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




Test description 0.9.1-GCC-64bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset21.60 ms /
20.59 ms
Δ 4.92%
46.30 Hz /
48.58 Hz
∇ -4.69%
icp-slam (match grid): Run with sample dataset20.51 ms /
20.64 ms
∇ -0.61%
48.75 Hz /
48.45 Hz
Δ 0.61%
poses: CPose3D (+) CPose3D449.02 ns /
42.90 ns
Δ 946.67%
2.23 MHz /
23.31 MHz
∇ -90.45%
poses: CPose3D.composeFrom()233.83 ns /
37.61 ns
Δ 521.72%
4.28 MHz /
26.59 MHz
∇ -83.92%
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 /
11.83 ns
∇ -14.95%
99.38 MHz /
84.53 MHz
Δ 17.57%
poses: CPoint3D (-) CPose3D37.71 ns /
39.31 ns
∇ -4.08%
26.52 MHz /
25.44 MHz
Δ 4.25%
poses: CPose3D.inverseComposePoint()40.98 ns /
34.91 ns
Δ 17.39%
24.40 MHz /
28.65 MHz
∇ -14.81%
poses: CPose2D (+) CPose2D78.17 ns /
76.08 ns
Δ 2.75%
12.79 MHz /
13.14 MHz
∇ -2.67%
poses: CPose2D.composeFrom()62.17 ns /
61.61 ns
Δ 0.91%
16.08 MHz /
16.23 MHz
∇ -0.90%
poses: CPose2D (+) CPoint2D63.86 ns /
60.26 ns
Δ 5.97%
15.66 MHz /
16.59 MHz
∇ -5.64%
poses: CPose2D.composePoint()61.98 ns /
62.26 ns
∇ -0.46%
16.13 MHz /
16.06 MHz
Δ 0.46%
poses: CPose3DQuat (+) CPose3DQuat47.00 ns /
40.99 ns
Δ 14.66%
21.28 MHz /
24.40 MHz
∇ -12.79%
poses: CPose3DQuat.composeFrom()39.80 ns /
39.39 ns
Δ 1.04%
25.13 MHz /
25.39 MHz
∇ -1.03%
poses: CPose3DQuat (+) CPoint3D22.62 ns /
18.30 ns
Δ 23.58%
44.21 MHz /
54.63 MHz
∇ -19.08%
poses: CPose3DQuat.composePoint()18.93 ns /
17.94 ns
Δ 5.51%
52.83 MHz /
55.74 MHz
∇ -5.22%
poses: CPoint3D (-) CPose3DQuat 391.26 ns /
55.46 ns
Δ 605.53%
2.56 MHz /
18.03 MHz
∇ -85.83%
poses: CPose3DQuat.invcomposePoint()18.05 ns /
17.66 ns
Δ 2.23%
55.39 MHz /
56.63 MHz
∇ -2.18%
poses: Conv CPose3DQuat <- CPose3D355.00 ns /
16.78 ns
Δ 2014.99%
2.82 MHz /
59.58 MHz
∇ -95.27%
poses: Conv CPose3D -> CPose3DQuat173.19 ns /
169.37 ns
Δ 2.26%
5.77 MHz /
5.90 MHz
∇ -2.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)814.76 us /
799.08 us
Δ 1.96%
1.23 KHz /
1.25 KHz
∇ -1.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)821.91 us /
803.31 us
Δ 2.32%
1.22 KHz /
1.24 KHz
∇ -2.26%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.57 us /
9.44 us
Δ 1.37%
104.48 KHz /
105.91 KHz
∇ -1.35%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)682.30 ns /
648.90 ns
Δ 5.15%
1.47 MHz /
1.54 MHz
∇ -4.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)533.80 ns /
631.00 ns
∇ -15.40%
1.87 MHz /
1.58 MHz
Δ 18.21%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.51 us /
