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




Test description 0.9.1-MSVC-32bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset31.78 ms /
21.60 ms
Δ 47.15%
31.46 Hz /
46.30 Hz
∇ -32.04%
icp-slam (match grid): Run with sample dataset53.70 ms /
20.51 ms
Δ 161.81%
18.62 Hz /
48.75 Hz
∇ -61.81%
poses: CPose3D (+) CPose3D925.38 ns /
449.02 ns
Δ 106.09%
1.08 MHz /
2.23 MHz
∇ -51.48%
poses: CPose3D.composeFrom()617.00 ns /
233.83 ns
Δ 163.87%
1.62 MHz /
4.28 MHz
∇ -62.10%
poses: CPose3D (+) CPoint3D35.98 ns /
10.67 ns
Δ 237.30%
27.80 MHz /
93.76 MHz
∇ -70.35%
poses: CPose3D.composePoint()14.62 ns /
10.06 ns
Δ 45.26%
68.42 MHz /
99.38 MHz
∇ -31.16%
poses: CPoint3D (-) CPose3D75.43 ns /
37.71 ns
Δ 100.03%
13.26 MHz /
26.52 MHz
∇ -50.01%
poses: CPose3D.inverseComposePoint()56.48 ns /
40.98 ns
Δ 37.84%
17.70 MHz /
24.40 MHz
∇ -27.45%
poses: CPose2D (+) CPose2D121.60 ns /
78.17 ns
Δ 55.56%
8.22 MHz /
12.79 MHz
∇ -35.71%
poses: CPose2D.composeFrom()66.63 ns /
62.17 ns
Δ 7.17%
15.01 MHz /
16.08 MHz
∇ -6.69%
poses: CPose2D (+) CPoint2D93.73 ns /
63.86 ns
Δ 46.77%
10.67 MHz /
15.66 MHz
∇ -31.87%
poses: CPose2D.composePoint()62.24 ns /
61.98 ns
Δ 0.42%
16.07 MHz /
16.13 MHz
∇ -0.42%
poses: CPose3DQuat (+) CPose3DQuat100.74 ns /
47.00 ns
Δ 114.34%
9.93 MHz /
21.28 MHz
∇ -53.34%
poses: CPose3DQuat.composeFrom()57.92 ns /
39.80 ns
Δ 45.54%
17.26 MHz /
25.13 MHz
∇ -31.29%
poses: CPose3DQuat (+) CPoint3D61.33 ns /
22.62 ns
Δ 171.13%
16.31 MHz /
44.21 MHz
∇ -63.12%
poses: CPose3DQuat.composePoint()27.34 ns /
18.93 ns
Δ 44.45%
36.57 MHz /
52.83 MHz
∇ -30.77%
poses: CPoint3D (-) CPose3DQuat 580.67 ns /
391.26 ns
Δ 48.41%
1.72 MHz /
2.56 MHz
∇ -32.62%
poses: CPose3DQuat.invcomposePoint()28.18 ns /
18.05 ns
Δ 56.10%
35.48 MHz /
55.39 MHz
∇ -35.94%
poses: Conv CPose3DQuat <- CPose3D506.67 ns /
355.00 ns
Δ 42.72%
1.97 MHz /
2.82 MHz
∇ -29.93%
poses: Conv CPose3D -> CPose3DQuat214.86 ns /
173.19 ns
Δ 24.05%
4.65 MHz /
5.77 MHz
∇ -19.39%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.56 us /
814.76 us
∇ -99.81%
642.96 KHz /
1.23 KHz
Δ 52285.30%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.51 us /
821.91 us
∇ -99.82%
663.83 KHz /
1.22 KHz
Δ 54461.03%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.29 us /
9.57 us
Δ 143.31%
42.94 KHz /
104.48 KHz
∇ -58.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.64 us /
682.30 ns
Δ 140.36%
609.77 KHz /
1.47 MHz
∇ -58.40%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.66 us /
533.80 ns
Δ 211.79%
600.84 KHz /
1.87 MHz
∇ -67.93%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)16.05 us /
8.51 us
Δ 88.45%
62.32 KHz /
117.45 KHz
∇ -46.94%
