Comparison: 0.9.4-GCC-64bit vs. 0.9.1-GCC-64bit




Test description 0.9.4-GCC-64bit /
0.9.1-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
21.60 ms
∇ -3.96%
48.21 Hz /
46.30 Hz
Δ 4.12%
icp-slam (match grid): Run with sample dataset17.09 ms /
20.51 ms
∇ -16.69%
58.52 Hz /
48.75 Hz
Δ 20.03%
poses: CPose3D (+) CPose3D29.76 ns /
449.02 ns
∇ -93.37%
33.60 MHz /
2.23 MHz
Δ 1408.80%
poses: CPose3D.composeFrom()21.90 ns /
233.83 ns
∇ -90.63%
45.66 MHz /
4.28 MHz
Δ 967.72%
poses: CPose3D (+) CPoint3D7.23 ns /
10.67 ns
∇ -32.18%
138.24 MHz /
93.76 MHz
Δ 47.44%
poses: CPose3D.composePoint()11.67 ns /
10.06 ns
Δ 16.00%
85.68 MHz /
99.38 MHz
∇ -13.79%
poses: CPoint3D (-) CPose3D13.29 ns /
37.71 ns
∇ -64.77%
75.27 MHz /
26.52 MHz
Δ 183.82%
poses: CPose3D.inverseComposePoint()24.48 ns /
40.98 ns
∇ -40.26%
40.85 MHz /
24.40 MHz
Δ 67.39%
poses: CPose2D (+) CPose2D71.64 ns /
78.17 ns
∇ -8.35%
13.96 MHz /
12.79 MHz
Δ 9.11%
poses: CPose2D.composeFrom()69.41 ns /
62.17 ns
Δ 11.64%
14.41 MHz /
16.08 MHz
∇ -10.43%
poses: CPose2D (+) CPoint2D60.78 ns /
63.86 ns
∇ -4.84%
16.45 MHz /
15.66 MHz
Δ 5.08%
poses: CPose2D.composePoint()60.80 ns /
61.98 ns
∇ -1.90%
16.45 MHz /
16.13 MHz
Δ 1.94%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
47.00 ns
∇ -13.89%
24.71 MHz /
21.28 MHz
Δ 16.14%
poses: CPose3DQuat.composeFrom()37.55 ns /
39.80 ns
∇ -5.65%
26.63 MHz /
25.13 MHz
Δ 5.99%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
22.62 ns
∇ -23.13%
57.51 MHz /
44.21 MHz
Δ 30.09%
poses: CPose3DQuat.composePoint()17.48 ns /
18.93 ns
∇ -7.64%
57.20 MHz /
52.83 MHz
Δ 8.27%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
391.26 ns
∇ -91.57%
30.33 MHz /
2.56 MHz
Δ 1086.78%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
18.05 ns
Δ 5.83%
52.34 MHz /
55.39 MHz
∇ -5.51%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
355.00 ns
∇ -93.40%
42.70 MHz /
2.82 MHz
Δ 1415.80%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
173.19 ns
∇ -0.28%
5.79 MHz /
5.77 MHz
Δ 0.28%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
814.76 us
∇ -99.92%
1.49 MHz /
1.23 KHz
Δ 121324.37%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
821.91 us
∇ -99.92%
1.53 MHz /
1.22 KHz
Δ 125959.59%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
9.57 us
∇ -8.67%
114.40 KHz /
104.48 KHz
Δ 9.50%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
682.30 ns
∇ -33.45%
2.20 MHz /
1.47 MHz
Δ 50.25%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
533.80 ns
∇ -15.16%
2.21 MHz /
1.87 MHz
Δ 17.86%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
8.51 us
∇ -6.33%
125.39 KHz /
117.45 KHz
Δ 6.76%
matrix: unit, dyn[float], 3x317.64 ns /
20.59 ns
∇ -14.36%
56.71 MHz /
48.56 MHz
Δ 16.77%
matrix: unit, dyn[double], 3x319.86 ns /
22.60 ns
∇ -12.13%
50.34 MHz /
44.24 MHz
Δ 13.80%
matrix: unit, dyn[float], 6x657.06 ns /
63.92 ns
∇ -10.75%
17.53 MHz /
15.64 MHz
Δ 12.04%
matrix: unit, dyn[double], 6x660.00 ns /
65.22 ns
∇ -8.00%
16.67 MHz /
15.33 MHz
Δ 8.70%
matrix: unit, fix[float,3,3]0.00 ns /
0.35 ns
∇ -100.00%
1.#J THz /
