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




Test description 0.9.1-GCC-64bit /
0.9.2-MSVC-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset21.60 ms /
30.39 ms
∇ -28.94%
46.30 Hz /
32.90 Hz
Δ 40.72%
icp-slam (match grid): Run with sample dataset20.51 ms /
52.58 ms
∇ -60.99%
48.75 Hz /
19.02 Hz
Δ 156.34%
poses: CPose3D (+) CPose3D449.02 ns /
264.70 ns
Δ 69.63%
2.23 MHz /
3.78 MHz
∇ -41.05%
poses: CPose3D.composeFrom()233.83 ns /
98.01 ns
Δ 138.59%
4.28 MHz /
10.20 MHz
∇ -58.09%
poses: CPose3D (+) CPoint3D10.67 ns /
27.86 ns
∇ -61.72%
93.76 MHz /
35.89 MHz
Δ 161.22%
poses: CPose3D.composePoint()10.06 ns /
19.17 ns
∇ -47.52%
99.38 MHz /
52.16 MHz
Δ 90.54%
poses: CPoint3D (-) CPose3D37.71 ns /
51.66 ns
∇ -27.00%
26.52 MHz /
19.36 MHz
Δ 36.99%
poses: CPose3D.inverseComposePoint()40.98 ns /
46.91 ns
∇ -12.65%
24.40 MHz /
21.32 MHz
Δ 14.49%
poses: CPose2D (+) CPose2D78.17 ns /
99.28 ns
∇ -21.26%
12.79 MHz /
10.07 MHz
Δ 27.00%
poses: CPose2D.composeFrom()62.17 ns /
89.67 ns
∇ -30.67%
16.08 MHz /
11.15 MHz
Δ 44.24%
poses: CPose2D (+) CPoint2D63.86 ns /
82.07 ns
∇ -22.18%
15.66 MHz /
12.18 MHz
Δ 28.51%
poses: CPose2D.composePoint()61.98 ns /
64.58 ns
∇ -4.02%
16.13 MHz /
15.49 MHz
Δ 4.19%
poses: CPose3DQuat (+) CPose3DQuat47.00 ns /
87.19 ns
∇ -46.09%
21.28 MHz /
11.47 MHz
Δ 85.51%
poses: CPose3DQuat.composeFrom()39.80 ns /
57.14 ns
∇ -30.35%
25.13 MHz /
17.50 MHz
Δ 43.58%
poses: CPose3DQuat (+) CPoint3D22.62 ns /
48.22 ns
∇ -53.09%
44.21 MHz /
20.74 MHz
Δ 113.18%
poses: CPose3DQuat.composePoint()18.93 ns /
29.64 ns
∇ -36.14%
52.83 MHz /
33.74 MHz
Δ 56.58%
poses: CPoint3D (-) CPose3DQuat 391.26 ns /
84.32 ns
Δ 364.03%
2.56 MHz /
11.86 MHz
∇ -78.45%
poses: CPose3DQuat.invcomposePoint()18.05 ns /
30.72 ns
∇ -41.23%
55.39 MHz /
32.55 MHz
Δ 70.15%
poses: Conv CPose3DQuat <- CPose3D355.00 ns /
33.02 ns
Δ 975.14%
2.82 MHz /
30.29 MHz
∇ -90.70%
poses: Conv CPose3D -> CPose3DQuat173.19 ns /
206.69 ns
∇ -16.20%
5.77 MHz /
4.84 MHz
Δ 19.34%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)814.76 us /
1.35 us
Δ 60165.82%
1.23 KHz /
739.68 KHz
∇ -99.83%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)821.91 us /
1.40 us
Δ 58430.04%
1.22 KHz /
712.12 KHz
∇ -99.83%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.57 us /
23.15 us
∇ -58.65%
104.48 KHz /
43.20 KHz
Δ 141.83%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)682.30 ns /
1.62 us
∇ -57.90%
1.47 MHz /
617.00 KHz
Δ 137.54%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)533.80 ns /
