Comparison: 0.9.4-GCC-64bit vs. 0.9.2preSVN2157-GCC-64bit




Test description 0.9.4-GCC-64bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
20.59 ms
Δ 0.77%
48.21 Hz /
48.58 Hz
∇ -0.76%
icp-slam (match grid): Run with sample dataset17.09 ms /
20.64 ms
∇ -17.19%
58.52 Hz /
48.45 Hz
Δ 20.76%
poses: CPose3D (+) CPose3D29.76 ns /
42.90 ns
∇ -30.63%
33.60 MHz /
23.31 MHz
Δ 44.15%
poses: CPose3D.composeFrom()21.90 ns /
37.61 ns
∇ -41.77%
45.66 MHz /
26.59 MHz
Δ 71.74%
poses: CPose3D (+) CPoint3D7.23 ns /
7.25 ns
∇ -0.25%
138.24 MHz /
137.89 MHz
Δ 0.25%
poses: CPose3D.composePoint()11.67 ns /
11.83 ns
∇ -1.34%
85.68 MHz /
84.53 MHz
Δ 1.35%
poses: CPoint3D (-) CPose3D13.29 ns /
39.31 ns
∇ -66.20%
75.27 MHz /
25.44 MHz
Δ 195.89%
poses: CPose3D.inverseComposePoint()24.48 ns /
34.91 ns
∇ -29.87%
40.85 MHz /
28.65 MHz
Δ 42.59%
poses: CPose2D (+) CPose2D71.64 ns /
76.08 ns
∇ -5.83%
13.96 MHz /
13.14 MHz
Δ 6.19%
poses: CPose2D.composeFrom()69.41 ns /
61.61 ns
Δ 12.65%
14.41 MHz /
16.23 MHz
∇ -11.23%
poses: CPose2D (+) CPoint2D60.78 ns /
60.26 ns
Δ 0.85%
16.45 MHz /
16.59 MHz
∇ -0.84%
poses: CPose2D.composePoint()60.80 ns /
62.26 ns
∇ -2.35%
16.45 MHz /
16.06 MHz
Δ 2.41%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
40.99 ns
∇ -1.27%
24.71 MHz /
24.40 MHz
Δ 1.28%
poses: CPose3DQuat.composeFrom()37.55 ns /
39.39 ns
∇ -4.67%
26.63 MHz /
25.39 MHz
Δ 4.90%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
18.30 ns
∇ -5.00%
57.51 MHz /
54.63 MHz
Δ 5.27%
poses: CPose3DQuat.composePoint()17.48 ns /
17.94 ns
∇ -2.55%
57.20 MHz /
55.74 MHz
Δ 2.62%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
55.46 ns
∇ -40.55%
30.33 MHz /
18.03 MHz
Δ 68.21%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
17.66 ns
Δ 8.19%
52.34 MHz /
56.63 MHz
∇ -7.57%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
16.78 ns
Δ 39.53%
42.70 MHz /
59.58 MHz
∇ -28.33%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
169.37 ns
Δ 1.98%
5.79 MHz /
5.90 MHz
∇ -1.94%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
799.08 us
∇ -99.92%
1.49 MHz /
1.25 KHz
Δ 118987.70%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
803.31 us
∇ -99.92%
1.53 MHz /
1.24 KHz
Δ 123106.60%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
9.44 us
∇ -7.42%
114.40 KHz /
105.91 KHz
Δ 8.02%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
648.90 ns
∇ -30.02%
2.20 MHz /
1.54 MHz
Δ 42.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
631.00 ns
∇ -28.23%
2.21 MHz /
1.58 MHz
Δ 39.32%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
8.18 us
∇ -2.46%
125.39 KHz /
122.30 KHz
Δ 2.53%
matrix: unit, dyn[float], 3x317.64 ns /
24.43 ns
∇ -27.81%
56.71 MHz /
40.94 MHz
Δ 38.51%
matrix: unit, dyn[double], 3x319.86 ns /
23.18 ns
∇ -14.31%
50.34 MHz /
43.14 MHz
Δ 16.70%
matrix: unit, dyn[float], 6x657.06 ns /
59.50 ns
∇ -4.12%
17.53 MHz /