8.18 us
Δ 4.13%
117.45 KHz /
122.30 KHz
∇ -3.97%
matrix: unit, dyn[float], 3x320.59 ns /
24.43 ns
∇ -15.70%
48.56 MHz /
40.94 MHz
Δ 18.62%
matrix: unit, dyn[double], 3x322.60 ns /
23.18 ns
∇ -2.49%
44.24 MHz /
43.14 MHz
Δ 2.55%
matrix: unit, dyn[float], 6x663.92 ns /
59.50 ns
Δ 7.43%
15.64 MHz /
16.81 MHz
∇ -6.91%
matrix: unit, dyn[double], 6x665.22 ns /
62.26 ns
Δ 4.74%
15.33 MHz /
16.06 MHz
∇ -4.52%
matrix: unit, fix[float,3,3]0.35 ns /
0.35 ns
∇ -0.29%
2.89 GHz /
2.88 GHz
Δ 0.29%
matrix: unit, fix[double,3,3]1.19 ns /
1.19 ns
∇ -0.08%
842.46 MHz /
841.75 MHz
Δ 0.08%
matrix: unit, fix[float,6,6]1.68 ns /
1.70 ns
∇ -1.23%
594.53 MHz /
587.20 MHz
Δ 1.25%
matrix: unit, fix[double,6,6]2.86 ns /
2.77 ns
Δ 3.29%
349.53 MHz /
361.01 MHz
∇ -3.18%
matrix: multiply, dyn[float ], 3x3 * 3x373.50 ns /
85.80 ns
∇ -14.34%
13.61 MHz /
11.66 MHz
Δ 16.73%
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 /
75.90 ns
∇ -5.01%
13.87 MHz /
13.18 MHz
Δ 5.27%
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 * 6x3112.90 ns /
118.10 ns
∇ -4.40%
8.86 MHz /
8.47 MHz
Δ 4.61%
matrix: multiply, fix[float ], 3x6 * 6x345.00 ns /
44.70 ns
Δ 0.67%
22.22 MHz /
22.37 MHz
∇ -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 * 6x345.10 ns /
45.20 ns
∇ -0.22%
22.17 MHz /
22.12 MHz
Δ 0.22%
matrix: multiply, dyn[float ], 10x40 * 40x105.82 us /
5.44 us
Δ 7.00%
171.91 KHz /
183.95 KHz
∇ -6.54%
matrix: multiply, fix[float ], 10x40 * 40x103.57 us /
3.78 us
∇ -5.37%
279.91 KHz /
264.87 KHz
Δ 5.68%
matrix: multiply, dyn[double], 10x40 * 40x105.88 us /
5.54 us
Δ 6.15%
169.93 KHz /
180.38 KHz
∇ -5.79%
matrix: multiply, fix[double], 10x40 * 40x103.82 us /
4.07 us
∇ -6.34%
262.04 KHz /
245.43 KHz
Δ 6.77%
matrix: inv, dyn[float ] 3x3449.00 ns /
631.00 ns
∇ -28.84%
2.23 MHz /
1.58 MHz
Δ 40.53%
matrix: inv, fix[float ] 3x333.00 ns /
35.00 ns
∇ -5.71%
30.30 MHz /
28.57 MHz
Δ 6.06%
matrix: inv, dyn[double] 3x3413.00 ns /
644.00 ns
∇ -35.87%
2.42 MHz /
1.55 MHz
Δ 55.93%
matrix: inv, fix[double] 3x322.00 ns /
39.00 ns
∇ -43.59%
45.45 MHz /
25.64 MHz
Δ 77.27%
matrix: inv, dyn[float ] 6x61.31 us /
2.37 us
∇ -44.58%
761.04 KHz /
421.76 KHz
Δ 80.44%
matrix: inv, fix[float ] 6x6468.00 ns /
812.00 ns
∇ -42.36%
2.14 MHz /
1.23 MHz
Δ 73.50%
matrix: inv, dyn[double] 6x61.25 us /
1.26 us
∇ -0.95%
800.64 KHz /
793.02 KHz
Δ 0.96%
matrix: inv, fix[double] 6x6578.00 ns /
575.00 ns
Δ 0.52%
1.73 MHz /
1.74 MHz
∇ -0.52%
matrix: inv, dyn[float ] 20x2028.01 us /
