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




Test description 0.9.1-GCC-64bit /
0.9.4-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset21.60 ms /
20.74 ms
Δ 4.12%
46.30 Hz /
48.21 Hz
∇ -3.96%
icp-slam (match grid): Run with sample dataset20.51 ms /
17.09 ms
Δ 20.03%
48.75 Hz /
58.52 Hz
∇ -16.69%
poses: CPose3D (+) CPose3D449.02 ns /
29.76 ns
Δ 1408.80%
2.23 MHz /
33.60 MHz
∇ -93.37%
poses: CPose3D.composeFrom()233.83 ns /
21.90 ns
Δ 967.72%
4.28 MHz /
45.66 MHz
∇ -90.63%
poses: CPose3D (+) CPoint3D10.67 ns /
7.23 ns
Δ 47.44%
93.76 MHz /
138.24 MHz
∇ -32.18%
poses: CPose3D.composePoint()10.06 ns /
11.67 ns
∇ -13.79%
99.38 MHz /
85.68 MHz
Δ 16.00%
poses: CPoint3D (-) CPose3D37.71 ns /
13.29 ns
Δ 183.82%
26.52 MHz /
75.27 MHz
∇ -64.77%
poses: CPose3D.inverseComposePoint()40.98 ns /
24.48 ns
Δ 67.39%
24.40 MHz /
40.85 MHz
∇ -40.26%
poses: CPose2D (+) CPose2D78.17 ns /
71.64 ns
Δ 9.11%
12.79 MHz /
13.96 MHz
∇ -8.35%
poses: CPose2D.composeFrom()62.17 ns /
69.41 ns
∇ -10.43%
16.08 MHz /
14.41 MHz
Δ 11.64%
poses: CPose2D (+) CPoint2D63.86 ns /
60.78 ns
Δ 5.08%
15.66 MHz /
16.45 MHz
∇ -4.84%
poses: CPose2D.composePoint()61.98 ns /
60.80 ns
Δ 1.94%
16.13 MHz /
16.45 MHz
∇ -1.90%
poses: CPose3DQuat (+) CPose3DQuat47.00 ns /
40.47 ns
Δ 16.14%
21.28 MHz /
24.71 MHz
∇ -13.89%
poses: CPose3DQuat.composeFrom()39.80 ns /
37.55 ns
Δ 5.99%
25.13 MHz /
26.63 MHz
∇ -5.65%
poses: CPose3DQuat (+) CPoint3D22.62 ns /
17.39 ns
Δ 30.09%
44.21 MHz /
57.51 MHz
∇ -23.13%
poses: CPose3DQuat.composePoint()18.93 ns /
17.48 ns
Δ 8.27%
52.83 MHz /
57.20 MHz
∇ -7.64%
poses: CPoint3D (-) CPose3DQuat 391.26 ns /
32.97 ns
Δ 1086.78%
2.56 MHz /
30.33 MHz
∇ -91.57%
poses: CPose3DQuat.invcomposePoint()18.05 ns /
19.11 ns
∇ -5.51%
55.39 MHz /
52.34 MHz
Δ 5.83%
poses: Conv CPose3DQuat <- CPose3D355.00 ns /
23.42 ns
Δ 1415.80%
2.82 MHz /
42.70 MHz
∇ -93.40%
poses: Conv CPose3D -> CPose3DQuat173.19 ns /
172.72 ns
Δ 0.28%
5.77 MHz /
5.79 MHz
∇ -0.28%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)814.76 us /
671.00 ns
Δ 121324.37%
1.23 KHz /
1.49 MHz
∇ -99.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)821.91 us /
652.00 ns
Δ 125959.59%
1.22 KHz /
1.53 MHz
∇ -99.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.57 us /
8.74 us
Δ 9.50%
104.48 KHz /
114.40 KHz
∇ -8.67%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)682.30 ns /
454.10 ns
Δ 50.25%
1.47 MHz /
2.20 MHz
∇ -33.45%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)533.80 ns /
