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




Test description 0.9.1-GCC-64bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset21.60 ms /
19.99 ms
Δ 8.05%
46.30 Hz /
50.03 Hz
∇ -7.45%
icp-slam (match grid): Run with sample dataset20.51 ms /
19.29 ms
Δ 6.33%
48.75 Hz /
51.84 Hz
∇ -5.95%
poses: CPose3D (+) CPose3D449.02 ns /
42.85 ns
Δ 947.89%
2.23 MHz /
23.34 MHz
∇ -90.46%
poses: CPose3D.composeFrom()233.83 ns /
37.80 ns
Δ 518.60%
4.28 MHz /
26.46 MHz
∇ -83.83%
poses: CPose3D (+) CPoint3D10.67 ns /
7.25 ns
Δ 47.08%
93.76 MHz /
137.89 MHz
∇ -32.01%
poses: CPose3D.composePoint()10.06 ns /
11.91 ns
∇ -15.50%
99.38 MHz /
83.98 MHz
Δ 18.35%
poses: CPoint3D (-) CPose3D37.71 ns /
48.98 ns
∇ -23.02%
26.52 MHz /
20.42 MHz
Δ 29.90%
poses: CPose3D.inverseComposePoint()40.98 ns /
34.95 ns
Δ 17.24%
24.40 MHz /
28.61 MHz
∇ -14.70%
poses: CPose2D (+) CPose2D78.17 ns /
78.58 ns
∇ -0.52%
12.79 MHz /
12.73 MHz
Δ 0.52%
poses: CPose2D.composeFrom()62.17 ns /
70.31 ns
∇ -11.58%
16.08 MHz /
14.22 MHz
Δ 13.10%
poses: CPose2D (+) CPoint2D63.86 ns /
61.33 ns
Δ 4.13%
15.66 MHz /
16.31 MHz
∇ -3.97%
poses: CPose2D.composePoint()61.98 ns /
65.17 ns
∇ -4.89%
16.13 MHz /
15.35 MHz
Δ 5.14%
poses: CPose3DQuat (+) CPose3DQuat47.00 ns /
44.66 ns
Δ 5.24%
21.28 MHz /
22.39 MHz
∇ -4.98%
poses: CPose3DQuat.composeFrom()39.80 ns /
39.43 ns
Δ 0.94%
25.13 MHz /
25.36 MHz
∇ -0.93%
poses: CPose3DQuat (+) CPoint3D22.62 ns /
18.24 ns
Δ 24.04%
44.21 MHz /
54.84 MHz
∇ -19.38%
poses: CPose3DQuat.composePoint()18.93 ns /
17.94 ns
Δ 5.53%
52.83 MHz /
55.75 MHz
∇ -5.24%
poses: CPoint3D (-) CPose3DQuat 391.26 ns /
55.43 ns
Δ 605.91%
2.56 MHz /
18.04 MHz
∇ -85.83%
poses: CPose3DQuat.invcomposePoint()18.05 ns /
17.64 ns
Δ 2.35%
55.39 MHz /
56.69 MHz
∇ -2.29%
poses: Conv CPose3DQuat <- CPose3D355.00 ns /
16.70 ns
Δ 2026.14%
2.82 MHz /
59.89 MHz
∇ -95.30%
poses: Conv CPose3D -> CPose3DQuat173.19 ns /
169.28 ns
Δ 2.31%
5.77 MHz /
5.91 MHz
∇ -2.26%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)814.76 us /
760.96 us
Δ 7.07%
1.23 KHz /
1.31 KHz
∇ -6.60%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)821.91 us /
760.62 us
Δ 8.06%
1.22 KHz /
1.31 KHz
∇ -7.46%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.57 us /
9.47 us
Δ 1.02%
104.48 KHz /
105.55 KHz
∇ -1.01%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)682.30 ns /
545.30 ns
Δ 25.12%
1.47 MHz /
1.83 MHz
∇ -20.08%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)533.80 ns /