2.89 GHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
1.19 ns
∇ -100.00%
1.#J THz /
842.46 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]0.00 ns /
1.68 ns
∇ -100.00%
1.#J THz /
594.53 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
2.86 ns
∇ -100.00%
1.#J THz /
349.53 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
73.50 ns
Δ 230.20%
4.12 MHz /
13.61 MHz
∇ -69.72%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
24.10 ns
∇ -100.00%
1.#J THz /
41.49 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3231.60 ns /
72.10 ns
Δ 221.22%
4.32 MHz /
13.87 MHz
∇ -68.87%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
23.50 ns
∇ -100.00%
1.#J THz /
42.55 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3296.50 ns /
112.90 ns
Δ 162.62%
3.37 MHz /
8.86 MHz
∇ -61.92%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
45.00 ns
∇ -99.78%
10.00 GHz /
22.22 MHz
Δ 44900.00%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
110.50 ns
Δ 134.57%
3.86 MHz /
9.05 MHz
∇ -57.37%
matrix: multiply, fix[double], 3x6 * 6x30.00 ns /
45.10 ns
∇ -100.00%
1.#J THz /
22.17 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
5.82 us
∇ -64.01%
477.69 KHz /
171.91 KHz
Δ 177.87%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
3.57 us
∇ -49.93%
559.03 KHz /
279.91 KHz
Δ 99.72%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
5.88 us
∇ -58.72%
411.68 KHz /
169.93 KHz
Δ 142.26%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
3.82 us
∇ -43.31%
462.21 KHz /
262.04 KHz
Δ 76.39%
matrix: inv, dyn[double] 3x3767.00 ns /
413.00 ns
Δ 85.71%
1.30 MHz /
2.42 MHz
∇ -46.15%
matrix: inv, fix[double] 3x30.00 ns /
22.00 ns
∇ -100.00%
1.#J THz /
45.45 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
1.25 us
Δ 42.51%
561.80 KHz /
800.64 KHz
∇ -29.83%
matrix: inv, fix[double] 6x61.73 us /
578.00 ns
Δ 198.96%
578.70 KHz /
1.73 MHz
∇ -66.55%
matrix: inv, dyn[double] 20x2016.27 us /
28.58 us
∇ -43.09%
61.47 KHz /
34.98 KHz
Δ 75.72%
matrix: inv, fix[double] 20x2013.44 us /
17.20 us
∇ -21.85%
74.41 KHz /
58.15 KHz
Δ 27.96%
matrix: inv, dyn[double] 40x4068.00 us /
200.95 us
∇ -66.16%
14.70 KHz /
4.98 KHz
Δ 195.49%
matrix: inv, fix[double] 40x4063.01 us /
134.50 us
∇ -53.16%
15.87 KHz /
7.43 KHz
Δ 113.48%
matrix: det, dyn[double] 2x2209.40 ns /
8.80 ns
Δ 2279.55%
4.78 MHz /
113.64 MHz
∇ -95.80%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 3x3331.30 ns /
10.30 ns
Δ 3116.50%
3.02 MHz /
97.09 MHz
∇ -96.89%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[double] 6x6943.70 ns /
739.10 ns
Δ 27.68%
1.06 MHz /
1.35 MHz
∇ -21.68%
matrix: det, fix[double] 6x6575.90 ns /
219.80 ns
Δ 162.01%
1.74 MHz /
4.55 MHz
∇ -61.83%
matrix: det, dyn[double] 20x208.10 us /
6.52 us
Δ 24.25%
123.40 KHz /
153.32 KHz
∇ -19.51%
matrix: det, fix[double] 20x207.48 us /
4.73 us
Δ 58.32%
133.61 KHz /
211.54 KHz
∇ -36.84%
matrix: det, dyn[double] 40x4030.87 us /
32.40 us
∇ -4.70%
32.39 KHz /
30.87 KHz
Δ 4.93%
matrix: det, fix[double] 40x4029.01 us /
27.53 us
Δ 5.39%
34.47 KHz /
36.33 KHz
∇ -5.12%
matrix: chol, dyn[double] 4x4530.00 ns /
170.00 ns
Δ 211.76%
