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




Test description 0.9.2-GCC-64bit /
0.9.2-MSVC-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset19.99 ms /
30.39 ms
∇ -34.23%
50.03 Hz /
32.90 Hz
Δ 52.05%
icp-slam (match grid): Run with sample dataset19.29 ms /
52.58 ms
∇ -63.31%
51.84 Hz /
19.02 Hz
Δ 172.56%
poses: CPose3D (+) CPose3D42.85 ns /
264.70 ns
∇ -83.81%
23.34 MHz /
3.78 MHz
Δ 517.75%
poses: CPose3D.composeFrom()37.80 ns /
98.01 ns
∇ -61.43%
26.46 MHz /
10.20 MHz
Δ 159.27%
poses: CPose3D (+) CPoint3D7.25 ns /
27.86 ns
∇ -73.97%
137.89 MHz /
35.89 MHz
Δ 284.20%
poses: CPose3D.composePoint()11.91 ns /
19.17 ns
∇ -37.89%
83.98 MHz /
52.16 MHz
Δ 61.01%
poses: CPoint3D (-) CPose3D48.98 ns /
51.66 ns
∇ -5.18%
20.42 MHz /
19.36 MHz
Δ 5.46%
poses: CPose3D.inverseComposePoint()34.95 ns /
46.91 ns
∇ -25.50%
28.61 MHz /
21.32 MHz
Δ 34.22%
poses: CPose2D (+) CPose2D78.58 ns /
99.28 ns
∇ -20.85%
12.73 MHz /
10.07 MHz
Δ 26.34%
poses: CPose2D.composeFrom()70.31 ns /
89.67 ns
∇ -21.59%
14.22 MHz /
11.15 MHz
Δ 27.53%
poses: CPose2D (+) CPoint2D61.33 ns /
82.07 ns
∇ -25.27%
16.31 MHz /
12.18 MHz
Δ 33.82%
poses: CPose2D.composePoint()65.17 ns /
64.58 ns
Δ 0.91%
15.35 MHz /
15.49 MHz
∇ -0.90%
poses: CPose3DQuat (+) CPose3DQuat44.66 ns /
87.19 ns
∇ -48.78%
22.39 MHz /
11.47 MHz
Δ 95.23%
poses: CPose3DQuat.composeFrom()39.43 ns /
57.14 ns
∇ -31.00%
25.36 MHz /
17.50 MHz
Δ 44.92%
poses: CPose3DQuat (+) CPoint3D18.24 ns /
48.22 ns
∇ -62.18%
54.84 MHz /
20.74 MHz
Δ 164.43%
poses: CPose3DQuat.composePoint()17.94 ns /
29.64 ns
∇ -39.48%
55.75 MHz /
33.74 MHz
Δ 65.24%
poses: CPoint3D (-) CPose3DQuat 55.43 ns /
84.32 ns
∇ -34.27%
18.04 MHz /
11.86 MHz
Δ 52.13%
poses: CPose3DQuat.invcomposePoint()17.64 ns /
30.72 ns
∇ -42.58%
56.69 MHz /
32.55 MHz
Δ 74.14%
poses: Conv CPose3DQuat <- CPose3D16.70 ns /
33.02 ns
∇ -49.43%
59.89 MHz /
30.29 MHz
Δ 97.75%
poses: Conv CPose3D -> CPose3DQuat169.28 ns /
206.69 ns
∇ -18.10%
5.91 MHz /
4.84 MHz
Δ 22.10%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)760.96 us /
1.35 us
Δ 56186.17%
1.31 KHz /
739.68 KHz
∇ -99.82%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)760.62 us /
1.40 us
Δ 54065.36%
1.31 KHz /
712.12 KHz
∇ -99.82%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.47 us /
23.15 us
∇ -59.07%
105.55 KHz /
43.20 KHz
Δ 144.31%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)545.30 ns /
1.62 us
∇ -66.35%
1.83 MHz /
617.00 KHz
