Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.1-GCC-64bit




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
21.60 ms
∇ -4.69%
48.58 Hz /
46.30 Hz
Δ 4.92%
icp-slam (match grid): Run with sample dataset20.64 ms /
20.51 ms
Δ 0.61%
48.45 Hz /
48.75 Hz
∇ -0.61%
poses: CPose3D (+) CPose3D42.90 ns /
449.02 ns
∇ -90.45%
23.31 MHz /
2.23 MHz
Δ 946.67%
poses: CPose3D.composeFrom()37.61 ns /
233.83 ns
∇ -83.92%
26.59 MHz /
4.28 MHz
Δ 521.72%
poses: CPose3D (+) CPoint3D7.25 ns /
10.67 ns
∇ -32.01%
137.89 MHz /
93.76 MHz
Δ 47.08%
poses: CPose3D.composePoint()11.83 ns /
10.06 ns
Δ 17.57%
84.53 MHz /
99.38 MHz
∇ -14.95%
poses: CPoint3D (-) CPose3D39.31 ns /
37.71 ns
Δ 4.25%
25.44 MHz /
26.52 MHz
∇ -4.08%
poses: CPose3D.inverseComposePoint()34.91 ns /
40.98 ns
∇ -14.81%
28.65 MHz /
24.40 MHz
Δ 17.39%
poses: CPose2D (+) CPose2D76.08 ns /
78.17 ns
∇ -2.67%
13.14 MHz /
12.79 MHz
Δ 2.75%
poses: CPose2D.composeFrom()61.61 ns /
62.17 ns
∇ -0.90%
16.23 MHz /
16.08 MHz
Δ 0.91%
poses: CPose2D (+) CPoint2D60.26 ns /
63.86 ns
∇ -5.64%
16.59 MHz /
15.66 MHz
Δ 5.97%
poses: CPose2D.composePoint()62.26 ns /
61.98 ns
Δ 0.46%
16.06 MHz /
16.13 MHz
∇ -0.46%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
47.00 ns
∇ -12.79%
24.40 MHz /
21.28 MHz
Δ 14.66%
poses: CPose3DQuat.composeFrom()39.39 ns /
39.80 ns
∇ -1.03%
25.39 MHz /
25.13 MHz
Δ 1.04%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
22.62 ns
∇ -19.08%
54.63 MHz /
44.21 MHz
Δ 23.58%
poses: CPose3DQuat.composePoint()17.94 ns /
18.93 ns
∇ -5.22%
55.74 MHz /
52.83 MHz
Δ 5.51%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
391.26 ns
∇ -85.83%
18.03 MHz /
2.56 MHz
Δ 605.53%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
18.05 ns
∇ -2.18%
56.63 MHz /
55.39 MHz
Δ 2.23%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
355.00 ns
∇ -95.27%
59.58 MHz /
2.82 MHz
Δ 2014.99%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
173.19 ns
∇ -2.21%
5.90 MHz /
5.77 MHz
Δ 2.26%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
814.76 us
∇ -1.92%
1.25 KHz /
1.23 KHz
Δ 1.96%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
821.91 us
∇ -2.26%
1.24 KHz /
1.22 KHz
Δ 2.32%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
9.57 us
∇ -1.35%
105.91 KHz /
104.48 KHz
Δ 1.37%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
682.30 ns
∇ -4.90%
1.54 MHz /
1.47 MHz
Δ 5.15%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
533.80 ns
Δ 18.21%
1.58 MHz /
1.87 MHz
∇ -15.40%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
8.51 us
∇ -3.97%
122.30 KHz /
117.45 KHz
Δ 4.13%
matrix: unit, dyn[float], 3x324.43 ns /
20.59 ns
Δ 18.62%
40.94 MHz /
48.56 MHz
∇ -15.70%
matrix: unit, dyn[double], 3x323.18 ns /
22.60 ns
Δ 2.55%
43.14 MHz /