1.63 us
∇ -67.24%
1.87 MHz /
613.67 KHz
Δ 205.27%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.51 us /
15.82 us
∇ -46.18%
117.45 KHz /
63.21 KHz
Δ 85.79%
matrix: unit, dyn[float], 3x320.59 ns /
38.75 ns
∇ -46.85%
48.56 MHz /
25.81 MHz
Δ 88.16%
matrix: unit, dyn[double], 3x322.60 ns /
38.69 ns
∇ -41.58%
44.24 MHz /
25.85 MHz
Δ 71.17%
matrix: unit, dyn[float], 6x663.92 ns /
163.36 ns
∇ -60.87%
15.64 MHz /
6.12 MHz
Δ 155.55%
matrix: unit, dyn[double], 6x665.22 ns /
213.06 ns
∇ -69.39%
15.33 MHz /
4.69 MHz
Δ 226.69%
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]1.68 ns /
2.77 ns
∇ -39.29%
594.53 MHz /
360.95 MHz
Δ 64.71%
matrix: unit, fix[double,6,6]2.86 ns /
6.07 ns
∇ -52.85%
349.53 MHz /
164.80 MHz
Δ 112.10%
matrix: multiply, dyn[float ], 3x3 * 3x373.50 ns /
168.66 ns
∇ -56.42%
13.61 MHz /
5.93 MHz
Δ 129.47%
matrix: multiply, fix[float ], 3x3 * 3x324.10 ns /
109.47 ns
∇ -77.98%
41.49 MHz /
9.14 MHz
Δ 354.23%
matrix: multiply, dyn[double], 3x3 * 3x372.10 ns /
159.15 ns
∇ -54.70%
13.87 MHz /
6.28 MHz
Δ 120.74%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
87.59 ns
∇ -73.17%
42.55 MHz /
11.42 MHz
Δ 272.74%
matrix: multiply, dyn[float ], 3x6 * 6x3112.90 ns /
272.34 ns
∇ -58.54%
8.86 MHz /
3.67 MHz
Δ 141.22%
matrix: multiply, fix[float ], 3x6 * 6x345.00 ns /
190.04 ns
∇ -76.32%
22.22 MHz /
5.26 MHz
Δ 322.31%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
245.84 ns
∇ -55.05%
9.05 MHz /
4.07 MHz
Δ 122.48%
matrix: multiply, fix[double], 3x6 * 6x345.10 ns /
138.91 ns
∇ -67.53%
22.17 MHz /
7.20 MHz
Δ 208.00%
matrix: multiply, dyn[float ], 10x40 * 40x105.82 us /
16.67 us
∇ -65.10%
171.91 KHz /
60.00 KHz
Δ 186.54%
matrix: multiply, fix[float ], 10x40 * 40x103.57 us /
12.92 us
∇ -72.35%
279.91 KHz /
77.41 KHz
Δ 261.61%
matrix: multiply, dyn[double], 10x40 * 40x105.88 us /
13.30 us
∇ -55.77%
169.93 KHz /
75.16 KHz
Δ 126.09%
matrix: multiply, fix[double], 10x40 * 40x103.82 us /
9.66 us
∇ -60.49%
262.04 KHz /
103.53 KHz
Δ 153.12%
matrix: inv, dyn[float ] 3x3449.00 ns /
1.46 us
∇ -69.21%
2.23 MHz /
685.70 KHz
Δ 224.80%
matrix: inv, fix[float ] 3x333.00 ns /
59.78 ns
∇ -44.80%
30.30 MHz /
16.73 MHz
Δ 81.16%
matrix: inv, dyn[double] 3x3413.00 ns /
1.47 us
∇ -71.85%
2.42 MHz /
681.67 KHz
Δ 255.20%
matrix: inv, fix[double] 3x322.00 ns /
30.80 ns
∇ -28.57%
45.45 MHz /
32.47 MHz
Δ 39.99%
matrix: inv, dyn[float ] 6x61.31 us /
4.39 us
∇ -70.06%
761.04 KHz /
227.86 KHz
Δ 234.00%
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] 6x61.25 us /
