Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.1-MSVC-32bit




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.1-MSVC-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
31.78 ms
∇ -35.23%
48.58 Hz /
31.46 Hz
Δ 54.40%
icp-slam (match grid): Run with sample dataset20.64 ms /
53.70 ms
∇ -61.57%
48.45 Hz /
18.62 Hz
Δ 160.22%
poses: CPose3D (+) CPose3D42.90 ns /
925.38 ns
∇ -95.36%
23.31 MHz /
1.08 MHz
Δ 2057.07%
poses: CPose3D.composeFrom()37.61 ns /
617.00 ns
∇ -93.90%
26.59 MHz /
1.62 MHz
Δ 1540.53%
poses: CPose3D (+) CPoint3D7.25 ns /
35.98 ns
∇ -79.84%
137.89 MHz /
27.80 MHz
Δ 396.09%
poses: CPose3D.composePoint()11.83 ns /
14.62 ns
∇ -19.06%
84.53 MHz /
68.42 MHz
Δ 23.55%
poses: CPoint3D (-) CPose3D39.31 ns /
75.43 ns
∇ -47.88%
25.44 MHz /
13.26 MHz
Δ 91.87%
poses: CPose3D.inverseComposePoint()34.91 ns /
56.48 ns
∇ -38.20%
28.65 MHz /
17.70 MHz
Δ 61.81%
poses: CPose2D (+) CPose2D76.08 ns /
121.60 ns
∇ -37.43%
13.14 MHz /
8.22 MHz
Δ 59.83%
poses: CPose2D.composeFrom()61.61 ns /
66.63 ns
∇ -7.53%
16.23 MHz /
15.01 MHz
Δ 8.14%
poses: CPose2D (+) CPoint2D60.26 ns /
93.73 ns
∇ -35.71%
16.59 MHz /
10.67 MHz
Δ 55.54%
poses: CPose2D.composePoint()62.26 ns /
62.24 ns
Δ 0.04%
16.06 MHz /
16.07 MHz
∇ -0.04%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
100.74 ns
∇ -59.31%
24.40 MHz /
9.93 MHz
Δ 145.76%
poses: CPose3DQuat.composeFrom()39.39 ns /
57.92 ns
∇ -32.00%
25.39 MHz /
17.26 MHz
Δ 47.05%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
61.33 ns
∇ -70.15%
54.63 MHz /
16.31 MHz
Δ 235.06%
poses: CPose3DQuat.composePoint()17.94 ns /
27.34 ns
∇ -34.38%
55.74 MHz /
36.57 MHz
Δ 52.40%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
580.67 ns
∇ -90.45%
18.03 MHz /
1.72 MHz
Δ 947.08%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
28.18 ns
∇ -37.33%
56.63 MHz /
35.48 MHz
Δ 59.58%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
506.67 ns
∇ -96.69%
59.58 MHz /
1.97 MHz
Δ 2918.57%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
214.86 ns
∇ -21.17%
5.90 MHz /
4.65 MHz
Δ 26.86%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
1.56 us
Δ 51277.21%
1.25 KHz /
642.96 KHz
∇ -99.81%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
1.51 us
Δ 53226.20%
1.24 KHz /
663.83 KHz
∇ -99.81%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
23.29 us
∇ -59.45%
105.91 KHz /
42.94 KHz
Δ 146.64%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
1.64 us
∇ -60.43%
1.54 MHz /
609.77 KHz
Δ 152.73%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
1.66 us
∇ -62.09%
1.58 MHz /
600.84 KHz
Δ 163.76%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
16.05 us
∇ -49.04%
122.30 KHz /
62.32 KHz
Δ 96.24%
matrix: unit, dyn[float], 3x324.43 ns /
39.66 ns
∇ -38.40%
40.94 MHz /
25.22 MHz
Δ 62.34%
matrix: unit, dyn[double], 3x323.18 ns /
42.75 ns
∇ -45.77%
43.14 MHz /
23.39 MHz
Δ 84.40%
matrix: unit, dyn[float], 6x659.50 ns /
