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




Test description 0.9.1-MSVC-32bit /
0.9.2-MSVC-32bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset31.78 ms /
30.39 ms
Δ 4.57%
31.46 Hz /
32.90 Hz
∇ -4.37%
icp-slam (match grid): Run with sample dataset53.70 ms /
52.58 ms
Δ 2.14%
18.62 Hz /
19.02 Hz
∇ -2.09%
poses: CPose3D (+) CPose3D925.38 ns /
264.70 ns
Δ 249.59%
1.08 MHz /
3.78 MHz
∇ -71.40%
poses: CPose3D.composeFrom()617.00 ns /
98.01 ns
Δ 529.56%
1.62 MHz /
10.20 MHz
∇ -84.12%
poses: CPose3D (+) CPoint3D35.98 ns /
27.86 ns
Δ 29.12%
27.80 MHz /
35.89 MHz
∇ -22.55%
poses: CPose3D.composePoint()14.62 ns /
19.17 ns
∇ -23.77%
68.42 MHz /
52.16 MHz
Δ 31.18%
poses: CPoint3D (-) CPose3D75.43 ns /
51.66 ns
Δ 46.02%
13.26 MHz /
19.36 MHz
∇ -31.52%
poses: CPose3D.inverseComposePoint()56.48 ns /
46.91 ns
Δ 20.40%
17.70 MHz /
21.32 MHz
∇ -16.94%
poses: CPose2D (+) CPose2D121.60 ns /
99.28 ns
Δ 22.48%
8.22 MHz /
10.07 MHz
∇ -18.36%
poses: CPose2D.composeFrom()66.63 ns /
89.67 ns
∇ -25.70%
15.01 MHz /
11.15 MHz
Δ 34.59%
poses: CPose2D (+) CPoint2D93.73 ns /
82.07 ns
Δ 14.21%
10.67 MHz /
12.18 MHz
∇ -12.44%
poses: CPose2D.composePoint()62.24 ns /
64.58 ns
∇ -3.62%
16.07 MHz /
15.49 MHz
Δ 3.76%
poses: CPose3DQuat (+) CPose3DQuat100.74 ns /
87.19 ns
Δ 15.54%
9.93 MHz /
11.47 MHz
∇ -13.45%
poses: CPose3DQuat.composeFrom()57.92 ns /
57.14 ns
Δ 1.36%
17.26 MHz /
17.50 MHz
∇ -1.35%
poses: CPose3DQuat (+) CPoint3D61.33 ns /
48.22 ns
Δ 27.18%
16.31 MHz /
20.74 MHz
∇ -21.37%
poses: CPose3DQuat.composePoint()27.34 ns /
29.64 ns
∇ -7.75%
36.57 MHz /
33.74 MHz
Δ 8.40%
poses: CPoint3D (-) CPose3DQuat 580.67 ns /
84.32 ns
Δ 588.67%
1.72 MHz /
11.86 MHz
∇ -85.48%
poses: CPose3DQuat.invcomposePoint()28.18 ns /
30.72 ns
∇ -8.26%
35.48 MHz /
32.55 MHz
Δ 9.01%
poses: Conv CPose3DQuat <- CPose3D506.67 ns /
33.02 ns
Δ 1434.47%
1.97 MHz /
30.29 MHz
∇ -93.48%
poses: Conv CPose3D -> CPose3DQuat214.86 ns /
206.69 ns
Δ 3.95%
4.65 MHz /
4.84 MHz
∇ -3.80%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)1.56 us /
1.35 us
Δ 15.04%
642.96 KHz /
739.68 KHz
∇ -13.08%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)1.51 us /
1.40 us
Δ 7.27%
663.83 KHz /
712.12 KHz
∇ -6.78%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)23.29 us /
23.15 us
Δ 0.61%
42.94 KHz /
43.20 KHz
∇ -0.61%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.64 us /
1.62 us
Δ 1.19%
609.77 KHz /
617.00 KHz
