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




Test description 0.9.1-MSVC-32bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset31.78 ms /
19.99 ms
Δ 59.00%
31.46 Hz /
50.03 Hz
∇ -37.11%
icp-slam (match grid): Run with sample dataset53.70 ms /
19.29 ms
Δ 178.38%
18.62 Hz /
51.84 Hz
∇ -64.08%
poses: CPose3D (+) CPose3D925.38 ns /
42.85 ns
Δ 2059.58%
1.08 MHz /
23.34 MHz
∇ -95.37%
poses: CPose3D.composeFrom()617.00 ns /
37.80 ns
Δ 1532.29%
1.62 MHz /
26.46 MHz
∇ -93.87%
poses: CPose3D (+) CPoint3D35.98 ns /
7.25 ns
Δ 396.09%
27.80 MHz /
137.89 MHz
∇ -79.84%
poses: CPose3D.composePoint()14.62 ns /
11.91 ns
Δ 22.74%
68.42 MHz /
83.98 MHz
∇ -18.53%
poses: CPoint3D (-) CPose3D75.43 ns /
48.98 ns
Δ 53.99%
13.26 MHz /
20.42 MHz
∇ -35.06%
poses: CPose3D.inverseComposePoint()56.48 ns /
34.95 ns
Δ 61.60%
17.70 MHz /
28.61 MHz
∇ -38.12%
poses: CPose2D (+) CPose2D121.60 ns /
78.58 ns
Δ 54.75%
8.22 MHz /
12.73 MHz
∇ -35.38%
poses: CPose2D.composeFrom()66.63 ns /
70.31 ns
∇ -5.24%
15.01 MHz /
14.22 MHz
Δ 5.53%
poses: CPose2D (+) CPoint2D93.73 ns /
61.33 ns
Δ 52.83%
10.67 MHz /
16.31 MHz
∇ -34.57%
poses: CPose2D.composePoint()62.24 ns /
65.17 ns
∇ -4.49%
16.07 MHz /
15.35 MHz
Δ 4.70%
poses: CPose3DQuat (+) CPose3DQuat100.74 ns /
44.66 ns
Δ 125.57%
9.93 MHz /
22.39 MHz
∇ -55.67%
poses: CPose3DQuat.composeFrom()57.92 ns /
39.43 ns
Δ 46.90%
17.26 MHz /
25.36 MHz
∇ -31.93%
poses: CPose3DQuat (+) CPoint3D61.33 ns /
18.24 ns
Δ 236.31%
16.31 MHz /
54.84 MHz
∇ -70.27%
poses: CPose3DQuat.composePoint()27.34 ns /
17.94 ns
Δ 52.43%
36.57 MHz /
55.75 MHz
∇ -34.40%
poses: CPoint3D (-) CPose3DQuat 580.67 ns /
55.43 ns
Δ 947.65%
1.72 MHz /
18.04 MHz
∇ -90.45%
poses: CPose3DQuat.invcomposePoint()28.18 ns /
17.64 ns
Δ 59.76%
35.48 MHz /
56.69 MHz
∇ -37.41%
poses: Conv CPose3DQuat <- CPose3D506.67 ns /
16.70 ns
Δ 2934.48%
1.97 MHz /
59.89 MHz
∇ -96.70%
poses: Conv CPose3D -> CPose3DQuat214.86 ns /
169.28 ns
Δ 26.92%
4.65 MHz /
5.91 MHz
∇ -21.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.56 us /
760.96 us
∇ -99.80%
642.96 KHz /
1.31 KHz
Δ 48826.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.51 us /
760.62 us
∇ -99.80%
663.83 KHz /
1.31 KHz
Δ 50392.33%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.29 us /
9.47 us
Δ 145.81%
42.94 KHz /
105.55 KHz
∇ -59.32%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.64 us /
545.30 ns
Δ 200.75%
609.77 KHz /
1.83 MHz
