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




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
19.99 ms
Δ 2.98%
48.58 Hz /
50.03 Hz
∇ -2.90%
icp-slam (match grid): Run with sample dataset20.64 ms /
19.29 ms
Δ 6.98%
48.45 Hz /
51.84 Hz
∇ -6.52%
poses: CPose3D (+) CPose3D42.90 ns /
42.85 ns
Δ 0.12%
23.31 MHz /
23.34 MHz
∇ -0.12%
poses: CPose3D.composeFrom()37.61 ns /
37.80 ns
∇ -0.50%
26.59 MHz /
26.46 MHz
Δ 0.51%
poses: CPose3D (+) CPoint3D7.25 ns /
7.25 ns
∇ 0.00%
137.89 MHz /
137.89 MHz
∇ 0.00%
poses: CPose3D.composePoint()11.83 ns /
11.91 ns
∇ -0.66%
84.53 MHz /
83.98 MHz
Δ 0.66%
poses: CPoint3D (-) CPose3D39.31 ns /
48.98 ns
∇ -19.74%
25.44 MHz /
20.42 MHz
Δ 24.60%
poses: CPose3D.inverseComposePoint()34.91 ns /
34.95 ns
∇ -0.13%
28.65 MHz /
28.61 MHz
Δ 0.13%
poses: CPose2D (+) CPose2D76.08 ns /
78.58 ns
∇ -3.18%
13.14 MHz /
12.73 MHz
Δ 3.28%
poses: CPose2D.composeFrom()61.61 ns /
70.31 ns
∇ -12.38%
16.23 MHz /
14.22 MHz
Δ 14.12%
poses: CPose2D (+) CPoint2D60.26 ns /
61.33 ns
∇ -1.74%
16.59 MHz /
16.31 MHz
Δ 1.77%
poses: CPose2D.composePoint()62.26 ns /
65.17 ns
∇ -4.46%
16.06 MHz /
15.35 MHz
Δ 4.66%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
44.66 ns
∇ -8.22%
24.40 MHz /
22.39 MHz
Δ 8.95%
poses: CPose3DQuat.composeFrom()39.39 ns /
39.43 ns
∇ -0.10%
25.39 MHz /
25.36 MHz
Δ 0.10%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
18.24 ns
Δ 0.37%
54.63 MHz /
54.84 MHz
∇ -0.37%
poses: CPose3DQuat.composePoint()17.94 ns /
17.94 ns
Δ 0.02%
55.74 MHz /
55.75 MHz
∇ -0.02%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
55.43 ns
Δ 0.05%
18.03 MHz /
18.04 MHz
∇ -0.05%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
17.64 ns
Δ 0.11%
56.63 MHz /
56.69 MHz
∇ -0.11%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
16.70 ns
Δ 0.53%
59.58 MHz /
59.89 MHz
∇ -0.52%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
169.28 ns
Δ 0.05%
5.90 MHz /
5.91 MHz
∇ -0.05%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
760.96 us
Δ 5.01%
1.25 KHz /
1.31 KHz
∇ -4.77%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
760.62 us
Δ 5.61%
1.24 KHz /
1.31 KHz
∇ -5.31%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
9.47 us
∇ -0.34%
105.91 KHz /
105.55 KHz
Δ 0.34%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
545.30 ns
Δ 19.00%
1.54 MHz /
1.83 MHz
∇ -15.97%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
544.10 ns
Δ 15.97%
1.58 MHz /
1.84 MHz
∇ -13.77%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
8.11 us
Δ 0.85%
122.30 KHz /
123.33 KHz
∇ -0.84%
matrix: unit, dyn[float], 3x324.43 ns /
20.92 ns
Δ 16.78%
40.94 MHz /
47.81 MHz
∇ -14.37%
matrix: unit, dyn[double], 3x323.18 ns /
20.15 ns
Δ 15.05%