25.94 us
Δ 7.98%
35.71 KHz /
38.55 KHz
∇ -7.39%
matrix: inv, fix[float ] 20x2012.67 us /
14.15 us
∇ -10.41%
78.91 KHz /
70.70 KHz
Δ 11.62%
matrix: inv, dyn[double] 20x2028.58 us /
25.76 us
Δ 10.98%
34.98 KHz /
38.83 KHz
∇ -9.89%
matrix: inv, fix[double] 20x2017.20 us /
17.04 us
Δ 0.93%
58.15 KHz /
58.69 KHz
∇ -0.92%
matrix: inv, dyn[float ] 40x40205.67 us /
205.11 us
Δ 0.27%
4.86 KHz /
4.88 KHz
∇ -0.27%
matrix: inv, fix[float ] 40x4092.66 us /
93.29 us
∇ -0.67%
10.79 KHz /
10.72 KHz
Δ 0.68%
matrix: inv, dyn[double] 40x40200.95 us /
207.20 us
∇ -3.02%
4.98 KHz /
4.83 KHz
Δ 3.11%
matrix: inv, fix[double] 40x40134.50 us /
133.80 us
Δ 0.52%
7.43 KHz /
7.47 KHz
∇ -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
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
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
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
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
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
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
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 6x6931.50 ns /
653.50 ns
Δ 42.54%
1.07 MHz /
1.53 MHz
∇ -29.84%
matrix: det, fix[float ] 6x6215.70 ns /
210.00 ns
Δ 2.71%
4.64 MHz /
4.76 MHz
∇ -2.64%
matrix: det, dyn[double] 6x6739.10 ns /
730.30 ns
Δ 1.20%
1.35 MHz /
1.37 MHz
∇ -1.19%
matrix: det, fix[double] 6x6219.80 ns /
212.10 ns
Δ 3.63%
4.55 MHz /
4.71 MHz
∇ -3.50%
matrix: det, dyn[float ] 20x205.64 us /
5.70 us
∇ -1.08%
177.30 KHz /
175.40 KHz
Δ 1.09%
matrix: det, fix[float ] 20x204.05 us /
4.20 us
∇ -3.60%
246.81 KHz /
237.92 KHz
Δ 3.74%
matrix: det, dyn[double] 20x206.52 us /
6.56 us
∇ -0.64%
153.32 KHz /
152.33 KHz
Δ 0.65%
matrix: det, fix[double] 20x204.73 us /
5.04 us
∇ -6.22%
211.54 KHz /
198.38 KHz
Δ 6.63%
matrix: det, dyn[float ] 40x4030.83 us /
32.38 us
∇ -4.77%
32.43 KHz /
30.89 KHz
Δ 5.01%
matrix: det, fix[float ] 40x4025.85 us /
27.92 us
∇ -7.38%
38.68 KHz /
35.82 KHz
Δ 7.97%
matrix: det, dyn[double] 40x4032.40 us /
39.41 us
∇ -17.80%
30.87 KHz /
25.37 KHz
Δ 21.66%
matrix: det, fix[double] 40x4027.53 us /
29.04 us
∇ -5.20%
36.33 KHz /
34.44 KHz
Δ 5.49%
matrix: chol, dyn[double] 4x4170.00 ns /
140.00 ns
Δ 21.43%
5.88 MHz /
7.14 MHz
∇ -17.65%
matrix: chol, fix[double] 4x4130.00 ns /
160.00 ns
∇ -18.75%
7.69 MHz /
6.25 MHz
Δ 23.08%
matrix: chol, dyn[double] 40x4018.73 us /
18.38 us
Δ 1.90%
53.39 KHz /
54.41 KHz
∇ -1.87%
matrix: chol, fix[double] 40x4016.74 us /
