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




Test description 0.9.4-MSVC10-64bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset26.54 ms /
21.60 ms
Δ 22.89%
37.68 Hz /
46.30 Hz
∇ -18.62%
icp-slam (match grid): Run with sample dataset32.17 ms /
20.51 ms
Δ 56.84%
31.08 Hz /
48.75 Hz
∇ -36.24%
poses: CPose3D (+) CPose3D62.83 ns /
449.02 ns
∇ -86.01%
15.92 MHz /
2.23 MHz
Δ 614.68%
poses: CPose3D.composeFrom()41.42 ns /
233.83 ns
∇ -82.29%
24.14 MHz /
4.28 MHz
Δ 464.55%
poses: CPose3D (+) CPoint3D18.89 ns /
10.67 ns
Δ 77.10%
52.94 MHz /
93.76 MHz
∇ -43.53%
poses: CPose3D.composePoint()17.17 ns /
10.06 ns
Δ 70.69%
58.23 MHz /
99.38 MHz
∇ -41.41%
poses: CPoint3D (-) CPose3D88.79 ns /
37.71 ns
Δ 135.46%
11.26 MHz /
26.52 MHz
∇ -57.53%
poses: CPose3D.inverseComposePoint()44.00 ns /
40.98 ns
Δ 7.38%
22.73 MHz /
24.40 MHz
∇ -6.87%
poses: CPose2D (+) CPose2D72.08 ns /
78.17 ns
∇ -7.79%
13.87 MHz /
12.79 MHz
Δ 8.45%
poses: CPose2D.composeFrom()63.27 ns /
62.17 ns
Δ 1.77%
15.81 MHz /
16.08 MHz
∇ -1.73%
poses: CPose2D (+) CPoint2D34.42 ns /
63.86 ns
∇ -46.11%
29.05 MHz /
15.66 MHz
Δ 85.55%
poses: CPose2D.composePoint()26.02 ns /
61.98 ns
∇ -58.01%
38.43 MHz /
16.13 MHz
Δ 138.17%
poses: CPose3DQuat (+) CPose3DQuat113.59 ns /
47.00 ns
Δ 141.68%
8.80 MHz /
21.28 MHz
∇ -58.62%
poses: CPose3DQuat.composeFrom()82.72 ns /
39.80 ns
Δ 107.83%
12.09 MHz /
25.13 MHz
∇ -51.88%
poses: CPose3DQuat (+) CPoint3D41.33 ns /
22.62 ns
Δ 82.70%
24.20 MHz /
44.21 MHz
∇ -45.27%
poses: CPose3DQuat.composePoint()31.13 ns /
18.93 ns
Δ 64.46%
32.12 MHz /
52.83 MHz
∇ -39.19%
poses: CPoint3D (-) CPose3DQuat 113.89 ns /
391.26 ns
∇ -70.89%
8.78 MHz /
2.56 MHz
Δ 243.54%
poses: CPose3DQuat.invcomposePoint()33.95 ns /
18.05 ns
Δ 88.03%
29.46 MHz /
55.39 MHz
∇ -46.82%
poses: Conv CPose3DQuat <- CPose3D26.44 ns /
355.00 ns
∇ -92.55%
37.82 MHz /
2.82 MHz
Δ 1242.47%
poses: Conv CPose3D -> CPose3DQuat97.31 ns /
173.19 ns
∇ -43.81%
10.28 MHz /
5.77 MHz
Δ 77.98%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)948.85 ns /
814.76 us
∇ -99.88%
1.05 MHz /
1.23 KHz
Δ 85767.62%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)938.66 ns /
821.91 us
∇ -99.89%
1.07 MHz /
1.22 KHz
Δ 87461.67%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)21.21 us /
9.57 us
Δ 121.60%
47.15 KHz /
104.48 KHz
∇ -54.87%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)532.44 ns /
682.30 ns
∇ -21.96%
1.88 MHz /
1.47 MHz
Δ 28.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)528.23 ns /
533.80 ns
∇ -1.04%
1.89 MHz /
1.87 MHz
Δ 1.05%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)11.19 us /
8.51 us
Δ 31.45%
89.35 KHz /
