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




Test description 0.9.2-MSVC-32bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset30.39 ms /
21.60 ms
Δ 40.72%
32.90 Hz /
46.30 Hz
∇ -28.94%
icp-slam (match grid): Run with sample dataset52.58 ms /
20.51 ms
Δ 156.34%
19.02 Hz /
48.75 Hz
∇ -60.99%
poses: CPose3D (+) CPose3D264.70 ns /
449.02 ns
∇ -41.05%
3.78 MHz /
2.23 MHz
Δ 69.63%
poses: CPose3D.composeFrom()98.01 ns /
233.83 ns
∇ -58.09%
10.20 MHz /
4.28 MHz
Δ 138.59%
poses: CPose3D (+) CPoint3D27.86 ns /
10.67 ns
Δ 161.22%
35.89 MHz /
93.76 MHz
∇ -61.72%
poses: CPose3D.composePoint()19.17 ns /
10.06 ns
Δ 90.54%
52.16 MHz /
99.38 MHz
∇ -47.52%
poses: CPoint3D (-) CPose3D51.66 ns /
37.71 ns
Δ 36.99%
19.36 MHz /
26.52 MHz
∇ -27.00%
poses: CPose3D.inverseComposePoint()46.91 ns /
40.98 ns
Δ 14.49%
21.32 MHz /
24.40 MHz
∇ -12.65%
poses: CPose2D (+) CPose2D99.28 ns /
78.17 ns
Δ 27.00%
10.07 MHz /
12.79 MHz
∇ -21.26%
poses: CPose2D.composeFrom()89.67 ns /
62.17 ns
Δ 44.24%
11.15 MHz /
16.08 MHz
∇ -30.67%
poses: CPose2D (+) CPoint2D82.07 ns /
63.86 ns
Δ 28.51%
12.18 MHz /
15.66 MHz
∇ -22.18%
poses: CPose2D.composePoint()64.58 ns /
61.98 ns
Δ 4.19%
15.49 MHz /
16.13 MHz
∇ -4.02%
poses: CPose3DQuat (+) CPose3DQuat87.19 ns /
47.00 ns
Δ 85.51%
11.47 MHz /
21.28 MHz
∇ -46.09%
poses: CPose3DQuat.composeFrom()57.14 ns /
39.80 ns
Δ 43.58%
17.50 MHz /
25.13 MHz
∇ -30.35%
poses: CPose3DQuat (+) CPoint3D48.22 ns /
22.62 ns
Δ 113.18%
20.74 MHz /
44.21 MHz
∇ -53.09%
poses: CPose3DQuat.composePoint()29.64 ns /
18.93 ns
Δ 56.58%
33.74 MHz /
52.83 MHz
∇ -36.14%
poses: CPoint3D (-) CPose3DQuat 84.32 ns /
391.26 ns
∇ -78.45%
11.86 MHz /
2.56 MHz
Δ 364.03%
poses: CPose3DQuat.invcomposePoint()30.72 ns /
18.05 ns
Δ 70.15%
32.55 MHz /
55.39 MHz
∇ -41.23%
poses: Conv CPose3DQuat <- CPose3D33.02 ns /
355.00 ns
∇ -90.70%
30.29 MHz /
2.82 MHz
Δ 975.14%
poses: Conv CPose3D -> CPose3DQuat206.69 ns /
173.19 ns
Δ 19.34%
4.84 MHz /
5.77 MHz
∇ -16.20%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.35 us /
814.76 us
∇ -99.83%
739.68 KHz /
1.23 KHz
Δ 60165.82%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.40 us /
821.91 us
∇ -99.83%
712.12 KHz /
1.22 KHz
Δ 58430.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.15 us /
9.57 us
Δ 141.83%
43.20 KHz /
104.48 KHz
∇ -58.65%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.62 us /
682.30 ns
Δ 137.54%
617.00 KHz /
1.47 MHz
∇ -57.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.63 us /
533.80 ns
Δ 205.27%
613.67 KHz /
1.87 MHz