16.81 MHz
Δ 4.29%
matrix: unit, dyn[double], 6x660.00 ns /
62.26 ns
∇ -3.64%
16.67 MHz /
16.06 MHz
Δ 3.78%
matrix: unit, fix[float,3,3]0.00 ns /
0.35 ns
∇ -100.00%
1.#J THz /
2.88 GHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
1.19 ns
∇ -100.00%
1.#J THz /
841.75 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]0.00 ns /
1.70 ns
∇ -100.00%
1.#J THz /
587.20 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
2.77 ns
∇ -100.00%
1.#J THz /
361.01 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
85.80 ns
Δ 182.87%
4.12 MHz /
11.66 MHz
∇ -64.65%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
23.80 ns
∇ -100.00%
1.#J THz /
42.02 MHz
Δ 1.#J%
matrix: multiply, dyn[double], 3x3 * 3x3231.60 ns /
75.90 ns
Δ 205.14%
4.32 MHz /
13.18 MHz
∇ -67.23%
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 /
118.10 ns
Δ 151.06%
3.37 MHz /
8.47 MHz
∇ -60.17%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
44.70 ns
∇ -99.78%
10.00 GHz /
22.37 MHz
Δ 44600.00%
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 /
45.20 ns
∇ -100.00%
1.#J THz /
22.12 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x102.09 us /
5.44 us
∇ -61.49%
477.69 KHz /
183.95 KHz
Δ 159.68%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
3.78 us
∇ -52.62%
559.03 KHz /
264.87 KHz
Δ 111.06%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
5.54 us
∇ -56.19%
411.68 KHz /
180.38 KHz
Δ 128.23%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
4.07 us
∇ -46.90%
462.21 KHz /
245.43 KHz
Δ 88.32%
matrix: inv, dyn[double] 3x3767.00 ns /
644.00 ns
Δ 19.10%
1.30 MHz /
1.55 MHz
∇ -16.04%
matrix: inv, fix[double] 3x30.00 ns /
39.00 ns
∇ -100.00%
1.#J THz /
25.64 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
1.26 us
Δ 41.16%
561.80 KHz /
793.02 KHz
∇ -29.16%
matrix: inv, fix[double] 6x61.73 us /
575.00 ns
Δ 200.52%
578.70 KHz /
1.74 MHz
∇ -66.72%
matrix: inv, dyn[double] 20x2016.27 us /
25.76 us
∇ -36.84%
61.47 KHz /
38.83 KHz
Δ 58.33%
matrix: inv, fix[double] 20x2013.44 us /
17.04 us
∇ -21.12%
74.41 KHz /
58.69 KHz
Δ 26.78%
matrix: inv, dyn[double] 40x4068.00 us /
207.20 us
∇ -67.18%
14.70 KHz /
4.83 KHz
Δ 204.68%
matrix: inv, fix[double] 40x4063.01 us /
133.80 us
∇ -52.91%
15.87 KHz /
7.47 KHz
Δ 112.37%
matrix: det, dyn[double] 2x2209.40 ns /
6.40 ns
Δ 3171.88%
4.78 MHz /
156.25 MHz
∇ -96.94%
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 /
730.30 ns
Δ 29.22%
1.06 MHz /
1.37 MHz
∇ -22.61%
matrix: det, fix[double] 6x6575.90 ns /
212.10 ns
Δ 171.52%
1.74 MHz /
4.71 MHz
∇ -63.17%
matrix: det, dyn[double] 20x208.10 us /
6.56 us
Δ 23.45%
123.40 KHz /
152.33 KHz
∇ -18.99%
matrix: det, fix[double] 20x207.48 us /
5.04 us
Δ 48.47%
133.61 KHz /
198.38 KHz
∇ -32.65%
matrix: det, dyn[double] 40x4030.87 us /
39.41 us
∇ -21.67%
32.39 KHz /
25.37 KHz
Δ 27.66%
matrix: det, fix[double] 40x4029.01 us /