452.90 ns
Δ 17.86%
1.87 MHz /
2.21 MHz
∇ -15.16%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.51 us /
7.98 us
Δ 6.76%
117.45 KHz /
125.39 KHz
∇ -6.33%
matrix: unit, dyn[float], 3x320.59 ns /
17.64 ns
Δ 16.77%
48.56 MHz /
56.71 MHz
∇ -14.36%
matrix: unit, dyn[double], 3x322.60 ns /
19.86 ns
Δ 13.80%
44.24 MHz /
50.34 MHz
∇ -12.13%
matrix: unit, dyn[float], 6x663.92 ns /
57.06 ns
Δ 12.04%
15.64 MHz /
17.53 MHz
∇ -10.75%
matrix: unit, dyn[double], 6x665.22 ns /
60.00 ns
Δ 8.70%
15.33 MHz /
16.67 MHz
∇ -8.00%
matrix: unit, fix[float,3,3]0.35 ns /
0.00 ns
Δ 1.#J%
2.89 GHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,3,3]1.19 ns /
0.00 ns
Δ 1.#J%
842.46 MHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[float,6,6]1.68 ns /
0.00 ns
Δ 1.#J%
594.53 MHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,6,6]2.86 ns /
0.00 ns
Δ 1.#J%
349.53 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x373.50 ns /
242.70 ns
∇ -69.72%
13.61 MHz /
4.12 MHz
Δ 230.20%
matrix: multiply, fix[float ], 3x3 * 3x324.10 ns /
0.00 ns
Δ 1.#J%
41.49 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x372.10 ns /
231.60 ns
∇ -68.87%
13.87 MHz /
4.32 MHz
Δ 221.22%
matrix: multiply, fix[double], 3x3 * 3x323.50 ns /
0.00 ns
Δ 1.#J%
42.55 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3112.90 ns /
296.50 ns
∇ -61.92%
8.86 MHz /
3.37 MHz
Δ 162.62%
matrix: multiply, fix[float ], 3x6 * 6x345.00 ns /
0.10 ns
Δ 44900.00%
22.22 MHz /
10.00 GHz
∇ -99.78%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
259.20 ns
∇ -57.37%
9.05 MHz /
3.86 MHz
Δ 134.57%
matrix: multiply, fix[double], 3x6 * 6x345.10 ns /
0.00 ns
Δ 1.#J%
22.17 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x105.82 us /
2.09 us
Δ 177.87%
171.91 KHz /
477.69 KHz
∇ -64.01%
matrix: multiply, fix[float ], 10x40 * 40x103.57 us /
1.79 us
Δ 99.72%
279.91 KHz /
559.03 KHz
∇ -49.93%
matrix: multiply, dyn[double], 10x40 * 40x105.88 us /
2.43 us
Δ 142.26%
169.93 KHz /
411.68 KHz
∇ -58.72%
matrix: multiply, fix[double], 10x40 * 40x103.82 us /
2.16 us
Δ 76.39%
262.04 KHz /
462.21 KHz
∇ -43.31%
matrix: inv, dyn[float ] 3x3449.00 ns /
X
2.23 MHz /
X
matrix: inv, fix[float ] 3x333.00 ns /
X
30.30 MHz /
X
matrix: inv, dyn[double] 3x3413.00 ns /
767.00 ns
∇ -46.15%
2.42 MHz /
1.30 MHz
Δ 85.71%
matrix: inv, fix[double] 3x322.00 ns /
0.00 ns
Δ 1.#J%
45.45 MHz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[float ] 6x61.31 us /
X
761.04 KHz /
X
matrix: inv, fix[float ] 6x6468.00 ns /
X
2.14 MHz /