152.29 ns
∇ -60.93%
16.81 MHz /
6.57 MHz
Δ 155.92%
matrix: unit, dyn[double], 6x662.26 ns /
150.45 ns
∇ -58.61%
16.06 MHz /
6.65 MHz
Δ 141.63%
matrix: unit, fix[float,3,3]0.35 ns /
3.30 ns
∇ -89.47%
2.88 GHz /
303.37 MHz
Δ 849.95%
matrix: unit, fix[double,3,3]1.19 ns /
3.48 ns
∇ -65.84%
841.75 MHz /
287.56 MHz
Δ 192.72%
matrix: unit, fix[float,6,6]1.70 ns /
3.06 ns
∇ -44.28%
587.20 MHz /
327.19 MHz
Δ 79.46%
matrix: unit, fix[double,6,6]2.77 ns /
6.65 ns
∇ -58.32%
361.01 MHz /
150.48 MHz
Δ 139.90%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
167.81 ns
∇ -48.87%
11.66 MHz /
5.96 MHz
Δ 95.58%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
108.61 ns
∇ -78.09%
42.02 MHz /
9.21 MHz
Δ 356.34%
matrix: multiply, dyn[double], 3x3 * 3x375.90 ns /
158.88 ns
∇ -52.23%
13.18 MHz /
6.29 MHz
Δ 109.33%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
90.86 ns
∇ -74.13%
42.55 MHz /
11.01 MHz
Δ 286.62%
matrix: multiply, dyn[float ], 3x6 * 6x3118.10 ns /
272.47 ns
∇ -56.66%
8.47 MHz /
3.67 MHz
Δ 130.72%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
193.12 ns
∇ -76.85%
22.37 MHz /
5.18 MHz
Δ 332.04%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
238.91 ns
∇ -53.75%
9.05 MHz /
4.19 MHz
Δ 116.21%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
139.05 ns
∇ -67.49%
22.12 MHz /
7.19 MHz
Δ 207.62%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
16.80 us
∇ -67.65%
183.95 KHz /
59.51 KHz
Δ 209.11%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
13.06 us
∇ -71.09%
264.87 KHz /
76.57 KHz
Δ 245.93%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
13.55 us
∇ -59.08%
180.38 KHz /
73.81 KHz
Δ 144.39%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
9.96 us
∇ -59.09%
245.43 KHz /
100.40 KHz
Δ 144.46%
matrix: inv, dyn[float ] 3x3631.00 ns /
1.50 us
∇ -57.99%
1.58 MHz /
665.84 KHz
Δ 138.01%
matrix: inv, fix[float ] 3x335.00 ns /
59.79 ns
∇ -41.46%
28.57 MHz /
16.73 MHz
Δ 70.81%
matrix: inv, dyn[double] 3x3644.00 ns /
1.53 us
∇ -57.96%
1.55 MHz /
652.84 KHz
Δ 137.85%
matrix: inv, fix[double] 3x339.00 ns /
31.25 ns
Δ 24.79%
25.64 MHz /
32.00 MHz
∇ -19.87%
matrix: inv, dyn[float ] 6x62.37 us /
5.07 us
∇ -53.23%
421.76 KHz /
197.26 KHz
Δ 113.81%
matrix: inv, fix[float ] 6x6812.00 ns /
1.33 us
∇ -39.14%
1.23 MHz /
749.46 KHz
Δ 64.32%
matrix: inv, dyn[double] 6x61.26 us /
5.08 us
∇ -75.20%
793.02 KHz /
196.68 KHz
Δ 303.21%
matrix: inv, fix[double] 6x6575.00 ns /
926.67 ns
∇ -37.95%
1.74 MHz /
1.08 MHz
Δ 61.16%
matrix: inv, dyn[float ] 20x2025.94 us /
81.86 us
∇ -68.32%
38.55 KHz /
12.22 KHz
Δ 215.61%
matrix: inv, fix[float ] 20x2014.14 us /
40.71 us
∇ -65.26%
70.70 KHz /
24.56 KHz
Δ 187.82%
matrix: inv, dyn[double] 20x2025.76 us /
108.60 us
∇ -76.28%
38.83 KHz /
9.21 KHz
Δ 321.64%
matrix: inv, fix[double] 20x2017.04 us /
19.22 us
∇ -11.36%
58.69 KHz /
52.02 KHz
Δ 12.82%
matrix: inv, dyn[float ] 40x40205.11 us /