1.89 MHz /
5.88 MHz
∇ -67.92%
matrix: chol, fix[double] 4x4120.00 ns /
130.00 ns
∇ -7.69%
8.33 MHz /
7.69 MHz
Δ 8.33%
matrix: chol, dyn[double] 40x4020.70 us /
18.73 us
Δ 10.52%
48.31 KHz /
53.39 KHz
∇ -9.52%
matrix: chol, fix[double] 40x4016.54 us /
16.74 us
∇ -1.19%
60.46 KHz /
59.74 KHz
Δ 1.21%
matrix: chol, sparse [2x2;2x2]12.20 us /
8.50 us
Δ 43.53%
81.97 KHz /
117.65 KHz
∇ -30.33%
matrix: chol, sparse [30x30;10x10]87.70 us /
93.90 us
∇ -6.60%
11.40 KHz /
10.65 KHz
Δ 7.07%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
52.90 us
∇ -2.27%
19.34 KHz /
18.90 KHz
Δ 2.32%
matrix: chol, sparse 10x[6x6]38.27 us /
40.03 us
∇ -4.40%
26.13 KHz /
24.98 KHz
Δ 4.60%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
411.30 us
∇ -37.88%
3.91 KHz /
2.43 KHz
Δ 60.98%
matrix: chol, sparse 20x[6x6]70.94 us /
74.98 us
∇ -5.39%
14.10 KHz /
13.34 KHz
Δ 5.69%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
8.61 ms
∇ -68.05%
363.64 Hz /
116.18 Hz
Δ 212.99%
matrix: chol, sparse 50x[6x6]169.22 us /
185.35 us
∇ -8.70%
5.91 KHz /
5.40 KHz
Δ 9.53%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
135.40 ms
∇ -83.71%
45.33 Hz /
7.39 Hz
Δ 513.78%
matrix: chol, sparse 100x[6x6]339.61 us /
359.80 us
∇ -5.61%
2.94 KHz /
2.78 KHz
Δ 5.95%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
364.32 ms
∇ -89.94%
27.27 Hz /
2.74 Hz
Δ 893.59%
matrix: chol, sparse 120x[6x6]402.38 us /
426.39 us
∇ -5.63%
2.49 KHz /
2.35 KHz
Δ 5.97%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
800.16 ms
∇ -93.27%
18.57 Hz /
1.25 Hz
Δ 1385.56%
matrix: chol, sparse 140x[6x6]476.81 us /
497.60 us
∇ -4.18%
2.10 KHz /
2.01 KHz
Δ 4.36%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.71 ns /
2.58 ns
Δ 4.84%
369.33 MHz /
387.19 MHz
∇ -4.61%
gridmap2D: updateCell6.04 ns /
7.47 ns
∇ -19.20%
165.59 MHz /
133.80 MHz
Δ 23.76%
gridmap2D: updateCell_fast_occupied0.61 ns /
0.55 ns
Δ 12.51%
1.63 GHz /
1.83 GHz
∇ -11.12%
gridmap2D: insert scan w/o widening99.83 us /
104.80 us
∇ -4.74%
10.02 KHz /
9.54 KHz
Δ 4.97%
gridmap2D: insert scan with widening293.13 us /
295.32 us
∇ -0.74%
3.41 KHz /
3.39 KHz
Δ 0.75%
gridmap2D: resize630.00 us /
1.83 ms
∇ -65.50%
1.59 KHz /
547.65 Hz
Δ 189.84%
gridmap2D: computeLikelihood17.81 us /
16.65 us
Δ 6.97%
56.14 KHz /
60.06 KHz
∇ -6.52%
pointmap: insert 100 scans1.01 ms /
3.11 ms
∇ -67.58%
990.80 Hz /
321.23 Hz
Δ 208.44%
pointmap: build 2D kd-tree of 1 scan4.52 us /
4.28 us
Δ 5.61%
221.24 KHz /
233.64 KHz
∇ -5.31%
pointmap: build 2D kd-tree of 100 scan364.44 us /
354.96 us
Δ 2.67%
2.74 KHz /
2.82 KHz
∇ -2.60%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
4.14 ms
Δ 5.90%
228.21 Hz /
241.67 Hz
∇ -5.57%
pointmap: build 3D kd-tree of 1 scan5.16 us /
4.28 us
Δ 20.56%
193.80 KHz /
233.64 KHz
∇ -17.05%
pointmap: build 3D kd-tree of 100 scan372.44 us /
361.24 us
Δ 3.10%
2.68 KHz /
2.77 KHz
∇ -3.01%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
4.09 ms
Δ 2.77%
238.06 Hz /
244.66 Hz
∇ -2.70%
pointmap: kd-tree 2d query on 10 scans1.42 us /
1.37 us
Δ 3.87%
703.73 KHz /
730.99 KHz
∇ -3.73%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
