Comparison: 0.9.2-MSVC9-32bit vs. 0.9.1-MSVC9-32bit




Test description 0.9.2-MSVC9-32bit /
0.9.1-MSVC9-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset30.39 ms /
31.78 ms
∇ -4.37%
32.90 Hz /
31.46 Hz
Δ 4.57%
icp-slam (match grid): Run with sample dataset52.58 ms /
53.70 ms
∇ -2.09%
19.02 Hz /
18.62 Hz
Δ 2.14%
poses: CPose3D (+) CPose3D264.70 ns /
925.38 ns
∇ -71.40%
3.78 MHz /
1.08 MHz
Δ 249.59%
poses: CPose3D.composeFrom()98.01 ns /
617.00 ns
∇ -84.12%
10.20 MHz /
1.62 MHz
Δ 529.56%
poses: CPose3D (+) CPoint3D27.86 ns /
35.98 ns
∇ -22.55%
35.89 MHz /
27.80 MHz
Δ 29.12%
poses: CPose3D.composePoint()19.17 ns /
14.62 ns
Δ 31.18%
52.16 MHz /
68.42 MHz
∇ -23.77%
poses: CPoint3D (-) CPose3D51.66 ns /
75.43 ns
∇ -31.52%
19.36 MHz /
13.26 MHz
Δ 46.02%
poses: CPose3D.inverseComposePoint()46.91 ns /
56.48 ns
∇ -16.94%
21.32 MHz /
17.70 MHz
Δ 20.40%
poses: CPose2D (+) CPose2D99.28 ns /
121.60 ns
∇ -18.36%
10.07 MHz /
8.22 MHz
Δ 22.48%
poses: CPose2D.composeFrom()89.67 ns /
66.63 ns
Δ 34.59%
11.15 MHz /
15.01 MHz
∇ -25.70%
poses: CPose2D (+) CPoint2D82.07 ns /
93.73 ns
∇ -12.44%
12.18 MHz /
10.67 MHz
Δ 14.21%
poses: CPose2D.composePoint()64.58 ns /
62.24 ns
Δ 3.76%
15.49 MHz /
16.07 MHz
∇ -3.62%
poses: CPose3DQuat (+) CPose3DQuat87.19 ns /
100.74 ns
∇ -13.45%
11.47 MHz /
9.93 MHz
Δ 15.54%
poses: CPose3DQuat.composeFrom()57.14 ns /
57.92 ns
∇ -1.35%
17.50 MHz /
17.26 MHz
Δ 1.36%
poses: CPose3DQuat (+) CPoint3D48.22 ns /
61.33 ns
∇ -21.37%
20.74 MHz /
16.31 MHz
Δ 27.18%
poses: CPose3DQuat.composePoint()29.64 ns /
27.34 ns
Δ 8.40%
33.74 MHz /
36.57 MHz
∇ -7.75%
poses: CPoint3D (-) CPose3DQuat 84.32 ns /
580.67 ns
∇ -85.48%
11.86 MHz /
1.72 MHz
Δ 588.67%
poses: CPose3DQuat.invcomposePoint()30.72 ns /
28.18 ns
Δ 9.01%
32.55 MHz /
35.48 MHz
∇ -8.26%
poses: Conv CPose3DQuat <- CPose3D33.02 ns /
506.67 ns
∇ -93.48%
30.29 MHz /
1.97 MHz
Δ 1434.47%
poses: Conv CPose3D -> CPose3DQuat206.69 ns /
214.86 ns
∇ -3.80%
4.84 MHz /
4.65 MHz
Δ 3.95%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.35 us /
1.56 us
∇ -13.08%
739.68 KHz /
642.96 KHz
Δ 15.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.40 us /
1.51 us
∇ -6.78%
712.12 KHz /
663.83 KHz
Δ 7.27%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.15 us /
23.29 us
∇ -0.61%
43.20 KHz /
42.94 KHz
Δ 0.61%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.62 us /
1.64 us
∇ -1.17%
617.00 KHz /
609.77 KHz
Δ 1.19%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.63 us /
1.66 us
∇ -2.09%
613.67 KHz /
600.84 KHz
Δ 2.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)15.82 us /
16.05 us
∇ -1.41%
63.21 KHz /
62.32 KHz
Δ 1.43%