609.15 us
∇ -66.33%
4.88 KHz /
1.64 KHz
Δ 196.99%
matrix: inv, fix[float ] 40x4093.29 us /
307.68 us
∇ -69.68%
10.72 KHz /
3.25 KHz
Δ 229.81%
matrix: inv, dyn[double] 40x40207.20 us /
818.27 us
∇ -74.68%
4.83 KHz /
1.22 KHz
Δ 294.93%
matrix: inv, fix[double] 40x40133.80 us /
136.18 us
∇ -1.74%
7.47 KHz /
7.34 KHz
Δ 1.77%
matrix: det, dyn[float ] 2x26.40 ns /
9.15 ns
∇ -30.05%
156.25 MHz /
109.30 MHz
Δ 42.95%
matrix: det, fix[float ] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 2x26.40 ns /
9.56 ns
∇ -33.03%
156.25 MHz /
104.64 MHz
Δ 49.32%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x310.30 ns /
19.70 ns
∇ -47.72%
97.09 MHz /
50.76 MHz
Δ 91.28%
matrix: det, fix[float ] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x310.30 ns /
15.90 ns
∇ -35.21%
97.09 MHz /
62.90 MHz
Δ 54.34%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 6x6653.50 ns /
2.32 us
∇ -71.81%
1.53 MHz /
431.38 KHz
Δ 254.72%
matrix: det, fix[float ] 6x6210.00 ns /
434.76 ns
∇ -51.70%
4.76 MHz /
2.30 MHz
Δ 107.03%
matrix: det, dyn[double] 6x6730.30 ns /
2.38 us
∇ -69.30%
1.37 MHz /
420.40 KHz
Δ 225.71%
matrix: det, fix[double] 6x6212.10 ns /
422.89 ns
∇ -49.84%
4.71 MHz /
2.36 MHz
Δ 99.38%
matrix: det, dyn[float ] 20x205.70 us /
18.34 us
∇ -68.91%
175.40 KHz /
54.54 KHz
Δ 221.62%
matrix: det, fix[float ] 20x204.20 us /
9.85 us
∇ -57.31%
237.92 KHz /
101.56 KHz
Δ 134.26%
matrix: det, dyn[double] 20x206.56 us /
18.19 us
∇ -63.90%
152.33 KHz /
54.99 KHz
Δ 177.02%
matrix: det, fix[double] 20x205.04 us /
6.52 us
∇ -22.72%
198.38 KHz /
153.30 KHz
Δ 29.41%
matrix: det, dyn[float ] 40x4032.38 us /
111.92 us
∇ -71.07%
30.89 KHz /
8.93 KHz
Δ 245.69%
matrix: det, fix[float ] 40x4027.92 us /
63.43 us
∇ -55.99%
35.82 KHz /
15.77 KHz
Δ 127.21%
matrix: det, dyn[double] 40x4039.41 us /
114.84 us
∇ -65.68%
25.37 KHz /
8.71 KHz
Δ 191.40%
matrix: det, fix[double] 40x4029.04 us /
36.00 us
∇ -19.35%
34.44 KHz /
27.78 KHz
Δ 23.99%
matrix: chol, dyn[double] 4x4140.00 ns /
185.70 ns
∇ -24.61%
7.14 MHz /
5.39 MHz
Δ 32.64%
matrix: chol, fix[double] 4x4160.00 ns /
113.23 ns
Δ 41.31%
6.25 MHz /
8.83 MHz
∇ -29.23%
matrix: chol, dyn[double] 40x4018.38 us /
24.43 us
∇ -24.77%
54.41 KHz /
40.93 KHz
Δ 32.92%
matrix: chol, fix[double] 40x4017.08 us /
17.73 us
∇ -3.68%
58.55 KHz /
56.40 KHz
Δ 3.82%
matrix: chol, sparse [2x2;2x2]8.30 us /
10.78 us
∇ -23.00%
120.48 KHz /
92.77 KHz
Δ 29.87%
matrix: chol, sparse [30x30;10x10]84.40 us /
117.89 us
∇ -28.41%
11.85 KHz /
8.48 KHz
Δ 39.69%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
70.52 us
∇ -24.84%
18.87 KHz /
14.18 KHz
Δ 33.06%
matrix: chol, sparse 10x[6x6]39.49 us /
52.59 us
∇ -24.91%
25.32 KHz /
19.02 KHz
Δ 33.17%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
491.10 us
∇ -16.17%
2.43 KHz /
2.04 KHz
Δ 19.29%
matrix: chol, sparse 20x[6x6]74.09 us /
85.83 us
∇ -13.68%
13.50 KHz /
11.65 KHz