∇ -67.24%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)15.82 us /
8.51 us
Δ 85.79%
63.21 KHz /
117.45 KHz
∇ -46.18%
matrix: unit, dyn[float], 3x338.75 ns /
20.59 ns
Δ 88.16%
25.81 MHz /
48.56 MHz
∇ -46.85%
matrix: unit, dyn[double], 3x338.69 ns /
22.60 ns
Δ 71.17%
25.85 MHz /
44.24 MHz
∇ -41.58%
matrix: unit, dyn[float], 6x6163.36 ns /
63.92 ns
Δ 155.55%
6.12 MHz /
15.64 MHz
∇ -60.87%
matrix: unit, dyn[double], 6x6213.06 ns /
65.22 ns
Δ 226.69%
4.69 MHz /
15.33 MHz
∇ -69.39%
matrix: unit, fix[float,3,3]3.56 ns /
0.35 ns
Δ 929.39%
280.77 MHz /
2.89 GHz
∇ -90.29%
matrix: unit, fix[double,3,3]3.29 ns /
1.19 ns
Δ 176.97%
304.17 MHz /
842.46 MHz
∇ -63.90%
matrix: unit, fix[float,6,6]2.77 ns /
1.68 ns
Δ 64.71%
360.95 MHz /
594.53 MHz
∇ -39.29%
matrix: unit, fix[double,6,6]6.07 ns /
2.86 ns
Δ 112.10%
164.80 MHz /
349.53 MHz
∇ -52.85%
matrix: multiply, dyn[float ], 3x3 * 3x3168.66 ns /
73.50 ns
Δ 129.47%
5.93 MHz /
13.61 MHz
∇ -56.42%
matrix: multiply, fix[float ], 3x3 * 3x3109.47 ns /
24.10 ns
Δ 354.23%
9.14 MHz /
41.49 MHz
∇ -77.98%
matrix: multiply, dyn[double], 3x3 * 3x3159.15 ns /
72.10 ns
Δ 120.74%
6.28 MHz /
13.87 MHz
∇ -54.70%
matrix: multiply, fix[double], 3x3 * 3x387.59 ns /
23.50 ns
Δ 272.74%
11.42 MHz /
42.55 MHz
∇ -73.17%
matrix: multiply, dyn[float ], 3x6 * 6x3272.34 ns /
112.90 ns
Δ 141.22%
3.67 MHz /
8.86 MHz
∇ -58.54%
matrix: multiply, fix[float ], 3x6 * 6x3190.04 ns /
45.00 ns
Δ 322.31%
5.26 MHz /
22.22 MHz
∇ -76.32%
matrix: multiply, dyn[double], 3x6 * 6x3245.84 ns /
110.50 ns
Δ 122.48%
4.07 MHz /
9.05 MHz
∇ -55.05%
matrix: multiply, fix[double], 3x6 * 6x3138.91 ns /
45.10 ns
Δ 208.00%
7.20 MHz /
22.17 MHz
∇ -67.53%
matrix: multiply, dyn[float ], 10x40 * 40x1016.67 us /
5.82 us
Δ 186.54%
60.00 KHz /
171.91 KHz
∇ -65.10%
matrix: multiply, fix[float ], 10x40 * 40x1012.92 us /
3.57 us
Δ 261.61%
77.41 KHz /
279.91 KHz
∇ -72.35%
matrix: multiply, dyn[double], 10x40 * 40x1013.30 us /
5.88 us
Δ 126.09%
75.16 KHz /
169.93 KHz
∇ -55.77%
matrix: multiply, fix[double], 10x40 * 40x109.66 us /
3.82 us
Δ 153.12%
103.53 KHz /
262.04 KHz
∇ -60.49%
matrix: inv, dyn[float ] 3x31.46 us /
449.00 ns
Δ 224.80%
685.70 KHz /
2.23 MHz
∇ -69.21%
matrix: inv, fix[float ] 3x359.78 ns /
33.00 ns
Δ 81.16%
16.73 MHz /
30.30 MHz
∇ -44.80%
matrix: inv, dyn[double] 3x31.47 us /
413.00 ns
Δ 255.20%
681.67 KHz /
2.42 MHz
∇ -71.85%
matrix: inv, fix[double] 3x330.80 ns /
22.00 ns
Δ 39.99%
32.47 MHz /
45.45 MHz
∇ -28.57%
matrix: inv, dyn[float ] 6x64.39 us /
1.31 us
Δ 234.00%
227.86 KHz /
761.04 KHz