44.24 MHz
∇ -2.49%
matrix: unit, dyn[float], 6x659.50 ns /
63.92 ns
∇ -6.91%
16.81 MHz /
15.64 MHz
Δ 7.43%
matrix: unit, dyn[double], 6x662.26 ns /
65.22 ns
∇ -4.52%
16.06 MHz /
15.33 MHz
Δ 4.74%
matrix: unit, fix[float,3,3]0.35 ns /
0.35 ns
Δ 0.29%
2.88 GHz /
2.89 GHz
∇ -0.29%
matrix: unit, fix[double,3,3]1.19 ns /
1.19 ns
Δ 0.08%
841.75 MHz /
842.46 MHz
∇ -0.08%
matrix: unit, fix[float,6,6]1.70 ns /
1.68 ns
Δ 1.25%
587.20 MHz /
594.53 MHz
∇ -1.23%
matrix: unit, fix[double,6,6]2.77 ns /
2.86 ns
∇ -3.18%
361.01 MHz /
349.53 MHz
Δ 3.29%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
73.50 ns
Δ 16.73%
11.66 MHz /
13.61 MHz
∇ -14.34%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
24.10 ns
∇ -1.24%
42.02 MHz /
41.49 MHz
Δ 1.26%
matrix: multiply, dyn[double], 3x3 * 3x375.90 ns /
72.10 ns
Δ 5.27%
13.18 MHz /
13.87 MHz
∇ -5.01%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
23.50 ns
∇ 0.00%
42.55 MHz /
42.55 MHz
∇ 0.00%
matrix: multiply, dyn[float ], 3x6 * 6x3118.10 ns /
112.90 ns
Δ 4.61%
8.47 MHz /
8.86 MHz
∇ -4.40%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
45.00 ns
∇ -0.67%
22.37 MHz /
22.22 MHz
Δ 0.67%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
110.50 ns
∇ 0.00%
9.05 MHz /
9.05 MHz
∇ 0.00%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
45.10 ns
Δ 0.22%
22.12 MHz /
22.17 MHz
∇ -0.22%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
5.82 us
∇ -6.54%
183.95 KHz /
171.91 KHz
Δ 7.00%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
3.57 us
Δ 5.68%
264.87 KHz /
279.91 KHz
∇ -5.37%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
5.88 us
∇ -5.79%
180.38 KHz /
169.93 KHz
Δ 6.15%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
3.82 us
Δ 6.77%
245.43 KHz /
262.04 KHz
∇ -6.34%
matrix: inv, dyn[float ] 3x3631.00 ns /
449.00 ns
Δ 40.53%
1.58 MHz /
2.23 MHz
∇ -28.84%
matrix: inv, fix[float ] 3x335.00 ns /
33.00 ns
Δ 6.06%
28.57 MHz /
30.30 MHz
∇ -5.71%
matrix: inv, dyn[double] 3x3644.00 ns /
413.00 ns
Δ 55.93%
1.55 MHz /
2.42 MHz
∇ -35.87%
matrix: inv, fix[double] 3x339.00 ns /
22.00 ns
Δ 77.27%
25.64 MHz /
45.45 MHz
∇ -43.59%
matrix: inv, dyn[float ] 6x62.37 us /
1.31 us
Δ 80.44%
421.76 KHz /
761.04 KHz
∇ -44.58%
matrix: inv, fix[float ] 6x6812.00 ns /
468.00 ns
Δ 73.50%
1.23 MHz /
2.14 MHz
∇ -42.36%
matrix: inv, dyn[double] 6x61.26 us /
1.25 us
Δ 0.96%
793.02 KHz /
800.64 KHz
∇ -0.95%
matrix: inv, fix[double] 6x6575.00 ns /
578.00 ns
∇ -0.52%
1.74 MHz /
1.73 MHz
Δ 0.52%
matrix: inv, dyn[float ] 20x2025.94 us /
28.01 us
∇ -7.39%
38.55 KHz /
35.71 KHz
Δ 7.98%
matrix: inv, fix[float ] 20x2014.14 us /
12.67 us
Δ 11.62%
70.70 KHz /
78.91 KHz
∇ -10.41%
matrix: inv, dyn[double] 20x2025.76 us /
28.58 us
∇ -9.89%
38.83 KHz /
34.98 KHz