∇ -66.75%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.66 us /
544.10 ns
Δ 205.89%
600.84 KHz /
1.84 MHz
∇ -67.31%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)16.05 us /
8.11 us
Δ 97.90%
62.32 KHz /
123.33 KHz
∇ -49.47%
matrix: unit, dyn[float], 3x339.66 ns /
20.92 ns
Δ 89.57%
25.22 MHz /
47.81 MHz
∇ -47.25%
matrix: unit, dyn[double], 3x342.75 ns /
20.15 ns
Δ 112.15%
23.39 MHz /
49.63 MHz
∇ -52.86%
matrix: unit, dyn[float], 6x6152.29 ns /
54.04 ns
Δ 181.83%
6.57 MHz /
18.51 MHz
∇ -64.52%
matrix: unit, dyn[double], 6x6150.45 ns /
55.27 ns
Δ 172.23%
6.65 MHz /
18.09 MHz
∇ -63.27%
matrix: unit, fix[float,3,3]3.30 ns /
0.35 ns
Δ 852.70%
303.37 MHz /
2.89 GHz
∇ -89.50%
matrix: unit, fix[double,3,3]3.48 ns /
1.19 ns
Δ 192.97%
287.56 MHz /
842.46 MHz
∇ -65.87%
matrix: unit, fix[float,6,6]3.06 ns /
1.70 ns
Δ 79.99%
327.19 MHz /
588.93 MHz
∇ -44.44%
matrix: unit, fix[double,6,6]6.65 ns /
2.77 ns
Δ 139.47%
150.48 MHz /
360.36 MHz
∇ -58.24%
matrix: multiply, dyn[float ], 3x3 * 3x3167.81 ns /
73.10 ns
Δ 129.56%
5.96 MHz /
13.68 MHz
∇ -56.44%
matrix: multiply, fix[float ], 3x3 * 3x3108.61 ns /
23.80 ns
Δ 356.34%
9.21 MHz /
42.02 MHz
∇ -78.09%
matrix: multiply, dyn[double], 3x3 * 3x3158.88 ns /
72.40 ns
Δ 119.45%
6.29 MHz /
13.81 MHz
∇ -54.43%
matrix: multiply, fix[double], 3x3 * 3x390.86 ns /
23.40 ns
Δ 288.27%
11.01 MHz /
42.74 MHz
∇ -74.24%
matrix: multiply, dyn[float ], 3x6 * 6x3272.47 ns /
110.50 ns
Δ 146.58%
3.67 MHz /
9.05 MHz
∇ -59.45%
matrix: multiply, fix[float ], 3x6 * 6x3193.12 ns /
45.10 ns
Δ 328.21%
5.18 MHz /
22.17 MHz
∇ -76.65%
matrix: multiply, dyn[double], 3x6 * 6x3238.91 ns /
116.30 ns
Δ 105.43%
4.19 MHz /
8.60 MHz
∇ -51.32%
matrix: multiply, fix[double], 3x6 * 6x3139.05 ns /
45.20 ns
Δ 207.62%
7.19 MHz /
22.12 MHz
∇ -67.49%
matrix: multiply, dyn[float ], 10x40 * 40x1016.80 us /
5.19 us
Δ 223.94%
59.51 KHz /
192.77 KHz
∇ -69.13%
matrix: multiply, fix[float ], 10x40 * 40x1013.06 us /
3.55 us
Δ 267.72%
76.57 KHz /
281.56 KHz
∇ -72.81%
matrix: multiply, dyn[double], 10x40 * 40x1013.55 us /
5.18 us
Δ 161.57%
73.81 KHz /
193.05 KHz
∇ -61.77%
matrix: multiply, fix[double], 10x40 * 40x109.96 us /
3.61 us
Δ 175.95%
100.40 KHz /
277.05 KHz
∇ -63.76%
matrix: inv, dyn[float ] 3x31.50 us /
333.00 ns
Δ 351.01%
665.84 KHz /
3.00 MHz
∇ -77.83%
matrix: inv, fix[float ] 3x359.79 ns /
21.00 ns
Δ 184.69%
16.73 MHz /
47.62 MHz
∇ -64.87%
matrix: inv, dyn[double] 3x31.53 us /
329.00 ns
Δ 365.58%
652.84 KHz /
3.04 MHz