117.45 KHz
∇ -23.92%
matrix: unit, dyn[float], 3x345.20 ns /
20.59 ns
Δ 119.49%
22.13 MHz /
48.56 MHz
∇ -54.44%
matrix: unit, dyn[double], 3x345.86 ns /
22.60 ns
Δ 102.87%
21.81 MHz /
44.24 MHz
∇ -50.71%
matrix: unit, dyn[float], 6x6177.43 ns /
63.92 ns
Δ 177.57%
5.64 MHz /
15.64 MHz
∇ -63.97%
matrix: unit, dyn[double], 6x6169.52 ns /
65.22 ns
Δ 159.93%
5.90 MHz /
15.33 MHz
∇ -61.53%
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]6.37 ns /
1.68 ns
Δ 278.54%
157.06 MHz /
594.53 MHz
∇ -73.58%
matrix: unit, fix[double,6,6]7.86 ns /
2.86 ns
Δ 174.80%
127.19 MHz /
349.53 MHz
∇ -63.61%
matrix: multiply, dyn[float ], 3x3 * 3x3485.93 ns /
73.50 ns
Δ 561.13%
2.06 MHz /
13.61 MHz
∇ -84.87%
matrix: multiply, fix[float ], 3x3 * 3x30.05 ns /
24.10 ns
∇ -99.81%
22.08 GHz /
41.49 MHz
Δ 53111.09%
matrix: multiply, dyn[double], 3x3 * 3x3528.41 ns /
72.10 ns
Δ 632.89%
1.89 MHz /
13.87 MHz
∇ -86.36%
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 * 6x3547.16 ns /
112.90 ns
Δ 384.65%
1.83 MHz /
8.86 MHz
∇ -79.37%
matrix: multiply, fix[float ], 3x6 * 6x32.36 ns /
45.00 ns
∇ -94.77%
424.60 MHz /
22.22 MHz
Δ 1810.71%
matrix: multiply, dyn[double], 3x6 * 6x3391.50 ns /
110.50 ns
Δ 254.30%
2.55 MHz /
9.05 MHz
∇ -71.78%
matrix: multiply, fix[double], 3x6 * 6x32.36 ns /
45.10 ns
∇ -94.78%
424.60 MHz /
22.17 MHz
Δ 1814.95%
matrix: multiply, dyn[float ], 10x40 * 40x102.74 us /
5.82 us
∇ -52.84%
364.51 KHz /
171.91 KHz
Δ 112.03%
matrix: multiply, fix[float ], 10x40 * 40x102.08 us /
3.57 us
∇ -41.67%
479.89 KHz /
279.91 KHz
Δ 71.45%
matrix: multiply, dyn[double], 10x40 * 40x103.47 us /
5.88 us
∇ -41.11%
288.55 KHz /
169.93 KHz
Δ 69.80%
matrix: multiply, fix[double], 10x40 * 40x102.38 us /
3.82 us
∇ -37.54%
419.56 KHz /
262.04 KHz
Δ 60.11%
matrix: inv, dyn[double] 3x31.09 us /
413.00 ns
Δ 162.87%
921.12 KHz /
2.42 MHz
∇ -61.96%
matrix: inv, fix[double] 3x322.19 ns /
22.00 ns
Δ 0.88%
45.06 MHz /
45.45 MHz
∇ -0.87%
matrix: inv, dyn[double] 6x62.78 us /
1.25 us
Δ 122.61%
359.66 KHz /
800.64 KHz
∇ -55.08%
matrix: inv, fix[double] 6x62.22 us /
578.00 ns
Δ 284.27%
450.23 KHz /
1.73 MHz
∇ -73.98%
matrix: inv, dyn[double] 20x2030.71 us /
28.58 us
Δ 7.45%
32.56 KHz /
34.98 KHz
∇ -6.93%
matrix: inv, fix[double] 20x2024.08 us /
17.20 us
Δ 40.01%
41.53 KHz /
58.15 KHz
∇ -28.58%
matrix: inv, dyn[double] 40x40117.18 us /
200.95 us
∇ -41.69%
8.53 KHz /
4.98 KHz
Δ 71.49%
matrix: inv, fix[double] 40x40112.80 us /
134.50 us
∇ -16.13%
8.86 KHz /
7.43 KHz
Δ 19.24%
matrix: det, dyn[double] 2x2765.51 ns /
8.80 ns
Δ 8599.02%
1.31 MHz /
113.64 MHz
∇ -98.85%
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 /
10.30 ns
Δ 7883.58%
