Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.3-GCC-64bit




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.3-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
20.90 ms
∇ -1.49%
48.58 Hz /
47.85 Hz
Δ 1.52%
icp-slam (match grid): Run with sample dataset20.64 ms /
18.76 ms
Δ 9.99%
48.45 Hz /
53.30 Hz
∇ -9.08%
poses: CPose3D (+) CPose3D42.90 ns /
41.67 ns
Δ 2.95%
23.31 MHz /
24.00 MHz
∇ -2.87%
poses: CPose3D.composeFrom()37.61 ns /
32.39 ns
Δ 16.12%
26.59 MHz /
30.87 MHz
∇ -13.88%
poses: CPose3D (+) CPoint3D7.25 ns /
8.02 ns
∇ -9.62%
137.89 MHz /
124.63 MHz
Δ 10.65%
poses: CPose3D.composePoint()11.83 ns /
11.53 ns
Δ 2.57%
84.53 MHz /
86.70 MHz
∇ -2.50%
poses: CPoint3D (-) CPose3D39.31 ns /
18.18 ns
Δ 116.19%
25.44 MHz /
54.99 MHz
∇ -53.74%
poses: CPose3D.inverseComposePoint()34.91 ns /
25.21 ns
Δ 38.44%
28.65 MHz /
39.66 MHz
∇ -27.77%
poses: CPose2D (+) CPose2D76.08 ns /
72.10 ns
Δ 5.52%
13.14 MHz /
13.87 MHz
∇ -5.23%
poses: CPose2D.composeFrom()61.61 ns /
69.22 ns
∇ -11.00%
16.23 MHz /
14.45 MHz
Δ 12.36%
poses: CPose2D (+) CPoint2D60.26 ns /
60.48 ns
∇ -0.36%
16.59 MHz /
16.53 MHz
Δ 0.37%
poses: CPose2D.composePoint()62.26 ns /
60.01 ns
Δ 3.75%
16.06 MHz /
16.66 MHz
∇ -3.62%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
42.70 ns
∇ -4.00%
24.40 MHz /
23.42 MHz
Δ 4.17%
poses: CPose3DQuat.composeFrom()39.39 ns /
38.27 ns
Δ 2.93%
25.39 MHz /
26.13 MHz
∇ -2.84%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
17.90 ns
Δ 2.23%
54.63 MHz /
55.85 MHz
∇ -2.19%
poses: CPose3DQuat.composePoint()17.94 ns /
18.44 ns
∇ -2.70%
55.74 MHz /
54.23 MHz
Δ 2.78%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
33.31 ns
Δ 66.47%
18.03 MHz /
30.02 MHz
∇ -39.93%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
19.52 ns
∇ -9.51%
56.63 MHz /
51.24 MHz
Δ 10.51%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
16.27 ns
Δ 3.14%
59.58 MHz /
61.45 MHz
∇ -3.04%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
169.77 ns
∇ -0.24%
5.90 MHz /
5.89 MHz
Δ 0.24%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
799.00 ns
Δ 99909.82%
1.25 KHz /
1.25 MHz
∇ -99.90%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
788.50 ns
Δ 101777.87%
1.24 KHz /
1.27 MHz
∇ -99.90%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
9.11 us
Δ 3.70%
105.91 KHz /
109.83 KHz
∇ -3.57%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
557.50 ns
Δ 16.39%
1.54 MHz /
1.79 MHz
∇ -14.09%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
558.50 ns
Δ 12.98%
1.58 MHz /
1.79 MHz
∇ -11.49%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
8.42 us
∇ -2.85%
122.30 KHz /
118.81 KHz
Δ 2.93%
matrix: unit, dyn[float], 3x324.43 ns /
17.83 ns
Δ 36.97%
40.94 MHz /
56.07 MHz
∇ -26.99%