matrix: unit, dyn[float], 3x338.75 ns /
39.66 ns
∇ -2.29%
25.81 MHz /
25.22 MHz
Δ 2.35%
matrix: unit, dyn[double], 3x338.69 ns /
42.75 ns
∇ -9.48%
25.85 MHz /
23.39 MHz
Δ 10.48%
matrix: unit, dyn[float], 6x6163.36 ns /
152.29 ns
Δ 7.27%
6.12 MHz /
6.57 MHz
∇ -6.78%
matrix: unit, dyn[double], 6x6213.06 ns /
150.45 ns
Δ 41.61%
4.69 MHz /
6.65 MHz
∇ -29.38%
matrix: unit, fix[float,3,3]3.56 ns /
3.30 ns
Δ 8.05%
280.77 MHz /
303.37 MHz
∇ -7.45%
matrix: unit, fix[double,3,3]3.29 ns /
3.48 ns
∇ -5.46%
304.17 MHz /
287.56 MHz
Δ 5.77%
matrix: unit, fix[float,6,6]2.77 ns /
3.06 ns
∇ -9.35%
360.95 MHz /
327.19 MHz
Δ 10.32%
matrix: unit, fix[double,6,6]6.07 ns /
6.65 ns
∇ -8.68%
164.80 MHz /
150.48 MHz
Δ 9.51%
matrix: multiply, dyn[float ], 3x3 * 3x3168.66 ns /
167.81 ns
Δ 0.51%
5.93 MHz /
5.96 MHz
∇ -0.51%
matrix: multiply, fix[float ], 3x3 * 3x3109.47 ns /
108.61 ns
Δ 0.79%
9.14 MHz /
9.21 MHz
∇ -0.78%
matrix: multiply, dyn[double], 3x3 * 3x3159.15 ns /
158.88 ns
Δ 0.17%
6.28 MHz /
6.29 MHz
∇ -0.17%
matrix: multiply, fix[double], 3x3 * 3x387.59 ns /
90.86 ns
∇ -3.59%
11.42 MHz /
11.01 MHz
Δ 3.72%
matrix: multiply, dyn[float ], 3x6 * 6x3272.34 ns /
272.47 ns
∇ -0.05%
3.67 MHz /
3.67 MHz
Δ 0.05%
matrix: multiply, fix[float ], 3x6 * 6x3190.04 ns /
193.12 ns
∇ -1.60%
5.26 MHz /
5.18 MHz
Δ 1.62%
matrix: multiply, dyn[double], 3x6 * 6x3245.84 ns /
238.91 ns
Δ 2.90%
4.07 MHz /
4.19 MHz
∇ -2.82%
matrix: multiply, fix[double], 3x6 * 6x3138.91 ns /
139.05 ns
∇ -0.10%
7.20 MHz /
7.19 MHz
Δ 0.10%
matrix: multiply, dyn[float ], 10x40 * 40x1016.67 us /
16.80 us
∇ -0.81%
60.00 KHz /
59.51 KHz
Δ 0.82%
matrix: multiply, fix[float ], 10x40 * 40x1012.92 us /
13.06 us
∇ -1.08%
77.41 KHz /
76.57 KHz
Δ 1.10%
matrix: multiply, dyn[double], 10x40 * 40x1013.30 us /
13.55 us
∇ -1.80%
75.16 KHz /
73.81 KHz
Δ 1.84%
matrix: multiply, fix[double], 10x40 * 40x109.66 us /
9.96 us
∇ -3.02%
103.53 KHz /
100.40 KHz
Δ 3.11%
matrix: inv, dyn[float ] 3x31.46 us /
1.50 us
∇ -2.90%
685.70 KHz /
665.84 KHz
Δ 2.98%
matrix: inv, fix[float ] 3x359.78 ns /
59.79 ns
∇ -0.00%
16.73 MHz /
16.73 MHz
Δ 0.00%
matrix: inv, dyn[double] 3x31.47 us /
1.53 us
∇ -4.23%
681.67 KHz /
652.84 KHz
Δ 4.42%
matrix: inv, fix[double] 3x330.80 ns /
31.25 ns
∇ -1.45%
32.47 MHz /
32.00 MHz
Δ 1.47%
matrix: inv, dyn[float ] 6x64.39 us /
5.07 us
∇ -13.43%
227.86 KHz /
197.26 KHz
Δ 15.51%
matrix: inv, fix[float ] 6x61.39 us /
1.33 us
Δ 4.24%
718.96 KHz /
749.46 KHz
∇ -4.07%
matrix: inv, dyn[double] 6x65.05 us /
5.08 us
∇ -0.77%
198.20 KHz /
196.68 KHz
Δ 0.77%
matrix: inv, fix[double] 6x6944.32 ns /
926.67 ns
Δ 1.90%
1.06 MHz /
1.08 MHz
∇ -1.87%
matrix: inv, dyn[float ] 20x2080.56 us /