Δ 197.22%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)544.10 ns /
1.63 us
∇ -66.61%
1.84 MHz /
613.67 KHz
Δ 199.49%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.11 us /
15.82 us
∇ -48.75%
123.33 KHz /
63.21 KHz
Δ 95.10%
matrix: unit, dyn[float], 3x320.92 ns /
38.75 ns
∇ -46.01%
47.81 MHz /
25.81 MHz
Δ 85.22%
matrix: unit, dyn[double], 3x320.15 ns /
38.69 ns
∇ -47.92%
49.63 MHz /
25.85 MHz
Δ 92.03%
matrix: unit, dyn[float], 6x654.04 ns /
163.36 ns
∇ -66.92%
18.51 MHz /
6.12 MHz
Δ 202.31%
matrix: unit, dyn[double], 6x655.27 ns /
213.06 ns
∇ -74.06%
18.09 MHz /
4.69 MHz
Δ 285.50%
matrix: unit, fix[float,3,3]0.35 ns /
3.56 ns
∇ -90.29%
2.89 GHz /
280.77 MHz
Δ 929.39%
matrix: unit, fix[double,3,3]1.19 ns /
3.29 ns
∇ -63.90%
842.46 MHz /
304.17 MHz
Δ 176.97%
matrix: unit, fix[float,6,6]1.70 ns /
2.77 ns
∇ -38.71%
588.93 MHz /
360.95 MHz
Δ 63.16%
matrix: unit, fix[double,6,6]2.77 ns /
6.07 ns
∇ -54.27%
360.36 MHz /
164.80 MHz
Δ 118.67%
matrix: multiply, dyn[float ], 3x3 * 3x373.10 ns /
168.66 ns
∇ -56.66%
13.68 MHz /
5.93 MHz
Δ 130.73%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
109.47 ns
∇ -78.26%
42.02 MHz /
9.14 MHz
Δ 359.95%
matrix: multiply, dyn[double], 3x3 * 3x372.40 ns /
159.15 ns
∇ -54.51%
13.81 MHz /
6.28 MHz
Δ 119.82%
matrix: multiply, fix[double], 3x3 * 3x323.40 ns /
87.59 ns
∇ -73.29%
42.74 MHz /
11.42 MHz
Δ 274.33%
matrix: multiply, dyn[float ], 3x6 * 6x3110.50 ns /
272.34 ns
∇ -59.43%
9.05 MHz /
3.67 MHz
Δ 146.46%
matrix: multiply, fix[float ], 3x6 * 6x345.10 ns /
190.04 ns
∇ -76.27%
22.17 MHz /
5.26 MHz
Δ 321.38%
matrix: multiply, dyn[double], 3x6 * 6x3116.30 ns /
245.84 ns
∇ -52.69%
8.60 MHz /
4.07 MHz
Δ 111.38%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
138.91 ns
∇ -67.46%
22.12 MHz /
7.20 MHz
Δ 207.32%
matrix: multiply, dyn[float ], 10x40 * 40x105.19 us /
16.67 us
∇ -68.88%
192.77 KHz /
60.00 KHz
Δ 221.31%
matrix: multiply, fix[float ], 10x40 * 40x103.55 us /
12.92 us
∇ -72.51%
281.56 KHz /
77.41 KHz
Δ 263.74%
matrix: multiply, dyn[double], 10x40 * 40x105.18 us /
13.30 us
∇ -61.07%
193.05 KHz /
75.16 KHz
Δ 156.85%
matrix: multiply, fix[double], 10x40 * 40x103.61 us /
9.66 us
∇ -62.63%
277.05 KHz /
103.53 KHz
Δ 167.62%
matrix: inv, dyn[float ] 3x3333.00 ns /
1.46 us
∇ -77.17%
3.00 MHz /
685.70 KHz
Δ 337.95%
matrix: inv, fix[float ] 3x321.00 ns /
59.78 ns
∇ -64.87%
47.62 MHz /
16.73 MHz
Δ 184.69%
matrix: inv, dyn[double] 3x3329.00 ns /
1.47 us
∇ -77.57%
3.04 MHz /
681.67 KHz