∇ -70.06%
matrix: inv, fix[float ] 6x61.39 us /
468.00 ns
Δ 197.20%
718.96 KHz /
2.14 MHz
∇ -66.35%
matrix: inv, dyn[double] 6x65.05 us /
1.25 us
Δ 303.96%
198.20 KHz /
800.64 KHz
∇ -75.24%
matrix: inv, fix[double] 6x6944.32 ns /
578.00 ns
Δ 63.38%
1.06 MHz /
1.73 MHz
∇ -38.79%
matrix: inv, dyn[float ] 20x2080.56 us /
28.01 us
Δ 187.66%
12.41 KHz /
35.71 KHz
∇ -65.24%
matrix: inv, fix[float ] 20x2039.77 us /
12.67 us
Δ 213.88%
25.14 KHz /
78.91 KHz
∇ -68.14%
matrix: inv, dyn[double] 20x20106.06 us /
28.58 us
Δ 271.04%
9.43 KHz /
34.98 KHz
∇ -73.05%
matrix: inv, fix[double] 20x2018.99 us /
17.20 us
Δ 10.45%
52.65 KHz /
58.15 KHz
∇ -9.46%
matrix: inv, dyn[float ] 40x40594.37 us /
205.67 us
Δ 189.00%
1.68 KHz /
4.86 KHz
∇ -65.40%
matrix: inv, fix[float ] 40x40302.87 us /
92.66 us
Δ 226.85%
3.30 KHz /
10.79 KHz
∇ -69.40%
matrix: inv, dyn[double] 40x40805.07 us /
200.95 us
Δ 300.64%
1.24 KHz /
4.98 KHz
∇ -75.04%
matrix: inv, fix[double] 40x40129.27 us /
134.50 us
∇ -3.89%
7.74 KHz /
7.43 KHz
Δ 4.05%
matrix: det, dyn[float ] 2x27.97 ns /
6.40 ns
Δ 24.55%
125.45 MHz /
156.25 MHz
∇ -19.71%
matrix: det, fix[float ] 2x20.05 ns /
0.00 ns
Δ inf%
22.08 GHz /
inf THz
∇ -nan%
matrix: det, dyn[double] 2x28.47 ns /
8.80 ns
∇ -3.76%
118.07 MHz /
113.64 MHz
Δ 3.90%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x320.83 ns /
10.30 ns
Δ 102.27%
48.00 MHz /
97.09 MHz
∇ -50.56%
matrix: det, fix[float ] 3x30.05 ns /
0.00 ns
Δ inf%
22.08 GHz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x315.90 ns /
10.30 ns
Δ 54.34%
62.90 MHz /
97.09 MHz
∇ -35.21%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 6x62.28 us /
931.50 ns
Δ 144.66%
438.79 KHz /
1.07 MHz
∇ -59.13%
matrix: det, fix[float ] 6x6455.22 ns /
215.70 ns
Δ 111.04%
2.20 MHz /
4.64 MHz
∇ -52.62%
matrix: det, dyn[double] 6x62.27 us /
739.10 ns
Δ 207.05%
440.64 KHz /
1.35 MHz
∇ -67.43%
matrix: det, fix[double] 6x6409.52 ns /
219.80 ns
Δ 86.32%
2.44 MHz /
4.55 MHz
∇ -46.33%
matrix: det, dyn[float ] 20x2018.23 us /
5.64 us
Δ 223.19%
54.86 KHz /
177.30 KHz
∇ -69.06%
matrix: det, fix[float ] 20x209.64 us /
4.05 us
Δ 137.84%
103.77 KHz /
246.81 KHz
∇ -57.96%
matrix: det, dyn[double] 20x2017.63 us /
6.52 us
Δ 170.29%
56.72 KHz /
153.32 KHz
∇ -63.00%
matrix: det, fix[double] 20x206.19 us /
4.73 us
Δ 30.88%
161.63 KHz /
211.54 KHz
∇ -23.59%
matrix: det, dyn[float ] 40x40109.51 us /
30.83 us
Δ 255.18%
9.13 KHz /
32.43 KHz
∇ -71.84%
matrix: det, fix[float ] 40x4061.78 us /
25.85 us
Δ 138.96%
16.19 KHz /
38.68 KHz
∇ -58.15%