17.08 us
∇ -1.99%
59.74 KHz /
58.55 KHz
Δ 2.03%
matrix: chol, sparse [2x2;2x2]8.50 us /
8.30 us
Δ 2.41%
117.65 KHz /
120.48 KHz
∇ -2.35%
matrix: chol, sparse [30x30;10x10]93.90 us /
84.40 us
Δ 11.26%
10.65 KHz /
11.85 KHz
∇ -10.12%
matrix: chol, dyn[double] 10x[6x6]52.90 us /
53.00 us
∇ -0.19%
18.90 KHz /
18.87 KHz
Δ 0.19%
matrix: chol, sparse 10x[6x6]40.03 us /
39.49 us
Δ 1.37%
24.98 KHz /
25.32 KHz
∇ -1.35%
matrix: chol, dyn[double] 20x[6x6]411.30 us /
411.70 us
∇ -0.10%
2.43 KHz /
2.43 KHz
Δ 0.10%
matrix: chol, sparse 20x[6x6]74.98 us /
74.09 us
Δ 1.20%
13.34 KHz /
13.50 KHz
∇ -1.19%
matrix: chol, dyn[double] 50x[6x6]8.61 ms /
10.38 ms
∇ -17.09%
116.18 Hz /
96.33 Hz
Δ 20.61%
matrix: chol, sparse 50x[6x6]185.35 us /
248.74 us
∇ -25.48%
5.40 KHz /
4.02 KHz
Δ 34.20%
matrix: chol, dyn[double] 100x[6x6]135.40 ms /
370.64 ms
∇ -63.47%
7.39 Hz /
2.70 Hz
Δ 173.74%
matrix: chol, sparse 100x[6x6]359.80 us /
353.56 us
Δ 1.76%
2.78 KHz /
2.83 KHz
∇ -1.73%
matrix: chol, dyn[double] 120x[6x6]364.32 ms /
365.56 ms
∇ -0.34%
2.74 Hz /
2.74 Hz
Δ 0.34%
matrix: chol, sparse 120x[6x6]426.39 us /
425.27 us
Δ 0.26%
2.35 KHz /
2.35 KHz
∇ -0.26%
matrix: chol, dyn[double] 140x[6x6]800.16 ms /
796.04 ms
Δ 0.52%
1.25 Hz /
1.26 Hz
∇ -0.52%
matrix: chol, sparse 140x[6x6]497.60 us /
490.79 us
Δ 1.39%
2.01 KHz /
2.04 KHz
∇ -1.37%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.58 ns /
2.58 ns
Δ 0.15%
387.19 MHz /
387.76 MHz
∇ -0.15%
gridmap2D: updateCell7.47 ns /
7.44 ns
Δ 0.39%
133.80 MHz /
134.32 MHz
∇ -0.39%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.55 ns
∇ -0.91%
1.83 GHz /
1.82 GHz
Δ 0.92%
gridmap2D: insert scan w/o widening104.80 us /
101.23 us
Δ 3.53%
9.54 KHz /
9.88 KHz
∇ -3.41%
gridmap2D: insert scan with widening295.32 us /
291.30 us
Δ 1.38%
3.39 KHz /
3.43 KHz
∇ -1.36%
gridmap2D: resize1.83 ms /
1.89 ms
∇ -3.28%
547.65 Hz /
529.66 Hz
Δ 3.40%
gridmap2D: computeLikelihood16.65 us /
16.46 us
Δ 1.17%
60.06 KHz /
60.76 KHz
∇ -1.16%
pointmap: insert 100 scans3.11 ms /
3.10 ms
Δ 0.39%
321.23 Hz /
322.50 Hz
∇ -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 scan354.96 us /
355.52 us
∇ -0.16%
2.82 KHz /
2.81 KHz
Δ 0.16%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
4.16 ms
∇ -0.59%
241.67 Hz /
240.24 Hz
Δ 0.59%
pointmap: build 3D kd-tree of 1 scan4.28 us /
4.76 us
∇ -10.08%
233.64 KHz /
210.08 KHz
Δ 11.21%
pointmap: build 3D kd-tree of 100 scan361.24 us /
363.20 us
∇ -0.54%
2.77 KHz /
2.75 KHz