Δ 345.89%
matrix: inv, fix[double] 3x321.00 ns /
30.80 ns
∇ -31.81%
47.62 MHz /
32.47 MHz
Δ 46.66%
matrix: inv, dyn[float ] 6x61.22 us /
4.39 us
∇ -72.27%
821.69 KHz /
227.86 KHz
Δ 260.62%
matrix: inv, fix[float ] 6x6468.00 ns /
1.39 us
∇ -66.35%
2.14 MHz /
718.96 KHz
Δ 197.20%
matrix: inv, dyn[double] 6x61.20 us /
5.05 us
∇ -76.20%
832.64 KHz /
198.20 KHz
Δ 320.10%
matrix: inv, fix[double] 6x6578.00 ns /
944.32 ns
∇ -38.79%
1.73 MHz /
1.06 MHz
Δ 63.38%
matrix: inv, dyn[float ] 20x2025.24 us /
80.56 us
∇ -68.67%
39.62 KHz /
12.41 KHz
Δ 219.20%
matrix: inv, fix[float ] 20x2012.60 us /
39.77 us
∇ -68.32%
79.36 KHz /
25.14 KHz
Δ 215.65%
matrix: inv, dyn[double] 20x2025.64 us /
106.06 us
∇ -75.83%
39.01 KHz /
9.43 KHz
Δ 313.69%
matrix: inv, fix[double] 20x2017.36 us /
18.99 us
∇ -8.59%
57.60 KHz /
52.65 KHz
Δ 9.40%
matrix: inv, dyn[float ] 40x40190.86 us /
594.37 us
∇ -67.89%
5.24 KHz /
1.68 KHz
Δ 211.41%
matrix: inv, fix[float ] 40x4088.89 us /
302.87 us
∇ -70.65%
11.25 KHz /
3.30 KHz
Δ 240.73%
matrix: inv, dyn[double] 40x40189.04 us /
805.07 us
∇ -76.52%
5.29 KHz /
1.24 KHz
Δ 325.88%
matrix: inv, fix[double] 40x40121.47 us /
129.27 us
∇ -6.04%
8.23 KHz /
7.74 KHz
Δ 6.42%
matrix: det, dyn[float ] 2x26.40 ns /
7.97 ns
∇ -19.71%
156.25 MHz /
125.45 MHz
Δ 24.55%
matrix: det, fix[float ] 2x20.00 ns /
0.05 ns
∇ -100.00%
inf THz /
22.08 GHz
Δ inf%
matrix: det, dyn[double] 2x26.40 ns /
8.47 ns
∇ -24.43%
156.25 MHz /
118.07 MHz
Δ 32.33%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x310.30 ns /
20.83 ns
∇ -50.56%
97.09 MHz /
48.00 MHz
Δ 102.27%
matrix: det, fix[float ] 3x30.00 ns /
0.05 ns
∇ -100.00%
inf THz /
22.08 GHz
Δ inf%
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 ] 6x6692.40 ns /
2.28 us
∇ -69.62%
1.44 MHz /
438.79 KHz
Δ 229.15%
matrix: det, fix[float ] 6x6207.00 ns /
455.22 ns
∇ -54.53%
4.83 MHz /
2.20 MHz
Δ 119.91%
matrix: det, dyn[double] 6x6696.30 ns /
2.27 us
∇ -69.32%
1.44 MHz /
440.64 KHz
Δ 225.92%
matrix: det, fix[double] 6x6212.30 ns /
409.52 ns
∇ -48.16%
4.71 MHz /
2.44 MHz
Δ 92.90%
matrix: det, dyn[float ] 20x205.39 us /
18.23 us
∇ -70.44%
185.56 KHz /
54.86 KHz
Δ 238.25%
matrix: det, fix[float ] 20x203.90 us /
9.64 us
∇ -59.52%
256.35 KHz /
103.77 KHz
Δ 147.04%
matrix: det, dyn[double] 20x206.40 us /
17.63 us
∇ -63.68%
156.16 KHz /
56.72 KHz
Δ 175.30%
matrix: det, fix[double] 20x204.72 us /
6.19 us
∇ -23.68%
211.77 KHz /
161.63 KHz
Δ 31.02%
matrix: det, dyn[float ] 40x4030.35 us /