∇ -1.17%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.66 us /
1.63 us
Δ 2.14%
600.84 KHz /
613.67 KHz
∇ -2.09%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)16.05 us /
15.82 us
Δ 1.43%
62.32 KHz /
63.21 KHz
∇ -1.41%
matrix: unit, dyn[float], 3x339.66 ns /
38.75 ns
Δ 2.35%
25.22 MHz /
25.81 MHz
∇ -2.29%
matrix: unit, dyn[double], 3x342.75 ns /
38.69 ns
Δ 10.48%
23.39 MHz /
25.85 MHz
∇ -9.48%
matrix: unit, dyn[float], 6x6152.29 ns /
163.36 ns
∇ -6.78%
6.57 MHz /
6.12 MHz
Δ 7.27%
matrix: unit, dyn[double], 6x6150.45 ns /
213.06 ns
∇ -29.38%
6.65 MHz /
4.69 MHz
Δ 41.61%
matrix: unit, fix[float,3,3]3.30 ns /
3.56 ns
∇ -7.45%
303.37 MHz /
280.77 MHz
Δ 8.05%
matrix: unit, fix[double,3,3]3.48 ns /
3.29 ns
Δ 5.77%
287.56 MHz /
304.17 MHz
∇ -5.46%
matrix: unit, fix[float,6,6]3.06 ns /
2.77 ns
Δ 10.32%
327.19 MHz /
360.95 MHz
∇ -9.35%
matrix: unit, fix[double,6,6]6.65 ns /
6.07 ns
Δ 9.51%
150.48 MHz /
164.80 MHz
∇ -8.68%
matrix: multiply, dyn[float ], 3x3 * 3x3167.81 ns /
168.66 ns
∇ -0.51%
5.96 MHz /
5.93 MHz
Δ 0.51%
matrix: multiply, fix[float ], 3x3 * 3x3108.61 ns /
109.47 ns
∇ -0.78%
9.21 MHz /
9.14 MHz
Δ 0.79%
matrix: multiply, dyn[double], 3x3 * 3x3158.88 ns /
159.15 ns
∇ -0.17%
6.29 MHz /
6.28 MHz
Δ 0.17%
matrix: multiply, fix[double], 3x3 * 3x390.86 ns /
87.59 ns
Δ 3.72%
11.01 MHz /
11.42 MHz
∇ -3.59%
matrix: multiply, dyn[float ], 3x6 * 6x3272.47 ns /
272.34 ns
Δ 0.05%
3.67 MHz /
3.67 MHz
∇ -0.05%
matrix: multiply, fix[float ], 3x6 * 6x3193.12 ns /
190.04 ns
Δ 1.62%
5.18 MHz /
5.26 MHz
∇ -1.60%
matrix: multiply, dyn[double], 3x6 * 6x3238.91 ns /
245.84 ns
∇ -2.82%
4.19 MHz /
4.07 MHz
Δ 2.90%
matrix: multiply, fix[double], 3x6 * 6x3139.05 ns /
138.91 ns
Δ 0.10%
7.19 MHz /
7.20 MHz
∇ -0.10%
matrix: multiply, dyn[float ], 10x40 * 40x1016.80 us /
16.67 us
Δ 0.82%
59.51 KHz /
60.00 KHz
∇ -0.81%
matrix: multiply, fix[float ], 10x40 * 40x1013.06 us /
12.92 us
Δ 1.10%
76.57 KHz /
77.41 KHz
∇ -1.08%
matrix: multiply, dyn[double], 10x40 * 40x1013.55 us /
13.30 us
Δ 1.84%
73.81 KHz /
75.16 KHz
∇ -1.80%
matrix: multiply, fix[double], 10x40 * 40x109.96 us /
9.66 us
Δ 3.11%
100.40 KHz /
103.53 KHz
∇ -3.02%
matrix: inv, dyn[float ] 3x31.50 us /
1.46 us
Δ 2.98%
665.84 KHz /
685.70 KHz
∇ -2.90%
matrix: inv, fix[float ] 3x359.79 ns /
59.78 ns
Δ 0.00%
16.73 MHz /
16.73 MHz
∇ -0.00%
matrix: inv, dyn[double] 3x31.53 us /
1.47 us
Δ 4.42%
652.84 KHz /
681.67 KHz