matrix: unit, dyn[float], 3x339.66 ns /
20.59 ns
Δ 92.58%
25.22 MHz /
48.56 MHz
∇ -48.07%
matrix: unit, dyn[double], 3x342.75 ns /
22.60 ns
Δ 89.11%
23.39 MHz /
44.24 MHz
∇ -47.12%
matrix: unit, dyn[float], 6x6152.29 ns /
63.92 ns
Δ 138.23%
6.57 MHz /
15.64 MHz
∇ -58.02%
matrix: unit, dyn[double], 6x6150.45 ns /
65.22 ns
Δ 130.70%
6.65 MHz /
15.33 MHz
∇ -56.65%
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 /
1.68 ns
Δ 81.71%
327.19 MHz /
594.53 MHz
∇ -44.97%
matrix: unit, fix[double,6,6]6.65 ns /
2.86 ns
Δ 132.27%
150.48 MHz /
349.53 MHz
∇ -56.95%
matrix: multiply, dyn[float ], 3x3 * 3x3167.81 ns /
73.50 ns
Δ 128.31%
5.96 MHz /
13.61 MHz
∇ -56.20%
matrix: multiply, fix[float ], 3x3 * 3x3108.61 ns /
24.10 ns
Δ 350.66%
9.21 MHz /
41.49 MHz
∇ -77.81%
matrix: multiply, dyn[double], 3x3 * 3x3158.88 ns /
72.10 ns
Δ 120.37%
6.29 MHz /
13.87 MHz
∇ -54.62%
matrix: multiply, fix[double], 3x3 * 3x390.86 ns /
23.50 ns
Δ 286.62%
11.01 MHz /
42.55 MHz
∇ -74.13%
matrix: multiply, dyn[float ], 3x6 * 6x3272.47 ns /
112.90 ns
Δ 141.34%
3.67 MHz /
8.86 MHz
∇ -58.56%
matrix: multiply, fix[float ], 3x6 * 6x3193.12 ns /
45.00 ns
Δ 329.16%
5.18 MHz /
22.22 MHz
∇ -76.70%
matrix: multiply, dyn[double], 3x6 * 6x3238.91 ns /
110.50 ns
Δ 116.21%
4.19 MHz /
9.05 MHz
∇ -53.75%
matrix: multiply, fix[double], 3x6 * 6x3139.05 ns /
45.10 ns
Δ 208.30%
7.19 MHz /
22.17 MHz
∇ -67.56%
matrix: multiply, dyn[float ], 10x40 * 40x1016.80 us /
5.82 us
Δ 188.88%
59.51 KHz /
171.91 KHz
∇ -65.38%
matrix: multiply, fix[float ], 10x40 * 40x1013.06 us /
3.57 us
Δ 265.57%
76.57 KHz /
279.91 KHz
∇ -72.65%
matrix: multiply, dyn[double], 10x40 * 40x1013.55 us /
5.88 us
Δ 130.24%
73.81 KHz /
169.93 KHz
∇ -56.57%
matrix: multiply, fix[double], 10x40 * 40x109.96 us /
3.82 us
Δ 161.00%
100.40 KHz /
262.04 KHz
∇ -61.69%
matrix: inv, dyn[float ] 3x31.50 us /
449.00 ns
Δ 234.49%
665.84 KHz /
2.23 MHz
∇ -70.10%
matrix: inv, fix[float ] 3x359.79 ns /
33.00 ns
Δ 81.17%
16.73 MHz /
30.30 MHz
∇ -44.80%
matrix: inv, dyn[double] 3x31.53 us /
413.00 ns
Δ 270.89%
652.84 KHz /
2.42 MHz
∇ -73.04%
matrix: inv, fix[double] 3x331.25 ns /
22.00 ns
Δ 42.05%
32.00 MHz /
45.45 MHz
∇ -29.60%
matrix: inv, dyn[float ] 6x65.07 us /
1.31 us
Δ 285.81%
197.26 KHz /
761.04 KHz
∇ -74.08%
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 /
1.25 us
Δ 307.08%
196.68 KHz /
800.64 KHz
∇ -75.43%
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 /
28.01 us
Δ 192.29%
12.22 KHz /
35.71 KHz
∇ -65.79%
matrix: inv, fix[float ] 20x2040.71 us /
12.67 us
Δ 221.28%
24.56 KHz /
78.91 KHz
∇ -68.87%
matrix: inv, dyn[double] 20x20108.60 us /
28.58 us
Δ 279.92%
9.21 KHz /
34.98 KHz
∇ -73.68%
