Comparison: 0.9.4-GCC-64bit vs. 0.9.3-GCC-64bit




Test description 0.9.4-GCC-64bit /
0.9.3-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
20.90 ms
∇ -0.74%
48.21 Hz /
47.85 Hz
Δ 0.74%
icp-slam (match grid): Run with sample dataset17.09 ms /
18.76 ms
∇ -8.92%
58.52 Hz /
53.30 Hz
Δ 9.79%
poses: CPose3D (+) CPose3D29.76 ns /
41.67 ns
∇ -28.58%
33.60 MHz /
24.00 MHz
Δ 40.02%
poses: CPose3D.composeFrom()21.90 ns /
32.39 ns
∇ -32.39%
45.66 MHz /
30.87 MHz
Δ 47.90%
poses: CPose3D (+) CPoint3D7.23 ns /
8.02 ns
∇ -9.85%
138.24 MHz /
124.63 MHz
Δ 10.92%
poses: CPose3D.composePoint()11.67 ns /
11.53 ns
Δ 1.20%
85.68 MHz /
86.70 MHz
∇ -1.18%
poses: CPoint3D (-) CPose3D13.29 ns /
18.18 ns
∇ -26.94%
75.27 MHz /
54.99 MHz
Δ 36.87%
poses: CPose3D.inverseComposePoint()24.48 ns /
25.21 ns
∇ -2.91%
40.85 MHz /
39.66 MHz
Δ 3.00%
poses: CPose2D (+) CPose2D71.64 ns /
72.10 ns
∇ -0.64%
13.96 MHz /
13.87 MHz
Δ 0.64%
poses: CPose2D.composeFrom()69.41 ns /
69.22 ns
Δ 0.27%
14.41 MHz /
14.45 MHz
∇ -0.27%
poses: CPose2D (+) CPoint2D60.78 ns /
60.48 ns
Δ 0.48%
16.45 MHz /
16.53 MHz
∇ -0.48%
poses: CPose2D.composePoint()60.80 ns /
60.01 ns
Δ 1.31%
16.45 MHz /
16.66 MHz
∇ -1.30%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
42.70 ns
∇ -5.22%
24.71 MHz /
23.42 MHz
Δ 5.51%
poses: CPose3DQuat.composeFrom()37.55 ns /
38.27 ns
∇ -1.88%
26.63 MHz /
26.13 MHz
Δ 1.92%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
17.90 ns
∇ -2.88%
57.51 MHz /
55.85 MHz
Δ 2.97%
poses: CPose3DQuat.composePoint()17.48 ns /
18.44 ns
∇ -5.18%
57.20 MHz /
54.23 MHz
Δ 5.47%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
33.31 ns
∇ -1.03%
30.33 MHz /
30.02 MHz
Δ 1.04%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
19.52 ns
∇ -2.10%
52.34 MHz /
51.24 MHz
Δ 2.15%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
16.27 ns
Δ 43.91%
42.70 MHz /
61.45 MHz
∇ -30.51%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
169.77 ns
Δ 1.73%
5.79 MHz /
5.89 MHz
∇ -1.70%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
799.00 ns
∇ -16.02%
1.49 MHz /
1.25 MHz
Δ 19.08%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
788.50 ns
∇ -17.31%
1.53 MHz /
1.27 MHz
Δ 20.94%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
9.11 us
∇ -4.00%
114.40 KHz /
109.83 KHz
Δ 4.16%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
557.50 ns
∇ -18.55%
2.20 MHz /
1.79 MHz
Δ 22.77%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
558.50 ns
∇ -18.91%
2.21 MHz /
1.79 MHz
Δ 23.32%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
8.42 us
∇ -5.24%
125.39 KHz /
118.81 KHz
Δ 5.53%
matrix: unit, dyn[float], 3x317.64 ns /
17.83 ns
∇ -1.12%
56.71 MHz /
56.07 MHz
Δ 1.13%
matrix: unit, dyn[double], 3x319.86 ns /
19.48 ns
Δ 1.99%
50.34 MHz /
51.35 MHz
∇ -1.95%
matrix: unit, dyn[float], 6x657.06 ns /
54.85 ns
Δ 4.03%
17.53 MHz /
18.23 MHz
∇ -3.87%
matrix: unit, dyn[double], 6x660.00 ns /