X
matrix: inv, dyn[double] 6x61.25 us /
1.78 us
∇ -29.83%
800.64 KHz /
561.80 KHz
Δ 42.51%
matrix: inv, fix[double] 6x6578.00 ns /
1.73 us
∇ -66.55%
1.73 MHz /
578.70 KHz
Δ 198.96%
matrix: inv, dyn[float ] 20x2028.01 us /
X
35.71 KHz /
X
matrix: inv, fix[float ] 20x2012.67 us /
X
78.91 KHz /
X
matrix: inv, dyn[double] 20x2028.58 us /
16.27 us
Δ 75.72%
34.98 KHz /
61.47 KHz
∇ -43.09%
matrix: inv, fix[double] 20x2017.20 us /
13.44 us
Δ 27.96%
58.15 KHz /
74.41 KHz
∇ -21.85%
matrix: inv, dyn[float ] 40x40205.67 us /
X
4.86 KHz /
X
matrix: inv, fix[float ] 40x4092.66 us /
X
10.79 KHz /
X
matrix: inv, dyn[double] 40x40200.95 us /
68.00 us
Δ 195.49%
4.98 KHz /
14.70 KHz
∇ -66.16%
matrix: inv, fix[double] 40x40134.50 us /
63.01 us
Δ 113.48%
7.43 KHz /
15.87 KHz
∇ -53.16%
matrix: det, dyn[float ] 2x26.40 ns /
X
156.25 MHz /
X
matrix: det, fix[float ] 2x20.00 ns /
X
1.#J THz /
X
matrix: det, dyn[double] 2x28.80 ns /
209.40 ns
∇ -95.80%
113.64 MHz /
4.78 MHz
Δ 2279.55%
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 /
X
97.09 MHz /
X
matrix: det, fix[float ] 3x30.00 ns /
X
1.#J THz /
X
matrix: det, dyn[double] 3x310.30 ns /
331.30 ns
∇ -96.89%
97.09 MHz /
3.02 MHz
Δ 3116.50%
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 /
X
1.07 MHz /
X
matrix: det, fix[float ] 6x6215.70 ns /
X
4.64 MHz /
X
matrix: det, dyn[double] 6x6739.10 ns /
943.70 ns
∇ -21.68%
1.35 MHz /
1.06 MHz
Δ 27.68%
matrix: det, fix[double] 6x6219.80 ns /
575.90 ns
∇ -61.83%
4.55 MHz /
1.74 MHz
Δ 162.01%
matrix: det, dyn[float ] 20x205.64 us /
X
177.30 KHz /
X
matrix: det, fix[float ] 20x204.05 us /
X
246.81 KHz /
X
matrix: det, dyn[double] 20x206.52 us /
8.10 us
∇ -19.51%
153.32 KHz /
123.40 KHz
Δ 24.25%
matrix: det, fix[double] 20x204.73 us /
7.48 us
∇ -36.84%
211.54 KHz /
133.61 KHz
Δ 58.32%
matrix: det, dyn[float ] 40x4030.83 us /
X
32.43 KHz /
X
matrix: det, fix[float ] 40x4025.85 us /
X
38.68 KHz /
X
matrix: det, dyn[double] 40x4032.40 us /
30.87 us
Δ 4.93%
30.87 KHz /
32.39 KHz
∇ -4.70%
matrix: det, fix[double] 40x4027.53 us /
29.01 us
∇ -5.12%
36.33 KHz /
34.47 KHz
Δ 5.39%
matrix: chol, dyn[double] 4x4170.00 ns /
530.00 ns
∇ -67.92%
5.88 MHz /
1.89 MHz
Δ 211.76%
matrix: chol, fix[double] 4x4130.00 ns /
120.00 ns
Δ 8.33%
7.69 MHz /
8.33 MHz
∇ -7.69%
matrix: chol, dyn[double] 40x4018.73 us /
20.70 us
∇ -9.52%
53.39 KHz /
48.31 KHz
Δ 10.52%
matrix: chol, fix[double] 40x4016.74 us /
16.54 us
Δ 1.21%
59.74 KHz /
60.46 KHz
∇ -1.19%
matrix: chol, sparse [2x2;2x2]8.50 us /