109.51 us
∇ -72.29%
32.95 KHz /
9.13 KHz
Δ 260.83%
matrix: det, fix[float ] 40x4026.47 us /
61.78 us
∇ -57.15%
37.78 KHz /
16.19 KHz
Δ 133.39%
matrix: det, dyn[double] 40x4032.49 us /
112.43 us
∇ -71.10%
30.77 KHz /
8.89 KHz
Δ 245.98%
matrix: det, fix[double] 40x4027.34 us /
35.24 us
∇ -22.42%
36.58 KHz /
28.38 KHz
Δ 28.90%
matrix: chol, dyn[double] 4x4130.00 ns /
172.11 ns
∇ -24.47%
7.69 MHz /
5.81 MHz
Δ 32.39%
matrix: chol, fix[double] 4x4140.00 ns /
117.76 ns
Δ 18.89%
7.14 MHz /
8.49 MHz
∇ -15.89%
matrix: chol, dyn[double] 40x4018.52 us /
24.40 us
∇ -24.11%
54.00 KHz /
40.98 KHz
Δ 31.76%
matrix: chol, fix[double] 40x4016.55 us /
17.68 us
∇ -6.38%
60.42 KHz /
56.57 KHz
Δ 6.81%
matrix: chol, sparse [2x2;2x2]8.20 us /
8.42 us
∇ -2.66%
121.95 KHz /
118.71 KHz
Δ 2.73%
matrix: chol, sparse [30x30;10x10]82.90 us /
118.80 us
∇ -30.22%
12.06 KHz /
8.42 KHz
Δ 43.30%
matrix: chol, dyn[double] 10x[6x6]52.70 us /
69.79 us
∇ -24.49%
18.98 KHz /
14.33 KHz
Δ 32.44%
matrix: chol, sparse 10x[6x6]38.59 us /
52.54 us
∇ -26.55%
25.91 KHz /
19.03 KHz
Δ 36.14%
matrix: chol, dyn[double] 20x[6x6]409.80 us /
466.09 us
∇ -12.08%
2.44 KHz /
2.15 KHz
Δ 13.74%
matrix: chol, sparse 20x[6x6]70.75 us /
89.01 us
∇ -20.51%
14.13 KHz /
11.24 KHz
Δ 25.80%
matrix: chol, dyn[double] 50x[6x6]8.58 ms /
9.32 ms
∇ -8.02%
116.60 Hz /
107.25 Hz
Δ 8.72%
matrix: chol, sparse 50x[6x6]171.20 us /
201.22 us
∇ -14.92%
5.84 KHz /
4.97 KHz
Δ 17.53%
matrix: chol, dyn[double] 100x[6x6]133.58 ms /
138.07 ms
∇ -3.25%
7.49 Hz /
7.24 Hz
Δ 3.36%
matrix: chol, sparse 100x[6x6]341.85 us /
401.45 us
∇ -14.85%
2.93 KHz /
2.49 KHz
Δ 17.43%
matrix: chol, dyn[double] 120x[6x6]354.49 ms /
453.62 ms
∇ -21.85%
2.82 Hz /
2.20 Hz
Δ 27.96%
matrix: chol, sparse 120x[6x6]401.50 us /
474.18 us
∇ -15.33%
2.49 KHz /
2.11 KHz
Δ 18.10%
matrix: chol, dyn[double] 140x[6x6]773.25 ms /
945.16 ms
∇ -18.19%
1.29 Hz /
1.06 Hz
Δ 22.23%
matrix: chol, sparse 140x[6x6]469.25 us /
552.77 us
∇ -15.11%
2.13 KHz /
1.81 KHz
Δ 17.80%
gridmap2D: getCell0.00 ns /
5.57 ns
∇ -100.00%
10.00 THz /
179.64 MHz
Δ 5566675.17%
gridmap2D: setCell2.58 ns /
7.80 ns
∇ -66.97%
388.02 MHz /
128.17 MHz
Δ 202.73%
gridmap2D: updateCell7.84 ns /
10.65 ns
∇ -26.38%
127.58 MHz /
93.93 MHz
Δ 35.83%
gridmap2D: updateCell_fast_occupied0.55 ns /
1.20 ns
∇ -54.03%
1.82 GHz /
834.82 MHz
Δ 117.52%
gridmap2D: insert scan w/o widening102.06 us /
202.10 us
∇ -49.50%
9.80 KHz /
4.95 KHz
Δ 98.03%
gridmap2D: insert scan with widening289.47 us /