∇ -4.23%
matrix: inv, fix[double] 3x331.25 ns /
30.80 ns
Δ 1.47%
32.00 MHz /
32.47 MHz
∇ -1.45%
matrix: inv, dyn[float ] 6x65.07 us /
4.39 us
Δ 15.51%
197.26 KHz /
227.86 KHz
∇ -13.43%
matrix: inv, fix[float ] 6x61.33 us /
1.39 us
∇ -4.07%
749.46 KHz /
718.96 KHz
Δ 4.24%
matrix: inv, dyn[double] 6x65.08 us /
5.05 us
Δ 0.77%
196.68 KHz /
198.20 KHz
∇ -0.77%
matrix: inv, fix[double] 6x6926.67 ns /
944.32 ns
∇ -1.87%
1.08 MHz /
1.06 MHz
Δ 1.90%
matrix: inv, dyn[float ] 20x2081.86 us /
80.56 us
Δ 1.61%
12.22 KHz /
12.41 KHz
∇ -1.59%
matrix: inv, fix[float ] 20x2040.71 us /
39.77 us
Δ 2.36%
24.56 KHz /
25.14 KHz
∇ -2.30%
matrix: inv, dyn[double] 20x20108.60 us /
106.06 us
Δ 2.39%
9.21 KHz /
9.43 KHz
∇ -2.34%
matrix: inv, fix[double] 20x2019.22 us /
18.99 us
Δ 1.20%
52.02 KHz /
52.65 KHz
∇ -1.19%
matrix: inv, dyn[float ] 40x40609.15 us /
594.37 us
Δ 2.49%
1.64 KHz /
1.68 KHz
∇ -2.43%
matrix: inv, fix[float ] 40x40307.68 us /
302.87 us
Δ 1.59%
3.25 KHz /
3.30 KHz
∇ -1.56%
matrix: inv, dyn[double] 40x40818.27 us /
805.07 us
Δ 1.64%
1.22 KHz /
1.24 KHz
∇ -1.61%
matrix: inv, fix[double] 40x40136.18 us /
129.27 us
Δ 5.34%
7.34 KHz /
7.74 KHz
∇ -5.07%
matrix: det, dyn[float ] 2x29.15 ns /
7.97 ns
Δ 14.77%
109.30 MHz /
125.45 MHz
∇ -12.87%
matrix: det, fix[float ] 2x20.00 ns /
0.05 ns
∇ -100.00%
inf THz /
22.08 GHz
Δ inf%
matrix: det, dyn[double] 2x29.56 ns /
8.47 ns
Δ 12.84%
104.64 MHz /
118.07 MHz
∇ -11.38%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x319.70 ns /
20.83 ns
∇ -5.43%
50.76 MHz /
48.00 MHz
Δ 5.75%
matrix: det, fix[float ] 3x30.00 ns /
0.05 ns
∇ -100.00%
inf THz /
22.08 GHz
Δ inf%
matrix: det, dyn[double] 3x315.90 ns /
15.90 ns
Δ 0.00%
62.90 MHz /
62.90 MHz
∇ -0.00%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 6x62.32 us /
2.28 us
Δ 1.72%
431.38 KHz /
438.79 KHz
∇ -1.69%
matrix: det, fix[float ] 6x6434.76 ns /
455.22 ns
∇ -4.50%
2.30 MHz /
2.20 MHz
Δ 4.71%
matrix: det, dyn[double] 6x62.38 us /
2.27 us
Δ 4.82%
420.40 KHz /
440.64 KHz
∇ -4.59%
matrix: det, fix[double] 6x6422.89 ns /
409.52 ns
Δ 3.26%
2.36 MHz /
2.44 MHz
∇ -3.16%
matrix: det, dyn[float ] 20x2018.34 us /
18.23 us
Δ 0.60%
54.54 KHz /
54.86 KHz
∇ -0.59%
matrix: det, fix[float ] 20x209.85 us /
9.64 us
Δ 2.17%
101.56 KHz /
103.77 KHz
∇ -2.13%
matrix: det, dyn[double] 20x2018.19 us /
17.63 us
Δ 3.15%
54.99 KHz /
56.72 KHz
∇ -3.06%
matrix: det, fix[double] 20x206.52 us /
6.19 us
Δ 5.43%