Δ 15.84%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
9.44 ms
Δ 9.91%
96.33 Hz /
105.88 Hz
∇ -9.02%
matrix: chol, sparse 50x[6x6]248.74 us /
204.52 us
Δ 21.62%
4.02 KHz /
4.89 KHz
∇ -17.78%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
150.13 ms
Δ 146.88%
2.70 Hz /
6.66 Hz
∇ -59.49%
matrix: chol, sparse 100x[6x6]353.56 us /
415.58 us
∇ -14.92%
2.83 KHz /
2.41 KHz
Δ 17.54%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
461.43 ms
∇ -20.78%
2.74 Hz /
2.17 Hz
Δ 26.23%
matrix: chol, sparse 120x[6x6]425.27 us /
484.92 us
∇ -12.30%
2.35 KHz /
2.06 KHz
Δ 14.03%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
947.45 ms
∇ -15.98%
1.26 Hz /
1.06 Hz
Δ 19.02%
matrix: chol, sparse 140x[6x6]490.79 us /
586.44 us
∇ -16.31%
2.04 KHz /
1.71 KHz
Δ 19.49%
gridmap2D: getCell0.00 ns /
5.77 ns
∇ -100.00%
inf THz /
173.23 MHz
Δ inf%
gridmap2D: setCell2.58 ns /
7.96 ns
∇ -67.60%
387.76 MHz /
125.64 MHz
Δ 208.63%
gridmap2D: updateCell7.44 ns /
10.80 ns
∇ -31.08%
134.32 MHz /
92.58 MHz
Δ 45.09%
gridmap2D: updateCell_fast_occupied0.55 ns /
1.21 ns
∇ -54.46%
1.82 GHz /
826.59 MHz
Δ 119.60%
gridmap2D: insert scan w/o widening101.23 us /
204.23 us
∇ -50.44%
9.88 KHz /
4.90 KHz
Δ 101.76%
gridmap2D: insert scan with widening291.30 us /
344.40 us
∇ -15.42%
3.43 KHz /
2.90 KHz
Δ 18.23%
gridmap2D: resize1.89 ms /
2.62 ms
∇ -27.89%
529.66 Hz /
381.93 Hz
Δ 38.68%
gridmap2D: computeLikelihood16.46 us /
18.59 us
∇ -11.47%
60.76 KHz /
53.79 KHz
Δ 12.95%
pointmap: insert 100 scans3.10 ms /
5.62 ms
∇ -44.80%
322.50 Hz /
178.02 Hz
Δ 81.16%
pointmap: build 2D kd-tree of 1 scan4.28 us /
6.21 us
∇ -31.12%
233.64 KHz /
160.93 KHz
Δ 45.19%
pointmap: build 2D kd-tree of 100 scan355.52 us /
511.81 us
∇ -30.54%
2.81 KHz /
1.95 KHz
Δ 43.96%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
5.59 ms
∇ -25.55%
240.24 Hz /
178.86 Hz
Δ 34.32%
pointmap: build 3D kd-tree of 1 scan4.76 us /
7.23 us
∇ -34.15%
210.08 KHz /
138.34 KHz
Δ 51.86%
pointmap: build 3D kd-tree of 100 scan363.20 us /
523.10 us
∇ -30.57%
2.75 KHz /
1.91 KHz
Δ 44.03%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
5.77 ms
∇ -29.09%
244.29 Hz /
173.21 Hz
Δ 41.03%
pointmap: kd-tree 2d query on 10 scans1.38 us /
2.05 us
∇ -32.69%
723.59 KHz /
487.07 KHz
Δ 48.56%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
140.79 us
∇ -28.31%
9.91 KHz /
7.10 KHz
Δ 39.49%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
15.17 ms
∇ -21.49%
83.95 Hz /
65.91 Hz
Δ 27.37%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
8.69 ms
∇ -35.39%
178.01 Hz /
115.01 Hz
Δ 54.78%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
196.44 ms
∇ -33.44%
7.65 Hz /
5.09 Hz
Δ 50.23%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
8.73 ms
∇ -35.02%
176.35 Hz /
114.60 Hz
Δ 53.89%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
198.48 ms
∇ -33.18%
7.54 Hz /
5.04 Hz
Δ 49.65%
random: drawUniform32bit14.57 ns /
7.29 ns
Δ 99.78%