338.79 us
∇ -14.56%
3.45 KHz /
2.95 KHz
Δ 17.04%
gridmap2D: resize1.97 ms /
3.58 ms
∇ -45.07%
508.65 Hz /
279.42 Hz
Δ 82.04%
gridmap2D: computeLikelihood15.74 us /
18.09 us
∇ -13.01%
63.55 KHz /
55.28 KHz
Δ 14.96%
pointmap: insert 100 scans3.04 ms /
5.50 ms
∇ -44.74%
329.30 Hz /
181.98 Hz
Δ 80.96%
pointmap: build 2D kd-tree of 1 scan4.32 us /
6.29 us
∇ -31.28%
231.48 KHz /
159.07 KHz
Δ 45.52%
pointmap: build 2D kd-tree of 100 scan352.12 us /
520.70 us
∇ -32.38%
2.84 KHz /
1.92 KHz
Δ 47.88%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
5.50 ms
∇ -24.78%
241.51 Hz /
181.67 Hz
Δ 32.94%
pointmap: build 3D kd-tree of 1 scan4.68 us /
6.47 us
∇ -27.64%
213.68 KHz /
154.62 KHz
Δ 38.20%
pointmap: build 3D kd-tree of 100 scan359.52 us /
526.59 us
∇ -31.73%
2.78 KHz /
1.90 KHz
Δ 46.47%
pointmap: build 3D kd-tree of 1000 scan4.03 ms /
5.63 ms
∇ -28.50%
248.28 Hz /
177.52 Hz
Δ 39.86%
pointmap: kd-tree 2d query on 10 scans1.41 us /
2.04 us
∇ -31.09%
711.74 KHz /
490.44 KHz
Δ 45.12%
pointmap: kd-tree 2d query on 1000 scans97.21 us /
137.79 us
∇ -29.45%
10.29 KHz /
7.26 KHz
Δ 41.75%
pointmap: kd-tree 2d query on 10000 scans11.62 ms /
14.88 ms
∇ -21.91%
86.05 Hz /
67.19 Hz
Δ 28.06%
pointmap: (insert scan+2D kd-tree query) x 105.59 ms /
8.57 ms
∇ -34.73%
178.77 Hz /
116.69 Hz
Δ 53.21%
pointmap: (insert scan+2D kd-tree query) x 50129.28 ms /
191.63 ms
∇ -32.53%
7.73 Hz /
5.22 Hz
Δ 48.22%
pointmap: (insert scan+3D kd-tree query) x 105.66 ms /
8.64 ms
∇ -34.42%
176.53 Hz /
115.78 Hz
Δ 52.48%
pointmap: (insert scan+3D kd-tree query) x 50131.22 ms /
194.89 ms
∇ -32.67%
7.62 Hz /
5.13 Hz
Δ 48.52%
random: drawUniform32bit14.50 ns /
7.21 ns
Δ 101.13%
68.95 MHz /
138.68 MHz
∇ -50.28%
random: drawUniform14.50 ns /
7.18 ns
Δ 101.91%
68.96 MHz /
139.23 MHz
∇ -50.47%
random: drawGaussian1D_normalized68.97 ns /
51.37 ns
Δ 34.26%
14.50 MHz /
19.47 MHz
∇ -25.52%
random: drawGaussian1D68.98 ns /
51.39 ns
Δ 34.24%
14.50 MHz /
19.46 MHz
∇ -25.50%
random: system rand()10.45 ns /
28.61 ns
∇ -63.49%
95.72 MHz /
34.95 MHz
Δ 173.89%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
2.55 us
∇ -48.81%
765.12 KHz /
391.65 KHz
Δ 95.36%
random: drawGaussianMultivariate(dyn 3x3)2.73 us /
8.36 us
∇ -67.34%
366.37 KHz /
119.66 KHz
Δ 206.17%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.91 ns /
213.95 ns
∇ -25.72%
6.29 MHz /
4.67 MHz
Δ 34.63%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)237.40 ns /
324.69 ns
∇ -26.88%