Δ 10.98%
matrix: inv, fix[double] 20x2017.04 us /
17.20 us
∇ -0.92%
58.69 KHz /
58.15 KHz
Δ 0.93%
matrix: inv, dyn[float ] 40x40205.11 us /
205.67 us
∇ -0.27%
4.88 KHz /
4.86 KHz
Δ 0.27%
matrix: inv, fix[float ] 40x4093.29 us /
92.66 us
Δ 0.68%
10.72 KHz /
10.79 KHz
∇ -0.67%
matrix: inv, dyn[double] 40x40207.20 us /
200.95 us
Δ 3.11%
4.83 KHz /
4.98 KHz
∇ -3.02%
matrix: inv, fix[double] 40x40133.80 us /
134.50 us
∇ -0.52%
7.47 KHz /
7.43 KHz
Δ 0.52%
matrix: det, dyn[float ] 2x26.40 ns /
6.40 ns
∇ 0.00%
156.25 MHz /
156.25 MHz
∇ 0.00%
matrix: det, fix[float ] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 2x26.40 ns /
8.80 ns
∇ -27.27%
156.25 MHz /
113.64 MHz
Δ 37.50%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x310.30 ns /
10.30 ns
∇ 0.00%
97.09 MHz /
97.09 MHz
∇ 0.00%
matrix: det, fix[float ] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x310.30 ns /
10.30 ns
∇ 0.00%
97.09 MHz /
97.09 MHz
∇ 0.00%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 6x6653.50 ns /
931.50 ns
∇ -29.84%
1.53 MHz /
1.07 MHz
Δ 42.54%
matrix: det, fix[float ] 6x6210.00 ns /
215.70 ns
∇ -2.64%
4.76 MHz /
4.64 MHz
Δ 2.71%
matrix: det, dyn[double] 6x6730.30 ns /
739.10 ns
∇ -1.19%
1.37 MHz /
1.35 MHz
Δ 1.20%
matrix: det, fix[double] 6x6212.10 ns /
219.80 ns
∇ -3.50%
4.71 MHz /
4.55 MHz
Δ 3.63%
matrix: det, dyn[float ] 20x205.70 us /
5.64 us
Δ 1.09%
175.40 KHz /
177.30 KHz
∇ -1.08%
matrix: det, fix[float ] 20x204.20 us /
4.05 us
Δ 3.74%
237.92 KHz /
246.81 KHz
∇ -3.60%
matrix: det, dyn[double] 20x206.56 us /
6.52 us
Δ 0.65%
152.33 KHz /
153.32 KHz
∇ -0.64%
matrix: det, fix[double] 20x205.04 us /
4.73 us
Δ 6.63%
198.38 KHz /
211.54 KHz
∇ -6.22%
matrix: det, dyn[float ] 40x4032.38 us /
30.83 us
Δ 5.01%
30.89 KHz /
32.43 KHz
∇ -4.77%
matrix: det, fix[float ] 40x4027.92 us /
25.85 us
Δ 7.97%
35.82 KHz /
38.68 KHz
∇ -7.38%
matrix: det, dyn[double] 40x4039.41 us /
32.40 us
Δ 21.66%
25.37 KHz /
30.87 KHz
∇ -17.80%
matrix: det, fix[double] 40x4029.04 us /
27.53 us
Δ 5.49%
34.44 KHz /
36.33 KHz
∇ -5.20%
matrix: chol, dyn[double] 4x4140.00 ns /
170.00 ns
∇ -17.65%
7.14 MHz /
5.88 MHz
Δ 21.43%
matrix: chol, fix[double] 4x4160.00 ns /
130.00 ns
Δ 23.08%
6.25 MHz /
7.69 MHz
∇ -18.75%
matrix: chol, dyn[double] 40x4018.38 us /
18.73 us
∇ -1.87%
54.41 KHz /
53.39 KHz
Δ 1.90%
matrix: chol, fix[double] 40x4017.08 us /
16.74 us
Δ 2.03%
58.55 KHz /
59.74 KHz
∇ -1.99%
matrix: chol, sparse [2x2;2x2]8.30 us /
8.50 us
∇ -2.35%
120.48 KHz /
117.65 KHz
Δ 2.41%
matrix: chol, sparse [30x30;10x10]84.40 us /
93.90 us
∇ -10.12%
11.85 KHz /
10.65 KHz
Δ 11.26%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
52.90 us
Δ 0.19%
18.87 KHz /
18.90 KHz
∇ -0.19%
matrix: chol, sparse 10x[6x6]39.49 us /
40.03 us