544.10 ns
∇ -1.89%
1.87 MHz /
1.84 MHz
Δ 1.93%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.51 us /
8.11 us
Δ 5.01%
117.45 KHz /
123.33 KHz
∇ -4.78%
matrix: unit, dyn[float], 3x320.59 ns /
20.92 ns
∇ -1.56%
48.56 MHz /
47.81 MHz
Δ 1.58%
matrix: unit, dyn[double], 3x322.60 ns /
20.15 ns
Δ 12.18%
44.24 MHz /
49.63 MHz
∇ -10.86%
matrix: unit, dyn[float], 6x663.92 ns /
54.04 ns
Δ 18.30%
15.64 MHz /
18.51 MHz
∇ -15.47%
matrix: unit, dyn[double], 6x665.22 ns /
55.27 ns
Δ 18.00%
15.33 MHz /
18.09 MHz
∇ -15.26%
matrix: unit, fix[float,3,3]0.35 ns /
0.35 ns
∇ 0.00%
2.89 GHz /
2.89 GHz
∇ 0.00%
matrix: unit, fix[double,3,3]1.19 ns /
1.19 ns
∇ 0.00%
842.46 MHz /
842.46 MHz
∇ 0.00%
matrix: unit, fix[float,6,6]1.68 ns /
1.70 ns
∇ -0.94%
594.53 MHz /
588.93 MHz
Δ 0.95%
matrix: unit, fix[double,6,6]2.86 ns /
2.77 ns
Δ 3.10%
349.53 MHz /
360.36 MHz
∇ -3.01%
matrix: multiply, dyn[float ], 3x3 * 3x373.50 ns /
73.10 ns
Δ 0.55%
13.61 MHz /
13.68 MHz
∇ -0.54%
matrix: multiply, fix[float ], 3x3 * 3x324.10 ns /
23.80 ns
Δ 1.26%
41.49 MHz /
42.02 MHz
∇ -1.24%
matrix: multiply, dyn[double], 3x3 * 3x372.10 ns /
72.40 ns
∇ -0.41%
13.87 MHz /
13.81 MHz
Δ 0.42%
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 * 6x3112.90 ns /
110.50 ns
Δ 2.17%
8.86 MHz /
9.05 MHz
∇ -2.13%
matrix: multiply, fix[float ], 3x6 * 6x345.00 ns /
45.10 ns
∇ -0.22%
22.22 MHz /
22.17 MHz
Δ 0.22%
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 * 6x345.10 ns /
45.20 ns
∇ -0.22%
22.17 MHz /
22.12 MHz
Δ 0.22%
matrix: multiply, dyn[float ], 10x40 * 40x105.82 us /
5.19 us
Δ 12.14%
171.91 KHz /
192.77 KHz
∇ -10.82%
matrix: multiply, fix[float ], 10x40 * 40x103.57 us /
3.55 us
Δ 0.59%
279.91 KHz /
281.56 KHz
∇ -0.59%
matrix: multiply, dyn[double], 10x40 * 40x105.88 us /
5.18 us
Δ 13.60%
169.93 KHz /
193.05 KHz
∇ -11.98%
matrix: multiply, fix[double], 10x40 * 40x103.82 us /
3.61 us
Δ 5.73%
262.04 KHz /
277.05 KHz
∇ -5.42%
matrix: inv, dyn[float ] 3x3449.00 ns /
333.00 ns
Δ 34.83%
2.23 MHz /
3.00 MHz
∇ -25.84%
matrix: inv, fix[float ] 3x333.00 ns /
21.00 ns
Δ 57.14%
30.30 MHz /
47.62 MHz
∇ -36.36%
matrix: inv, dyn[double] 3x3413.00 ns /
329.00 ns
Δ 25.53%
2.42 MHz /
3.04 MHz
∇ -20.34%
matrix: inv, fix[double] 3x322.00 ns /
21.00 ns
Δ 4.76%
45.45 MHz /
47.62 MHz
∇ -4.55%
matrix: inv, dyn[float ] 6x61.31 us /
1.22 us
Δ 7.97%
761.04 KHz /
821.69 KHz
∇ -7.38%
matrix: inv, fix[float ] 6x6468.00 ns /
468.00 ns
∇ 0.00%
2.14 MHz /
2.14 MHz
∇ 0.00%
matrix: inv, dyn[double] 6x61.25 us /