matrix: unit, dyn[double], 3x323.18 ns /
19.48 ns
Δ 19.03%
43.14 MHz /
51.35 MHz
∇ -15.99%
matrix: unit, dyn[float], 6x659.50 ns /
54.85 ns
Δ 8.49%
16.81 MHz /
18.23 MHz
∇ -7.83%
matrix: unit, dyn[double], 6x662.26 ns /
55.93 ns
Δ 11.32%
16.06 MHz /
17.88 MHz
∇ -10.17%
matrix: unit, fix[float,3,3]0.35 ns /
0.00 ns
Δ 1.#J%
2.88 GHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,3,3]1.19 ns /
0.00 ns
Δ 1.#J%
841.75 MHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[float,6,6]1.70 ns /
1.50 ns
Δ 13.68%
587.20 MHz /
667.56 MHz
∇ -12.04%
matrix: unit, fix[double,6,6]2.77 ns /
5.61 ns
∇ -50.60%
361.01 MHz /
178.35 MHz
Δ 102.42%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
291.30 ns
∇ -70.55%
11.66 MHz /
3.43 MHz
Δ 239.51%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
0.00 ns
Δ 1.#J%
42.02 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x3 * 3x375.90 ns /
292.50 ns
∇ -74.05%
13.18 MHz /
3.42 MHz
Δ 285.38%
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 * 6x3118.10 ns /
347.50 ns
∇ -66.01%
8.47 MHz /
2.88 MHz
Δ 194.24%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
0.00 ns
Δ 1.#J%
22.37 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[double], 3x6 * 6x3110.50 ns /
340.40 ns
∇ -67.54%
9.05 MHz /
2.94 MHz
Δ 208.05%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
0.00 ns
Δ 1.#J%
22.12 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
2.42 us
Δ 124.62%
183.95 KHz /
413.19 KHz
∇ -55.48%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
2.23 us
Δ 69.21%
264.87 KHz /
448.19 KHz
∇ -40.90%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
2.31 us
Δ 139.89%
180.38 KHz /
432.69 KHz
∇ -58.31%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
2.12 us
Δ 91.94%
245.43 KHz /
471.08 KHz
∇ -47.90%
matrix: inv, dyn[float ] 3x3631.00 ns /
X
1.58 MHz /
X
matrix: inv, fix[float ] 3x335.00 ns /
X
28.57 MHz /
X
matrix: inv, dyn[double] 3x3644.00 ns /
780.00 ns
∇ -17.44%
1.55 MHz /
1.28 MHz
Δ 21.12%
matrix: inv, fix[double] 3x339.00 ns /
0.00 ns
Δ 1.#J%
25.64 MHz /
1.#J THz
∇ -1.#J%
matrix: inv, dyn[float ] 6x62.37 us /
X
421.76 KHz /
X
matrix: inv, fix[float ] 6x6812.00 ns /
X
1.23 MHz /
X
matrix: inv, dyn[double] 6x61.26 us /
1.97 us
∇ -36.05%
793.02 KHz /
507.10 KHz
Δ 56.38%
matrix: inv, fix[double] 6x6575.00 ns /
1.60 us
∇ -64.08%
1.74 MHz /
624.61 KHz
Δ 178.43%
matrix: inv, dyn[float ] 20x2025.94 us /
X
38.55 KHz /
X
matrix: inv, fix[float ] 20x2014.15 us /
X
70.70 KHz /
X
matrix: inv, dyn[double] 20x2025.76 us /
16.08 us
Δ 60.17%
38.83 KHz /
62.19 KHz
∇ -37.57%
matrix: inv, fix[double] 20x2017.04 us /
14.48 us
Δ 17.70%
58.69 KHz /
69.08 KHz
∇ -15.04%
matrix: inv, dyn[float ] 40x40205.11 us /
X
4.88 KHz /
X