matrix: det, dyn[double] 40x40112.43 us /
32.40 us
Δ 247.04%
8.89 KHz /
30.87 KHz
∇ -71.19%
matrix: det, fix[double] 40x4035.24 us /
27.53 us
Δ 28.01%
28.38 KHz /
36.33 KHz
∇ -21.88%
matrix: chol, dyn[double] 4x4172.11 ns /
170.00 ns
Δ 1.24%
5.81 MHz /
5.88 MHz
∇ -1.22%
matrix: chol, fix[double] 4x4117.76 ns /
130.00 ns
∇ -9.42%
8.49 MHz /
7.69 MHz
Δ 10.40%
matrix: chol, dyn[double] 40x4024.40 us /
18.73 us
Δ 30.29%
40.98 KHz /
53.39 KHz
∇ -23.25%
matrix: chol, fix[double] 40x4017.68 us /
16.74 us
Δ 5.60%
56.57 KHz /
59.74 KHz
∇ -5.30%
matrix: chol, sparse [2x2;2x2]8.42 us /
8.50 us
∇ -0.89%
118.71 KHz /
117.65 KHz
Δ 0.90%
matrix: chol, sparse [30x30;10x10]118.80 us /
93.90 us
Δ 26.52%
8.42 KHz /
10.65 KHz
∇ -20.96%
matrix: chol, dyn[double] 10x[6x6]69.79 us /
52.90 us
Δ 31.93%
14.33 KHz /
18.90 KHz
∇ -24.21%
matrix: chol, sparse 10x[6x6]52.54 us /
40.03 us
Δ 31.25%
19.03 KHz /
24.98 KHz
∇ -23.81%
matrix: chol, dyn[double] 20x[6x6]466.09 us /
411.30 us
Δ 13.32%
2.15 KHz /
2.43 KHz
∇ -11.76%
matrix: chol, sparse 20x[6x6]89.01 us /
74.98 us
Δ 18.71%
11.24 KHz /
13.34 KHz
∇ -15.76%
matrix: chol, dyn[double] 50x[6x6]9.32 ms /
8.61 ms
Δ 8.33%
107.25 Hz /
116.18 Hz
∇ -7.69%
matrix: chol, sparse 50x[6x6]201.22 us /
185.35 us
Δ 8.56%
4.97 KHz /
5.40 KHz
∇ -7.89%
matrix: chol, dyn[double] 100x[6x6]138.07 ms /
135.40 ms
Δ 1.97%
7.24 Hz /
7.39 Hz
∇ -1.93%
matrix: chol, sparse 100x[6x6]401.45 us /
359.80 us
Δ 11.58%
2.49 KHz /
2.78 KHz
∇ -10.38%
matrix: chol, dyn[double] 120x[6x6]453.62 ms /
364.31 ms
Δ 24.51%
2.20 Hz /
2.74 Hz
∇ -19.69%
matrix: chol, sparse 120x[6x6]474.18 us /
426.39 us
Δ 11.21%
2.11 KHz /
2.35 KHz
∇ -10.08%
matrix: chol, dyn[double] 140x[6x6]945.16 ms /
800.16 ms
Δ 18.12%
1.06 Hz /
1.25 Hz
∇ -15.34%
matrix: chol, sparse 140x[6x6]552.77 us /
497.60 us
Δ 11.09%
1.81 KHz /
2.01 KHz
∇ -9.98%
gridmap2D: getCell5.57 ns /
0.00 ns
Δ inf%
179.64 MHz /
inf THz
∇ -nan%
gridmap2D: setCell7.80 ns /
2.58 ns
Δ 202.08%
128.17 MHz /
387.19 MHz
∇ -66.90%
gridmap2D: updateCell10.65 ns /
7.47 ns
Δ 42.44%
93.93 MHz /
133.80 MHz
∇ -29.80%
gridmap2D: updateCell_fast_occupied1.20 ns /
0.55 ns
Δ 119.43%
834.82 MHz /
1.83 GHz
∇ -54.43%
gridmap2D: insert scan w/o widening202.10 us /
104.80 us
Δ 92.85%
4.95 KHz /
9.54 KHz
∇ -48.15%
gridmap2D: insert scan with widening338.79 us /
295.32 us
Δ 14.72%
2.95 KHz /
3.39 KHz
∇ -12.83%
gridmap2D: resize3.58 ms /
1.83 ms
Δ 96.00%
279.42 Hz /
547.65 Hz
∇ -48.98%
gridmap2D: computeLikelihood18.09 us /
16.65 us
Δ 8.64%
55.28 KHz /
60.06 KHz
∇ -7.95%
pointmap: insert 100 scans5.50 ms /