43.14 MHz /
49.63 MHz
∇ -13.08%
matrix: unit, dyn[float], 6x659.50 ns /
54.04 ns
Δ 10.12%
16.81 MHz /
18.51 MHz
∇ -9.19%
matrix: unit, dyn[double], 6x662.26 ns /
55.27 ns
Δ 12.66%
16.06 MHz /
18.09 MHz
∇ -11.24%
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 /
1.70 ns
Δ 0.29%
587.20 MHz /
588.93 MHz
∇ -0.29%
matrix: unit, fix[double,6,6]2.77 ns /
2.77 ns
∇ -0.18%
361.01 MHz /
360.36 MHz
Δ 0.18%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
73.10 ns
Δ 17.37%
11.66 MHz /
13.68 MHz
∇ -14.80%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
23.80 ns
∇ 0.00%
42.02 MHz /
42.02 MHz
∇ 0.00%
matrix: multiply, dyn[double], 3x3 * 3x375.90 ns /
72.40 ns
Δ 4.83%
13.18 MHz /
13.81 MHz
∇ -4.61%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
23.40 ns
Δ 0.43%
42.55 MHz /
42.74 MHz
∇ -0.43%
matrix: multiply, dyn[float ], 3x6 * 6x3118.10 ns /
110.50 ns
Δ 6.88%
8.47 MHz /
9.05 MHz
∇ -6.44%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
45.10 ns
∇ -0.89%
22.37 MHz /
22.17 MHz
Δ 0.89%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
116.30 ns
∇ -4.99%
9.05 MHz /
8.60 MHz
Δ 5.25%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
45.20 ns
∇ 0.00%
22.12 MHz /
22.12 MHz
∇ 0.00%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
5.19 us
Δ 4.80%
183.95 KHz /
192.77 KHz
∇ -4.58%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
3.55 us
Δ 6.30%
264.87 KHz /
281.56 KHz
∇ -5.93%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
5.18 us
Δ 7.03%
180.38 KHz /
193.05 KHz
∇ -6.57%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
3.61 us
Δ 12.88%
245.43 KHz /
277.05 KHz
∇ -11.41%
matrix: inv, dyn[float ] 3x3631.00 ns /
333.00 ns
Δ 89.49%
1.58 MHz /
3.00 MHz
∇ -47.23%
matrix: inv, fix[float ] 3x335.00 ns /
21.00 ns
Δ 66.67%
28.57 MHz /
47.62 MHz
∇ -40.00%
matrix: inv, dyn[double] 3x3644.00 ns /
329.00 ns
Δ 95.74%
1.55 MHz /
3.04 MHz
∇ -48.91%
matrix: inv, fix[double] 3x339.00 ns /
21.00 ns
Δ 85.71%
25.64 MHz /
47.62 MHz
∇ -46.15%
matrix: inv, dyn[float ] 6x62.37 us /
1.22 us
Δ 94.82%
421.76 KHz /
821.69 KHz
∇ -48.67%
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 /
1.20 us
Δ 5.00%
793.02 KHz /
832.64 KHz
∇ -4.76%
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 /
25.24 us
Δ 2.77%
38.55 KHz /
39.62 KHz
∇ -2.69%
matrix: inv, fix[float ] 20x2014.14 us /
12.60 us
Δ 12.25%
70.70 KHz /
79.36 KHz
∇ -10.92%
matrix: inv, dyn[double] 20x2025.76 us /
25.64 us
Δ 0.46%
38.83 KHz /
39.01 KHz
∇ -0.46%
matrix: inv, fix[double] 20x2017.04 us /
17.36 us
∇ -1.87%
58.69 KHz /
57.60 KHz
Δ 1.90%
matrix: inv, dyn[float ] 40x40205.11 us /
190.86 us
Δ 7.46%
4.88 KHz /
5.24 KHz
∇ -6.95%
matrix: inv, fix[float ] 40x4093.29 us /
88.89 us