98.96 us
Δ 2.92%
9.82 KHz /
10.10 KHz
∇ -2.84%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
11.96 ms
Δ 1.81%
82.15 Hz /
83.64 Hz
∇ -1.78%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
5.60 ms
Δ 0.70%
177.25 Hz /
178.50 Hz
∇ -0.70%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
129.56 ms
Δ 2.47%
7.53 Hz /
7.72 Hz
∇ -2.41%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
5.65 ms
Δ 1.02%
175.04 Hz /
176.84 Hz
∇ -1.01%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
132.43 ms
Δ 1.74%
7.42 Hz /
7.55 Hz
∇ -1.71%
random: drawUniform32bit14.55 ns /
15.70 ns
∇ -7.35%
68.75 MHz /
63.70 MHz
Δ 7.93%
random: drawUniform14.56 ns /
15.69 ns
∇ -7.24%
68.69 MHz /
63.72 MHz
Δ 7.80%
random: drawGaussian1D_normalized66.87 ns /
70.40 ns
∇ -5.02%
14.96 MHz /
14.20 MHz
Δ 5.28%
random: drawGaussian1D66.81 ns /
70.38 ns
∇ -5.07%
14.97 MHz /
14.21 MHz
Δ 5.34%
random: system rand()10.63 ns /
11.07 ns
∇ -3.97%
94.11 MHz /
90.37 MHz
Δ 4.14%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
1.33 us
∇ -32.07%
1.11 MHz /
751.96 KHz
Δ 47.21%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
3.04 us
∇ -47.02%
621.01 KHz /
328.99 KHz
Δ 88.76%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
162.81 ns
∇ -11.15%
6.91 MHz /
6.14 MHz
Δ 12.55%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
245.58 ns
∇ -10.63%
4.56 MHz /
4.07 MHz
Δ 11.89%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
514.74 ns
∇ -8.15%
2.12 MHz /
1.94 MHz
Δ 8.87%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
173.84 ns
∇ -12.39%
6.57 MHz /
5.75 MHz
Δ 14.15%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
259.42 ns
∇ -9.40%
4.25 MHz /
3.85 MHz
Δ 10.37%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
523.99 ns
∇ -6.18%
2.03 MHz /
1.91 MHz
Δ 6.59%
random: permuteVector (len=10)243.60 ns /
288.60 ns
∇ -15.59%
4.11 MHz /
3.47 MHz
Δ 18.47%
random: permuteVector (len=100)2.99 us /
3.07 us
∇ -2.80%
334.99 KHz /
325.61 KHz
Δ 2.88%
random: permuteVector (len=1000)29.51 us /
30.26 us
∇ -2.45%
33.88 KHz /
33.05 KHz
Δ 2.52%
math: round0.10 ns /
0.10 ns
∇ -3.11%
10.08 GHz /
9.77 GHz
Δ 3.21%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
31.77 ms
Δ 5.85%
29.74 Hz /
31.48 Hz
∇ -5.53%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
45.70 ms
Δ 9.08%
20.06 Hz /
21.88 Hz
∇ -8.33%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
73.33 ms
∇ -5.11%
14.37 Hz /
13.64 Hz
Δ 5.38%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
27.15 ms
Δ 12.85%
32.63 Hz /
36.83 Hz
∇ -11.39%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
40.31 ms
Δ 8.92%
22.78 Hz /
24.81 Hz
∇ -8.19%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
64.44 ms
∇ -2.97%
15.99 Hz /
15.52 Hz
Δ 3.06%
images: Gauss filter (640x480)3.81 ms /
4.52 ms
∇ -15.78%
262.76 Hz /
221.30 Hz
Δ 18.73%
images: Gauss filter (800x600)5.96 ms /
7.35 ms
∇ -18.88%
167.70 Hz /
136.05 Hz
Δ 23.27%
images: Gauss filter (1024x768)10.46 ms /
11.22 ms
∇ -6.77%
95.61 Hz /
89.13 Hz
Δ 7.26%
images: Half sample GRAY (160x120)1.04 us /
X
961.54 KHz /
X