4.21 MHz /
3.08 MHz
Δ 36.77%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)490.03 ns /
829.70 ns
∇ -40.94%
2.04 MHz /
1.21 MHz
Δ 69.32%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.67 ns /
214.89 ns
∇ -23.37%
6.07 MHz /
4.65 MHz
Δ 30.50%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)249.81 ns /
364.99 ns
∇ -31.56%
4.00 MHz /
2.74 MHz
Δ 46.11%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.70 ns /
760.13 ns
∇ -32.29%
1.94 MHz /
1.32 MHz
Δ 47.68%
random: permuteVector (len=10)296.20 ns /
420.57 ns
∇ -29.57%
3.38 MHz /
2.38 MHz
Δ 41.99%
random: permuteVector (len=100)3.04 us /
3.56 us
∇ -14.53%
328.91 KHz /
281.12 KHz
Δ 17.00%
random: permuteVector (len=1000)30.22 us /
33.55 us
∇ -9.92%
33.09 KHz /
29.80 KHz
Δ 11.02%
math: round0.10 ns /
0.00 ns
Δ inf%
10.09 GHz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)35.06 ms /
28.40 ms
Δ 23.45%
28.52 Hz /
35.21 Hz
∇ -19.00%
images: Save as JPEG (800x600, quality=95%)48.96 ms /
43.71 ms
Δ 12.00%
20.42 Hz /
22.88 Hz
∇ -10.72%
images: Save as JPEG (1024x768, quality=95%)74.65 ms /
70.17 ms
Δ 6.38%
13.40 Hz /
14.25 Hz
∇ -6.00%
images: Save as JPEG (640x480, quality=75%)29.96 ms /
24.11 ms
Δ 24.28%
33.37 Hz /
41.48 Hz
∇ -19.54%
images: Save as JPEG (800x600, quality=75%)42.79 ms /
37.02 ms
Δ 15.57%
23.37 Hz /
27.01 Hz
∇ -13.47%
images: Save as JPEG (1024x768, quality=75%)64.15 ms /
59.51 ms
Δ 7.80%
15.59 Hz /
16.80 Hz
∇ -7.24%
images: Gauss filter (640x480)3.90 ms /
5.29 ms
∇ -26.28%
256.30 Hz /
188.95 Hz
Δ 35.64%
images: Gauss filter (800x600)6.21 ms /
8.36 ms
∇ -25.69%
160.99 Hz /
119.64 Hz
Δ 34.56%
images: Gauss filter (1024x768)10.55 ms /
13.88 ms
∇ -23.95%
94.74 Hz /
72.06 Hz
Δ 31.49%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.06 us /
18.63 us
∇ -72.84%
197.63 KHz /
53.67 KHz
Δ 268.24%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.30 us /
17.89 us
∇ -75.96%
232.56 KHz /
55.91 KHz
Δ 315.94%
scan_matching: 6D LS Rigid Trans. [vector of points]2.10 us /
5.05 us
∇ -58.45%
476.19 KHz /
197.84 KHz
Δ 140.69%
feature_extraction [640x480]: Harris24.28 ms /
33.27 ms
∇ -27.03%
41.19 Hz /
30.06 Hz
Δ 37.04%
feature_extraction [640x480]: KLT24.43 ms /
31.21 ms
∇ -21.75%
40.94 Hz /
32.04 Hz
Δ 27.79%
feature_extraction [640x480]: SIFT610.42 ms /
675.81 ms
∇ -9.68%
1.64 Hz /
1.48 Hz
Δ 10.71%
feature_extraction [640x480]: SIFT desc.167.77 ms /
217.19 ms
∇ -22.75%
5.96 Hz /
4.60 Hz
Δ 29.46%
feature_extraction [640x480]: SURF197.61 ms /