55.93 ns
Δ 7.27%
16.67 MHz /
17.88 MHz
∇ -6.78%
matrix: unit, fix[float,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[float,6,6]0.00 ns /
1.50 ns
∇ -100.00%
1.#J THz /
667.56 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
5.61 ns
∇ -100.00%
1.#J THz /
178.35 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
291.30 ns
∇ -16.68%
4.12 MHz /
3.43 MHz
Δ 20.02%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3231.60 ns /
292.50 ns
∇ -20.82%
4.32 MHz /
3.42 MHz
Δ 26.30%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3296.50 ns /
347.50 ns
∇ -14.68%
3.37 MHz /
2.88 MHz
Δ 17.20%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
0.00 ns
Δ 1.#J%
10.00 GHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
340.40 ns
∇ -23.85%
3.86 MHz /
2.94 MHz
Δ 31.33%
matrix: multiply, fix[double], 3x6 * 6x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
2.42 us
∇ -13.50%
477.69 KHz /
413.19 KHz
Δ 15.61%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
2.23 us
∇ -19.83%
559.03 KHz /
448.19 KHz
Δ 24.73%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
2.31 us
Δ 5.11%
411.68 KHz /
432.69 KHz
∇ -4.86%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
2.12 us
Δ 1.92%
462.21 KHz /
471.08 KHz
∇ -1.88%
matrix: inv, dyn[double] 3x3767.00 ns /
780.00 ns
∇ -1.67%
1.30 MHz /
1.28 MHz
Δ 1.69%
matrix: inv, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[double] 6x61.78 us /
1.97 us
∇ -9.74%
561.80 KHz /
507.10 KHz
Δ 10.79%
matrix: inv, fix[double] 6x61.73 us /
1.60 us
Δ 7.93%
578.70 KHz /
624.61 KHz
∇ -7.35%
matrix: inv, dyn[double] 20x2016.27 us /
16.08 us
Δ 1.16%
61.47 KHz /
62.19 KHz
∇ -1.15%
matrix: inv, fix[double] 20x2013.44 us /
14.48 us
∇ -7.16%
74.41 KHz /
69.08 KHz
Δ 7.72%
matrix: inv, dyn[double] 40x4068.00 us /
65.78 us
Δ 3.37%
14.70 KHz /
15.20 KHz
∇ -3.26%
matrix: inv, fix[double] 40x4063.01 us /
64.13 us
∇ -1.75%
15.87 KHz /
15.59 KHz
Δ 1.78%
matrix: det, dyn[double] 2x2209.40 ns /
212.60 ns
∇ -1.51%
4.78 MHz /
4.70 MHz
Δ 1.53%
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 /
323.30 ns
Δ 2.47%
3.02 MHz /
3.09 MHz
∇ -2.41%
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 /
774.90 ns
Δ 21.78%
1.06 MHz /
1.29 MHz
∇ -17.89%
matrix: det, fix[double] 6x6575.90 ns /
592.30 ns
∇ -2.77%
1.74 MHz /
1.69 MHz
Δ 2.85%
matrix: det, dyn[double] 20x208.10 us /
8.50 us
∇ -4.68%
123.40 KHz /
117.63 KHz
Δ 4.91%
matrix: det, fix[double] 20x207.48 us /
7.72 us
∇ -3.05%
133.61 KHz /
129.53 KHz
Δ 3.15%
matrix: det, dyn[double] 40x4030.87 us /
32.23 us
∇ -4.20%
32.39 KHz /
31.03 KHz
Δ 4.38%
matrix: det, fix[double] 40x4029.01 us /
30.71 us
∇ -5.52%
34.47 KHz /
32.57 KHz
Δ 5.84%
matrix: chol, dyn[double] 4x4530.00 ns /
530.00 ns
∇ 0.00%
1.89 MHz /
1.89 MHz
∇ 0.00%
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 /
22.98 us
∇ -9.92%
48.31 KHz /
43.52 KHz
Δ 11.01%
matrix: chol, fix[double] 40x4016.54 us /