1.20 us
Δ 4.00%
800.64 KHz /
832.64 KHz
∇ -3.84%
matrix: inv, fix[double] 6x6578.00 ns /
578.00 ns
∇ 0.00%
1.73 MHz /
1.73 MHz
∇ 0.00%
matrix: inv, dyn[float ] 20x2028.01 us /
25.24 us
Δ 10.97%
35.71 KHz /
39.62 KHz
∇ -9.88%
matrix: inv, fix[float ] 20x2012.67 us /
12.60 us
Δ 0.56%
78.91 KHz /
79.36 KHz
∇ -0.56%
matrix: inv, dyn[double] 20x2028.58 us /
25.64 us
Δ 11.50%
34.98 KHz /
39.01 KHz
∇ -10.31%
matrix: inv, fix[double] 20x2017.20 us /
17.36 us
∇ -0.96%
58.15 KHz /
57.60 KHz
Δ 0.97%
matrix: inv, dyn[float ] 40x40205.67 us /
190.86 us
Δ 7.76%
4.86 KHz /
5.24 KHz
∇ -7.20%
matrix: inv, fix[float ] 40x4092.66 us /
88.89 us
Δ 4.25%
10.79 KHz /
11.25 KHz
∇ -4.07%
matrix: inv, dyn[double] 40x40200.95 us /
189.04 us
Δ 6.30%
4.98 KHz /
5.29 KHz
∇ -5.93%
matrix: inv, fix[double] 40x40134.50 us /
121.47 us
Δ 10.73%
7.43 KHz /
8.23 KHz
∇ -9.69%
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] 2x28.80 ns /
6.40 ns
Δ 37.50%
113.64 MHz /
156.25 MHz
∇ -27.27%
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 ] 6x6931.50 ns /
692.40 ns
Δ 34.53%
1.07 MHz /
1.44 MHz
∇ -25.67%
matrix: det, fix[float ] 6x6215.70 ns /
207.00 ns
Δ 4.20%
4.64 MHz /
4.83 MHz
∇ -4.03%
matrix: det, dyn[double] 6x6739.10 ns /
696.30 ns
Δ 6.15%
1.35 MHz /
1.44 MHz
∇ -5.79%
matrix: det, fix[double] 6x6219.80 ns /
212.30 ns
Δ 3.53%
4.55 MHz /
4.71 MHz
∇ -3.41%
matrix: det, dyn[float ] 20x205.64 us /
5.39 us
Δ 4.66%
177.30 KHz /
185.56 KHz
∇ -4.45%
matrix: det, fix[float ] 20x204.05 us /
3.90 us
Δ 3.87%
246.81 KHz /
256.35 KHz
∇ -3.72%
matrix: det, dyn[double] 20x206.52 us /
6.40 us
Δ 1.86%
153.32 KHz /
156.16 KHz
∇ -1.82%
matrix: det, fix[double] 20x204.73 us /
4.72 us
Δ 0.11%
211.54 KHz /
211.77 KHz
∇ -0.11%
matrix: det, dyn[float ] 40x4030.83 us /
30.35 us
Δ 1.59%
32.43 KHz /
32.95 KHz
∇ -1.57%
matrix: det, fix[float ] 40x4025.85 us /
26.47 us
∇ -2.33%
38.68 KHz /
37.78 KHz
Δ 2.39%
matrix: det, dyn[double] 40x4032.40 us /
32.49 us
∇ -0.30%
30.87 KHz /
30.77 KHz
Δ 0.31%
matrix: det, fix[double] 40x4027.53 us /
27.34 us
Δ 0.69%
36.33 KHz /
36.58 KHz
∇ -0.69%
matrix: chol, dyn[double] 4x4170.00 ns /
130.00 ns
Δ 30.77%
5.88 MHz /
7.69 MHz
∇ -23.53%
matrix: chol, fix[double] 4x4130.00 ns /
140.00 ns
∇ -7.14%
7.69 MHz /
7.14 MHz
Δ 7.69%
matrix: chol, dyn[double] 40x4018.73 us /
18.52 us
Δ 1.13%
53.39 KHz /
54.00 KHz
∇ -1.12%
matrix: chol, fix[double] 40x4016.74 us /
16.55 us
Δ 1.15%
59.74 KHz /
60.42 KHz
∇ -1.14%
matrix: chol, sparse [2x2;2x2]8.50 us /