5.05 us
∇ -75.24%
800.64 KHz /
198.20 KHz
Δ 303.96%
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 ] 20x2028.01 us /
80.56 us
∇ -65.24%
35.71 KHz /
12.41 KHz
Δ 187.66%
matrix: inv, fix[float ] 20x2012.67 us /
39.77 us
∇ -68.14%
78.91 KHz /
25.14 KHz
Δ 213.88%
matrix: inv, dyn[double] 20x2028.58 us /
106.06 us
∇ -73.05%
34.98 KHz /
9.43 KHz
Δ 271.04%
matrix: inv, fix[double] 20x2017.20 us /
18.99 us
∇ -9.46%
58.15 KHz /
52.65 KHz
Δ 10.45%
matrix: inv, dyn[float ] 40x40205.67 us /
594.37 us
∇ -65.40%
4.86 KHz /
1.68 KHz
Δ 189.00%
matrix: inv, fix[float ] 40x4092.66 us /
302.87 us
∇ -69.40%
10.79 KHz /
3.30 KHz
Δ 226.85%
matrix: inv, dyn[double] 40x40200.95 us /
805.07 us
∇ -75.04%
4.98 KHz /
1.24 KHz
Δ 300.64%
matrix: inv, fix[double] 40x40134.50 us /
129.27 us
Δ 4.05%
7.43 KHz /
7.74 KHz
∇ -3.89%
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] 2x28.80 ns /
8.47 ns
Δ 3.90%
113.64 MHz /
118.07 MHz
∇ -3.76%
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 ] 6x6931.50 ns /
2.28 us
∇ -59.13%
1.07 MHz /
438.79 KHz
Δ 144.66%
matrix: det, fix[float ] 6x6215.70 ns /
455.22 ns
∇ -52.62%
4.64 MHz /
2.20 MHz
Δ 111.04%
matrix: det, dyn[double] 6x6739.10 ns /
2.27 us
∇ -67.43%
1.35 MHz /
440.64 KHz
Δ 207.05%
matrix: det, fix[double] 6x6219.80 ns /
409.52 ns
∇ -46.33%
4.55 MHz /
2.44 MHz
Δ 86.32%
matrix: det, dyn[float ] 20x205.64 us /
18.23 us
∇ -69.06%
177.30 KHz /
54.86 KHz
Δ 223.19%
matrix: det, fix[float ] 20x204.05 us /
9.64 us
∇ -57.96%
246.81 KHz /
103.77 KHz
Δ 137.84%
matrix: det, dyn[double] 20x206.52 us /
17.63 us
∇ -63.00%
153.32 KHz /
56.72 KHz
Δ 170.29%
matrix: det, fix[double] 20x204.73 us /
6.19 us
∇ -23.59%
211.54 KHz /
161.63 KHz
Δ 30.88%
matrix: det, dyn[float ] 40x4030.83 us /
109.51 us
∇ -71.84%
32.43 KHz /
9.13 KHz
Δ 255.18%
matrix: det, fix[float ] 40x4025.85 us /
61.78 us
∇ -58.15%
38.68 KHz /
16.19 KHz
Δ 138.96%
matrix: det, dyn[double] 40x4032.40 us /
112.43 us
∇ -71.19%
30.87 KHz /
8.89 KHz
Δ 247.04%
matrix: det, fix[double] 40x4027.53 us /
35.24 us
∇ -21.88%
36.33 KHz /
28.38 KHz
Δ 28.01%
matrix: chol, dyn[double] 4x4170.00 ns /
172.11 ns
∇ -1.22%
5.88 MHz /
5.81 MHz
Δ 1.24%
matrix: chol, fix[double] 4x4130.00 ns /
117.76 ns
Δ 10.40%
7.69 MHz /
8.49 MHz
∇ -9.42%
matrix: chol, dyn[double] 40x4018.73 us /
24.40 us
∇ -23.25%
53.39 KHz /
40.98 KHz
Δ 30.29%
matrix: chol, fix[double] 40x4016.74 us /
17.68 us
∇ -5.30%
59.74 KHz /
56.57 KHz
Δ 5.60%
matrix: chol, sparse [2x2;2x2]8.50 us /
8.42 us
Δ 0.90%
117.65 KHz /
118.71 KHz