153.30 KHz /
161.63 KHz
∇ -5.15%
matrix: det, dyn[float ] 40x40111.92 us /
109.51 us
Δ 2.20%
8.93 KHz /
9.13 KHz
∇ -2.15%
matrix: det, fix[float ] 40x4063.43 us /
61.78 us
Δ 2.66%
15.77 KHz /
16.19 KHz
∇ -2.59%
matrix: det, dyn[double] 40x40114.84 us /
112.43 us
Δ 2.15%
8.71 KHz /
8.89 KHz
∇ -2.10%
matrix: det, fix[double] 40x4036.00 us /
35.24 us
Δ 2.17%
27.78 KHz /
28.38 KHz
∇ -2.12%
matrix: chol, dyn[double] 4x4185.70 ns /
172.11 ns
Δ 7.90%
5.39 MHz /
5.81 MHz
∇ -7.32%
matrix: chol, fix[double] 4x4113.23 ns /
117.76 ns
∇ -3.84%
8.83 MHz /
8.49 MHz
Δ 4.00%
matrix: chol, dyn[double] 40x4024.43 us /
24.40 us
Δ 0.11%
40.93 KHz /
40.98 KHz
∇ -0.11%
matrix: chol, fix[double] 40x4017.73 us /
17.68 us
Δ 0.31%
56.40 KHz /
56.57 KHz
∇ -0.31%
matrix: chol, sparse [2x2;2x2]10.78 us /
8.42 us
Δ 27.96%
92.77 KHz /
118.71 KHz
∇ -21.85%
matrix: chol, sparse [30x30;10x10]117.89 us /
118.80 us
∇ -0.76%
8.48 KHz /
8.42 KHz
Δ 0.77%
matrix: chol, dyn[double] 10x[6x6]70.52 us /
69.79 us
Δ 1.04%
14.18 KHz /
14.33 KHz
∇ -1.03%
matrix: chol, sparse 10x[6x6]52.59 us /
52.54 us
Δ 0.10%
19.02 KHz /
19.03 KHz
∇ -0.10%
matrix: chol, dyn[double] 20x[6x6]491.10 us /
466.09 us
Δ 5.37%
2.04 KHz /
2.15 KHz
∇ -5.09%
matrix: chol, sparse 20x[6x6]85.83 us /
89.01 us
∇ -3.57%
11.65 KHz /
11.24 KHz
Δ 3.70%
matrix: chol, dyn[double] 50x[6x6]9.44 ms /
9.32 ms
Δ 1.30%
105.88 Hz /
107.25 Hz
∇ -1.28%
matrix: chol, sparse 50x[6x6]204.52 us /
201.22 us
Δ 1.64%
4.89 KHz /
4.97 KHz
∇ -1.62%
matrix: chol, dyn[double] 100x[6x6]150.13 ms /
138.07 ms
Δ 8.74%
6.66 Hz /
7.24 Hz
∇ -8.04%
matrix: chol, sparse 100x[6x6]415.58 us /
401.45 us
Δ 3.52%
2.41 KHz /
2.49 KHz
∇ -3.40%
matrix: chol, dyn[double] 120x[6x6]461.43 ms /
453.62 ms
Δ 1.72%
2.17 Hz /
2.20 Hz
∇ -1.69%
matrix: chol, sparse 120x[6x6]484.92 us /
474.18 us
Δ 2.27%
2.06 KHz /
2.11 KHz
∇ -2.22%
matrix: chol, dyn[double] 140x[6x6]947.45 ms /
945.16 ms
Δ 0.24%
1.06 Hz /
1.06 Hz
∇ -0.24%
matrix: chol, sparse 140x[6x6]586.44 us /
552.77 us
Δ 6.09%
1.71 KHz /
1.81 KHz
∇ -5.74%
gridmap2D: getCell5.77 ns /
5.57 ns
Δ 3.70%
173.23 MHz /
179.64 MHz
∇ -3.57%
gridmap2D: setCell7.96 ns /
7.80 ns
Δ 2.02%
125.64 MHz /
128.17 MHz
∇ -1.98%
gridmap2D: updateCell10.80 ns /
10.65 ns
Δ 1.46%
92.58 MHz /
93.93 MHz
∇ -1.44%
gridmap2D: updateCell_fast_occupied1.21 ns /
1.20 ns
Δ 1.00%
826.59 MHz /
834.82 MHz
∇ -0.99%
gridmap2D: insert scan w/o widening204.23 us /
202.10 us
Δ 1.06%