81.86 us
∇ -1.59%
12.41 KHz /
12.22 KHz
Δ 1.61%
matrix: inv, fix[float ] 20x2039.77 us /
40.71 us
∇ -2.30%
25.14 KHz /
24.56 KHz
Δ 2.36%
matrix: inv, dyn[double] 20x20106.06 us /
108.60 us
∇ -2.34%
9.43 KHz /
9.21 KHz
Δ 2.39%
matrix: inv, fix[double] 20x2018.99 us /
19.22 us
∇ -1.19%
52.65 KHz /
52.02 KHz
Δ 1.20%
matrix: inv, dyn[float ] 40x40594.37 us /
609.15 us
∇ -2.43%
1.68 KHz /
1.64 KHz
Δ 2.49%
matrix: inv, fix[float ] 40x40302.87 us /
307.68 us
∇ -1.56%
3.30 KHz /
3.25 KHz
Δ 1.59%
matrix: inv, dyn[double] 40x40805.07 us /
818.27 us
∇ -1.61%
1.24 KHz /
1.22 KHz
Δ 1.64%
matrix: inv, fix[double] 40x40129.27 us /
136.18 us
∇ -5.07%
7.74 KHz /
7.34 KHz
Δ 5.34%
matrix: det, dyn[float ] 2x27.97 ns /
9.15 ns
∇ -12.87%
125.45 MHz /
109.30 MHz
Δ 14.77%
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 /
9.56 ns
∇ -11.38%
118.07 MHz /
104.64 MHz
Δ 12.84%
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 /
19.70 ns
Δ 5.75%
48.00 MHz /
50.76 MHz
∇ -5.43%
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 /
15.90 ns
∇ -0.00%
62.90 MHz /
62.90 MHz
Δ 0.00%
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 /
2.32 us
∇ -1.69%
438.79 KHz /
431.38 KHz
Δ 1.72%
matrix: det, fix[float ] 6x6455.22 ns /
434.76 ns
Δ 4.71%
2.20 MHz /
2.30 MHz
∇ -4.50%
matrix: det, dyn[double] 6x62.27 us /
2.38 us
∇ -4.59%
440.64 KHz /
420.40 KHz
Δ 4.82%
matrix: det, fix[double] 6x6409.52 ns /
422.89 ns
∇ -3.16%
2.44 MHz /
2.36 MHz
Δ 3.26%
matrix: det, dyn[float ] 20x2018.23 us /
18.34 us
∇ -0.59%
54.86 KHz /
54.54 KHz
Δ 0.60%
matrix: det, fix[float ] 20x209.64 us /
9.85 us
∇ -2.13%
103.77 KHz /
101.56 KHz
Δ 2.17%
matrix: det, dyn[double] 20x2017.63 us /
18.19 us
∇ -3.06%
56.72 KHz /
54.99 KHz
Δ 3.15%
matrix: det, fix[double] 20x206.19 us /
6.52 us
∇ -5.15%
161.63 KHz /
153.30 KHz
Δ 5.43%
matrix: det, dyn[float ] 40x40109.51 us /
111.92 us
∇ -2.15%
9.13 KHz /
8.93 KHz
Δ 2.20%
matrix: det, fix[float ] 40x4061.78 us /
63.43 us
∇ -2.59%
16.19 KHz /
15.77 KHz
Δ 2.66%
matrix: det, dyn[double] 40x40112.43 us /
114.84 us
∇ -2.10%
8.89 KHz /
8.71 KHz
Δ 2.15%
matrix: det, fix[double] 40x4035.24 us /
36.00 us
∇ -2.12%
28.38 KHz /
27.78 KHz
Δ 2.17%
matrix: chol, dyn[double] 4x4172.11 ns /
185.70 ns
∇ -7.32%
5.81 MHz /
5.39 MHz
Δ 7.90%
matrix: chol, fix[double] 4x4117.76 ns /
113.23 ns
Δ 4.00%
8.49 MHz /
8.83 MHz
∇ -3.84%
matrix: chol, dyn[double] 40x4024.40 us /
24.43 us
∇ -0.11%
40.98 KHz /
40.93 KHz
Δ 0.11%
matrix: chol, fix[double] 40x4017.68 us /
17.73 us
∇ -0.31%
56.57 KHz /
56.40 KHz
Δ 0.31%
matrix: chol, sparse [2x2;2x2]8.42 us /
10.78 us
∇ -21.85%
118.71 KHz /
92.77 KHz
Δ 27.96%
matrix: chol, sparse [30x30;10x10]118.80 us /