68.63 MHz /
137.11 MHz
∇ -49.95%
random: drawUniform14.62 ns /
7.33 ns
Δ 99.53%
68.41 MHz /
136.49 MHz
∇ -49.88%
random: drawGaussian1D_normalized68.70 ns /
51.27 ns
Δ 33.99%
14.56 MHz /
19.50 MHz
∇ -25.37%
random: drawGaussian1D68.68 ns /
51.74 ns
Δ 32.75%
14.56 MHz /
19.33 MHz
∇ -24.67%
random: system rand()10.45 ns /
29.39 ns
∇ -64.43%
95.67 MHz /
34.03 MHz
Δ 181.13%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
2.64 us
∇ -50.51%
764.77 KHz /
378.48 KHz
Δ 102.06%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
8.53 us
∇ -67.35%
358.92 KHz /
117.18 KHz
Δ 206.31%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
215.16 ns
∇ -26.45%
6.32 MHz /
4.65 MHz
Δ 35.96%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
359.98 ns
∇ -34.33%
4.23 MHz /
2.78 MHz
Δ 52.27%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
732.12 ns
∇ -33.16%
2.04 MHz /
1.37 MHz
Δ 49.60%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
213.59 ns
∇ -22.93%
6.07 MHz /
4.68 MHz
Δ 29.75%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
339.30 ns
∇ -26.87%
4.03 MHz /
2.95 MHz
Δ 36.75%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
760.92 ns
∇ -32.34%
1.94 MHz /
1.31 MHz
Δ 47.80%
random: permuteVector (len=10)317.50 ns /
411.34 ns
∇ -22.81%
3.15 MHz /
2.43 MHz
Δ 29.56%
random: permuteVector (len=100)3.06 us /
3.59 us
∇ -14.65%
326.54 KHz /
278.70 KHz
Δ 17.17%
random: permuteVector (len=1000)30.27 us /
34.34 us
∇ -11.85%
33.04 KHz /
29.12 KHz
Δ 13.44%
math: round0.10 ns /
0.00 ns
Δ inf%
10.09 GHz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
27.92 ms
∇ -2.35%
36.67 Hz /
35.81 Hz
Δ 2.40%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
43.53 ms
∇ -0.60%
23.11 Hz /
22.97 Hz
Δ 0.60%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
70.76 ms
Δ 5.53%
13.39 Hz /
14.13 Hz
∇ -5.24%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
23.43 ms
Δ 12.26%
38.01 Hz /
42.67 Hz
∇ -10.92%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
36.52 ms
Δ 12.05%
24.44 Hz /
27.39 Hz
∇ -10.76%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
59.82 ms
Δ 4.59%
15.99 Hz /
16.72 Hz
∇ -4.38%
images: Gauss filter (640x480)4.48 ms /
6.68 ms
∇ -32.86%
223.01 Hz /
149.74 Hz
Δ 48.94%
images: Gauss filter (800x600)7.46 ms /
8.62 ms
∇ -13.46%
134.07 Hz /
116.03 Hz
Δ 15.55%
images: Gauss filter (1024x768)12.41 ms /
14.49 ms
∇ -14.34%
80.57 Hz /
69.01 Hz
Δ 16.74%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
21.12 us
∇ -75.62%
194.17 KHz /
47.34 KHz
Δ 310.18%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
19.36 us
∇ -77.53%
229.89 KHz /
51.65 KHz
Δ 345.11%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
6.24 us
∇ -66.01%
471.70 KHz /
160.34 KHz
Δ 194.18%
feature_extraction [640x480]: Harris33.18 ms /
40.83 ms
∇ -18.73%
30.14 Hz /
24.49 Hz
Δ 23.04%
feature_extraction [640x480]: KLT29.64 ms /
33.62 ms
∇ -11.84%
33.74 Hz /
29.75 Hz
Δ 13.43%