19.50 us
∇ -15.18%
60.46 KHz /
51.28 KHz
Δ 17.90%
matrix: chol, sparse [2x2;2x2]12.20 us /
8.20 us
Δ 48.78%
81.97 KHz /
121.95 KHz
∇ -32.79%
matrix: chol, sparse [30x30;10x10]87.70 us /
85.30 us
Δ 2.81%
11.40 KHz /
11.72 KHz
∇ -2.74%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
56.80 us
∇ -8.98%
19.34 KHz /
17.61 KHz
Δ 9.86%
matrix: chol, sparse 10x[6x6]38.27 us /
39.31 us
∇ -2.65%
26.13 KHz /
25.44 KHz
Δ 2.72%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
266.80 us
∇ -4.24%
3.91 KHz /
3.75 KHz
Δ 4.42%
matrix: chol, sparse 20x[6x6]70.94 us /
72.76 us
∇ -2.50%
14.10 KHz /
13.74 KHz
Δ 2.57%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
2.67 ms
Δ 3.00%
363.64 Hz /
374.53 Hz
∇ -2.91%
matrix: chol, sparse 50x[6x6]169.22 us /
176.19 us
∇ -3.96%
5.91 KHz /
5.68 KHz
Δ 4.12%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
20.73 ms
Δ 6.40%
45.33 Hz /
48.23 Hz
∇ -6.02%
matrix: chol, sparse 100x[6x6]339.61 us /
351.05 us
∇ -3.26%
2.94 KHz /
2.85 KHz
Δ 3.37%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
34.60 ms
Δ 5.96%
27.27 Hz /
28.90 Hz
∇ -5.63%
matrix: chol, sparse 120x[6x6]402.38 us /
415.89 us
∇ -3.25%
2.49 KHz /
2.40 KHz
Δ 3.36%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
50.32 ms
Δ 7.04%
18.57 Hz /
19.87 Hz
∇ -6.58%
matrix: chol, sparse 140x[6x6]476.81 us /
482.94 us
∇ -1.27%
2.10 KHz /
2.07 KHz
Δ 1.29%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.71 ns /
2.61 ns
Δ 3.87%
369.33 MHz /
383.63 MHz
∇ -3.73%
gridmap2D: updateCell6.04 ns /
6.99 ns
∇ -13.63%
165.59 MHz /
143.02 MHz
Δ 15.78%
gridmap2D: updateCell_fast_occupied0.61 ns /
0.51 ns
Δ 19.87%
1.63 GHz /
1.95 GHz
∇ -16.57%
gridmap2D: insert scan w/o widening99.83 us /
102.59 us
∇ -2.68%
10.02 KHz /
9.75 KHz
Δ 2.76%
gridmap2D: insert scan with widening293.13 us /
284.11 us
Δ 3.17%
3.41 KHz /
3.52 KHz
∇ -3.08%
gridmap2D: resize630.00 us /
722.00 us
∇ -12.74%
1.59 KHz /
1.39 KHz
Δ 14.60%
gridmap2D: computeLikelihood17.81 us /
15.69 us
Δ 13.49%
56.14 KHz /
63.72 KHz
∇ -11.89%
pointmap: insert 100 scans1.01 ms /
2.97 ms
∇ -65.98%
990.80 Hz /
337.06 Hz
Δ 193.96%
pointmap: build 2D kd-tree of 1 scan4.52 us /
4.36 us
Δ 3.67%
221.24 KHz /
229.36 KHz
∇ -3.54%
pointmap: build 2D kd-tree of 100 scan364.44 us /
357.08 us
Δ 2.06%
2.74 KHz /
2.80 KHz
∇ -2.02%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
4.19 ms
Δ 4.56%
228.21 Hz /
238.61 Hz
∇ -4.36%
pointmap: build 3D kd-tree of 1 scan5.16 us /
4.72 us
Δ 9.32%
193.80 KHz /
211.86 KHz
∇ -8.53%
pointmap: build 3D kd-tree of 100 scan372.44 us /
362.68 us
Δ 2.69%
2.68 KHz /
2.76 KHz
∇ -2.62%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
4.10 ms
Δ 2.53%
238.06 Hz /
244.09 Hz
∇ -2.47%
pointmap: kd-tree 2d query on 10 scans1.42 us /
1.39 us
Δ 2.38%
703.73 KHz /
720.46 KHz
∇ -2.32%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
101.86 us
∇ -0.01%
9.82 KHz /