matrix: inv, fix[float ] 40x4093.29 us /
X
10.72 KHz /
X
matrix: inv, dyn[double] 40x40207.20 us /
65.78 us
Δ 214.96%
4.83 KHz /
15.20 KHz
∇ -68.25%
matrix: inv, fix[double] 40x40133.80 us /
64.13 us
Δ 108.64%
7.47 KHz /
15.59 KHz
∇ -52.07%
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] 2x26.40 ns /
212.60 ns
∇ -96.99%
156.25 MHz /
4.70 MHz
Δ 3221.88%
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 /
323.30 ns
∇ -96.81%
97.09 MHz /
3.09 MHz
Δ 3038.83%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
matrix: det, dyn[float ] 6x6653.50 ns /
X
1.53 MHz /
X
matrix: det, fix[float ] 6x6210.00 ns /
X
4.76 MHz /
X
matrix: det, dyn[double] 6x6730.30 ns /
774.90 ns
∇ -5.76%
1.37 MHz /
1.29 MHz
Δ 6.11%
matrix: det, fix[double] 6x6212.10 ns /
592.30 ns
∇ -64.19%
4.71 MHz /
1.69 MHz
Δ 179.26%
matrix: det, dyn[float ] 20x205.70 us /
X
175.40 KHz /
X
matrix: det, fix[float ] 20x204.20 us /
X
237.92 KHz /
X
matrix: det, dyn[double] 20x206.56 us /
8.50 us
∇ -22.78%
152.33 KHz /
117.63 KHz
Δ 29.50%
matrix: det, fix[double] 20x205.04 us /
7.72 us
∇ -34.71%
198.38 KHz /
129.53 KHz
Δ 53.15%
matrix: det, dyn[float ] 40x4032.38 us /
X
30.89 KHz /
X
matrix: det, fix[float ] 40x4027.92 us /
X
35.82 KHz /
X
matrix: det, dyn[double] 40x4039.41 us /
32.23 us
Δ 22.30%
25.37 KHz /
31.03 KHz
∇ -18.23%
matrix: det, fix[double] 40x4029.04 us /
30.71 us
∇ -5.44%
34.44 KHz /
32.57 KHz
Δ 5.75%
matrix: chol, dyn[double] 4x4140.00 ns /
530.00 ns
∇ -73.58%
7.14 MHz /
1.89 MHz
Δ 278.57%
matrix: chol, fix[double] 4x4160.00 ns /
130.00 ns
Δ 23.08%
6.25 MHz /
7.69 MHz
∇ -18.75%
matrix: chol, dyn[double] 40x4018.38 us /
22.98 us
∇ -20.02%
54.41 KHz /
43.52 KHz
Δ 25.03%
matrix: chol, fix[double] 40x4017.08 us /
19.50 us
∇ -12.41%
58.55 KHz /
51.28 KHz
Δ 14.17%
matrix: chol, sparse [2x2;2x2]8.30 us /
8.20 us
Δ 1.22%
120.48 KHz /
121.95 KHz
∇ -1.20%
matrix: chol, sparse [30x30;10x10]84.40 us /
85.30 us
∇ -1.06%
11.85 KHz /
11.72 KHz
Δ 1.07%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
56.80 us
∇ -6.69%
18.87 KHz /
17.61 KHz
Δ 7.17%
matrix: chol, sparse 10x[6x6]39.49 us /
39.31 us
Δ 0.46%
25.32 KHz /
25.44 KHz
∇ -0.46%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
266.80 us
Δ 54.31%
2.43 KHz /
3.75 KHz
∇ -35.20%
matrix: chol, sparse 20x[6x6]74.09 us /
72.76 us
Δ 1.83%
13.50 KHz /
13.74 KHz
∇ -1.80%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
2.67 ms
Δ 288.79%
96.33 Hz /
374.53 Hz
∇ -74.28%
matrix: chol, sparse 50x[6x6]248.74 us /
176.19 us
Δ 41.18%
4.02 KHz /
5.68 KHz
∇ -29.17%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
20.73 ms
Δ 1687.74%
2.70 Hz /
48.23 Hz
∇ -94.41%
matrix: chol, sparse 100x[6x6]353.56 us /
351.05 us
Δ 0.71%
2.83 KHz /
2.85 KHz