∇ -78.52%
matrix: inv, fix[double] 3x331.25 ns /
21.00 ns
Δ 48.82%
32.00 MHz /
47.62 MHz
∇ -32.80%
matrix: inv, dyn[float ] 6x65.07 us /
1.22 us
Δ 316.56%
197.26 KHz /
821.69 KHz
∇ -75.99%
matrix: inv, fix[float ] 6x61.33 us /
468.00 ns
Δ 185.11%
749.46 KHz /
2.14 MHz
∇ -64.93%
matrix: inv, dyn[double] 6x65.08 us /
1.20 us
Δ 323.35%
196.68 KHz /
832.64 KHz
∇ -76.38%
matrix: inv, fix[double] 6x6926.67 ns /
578.00 ns
Δ 60.32%
1.08 MHz /
1.73 MHz
∇ -37.63%
matrix: inv, dyn[float ] 20x2081.86 us /
25.24 us
Δ 224.35%
12.22 KHz /
39.62 KHz
∇ -69.17%
matrix: inv, fix[float ] 20x2040.71 us /
12.60 us
Δ 223.09%
24.56 KHz /
79.36 KHz
∇ -69.05%
matrix: inv, dyn[double] 20x20108.60 us /
25.64 us
Δ 323.59%
9.21 KHz /
39.01 KHz
∇ -76.39%
matrix: inv, fix[double] 20x2019.22 us /
17.36 us
Δ 10.71%
52.02 KHz /
57.60 KHz
∇ -9.68%
matrix: inv, dyn[float ] 40x40609.15 us /
190.86 us
Δ 219.16%
1.64 KHz /
5.24 KHz
∇ -68.67%
matrix: inv, fix[float ] 40x40307.68 us /
88.89 us
Δ 246.15%
3.25 KHz /
11.25 KHz
∇ -71.11%
matrix: inv, dyn[double] 40x40818.27 us /
189.04 us
Δ 332.86%
1.22 KHz /
5.29 KHz
∇ -76.90%
matrix: inv, fix[double] 40x40136.18 us /
121.47 us
Δ 12.11%
7.34 KHz /
8.23 KHz
∇ -10.80%
matrix: det, dyn[float ] 2x29.15 ns /
6.40 ns
Δ 42.95%
109.30 MHz /
156.25 MHz
∇ -30.05%
matrix: det, fix[float ] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 2x29.56 ns /
6.40 ns
Δ 49.32%
104.64 MHz /
156.25 MHz
∇ -33.03%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x319.70 ns /
10.30 ns
Δ 91.28%
50.76 MHz /
97.09 MHz
∇ -47.72%
matrix: det, fix[float ] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
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 ] 6x62.32 us /
692.40 ns
Δ 234.79%
431.38 KHz /
1.44 MHz
∇ -70.13%
matrix: det, fix[float ] 6x6434.76 ns /
207.00 ns
Δ 110.03%
2.30 MHz /
4.83 MHz
∇ -52.39%
matrix: det, dyn[double] 6x62.38 us /
696.30 ns
Δ 241.62%
420.40 KHz /
1.44 MHz
∇ -70.73%
matrix: det, fix[double] 6x6422.89 ns /
212.30 ns
Δ 99.19%
2.36 MHz /
4.71 MHz
∇ -49.80%
matrix: det, dyn[float ] 20x2018.34 us /
5.39 us
Δ 240.26%
54.54 KHz /
185.56 KHz
∇ -70.61%
matrix: det, fix[float ] 20x209.85 us /
3.90 us
Δ 152.41%
101.56 KHz /
256.35 KHz
∇ -60.38%
matrix: det, dyn[double] 20x2018.19 us /
6.40 us
Δ 183.99%
54.99 KHz /
156.16 KHz
∇ -64.79%
matrix: det, fix[double] 20x206.52 us /
4.72 us
Δ 38.14%
153.30 KHz /
211.77 KHz
∇ -27.61%
matrix: det, dyn[float ] 40x40111.92 us /
30.35 us
Δ 268.77%