12.20 us
∇ -30.33%
117.65 KHz /
81.97 KHz
Δ 43.53%
matrix: chol, sparse [30x30;10x10]93.90 us /
87.70 us
Δ 7.07%
10.65 KHz /
11.40 KHz
∇ -6.60%
matrix: chol, dyn[double] 10x[6x6]52.90 us /
51.70 us
Δ 2.32%
18.90 KHz /
19.34 KHz
∇ -2.27%
matrix: chol, sparse 10x[6x6]40.03 us /
38.27 us
Δ 4.60%
24.98 KHz /
26.13 KHz
∇ -4.40%
matrix: chol, dyn[double] 20x[6x6]411.30 us /
255.50 us
Δ 60.98%
2.43 KHz /
3.91 KHz
∇ -37.88%
matrix: chol, sparse 20x[6x6]74.98 us /
70.94 us
Δ 5.69%
13.34 KHz /
14.10 KHz
∇ -5.39%
matrix: chol, dyn[double] 50x[6x6]8.61 ms /
2.75 ms
Δ 212.99%
116.18 Hz /
363.64 Hz
∇ -68.05%
matrix: chol, sparse 50x[6x6]185.35 us /
169.22 us
Δ 9.53%
5.40 KHz /
5.91 KHz
∇ -8.70%
matrix: chol, dyn[double] 100x[6x6]135.40 ms /
22.06 ms
Δ 513.78%
7.39 Hz /
45.33 Hz
∇ -83.71%
matrix: chol, sparse 100x[6x6]359.80 us /
339.61 us
Δ 5.95%
2.78 KHz /
2.94 KHz
∇ -5.61%
matrix: chol, dyn[double] 120x[6x6]364.32 ms /
36.67 ms
Δ 893.59%
2.74 Hz /
27.27 Hz
∇ -89.94%
matrix: chol, sparse 120x[6x6]426.39 us /
402.38 us
Δ 5.97%
2.35 KHz /
2.49 KHz
∇ -5.63%
matrix: chol, dyn[double] 140x[6x6]800.16 ms /
53.86 ms
Δ 1385.56%
1.25 Hz /
18.57 Hz
∇ -93.27%
matrix: chol, sparse 140x[6x6]497.60 us /
476.81 us
Δ 4.36%
2.01 KHz /
2.10 KHz
∇ -4.18%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.58 ns /
2.71 ns
∇ -4.61%
387.19 MHz /
369.33 MHz
Δ 4.84%
gridmap2D: updateCell7.47 ns /
6.04 ns
Δ 23.76%
133.80 MHz /
165.59 MHz
∇ -19.20%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.61 ns
∇ -11.12%
1.83 GHz /
1.63 GHz
Δ 12.51%
gridmap2D: insert scan w/o widening104.80 us /
99.83 us
Δ 4.97%
9.54 KHz /
10.02 KHz
∇ -4.74%
gridmap2D: insert scan with widening295.32 us /
293.13 us
Δ 0.75%
3.39 KHz /
3.41 KHz
∇ -0.74%
gridmap2D: resize1.83 ms /
630.00 us
Δ 189.84%
547.65 Hz /
1.59 KHz
∇ -65.50%
gridmap2D: computeLikelihood16.65 us /
17.81 us
∇ -6.52%
60.06 KHz /
56.14 KHz
Δ 6.97%
pointmap: insert 100 scans3.11 ms /
1.01 ms
Δ 208.44%
321.23 Hz /
990.80 Hz
∇ -67.58%
pointmap: build 2D kd-tree of 1 scan4.28 us /
4.52 us
∇ -5.31%
233.64 KHz /
221.24 KHz
Δ 5.61%
pointmap: build 2D kd-tree of 100 scan354.96 us /
364.44 us
∇ -2.60%
2.82 KHz /
2.74 KHz
Δ 2.67%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
4.38 ms
∇ -5.57%
241.67 Hz /
228.21 Hz
Δ 5.90%
pointmap: build 3D kd-tree of 1 scan4.28 us /
5.16 us
∇ -17.05%
233.64 KHz /
193.80 KHz
Δ 20.56%
pointmap: build 3D kd-tree of 100 scan361.24 us /
372.44 us
∇ -3.01%
2.77 KHz /
2.68 KHz