9.82 KHz
Δ 0.01%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
11.78 ms
Δ 3.37%
82.15 Hz /
84.92 Hz
∇ -3.26%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
5.62 ms
Δ 0.33%
177.25 Hz /
177.84 Hz
∇ -0.33%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
130.59 ms
Δ 1.66%
7.53 Hz /
7.66 Hz
∇ -1.64%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
5.69 ms
Δ 0.39%
175.04 Hz /
175.73 Hz
∇ -0.39%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
132.22 ms
Δ 1.90%
7.42 Hz /
7.56 Hz
∇ -1.87%
random: drawUniform32bit14.55 ns /
15.67 ns
∇ -7.17%
68.75 MHz /
63.82 MHz
Δ 7.72%
random: drawUniform14.56 ns /
15.66 ns
∇ -7.01%
68.69 MHz /
63.88 MHz
Δ 7.53%
random: drawGaussian1D_normalized66.87 ns /
69.89 ns
∇ -4.33%
14.96 MHz /
14.31 MHz
Δ 4.53%
random: drawGaussian1D66.81 ns /
69.86 ns
∇ -4.37%
14.97 MHz /
14.32 MHz
Δ 4.57%
random: system rand()10.63 ns /
12.21 ns
∇ -13.00%
94.11 MHz /
81.87 MHz
Δ 14.95%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
2.70 us
∇ -66.53%
1.11 MHz /
370.49 KHz
Δ 198.79%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
5.71 us
∇ -71.80%
621.01 KHz /
175.14 KHz
Δ 254.58%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
148.19 ns
∇ -2.38%
6.91 MHz /
6.75 MHz
Δ 2.44%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
232.46 ns
∇ -5.58%
4.56 MHz /
4.30 MHz
Δ 5.91%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
489.71 ns
∇ -3.45%
2.12 MHz /
2.04 MHz
Δ 3.58%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
159.54 ns
∇ -4.54%
6.57 MHz /
6.27 MHz
Δ 4.76%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
247.75 ns
∇ -5.13%
4.25 MHz /
4.04 MHz
Δ 5.41%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
521.91 ns
∇ -5.81%
2.03 MHz /
1.92 MHz
Δ 6.17%
random: permuteVector (len=10)243.60 ns /
251.30 ns
∇ -3.06%
4.11 MHz /
3.98 MHz
Δ 3.16%
random: permuteVector (len=100)2.99 us /
3.02 us
∇ -1.05%
334.99 KHz /
331.46 KHz
Δ 1.07%
random: permuteVector (len=1000)29.51 us /
30.36 us
∇ -2.80%
33.88 KHz /
32.93 KHz
Δ 2.88%
math: round0.10 ns /
0.10 ns
Δ 0.08%
10.08 GHz /
10.09 GHz
∇ -0.08%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
34.14 ms
∇ -1.50%
29.74 Hz /
29.29 Hz
Δ 1.53%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
49.83 ms
Δ 0.04%
20.06 Hz /
20.07 Hz
∇ -0.04%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
80.71 ms
∇ -13.78%
14.37 Hz /
12.39 Hz
Δ 15.98%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
29.36 ms
Δ 4.35%
32.63 Hz /
34.05 Hz
∇ -4.17%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
42.45 ms
Δ 3.44%
22.78 Hz /
23.56 Hz
∇ -3.32%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
65.41 ms
∇ -4.41%
15.99 Hz /
15.29 Hz
Δ 4.61%
images: Gauss filter (640x480)3.81 ms /
4.66 ms
∇ -18.40%
262.76 Hz /
214.40 Hz
Δ 22.55%
images: Gauss filter (800x600)5.96 ms /
5.98 ms
∇ -0.36%
167.70 Hz /
167.10 Hz
Δ 0.36%
images: Gauss filter (1024x768)10.46 ms /