matrix: inv, fix[double] 20x2019.22 us /
17.20 us
Δ 11.78%
52.02 KHz /
58.15 KHz
∇ -10.54%
matrix: inv, dyn[float ] 40x40609.15 us /
205.67 us
Δ 196.19%
1.64 KHz /
4.86 KHz
∇ -66.24%
matrix: inv, fix[float ] 40x40307.68 us /
92.66 us
Δ 232.04%
3.25 KHz /
10.79 KHz
∇ -69.88%
matrix: inv, dyn[double] 40x40818.27 us /
200.95 us
Δ 307.21%
1.22 KHz /
4.98 KHz
∇ -75.44%
matrix: inv, fix[double] 40x40136.18 us /
134.50 us
Δ 1.25%
7.34 KHz /
7.43 KHz
∇ -1.23%
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 /
8.80 ns
Δ 8.60%
104.64 MHz /
113.64 MHz
∇ -7.92%
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 /
931.50 ns
Δ 148.86%
431.38 KHz /
1.07 MHz
∇ -59.82%
matrix: det, fix[float ] 6x6434.76 ns /
215.70 ns
Δ 101.56%
2.30 MHz /
4.64 MHz
∇ -50.39%
matrix: det, dyn[double] 6x62.38 us /
739.10 ns
Δ 221.83%
420.40 KHz /
1.35 MHz
∇ -68.93%
matrix: det, fix[double] 6x6422.89 ns /
219.80 ns
Δ 92.40%
2.36 MHz /
4.55 MHz
∇ -48.02%
matrix: det, dyn[float ] 20x2018.34 us /
5.64 us
Δ 225.12%
54.54 KHz /
177.30 KHz
∇ -69.24%
matrix: det, fix[float ] 20x209.85 us /
4.05 us
Δ 143.01%
101.56 KHz /
246.81 KHz
∇ -58.85%
matrix: det, dyn[double] 20x2018.19 us /
6.52 us
Δ 178.82%
54.99 KHz /
153.32 KHz
∇ -64.13%
matrix: det, fix[double] 20x206.52 us /
4.73 us
Δ 37.99%
153.30 KHz /
211.54 KHz
∇ -27.53%
matrix: det, dyn[float ] 40x40111.92 us /
30.83 us
Δ 262.99%
8.93 KHz /
32.43 KHz
∇ -72.45%
matrix: det, fix[float ] 40x4063.43 us /
25.85 us
Δ 145.32%
15.77 KHz /
38.68 KHz
∇ -59.24%
matrix: det, dyn[double] 40x40114.84 us /
32.40 us
Δ 254.50%
8.71 KHz /
30.87 KHz
∇ -71.79%
matrix: det, fix[double] 40x4036.00 us /
27.53 us
Δ 30.79%
27.78 KHz /
36.33 KHz
∇ -23.54%
matrix: chol, dyn[double] 4x4185.70 ns /
170.00 ns
Δ 9.23%
5.39 MHz /
5.88 MHz
∇ -8.45%
matrix: chol, fix[double] 4x4113.23 ns /
130.00 ns
∇ -12.90%
8.83 MHz /
7.69 MHz
Δ 14.81%
matrix: chol, dyn[double] 40x4024.43 us /
18.73 us
Δ 30.43%
40.93 KHz /
53.39 KHz
∇ -23.33%
matrix: chol, fix[double] 40x4017.73 us /
16.74 us
Δ 5.92%
56.40 KHz /
59.74 KHz
∇ -5.59%
matrix: chol, sparse [2x2;2x2]10.78 us /
8.50 us
Δ 26.82%
92.77 KHz /
117.65 KHz
∇ -21.15%
matrix: chol, sparse [30x30;10x10]117.89 us /
93.90 us
Δ 25.55%
8.48 KHz /
10.65 KHz
∇ -20.35%
matrix: chol, dyn[double] 10x[6x6]70.52 us /
52.90 us
Δ 33.31%
14.18 KHz /
18.90 KHz
∇ -24.98%
matrix: chol, sparse 10x[6x6]52.59 us /
40.03 us
Δ 31.37%
19.02 KHz /
24.98 KHz
∇ -23.88%
matrix: chol, dyn[double] 20x[6x6]491.10 us /
411.30 us
Δ 19.40%
2.04 KHz /
2.43 KHz
∇ -16.25%
matrix: chol, sparse 20x[6x6]85.83 us /
74.98 us
Δ 14.47%
11.65 KHz /
13.34 KHz
∇ -12.64%
matrix: chol, dyn[double] 50x[6x6]9.44 ms /
8.61 ms