Δ 3.10%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.20 ms
∇ -2.70%
244.66 Hz /
238.06 Hz
Δ 2.77%
pointmap: kd-tree 2d query on 10 scans1.37 us /
1.42 us
∇ -3.73%
730.99 KHz /
703.73 KHz
Δ 3.87%
pointmap: kd-tree 2d query on 1000 scans98.96 us /
101.86 us
∇ -2.84%
10.10 KHz /
9.82 KHz
Δ 2.92%
pointmap: kd-tree 2d query on 10000 scans11.96 ms /
12.17 ms
∇ -1.78%
83.64 Hz /
82.15 Hz
Δ 1.81%
pointmap: (insert scan+2D kd-tree query) x 105.60 ms /
5.64 ms
∇ -0.70%
178.50 Hz /
177.25 Hz
Δ 0.70%
pointmap: (insert scan+2D kd-tree query) x 50129.56 ms /
132.76 ms
∇ -2.41%
7.72 Hz /
7.53 Hz
Δ 2.47%
pointmap: (insert scan+3D kd-tree query) x 105.65 ms /
5.71 ms
∇ -1.01%
176.84 Hz /
175.04 Hz
Δ 1.02%
pointmap: (insert scan+3D kd-tree query) x 50132.43 ms /
134.74 ms
∇ -1.71%
7.55 Hz /
7.42 Hz
Δ 1.74%
random: drawUniform32bit15.70 ns /
14.55 ns
Δ 7.93%
63.70 MHz /
68.75 MHz
∇ -7.35%
random: drawUniform15.69 ns /
14.56 ns
Δ 7.80%
63.72 MHz /
68.69 MHz
∇ -7.24%
random: drawGaussian1D_normalized70.40 ns /
66.87 ns
Δ 5.28%
14.20 MHz /
14.96 MHz
∇ -5.02%
random: drawGaussian1D70.38 ns /
66.81 ns
Δ 5.34%
14.21 MHz /
14.97 MHz
∇ -5.07%
random: system rand()11.07 ns /
10.63 ns
Δ 4.14%
90.37 MHz /
94.11 MHz
∇ -3.97%
random: drawGaussianMultivariate(fixed 3x3)1.33 us /
903.36 ns
Δ 47.21%
751.96 KHz /
1.11 MHz
∇ -32.07%
random: drawGaussianMultivariate(dyn 3x3)3.04 us /
1.61 us
Δ 88.76%
328.99 KHz /
621.01 KHz
∇ -47.02%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)162.81 ns /
144.65 ns
Δ 12.55%
6.14 MHz /
6.91 MHz
∇ -11.15%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)245.58 ns /
219.48 ns
Δ 11.89%
4.07 MHz /
4.56 MHz
∇ -10.63%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)514.74 ns /
472.80 ns
Δ 8.87%
1.94 MHz /
2.12 MHz
∇ -8.15%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)173.84 ns /
152.29 ns
Δ 14.15%
5.75 MHz /
6.57 MHz
∇ -12.39%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)259.42 ns /
235.04 ns
Δ 10.37%
3.85 MHz /
4.25 MHz
∇ -9.40%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)523.99 ns /
491.60 ns
Δ 6.59%
1.91 MHz /
2.03 MHz
∇ -6.18%
random: permuteVector (len=10)288.60 ns /
243.60 ns
Δ 18.47%
3.47 MHz /
4.11 MHz
∇ -15.59%
random: permuteVector (len=100)3.07 us /
2.99 us
Δ 2.88%
325.61 KHz /
334.99 KHz
∇ -2.80%
random: permuteVector (len=1000)30.26 us /
29.51 us
Δ 2.52%
33.05 KHz /
33.88 KHz
∇ -2.45%
math: round0.10 ns /
0.10 ns
Δ 3.21%
9.77 GHz /
10.08 GHz
∇ -3.11%
images: Save as JPEG (640x480, quality=95%)31.77 ms /