8.93 KHz /
32.95 KHz
∇ -72.88%
matrix: det, fix[float ] 40x4063.43 us /
26.47 us
Δ 139.60%
15.77 KHz /
37.78 KHz
∇ -58.26%
matrix: det, dyn[double] 40x40114.84 us /
32.49 us
Δ 253.42%
8.71 KHz /
30.77 KHz
∇ -71.71%
matrix: det, fix[double] 40x4036.00 us /
27.34 us
Δ 31.70%
27.78 KHz /
36.58 KHz
∇ -24.07%
matrix: chol, dyn[double] 4x4185.70 ns /
130.00 ns
Δ 42.84%
5.39 MHz /
7.69 MHz
∇ -29.99%
matrix: chol, fix[double] 4x4113.23 ns /
140.00 ns
∇ -19.12%
8.83 MHz /
7.14 MHz
Δ 23.64%
matrix: chol, dyn[double] 40x4024.43 us /
18.52 us
Δ 31.91%
40.93 KHz /
54.00 KHz
∇ -24.19%
matrix: chol, fix[double] 40x4017.73 us /
16.55 us
Δ 7.14%
56.40 KHz /
60.42 KHz
∇ -6.66%
matrix: chol, sparse [2x2;2x2]10.78 us /
8.20 us
Δ 31.46%
92.77 KHz /
121.95 KHz
∇ -23.93%
matrix: chol, sparse [30x30;10x10]117.89 us /
82.90 us
Δ 42.21%
8.48 KHz /
12.06 KHz
∇ -29.68%
matrix: chol, dyn[double] 10x[6x6]70.52 us /
52.70 us
Δ 33.81%
14.18 KHz /
18.98 KHz
∇ -25.27%
matrix: chol, sparse 10x[6x6]52.59 us /
38.59 us
Δ 36.27%
19.02 KHz /
25.91 KHz
∇ -26.62%
matrix: chol, dyn[double] 20x[6x6]491.10 us /
409.80 us
Δ 19.84%
2.04 KHz /
2.44 KHz
∇ -16.55%
matrix: chol, sparse 20x[6x6]85.83 us /
70.75 us
Δ 21.31%
11.65 KHz /
14.13 KHz
∇ -17.57%
matrix: chol, dyn[double] 50x[6x6]9.44 ms /
8.58 ms
Δ 10.13%
105.88 Hz /
116.60 Hz
∇ -9.20%
matrix: chol, sparse 50x[6x6]204.52 us /
171.20 us
Δ 19.46%
4.89 KHz /
5.84 KHz
∇ -16.29%
matrix: chol, dyn[double] 100x[6x6]150.13 ms /
133.58 ms
Δ 12.39%
6.66 Hz /
7.49 Hz
∇ -11.02%
matrix: chol, sparse 100x[6x6]415.58 us /
341.85 us
Δ 21.57%
2.41 KHz /
2.93 KHz
∇ -17.74%
matrix: chol, dyn[double] 120x[6x6]461.43 ms /
354.49 ms
Δ 30.17%
2.17 Hz /
2.82 Hz
∇ -23.18%
matrix: chol, sparse 120x[6x6]484.92 us /
401.50 us
Δ 20.78%
2.06 KHz /
2.49 KHz
∇ -17.20%
matrix: chol, dyn[double] 140x[6x6]947.45 ms /
773.25 ms
Δ 22.53%
1.06 Hz /
1.29 Hz
∇ -18.39%
matrix: chol, sparse 140x[6x6]586.44 us /
469.25 us
Δ 24.97%
1.71 KHz /
2.13 KHz
∇ -19.98%
gridmap2D: getCell5.77 ns /
0.00 ns
Δ 5772734.94%
173.23 MHz /
10.00 THz
∇ -100.00%
gridmap2D: setCell7.96 ns /
2.58 ns
Δ 208.84%
125.64 MHz /
388.02 MHz
∇ -67.62%
gridmap2D: updateCell10.80 ns /
7.84 ns
Δ 37.81%
92.58 MHz /
127.58 MHz
∇ -27.44%
gridmap2D: updateCell_fast_occupied1.21 ns /
0.55 ns
Δ 119.68%
826.59 MHz /
1.82 GHz
∇ -54.48%
gridmap2D: insert scan w/o widening204.23 us /
102.06 us
Δ 100.12%
4.90 KHz /
9.80 KHz
∇ -50.03%
gridmap2D: insert scan with widening344.40 us /