117.89 us
Δ 0.77%
8.42 KHz /
8.48 KHz
∇ -0.76%
matrix: chol, dyn[double] 10x[6x6]69.79 us /
70.52 us
∇ -1.03%
14.33 KHz /
14.18 KHz
Δ 1.04%
matrix: chol, sparse 10x[6x6]52.54 us /
52.59 us
∇ -0.10%
19.03 KHz /
19.02 KHz
Δ 0.10%
matrix: chol, dyn[double] 20x[6x6]466.09 us /
491.10 us
∇ -5.09%
2.15 KHz /
2.04 KHz
Δ 5.37%
matrix: chol, sparse 20x[6x6]89.01 us /
85.83 us
Δ 3.70%
11.24 KHz /
11.65 KHz
∇ -3.57%
matrix: chol, dyn[double] 50x[6x6]9.32 ms /
9.44 ms
∇ -1.28%
107.25 Hz /
105.88 Hz
Δ 1.30%
matrix: chol, sparse 50x[6x6]201.22 us /
204.52 us
∇ -1.62%
4.97 KHz /
4.89 KHz
Δ 1.64%
matrix: chol, dyn[double] 100x[6x6]138.07 ms /
150.13 ms
∇ -8.04%
7.24 Hz /
6.66 Hz
Δ 8.74%
matrix: chol, sparse 100x[6x6]401.45 us /
415.58 us
∇ -3.40%
2.49 KHz /
2.41 KHz
Δ 3.52%
matrix: chol, dyn[double] 120x[6x6]453.62 ms /
461.43 ms
∇ -1.69%
2.20 Hz /
2.17 Hz
Δ 1.72%
matrix: chol, sparse 120x[6x6]474.18 us /
484.92 us
∇ -2.22%
2.11 KHz /
2.06 KHz
Δ 2.27%
matrix: chol, dyn[double] 140x[6x6]945.16 ms /
947.45 ms
∇ -0.24%
1.06 Hz /
1.06 Hz
Δ 0.24%
matrix: chol, sparse 140x[6x6]552.77 us /
586.44 us
∇ -5.74%
1.81 KHz /
1.71 KHz
Δ 6.09%
gridmap2D: getCell5.57 ns /
5.77 ns
∇ -3.57%
179.64 MHz /
173.23 MHz
Δ 3.70%
gridmap2D: setCell7.80 ns /
7.96 ns
∇ -1.98%
128.17 MHz /
125.64 MHz
Δ 2.02%
gridmap2D: updateCell10.65 ns /
10.80 ns
∇ -1.44%
93.93 MHz /
92.58 MHz
Δ 1.46%
gridmap2D: updateCell_fast_occupied1.20 ns /
1.21 ns
∇ -0.99%
834.82 MHz /
826.59 MHz
Δ 1.00%
gridmap2D: insert scan w/o widening202.10 us /
204.23 us
∇ -1.04%
4.95 KHz /
4.90 KHz
Δ 1.06%
gridmap2D: insert scan with widening338.79 us /
344.40 us
∇ -1.63%
2.95 KHz /
2.90 KHz
Δ 1.66%
gridmap2D: resize3.58 ms /
2.62 ms
Δ 36.69%
279.42 Hz /
381.93 Hz
∇ -26.84%
gridmap2D: computeLikelihood18.09 us /
18.59 us
∇ -2.69%
55.28 KHz /
53.79 KHz
Δ 2.76%
pointmap: insert 100 scans5.50 ms /
5.62 ms
∇ -2.17%
181.98 Hz /
178.02 Hz
Δ 2.22%
pointmap: build 2D kd-tree of 1 scan6.29 us /
6.21 us
Δ 1.16%
159.07 KHz /
160.93 KHz
∇ -1.15%
pointmap: build 2D kd-tree of 100 scan520.70 us /
511.81 us
Δ 1.74%
1.92 KHz /
1.95 KHz
∇ -1.71%
pointmap: build 2D kd-tree of 1000 scan5.50 ms /
5.59 ms
∇ -1.55%
181.67 Hz /
178.86 Hz
Δ 1.57%
pointmap: build 3D kd-tree of 1 scan6.47 us /
7.23 us
∇ -10.53%
154.62 KHz /
138.34 KHz
Δ 11.77%
pointmap: build 3D kd-tree of 100 scan526.59 us /
523.10 us
Δ 0.67%
1.90 KHz /
1.91 KHz
∇ -0.66%
pointmap: build 3D kd-tree of 1000 scan5.63 ms /
5.77 ms
∇ -2.42%
177.52 Hz /
173.21 Hz
Δ 2.48%
pointmap: kd-tree 2d query on 10 scans2.04 us /
2.05 us
∇ -0.69%
490.44 KHz /
487.07 KHz
Δ 0.69%
pointmap: kd-tree 2d query on 1000 scans137.79 us /