∇ -0.89%
matrix: chol, sparse [30x30;10x10]93.90 us /
118.80 us
∇ -20.96%
10.65 KHz /
8.42 KHz
Δ 26.52%
matrix: chol, dyn[double] 10x[6x6]52.90 us /
69.79 us
∇ -24.21%
18.90 KHz /
14.33 KHz
Δ 31.93%
matrix: chol, sparse 10x[6x6]40.03 us /
52.54 us
∇ -23.81%
24.98 KHz /
19.03 KHz
Δ 31.25%
matrix: chol, dyn[double] 20x[6x6]411.30 us /
466.09 us
∇ -11.76%
2.43 KHz /
2.15 KHz
Δ 13.32%
matrix: chol, sparse 20x[6x6]74.98 us /
89.01 us
∇ -15.76%
13.34 KHz /
11.24 KHz
Δ 18.71%
matrix: chol, dyn[double] 50x[6x6]8.61 ms /
9.32 ms
∇ -7.69%
116.18 Hz /
107.25 Hz
Δ 8.33%
matrix: chol, sparse 50x[6x6]185.35 us /
201.22 us
∇ -7.89%
5.40 KHz /
4.97 KHz
Δ 8.56%
matrix: chol, dyn[double] 100x[6x6]135.40 ms /
138.07 ms
∇ -1.93%
7.39 Hz /
7.24 Hz
Δ 1.97%
matrix: chol, sparse 100x[6x6]359.80 us /
401.45 us
∇ -10.38%
2.78 KHz /
2.49 KHz
Δ 11.58%
matrix: chol, dyn[double] 120x[6x6]364.31 ms /
453.62 ms
∇ -19.69%
2.74 Hz /
2.20 Hz
Δ 24.51%
matrix: chol, sparse 120x[6x6]426.39 us /
474.18 us
∇ -10.08%
2.35 KHz /
2.11 KHz
Δ 11.21%
matrix: chol, dyn[double] 140x[6x6]800.16 ms /
945.16 ms
∇ -15.34%
1.25 Hz /
1.06 Hz
Δ 18.12%
matrix: chol, sparse 140x[6x6]497.60 us /
552.77 us
∇ -9.98%
2.01 KHz /
1.81 KHz
Δ 11.09%
gridmap2D: getCell0.00 ns /
5.57 ns
∇ -100.00%
inf THz /
179.64 MHz
Δ inf%
gridmap2D: setCell2.58 ns /
7.80 ns
∇ -66.90%
387.19 MHz /
128.17 MHz
Δ 202.08%
gridmap2D: updateCell7.47 ns /
10.65 ns
∇ -29.80%
133.80 MHz /
93.93 MHz
Δ 42.44%
gridmap2D: updateCell_fast_occupied0.55 ns /
1.20 ns
∇ -54.43%
1.83 GHz /
834.82 MHz
Δ 119.43%
gridmap2D: insert scan w/o widening104.80 us /
202.10 us
∇ -48.15%
9.54 KHz /
4.95 KHz
Δ 92.85%
gridmap2D: insert scan with widening295.32 us /
338.79 us
∇ -12.83%
3.39 KHz /
2.95 KHz
Δ 14.72%
gridmap2D: resize1.83 ms /
3.58 ms
∇ -48.98%
547.65 Hz /
279.42 Hz
Δ 96.00%
gridmap2D: computeLikelihood16.65 us /
18.09 us
∇ -7.95%
60.06 KHz /
55.28 KHz
Δ 8.64%
pointmap: insert 100 scans3.11 ms /
5.50 ms
∇ -43.35%
321.23 Hz /
181.98 Hz
Δ 76.52%
pointmap: build 2D kd-tree of 1 scan4.28 us /
6.29 us
∇ -31.92%
233.64 KHz /
159.07 KHz
Δ 46.88%
pointmap: build 2D kd-tree of 100 scan354.96 us /
520.70 us
∇ -31.83%
2.82 KHz /
1.92 KHz
Δ 46.69%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
5.50 ms
∇ -24.82%
241.67 Hz /
181.67 Hz
Δ 33.02%
pointmap: build 3D kd-tree of 1 scan4.28 us /
6.47 us
∇ -33.82%
233.64 KHz /
154.62 KHz
Δ 51.11%
pointmap: build 3D kd-tree of 100 scan361.24 us /
526.59 us
∇ -31.40%
2.77 KHz /
1.90 KHz