Δ 9.73%
105.88 Hz /
116.18 Hz
∇ -8.87%
matrix: chol, sparse 50x[6x6]204.52 us /
185.35 us
Δ 10.34%
4.89 KHz /
5.40 KHz
∇ -9.37%
matrix: chol, dyn[double] 100x[6x6]150.13 ms /
135.40 ms
Δ 10.88%
6.66 Hz /
7.39 Hz
∇ -9.81%
matrix: chol, sparse 100x[6x6]415.58 us /
359.80 us
Δ 15.50%
2.41 KHz /
2.78 KHz
∇ -13.42%
matrix: chol, dyn[double] 120x[6x6]461.43 ms /
364.31 ms
Δ 26.66%
2.17 Hz /
2.74 Hz
∇ -21.05%
matrix: chol, sparse 120x[6x6]484.92 us /
426.39 us
Δ 13.73%
2.06 KHz /
2.35 KHz
∇ -12.07%
matrix: chol, dyn[double] 140x[6x6]947.45 ms /
800.16 ms
Δ 18.41%
1.06 Hz /
1.25 Hz
∇ -15.55%
matrix: chol, sparse 140x[6x6]586.44 us /
497.60 us
Δ 17.85%
1.71 KHz /
2.01 KHz
∇ -15.15%
gridmap2D: getCell5.77 ns /
0.00 ns
Δ inf%
173.23 MHz /
inf THz
∇ -nan%
gridmap2D: setCell7.96 ns /
2.58 ns
Δ 208.18%
125.64 MHz /
387.19 MHz
∇ -67.55%
gridmap2D: updateCell10.80 ns /
7.47 ns
Δ 44.52%
92.58 MHz /
133.80 MHz
∇ -30.81%
gridmap2D: updateCell_fast_occupied1.21 ns /
0.55 ns
Δ 121.61%
826.59 MHz /
1.83 GHz
∇ -54.88%
gridmap2D: insert scan w/o widening204.23 us /
104.80 us
Δ 94.89%
4.90 KHz /
9.54 KHz
∇ -48.69%
gridmap2D: insert scan with widening344.40 us /
295.32 us
Δ 16.62%
2.90 KHz /
3.39 KHz
∇ -14.25%
gridmap2D: resize2.62 ms /
1.83 ms
Δ 43.39%
381.93 Hz /
547.65 Hz
∇ -30.26%
gridmap2D: computeLikelihood18.59 us /
16.65 us
Δ 11.64%
53.79 KHz /
60.06 KHz
∇ -10.43%
pointmap: insert 100 scans5.62 ms /
3.11 ms
Δ 80.45%
178.02 Hz /
321.23 Hz
∇ -44.58%
pointmap: build 2D kd-tree of 1 scan6.21 us /
4.28 us
Δ 45.19%
160.93 KHz /
233.64 KHz
∇ -31.12%
pointmap: build 2D kd-tree of 100 scan511.81 us /
354.96 us
Δ 44.19%
1.95 KHz /
2.82 KHz
∇ -30.65%
pointmap: build 2D kd-tree of 1000 scan5.59 ms /
4.14 ms
Δ 35.11%
178.86 Hz /
241.67 Hz
∇ -25.99%
pointmap: build 3D kd-tree of 1 scan7.23 us /
4.28 us
Δ 68.89%
138.34 KHz /
233.64 KHz
∇ -40.79%
pointmap: build 3D kd-tree of 100 scan523.10 us /
361.24 us
Δ 44.81%
1.91 KHz /
2.77 KHz
∇ -30.94%
pointmap: build 3D kd-tree of 1000 scan5.77 ms /
4.09 ms
Δ 41.25%
173.21 Hz /
244.66 Hz
∇ -29.20%
pointmap: kd-tree 2d query on 10 scans2.05 us /
1.37 us
Δ 50.08%
487.07 KHz /
730.99 KHz
∇ -33.37%
pointmap: kd-tree 2d query on 1000 scans140.79 us /
98.96 us
Δ 42.26%
7.10 KHz /
10.10 KHz
∇ -29.71%
pointmap: kd-tree 2d query on 10000 scans15.17 ms /
11.96 ms
Δ 26.90%
65.91 Hz /
83.64 Hz
∇ -21.20%
pointmap: (insert scan+2D kd-tree query) x 108.69 ms /
5.60 ms
Δ 55.20%
115.01 Hz /
178.50 Hz
∇ -35.57%
pointmap: (insert scan+2D kd-tree query) x 50196.44 ms /
129.56 ms
Δ 51.63%
5.09 Hz /
7.72 Hz
∇ -34.05%
pointmap: (insert scan+3D kd-tree query) x 108.73 ms /
5.65 ms
Δ 54.31%
114.60 Hz /
176.84 Hz