289.47 us
Δ 18.98%
2.90 KHz /
3.45 KHz
∇ -15.95%
gridmap2D: resize2.62 ms /
1.97 ms
Δ 33.18%
381.93 Hz /
508.65 Hz
∇ -24.91%
gridmap2D: computeLikelihood18.59 us /
15.74 us
Δ 18.13%
53.79 KHz /
63.55 KHz
∇ -15.35%
pointmap: insert 100 scans5.62 ms /
3.04 ms
Δ 84.98%
178.02 Hz /
329.30 Hz
∇ -45.94%
pointmap: build 2D kd-tree of 1 scan6.21 us /
4.32 us
Δ 43.84%
160.93 KHz /
231.48 KHz
∇ -30.48%
pointmap: build 2D kd-tree of 100 scan511.81 us /
352.12 us
Δ 45.35%
1.95 KHz /
2.84 KHz
∇ -31.20%
pointmap: build 2D kd-tree of 1000 scan5.59 ms /
4.14 ms
Δ 35.03%
178.86 Hz /
241.51 Hz
∇ -25.94%
pointmap: build 3D kd-tree of 1 scan7.23 us /
4.68 us
Δ 54.46%
138.34 KHz /
213.68 KHz
∇ -35.26%
pointmap: build 3D kd-tree of 100 scan523.10 us /
359.52 us
Δ 45.50%
1.91 KHz /
2.78 KHz
∇ -31.27%
pointmap: build 3D kd-tree of 1000 scan5.77 ms /
4.03 ms
Δ 43.34%
173.21 Hz /
248.28 Hz
∇ -30.23%
pointmap: kd-tree 2d query on 10 scans2.05 us /
1.41 us
Δ 46.13%
487.07 KHz /
711.74 KHz
∇ -31.57%
pointmap: kd-tree 2d query on 1000 scans140.79 us /
97.21 us
Δ 44.83%
7.10 KHz /
10.29 KHz
∇ -30.95%
pointmap: kd-tree 2d query on 10000 scans15.17 ms /
11.62 ms
Δ 30.56%
65.91 Hz /
86.05 Hz
∇ -23.41%
pointmap: (insert scan+2D kd-tree query) x 108.69 ms /
5.59 ms
Δ 55.44%
115.01 Hz /
178.77 Hz
∇ -35.67%
pointmap: (insert scan+2D kd-tree query) x 50196.44 ms /
129.28 ms
Δ 51.95%
5.09 Hz /
7.73 Hz
∇ -34.19%
pointmap: (insert scan+3D kd-tree query) x 108.73 ms /
5.66 ms
Δ 54.05%
114.60 Hz /
176.53 Hz
∇ -35.09%
pointmap: (insert scan+3D kd-tree query) x 50198.48 ms /
131.22 ms
Δ 51.26%
5.04 Hz /
7.62 Hz
∇ -33.89%
random: drawUniform32bit7.29 ns /
14.50 ns
∇ -49.71%
137.11 MHz /
68.95 MHz
Δ 98.85%
random: drawUniform7.33 ns /
14.50 ns
∇ -49.48%
136.49 MHz /
68.96 MHz
Δ 97.94%
random: drawGaussian1D_normalized51.27 ns /
68.97 ns
∇ -25.66%
19.50 MHz /
14.50 MHz
Δ 34.52%
random: drawGaussian1D51.74 ns /
68.98 ns
∇ -25.00%
19.33 MHz /
14.50 MHz
Δ 33.32%
random: system rand()29.39 ns /
10.45 ns
Δ 181.29%
34.03 MHz /
95.72 MHz
∇ -64.45%
random: drawGaussianMultivariate(fixed 3x3)2.64 us /
1.31 us
Δ 102.15%
378.48 KHz /
765.12 KHz
∇ -50.53%
random: drawGaussianMultivariate(dyn 3x3)8.53 us /
2.73 us
Δ 212.67%
117.18 KHz /
366.37 KHz
∇ -68.02%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)215.16 ns /
158.91 ns
Δ 35.40%
4.65 MHz /
6.29 MHz
∇ -26.14%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)359.98 ns /
237.40 ns