8.20 us
Δ 3.66%
117.65 KHz /
121.95 KHz
∇ -3.53%
matrix: chol, sparse [30x30;10x10]93.90 us /
82.90 us
Δ 13.27%
10.65 KHz /
12.06 KHz
∇ -11.71%
matrix: chol, dyn[double] 10x[6x6]52.90 us /
52.70 us
Δ 0.38%
18.90 KHz /
18.98 KHz
∇ -0.38%
matrix: chol, sparse 10x[6x6]40.03 us /
38.59 us
Δ 3.73%
24.98 KHz /
25.91 KHz
∇ -3.60%
matrix: chol, dyn[double] 20x[6x6]411.30 us /
409.80 us
Δ 0.37%
2.43 KHz /
2.44 KHz
∇ -0.36%
matrix: chol, sparse 20x[6x6]74.98 us /
70.75 us
Δ 5.98%
13.34 KHz /
14.13 KHz
∇ -5.64%
matrix: chol, dyn[double] 50x[6x6]8.61 ms /
8.58 ms
Δ 0.36%
116.18 Hz /
116.60 Hz
∇ -0.36%
matrix: chol, sparse 50x[6x6]185.35 us /
171.20 us
Δ 8.27%
5.40 KHz /
5.84 KHz
∇ -7.63%
matrix: chol, dyn[double] 100x[6x6]135.40 ms /
133.58 ms
Δ 1.36%
7.39 Hz /
7.49 Hz
∇ -1.34%
matrix: chol, sparse 100x[6x6]359.80 us /
341.85 us
Δ 5.25%
2.78 KHz /
2.93 KHz
∇ -4.99%
matrix: chol, dyn[double] 120x[6x6]364.31 ms /
354.49 ms
Δ 2.77%
2.74 Hz /
2.82 Hz
∇ -2.70%
matrix: chol, sparse 120x[6x6]426.39 us /
401.50 us
Δ 6.20%
2.35 KHz /
2.49 KHz
∇ -5.84%
matrix: chol, dyn[double] 140x[6x6]800.16 ms /
773.25 ms
Δ 3.48%
1.25 Hz /
1.29 Hz
∇ -3.36%
matrix: chol, sparse 140x[6x6]497.60 us /
469.25 us
Δ 6.04%
2.01 KHz /
2.13 KHz
∇ -5.70%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -100.00%
inf THz /
10.00 THz
Δ inf%
gridmap2D: setCell2.58 ns /
2.58 ns
Δ 0.21%
387.19 MHz /
388.02 MHz
∇ -0.21%
gridmap2D: updateCell7.47 ns /
7.84 ns
∇ -4.64%
133.80 MHz /
127.58 MHz
Δ 4.87%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.55 ns
∇ -0.87%
1.83 GHz /
1.82 GHz
Δ 0.88%
gridmap2D: insert scan w/o widening104.80 us /
102.06 us
Δ 2.69%
9.54 KHz /
9.80 KHz
∇ -2.62%
gridmap2D: insert scan with widening295.32 us /
289.47 us
Δ 2.02%
3.39 KHz /
3.45 KHz
∇ -1.98%
gridmap2D: resize1.83 ms /
1.97 ms
∇ -7.12%
547.65 Hz /
508.65 Hz
Δ 7.67%
gridmap2D: computeLikelihood16.65 us /
15.74 us
Δ 5.81%
60.06 KHz /
63.55 KHz
∇ -5.49%
pointmap: insert 100 scans3.11 ms /
3.04 ms
Δ 2.51%
321.23 Hz /
329.30 Hz
∇ -2.45%
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 scan354.96 us /
352.12 us
Δ 0.81%
2.82 KHz /
2.84 KHz
∇ -0.80%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
4.14 ms
∇ -0.06%
241.67 Hz /
241.51 Hz
Δ 0.06%
pointmap: build 3D kd-tree of 1 scan4.28 us /
4.68 us
∇ -8.55%
233.64 KHz /
213.68 KHz
Δ 9.35%
pointmap: build 3D kd-tree of 100 scan361.24 us /
359.52 us
Δ 0.48%
2.77 KHz /
2.78 KHz
∇ -0.48%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.03 ms