4.90 KHz /
4.95 KHz
∇ -1.04%
gridmap2D: insert scan with widening344.40 us /
338.79 us
Δ 1.66%
2.90 KHz /
2.95 KHz
∇ -1.63%
gridmap2D: resize2.62 ms /
3.58 ms
∇ -26.84%
381.93 Hz /
279.42 Hz
Δ 36.69%
gridmap2D: computeLikelihood18.59 us /
18.09 us
Δ 2.76%
53.79 KHz /
55.28 KHz
∇ -2.69%
pointmap: insert 100 scans5.62 ms /
5.50 ms
Δ 2.22%
178.02 Hz /
181.98 Hz
∇ -2.17%
pointmap: build 2D kd-tree of 1 scan6.21 us /
6.29 us
∇ -1.15%
160.93 KHz /
159.07 KHz
Δ 1.16%
pointmap: build 2D kd-tree of 100 scan511.81 us /
520.70 us
∇ -1.71%
1.95 KHz /
1.92 KHz
Δ 1.74%
pointmap: build 2D kd-tree of 1000 scan5.59 ms /
5.50 ms
Δ 1.57%
178.86 Hz /
181.67 Hz
∇ -1.55%
pointmap: build 3D kd-tree of 1 scan7.23 us /
6.47 us
Δ 11.77%
138.34 KHz /
154.62 KHz
∇ -10.53%
pointmap: build 3D kd-tree of 100 scan523.10 us /
526.59 us
∇ -0.66%
1.91 KHz /
1.90 KHz
Δ 0.67%
pointmap: build 3D kd-tree of 1000 scan5.77 ms /
5.63 ms
Δ 2.48%
173.21 Hz /
177.52 Hz
∇ -2.42%
pointmap: kd-tree 2d query on 10 scans2.05 us /
2.04 us
Δ 0.69%
487.07 KHz /
490.44 KHz
∇ -0.69%
pointmap: kd-tree 2d query on 1000 scans140.79 us /
137.79 us
Δ 2.17%
7.10 KHz /
7.26 KHz
∇ -2.13%
pointmap: kd-tree 2d query on 10000 scans15.17 ms /
14.88 ms
Δ 1.95%
65.91 Hz /
67.19 Hz
∇ -1.91%
pointmap: (insert scan+2D kd-tree query) x 108.69 ms /
8.57 ms
Δ 1.46%
115.01 Hz /
116.69 Hz
∇ -1.44%
pointmap: (insert scan+2D kd-tree query) x 50196.44 ms /
191.63 ms
Δ 2.51%
5.09 Hz /
5.22 Hz
∇ -2.45%
pointmap: (insert scan+3D kd-tree query) x 108.73 ms /
8.64 ms
Δ 1.03%
114.60 Hz /
115.78 Hz
∇ -1.02%
pointmap: (insert scan+3D kd-tree query) x 50198.48 ms /
194.89 ms
Δ 1.84%
5.04 Hz /
5.13 Hz
∇ -1.81%
random: drawUniform32bit7.29 ns /
7.21 ns
Δ 1.15%
137.11 MHz /
138.68 MHz
∇ -1.14%
random: drawUniform7.33 ns /
7.18 ns
Δ 2.01%
136.49 MHz /
139.23 MHz
∇ -1.97%
random: drawGaussian1D_normalized51.27 ns /
51.37 ns
∇ -0.19%
19.50 MHz /
19.47 MHz
Δ 0.19%
random: drawGaussian1D51.74 ns /
51.39 ns
Δ 0.68%
19.33 MHz /
19.46 MHz
∇ -0.68%
random: system rand()29.39 ns /
28.61 ns
Δ 2.70%
34.03 MHz /
34.95 MHz
∇ -2.63%
random: drawGaussianMultivariate(fixed 3x3)2.64 us /
2.55 us
Δ 3.48%
378.48 KHz /
391.65 KHz
∇ -3.36%
random: drawGaussianMultivariate(dyn 3x3)8.53 us /
8.36 us
Δ 2.12%
117.18 KHz /
119.66 KHz
∇ -2.08%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)215.16 ns /
213.95 ns
Δ 0.57%
4.65 MHz /
4.67 MHz