1.22 MHz /
97.09 MHz
∇ -98.75%
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 /
739.10 ns
Δ 141.40%
560.47 KHz /
1.35 MHz
∇ -58.58%
matrix: det, fix[double] 6x61.51 us /
219.80 ns
Δ 587.92%
661.35 KHz /
4.55 MHz
∇ -85.46%
matrix: det, dyn[double] 20x2018.54 us /
6.52 us
Δ 184.22%
53.94 KHz /
153.32 KHz
∇ -64.82%
matrix: det, fix[double] 20x2019.01 us /
4.73 us
Δ 302.10%
52.61 KHz /
211.54 KHz
∇ -75.13%
matrix: det, dyn[double] 40x4072.40 us /
32.40 us
Δ 123.48%
13.81 KHz /
30.87 KHz
∇ -55.25%
matrix: det, fix[double] 40x4067.43 us /
27.53 us
Δ 144.96%
14.83 KHz /
36.33 KHz
∇ -59.18%
matrix: chol, dyn[double] 4x4606.90 ns /
170.00 ns
Δ 257.00%
1.65 MHz /
5.88 MHz
∇ -71.99%
matrix: chol, fix[double] 4x4190.22 ns /
130.00 ns
Δ 46.33%
5.26 MHz /
7.69 MHz
∇ -31.66%
matrix: chol, dyn[double] 40x4031.59 us /
18.73 us
Δ 68.64%
31.66 KHz /
53.39 KHz
∇ -40.70%
matrix: chol, fix[double] 40x4020.87 us /
16.74 us
Δ 24.65%
47.93 KHz /
59.74 KHz
∇ -19.77%
matrix: chol, sparse [2x2;2x2]7.11 us /
8.50 us
∇ -16.34%
140.63 KHz /
117.65 KHz
Δ 19.54%
matrix: chol, sparse [30x30;10x10]94.75 us /
93.90 us
Δ 0.90%
10.55 KHz /
10.65 KHz
∇ -0.90%
matrix: chol, dyn[double] 10x[6x6]75.59 us /
52.90 us
Δ 42.89%
13.23 KHz /
18.90 KHz
∇ -30.02%
matrix: chol, sparse 10x[6x6]43.20 us /
40.03 us
Δ 7.93%
23.15 KHz /
24.98 KHz
∇ -7.35%
matrix: chol, dyn[double] 20x[6x6]453.46 us /
411.30 us
Δ 10.25%
2.21 KHz /
2.43 KHz
∇ -9.30%
matrix: chol, sparse 20x[6x6]74.00 us /
74.98 us
∇ -1.31%
13.51 KHz /
13.34 KHz
Δ 1.32%
matrix: chol, dyn[double] 50x[6x6]3.54 ms /
8.61 ms
∇ -58.83%
282.19 Hz /
116.18 Hz
Δ 142.89%
matrix: chol, sparse 50x[6x6]178.69 us /
185.35 us
∇ -3.59%
5.60 KHz /
5.40 KHz
Δ 3.73%
matrix: chol, dyn[double] 100x[6x6]22.29 ms /
135.40 ms
∇ -83.54%
44.87 Hz /
7.39 Hz
Δ 507.56%
matrix: chol, sparse 100x[6x6]359.36 us /
359.80 us
∇ -0.12%
2.78 KHz /
2.78 KHz
Δ 0.12%
matrix: chol, dyn[double] 120x[6x6]36.29 ms /
364.32 ms
∇ -90.04%
27.56 Hz /
2.74 Hz
Δ 904.00%
matrix: chol, sparse 120x[6x6]411.86 us /
426.39 us
∇ -3.41%
2.43 KHz /
2.35 KHz
Δ 3.53%
matrix: chol, dyn[double] 140x[6x6]54.34 ms /
800.16 ms
∇ -93.21%
18.40 Hz /
1.25 Hz
Δ 1372.44%
matrix: chol, sparse 140x[6x6]488.10 us /
497.60 us
∇ -1.91%
2.05 KHz /
2.01 KHz
Δ 1.95%
gridmap2D: getCell4.13 ns /
0.00 ns
Δ 1.#J%
242.07 MHz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell5.65 ns /
2.58 ns
Δ 118.57%
177.14 MHz /
387.19 MHz
∇ -54.25%
gridmap2D: updateCell6.93 ns /
7.47 ns
∇ -7.31%
144.35 MHz /
133.80 MHz
Δ 7.88%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 119.80%
833.40 MHz /
1.83 GHz
∇ -54.50%
gridmap2D: insert scan w/o widening102.16 us /