316.97 ms
∇ -37.66%
5.06 Hz /
3.15 Hz
Δ 60.40%
feature_extraction [640x480]: FAST5.24 ms /
7.82 ms
∇ -32.92%
190.68 Hz /
127.91 Hz
Δ 49.08%
feature_extraction [640x480]: Spin desc.59.98 ms /
103.38 ms
∇ -41.98%
16.67 Hz /
9.67 Hz
Δ 72.35%
feature_matching [640x480]: Harris + CC40.88 ms /
56.24 ms
∇ -27.31%
24.46 Hz /
17.78 Hz
Δ 37.58%
feature_matching [640x480]: Harris + SAD35.50 ms /
47.55 ms
∇ -25.35%
28.17 Hz /
21.03 Hz
Δ 33.96%
feature_matching [640x480]: SIFT1.21 sec /
1.34 sec
∇ -9.93%
828.07 mHz /
745.82 mHz
Δ 11.03%
feature_matching [640x480]: SURF379.92 ms /
606.64 ms
∇ -37.37%
2.63 Hz /
1.65 Hz
Δ 59.68%
feature_matching [640x480]: FAST + CC16.06 ms /
22.36 ms
∇ -28.17%
62.26 Hz /
44.72 Hz
Δ 39.22%
feature_matching [640x480]: FAST + SAD10.73 ms /
15.00 ms
∇ -28.43%
93.18 Hz /
66.69 Hz
Δ 39.72%
graph(2d): insertEdge x 1e3117.65 us /
313.03 us
∇ -62.42%
8.50 KHz /
3.19 KHz
Δ 166.07%
graph(2d,vec): insertEdge x 1e3105.12 us /
307.43 us
∇ -65.81%
9.51 KHz /
3.25 KHz
Δ 192.45%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
222.64 us
∇ -61.74%
11.74 KHz /
4.49 KHz
Δ 161.36%
graph(2d,vec): insertEdgeAtEnd x 1e384.46 us /
222.87 us
∇ -62.10%
11.84 KHz /
4.49 KHz
Δ 163.87%
graph(2d pdf): insertEdge x 1e3172.53 us /
516.93 us
∇ -66.62%
5.80 KHz /
1.93 KHz
Δ 199.62%
graph(2d pdf,vec): insertEdge x 1e3187.97 us /
517.18 us
∇ -63.65%
5.32 KHz /
1.93 KHz
Δ 175.14%
graph(2d pdf): insertEdgeAtEnd x 1e3168.61 us /
405.97 us
∇ -58.47%
5.93 KHz /
2.46 KHz
Δ 140.78%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3167.39 us /
403.48 us
∇ -58.51%
5.97 KHz /
2.48 KHz
Δ 141.05%
graph(2d): insertEdge x 1e41.73 ms /
3.36 ms
∇ -48.68%
579.22 Hz /
297.28 Hz
Δ 94.84%
graph(2d,vec): insertEdge x 1e41.45 ms /
3.35 ms
∇ -56.74%
690.59 Hz /
298.76 Hz
Δ 131.15%
graph(2d): insertEdgeAtEnd x 1e4884.69 us /
2.22 ms
∇ -60.14%
1.13 KHz /
450.51 Hz
Δ 150.90%
graph(2d,vec): insertEdgeAtEnd x 1e4862.22 us /
2.22 ms
∇ -61.18%
1.16 KHz /
450.21 Hz
Δ 157.61%
graph(2d pdf): insertEdge x 1e41.97 ms /
5.45 ms
∇ -63.81%
506.65 Hz /
183.37 Hz
Δ 176.30%
graph(2d pdf,vec): insertEdge x 1e42.31 ms /
5.44 ms
∇ -57.60%
433.74 Hz /
183.91 Hz
Δ 135.84%
graph(2d pdf): insertEdgeAtEnd x 1e41.86 ms /
4.07 ms
∇ -54.33%
538.12 Hz /
245.74 Hz
Δ 118.98%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.86 ms /
4.06 ms
∇ -54.21%
538.35 Hz /
246.50 Hz
Δ 118.39%
graph(3d): insertEdge x 1e3177.23 us /
447.20 us
∇ -60.37%
5.64 KHz /
2.24 KHz