140.79 us
∇ -2.13%
7.26 KHz /
7.10 KHz
Δ 2.17%
pointmap: kd-tree 2d query on 10000 scans14.88 ms /
15.17 ms
∇ -1.91%
67.19 Hz /
65.91 Hz
Δ 1.95%
pointmap: (insert scan+2D kd-tree query) x 108.57 ms /
8.69 ms
∇ -1.44%
116.69 Hz /
115.01 Hz
Δ 1.46%
pointmap: (insert scan+2D kd-tree query) x 50191.63 ms /
196.44 ms
∇ -2.45%
5.22 Hz /
5.09 Hz
Δ 2.51%
pointmap: (insert scan+3D kd-tree query) x 108.64 ms /
8.73 ms
∇ -1.02%
115.78 Hz /
114.60 Hz
Δ 1.03%
pointmap: (insert scan+3D kd-tree query) x 50194.89 ms /
198.48 ms
∇ -1.81%
5.13 Hz /
5.04 Hz
Δ 1.84%
random: drawUniform32bit7.21 ns /
7.29 ns
∇ -1.14%
138.68 MHz /
137.11 MHz
Δ 1.15%
random: drawUniform7.18 ns /
7.33 ns
∇ -1.97%
139.23 MHz /
136.49 MHz
Δ 2.01%
random: drawGaussian1D_normalized51.37 ns /
51.27 ns
Δ 0.19%
19.47 MHz /
19.50 MHz
∇ -0.19%
random: drawGaussian1D51.39 ns /
51.74 ns
∇ -0.68%
19.46 MHz /
19.33 MHz
Δ 0.68%
random: system rand()28.61 ns /
29.39 ns
∇ -2.63%
34.95 MHz /
34.03 MHz
Δ 2.70%
random: drawGaussianMultivariate(fixed 3x3)2.55 us /
2.64 us
∇ -3.36%
391.65 KHz /
378.48 KHz
Δ 3.48%
random: drawGaussianMultivariate(dyn 3x3)8.36 us /
8.53 us
∇ -2.08%
119.66 KHz /
117.18 KHz
Δ 2.12%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)213.95 ns /
215.16 ns
∇ -0.56%
4.67 MHz /
4.65 MHz
Δ 0.57%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)324.69 ns /
359.98 ns
∇ -9.80%
3.08 MHz /
2.78 MHz
Δ 10.87%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)829.70 ns /
732.12 ns
Δ 13.33%
1.21 MHz /
1.37 MHz
∇ -11.76%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)214.89 ns /
213.59 ns
Δ 0.61%
4.65 MHz /
4.68 MHz
∇ -0.61%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)364.99 ns /
339.30 ns
Δ 7.57%
2.74 MHz /
2.95 MHz
∇ -7.04%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.13 ns /
760.92 ns
∇ -0.10%
1.32 MHz /
1.31 MHz
Δ 0.10%
random: permuteVector (len=10)420.57 ns /
411.34 ns
Δ 2.24%
2.38 MHz /
2.43 MHz
∇ -2.20%
random: permuteVector (len=100)3.56 us /
3.59 us
∇ -0.86%
281.12 KHz /
278.70 KHz
Δ 0.87%
random: permuteVector (len=1000)33.55 us /
34.34 us
∇ -2.28%
29.80 KHz /
29.12 KHz
Δ 2.34%
math: round0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
images: Save as JPEG (640x480, quality=95%)28.40 ms /
27.92 ms
Δ 1.70%
35.21 Hz /
35.81 Hz
∇ -1.67%
images: Save as JPEG (800x600, quality=95%)43.71 ms /
43.53 ms
Δ 0.42%
22.88 Hz /
22.97 Hz
∇ -0.42%
images: Save as JPEG (1024x768, quality=95%)70.17 ms /
70.76 ms
∇ -0.83%
14.25 Hz /
14.13 Hz
Δ 0.83%
images: Save as JPEG (640x480, quality=75%)24.11 ms /
23.43 ms
Δ 2.89%
41.48 Hz /
42.67 Hz
∇ -2.80%
images: Save as JPEG (800x600, quality=75%)37.02 ms /
36.52 ms