∇ -0.71%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
34.60 ms
Δ 956.42%
2.74 Hz /
28.90 Hz
∇ -90.53%
matrix: chol, sparse 120x[6x6]425.27 us /
415.89 us
Δ 2.26%
2.35 KHz /
2.40 KHz
∇ -2.21%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
50.32 ms
Δ 1481.98%
1.26 Hz /
19.87 Hz
∇ -93.68%
matrix: chol, sparse 140x[6x6]490.79 us /
482.94 us
Δ 1.63%
2.04 KHz /
2.07 KHz
∇ -1.60%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.58 ns /
2.61 ns
∇ -1.07%
387.76 MHz /
383.63 MHz
Δ 1.08%
gridmap2D: updateCell7.44 ns /
6.99 ns
Δ 6.48%
134.32 MHz /
143.02 MHz
∇ -6.08%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.51 ns
Δ 7.51%
1.82 GHz /
1.95 GHz
∇ -6.99%
gridmap2D: insert scan w/o widening101.23 us /
102.59 us
∇ -1.33%
9.88 KHz /
9.75 KHz
Δ 1.34%
gridmap2D: insert scan with widening291.30 us /
284.11 us
Δ 2.53%
3.43 KHz /
3.52 KHz
∇ -2.47%
gridmap2D: resize1.89 ms /
722.00 us
Δ 161.50%
529.66 Hz /
1.39 KHz
∇ -61.76%
gridmap2D: computeLikelihood16.46 us /
15.69 us
Δ 4.87%
60.76 KHz /
63.72 KHz
∇ -4.64%
pointmap: insert 100 scans3.10 ms /
2.97 ms
Δ 4.51%
322.50 Hz /
337.06 Hz
∇ -4.32%
pointmap: build 2D kd-tree of 1 scan4.28 us /
4.36 us
∇ -1.83%
233.64 KHz /
229.36 KHz
Δ 1.87%
pointmap: build 2D kd-tree of 100 scan355.52 us /
357.08 us
∇ -0.44%
2.81 KHz /
2.80 KHz
Δ 0.44%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
4.19 ms
∇ -0.68%
240.24 Hz /
238.61 Hz
Δ 0.68%
pointmap: build 3D kd-tree of 1 scan4.76 us /
4.72 us
Δ 0.85%
210.08 KHz /
211.86 KHz
∇ -0.84%
pointmap: build 3D kd-tree of 100 scan363.20 us /
362.68 us
Δ 0.14%
2.75 KHz /
2.76 KHz
∇ -0.14%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.10 ms
∇ -0.08%
244.29 Hz /
244.09 Hz
Δ 0.08%
pointmap: kd-tree 2d query on 10 scans1.38 us /
1.39 us
∇ -0.43%
723.59 KHz /
720.46 KHz
Δ 0.43%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
101.86 us
∇ -0.92%
9.91 KHz /
9.82 KHz
Δ 0.92%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
11.78 ms
Δ 1.16%
83.95 Hz /
84.92 Hz
∇ -1.15%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
5.62 ms
∇ -0.09%
178.01 Hz /
177.84 Hz
Δ 0.09%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
130.59 ms
Δ 0.13%
7.65 Hz /
7.66 Hz
∇ -0.13%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
5.69 ms
∇ -0.36%
176.35 Hz /
175.73 Hz
Δ 0.36%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
132.22 ms
Δ 0.31%
7.54 Hz /
7.56 Hz
∇ -0.31%
random: drawUniform32bit14.57 ns /
15.67 ns
∇ -7.01%
68.63 MHz /
63.82 MHz
Δ 7.53%
random: drawUniform14.62 ns /
15.66 ns
∇ -6.62%
68.41 MHz /
63.88 MHz
Δ 7.09%
random: drawGaussian1D_normalized68.70 ns /
69.89 ns
∇ -1.71%
14.56 MHz /
14.31 MHz
Δ 1.74%
random: drawGaussian1D68.68 ns /
69.86 ns
∇ -1.68%
14.56 MHz /
14.32 MHz
Δ 1.71%
random: system rand()10.45 ns /