images: Half sample GRAY (320x240)2.91 us /
X
344.04 KHz /
X
images: Half sample GRAY (640x480)14.63 us /
X
68.35 KHz /
X
images: Half sample GRAY (800x600)27.61 us /
X
36.21 KHz /
X
images: Half sample GRAY (1024x768)43.98 us /
X
22.74 KHz /
X
images: Half sample GRAY (1280x1024)84.93 us /
X
11.77 KHz /
X
images: Half sample RGB (160x120)2.35 us /
X
426.14 KHz /
X
images: Half sample RGB (320x240)8.97 us /
X
111.44 KHz /
X
images: Half sample RGB (640x480)49.58 us /
X
20.17 KHz /
X
images: Half sample RGB (800x600)83.52 us /
X
11.97 KHz /
X
images: Half sample RGB (1024x768)175.02 us /
X
5.71 KHz /
X
images: Half sample RGB (1280x1024)434.33 us /
X
2.30 KHz /
X
images: Half sample smooth GRAY (160x120)1.52 us /
X
656.46 KHz /
X
images: Half sample smooth GRAY (320x240)5.05 us /
X
197.89 KHz /
X
images: Half sample smooth GRAY (640x480)27.35 us /
X
36.57 KHz /
X
images: Half sample smooth GRAY (800x600)41.00 us /
X
24.39 KHz /
X
images: Half sample smooth GRAY (1024x768)70.54 us /
X
14.18 KHz /
X
images: Half sample smooth GRAY (1280x1024)147.17 us /
X
6.80 KHz /
X
images: Half sample smooth RGB (160x120)87.34 us /
X
11.45 KHz /
X
images: Half sample smooth RGB (320x240)341.55 us /
X
2.93 KHz /
X
images: Half sample smooth RGB (640x480)1.35 ms /
X
740.73 Hz /
X
images: Half sample smooth RGB (800x600)2.13 ms /
X
468.44 Hz /
X
images: Half sample smooth RGB (1024x768)3.55 ms /
X
281.93 Hz /
X
images: Half sample smooth RGB (1280x1024)6.52 ms /
X
153.40 Hz /
X
images: RGB->GRAY 8u (40x30)3.88 us /
X
257.95 KHz /
X
images: RGB->GRAY 8u (80x60)2.78 us /
X
359.28 KHz /
X
images: RGB->GRAY 8u (160x120)9.91 us /
X
100.91 KHz /
X
images: RGB->GRAY 8u (320x240)39.89 us /
X
25.07 KHz /
X
images: RGB->GRAY 8u (640x480)157.22 us /
X
6.36 KHz /
X
images: RGB->GRAY 8u (800x600)266.94 us /
X
3.75 KHz /
X
images: RGB->GRAY 8u (1024x768)485.16 us /
X
2.06 KHz /
X
images: RGB->GRAY 8u (1280x1024)926.17 us /
X
1.08 KHz /
X
scan_matching: 6D LS Rigid Trans. [CPose3D]12.69 us /
6.32 us
Δ 100.79%
78.80 KHz /
158.23 KHz
∇ -50.20%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
4.78 us
Δ 106.07%
101.52 KHz /
209.21 KHz
∇ -51.47%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
2.14 us
Δ 144.86%
190.84 KHz /
467.29 KHz
∇ -59.16%
feature_extraction [640x480]: Harris21.14 ms /
28.31 ms
∇ -25.34%
47.31 Hz /
35.32 Hz
Δ 33.94%
feature_extraction [640x480]: KLT21.45 ms /
27.34 ms
∇ -21.54%
46.61 Hz /
36.57 Hz
Δ 27.45%
feature_extraction [640x480]: SIFT591.25 ms /
641.91 ms
∇ -7.89%
1.69 Hz /
1.56 Hz
Δ 8.57%
feature_extraction [640x480]: SIFT desc.162.82 ms /
170.65 ms
∇ -4.59%
6.14 Hz /
5.86 Hz
Δ 4.81%
feature_extraction [640x480]: SURF197.33 ms /
201.21 ms
∇ -1.93%
5.07 Hz /
4.97 Hz
Δ 1.97%
feature_extraction [640x480]: FAST6.89 ms /
5.22 ms
Δ 31.93%
145.15 Hz /
191.49 Hz
∇ -24.20%
feature_extraction [640x480]: Spin desc.63.90 ms /
60.81 ms
Δ 5.08%
15.65 Hz /
16.44 Hz
∇ -4.83%
feature_matching [640x480]: Harris + CC38.54 ms /
43.26 ms
∇ -10.92%
25.95 Hz /
23.12 Hz
Δ 12.26%
feature_matching [640x480]: Harris + SAD33.59 ms /
39.91 ms
∇ -15.84%
29.77 Hz /