Δ 45.77%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
5.63 ms
∇ -27.44%
244.66 Hz /
177.52 Hz
Δ 37.82%
pointmap: kd-tree 2d query on 10 scans1.37 us /
2.04 us
∇ -32.91%
730.99 KHz /
490.44 KHz
Δ 49.05%
pointmap: kd-tree 2d query on 1000 scans98.96 us /
137.79 us
∇ -28.18%
10.10 KHz /
7.26 KHz
Δ 39.24%
pointmap: kd-tree 2d query on 10000 scans11.96 ms /
14.88 ms
∇ -19.66%
83.64 Hz /
67.19 Hz
Δ 24.47%
pointmap: (insert scan+2D kd-tree query) x 105.60 ms /
8.57 ms
∇ -34.63%
178.50 Hz /
116.69 Hz
Δ 52.97%
pointmap: (insert scan+2D kd-tree query) x 50129.56 ms /
191.63 ms
∇ -32.39%
7.72 Hz /
5.22 Hz
Δ 47.91%
pointmap: (insert scan+3D kd-tree query) x 105.65 ms /
8.64 ms
∇ -34.53%
176.84 Hz /
115.78 Hz
Δ 52.74%
pointmap: (insert scan+3D kd-tree query) x 50132.43 ms /
194.89 ms
∇ -32.05%
7.55 Hz /
5.13 Hz
Δ 47.17%
random: drawUniform32bit15.70 ns /
7.21 ns
Δ 117.72%
63.70 MHz /
138.68 MHz
∇ -54.07%
random: drawUniform15.69 ns /
7.18 ns
Δ 118.51%
63.72 MHz /
139.23 MHz
∇ -54.24%
random: drawGaussian1D_normalized70.40 ns /
51.37 ns
Δ 37.04%
14.20 MHz /
19.47 MHz
∇ -27.03%
random: drawGaussian1D70.38 ns /
51.39 ns
Δ 36.95%
14.21 MHz /
19.46 MHz
∇ -26.98%
random: system rand()11.07 ns /
28.61 ns
∇ -61.33%
90.37 MHz /
34.95 MHz
Δ 158.58%
random: drawGaussianMultivariate(fixed 3x3)1.33 us /
2.55 us
∇ -47.92%
751.96 KHz /
391.65 KHz
Δ 92.00%
random: drawGaussianMultivariate(dyn 3x3)3.04 us /
8.36 us
∇ -63.63%
328.99 KHz /
119.66 KHz
Δ 174.93%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)162.81 ns /
213.95 ns
∇ -23.90%
6.14 MHz /
4.67 MHz
Δ 31.41%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)245.58 ns /
324.69 ns
∇ -24.36%
4.07 MHz /
3.08 MHz
Δ 32.21%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.74 ns /
829.70 ns
∇ -37.96%
1.94 MHz /
1.21 MHz
Δ 61.19%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)173.84 ns /
214.89 ns
∇ -19.10%
5.75 MHz /
4.65 MHz
Δ 23.62%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)259.42 ns /
364.99 ns
∇ -28.92%
3.85 MHz /
2.74 MHz
Δ 40.70%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)523.99 ns /
760.13 ns
∇ -31.06%
1.91 MHz /
1.32 MHz
Δ 45.06%
random: permuteVector (len=10)288.60 ns /
420.57 ns
∇ -31.38%
3.47 MHz /
2.38 MHz
Δ 45.73%
random: permuteVector (len=100)3.07 us /
3.56 us
∇ -13.66%
325.61 KHz /
281.12 KHz
Δ 15.82%
random: permuteVector (len=1000)30.26 us /
33.55 us
∇ -9.82%
33.05 KHz /
29.80 KHz
Δ 10.89%
math: round0.10 ns /
0.00 ns
Δ inf%
9.77 GHz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)31.77 ms /