Δ 4.95%
10.72 KHz /
11.25 KHz
∇ -4.72%
matrix: inv, dyn[double] 40x40207.20 us /
189.04 us
Δ 9.61%
4.83 KHz /
5.29 KHz
∇ -8.76%
matrix: inv, fix[double] 40x40133.80 us /
121.47 us
Δ 10.16%
7.47 KHz /
8.23 KHz
∇ -9.22%
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 /
6.40 ns
∇ 0.00%
156.25 MHz /
156.25 MHz
∇ 0.00%
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 /
692.40 ns
∇ -5.62%
1.53 MHz /
1.44 MHz
Δ 5.95%
matrix: det, fix[float ] 6x6210.00 ns /
207.00 ns
Δ 1.45%
4.76 MHz /
4.83 MHz
∇ -1.43%
matrix: det, dyn[double] 6x6730.30 ns /
696.30 ns
Δ 4.88%
1.37 MHz /
1.44 MHz
∇ -4.66%
matrix: det, fix[double] 6x6212.10 ns /
212.30 ns
∇ -0.09%
4.71 MHz /
4.71 MHz
Δ 0.09%
matrix: det, dyn[float ] 20x205.70 us /
5.39 us
Δ 5.80%
175.40 KHz /
185.56 KHz
∇ -5.48%
matrix: det, fix[float ] 20x204.20 us /
3.90 us
Δ 7.75%
237.92 KHz /
256.35 KHz
∇ -7.19%
matrix: det, dyn[double] 20x206.56 us /
6.40 us
Δ 2.51%
152.33 KHz /
156.16 KHz
∇ -2.45%
matrix: det, fix[double] 20x205.04 us /
4.72 us
Δ 6.75%
198.38 KHz /
211.77 KHz
∇ -6.32%
matrix: det, dyn[float ] 40x4032.38 us /
30.35 us
Δ 6.68%
30.89 KHz /
32.95 KHz
∇ -6.26%
matrix: det, fix[float ] 40x4027.92 us /
26.47 us
Δ 5.45%
35.82 KHz /
37.78 KHz
∇ -5.17%
matrix: det, dyn[double] 40x4039.41 us /
32.49 us
Δ 21.28%
25.37 KHz /
30.77 KHz
∇ -17.55%
matrix: det, fix[double] 40x4029.04 us /
27.34 us
Δ 6.22%
34.44 KHz /
36.58 KHz
∇ -5.85%
matrix: chol, dyn[double] 4x4140.00 ns /
130.00 ns
Δ 7.69%
7.14 MHz /
7.69 MHz
∇ -7.14%
matrix: chol, fix[double] 4x4160.00 ns /
140.00 ns
Δ 14.29%
6.25 MHz /
7.14 MHz
∇ -12.50%
matrix: chol, dyn[double] 40x4018.38 us /
18.52 us
∇ -0.76%
54.41 KHz /
54.00 KHz
Δ 0.76%
matrix: chol, fix[double] 40x4017.08 us /
16.55 us
Δ 3.20%
58.55 KHz /
60.42 KHz
∇ -3.10%
matrix: chol, sparse [2x2;2x2]8.30 us /
8.20 us
Δ 1.22%
120.48 KHz /
121.95 KHz
∇ -1.20%
matrix: chol, sparse [30x30;10x10]84.40 us /
82.90 us
Δ 1.81%
11.85 KHz /
12.06 KHz
∇ -1.78%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
52.70 us
Δ 0.57%
18.87 KHz /
18.98 KHz
∇ -0.57%
matrix: chol, sparse 10x[6x6]39.49 us /
38.59 us
Δ 2.33%
25.32 KHz /
25.91 KHz
∇ -2.28%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
409.80 us
Δ 0.46%
2.43 KHz /
2.44 KHz
∇ -0.46%
matrix: chol, sparse 20x[6x6]74.09 us /
70.75 us
Δ 4.72%
13.50 KHz /
14.13 KHz
∇ -4.51%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
8.58 ms
Δ 21.04%
96.33 Hz /
116.60 Hz
∇ -17.39%
matrix: chol, sparse 50x[6x6]248.74 us /
171.20 us
Δ 45.29%
4.02 KHz /
5.84 KHz
∇ -31.17%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
133.58 ms
Δ 177.46%
2.70 Hz /
7.49 Hz
∇ -63.96%
matrix: chol, sparse 100x[6x6]353.56 us /
341.85 us
Δ 3.43%
2.83 KHz /