∇ -0.56%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)359.98 ns /
324.69 ns
Δ 10.87%
2.78 MHz /
3.08 MHz
∇ -9.80%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)732.12 ns /
829.70 ns
∇ -11.76%
1.37 MHz /
1.21 MHz
Δ 13.33%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)213.59 ns /
214.89 ns
∇ -0.61%
4.68 MHz /
4.65 MHz
Δ 0.61%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)339.30 ns /
364.99 ns
∇ -7.04%
2.95 MHz /
2.74 MHz
Δ 7.57%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)760.92 ns /
760.13 ns
Δ 0.10%
1.31 MHz /
1.32 MHz
∇ -0.10%
random: permuteVector (len=10)411.34 ns /
420.57 ns
∇ -2.20%
2.43 MHz /
2.38 MHz
Δ 2.24%
random: permuteVector (len=100)3.59 us /
3.56 us
Δ 0.87%
278.70 KHz /
281.12 KHz
∇ -0.86%
random: permuteVector (len=1000)34.34 us /
33.55 us
Δ 2.34%
29.12 KHz /
29.80 KHz
∇ -2.28%
math: round0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)27.92 ms /
28.40 ms
∇ -1.67%
35.81 Hz /
35.21 Hz
Δ 1.70%
images: Save as JPEG (800x600, quality=95%)43.53 ms /
43.71 ms
∇ -0.42%
22.97 Hz /
22.88 Hz
Δ 0.42%
images: Save as JPEG (1024x768, quality=95%)70.76 ms /
70.17 ms
Δ 0.83%
14.13 Hz /
14.25 Hz
∇ -0.83%
images: Save as JPEG (640x480, quality=75%)23.43 ms /
24.11 ms
∇ -2.80%
42.67 Hz /
41.48 Hz
Δ 2.89%
images: Save as JPEG (800x600, quality=75%)36.52 ms /
37.02 ms
∇ -1.37%
27.39 Hz /
27.01 Hz
Δ 1.39%
images: Save as JPEG (1024x768, quality=75%)59.82 ms /
59.51 ms
Δ 0.52%
16.72 Hz /
16.80 Hz
∇ -0.52%
images: Gauss filter (640x480)6.68 ms /
5.29 ms
Δ 26.19%
149.74 Hz /
188.95 Hz
∇ -20.75%
images: Gauss filter (800x600)8.62 ms /
8.36 ms
Δ 3.11%
116.03 Hz /
119.64 Hz
∇ -3.02%
images: Gauss filter (1024x768)14.49 ms /
13.88 ms
Δ 4.41%
69.01 Hz /
72.06 Hz
∇ -4.22%
scan_matching: 6D LS Rigid Trans. [CPose3D]21.12 us /
18.63 us
Δ 13.37%
47.34 KHz /
53.67 KHz
∇ -11.79%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]19.36 us /
17.89 us
Δ 8.26%
51.65 KHz /
55.91 KHz
∇ -7.63%
scan_matching: 6D LS Rigid Trans. [vector of points]6.24 us /
5.05 us
Δ 23.39%
160.34 KHz /
197.84 KHz
∇ -18.96%
feature_extraction [640x480]: Harris40.83 ms /
33.27 ms
Δ 22.72%
24.49 Hz /
30.06 Hz
∇ -18.52%
feature_extraction [640x480]: KLT33.62 ms /
31.21 ms
Δ 7.69%
29.75 Hz /
32.04 Hz
∇ -7.14%
feature_extraction [640x480]: SIFT705.28 ms /
675.81 ms
Δ 4.36%
1.42 Hz /
1.48 Hz
∇ -4.18%
feature_extraction [640x480]: SIFT desc.214.22 ms /
217.19 ms
∇ -1.37%
4.67 Hz /
4.60 Hz
Δ 1.39%