104.80 us
∇ -2.52%
9.79 KHz /
9.54 KHz
Δ 2.58%
gridmap2D: insert scan with widening276.88 us /
295.32 us
∇ -6.25%
3.61 KHz /
3.39 KHz
Δ 6.66%
gridmap2D: resize3.89 ms /
1.83 ms
Δ 113.04%
257.06 Hz /
547.65 Hz
∇ -53.06%
gridmap2D: computeLikelihood13.92 us /
16.65 us
∇ -16.40%
71.84 KHz /
60.06 KHz
Δ 19.61%
pointmap: insert 100 scans1.87 ms /
3.11 ms
∇ -39.87%
534.24 Hz /
321.23 Hz
Δ 66.31%
pointmap: build 2D kd-tree of 1 scan5.09 us /
4.28 us
Δ 18.94%
196.43 KHz /
233.64 KHz
∇ -15.93%
pointmap: build 2D kd-tree of 100 scan486.39 us /
354.96 us
Δ 37.03%
2.06 KHz /
2.82 KHz
∇ -27.02%
pointmap: build 2D kd-tree of 1000 scan5.10 ms /
4.14 ms
Δ 23.18%
196.20 Hz /
241.67 Hz
∇ -18.82%
pointmap: build 3D kd-tree of 1 scan5.56 us /
4.28 us
Δ 29.95%
179.80 KHz /
233.64 KHz
∇ -23.05%
pointmap: build 3D kd-tree of 100 scan467.24 us /
361.24 us
Δ 29.34%
2.14 KHz /
2.77 KHz
∇ -22.69%
pointmap: build 3D kd-tree of 1000 scan5.18 ms /
4.09 ms
Δ 26.78%
192.98 Hz /
244.66 Hz
∇ -21.12%
pointmap: kd-tree 2d query on 10 scans1.59 us /
1.37 us
Δ 16.54%
627.25 KHz /
730.99 KHz
∇ -14.19%
pointmap: kd-tree 2d query on 1000 scans126.68 us /
98.96 us
Δ 28.00%
7.89 KHz /
10.10 KHz
∇ -21.88%
pointmap: kd-tree 2d query on 10000 scans13.86 ms /
11.96 ms
Δ 15.94%
72.14 Hz /
83.64 Hz
∇ -13.75%
pointmap: (insert scan+2D kd-tree query) x 106.54 ms /
5.60 ms
Δ 16.81%
152.81 Hz /
178.50 Hz
∇ -14.39%
pointmap: (insert scan+2D kd-tree query) x 50174.77 ms /
129.56 ms
Δ 34.89%
5.72 Hz /
7.72 Hz
∇ -25.87%
pointmap: (insert scan+3D kd-tree query) x 106.88 ms /
5.65 ms
Δ 21.72%
145.28 Hz /
176.84 Hz
∇ -17.84%
pointmap: (insert scan+3D kd-tree query) x 50181.38 ms /
132.43 ms
Δ 36.96%
5.51 Hz /
7.55 Hz
∇ -26.99%
random: drawUniform32bit9.54 ns /
15.70 ns
∇ -39.26%
104.87 MHz /
63.70 MHz
Δ 64.64%
random: drawUniform9.69 ns /
15.69 ns
∇ -38.26%
103.21 MHz /
63.72 MHz
Δ 61.98%
random: drawGaussian1D_normalized52.06 ns /
70.40 ns
∇ -26.05%
19.21 MHz /
14.20 MHz
Δ 35.22%
random: drawGaussian1D50.73 ns /
70.38 ns
∇ -27.91%
19.71 MHz /
14.21 MHz
Δ 38.72%
random: system rand()24.47 ns /
11.07 ns
Δ 121.12%
40.87 MHz /
90.37 MHz
∇ -54.78%
random: drawGaussianMultivariate(fixed 3x3)1.24 us /
1.33 us
∇ -6.61%
805.20 KHz /
751.96 KHz
Δ 7.08%
random: drawGaussianMultivariate(dyn 3x3)3.19 us /
3.04 us
Δ 4.88%
313.70 KHz /
328.99 KHz
∇ -4.65%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)130.03 ns /
162.81 ns
∇ -20.14%
7.69 MHz /
6.14 MHz
Δ 25.21%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)198.35 ns /
245.58 ns
∇ -19.23%
5.04 MHz /
4.07 MHz
Δ 23.81%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)451.66 ns /