12.21 ns
∇ -14.42%
95.67 MHz /
81.87 MHz
Δ 16.85%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
2.70 us
∇ -51.56%
764.77 KHz /
370.49 KHz
Δ 106.42%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
5.71 us
∇ -51.20%
358.92 KHz /
175.14 KHz
Δ 104.94%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
148.19 ns
Δ 6.80%
6.32 MHz /
6.75 MHz
∇ -6.37%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
232.46 ns
Δ 1.70%
4.23 MHz /
4.30 MHz
∇ -1.68%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
489.71 ns
∇ -0.07%
2.04 MHz /
2.04 MHz
Δ 0.07%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
159.54 ns
Δ 3.18%
6.07 MHz /
6.27 MHz
∇ -3.08%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
247.75 ns
Δ 0.15%
4.03 MHz /
4.04 MHz
∇ -0.15%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
521.91 ns
∇ -1.36%
1.94 MHz /
1.92 MHz
Δ 1.38%
random: permuteVector (len=10)317.50 ns /
251.30 ns
Δ 26.34%
3.15 MHz /
3.98 MHz
∇ -20.85%
random: permuteVector (len=100)3.06 us /
3.02 us
Δ 1.50%
326.54 KHz /
331.46 KHz
∇ -1.48%
random: permuteVector (len=1000)30.27 us /
30.36 us
∇ -0.31%
33.04 KHz /
32.93 KHz
Δ 0.32%
math: round0.10 ns /
0.10 ns
Δ 0.01%
10.09 GHz /
10.09 GHz
∇ -0.01%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
34.14 ms
∇ -20.13%
36.67 Hz /
29.29 Hz
Δ 25.20%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
49.83 ms
∇ -13.16%
23.11 Hz /
20.07 Hz
Δ 15.15%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
80.71 ms
∇ -7.48%
13.39 Hz /
12.39 Hz
Δ 8.09%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
29.36 ms
∇ -10.41%
38.01 Hz /
34.05 Hz
Δ 11.62%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
42.45 ms
∇ -3.60%
24.44 Hz /
23.56 Hz
Δ 3.74%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
65.41 ms
∇ -4.36%
15.99 Hz /
15.29 Hz
Δ 4.55%
images: Gauss filter (640x480)4.48 ms /
4.66 ms
∇ -3.86%
223.01 Hz /
214.40 Hz
Δ 4.02%
images: Gauss filter (800x600)7.46 ms /
5.98 ms
Δ 24.64%
134.07 Hz /
167.10 Hz
∇ -19.77%
images: Gauss filter (1024x768)12.41 ms /
10.42 ms
Δ 19.07%
80.57 Hz /
95.93 Hz
∇ -16.01%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
11.35 us
∇ -54.63%
194.17 KHz /
88.11 KHz
Δ 120.39%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
9.96 us
∇ -56.33%
229.89 KHz /
100.40 KHz
Δ 128.97%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
5.52 us
∇ -61.59%
471.70 KHz /
181.16 KHz
Δ 160.38%
feature_extraction [640x480]: Harris33.18 ms /
32.25 ms
Δ 2.88%
30.14 Hz /
31.01 Hz
∇ -2.80%
feature_extraction [640x480]: KLT29.64 ms /
25.60 ms
Δ 15.75%
33.74 Hz /
39.06 Hz
∇ -13.60%
feature_extraction [640x480]: SIFT637.68 ms /
630.91 ms
Δ 1.07%
1.57 Hz /
1.59 Hz
∇ -1.06%
feature_extraction [640x480]: SIFT desc.173.14 ms /