2.93 KHz
∇ -3.31%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
354.49 ms
Δ 3.12%
2.74 Hz /
2.82 Hz
∇ -3.03%
matrix: chol, sparse 120x[6x6]425.27 us /
401.50 us
Δ 5.92%
2.35 KHz /
2.49 KHz
∇ -5.59%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
773.25 ms
Δ 2.95%
1.26 Hz /
1.29 Hz
∇ -2.86%
matrix: chol, sparse 140x[6x6]490.79 us /
469.25 us
Δ 4.59%
2.04 KHz /
2.13 KHz
∇ -4.39%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -100.00%
inf THz /
10.00 THz
Δ inf%
gridmap2D: setCell2.58 ns /
2.58 ns
Δ 0.07%
387.76 MHz /
388.02 MHz
∇ -0.07%
gridmap2D: updateCell7.44 ns /
7.84 ns
∇ -5.01%
134.32 MHz /
127.58 MHz
Δ 5.28%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.55 ns
Δ 0.04%
1.82 GHz /
1.82 GHz
∇ -0.04%
gridmap2D: insert scan w/o widening101.23 us /
102.06 us
∇ -0.81%
9.88 KHz /
9.80 KHz
Δ 0.82%
gridmap2D: insert scan with widening291.30 us /
289.47 us
Δ 0.63%
3.43 KHz /
3.45 KHz
∇ -0.63%
gridmap2D: resize1.89 ms /
1.97 ms
∇ -3.97%
529.66 Hz /
508.65 Hz
Δ 4.13%
gridmap2D: computeLikelihood16.46 us /
15.74 us
Δ 4.59%
60.76 KHz /
63.55 KHz
∇ -4.39%
pointmap: insert 100 scans3.10 ms /
3.04 ms
Δ 2.11%
322.50 Hz /
329.30 Hz
∇ -2.06%
pointmap: build 2D kd-tree of 1 scan4.28 us /
4.32 us
∇ -0.93%
233.64 KHz /
231.48 KHz
Δ 0.93%
pointmap: build 2D kd-tree of 100 scan355.52 us /
352.12 us
Δ 0.97%
2.81 KHz /
2.84 KHz
∇ -0.96%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
4.14 ms
Δ 0.53%
240.24 Hz /
241.51 Hz
∇ -0.53%
pointmap: build 3D kd-tree of 1 scan4.76 us /
4.68 us
Δ 1.71%
210.08 KHz /
213.68 KHz
∇ -1.68%
pointmap: build 3D kd-tree of 100 scan363.20 us /
359.52 us
Δ 1.02%
2.75 KHz /
2.78 KHz
∇ -1.01%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.03 ms
Δ 1.63%
244.29 Hz /
248.28 Hz
∇ -1.61%
pointmap: kd-tree 2d query on 10 scans1.38 us /
1.41 us
∇ -1.64%
723.59 KHz /
711.74 KHz
Δ 1.66%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
97.21 us
Δ 3.83%
9.91 KHz /
10.29 KHz
∇ -3.69%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
11.62 ms
Δ 2.50%
83.95 Hz /
86.05 Hz
∇ -2.44%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
5.59 ms
Δ 0.43%
178.01 Hz /
178.77 Hz
∇ -0.43%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
129.28 ms
Δ 1.14%
7.65 Hz /
7.73 Hz
∇ -1.13%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
5.66 ms
Δ 0.10%
176.35 Hz /
176.53 Hz
∇ -0.10%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
131.22 ms
Δ 1.08%
7.54 Hz /
7.62 Hz
∇ -1.07%
random: drawUniform32bit14.57 ns /
14.50 ns
Δ 0.47%
68.63 MHz /
68.95 MHz
∇ -0.47%
random: drawUniform14.62 ns /
14.50 ns
Δ 0.80%
68.41 MHz /
68.96 MHz
∇ -0.80%
random: drawGaussian1D_normalized68.70 ns /
68.97 ns
∇ -0.39%
14.56 MHz /