514.74 ns
∇ -12.25%
2.21 MHz /
1.94 MHz
Δ 13.96%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)136.92 ns /
173.84 ns
∇ -21.23%
7.30 MHz /
5.75 MHz
Δ 26.96%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)213.52 ns /
259.42 ns
∇ -17.70%
4.68 MHz /
3.85 MHz
Δ 21.50%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)478.55 ns /
523.99 ns
∇ -8.67%
2.09 MHz /
1.91 MHz
Δ 9.49%
random: permuteVector (len=10)244.07 ns /
288.60 ns
∇ -15.43%
4.10 MHz /
3.47 MHz
Δ 18.24%
random: permuteVector (len=100)3.12 us /
3.07 us
Δ 1.72%
320.11 KHz /
325.61 KHz
∇ -1.69%
random: permuteVector (len=1000)30.82 us /
30.26 us
Δ 1.87%
32.44 KHz /
33.05 KHz
∇ -1.84%
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%)29.87 ms /
31.77 ms
∇ -5.97%
33.48 Hz /
31.48 Hz
Δ 6.35%
images: Save as JPEG (800x600, quality=95%)42.98 ms /
45.70 ms
∇ -5.94%
23.26 Hz /
21.88 Hz
Δ 6.31%
images: Save as JPEG (1024x768, quality=95%)69.03 ms /
73.33 ms
∇ -5.87%
14.49 Hz /
13.64 Hz
Δ 6.24%
images: Save as JPEG (640x480, quality=75%)22.86 ms /
27.15 ms
∇ -15.82%
43.75 Hz /
36.83 Hz
Δ 18.80%
images: Save as JPEG (800x600, quality=75%)35.20 ms /
40.31 ms
∇ -12.67%
28.41 Hz /
24.81 Hz
Δ 14.50%
images: Save as JPEG (1024x768, quality=75%)57.29 ms /
64.44 ms
∇ -11.09%
17.45 Hz /
15.52 Hz
Δ 12.47%
images: Gauss filter (640x480)4.45 ms /
4.52 ms
∇ -1.52%
224.70 Hz /
221.30 Hz
Δ 1.54%
images: Gauss filter (800x600)8.06 ms /
7.35 ms
Δ 9.59%
124.15 Hz /
136.05 Hz
∇ -8.75%
images: Gauss filter (1024x768)13.86 ms /
11.22 ms
Δ 23.52%
72.16 Hz /
89.13 Hz
∇ -19.04%
images: Half sample GRAY (160x120)1.32 us /
X
755.28 KHz /
X
images: Half sample GRAY (320x240)4.41 us /
X
226.69 KHz /
X
images: Half sample GRAY (640x480)18.51 us /
X
54.02 KHz /
X
images: Half sample GRAY (800x600)29.74 us /
X
33.62 KHz /
X
images: Half sample GRAY (1024x768)52.65 us /
X
18.99 KHz /
X
images: Half sample GRAY (1280x1024)107.42 us /
X
9.31 KHz /
X
images: Half sample RGB (160x120)9.33 us /
X
107.15 KHz /
X
images: Half sample RGB (320x240)11.01 us /
X
90.82 KHz /
X
images: Half sample RGB (640x480)53.51 us /
X
18.69 KHz /
X
images: Half sample RGB (800x600)126.28 us /
X
7.92 KHz /
X
images: Half sample RGB (1024x768)248.04 us /
X
4.03 KHz /
X
images: Half sample RGB (1280x1024)667.92 us /
X
1.50 KHz /
X
images: Half sample smooth GRAY (160x120)1.83 us /
X
546.97 KHz /
X
images: Half sample smooth GRAY (320x240)6.09 us /
X
164.16 KHz /
X
images: Half sample smooth GRAY (640x480)28.72 us /
X
34.81 KHz /
X
images: Half sample smooth GRAY (800x600)44.06 us /
X
22.70 KHz /
X
images: Half sample smooth GRAY (1024x768)78.59 us /
X
12.72 KHz /
X