10.42 ms
Δ 0.34%
95.61 Hz /
95.93 Hz
∇ -0.34%
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 /
11.35 us
Δ 11.81%
78.80 KHz /
88.11 KHz
∇ -10.56%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
9.96 us
∇ -1.10%
101.52 KHz /
100.40 KHz
Δ 1.12%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
5.52 us
∇ -5.07%
190.84 KHz /
181.16 KHz
Δ 5.34%
feature_extraction [640x480]: Harris21.14 ms /
32.25 ms
∇ -34.46%
47.31 Hz /
31.01 Hz
Δ 52.58%
feature_extraction [640x480]: KLT21.45 ms /
25.60 ms
∇ -16.21%
46.61 Hz /
39.06 Hz
Δ 19.35%
feature_extraction [640x480]: SIFT591.25 ms /
630.91 ms
∇ -6.29%
1.69 Hz /
1.59 Hz
Δ 6.71%
feature_extraction [640x480]: SIFT desc.162.82 ms /
164.09 ms
∇ -0.77%
6.14 Hz /
6.09 Hz
Δ 0.78%
feature_extraction [640x480]: SURF197.33 ms /
207.64 ms
∇ -4.96%
5.07 Hz /
4.82 Hz
Δ 5.22%
feature_extraction [640x480]: FAST6.89 ms /
7.60 ms
∇ -9.35%
145.15 Hz /
131.57 Hz
Δ 10.32%
feature_extraction [640x480]: Spin desc.63.90 ms /
60.60 ms
Δ 5.43%
15.65 Hz /
16.50 Hz
∇ -5.15%
feature_matching [640x480]: Harris + CC38.54 ms /
43.99 ms
∇ -12.39%
25.95 Hz /
22.73 Hz
Δ 14.15%
feature_matching [640x480]: Harris + SAD33.59 ms /
36.29 ms
∇ -7.43%
29.77 Hz /
27.56 Hz
Δ 8.02%
feature_matching [640x480]: SIFT1.16 sec /
1.20 sec
∇ -3.36%
863.45 mHz /
834.47 mHz
Δ 3.47%
feature_matching [640x480]: SURF375.89 ms /
379.83 ms
∇ -1.04%
2.66 Hz /
2.63 Hz
Δ 1.05%
feature_matching [640x480]: FAST + CC15.89 ms /
16.04 ms
∇ -0.93%
62.95 Hz /
62.36 Hz
Δ 0.93%
feature_matching [640x480]: FAST + SAD10.48 ms /
10.85 ms
∇ -3.44%
95.42 Hz /
92.14 Hz
Δ 3.56%
graph(2d): insertEdge x 1e3158.24 us /
119.99 us
Δ 31.88%
6.32 KHz /
8.33 KHz
∇ -24.17%
graph(2d,vec): insertEdge x 1e3133.69 us /
107.18 us
Δ 24.73%
7.48 KHz /
9.33 KHz
∇ -19.83%
graph(2d): insertEdgeAtEnd x 1e384.43 us /
84.03 us
Δ 0.47%
11.84 KHz /
11.90 KHz
∇ -0.47%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
83.37 us
∇ -1.91%
12.23 KHz /
11.99 KHz
Δ 1.95%
graph(2d pdf): insertEdge x 1e3207.17 us /
170.61 us
Δ 21.43%
4.83 KHz /
5.86 KHz
∇ -17.64%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
181.61 us
Δ 28.06%
4.30 KHz /
5.51 KHz
∇ -21.91%
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
179.02 us
Δ 37.83%
4.05 KHz /
5.59 KHz
∇ -27.45%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
178.59 us
Δ 7.84%
5.19 KHz /
5.60 KHz
∇ -7.27%
graph(2d): insertEdge x 1e42.08 ms /
1.58 ms
Δ 31.65%
480.05 Hz /
632.00 Hz
∇ -24.04%
graph(2d,vec): insertEdge x 1e41.62 ms /
1.26 ms
Δ 27.86%
618.53 Hz /
790.83 Hz
∇ -21.79%
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
863.38 us
Δ 0.79%
1.15 KHz /
1.16 KHz
∇ -0.78%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
846.12 us
Δ 0.09%
1.18 KHz /
1.18 KHz
∇ -0.09%
graph(2d pdf): insertEdge x 1e42.34 ms /
1.96 ms
Δ 19.36%
427.14 Hz /
509.85 Hz
∇ -16.22%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