Δ 152.33%
graph(3d,vec): insertEdge x 1e3178.36 us /
442.12 us
∇ -59.66%
5.61 KHz /
2.26 KHz
Δ 147.88%
graph(3d): insertEdgeAtEnd x 1e3157.86 us /
346.69 us
∇ -54.47%
6.33 KHz /
2.88 KHz
Δ 119.62%
graph(3d,vec): insertEdgeAtEnd x 1e3159.54 us /
347.20 us
∇ -54.05%
6.27 KHz /
2.88 KHz
Δ 117.63%
graph(3d pdf): insertEdge x 1e3507.00 us /
944.03 us
∇ -46.29%
1.97 KHz /
1.06 KHz
Δ 86.20%
graph(3d pdf,vec): insertEdge x 1e3509.46 us /
978.08 us
∇ -47.91%
1.96 KHz /
1.02 KHz
Δ 91.98%
graph(3d pdf): insertEdgeAtEnd x 1e3473.36 us /
793.19 us
∇ -40.32%
2.11 KHz /
1.26 KHz
Δ 67.56%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3474.07 us /
793.52 us
∇ -40.26%
2.11 KHz /
1.26 KHz
Δ 67.39%
graph(3d): insertEdge x 1e42.47 ms /
4.62 ms
∇ -46.51%
404.60 Hz /
216.43 Hz
Δ 86.95%
graph(3d,vec): insertEdge x 1e42.48 ms /
4.62 ms
∇ -46.21%
402.82 Hz /
216.67 Hz
Δ 85.92%
graph(3d): insertEdgeAtEnd x 1e41.75 ms /
3.48 ms
∇ -49.64%
570.48 Hz /
287.28 Hz
Δ 98.58%
graph(3d,vec): insertEdgeAtEnd x 1e41.77 ms /
3.47 ms
∇ -49.13%
565.81 Hz /
287.84 Hz
Δ 96.57%
graph(3d pdf): insertEdge x 1e45.53 ms /
10.55 ms
∇ -47.64%
180.97 Hz /
94.75 Hz
Δ 90.99%
graph(3d pdf,vec): insertEdge x 1e45.56 ms /
9.75 ms
∇ -42.94%
179.70 Hz /
102.54 Hz
Δ 75.24%
graph(3d pdf): insertEdgeAtEnd x 1e44.85 ms /
7.93 ms
∇ -38.84%
206.16 Hz /
126.08 Hz
Δ 63.52%
graph(3d pdf,vec): insertEdgeAtEnd x 1e44.85 ms /
7.94 ms
∇ -38.90%
206.11 Hz /
125.93 Hz
Δ 63.67%
graph(3d): dijkstra 1e2 nodes96.04 us /
262.18 us
∇ -63.37%
10.41 KHz /
3.81 KHz
Δ 172.98%
graph(3d,vec): dijkstra 1e2 nodes80.39 us /
363.67 us
∇ -77.90%
12.44 KHz /
2.75 KHz
Δ 352.41%
graph(3d): dijkstra 1e3 nodes1.13 ms /
2.97 ms
∇ -62.02%
885.05 Hz /
336.14 Hz
Δ 163.30%
graph(3d,vec): dijkstra 1e3 nodes804.04 us /
3.29 ms
∇ -75.58%
1.24 KHz /
303.75 Hz
Δ 309.46%
graph(3d): dijkstra 1e4 nodes19.14 ms /
34.21 ms
∇ -44.07%
52.26 Hz /
29.23 Hz
Δ 78.78%
graph(3d,vec): dijkstra 1e4 nodes9.65 ms /
38.12 ms
∇ -74.69%
103.63 Hz /
26.23 Hz
Δ 295.07%
graph(3d): dijkstra 1e5 nodes290.37 ms /
389.54 ms
∇ -25.46%
3.44 Hz /
2.57 Hz
Δ 34.15%
graph(3d,vec): dijkstra 1e5 nodes117.73 ms /
428.64 ms
∇ -72.53%
8.49 Hz /
2.33 Hz
Δ 264.08%
graph(2d): dijkstra 1e5 nodes268.93 ms /
382.11 ms
∇ -29.62%
3.72 Hz /
2.62 Hz
Δ 42.08%
graph(2d,vec): dijkstra 1e5 nodes103.05 ms /
417.45 ms
∇ -75.32%
9.70 Hz /
2.40 Hz
Δ 305.11%

 


Page generated automatically at 2010/12/18,14:13:40.142230 with MRPT 0.9.3 by 'mrpt-performance'.