images: Half sample smooth GRAY (1280x1024)168.62 us /
X
5.93 KHz /
X
images: Half sample smooth RGB (160x120)88.54 us /
X
11.29 KHz /
X
images: Half sample smooth RGB (320x240)381.77 us /
X
2.62 KHz /
X
images: Half sample smooth RGB (640x480)1.50 ms /
X
665.62 Hz /
X
images: Half sample smooth RGB (800x600)2.40 ms /
X
417.30 Hz /
X
images: Half sample smooth RGB (1024x768)3.77 ms /
X
265.35 Hz /
X
images: Half sample smooth RGB (1280x1024)6.50 ms /
X
153.82 Hz /
X
images: RGB->GRAY 8u (40x30)3.88 us /
X
257.84 KHz /
X
images: RGB->GRAY 8u (80x60)2.89 us /
X
345.89 KHz /
X
images: RGB->GRAY 8u (160x120)10.09 us /
X
99.10 KHz /
X
images: RGB->GRAY 8u (320x240)39.97 us /
X
25.02 KHz /
X
images: RGB->GRAY 8u (640x480)172.29 us /
X
5.80 KHz /
X
images: RGB->GRAY 8u (800x600)303.41 us /
X
3.30 KHz /
X
images: RGB->GRAY 8u (1024x768)645.96 us /
X
1.55 KHz /
X
images: RGB->GRAY 8u (1280x1024)1.76 ms /
X
569.41 Hz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]17.29 us /
6.32 us
Δ 173.54%
57.84 KHz /
158.23 KHz
∇ -63.44%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]16.49 us /
4.78 us
Δ 244.90%
60.66 KHz /
209.21 KHz
∇ -71.01%
scan_matching: 6D LS Rigid Trans. [vector of points]9.72 us /
2.14 us
Δ 354.18%
102.89 KHz /
467.29 KHz
∇ -77.98%
feature_extraction [640x480]: Harris31.46 ms /
28.31 ms
Δ 11.11%
31.79 Hz /
35.32 Hz
∇ -10.00%
feature_extraction [640x480]: KLT30.94 ms /
27.34 ms
Δ 13.18%
32.32 Hz /
36.57 Hz
∇ -11.64%
feature_extraction [640x480]: SIFT653.53 ms /
641.91 ms
Δ 1.81%
1.53 Hz /
1.56 Hz
∇ -1.78%
feature_extraction [640x480]: SIFT desc.210.38 ms /
170.65 ms
Δ 23.28%
4.75 Hz /
5.86 Hz
∇ -18.88%
feature_extraction [640x480]: SURF243.66 ms /
201.21 ms
Δ 21.10%
4.10 Hz /
4.97 Hz
∇ -17.42%
feature_extraction [640x480]: FAST6.32 ms /
5.22 ms
Δ 21.05%
158.19 Hz /
191.49 Hz
∇ -17.39%
feature_extraction [640x480]: Spin desc.45.12 ms /
60.81 ms
∇ -25.80%
22.16 Hz /
16.44 Hz
Δ 34.78%
feature_matching [640x480]: Harris + CC46.60 ms /
43.26 ms
Δ 7.71%
21.46 Hz /
23.12 Hz
∇ -7.16%
feature_matching [640x480]: Harris + SAD40.89 ms /
39.91 ms
Δ 2.45%
24.46 Hz /
25.06 Hz
∇ -2.39%
feature_matching [640x480]: SIFT1.28 sec /
1.28 sec
Δ 0.59%
778.73 mHz /
783.36 mHz
∇ -0.59%
feature_matching [640x480]: SURF502.54 ms /
386.18 ms
Δ 30.13%
1.99 Hz /
2.59 Hz
∇ -23.16%
feature_matching [640x480]: FAST + CC19.71 ms /
16.12 ms
Δ 22.25%
50.74 Hz /
62.03 Hz
∇ -18.20%
feature_matching [640x480]: FAST + SAD13.01 ms /
10.93 ms
Δ 18.99%
76.86 Hz /
91.46 Hz
∇ -15.96%
graph(2d): insertEdge x 1e3236.53 us /
X
4.23 KHz /
X
graph(2d,vec): insertEdge x 1e3246.73 us /
X
4.05 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3218.81 us /
