360.40%
45.44 KHz /
209.21 KHz
∇ -78.28%
scan_matching: 6D LS Rigid Trans. [vector of points]12.71 us /
2.14 us
Δ 493.87%
78.69 KHz /
467.29 KHz
∇ -83.16%
feature_extraction [640x480]: Harris38.32 ms /
28.31 ms
Δ 35.33%
26.10 Hz /
35.32 Hz
∇ -26.11%
feature_extraction [640x480]: KLT37.22 ms /
27.34 ms
Δ 36.12%
26.87 Hz /
36.57 Hz
∇ -26.53%
feature_extraction [640x480]: SIFT739.68 ms /
641.91 ms
Δ 15.23%
1.35 Hz /
1.56 Hz
∇ -13.22%
feature_extraction [640x480]: SIFT desc.232.95 ms /
170.65 ms
Δ 36.50%
4.29 Hz /
5.86 Hz
∇ -26.74%
feature_extraction [640x480]: SURF309.97 ms /
201.21 ms
Δ 54.05%
3.23 Hz /
4.97 Hz
∇ -35.09%
feature_extraction [640x480]: FAST6.88 ms /
5.22 ms
Δ 31.84%
145.25 Hz /
191.49 Hz
∇ -24.15%
feature_extraction [640x480]: Spin desc.88.28 ms /
60.81 ms
Δ 45.18%
11.33 Hz /
16.44 Hz
∇ -31.12%
feature_matching [640x480]: Harris + CC59.68 ms /
43.26 ms
Δ 37.96%
16.76 Hz /
23.12 Hz
∇ -27.52%
feature_matching [640x480]: Harris + SAD58.57 ms /
39.91 ms
Δ 46.75%
17.07 Hz /
25.06 Hz
∇ -31.86%
feature_matching [640x480]: SIFT1.50 sec /
1.28 sec
Δ 17.27%
668.02 mHz /
783.36 mHz
∇ -14.72%
feature_matching [640x480]: SURF621.62 ms /
386.18 ms
Δ 60.97%
1.61 Hz /
2.59 Hz
∇ -37.88%
feature_matching [640x480]: FAST + CC21.69 ms /
16.12 ms
Δ 34.55%
46.10 Hz /
62.03 Hz
∇ -25.68%
feature_matching [640x480]: FAST + SAD12.64 ms /
10.93 ms
Δ 15.58%
79.13 Hz /
91.46 Hz
∇ -13.48%
graph(2d): insertEdge x 1e3301.62 us /
X
3.32 KHz /
X
graph(2d,vec): insertEdge x 1e3298.86 us /
X
3.35 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3274.69 us /
X
3.64 KHz /
X
graph(2d,vec): insertEdgeAtEnd x 1e3270.21 us /
X
3.70 KHz /
X
graph(2d pdf): insertEdge x 1e3415.87 us /
X
2.40 KHz /
X
graph(2d pdf,vec): insertEdge x 1e3406.59 us /
X
2.46 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3377.54 us /
X
2.65 KHz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e3379.45 us /
X
2.64 KHz /
X
graph(2d): insertEdge x 1e44.14 ms /
X
241.59 Hz /
X
graph(2d,vec): insertEdge x 1e44.00 ms /
X
250.06 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.94 ms /
X
339.77 Hz /
X
graph(2d,vec): insertEdgeAtEnd x 1e42.89 ms /
X
345.69 Hz /
X
graph(2d pdf): insertEdge x 1e44.77 ms /
X
209.57 Hz /
X
graph(2d pdf,vec): insertEdge x 1e44.86 ms /
X
205.59 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.05 ms /
X
246.64 Hz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.21 ms /
X
237.52 Hz /
X
graph(3d): insertEdge x 1e3381.69 us /
X
2.62 KHz /
X
graph(3d,vec): insertEdge x 1e3407.21 us /
X
2.46 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3339.57 us /
X
2.94 KHz /
X
graph(3d,vec): insertEdgeAtEnd x 1e3334.55 us /
X
2.99 KHz /
X
graph(3d pdf): insertEdge x 1e3688.91 us /
X
1.45 KHz /
X
graph(3d pdf,vec): insertEdge x 1e3684.69 us /
X
1.46 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3683.24 us /
X
1.46 KHz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e3684.37 us /
X
1.46 KHz /
X
graph(3d): insertEdge x 1e43.89 ms /
X
257.39 Hz /
X
graph(3d,vec): insertEdge x 1e43.79 ms /
X
263.81 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.59 ms /
X
278.91 Hz /
X
graph(3d,vec): insertEdgeAtEnd x 1e43.52 ms /
X
284.28 Hz /
X
graph(3d pdf): insertEdge x 1e47.80 ms /
X
128.15 Hz /
X
graph(3d pdf,vec): insertEdge x 1e47.81 ms /
X
128.11 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.49 ms /
X
133.45 Hz /
X
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 2011/06/03,22:26:38.063439 with MRPT 0.9.4 by 'mrpt-performance'.