∇ -1.35%
25.32 KHz /
24.98 KHz
Δ 1.37%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
411.30 us
Δ 0.10%
2.43 KHz /
2.43 KHz
∇ -0.10%
matrix: chol, sparse 20x[6x6]74.09 us /
74.98 us
∇ -1.19%
13.50 KHz /
13.34 KHz
Δ 1.20%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
8.61 ms
Δ 20.61%
96.33 Hz /
116.18 Hz
∇ -17.09%
matrix: chol, sparse 50x[6x6]248.74 us /
185.35 us
Δ 34.20%
4.02 KHz /
5.40 KHz
∇ -25.48%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
135.40 ms
Δ 173.74%
2.70 Hz /
7.39 Hz
∇ -63.47%
matrix: chol, sparse 100x[6x6]353.56 us /
359.80 us
∇ -1.73%
2.83 KHz /
2.78 KHz
Δ 1.76%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
364.31 ms
Δ 0.34%
2.74 Hz /
2.74 Hz
∇ -0.34%
matrix: chol, sparse 120x[6x6]425.27 us /
426.39 us
∇ -0.26%
2.35 KHz /
2.35 KHz
Δ 0.26%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
800.16 ms
∇ -0.52%
1.26 Hz /
1.25 Hz
Δ 0.52%
matrix: chol, sparse 140x[6x6]490.79 us /
497.60 us
∇ -1.37%
2.04 KHz /
2.01 KHz
Δ 1.39%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: setCell2.58 ns /
2.58 ns
∇ -0.15%
387.76 MHz /
387.19 MHz
Δ 0.15%
gridmap2D: updateCell7.44 ns /
7.47 ns
∇ -0.39%
134.32 MHz /
133.80 MHz
Δ 0.39%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.55 ns
Δ 0.92%
1.82 GHz /
1.83 GHz
∇ -0.91%
gridmap2D: insert scan w/o widening101.23 us /
104.80 us
∇ -3.41%
9.88 KHz /
9.54 KHz
Δ 3.53%
gridmap2D: insert scan with widening291.30 us /
295.32 us
∇ -1.36%
3.43 KHz /
3.39 KHz
Δ 1.38%
gridmap2D: resize1.89 ms /
1.83 ms
Δ 3.40%
529.66 Hz /
547.65 Hz
∇ -3.28%
gridmap2D: computeLikelihood16.46 us /
16.65 us
∇ -1.16%
60.76 KHz /
60.06 KHz
Δ 1.17%
pointmap: insert 100 scans3.10 ms /
3.11 ms
∇ -0.39%
322.50 Hz /
321.23 Hz
Δ 0.39%
pointmap: build 2D kd-tree of 1 scan4.28 us /
4.28 us
∇ 0.00%
233.64 KHz /
233.64 KHz
∇ 0.00%
pointmap: build 2D kd-tree of 100 scan355.52 us /
354.96 us
Δ 0.16%
2.81 KHz /
2.82 KHz
∇ -0.16%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
4.14 ms
Δ 0.59%
240.24 Hz /
241.67 Hz
∇ -0.59%
pointmap: build 3D kd-tree of 1 scan4.76 us /
4.28 us
Δ 11.21%
210.08 KHz /
233.64 KHz
∇ -10.08%
pointmap: build 3D kd-tree of 100 scan363.20 us /
361.24 us
Δ 0.54%
2.75 KHz /
2.77 KHz
∇ -0.54%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.09 ms
Δ 0.15%
244.29 Hz /
244.66 Hz
∇ -0.15%
pointmap: kd-tree 2d query on 10 scans1.38 us /
1.37 us
Δ 1.02%
723.59 KHz /
730.99 KHz
∇ -1.01%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
98.96 us
Δ 1.99%
9.91 KHz /
10.10 KHz
∇ -1.95%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
11.96 ms
∇ -0.37%
83.95 Hz /
83.64 Hz
Δ 0.37%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
5.60 ms
Δ 0.27%
178.01 Hz /
178.50 Hz
∇ -0.27%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