3.11 ms
Δ 76.52%
181.98 Hz /
321.23 Hz
∇ -43.35%
pointmap: build 2D kd-tree of 1 scan6.29 us /
4.28 us
Δ 46.88%
159.07 KHz /
233.64 KHz
∇ -31.92%
pointmap: build 2D kd-tree of 100 scan520.70 us /
354.96 us
Δ 46.69%
1.92 KHz /
2.82 KHz
∇ -31.83%
pointmap: build 2D kd-tree of 1000 scan5.50 ms /
4.14 ms
Δ 33.02%
181.67 Hz /
241.67 Hz
∇ -24.82%
pointmap: build 3D kd-tree of 1 scan6.47 us /
4.28 us
Δ 51.11%
154.62 KHz /
233.64 KHz
∇ -33.82%
pointmap: build 3D kd-tree of 100 scan526.59 us /
361.24 us
Δ 45.77%
1.90 KHz /
2.77 KHz
∇ -31.40%
pointmap: build 3D kd-tree of 1000 scan5.63 ms /
4.09 ms
Δ 37.82%
177.52 Hz /
244.66 Hz
∇ -27.44%
pointmap: kd-tree 2d query on 10 scans2.04 us /
1.37 us
Δ 49.05%
490.44 KHz /
730.99 KHz
∇ -32.91%
pointmap: kd-tree 2d query on 1000 scans137.79 us /
98.96 us
Δ 39.24%
7.26 KHz /
10.10 KHz
∇ -28.18%
pointmap: kd-tree 2d query on 10000 scans14.88 ms /
11.96 ms
Δ 24.47%
67.19 Hz /
83.64 Hz
∇ -19.66%
pointmap: (insert scan+2D kd-tree query) x 108.57 ms /
5.60 ms
Δ 52.97%
116.69 Hz /
178.50 Hz
∇ -34.63%
pointmap: (insert scan+2D kd-tree query) x 50191.63 ms /
129.56 ms
Δ 47.91%
5.22 Hz /
7.72 Hz
∇ -32.39%
pointmap: (insert scan+3D kd-tree query) x 108.64 ms /
5.65 ms
Δ 52.74%
115.78 Hz /
176.84 Hz
∇ -34.53%
pointmap: (insert scan+3D kd-tree query) x 50194.89 ms /
132.43 ms
Δ 47.17%
5.13 Hz /
7.55 Hz
∇ -32.05%
random: drawUniform32bit7.21 ns /
15.70 ns
∇ -54.07%
138.68 MHz /
63.70 MHz
Δ 117.72%
random: drawUniform7.18 ns /
15.69 ns
∇ -54.24%
139.23 MHz /
63.72 MHz
Δ 118.51%
random: drawGaussian1D_normalized51.37 ns /
70.40 ns
∇ -27.03%
19.47 MHz /
14.20 MHz
Δ 37.04%
random: drawGaussian1D51.39 ns /
70.38 ns
∇ -26.98%
19.46 MHz /
14.21 MHz
Δ 36.95%
random: system rand()28.61 ns /
11.07 ns
Δ 158.58%
34.95 MHz /
90.37 MHz
∇ -61.33%
random: drawGaussianMultivariate(fixed 3x3)2.55 us /
1.33 us
Δ 92.00%
391.65 KHz /
751.96 KHz
∇ -47.92%
random: drawGaussianMultivariate(dyn 3x3)8.36 us /
3.04 us
Δ 174.93%
119.66 KHz /
328.99 KHz
∇ -63.63%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)213.95 ns /
162.81 ns
Δ 31.41%
4.67 MHz /
6.14 MHz
∇ -23.90%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)324.69 ns /
245.58 ns
Δ 32.21%
3.08 MHz /
4.07 MHz
∇ -24.36%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)829.70 ns /
514.74 ns
Δ 61.19%
1.21 MHz /
1.94 MHz
∇ -37.96%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)214.89 ns /
173.84 ns
Δ 23.62%
4.65 MHz /
5.75 MHz
∇ -19.10%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)364.99 ns /