Δ 0.54%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.09 ms
∇ -0.15%
244.66 Hz /
244.29 Hz
Δ 0.15%
pointmap: kd-tree 2d query on 10 scans1.37 us /
1.38 us
∇ -1.01%
730.99 KHz /
723.59 KHz
Δ 1.02%
pointmap: kd-tree 2d query on 1000 scans98.96 us /
100.93 us
∇ -1.95%
10.10 KHz /
9.91 KHz
Δ 1.99%
pointmap: kd-tree 2d query on 10000 scans11.96 ms /
11.91 ms
Δ 0.37%
83.64 Hz /
83.95 Hz
∇ -0.37%
pointmap: (insert scan+2D kd-tree query) x 105.60 ms /
5.62 ms
∇ -0.27%
178.50 Hz /
178.01 Hz
Δ 0.27%
pointmap: (insert scan+2D kd-tree query) x 50129.56 ms /
130.76 ms
∇ -0.92%
7.72 Hz /
7.65 Hz
Δ 0.93%
pointmap: (insert scan+3D kd-tree query) x 105.65 ms /
5.67 ms
∇ -0.27%
176.84 Hz /
176.35 Hz
Δ 0.27%
pointmap: (insert scan+3D kd-tree query) x 50132.43 ms /
132.64 ms
∇ -0.16%
7.55 Hz /
7.54 Hz
Δ 0.16%
random: drawUniform32bit15.70 ns /
14.57 ns
Δ 7.74%
63.70 MHz /
68.63 MHz
∇ -7.19%
random: drawUniform15.69 ns /
14.62 ns
Δ 7.36%
63.72 MHz /
68.41 MHz
∇ -6.85%
random: drawGaussian1D_normalized70.40 ns /
68.70 ns
Δ 2.47%
14.20 MHz /
14.56 MHz
∇ -2.41%
random: drawGaussian1D70.38 ns /
68.68 ns
Δ 2.46%
14.21 MHz /
14.56 MHz
∇ -2.40%
random: system rand()11.07 ns /
10.45 ns
Δ 5.86%
90.37 MHz /
95.67 MHz
∇ -5.54%
random: drawGaussianMultivariate(fixed 3x3)1.33 us /
1.31 us
Δ 1.70%
751.96 KHz /
764.77 KHz
∇ -1.68%
random: drawGaussianMultivariate(dyn 3x3)3.04 us /
2.79 us
Δ 9.10%
328.99 KHz /
358.92 KHz
∇ -8.34%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)162.81 ns /
158.26 ns
Δ 2.88%
6.14 MHz /
6.32 MHz
∇ -2.79%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)245.58 ns /
236.42 ns
Δ 3.88%
4.07 MHz /
4.23 MHz
∇ -3.73%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.74 ns /
489.37 ns
Δ 5.18%
1.94 MHz /
2.04 MHz
∇ -4.93%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)173.84 ns /
164.61 ns
Δ 5.60%
5.75 MHz /
6.07 MHz
∇ -5.30%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)259.42 ns /
248.12 ns
Δ 4.56%
3.85 MHz /
4.03 MHz
∇ -4.36%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)523.99 ns /
514.83 ns
Δ 1.78%
1.91 MHz /
1.94 MHz
∇ -1.75%
random: permuteVector (len=10)288.60 ns /
317.50 ns
∇ -9.10%
3.47 MHz /
3.15 MHz
Δ 10.01%
random: permuteVector (len=100)3.07 us /
3.06 us
Δ 0.29%
325.61 KHz /
326.54 KHz
∇ -0.29%
random: permuteVector (len=1000)30.26 us /
30.27 us
∇ -0.04%
33.05 KHz /
33.04 KHz
Δ 0.04%
math: round0.10 ns /
0.10 ns
Δ 3.28%
9.77 GHz /
10.09 GHz
∇ -3.17%
images: Save as JPEG (640x480, quality=95%)31.77 ms /