14.50 MHz
Δ 0.40%
random: drawGaussian1D68.68 ns /
68.98 ns
∇ -0.43%
14.56 MHz /
14.50 MHz
Δ 0.43%
random: system rand()10.45 ns /
10.45 ns
Δ 0.05%
95.67 MHz /
95.72 MHz
∇ -0.05%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
1.31 us
Δ 0.05%
764.77 KHz /
765.12 KHz
∇ -0.05%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
2.73 us
Δ 2.08%
358.92 KHz /
366.37 KHz
∇ -2.03%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
158.91 ns
∇ -0.41%
6.32 MHz /
6.29 MHz
Δ 0.41%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
237.40 ns
∇ -0.41%
4.23 MHz /
4.21 MHz
Δ 0.41%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
490.03 ns
∇ -0.14%
2.04 MHz /
2.04 MHz
Δ 0.14%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
164.67 ns
∇ -0.03%
6.07 MHz /
6.07 MHz
Δ 0.03%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
249.81 ns
∇ -0.68%
4.03 MHz /
4.00 MHz
Δ 0.68%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
514.70 ns
Δ 0.02%
1.94 MHz /
1.94 MHz
∇ -0.02%
random: permuteVector (len=10)317.50 ns /
296.20 ns
Δ 7.19%
3.15 MHz /
3.38 MHz
∇ -6.71%
random: permuteVector (len=100)3.06 us /
3.04 us
Δ 0.73%
326.54 KHz /
328.91 KHz
∇ -0.72%
random: permuteVector (len=1000)30.27 us /
30.22 us
Δ 0.15%
33.04 KHz /
33.09 KHz
∇ -0.15%
math: round0.10 ns /
0.10 ns
Δ 0.01%
10.09 GHz /
10.09 GHz
∇ -0.01%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
35.06 ms
∇ -22.22%
36.67 Hz /
28.52 Hz
Δ 28.57%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
48.96 ms
∇ -11.62%
23.11 Hz /
20.42 Hz
Δ 13.15%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
74.65 ms
Δ 0.03%
13.39 Hz /
13.40 Hz
∇ -0.03%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
29.96 ms
∇ -12.20%
38.01 Hz /
33.37 Hz
Δ 13.90%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
42.79 ms
∇ -4.37%
24.44 Hz /
23.37 Hz
Δ 4.57%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
64.15 ms
∇ -2.48%
15.99 Hz /
15.59 Hz
Δ 2.54%
images: Gauss filter (640x480)4.48 ms /
3.90 ms
Δ 14.93%
223.01 Hz /
256.30 Hz
∇ -12.99%
images: Gauss filter (800x600)7.46 ms /
6.21 ms
Δ 20.08%
134.07 Hz /
160.99 Hz
∇ -16.72%
images: Gauss filter (1024x768)12.41 ms /
10.55 ms
Δ 17.59%
80.57 Hz /
94.74 Hz
∇ -14.96%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
5.06 us
Δ 1.78%
194.17 KHz /
197.63 KHz
∇ -1.75%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
4.30 us
Δ 1.16%
229.89 KHz /
232.56 KHz
∇ -1.15%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
2.10 us
Δ 0.95%
471.70 KHz /
476.19 KHz
∇ -0.94%
feature_extraction [640x480]: Harris33.18 ms /
24.28 ms
Δ 36.68%
30.14 Hz /
41.19 Hz
∇ -26.84%
feature_extraction [640x480]: KLT29.64 ms /
24.43 ms
Δ 21.33%
33.74 Hz /
40.94 Hz
∇ -17.58%