Δ 1.39%
27.01 Hz /
27.39 Hz
∇ -1.37%
images: Save as JPEG (1024x768, quality=75%)59.51 ms /
59.82 ms
∇ -0.52%
16.80 Hz /
16.72 Hz
Δ 0.52%
images: Gauss filter (640x480)5.29 ms /
6.68 ms
∇ -20.75%
188.95 Hz /
149.74 Hz
Δ 26.19%
images: Gauss filter (800x600)8.36 ms /
8.62 ms
∇ -3.02%
119.64 Hz /
116.03 Hz
Δ 3.11%
images: Gauss filter (1024x768)13.88 ms /
14.49 ms
∇ -4.22%
72.06 Hz /
69.01 Hz
Δ 4.41%
scan_matching: 6D LS Rigid Trans. [CPose3D]18.63 us /
21.12 us
∇ -11.79%
53.67 KHz /
47.34 KHz
Δ 13.37%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]17.89 us /
19.36 us
∇ -7.63%
55.91 KHz /
51.65 KHz
Δ 8.26%
scan_matching: 6D LS Rigid Trans. [vector of points]5.05 us /
6.24 us
∇ -18.96%
197.84 KHz /
160.34 KHz
Δ 23.39%
feature_extraction [640x480]: Harris33.27 ms /
40.83 ms
∇ -18.52%
30.06 Hz /
24.49 Hz
Δ 22.72%
feature_extraction [640x480]: KLT31.21 ms /
33.62 ms
∇ -7.14%
32.04 Hz /
29.75 Hz
Δ 7.69%
feature_extraction [640x480]: SIFT675.81 ms /
705.28 ms
∇ -4.18%
1.48 Hz /
1.42 Hz
Δ 4.36%
feature_extraction [640x480]: SIFT desc.217.19 ms /
214.22 ms
Δ 1.39%
4.60 Hz /
4.67 Hz
∇ -1.37%
feature_extraction [640x480]: SURF316.97 ms /
326.57 ms
∇ -2.94%
3.15 Hz /
3.06 Hz
Δ 3.03%
feature_extraction [640x480]: FAST7.82 ms /
7.69 ms
Δ 1.70%
127.91 Hz /
130.08 Hz
∇ -1.67%
feature_extraction [640x480]: Spin desc.103.38 ms /
105.90 ms
∇ -2.38%
9.67 Hz /
9.44 Hz
Δ 2.44%
feature_matching [640x480]: Harris + CC56.24 ms /
57.67 ms
∇ -2.49%
17.78 Hz /
17.34 Hz
Δ 2.55%
feature_matching [640x480]: Harris + SAD47.55 ms /
50.27 ms
∇ -5.41%
21.03 Hz /
19.89 Hz
Δ 5.72%
feature_matching [640x480]: SIFT1.34 sec /
1.38 sec
∇ -2.84%
745.82 mHz /
724.62 mHz
Δ 2.93%
feature_matching [640x480]: SURF606.64 ms /
618.66 ms
∇ -1.94%
1.65 Hz /
1.62 Hz
Δ 1.98%
feature_matching [640x480]: FAST + CC22.36 ms /
22.11 ms
Δ 1.13%
44.72 Hz /
45.22 Hz
∇ -1.12%
feature_matching [640x480]: FAST + SAD15.00 ms /
14.58 ms
Δ 2.82%
66.69 Hz /
68.57 Hz
∇ -2.74%
graph(2d): insertEdge x 1e3313.03 us /
354.58 us
∇ -11.72%
3.19 KHz /
2.82 KHz
Δ 13.27%
graph(2d,vec): insertEdge x 1e3307.43 us /
X
3.25 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3222.64 us /
284.04 us
∇ -21.62%
4.49 KHz /
3.52 KHz
Δ 27.58%
graph(2d,vec): insertEdgeAtEnd x 1e3222.87 us /
X
4.49 KHz /
X
graph(2d pdf): insertEdge x 1e3516.93 us /
549.28 us
∇ -5.89%
1.93 KHz /
1.82 KHz
Δ 6.26%
graph(2d pdf,vec): insertEdge x 1e3517.18 us /
X
1.93 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3405.97 us /
452.79 us
∇ -10.34%
2.46 KHz /
2.21 KHz
Δ 11.53%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3403.48 us /
X
2.48 KHz /
X
graph(2d): insertEdge x 1e43.36 ms /