feature_extraction [640x480]: SURF326.57 ms /
316.97 ms
Δ 3.03%
3.06 Hz /
3.15 Hz
∇ -2.94%
feature_extraction [640x480]: FAST7.69 ms /
7.82 ms
∇ -1.67%
130.08 Hz /
127.91 Hz
Δ 1.70%
feature_extraction [640x480]: Spin desc.105.90 ms /
103.38 ms
Δ 2.44%
9.44 Hz /
9.67 Hz
∇ -2.38%
feature_matching [640x480]: Harris + CC57.67 ms /
56.24 ms
Δ 2.55%
17.34 Hz /
17.78 Hz
∇ -2.49%
feature_matching [640x480]: Harris + SAD50.27 ms /
47.55 ms
Δ 5.72%
19.89 Hz /
21.03 Hz
∇ -5.41%
feature_matching [640x480]: SIFT1.38 sec /
1.34 sec
Δ 2.93%
724.62 mHz /
745.82 mHz
∇ -2.84%
feature_matching [640x480]: SURF618.66 ms /
606.64 ms
Δ 1.98%
1.62 Hz /
1.65 Hz
∇ -1.94%
feature_matching [640x480]: FAST + CC22.11 ms /
22.36 ms
∇ -1.12%
45.22 Hz /
44.72 Hz
Δ 1.13%
feature_matching [640x480]: FAST + SAD14.58 ms /
15.00 ms
∇ -2.74%
68.57 Hz /
66.69 Hz
Δ 2.82%
graph(2d): insertEdge x 1e3354.58 us /
313.03 us
Δ 13.27%
2.82 KHz /
3.19 KHz
∇ -11.72%
graph(2d): insertEdgeAtEnd x 1e3284.04 us /
222.64 us
Δ 27.58%
3.52 KHz /
4.49 KHz
∇ -21.62%
graph(2d pdf): insertEdge x 1e3549.28 us /
516.93 us
Δ 6.26%
1.82 KHz /
1.93 KHz
∇ -5.89%
graph(2d pdf): insertEdgeAtEnd x 1e3452.79 us /
405.97 us
Δ 11.53%
2.21 KHz /
2.46 KHz
∇ -10.34%
graph(2d): insertEdge x 1e43.86 ms /
3.36 ms
Δ 14.73%
259.12 Hz /
297.28 Hz
∇ -12.84%
graph(2d): insertEdgeAtEnd x 1e42.88 ms /
2.22 ms
Δ 29.55%
347.75 Hz /
450.51 Hz
∇ -22.81%
graph(2d pdf): insertEdge x 1e45.74 ms /
5.45 ms
Δ 5.22%
174.28 Hz /
183.37 Hz
∇ -4.96%
graph(2d pdf): insertEdgeAtEnd x 1e44.44 ms /
4.07 ms
Δ 9.06%
225.33 Hz /
245.74 Hz
∇ -8.30%
graph(3d): insertEdge x 1e31.35 ms /
447.20 us
Δ 200.94%
743.07 Hz /
2.24 KHz
∇ -66.77%
graph(3d): insertEdgeAtEnd x 1e31.09 ms /
346.69 us
Δ 214.22%
917.96 Hz /
2.88 KHz
∇ -68.18%
graph(3d pdf): insertEdge x 1e31.74 ms /
944.03 us
Δ 84.66%
573.66 Hz /
1.06 KHz
∇ -45.85%
graph(3d pdf): insertEdgeAtEnd x 1e31.46 ms /
793.19 us
Δ 84.51%
683.28 Hz /
1.26 KHz
∇ -45.80%
graph(3d): insertEdge x 1e413.92 ms /
4.62 ms
Δ 201.16%
71.86 Hz /
216.43 Hz
∇ -66.79%
graph(3d): insertEdgeAtEnd x 1e411.12 ms /
3.48 ms
Δ 219.48%
89.92 Hz /
287.28 Hz
∇ -68.70%
graph(3d pdf): insertEdge x 1e417.58 ms /
10.55 ms
Δ 66.56%
56.89 Hz /
94.75 Hz
∇ -39.96%
graph(3d pdf): insertEdgeAtEnd x 1e414.12 ms /
7.93 ms
Δ 78.06%
70.81 Hz /
126.08 Hz
∇ -43.84%

 


Page generated automatically at 2010/12/18,14:13:40.154258 with MRPT 0.9.3 by 'mrpt-performance'.