feature_extraction [640x480]: SIFT637.68 ms /
610.42 ms
Δ 4.46%
1.57 Hz /
1.64 Hz
∇ -4.27%
feature_extraction [640x480]: SIFT desc.173.14 ms /
167.77 ms
Δ 3.20%
5.78 Hz /
5.96 Hz
∇ -3.10%
feature_extraction [640x480]: SURF202.84 ms /
197.61 ms
Δ 2.64%
4.93 Hz /
5.06 Hz
∇ -2.58%
feature_extraction [640x480]: FAST5.10 ms /
5.24 ms
∇ -2.68%
195.94 Hz /
190.68 Hz
Δ 2.76%
feature_extraction [640x480]: Spin desc.61.22 ms /
59.98 ms
Δ 2.06%
16.33 Hz /
16.67 Hz
∇ -2.02%
feature_matching [640x480]: Harris + CC43.90 ms /
40.88 ms
Δ 7.39%
22.78 Hz /
24.46 Hz
∇ -6.88%
feature_matching [640x480]: Harris + SAD38.32 ms /
35.50 ms
Δ 7.96%
26.09 Hz /
28.17 Hz
∇ -7.38%
feature_matching [640x480]: SIFT1.28 sec /
1.21 sec
Δ 5.77%
782.87 mHz /
828.07 mHz
∇ -5.46%
feature_matching [640x480]: SURF387.99 ms /
379.92 ms
Δ 2.13%
2.58 Hz /
2.63 Hz
∇ -2.08%
feature_matching [640x480]: FAST + CC15.73 ms /
16.06 ms
∇ -2.07%
63.57 Hz /
62.26 Hz
Δ 2.12%
feature_matching [640x480]: FAST + SAD10.56 ms /
10.73 ms
∇ -1.60%
94.70 Hz /
93.18 Hz
Δ 1.63%
graph(2d): insertEdge x 1e3104.46 us /
117.65 us
∇ -11.21%
9.57 KHz /
8.50 KHz
Δ 12.63%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
85.19 us
Δ 0.00%
11.74 KHz /
11.74 KHz
∇ -0.00%
graph(2d pdf): insertEdge x 1e3134.65 us /
172.53 us
∇ -21.96%
7.43 KHz /
5.80 KHz
Δ 28.13%
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
168.61 us
∇ -28.89%
8.34 KHz /
5.93 KHz
Δ 40.63%
graph(2d): insertEdge x 1e41.39 ms /
1.73 ms
∇ -19.77%
721.96 Hz /
579.22 Hz
Δ 24.64%
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
884.69 us
∇ -3.46%
1.17 KHz /
1.13 KHz
Δ 3.59%
graph(2d pdf): insertEdge x 1e41.61 ms /
1.97 ms
∇ -18.52%
621.80 Hz /
506.65 Hz
Δ 22.73%
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
1.86 ms
∇ -35.38%
832.81 Hz /
538.12 Hz
Δ 54.76%
graph(3d): insertEdge x 1e3132.91 us /
177.23 us
∇ -25.01%
7.52 KHz /
5.64 KHz
Δ 33.35%
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
157.86 us
∇ -30.88%
9.17 KHz /
6.33 KHz
Δ 44.68%
graph(3d pdf): insertEdge x 1e3349.74 us /
507.00 us
∇ -31.02%
2.86 KHz /
1.97 KHz
Δ 44.96%
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
473.36 us
∇ -32.07%
3.11 KHz /
2.11 KHz
Δ 47.22%
graph(3d): insertEdge x 1e41.89 ms /
2.47 ms
∇ -23.53%
529.10 Hz /
404.60 Hz
Δ 30.77%
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
1.75 ms
∇ -37.33%
910.25 Hz /
570.48 Hz
Δ 59.56%
graph(3d pdf): insertEdge x 1e44.65 ms /
5.53 ms
∇ -15.91%
215.20 Hz /
180.97 Hz
Δ 18.92%
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
4.85 ms
∇ -16.47%
246.81 Hz /
206.16 Hz
Δ 19.72%
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 2010/12/18,14:13:40.117068 with MRPT 0.9.3 by 'mrpt-performance'.