X
4.57 KHz /
X
graph(2d,vec): insertEdgeAtEnd x 1e3209.21 us /
X
4.78 KHz /
X
graph(2d pdf): insertEdge x 1e3329.87 us /
X
3.03 KHz /
X
graph(2d pdf,vec): insertEdge x 1e3303.60 us /
X
3.29 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3280.10 us /
X
3.57 KHz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e3284.27 us /
X
3.52 KHz /
X
graph(2d): insertEdge x 1e42.72 ms /
X
367.00 Hz /
X
graph(2d,vec): insertEdge x 1e42.73 ms /
X
366.67 Hz /
X
graph(2d): insertEdgeAtEnd x 1e41.95 ms /
X
512.34 Hz /
X
graph(2d,vec): insertEdgeAtEnd x 1e41.92 ms /
X
519.87 Hz /
X
graph(2d pdf): insertEdge x 1e43.21 ms /
X
311.68 Hz /
X
graph(2d pdf,vec): insertEdge x 1e43.24 ms /
X
308.83 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e43.23 ms /
X
309.95 Hz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e43.17 ms /
X
314.97 Hz /
X
graph(3d): insertEdge x 1e3274.22 us /
X
3.65 KHz /
X
graph(3d,vec): insertEdge x 1e3264.66 us /
X
3.78 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3263.97 us /
X
3.79 KHz /
X
graph(3d,vec): insertEdgeAtEnd x 1e3267.33 us /
X
3.74 KHz /
X
graph(3d pdf): insertEdge x 1e3589.01 us /
X
1.70 KHz /
X
graph(3d pdf,vec): insertEdge x 1e3596.64 us /
X
1.68 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3562.97 us /
X
1.78 KHz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e3559.03 us /
X
1.79 KHz /
X
graph(3d): insertEdge x 1e43.23 ms /
X
309.17 Hz /
X
graph(3d,vec): insertEdge x 1e43.13 ms /
X
319.30 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.62 ms /
X
381.66 Hz /
X
graph(3d,vec): insertEdgeAtEnd x 1e42.55 ms /
X
392.76 Hz /
X
graph(3d pdf): insertEdge x 1e46.11 ms /
X
163.57 Hz /
X
graph(3d pdf,vec): insertEdge x 1e45.61 ms /
X
178.36 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.21 ms /
X
192.01 Hz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.18 ms /
X
192.88 Hz /
X
graph(3d): dijkstra 1e2 nodes156.43 us /
X
6.39 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes192.33 us /
X
5.20 KHz /
X
graph(3d): dijkstra 1e3 nodes2.18 ms /
X
459.11 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes1.80 ms /
X
555.25 Hz /
X
graph(3d): dijkstra 1e4 nodes26.67 ms /
X
37.50 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes22.83 ms /
X
43.80 Hz /
X
graph(3d): dijkstra 1e5 nodes307.16 ms /
X
3.26 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes266.80 ms /
X
3.75 Hz /
X
graph(2d): dijkstra 1e5 nodes302.10 ms /
X
3.31 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes262.78 ms /
X
3.81 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:37.792423 with MRPT 0.9.4 by 'mrpt-performance'.