129.56 ms
Δ 0.93%
7.65 Hz /
7.72 Hz
∇ -0.92%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
5.65 ms
Δ 0.27%
176.35 Hz /
176.84 Hz
∇ -0.27%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
132.43 ms
Δ 0.16%
7.54 Hz /
7.55 Hz
∇ -0.16%
random: drawUniform32bit14.57 ns /
15.70 ns
∇ -7.19%
68.63 MHz /
63.70 MHz
Δ 7.74%
random: drawUniform14.62 ns /
15.69 ns
∇ -6.85%
68.41 MHz /
63.72 MHz
Δ 7.36%
random: drawGaussian1D_normalized68.70 ns /
70.40 ns
∇ -2.41%
14.56 MHz /
14.20 MHz
Δ 2.47%
random: drawGaussian1D68.68 ns /
70.38 ns
∇ -2.40%
14.56 MHz /
14.21 MHz
Δ 2.46%
random: system rand()10.45 ns /
11.07 ns
∇ -5.54%
95.67 MHz /
90.37 MHz
Δ 5.86%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
1.33 us
∇ -1.68%
764.77 KHz /
751.96 KHz
Δ 1.70%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
3.04 us
∇ -8.34%
358.92 KHz /
328.99 KHz
Δ 9.10%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
162.81 ns
∇ -2.79%
6.32 MHz /
6.14 MHz
Δ 2.88%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
245.58 ns
∇ -3.73%
4.23 MHz /
4.07 MHz
Δ 3.88%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
514.74 ns
∇ -4.93%
2.04 MHz /
1.94 MHz
Δ 5.18%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
173.84 ns
∇ -5.30%
6.07 MHz /
5.75 MHz
Δ 5.60%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
259.42 ns
∇ -4.36%
4.03 MHz /
3.85 MHz
Δ 4.56%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
523.99 ns
∇ -1.75%
1.94 MHz /
1.91 MHz
Δ 1.78%
random: permuteVector (len=10)317.50 ns /
288.60 ns
Δ 10.01%
3.15 MHz /
3.47 MHz
∇ -9.10%
random: permuteVector (len=100)3.06 us /
3.07 us
∇ -0.29%
326.54 KHz /
325.61 KHz
Δ 0.29%
random: permuteVector (len=1000)30.27 us /
30.26 us
Δ 0.04%
33.04 KHz /
33.05 KHz
∇ -0.04%
math: round0.10 ns /
0.10 ns
∇ -3.17%
10.09 GHz /
9.77 GHz
Δ 3.28%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
31.77 ms
∇ -14.16%
36.67 Hz /
31.48 Hz
Δ 16.50%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
45.70 ms
∇ -5.31%
23.11 Hz /
21.88 Hz
Δ 5.61%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
73.33 ms
Δ 1.83%
13.39 Hz /
13.64 Hz
∇ -1.79%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
27.15 ms
∇ -3.11%
38.01 Hz /
36.83 Hz
Δ 3.21%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
40.31 ms
Δ 1.51%
24.44 Hz /
24.81 Hz
∇ -1.48%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
64.44 ms
∇ -2.92%
15.99 Hz /
15.52 Hz
Δ 3.01%
images: Gauss filter (640x480)4.48 ms /
4.52 ms
∇ -0.77%
223.01 Hz /
221.30 Hz
Δ 0.78%
images: Gauss filter (800x600)7.46 ms /
7.35 ms
Δ 1.48%
134.07 Hz /
136.05 Hz
∇ -1.46%
images: Gauss filter (1024x768)12.41 ms /
11.22 ms
Δ 10.63%
80.57 Hz /
89.13 Hz
∇ -9.61%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