Δ 51.64%
2.78 MHz /
4.21 MHz
∇ -34.05%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)732.12 ns /
490.03 ns
Δ 49.40%
1.37 MHz /
2.04 MHz
∇ -33.07%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)213.59 ns /
164.67 ns
Δ 29.71%
4.68 MHz /
6.07 MHz
∇ -22.90%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)339.30 ns /
249.81 ns
Δ 35.82%
2.95 MHz /
4.00 MHz
∇ -26.37%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.92 ns /
514.70 ns
Δ 47.84%
1.31 MHz /
1.94 MHz
∇ -32.36%
random: permuteVector (len=10)411.34 ns /
296.20 ns
Δ 38.87%
2.43 MHz /
3.38 MHz
∇ -27.99%
random: permuteVector (len=100)3.59 us /
3.04 us
Δ 18.02%
278.70 KHz /
328.91 KHz
∇ -15.27%
random: permuteVector (len=1000)34.34 us /
30.22 us
Δ 13.61%
29.12 KHz /
33.09 KHz
∇ -11.98%
math: round0.00 ns /
0.10 ns
∇ -100.00%
inf THz /
10.09 GHz
Δ inf%
images: Save as JPEG (640x480, quality=95%)27.92 ms /
35.06 ms
∇ -20.35%
35.81 Hz /
28.52 Hz
Δ 25.55%
images: Save as JPEG (800x600, quality=95%)43.53 ms /
48.96 ms
∇ -11.09%
22.97 Hz /
20.42 Hz
Δ 12.47%
images: Save as JPEG (1024x768, quality=95%)70.76 ms /
74.65 ms
∇ -5.21%
14.13 Hz /
13.40 Hz
Δ 5.50%
images: Save as JPEG (640x480, quality=75%)23.43 ms /
29.96 ms
∇ -21.79%
42.67 Hz /
33.37 Hz
Δ 27.87%
images: Save as JPEG (800x600, quality=75%)36.52 ms /
42.79 ms
∇ -14.66%
27.39 Hz /
23.37 Hz
Δ 17.18%
images: Save as JPEG (1024x768, quality=75%)59.82 ms /
64.15 ms
∇ -6.76%
16.72 Hz /
15.59 Hz
Δ 7.24%
images: Gauss filter (640x480)6.68 ms /
3.90 ms
Δ 71.17%
149.74 Hz /
256.30 Hz
∇ -41.58%
images: Gauss filter (800x600)8.62 ms /
6.21 ms
Δ 38.75%
116.03 Hz /
160.99 Hz
∇ -27.93%
images: Gauss filter (1024x768)14.49 ms /
10.55 ms
Δ 37.28%
69.01 Hz /
94.74 Hz
∇ -27.16%
scan_matching: 6D LS Rigid Trans. [CPose3D]21.12 us /
5.06 us
Δ 317.47%
47.34 KHz /
197.63 KHz
∇ -76.05%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]19.36 us /
4.30 us
Δ 350.28%
51.65 KHz /
232.56 KHz
∇ -77.79%
scan_matching: 6D LS Rigid Trans. [vector of points]6.24 us /
2.10 us
Δ 196.98%
160.34 KHz /
476.19 KHz
∇ -66.33%
feature_extraction [640x480]: Harris40.83 ms /
24.28 ms
Δ 68.18%
24.49 Hz /
41.19 Hz
∇ -40.54%
feature_extraction [640x480]: KLT33.62 ms /
24.43 ms
Δ 37.62%
29.75 Hz /
40.94 Hz
∇ -27.34%
feature_extraction [640x480]: SIFT705.28 ms /
610.42 ms
Δ 15.54%
1.42 Hz /
1.64 Hz
∇ -13.45%
feature_extraction [640x480]: SIFT desc.214.22 ms /
167.77 ms
Δ 27.68%
4.67 Hz /
5.96 Hz
∇ -21.68%