3.86 ms
∇ -12.84%
297.28 Hz /
259.12 Hz
Δ 14.73%
graph(2d,vec): insertEdge x 1e43.35 ms /
X
298.76 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.22 ms /
2.88 ms
∇ -22.81%
450.51 Hz /
347.75 Hz
Δ 29.55%
graph(2d,vec): insertEdgeAtEnd x 1e42.22 ms /
X
450.21 Hz /
X
graph(2d pdf): insertEdge x 1e45.45 ms /
5.74 ms
∇ -4.96%
183.37 Hz /
174.28 Hz
Δ 5.22%
graph(2d pdf,vec): insertEdge x 1e45.44 ms /
X
183.91 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.07 ms /
4.44 ms
∇ -8.30%
245.74 Hz /
225.33 Hz
Δ 9.06%
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.06 ms /
X
246.50 Hz /
X
graph(3d): insertEdge x 1e3447.20 us /
1.35 ms
∇ -66.77%
2.24 KHz /
743.07 Hz
Δ 200.94%
graph(3d,vec): insertEdge x 1e3442.12 us /
X
2.26 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3346.69 us /
1.09 ms
∇ -68.18%
2.88 KHz /
917.96 Hz
Δ 214.22%
graph(3d,vec): insertEdgeAtEnd x 1e3347.20 us /
X
2.88 KHz /
X
graph(3d pdf): insertEdge x 1e3944.03 us /
1.74 ms
∇ -45.85%
1.06 KHz /
573.66 Hz
Δ 84.66%
graph(3d pdf,vec): insertEdge x 1e3978.08 us /
X
1.02 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3793.19 us /
1.46 ms
∇ -45.80%
1.26 KHz /
683.28 Hz
Δ 84.51%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3793.52 us /
X
1.26 KHz /
X
graph(3d): insertEdge x 1e44.62 ms /
13.92 ms
∇ -66.79%
216.43 Hz /
71.86 Hz
Δ 201.16%
graph(3d,vec): insertEdge x 1e44.62 ms /
X
216.67 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.48 ms /
11.12 ms
∇ -68.70%
287.28 Hz /
89.92 Hz
Δ 219.48%
graph(3d,vec): insertEdgeAtEnd x 1e43.47 ms /
X
287.84 Hz /
X
graph(3d pdf): insertEdge x 1e410.55 ms /
17.58 ms
∇ -39.96%
94.75 Hz /
56.89 Hz
Δ 66.56%
graph(3d pdf,vec): insertEdge x 1e49.75 ms /
X
102.54 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.93 ms /
14.12 ms
∇ -43.84%
126.08 Hz /
70.81 Hz
Δ 78.06%
graph(3d pdf,vec): insertEdgeAtEnd x 1e47.94 ms /
X
125.93 Hz /
X
graph(3d): dijkstra 1e2 nodes262.18 us /
X
3.81 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes363.67 us /
X
2.75 KHz /
X
graph(3d): dijkstra 1e3 nodes2.97 ms /
X
336.14 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes3.29 ms /
X
303.75 Hz /
X
graph(3d): dijkstra 1e4 nodes34.21 ms /
X
29.23 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes38.12 ms /
X
26.23 Hz /
X
graph(3d): dijkstra 1e5 nodes389.54 ms /
X
2.57 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes428.64 ms /
X
2.33 Hz /
X
graph(2d): dijkstra 1e5 nodes382.11 ms /
X
2.62 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes417.45 ms /
X
2.40 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:39.326511 with MRPT 0.9.4 by 'mrpt-performance'.