28.40 ms
Δ 11.86%
31.48 Hz /
35.21 Hz
∇ -10.60%
images: Save as JPEG (800x600, quality=95%)45.70 ms /
43.71 ms
Δ 4.54%
21.88 Hz /
22.88 Hz
∇ -4.34%
images: Save as JPEG (1024x768, quality=95%)73.33 ms /
70.17 ms
Δ 4.50%
13.64 Hz /
14.25 Hz
∇ -4.31%
images: Save as JPEG (640x480, quality=75%)27.15 ms /
24.11 ms
Δ 12.62%
36.83 Hz /
41.48 Hz
∇ -11.21%
images: Save as JPEG (800x600, quality=75%)40.31 ms /
37.02 ms
Δ 8.87%
24.81 Hz /
27.01 Hz
∇ -8.15%
images: Save as JPEG (1024x768, quality=75%)64.44 ms /
59.51 ms
Δ 8.29%
15.52 Hz /
16.80 Hz
∇ -7.65%
images: Gauss filter (640x480)4.52 ms /
5.29 ms
∇ -14.62%
221.30 Hz /
188.95 Hz
Δ 17.12%
images: Gauss filter (800x600)7.35 ms /
8.36 ms
∇ -12.06%
136.05 Hz /
119.64 Hz
Δ 13.72%
images: Gauss filter (1024x768)11.22 ms /
13.88 ms
∇ -19.16%
89.13 Hz /
72.06 Hz
Δ 23.70%
scan_matching: 6D LS Rigid Trans. [CPose3D]6.32 us /
18.63 us
∇ -66.08%
158.23 KHz /
53.67 KHz
Δ 194.82%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.78 us /
17.89 us
∇ -73.27%
209.21 KHz /
55.91 KHz
Δ 274.17%
scan_matching: 6D LS Rigid Trans. [vector of points]2.14 us /
5.05 us
∇ -57.66%
467.29 KHz /
197.84 KHz
Δ 136.19%
feature_extraction [640x480]: Harris28.31 ms /
33.27 ms
∇ -14.89%
35.32 Hz /
30.06 Hz
Δ 17.50%
feature_extraction [640x480]: KLT27.34 ms /
31.21 ms
∇ -12.41%
36.57 Hz /
32.04 Hz
Δ 14.16%
feature_extraction [640x480]: SIFT641.91 ms /
675.81 ms
∇ -5.02%
1.56 Hz /
1.48 Hz
Δ 5.28%
feature_extraction [640x480]: SIFT desc.170.65 ms /
217.19 ms
∇ -21.43%
5.86 Hz /
4.60 Hz
Δ 27.27%
feature_extraction [640x480]: SURF201.21 ms /
316.97 ms
∇ -36.52%
4.97 Hz /
3.15 Hz
Δ 57.53%
feature_extraction [640x480]: FAST5.22 ms /
7.82 ms
∇ -33.21%
191.49 Hz /
127.91 Hz
Δ 49.71%
feature_extraction [640x480]: Spin desc.60.81 ms /
103.38 ms
∇ -41.18%
16.44 Hz /
9.67 Hz
Δ 70.00%
feature_matching [640x480]: Harris + CC43.26 ms /
56.24 ms
∇ -23.08%
23.12 Hz /
17.78 Hz
Δ 30.00%
feature_matching [640x480]: Harris + SAD39.91 ms /
47.55 ms
∇ -16.06%
25.06 Hz /
21.03 Hz
Δ 19.14%
feature_matching [640x480]: SIFT1.28 sec /
1.34 sec
∇ -4.79%
783.36 mHz /
745.82 mHz
Δ 5.03%
feature_matching [640x480]: SURF386.18 ms /
606.64 ms
∇ -36.34%
2.59 Hz /
1.65 Hz
Δ 57.09%
feature_matching [640x480]: FAST + CC16.12 ms /
22.36 ms
∇ -27.91%
62.03 Hz /
44.72 Hz
Δ 38.71%
feature_matching [640x480]: FAST + SAD10.93 ms /
15.00 ms
∇ -27.08%
91.46 Hz /
66.69 Hz
Δ 37.14%

 


Page generated automatically at 2010/12/18,14:13:40.164990 with MRPT 0.9.3 by 'mrpt-performance'.