feature_extraction [640x480]: SURF326.57 ms /
197.61 ms
Δ 65.26%
3.06 Hz /
5.06 Hz
∇ -39.49%
feature_extraction [640x480]: FAST7.69 ms /
5.24 ms
Δ 46.59%
130.08 Hz /
190.68 Hz
∇ -31.78%
feature_extraction [640x480]: Spin desc.105.90 ms /
59.98 ms
Δ 76.56%
9.44 Hz /
16.67 Hz
∇ -43.36%
feature_matching [640x480]: Harris + CC57.67 ms /
40.88 ms
Δ 41.09%
17.34 Hz /
24.46 Hz
∇ -29.12%
feature_matching [640x480]: Harris + SAD50.27 ms /
35.50 ms
Δ 41.62%
19.89 Hz /
28.17 Hz
∇ -29.39%
feature_matching [640x480]: SIFT1.38 sec /
1.21 sec
Δ 14.28%
724.62 mHz /
828.07 mHz
∇ -12.49%
feature_matching [640x480]: SURF618.66 ms /
379.92 ms
Δ 62.84%
1.62 Hz /
2.63 Hz
∇ -38.59%
feature_matching [640x480]: FAST + CC22.11 ms /
16.06 ms
Δ 37.66%
45.22 Hz /
62.26 Hz
∇ -27.36%
feature_matching [640x480]: FAST + SAD14.58 ms /
10.73 ms
Δ 35.90%
68.57 Hz /
93.18 Hz
∇ -26.41%
graph(2d): insertEdge x 1e3354.58 us /
117.65 us
Δ 201.39%
2.82 KHz /
8.50 KHz
∇ -66.82%
graph(2d): insertEdgeAtEnd x 1e3284.04 us /
85.19 us
Δ 233.43%
3.52 KHz /
11.74 KHz
∇ -70.01%
graph(2d pdf): insertEdge x 1e3549.28 us /
172.53 us
Δ 218.37%
1.82 KHz /
5.80 KHz
∇ -68.59%
graph(2d pdf): insertEdgeAtEnd x 1e3452.79 us /
168.61 us
Δ 168.55%
2.21 KHz /
5.93 KHz
∇ -62.76%
graph(2d): insertEdge x 1e43.86 ms /
1.73 ms
Δ 123.53%
259.12 Hz /
579.22 Hz
∇ -55.26%
graph(2d): insertEdgeAtEnd x 1e42.88 ms /
884.69 us
Δ 225.04%
347.75 Hz /
1.13 KHz
∇ -69.23%
graph(2d pdf): insertEdge x 1e45.74 ms /
1.97 ms
Δ 190.71%
174.28 Hz /
506.65 Hz
∇ -65.60%
graph(2d pdf): insertEdgeAtEnd x 1e44.44 ms /
1.86 ms
Δ 138.82%
225.33 Hz /
538.12 Hz
∇ -58.13%
graph(3d): insertEdge x 1e31.35 ms /
177.23 us
Δ 659.34%
743.07 Hz /
5.64 KHz
∇ -86.83%
graph(3d): insertEdgeAtEnd x 1e31.09 ms /
157.86 us
Δ 590.08%
917.96 Hz /
6.33 KHz
∇ -85.51%
graph(3d pdf): insertEdge x 1e31.74 ms /
507.00 us
Δ 243.83%
573.66 Hz /
1.97 KHz
∇ -70.92%
graph(3d pdf): insertEdgeAtEnd x 1e31.46 ms /
473.36 us
Δ 209.18%
683.28 Hz /
2.11 KHz
∇ -67.66%
graph(3d): insertEdge x 1e413.92 ms /
2.47 ms
Δ 463.00%
71.86 Hz /
404.60 Hz
∇ -82.24%
graph(3d): insertEdgeAtEnd x 1e411.12 ms /
1.75 ms
Δ 534.42%
89.92 Hz /
570.48 Hz
∇ -84.24%
graph(3d pdf): insertEdge x 1e417.58 ms /
5.53 ms
Δ 218.11%
56.89 Hz /
180.97 Hz
∇ -68.56%
graph(3d pdf): insertEdgeAtEnd x 1e414.12 ms /
4.85 ms
Δ 191.16%
70.81 Hz /
206.16 Hz
∇ -65.65%

 


Page generated automatically at 2010/12/18,14:13:40.156257 with MRPT 0.9.3 by 'mrpt-performance'.