25.06 Hz
Δ 18.82%
feature_matching [640x480]: SIFT1.16 sec /
1.28 sec
∇ -9.28%
863.45 mHz /
783.36 mHz
Δ 10.22%
feature_matching [640x480]: SURF375.89 ms /
386.18 ms
∇ -2.66%
2.66 Hz /
2.59 Hz
Δ 2.74%
feature_matching [640x480]: FAST + CC15.89 ms /
16.12 ms
∇ -1.46%
62.95 Hz /
62.03 Hz
Δ 1.48%
feature_matching [640x480]: FAST + SAD10.48 ms /
10.93 ms
∇ -4.15%
95.42 Hz /
91.46 Hz
Δ 4.33%
graph(2d): insertEdge x 1e3158.24 us /
X
6.32 KHz /
X
graph(2d,vec): insertEdge x 1e3133.69 us /
X
7.48 KHz /
X
graph(2d): insertEdgeAtEnd x 1e384.43 us /
X
11.84 KHz /
X
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
X
12.23 KHz /
X
graph(2d pdf): insertEdge x 1e3207.17 us /
X
4.83 KHz /
X
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
X
4.30 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
X
4.05 KHz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
X
5.19 KHz /
X
graph(2d): insertEdge x 1e42.08 ms /
X
480.05 Hz /
X
graph(2d,vec): insertEdge x 1e41.62 ms /
X
618.53 Hz /
X
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
X
1.15 KHz /
X
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
X
1.18 KHz /
X
graph(2d pdf): insertEdge x 1e42.34 ms /
X
427.14 Hz /
X
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
X
356.06 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
X
470.35 Hz /
X
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
X
469.13 Hz /
X
graph(3d): insertEdge x 1e3220.82 us /
X
4.53 KHz /
X
graph(3d,vec): insertEdge x 1e3221.81 us /
X
4.51 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
X
5.46 KHz /
X
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
X
5.36 KHz /
X
graph(3d pdf): insertEdge x 1e3532.35 us /
X
1.88 KHz /
X
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
X
1.86 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
X
2.05 KHz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
X
2.03 KHz /
X
graph(3d): insertEdge x 1e42.78 ms /
X
359.55 Hz /
X
graph(3d,vec): insertEdge x 1e42.77 ms /
X
360.52 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
X
477.61 Hz /
X
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
X
487.11 Hz /
X
graph(3d pdf): insertEdge x 1e47.36 ms /
X
135.81 Hz /
X
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
X
143.42 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
X
189.20 Hz /
X
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
X
182.28 Hz /
X
graph(3d): dijkstra 1e2 nodes90.55 us /
X
11.04 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
X
11.98 KHz /
X
graph(3d): dijkstra 1e3 nodes1.13 ms /
X
882.20 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
X
1.30 KHz /
X
graph(3d): dijkstra 1e4 nodes21.12 ms /
X
47.35 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
X
92.06 Hz /
X
graph(3d): dijkstra 1e5 nodes341.35 ms /
X
2.93 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
X
7.02 Hz /
X
graph(2d): dijkstra 1e5 nodes320.28 ms /
X
3.12 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
X
7.48 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:38.365456 with MRPT 0.9.4 by 'mrpt-performance'.