27.27 ms
Δ 16.50%
31.48 Hz /
36.67 Hz
∇ -14.16%
images: Save as JPEG (800x600, quality=95%)45.70 ms /
43.27 ms
Δ 5.61%
21.88 Hz /
23.11 Hz
∇ -5.31%
images: Save as JPEG (1024x768, quality=95%)73.33 ms /
74.67 ms
∇ -1.79%
13.64 Hz /
13.39 Hz
Δ 1.83%
images: Save as JPEG (640x480, quality=75%)27.15 ms /
26.31 ms
Δ 3.21%
36.83 Hz /
38.01 Hz
∇ -3.11%
images: Save as JPEG (800x600, quality=75%)40.31 ms /
40.92 ms
∇ -1.48%
24.81 Hz /
24.44 Hz
Δ 1.51%
images: Save as JPEG (1024x768, quality=75%)64.44 ms /
62.56 ms
Δ 3.01%
15.52 Hz /
15.99 Hz
∇ -2.92%
images: Gauss filter (640x480)4.52 ms /
4.48 ms
Δ 0.78%
221.30 Hz /
223.01 Hz
∇ -0.77%
images: Gauss filter (800x600)7.35 ms /
7.46 ms
∇ -1.46%
136.05 Hz /
134.07 Hz
Δ 1.48%
images: Gauss filter (1024x768)11.22 ms /
12.41 ms
∇ -9.61%
89.13 Hz /
80.57 Hz
Δ 10.63%
scan_matching: 6D LS Rigid Trans. [CPose3D]6.32 us /
5.15 us
Δ 22.72%
158.23 KHz /
194.17 KHz
∇ -18.51%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.78 us /
4.35 us
Δ 9.89%
209.21 KHz /
229.89 KHz
∇ -9.00%
scan_matching: 6D LS Rigid Trans. [vector of points]2.14 us /
2.12 us
Δ 0.94%
467.29 KHz /
471.70 KHz
∇ -0.93%
feature_extraction [640x480]: Harris28.31 ms /
33.18 ms
∇ -14.67%
35.32 Hz /
30.14 Hz
Δ 17.19%
feature_extraction [640x480]: KLT27.34 ms /
29.64 ms
∇ -7.74%
36.57 Hz /
33.74 Hz
Δ 8.39%
feature_extraction [640x480]: SIFT641.91 ms /
637.68 ms
Δ 0.66%
1.56 Hz /
1.57 Hz
∇ -0.66%
feature_extraction [640x480]: SIFT desc.170.65 ms /
173.14 ms
∇ -1.44%
5.86 Hz /
5.78 Hz
Δ 1.46%
feature_extraction [640x480]: SURF201.21 ms /
202.84 ms
∇ -0.80%
4.97 Hz /
4.93 Hz
Δ 0.81%
feature_extraction [640x480]: FAST5.22 ms /
5.10 ms
Δ 2.32%
191.49 Hz /
195.94 Hz
∇ -2.27%
feature_extraction [640x480]: Spin desc.60.81 ms /
61.22 ms
∇ -0.67%
16.44 Hz /
16.33 Hz
Δ 0.67%
feature_matching [640x480]: Harris + CC43.26 ms /
43.90 ms
∇ -1.45%
23.12 Hz /
22.78 Hz
Δ 1.47%
feature_matching [640x480]: Harris + SAD39.91 ms /
38.32 ms
Δ 4.14%
25.06 Hz /
26.09 Hz
∇ -3.98%
feature_matching [640x480]: SIFT1.28 sec /
1.28 sec
∇ -0.06%
783.36 mHz /
782.87 mHz
Δ 0.06%
feature_matching [640x480]: SURF386.18 ms /
387.99 ms
∇ -0.47%
2.59 Hz /
2.58 Hz
Δ 0.47%
feature_matching [640x480]: FAST + CC16.12 ms /
15.73 ms
Δ 2.49%
62.03 Hz /
63.57 Hz
∇ -2.43%
feature_matching [640x480]: FAST + SAD10.93 ms /
10.56 ms
Δ 3.54%
91.46 Hz /
94.70 Hz
∇ -3.42%

 


Page generated automatically at 2011/06/03,22:26:40.064553 with MRPT 0.9.4 by 'mrpt-performance'.