33.63 ms
∇ -5.53%
31.48 Hz /
29.74 Hz
Δ 5.85%
images: Save as JPEG (800x600, quality=95%)45.70 ms /
49.85 ms
∇ -8.33%
21.88 Hz /
20.06 Hz
Δ 9.08%
images: Save as JPEG (1024x768, quality=95%)73.33 ms /
69.59 ms
Δ 5.38%
13.64 Hz /
14.37 Hz
∇ -5.11%
images: Save as JPEG (640x480, quality=75%)27.15 ms /
30.64 ms
∇ -11.39%
36.83 Hz /
32.63 Hz
Δ 12.85%
images: Save as JPEG (800x600, quality=75%)40.31 ms /
43.91 ms
∇ -8.19%
24.81 Hz /
22.78 Hz
Δ 8.92%
images: Save as JPEG (1024x768, quality=75%)64.44 ms /
62.52 ms
Δ 3.06%
15.52 Hz /
15.99 Hz
∇ -2.97%
images: Gauss filter (640x480)4.52 ms /
3.81 ms
Δ 18.73%
221.30 Hz /
262.76 Hz
∇ -15.78%
images: Gauss filter (800x600)7.35 ms /
5.96 ms
Δ 23.27%
136.05 Hz /
167.70 Hz
∇ -18.88%
images: Gauss filter (1024x768)11.22 ms /
10.46 ms
Δ 7.26%
89.13 Hz /
95.61 Hz
∇ -6.77%
scan_matching: 6D LS Rigid Trans. [CPose3D]6.32 us /
12.69 us
∇ -50.20%
158.23 KHz /
78.80 KHz
Δ 100.79%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.78 us /
9.85 us
∇ -51.47%
209.21 KHz /
101.52 KHz
Δ 106.07%
scan_matching: 6D LS Rigid Trans. [vector of points]2.14 us /
5.24 us
∇ -59.16%
467.29 KHz /
190.84 KHz
Δ 144.86%
feature_extraction [640x480]: Harris28.31 ms /
21.14 ms
Δ 33.94%
35.32 Hz /
47.31 Hz
∇ -25.34%
feature_extraction [640x480]: KLT27.34 ms /
21.45 ms
Δ 27.45%
36.57 Hz /
46.61 Hz
∇ -21.54%
feature_extraction [640x480]: SIFT641.91 ms /
591.25 ms
Δ 8.57%
1.56 Hz /
1.69 Hz
∇ -7.89%
feature_extraction [640x480]: SIFT desc.170.65 ms /
162.82 ms
Δ 4.81%
5.86 Hz /
6.14 Hz
∇ -4.59%
feature_extraction [640x480]: SURF201.21 ms /
197.33 ms
Δ 1.97%
4.97 Hz /
5.07 Hz
∇ -1.93%
feature_extraction [640x480]: FAST5.22 ms /
6.89 ms
∇ -24.20%
191.49 Hz /
145.15 Hz
Δ 31.93%
feature_extraction [640x480]: Spin desc.60.81 ms /
63.90 ms
∇ -4.83%
16.44 Hz /
15.65 Hz
Δ 5.08%
feature_matching [640x480]: Harris + CC43.26 ms /
38.54 ms
Δ 12.26%
23.12 Hz /
25.95 Hz
∇ -10.92%
feature_matching [640x480]: Harris + SAD39.91 ms /
33.59 ms
Δ 18.82%
25.06 Hz /
29.77 Hz
∇ -15.84%
feature_matching [640x480]: SIFT1.28 sec /
1.16 sec
Δ 10.22%
783.36 mHz /
863.45 mHz
∇ -9.28%
feature_matching [640x480]: SURF386.18 ms /
375.89 ms
Δ 2.74%
2.59 Hz /
2.66 Hz
∇ -2.66%
feature_matching [640x480]: FAST + CC16.12 ms /
15.89 ms
Δ 1.48%
62.03 Hz /
62.95 Hz
∇ -1.46%
feature_matching [640x480]: FAST + SAD10.93 ms /
10.48 ms
Δ 4.33%
91.46 Hz /
95.42 Hz
∇ -4.15%

 


Page generated automatically at 2011/06/03,22:26:39.979548 with MRPT 0.9.4 by 'mrpt-performance'.