164.09 ms
Δ 5.52%
5.78 Hz /
6.09 Hz
∇ -5.23%
feature_extraction [640x480]: SURF202.84 ms /
207.64 ms
∇ -2.31%
4.93 Hz /
4.82 Hz
Δ 2.37%
feature_extraction [640x480]: FAST5.10 ms /
7.60 ms
∇ -32.85%
195.94 Hz /
131.57 Hz
Δ 48.92%
feature_extraction [640x480]: Spin desc.61.22 ms /
60.60 ms
Δ 1.01%
16.33 Hz /
16.50 Hz
∇ -1.00%
feature_matching [640x480]: Harris + CC43.90 ms /
43.99 ms
∇ -0.21%
22.78 Hz /
22.73 Hz
Δ 0.21%
feature_matching [640x480]: Harris + SAD38.32 ms /
36.29 ms
Δ 5.61%
26.09 Hz /
27.56 Hz
∇ -5.32%
feature_matching [640x480]: SIFT1.28 sec /
1.20 sec
Δ 6.59%
782.87 mHz /
834.47 mHz
∇ -6.18%
feature_matching [640x480]: SURF387.99 ms /
379.83 ms
Δ 2.15%
2.58 Hz /
2.63 Hz
∇ -2.10%
feature_matching [640x480]: FAST + CC15.73 ms /
16.04 ms
∇ -1.90%
63.57 Hz /
62.36 Hz
Δ 1.94%
feature_matching [640x480]: FAST + SAD10.56 ms /
10.85 ms
∇ -2.70%
94.70 Hz /
92.14 Hz
Δ 2.78%
graph(2d): insertEdge x 1e3104.46 us /
119.99 us
∇ -12.94%
9.57 KHz /
8.33 KHz
Δ 14.87%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
84.03 us
Δ 1.38%
11.74 KHz /
11.90 KHz
∇ -1.36%
graph(2d pdf): insertEdge x 1e3134.65 us /
170.61 us
∇ -21.08%
7.43 KHz /
5.86 KHz
Δ 26.71%
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
179.02 us
∇ -33.03%
8.34 KHz /
5.59 KHz
Δ 49.32%
graph(2d): insertEdge x 1e41.39 ms /
1.58 ms
∇ -12.46%
721.96 Hz /
632.00 Hz
Δ 14.23%
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
863.38 us
∇ -1.08%
1.17 KHz /
1.16 KHz
Δ 1.09%
graph(2d pdf): insertEdge x 1e41.61 ms /
1.96 ms
∇ -18.00%
621.80 Hz /
509.85 Hz
Δ 21.96%
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
1.95 ms
∇ -38.55%
832.81 Hz /
511.72 Hz
Δ 62.75%
graph(3d): insertEdge x 1e3132.91 us /
169.26 us
∇ -21.48%
7.52 KHz /
5.91 KHz
Δ 27.35%
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
153.69 us
∇ -29.01%
9.17 KHz /
6.51 KHz
Δ 40.86%
graph(3d pdf): insertEdge x 1e3349.74 us /
471.95 us
∇ -25.89%
2.86 KHz /
2.12 KHz
Δ 34.94%
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
441.33 us
∇ -27.14%
3.11 KHz /
2.27 KHz
Δ 37.26%
graph(3d): insertEdge x 1e41.89 ms /
2.46 ms
∇ -23.07%
529.10 Hz /
407.06 Hz
Δ 29.98%
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
1.70 ms
∇ -35.35%
910.25 Hz /
588.45 Hz
Δ 54.69%
graph(3d pdf): insertEdge x 1e44.65 ms /
6.68 ms
∇ -30.47%
215.20 Hz /
149.62 Hz
Δ 43.83%
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
4.59 ms
∇ -11.64%
246.81 Hz /
218.07 Hz
Δ 13.18%
graph(3d,map): dijkstra 1e2 nodes94.48 us /
X
10.58 KHz /
X
graph(3d,map): dijkstra 1e3 nodes1.16 ms /
X
860.07 Hz /
X
graph(3d,map): dijkstra 1e4 nodes19.13 ms /
X
52.28 Hz /
X

 


Page generated automatically at 2011/06/03,22:26:39.014493 with MRPT 0.9.4 by 'mrpt-performance'.