Δ 1.48%
244.66 Hz /
248.28 Hz
∇ -1.46%
pointmap: kd-tree 2d query on 10 scans1.37 us /
1.41 us
∇ -2.63%
730.99 KHz /
711.74 KHz
Δ 2.70%
pointmap: kd-tree 2d query on 1000 scans98.96 us /
97.21 us
Δ 1.81%
10.10 KHz /
10.29 KHz
∇ -1.77%
pointmap: kd-tree 2d query on 10000 scans11.96 ms /
11.62 ms
Δ 2.88%
83.64 Hz /
86.05 Hz
∇ -2.80%
pointmap: (insert scan+2D kd-tree query) x 105.60 ms /
5.59 ms
Δ 0.15%
178.50 Hz /
178.77 Hz
∇ -0.15%
pointmap: (insert scan+2D kd-tree query) x 50129.56 ms /
129.28 ms
Δ 0.21%
7.72 Hz /
7.73 Hz
∇ -0.21%
pointmap: (insert scan+3D kd-tree query) x 105.65 ms /
5.66 ms
∇ -0.17%
176.84 Hz /
176.53 Hz
Δ 0.17%
pointmap: (insert scan+3D kd-tree query) x 50132.43 ms /
131.22 ms
Δ 0.92%
7.55 Hz /
7.62 Hz
∇ -0.91%
random: drawUniform32bit15.70 ns /
14.50 ns
Δ 8.25%
63.70 MHz /
68.95 MHz
∇ -7.62%
random: drawUniform15.69 ns /
14.50 ns
Δ 8.22%
63.72 MHz /
68.96 MHz
∇ -7.60%
random: drawGaussian1D_normalized70.40 ns /
68.97 ns
Δ 2.07%
14.20 MHz /
14.50 MHz
∇ -2.03%
random: drawGaussian1D70.38 ns /
68.98 ns
Δ 2.02%
14.21 MHz /
14.50 MHz
∇ -1.98%
random: system rand()11.07 ns /
10.45 ns
Δ 5.92%
90.37 MHz /
95.72 MHz
∇ -5.59%
random: drawGaussianMultivariate(fixed 3x3)1.33 us /
1.31 us
Δ 1.75%
751.96 KHz /
765.12 KHz
∇ -1.72%
random: drawGaussianMultivariate(dyn 3x3)3.04 us /
2.73 us
Δ 11.36%
328.99 KHz /
366.37 KHz
∇ -10.20%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)162.81 ns /
158.91 ns
Δ 2.45%
6.14 MHz /
6.29 MHz
∇ -2.39%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)245.58 ns /
237.40 ns
Δ 3.45%
4.07 MHz /
4.21 MHz
∇ -3.33%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.74 ns /
490.03 ns
Δ 5.04%
1.94 MHz /
2.04 MHz
∇ -4.80%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)173.84 ns /
164.67 ns
Δ 5.57%
5.75 MHz /
6.07 MHz
∇ -5.27%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)259.42 ns /
249.81 ns
Δ 3.85%
3.85 MHz /
4.00 MHz
∇ -3.70%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)523.99 ns /
514.70 ns
Δ 1.80%
1.91 MHz /
1.94 MHz
∇ -1.77%
random: permuteVector (len=10)288.60 ns /
296.20 ns
∇ -2.57%
3.47 MHz /
3.38 MHz
Δ 2.63%
random: permuteVector (len=100)3.07 us /
3.04 us
Δ 1.02%
325.61 KHz /
328.91 KHz
∇ -1.01%
random: permuteVector (len=1000)30.26 us /
30.22 us
Δ 0.12%
33.05 KHz /
33.09 KHz
∇ -0.12%
math: round0.10 ns /
0.10 ns
Δ 3.29%
9.77 GHz /
10.09 GHz
∇ -3.18%
images: Save as JPEG (640x480, quality=95%)31.77 ms /
35.06 ms