259.42 ns
Δ 40.70%
2.74 MHz /
3.85 MHz
∇ -28.92%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.13 ns /
523.99 ns
Δ 45.06%
1.32 MHz /
1.91 MHz
∇ -31.06%
random: permuteVector (len=10)420.57 ns /
288.60 ns
Δ 45.73%
2.38 MHz /
3.47 MHz
∇ -31.38%
random: permuteVector (len=100)3.56 us /
3.07 us
Δ 15.82%
281.12 KHz /
325.61 KHz
∇ -13.66%
random: permuteVector (len=1000)33.55 us /
30.26 us
Δ 10.89%
29.80 KHz /
33.05 KHz
∇ -9.82%
math: round0.00 ns /
0.10 ns
∇ -100.00%
inf THz /
9.77 GHz
Δ inf%
images: Save as JPEG (640x480, quality=95%)28.40 ms /
31.77 ms
∇ -10.60%
35.21 Hz /
31.48 Hz
Δ 11.86%
images: Save as JPEG (800x600, quality=95%)43.71 ms /
45.70 ms
∇ -4.34%
22.88 Hz /
21.88 Hz
Δ 4.54%
images: Save as JPEG (1024x768, quality=95%)70.17 ms /
73.33 ms
∇ -4.31%
14.25 Hz /
13.64 Hz
Δ 4.50%
images: Save as JPEG (640x480, quality=75%)24.11 ms /
27.15 ms
∇ -11.21%
41.48 Hz /
36.83 Hz
Δ 12.62%
images: Save as JPEG (800x600, quality=75%)37.02 ms /
40.31 ms
∇ -8.15%
27.01 Hz /
24.81 Hz
Δ 8.87%
images: Save as JPEG (1024x768, quality=75%)59.51 ms /
64.44 ms
∇ -7.65%
16.80 Hz /
15.52 Hz
Δ 8.29%
images: Gauss filter (640x480)5.29 ms /
4.52 ms
Δ 17.12%
188.95 Hz /
221.30 Hz
∇ -14.62%
images: Gauss filter (800x600)8.36 ms /
7.35 ms
Δ 13.72%
119.64 Hz /
136.05 Hz
∇ -12.06%
images: Gauss filter (1024x768)13.88 ms /
11.22 ms
Δ 23.70%
72.06 Hz /
89.13 Hz
∇ -19.16%
scan_matching: 6D LS Rigid Trans. [CPose3D]18.63 us /
6.32 us
Δ 194.82%
53.67 KHz /
158.23 KHz
∇ -66.08%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]17.89 us /
4.78 us
Δ 274.17%
55.91 KHz /
209.21 KHz
∇ -73.27%
scan_matching: 6D LS Rigid Trans. [vector of points]5.05 us /
2.14 us
Δ 136.19%
197.84 KHz /
467.29 KHz
∇ -57.66%
feature_extraction [640x480]: Harris33.27 ms /
28.31 ms
Δ 17.50%
30.06 Hz /
35.32 Hz
∇ -14.89%
feature_extraction [640x480]: KLT31.21 ms /
27.34 ms
Δ 14.16%
32.04 Hz /
36.57 Hz
∇ -12.41%
feature_extraction [640x480]: SIFT675.81 ms /
641.91 ms
Δ 5.28%
1.48 Hz /
1.56 Hz
∇ -5.02%
feature_extraction [640x480]: SIFT desc.217.19 ms /
170.65 ms
Δ 27.27%
4.60 Hz /
5.86 Hz
∇ -21.43%
feature_extraction [640x480]: SURF316.97 ms /
201.21 ms
Δ 57.53%
3.15 Hz /
4.97 Hz
∇ -36.52%
feature_extraction [640x480]: FAST7.82 ms /
5.22 ms
Δ 49.71%
127.91 Hz /
191.49 Hz
∇ -33.21%
feature_extraction [640x480]: Spin desc.103.38 ms /
60.81 ms
Δ 70.00%
9.67 Hz /
16.44 Hz
∇ -41.18%
feature_matching [640x480]: Harris + CC56.24 ms /
43.26 ms
Δ 30.00%
17.78 Hz /
23.12 Hz
∇ -23.08%
feature_matching [640x480]: Harris + SAD47.55 ms /