∇ -35.20%
pointmap: (insert scan+3D kd-tree query) x 50198.48 ms /
132.43 ms
Δ 49.88%
5.04 Hz /
7.55 Hz
∇ -33.28%
random: drawUniform32bit7.29 ns /
15.70 ns
∇ -53.54%
137.11 MHz /
63.70 MHz
Δ 115.25%
random: drawUniform7.33 ns /
15.69 ns
∇ -53.32%
136.49 MHz /
63.72 MHz
Δ 114.21%
random: drawGaussian1D_normalized51.27 ns /
70.40 ns
∇ -27.17%
19.50 MHz /
14.20 MHz
Δ 37.30%
random: drawGaussian1D51.74 ns /
70.38 ns
∇ -26.48%
19.33 MHz /
14.21 MHz
Δ 36.02%
random: system rand()29.39 ns /
11.07 ns
Δ 165.56%
34.03 MHz /
90.37 MHz
∇ -62.34%
random: drawGaussianMultivariate(fixed 3x3)2.64 us /
1.33 us
Δ 98.68%
378.48 KHz /
751.96 KHz
∇ -49.67%
random: drawGaussianMultivariate(dyn 3x3)8.53 us /
3.04 us
Δ 180.77%
117.18 KHz /
328.99 KHz
∇ -64.38%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)215.16 ns /
162.81 ns
Δ 32.16%
4.65 MHz /
6.14 MHz
∇ -24.33%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)359.98 ns /
245.58 ns
Δ 46.58%
2.78 MHz /
4.07 MHz
∇ -31.78%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)732.12 ns /
514.74 ns
Δ 42.23%
1.37 MHz /
1.94 MHz
∇ -29.69%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)213.59 ns /
173.84 ns
Δ 22.87%
4.68 MHz /
5.75 MHz
∇ -18.61%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)339.30 ns /
259.42 ns
Δ 30.79%
2.95 MHz /
3.85 MHz
∇ -23.54%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.92 ns /
523.99 ns
Δ 45.22%
1.31 MHz /
1.91 MHz
∇ -31.14%
random: permuteVector (len=10)411.34 ns /
288.60 ns
Δ 42.53%
2.43 MHz /
3.47 MHz
∇ -29.84%
random: permuteVector (len=100)3.59 us /
3.07 us
Δ 16.83%
278.70 KHz /
325.61 KHz
∇ -14.41%
random: permuteVector (len=1000)34.34 us /
30.26 us
Δ 13.48%
29.12 KHz /
33.05 KHz
∇ -11.88%
math: round0.00 ns /
0.10 ns
∇ -100.00%
inf THz /
9.77 GHz
Δ inf%
images: Save as JPEG (640x480, quality=95%)27.92 ms /
31.77 ms
∇ -12.10%
35.81 Hz /
31.48 Hz
Δ 13.76%
images: Save as JPEG (800x600, quality=95%)43.53 ms /
45.70 ms
∇ -4.74%
22.97 Hz /
21.88 Hz
Δ 4.98%
images: Save as JPEG (1024x768, quality=95%)70.76 ms /
73.33 ms
∇ -3.51%
14.13 Hz /
13.64 Hz
Δ 3.64%
images: Save as JPEG (640x480, quality=75%)23.43 ms /
27.15 ms
∇ -13.70%
42.67 Hz /
36.83 Hz
Δ 15.87%
images: Save as JPEG (800x600, quality=75%)36.52 ms /
40.31 ms
∇ -9.41%
27.39 Hz /
24.81 Hz
Δ 10.39%
images: Save as JPEG (1024x768, quality=75%)59.82 ms /
64.44 ms
∇ -7.18%
16.72 Hz /
15.52 Hz
Δ 7.73%
images: Gauss filter (640x480)6.68 ms /
4.52 ms
Δ 47.79%
149.74 Hz /
221.30 Hz
∇ -32.34%
images: Gauss filter (800x600)8.62 ms /
7.35 ms
Δ 17.26%
116.03 Hz /
136.05 Hz
∇ -14.72%
images: Gauss filter (1024x768)14.49 ms /
11.22 ms
Δ 29.16%
69.01 Hz /
89.13 Hz
∇ -22.57%