feature_extraction [640x480]: SIFT637.68 ms /
705.28 ms
∇ -9.59%
1.57 Hz /
1.42 Hz
Δ 10.60%
feature_extraction [640x480]: SIFT desc.173.14 ms /
214.22 ms
∇ -19.17%
5.78 Hz /
4.67 Hz
Δ 23.72%
feature_extraction [640x480]: SURF202.84 ms /
326.57 ms
∇ -37.89%
4.93 Hz /
3.06 Hz
Δ 61.00%
feature_extraction [640x480]: FAST5.10 ms /
7.69 ms
∇ -33.61%
195.94 Hz /
130.08 Hz
Δ 50.63%
feature_extraction [640x480]: Spin desc.61.22 ms /
105.90 ms
∇ -42.19%
16.33 Hz /
9.44 Hz
Δ 72.99%
feature_matching [640x480]: Harris + CC43.90 ms /
57.67 ms
∇ -23.89%
22.78 Hz /
17.34 Hz
Δ 31.38%
feature_matching [640x480]: Harris + SAD38.32 ms /
50.27 ms
∇ -23.76%
26.09 Hz /
19.89 Hz
Δ 31.17%
feature_matching [640x480]: SIFT1.28 sec /
1.38 sec
∇ -7.44%
782.87 mHz /
724.62 mHz
Δ 8.04%
feature_matching [640x480]: SURF387.99 ms /
618.66 ms
∇ -37.29%
2.58 Hz /
1.62 Hz
Δ 59.45%
feature_matching [640x480]: FAST + CC15.73 ms /
22.11 ms
∇ -28.86%
63.57 Hz /
45.22 Hz
Δ 40.57%
feature_matching [640x480]: FAST + SAD10.56 ms /
14.58 ms
∇ -27.59%
94.70 Hz /
68.57 Hz
Δ 38.11%
graph(2d): insertEdge x 1e3104.46 us /
354.58 us
∇ -70.54%
9.57 KHz /
2.82 KHz
Δ 239.44%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
284.04 us
∇ -70.01%
11.74 KHz /
3.52 KHz
Δ 233.42%
graph(2d pdf): insertEdge x 1e3134.65 us /
549.28 us
∇ -75.49%
7.43 KHz /
1.82 KHz
Δ 307.93%
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
452.79 us
∇ -73.52%
8.34 KHz /
2.21 KHz
Δ 277.67%
graph(2d): insertEdge x 1e41.39 ms /
3.86 ms
∇ -64.11%
721.96 Hz /
259.12 Hz
Δ 178.62%
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
2.88 ms
∇ -70.30%
1.17 KHz /
347.75 Hz
Δ 236.71%
graph(2d pdf): insertEdge x 1e41.61 ms /
5.74 ms
∇ -71.97%
621.80 Hz /
174.28 Hz
Δ 256.78%
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
4.44 ms
∇ -72.94%
832.81 Hz /
225.33 Hz
Δ 269.59%
graph(3d): insertEdge x 1e3132.91 us /
1.35 ms
∇ -90.12%
7.52 KHz /
743.07 Hz
Δ 912.55%
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
1.09 ms
∇ -89.98%
9.17 KHz /
917.96 Hz
Δ 898.41%
graph(3d pdf): insertEdge x 1e3349.74 us /
1.74 ms
∇ -79.94%
2.86 KHz /
573.66 Hz
Δ 398.43%
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
1.46 ms
∇ -78.03%
3.11 KHz /
683.28 Hz
Δ 355.16%
graph(3d): insertEdge x 1e41.89 ms /
13.92 ms
∇ -86.42%
529.10 Hz /
71.86 Hz
Δ 636.24%
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
11.12 ms
∇ -90.12%
910.25 Hz /
89.92 Hz
Δ 912.27%
graph(3d pdf): insertEdge x 1e44.65 ms /
17.58 ms
∇ -73.56%
215.20 Hz /
56.89 Hz
Δ 278.28%
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
14.12 ms
∇ -71.31%
246.81 Hz /
70.81 Hz
Δ 248.57%
graph(3d,map): dijkstra 1e2 nodes94.48 us /
X
10.58 KHz /
X
graph(3d,map): dijkstra 1e3 nodes1.16 ms /
X
860.07 Hz /
X
graph(3d,map): dijkstra 1e4 nodes19.13 ms /
X
52.28 Hz /
X

 


Page generated automatically at 2010/12/18,14:13:40.119172 with MRPT 0.9.3 by 'mrpt-performance'.