39.91 ms
Δ 19.14%
21.03 Hz /
25.06 Hz
∇ -16.06%
feature_matching [640x480]: SIFT1.34 sec /
1.28 sec
Δ 5.03%
745.82 mHz /
783.36 mHz
∇ -4.79%
feature_matching [640x480]: SURF606.64 ms /
386.18 ms
Δ 57.09%
1.65 Hz /
2.59 Hz
∇ -36.34%
feature_matching [640x480]: FAST + CC22.36 ms /
16.12 ms
Δ 38.71%
44.72 Hz /
62.03 Hz
∇ -27.91%
feature_matching [640x480]: FAST + SAD15.00 ms /
10.93 ms
Δ 37.14%
66.69 Hz /
91.46 Hz
∇ -27.08%
graph(2d): insertEdge x 1e3313.03 us /
X
3.19 KHz /
X
graph(2d,vec): insertEdge x 1e3307.43 us /
X
3.25 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3222.64 us /
X
4.49 KHz /
X
graph(2d,vec): insertEdgeAtEnd x 1e3222.87 us /
X
4.49 KHz /
X
graph(2d pdf): insertEdge x 1e3516.93 us /
X
1.93 KHz /
X
graph(2d pdf,vec): insertEdge x 1e3517.18 us /
X
1.93 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3405.97 us /
X
2.46 KHz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e3403.48 us /
X
2.48 KHz /
X
graph(2d): insertEdge x 1e43.36 ms /
X
297.28 Hz /
X
graph(2d,vec): insertEdge x 1e43.35 ms /
X
298.76 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.22 ms /
X
450.51 Hz /
X
graph(2d,vec): insertEdgeAtEnd x 1e42.22 ms /
X
450.21 Hz /
X
graph(2d pdf): insertEdge x 1e45.45 ms /
X
183.37 Hz /
X
graph(2d pdf,vec): insertEdge x 1e45.44 ms /
X
183.91 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.07 ms /
X
245.74 Hz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e44.06 ms /
X
246.50 Hz /
X
graph(3d): insertEdge x 1e3447.20 us /
X
2.24 KHz /
X
graph(3d,vec): insertEdge x 1e3442.12 us /
X
2.26 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3346.69 us /
X
2.88 KHz /
X
graph(3d,vec): insertEdgeAtEnd x 1e3347.20 us /
X
2.88 KHz /
X
graph(3d pdf): insertEdge x 1e3944.03 us /
X
1.06 KHz /
X
graph(3d pdf,vec): insertEdge x 1e3978.08 us /
X
1.02 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3793.19 us /
X
1.26 KHz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e3793.52 us /
X
1.26 KHz /
X
graph(3d): insertEdge x 1e44.62 ms /
X
216.43 Hz /
X
graph(3d,vec): insertEdge x 1e44.62 ms /
X
216.67 Hz /
X
graph(3d): insertEdgeAtEnd x 1e43.48 ms /
X
287.28 Hz /
X
graph(3d,vec): insertEdgeAtEnd x 1e43.47 ms /
X
287.84 Hz /
X
graph(3d pdf): insertEdge x 1e410.55 ms /
X
94.75 Hz /
X
graph(3d pdf,vec): insertEdge x 1e49.75 ms /
X
102.54 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e47.93 ms /
X
126.08 Hz /
X
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 2010/12/18,14:13:40.133528 with MRPT 0.9.3 by 'mrpt-performance'.