scan_matching: 6D LS Rigid Trans. [CPose3D]21.12 us /
6.32 us
Δ 234.24%
47.34 KHz /
158.23 KHz
∇ -70.08%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]19.36 us /
4.78 us
Δ 305.07%
51.65 KHz /
209.21 KHz
∇ -75.31%
scan_matching: 6D LS Rigid Trans. [vector of points]6.24 us /
2.14 us
Δ 191.43%
160.34 KHz /
467.29 KHz
∇ -65.69%
feature_extraction [640x480]: Harris40.83 ms /
28.31 ms
Δ 44.19%
24.49 Hz /
35.32 Hz
∇ -30.65%
feature_extraction [640x480]: KLT33.62 ms /
27.34 ms
Δ 22.95%
29.75 Hz /
36.57 Hz
∇ -18.66%
feature_extraction [640x480]: SIFT705.28 ms /
641.91 ms
Δ 9.87%
1.42 Hz /
1.56 Hz
∇ -8.98%
feature_extraction [640x480]: SIFT desc.214.22 ms /
170.65 ms
Δ 25.53%
4.67 Hz /
5.86 Hz
∇ -20.34%
feature_extraction [640x480]: SURF326.57 ms /
201.21 ms
Δ 62.30%
3.06 Hz /
4.97 Hz
∇ -38.39%
feature_extraction [640x480]: FAST7.69 ms /
5.22 ms
Δ 47.22%
130.08 Hz /
191.49 Hz
∇ -32.07%
feature_extraction [640x480]: Spin desc.105.90 ms /
60.81 ms
Δ 74.15%
9.44 Hz /
16.44 Hz
∇ -42.58%
feature_matching [640x480]: Harris + CC57.67 ms /
43.26 ms
Δ 33.32%
17.34 Hz /
23.12 Hz
∇ -24.99%
feature_matching [640x480]: Harris + SAD50.27 ms /
39.91 ms
Δ 25.95%
19.89 Hz /
25.06 Hz
∇ -20.60%
feature_matching [640x480]: SIFT1.38 sec /
1.28 sec
Δ 8.11%
724.62 mHz /
783.36 mHz
∇ -7.50%
feature_matching [640x480]: SURF618.66 ms /
386.18 ms
Δ 60.20%
1.62 Hz /
2.59 Hz
∇ -37.58%
feature_matching [640x480]: FAST + CC22.11 ms /
16.12 ms
Δ 37.16%
45.22 Hz /
62.03 Hz
∇ -27.09%
feature_matching [640x480]: FAST + SAD14.58 ms /
10.93 ms
Δ 33.39%
68.57 Hz /
91.46 Hz
∇ -25.03%
graph(2d): insertEdge x 1e3354.58 us /
X
2.82 KHz /
X
graph(2d): insertEdgeAtEnd x 1e3284.04 us /
X
3.52 KHz /
X
graph(2d pdf): insertEdge x 1e3549.28 us /
X
1.82 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3452.79 us /
X
2.21 KHz /
X
graph(2d): insertEdge x 1e43.86 ms /
X
259.12 Hz /
X
graph(2d): insertEdgeAtEnd x 1e42.88 ms /
X
347.75 Hz /
X
graph(2d pdf): insertEdge x 1e45.74 ms /
X
174.28 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e44.44 ms /
X
225.33 Hz /
X
graph(3d): insertEdge x 1e31.35 ms /
X
743.07 Hz /
X
graph(3d): insertEdgeAtEnd x 1e31.09 ms /
X
917.96 Hz /
X
graph(3d pdf): insertEdge x 1e31.74 ms /
X
573.66 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e31.46 ms /
X
683.28 Hz /
X
graph(3d): insertEdge x 1e413.92 ms /
X
71.86 Hz /
X
graph(3d): insertEdgeAtEnd x 1e411.12 ms /
X
89.92 Hz /
X
graph(3d pdf): insertEdge x 1e417.58 ms /
X
56.89 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e414.12 ms /
X
70.81 Hz /
X

 


Page generated automatically at 2010/12/18,14:13:40.158144 with MRPT 0.9.3 by 'mrpt-performance'.