∇ -9.39%
31.48 Hz /
28.52 Hz
Δ 10.36%
images: Save as JPEG (800x600, quality=95%)45.70 ms /
48.96 ms
∇ -6.67%
21.88 Hz /
20.42 Hz
Δ 7.14%
images: Save as JPEG (1024x768, quality=95%)73.33 ms /
74.65 ms
∇ -1.76%
13.64 Hz /
13.40 Hz
Δ 1.79%
images: Save as JPEG (640x480, quality=75%)27.15 ms /
29.96 ms
∇ -9.38%
36.83 Hz /
33.37 Hz
Δ 10.35%
images: Save as JPEG (800x600, quality=75%)40.31 ms /
42.79 ms
∇ -5.79%
24.81 Hz /
23.37 Hz
Δ 6.15%
images: Save as JPEG (1024x768, quality=75%)64.44 ms /
64.15 ms
Δ 0.45%
15.52 Hz /
15.59 Hz
∇ -0.45%
images: Gauss filter (640x480)4.52 ms /
3.90 ms
Δ 15.82%
221.30 Hz /
256.30 Hz
∇ -13.66%
images: Gauss filter (800x600)7.35 ms /
6.21 ms
Δ 18.33%
136.05 Hz /
160.99 Hz
∇ -15.49%
images: Gauss filter (1024x768)11.22 ms /
10.55 ms
Δ 6.29%
89.13 Hz /
94.74 Hz
∇ -5.92%
scan_matching: 6D LS Rigid Trans. [CPose3D]6.32 us /
5.06 us
Δ 24.90%
158.23 KHz /
197.63 KHz
∇ -19.94%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.78 us /
4.30 us
Δ 11.16%
209.21 KHz /
232.56 KHz
∇ -10.04%
scan_matching: 6D LS Rigid Trans. [vector of points]2.14 us /
2.10 us
Δ 1.90%
467.29 KHz /
476.19 KHz
∇ -1.87%
feature_extraction [640x480]: Harris28.31 ms /
24.28 ms
Δ 16.63%
35.32 Hz /
41.19 Hz
∇ -14.26%
feature_extraction [640x480]: KLT27.34 ms /
24.43 ms
Δ 11.93%
36.57 Hz /
40.94 Hz
∇ -10.66%
feature_extraction [640x480]: SIFT641.91 ms /
610.42 ms
Δ 5.16%
1.56 Hz /
1.64 Hz
∇ -4.91%
feature_extraction [640x480]: SIFT desc.170.65 ms /
167.77 ms
Δ 1.72%
5.86 Hz /
5.96 Hz
∇ -1.69%
feature_extraction [640x480]: SURF201.21 ms /
197.61 ms
Δ 1.82%
4.97 Hz /
5.06 Hz
∇ -1.79%
feature_extraction [640x480]: FAST5.22 ms /
5.24 ms
∇ -0.43%
191.49 Hz /
190.68 Hz
Δ 0.43%
feature_extraction [640x480]: Spin desc.60.81 ms /
59.98 ms
Δ 1.38%
16.44 Hz /
16.67 Hz
∇ -1.36%
feature_matching [640x480]: Harris + CC43.26 ms /
40.88 ms
Δ 5.83%
23.12 Hz /
24.46 Hz
∇ -5.51%
feature_matching [640x480]: Harris + SAD39.91 ms /
35.50 ms
Δ 12.44%
25.06 Hz /
28.17 Hz
∇ -11.06%
feature_matching [640x480]: SIFT1.28 sec /
1.21 sec
Δ 5.71%
783.36 mHz /
828.07 mHz
∇ -5.40%
feature_matching [640x480]: SURF386.18 ms /
379.92 ms
Δ 1.65%
2.59 Hz /
2.63 Hz
∇ -1.62%
feature_matching [640x480]: FAST + CC16.12 ms /
16.06 ms
Δ 0.37%
62.03 Hz /
62.26 Hz
∇ -0.37%
feature_matching [640x480]: FAST + SAD10.93 ms /
10.73 ms
Δ 1.88%
91.46 Hz /
93.18 Hz
∇ -1.85%

 


Page generated automatically at 2010/12/18,14:13:40.166788 with MRPT 0.9.3 by 'mrpt-performance'.