2.25 ms
Δ 25.04%
356.06 Hz /
445.23 Hz
∇ -20.03%
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
1.95 ms
Δ 8.80%
470.35 Hz /
511.72 Hz
∇ -8.08%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
1.95 ms
Δ 9.29%
469.13 Hz /
512.69 Hz
∇ -8.50%
graph(3d): insertEdge x 1e3220.82 us /
169.26 us
Δ 30.46%
4.53 KHz /
5.91 KHz
∇ -23.35%
graph(3d,vec): insertEdge x 1e3221.81 us /
168.78 us
Δ 31.43%
4.51 KHz /
5.93 KHz
∇ -23.91%
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
153.69 us
Δ 19.19%
5.46 KHz /
6.51 KHz
∇ -16.10%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
154.19 us
Δ 20.97%
5.36 KHz /
6.49 KHz
∇ -17.33%
graph(3d pdf): insertEdge x 1e3532.35 us /
471.95 us
Δ 12.80%
1.88 KHz /
2.12 KHz
∇ -11.35%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
479.58 us
Δ 12.18%
1.86 KHz /
2.09 KHz
∇ -10.86%
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
441.33 us
Δ 10.48%
2.05 KHz /
2.27 KHz
∇ -9.49%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
445.05 us
Δ 10.88%
2.03 KHz /
2.25 KHz
∇ -9.82%
graph(3d): insertEdge x 1e42.78 ms /
2.46 ms
Δ 13.21%
359.55 Hz /
407.06 Hz
∇ -11.67%
graph(3d,vec): insertEdge x 1e42.77 ms /
2.46 ms
Δ 12.76%
360.52 Hz /
406.51 Hz
∇ -11.31%
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
1.70 ms
Δ 23.21%
477.61 Hz /
588.45 Hz
∇ -18.83%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
1.70 ms
Δ 20.71%
487.11 Hz /
587.97 Hz
∇ -17.15%
graph(3d pdf): insertEdge x 1e47.36 ms /
6.68 ms
Δ 10.17%
135.81 Hz /
149.62 Hz
∇ -9.23%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
6.75 ms
Δ 3.23%
143.42 Hz /
148.06 Hz
∇ -3.13%
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
4.59 ms
Δ 15.26%
189.20 Hz /
218.07 Hz
∇ -13.24%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
4.58 ms
Δ 19.91%
182.28 Hz /
218.58 Hz
∇ -16.60%
graph(3d): dijkstra 1e2 nodes90.55 us /
89.04 us
Δ 1.70%
11.04 KHz /
11.23 KHz
∇ -1.67%
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
75.33 us
Δ 10.85%
11.98 KHz /
13.28 KHz
∇ -9.79%
graph(3d): dijkstra 1e3 nodes1.13 ms /
1.11 ms
Δ 2.41%
882.20 Hz /
903.43 Hz
∇ -2.35%
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
711.20 us
Δ 7.94%
1.30 KHz /
1.41 KHz
∇ -7.36%
graph(3d): dijkstra 1e4 nodes21.12 ms /
18.54 ms
Δ 13.92%
47.35 Hz /
53.94 Hz
∇ -12.22%
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
9.76 ms
Δ 11.34%
92.06 Hz /
102.51 Hz
∇ -10.19%
graph(3d): dijkstra 1e5 nodes341.35 ms /
252.57 ms
Δ 35.15%
2.93 Hz /
3.96 Hz
∇ -26.01%
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
112.23 ms
Δ 26.99%
7.02 Hz /
8.91 Hz
∇ -21.26%
graph(2d): dijkstra 1e5 nodes320.28 ms /
256.02 ms
Δ 25.10%
3.12 Hz /
3.91 Hz
∇ -20.07%
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
106.16 ms
Δ 25.90%
7.48 Hz /
9.42 Hz
∇ -20.57%

 


Page generated automatically at 2011/06/03,22:26:38.201447 with MRPT 0.9.4 by 'mrpt-performance'.