6.32 us
∇ -18.51%
194.17 KHz /
158.23 KHz
Δ 22.72%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
4.78 us
∇ -9.00%
229.89 KHz /
209.21 KHz
Δ 9.89%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
2.14 us
∇ -0.93%
471.70 KHz /
467.29 KHz
Δ 0.94%
feature_extraction [640x480]: Harris33.18 ms /
28.31 ms
Δ 17.19%
30.14 Hz /
35.32 Hz
∇ -14.67%
feature_extraction [640x480]: KLT29.64 ms /
27.34 ms
Δ 8.39%
33.74 Hz /
36.57 Hz
∇ -7.74%
feature_extraction [640x480]: SIFT637.68 ms /
641.91 ms
∇ -0.66%
1.57 Hz /
1.56 Hz
Δ 0.66%
feature_extraction [640x480]: SIFT desc.173.14 ms /
170.65 ms
Δ 1.46%
5.78 Hz /
5.86 Hz
∇ -1.44%
feature_extraction [640x480]: SURF202.84 ms /
201.21 ms
Δ 0.81%
4.93 Hz /
4.97 Hz
∇ -0.80%
feature_extraction [640x480]: FAST5.10 ms /
5.22 ms
∇ -2.27%
195.94 Hz /
191.49 Hz
Δ 2.32%
feature_extraction [640x480]: Spin desc.61.22 ms /
60.81 ms
Δ 0.67%
16.33 Hz /
16.44 Hz
∇ -0.67%
feature_matching [640x480]: Harris + CC43.90 ms /
43.26 ms
Δ 1.47%
22.78 Hz /
23.12 Hz
∇ -1.45%
feature_matching [640x480]: Harris + SAD38.32 ms /
39.91 ms
∇ -3.98%
26.09 Hz /
25.06 Hz
Δ 4.14%
feature_matching [640x480]: SIFT1.28 sec /
1.28 sec
Δ 0.06%
782.87 mHz /
783.36 mHz
∇ -0.06%
feature_matching [640x480]: SURF387.99 ms /
386.18 ms
Δ 0.47%
2.58 Hz /
2.59 Hz
∇ -0.47%
feature_matching [640x480]: FAST + CC15.73 ms /
16.12 ms
∇ -2.43%
63.57 Hz /
62.03 Hz
Δ 2.49%
feature_matching [640x480]: FAST + SAD10.56 ms /
10.93 ms
∇ -3.42%
94.70 Hz /
91.46 Hz
Δ 3.54%
graph(2d): insertEdge x 1e3104.46 us /
X
9.57 KHz /
X
graph(2d): insertEdgeAtEnd x 1e385.19 us /
X
11.74 KHz /
X
graph(2d pdf): insertEdge x 1e3134.65 us /
X
7.43 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
X
8.34 KHz /
X
graph(2d): insertEdge x 1e41.39 ms /
X
721.96 Hz /
X
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
X
1.17 KHz /
X
graph(2d pdf): insertEdge x 1e41.61 ms /
X
621.80 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
X
832.81 Hz /
X
graph(3d): insertEdge x 1e3132.91 us /
X
7.52 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
X
9.17 KHz /
X
graph(3d pdf): insertEdge x 1e3349.74 us /
X
2.86 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
X
3.11 KHz /
X
graph(3d): insertEdge x 1e41.89 ms /
X
529.10 Hz /
X
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
X
910.25 Hz /
X
graph(3d pdf): insertEdge x 1e44.65 ms /
X
215.20 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
X
246.81 Hz /
X
graph(3d,map): dijkstra 1e2 nodes94.48 us /
X
10.58 KHz /
X
graph(3d,map): dijkstra 1e3 nodes1.16 ms /
X
860.07 Hz /
X
graph(3d,map): dijkstra 1e4 nodes19.13 ms /
X
52.28 Hz /
X

 


Page generated automatically at 2010/12/18,14:13:40.121012 with MRPT 0.9.3 by 'mrpt-performance'.