29.04 us
∇ -0.09%
34.47 KHz /
34.44 KHz
Δ 0.09%
matrix: chol, dyn[double] 4x4530.00 ns /
140.00 ns
Δ 278.57%
1.89 MHz /
7.14 MHz
∇ -73.58%
matrix: chol, fix[double] 4x4120.00 ns /
160.00 ns
∇ -25.00%
8.33 MHz /
6.25 MHz
Δ 33.33%
matrix: chol, dyn[double] 40x4020.70 us /
18.38 us
Δ 12.62%
48.31 KHz /
54.41 KHz
∇ -11.21%
matrix: chol, fix[double] 40x4016.54 us /
17.08 us
∇ -3.16%
60.46 KHz /
58.55 KHz
Δ 3.26%
matrix: chol, sparse [2x2;2x2]12.20 us /
8.30 us
Δ 46.99%
81.97 KHz /
120.48 KHz
∇ -31.97%
matrix: chol, sparse [30x30;10x10]87.70 us /
84.40 us
Δ 3.91%
11.40 KHz /
11.85 KHz
∇ -3.76%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
53.00 us
∇ -2.45%
19.34 KHz /
18.87 KHz
Δ 2.51%
matrix: chol, sparse 10x[6x6]38.27 us /
39.49 us
∇ -3.09%
26.13 KHz /
25.32 KHz
Δ 3.19%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
411.70 us
∇ -37.94%
3.91 KHz /
2.43 KHz
Δ 61.14%
matrix: chol, sparse 20x[6x6]70.94 us /
74.09 us
∇ -4.25%
14.10 KHz /
13.50 KHz
Δ 4.44%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
10.38 ms
∇ -73.51%
363.64 Hz /
96.33 Hz
Δ 277.48%
matrix: chol, sparse 50x[6x6]169.22 us /
248.74 us
∇ -31.97%
5.91 KHz /
4.02 KHz
Δ 46.99%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
370.64 ms
∇ -94.05%
45.33 Hz /
2.70 Hz
Δ 1580.16%
matrix: chol, sparse 100x[6x6]339.61 us /
353.56 us
∇ -3.95%
2.94 KHz /
2.83 KHz
Δ 4.11%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
365.56 ms
∇ -89.97%
27.27 Hz /
2.74 Hz
Δ 896.99%
matrix: chol, sparse 120x[6x6]402.38 us /
425.27 us
∇ -5.38%
2.49 KHz /
2.35 KHz
Δ 5.69%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
796.04 ms
∇ -93.23%
18.57 Hz /
1.26 Hz
Δ 1377.91%
matrix: chol, sparse 140x[6x6]476.81 us /
490.79 us
∇ -2.85%
2.10 KHz /
2.04 KHz
Δ 2.93%
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 4.99%
369.33 MHz /
387.76 MHz
∇ -4.75%
gridmap2D: updateCell6.04 ns /
7.44 ns
∇ -18.89%
165.59 MHz /
134.32 MHz
Δ 23.28%
gridmap2D: updateCell_fast_occupied0.61 ns /
0.55 ns
Δ 11.49%
1.63 GHz /
1.82 GHz
∇ -10.31%
gridmap2D: insert scan w/o widening99.83 us /
101.23 us
∇ -1.38%
10.02 KHz /
9.88 KHz
Δ 1.40%
gridmap2D: insert scan with widening293.13 us /
291.30 us
Δ 0.63%
3.41 KHz /
3.43 KHz
∇ -0.62%
gridmap2D: resize630.00 us /
1.89 ms
∇ -66.63%
1.59 KHz /
529.66 Hz
Δ 199.68%
gridmap2D: computeLikelihood17.81 us /
16.46 us
Δ 8.22%
56.14 KHz /
60.76 KHz
∇ -7.60%
pointmap: insert 100 scans1.01 ms /
3.10 ms
∇ -67.45%
990.80 Hz /
322.50 Hz
Δ 207.23%
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 /
355.52 us
Δ 2.51%
2.74 KHz /
2.81 KHz
∇ -2.45%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
4.16 ms
Δ 5.27%
228.21 Hz /
240.24 Hz
∇ -5.01%
pointmap: build 3D kd-tree of 1 scan5.16 us /
4.76 us
Δ 8.40%
193.80 KHz /
210.08 KHz
∇ -7.75%
pointmap: build 3D kd-tree of 100 scan372.44 us /
363.20 us
Δ 2.54%
2.68 KHz /
2.75 KHz
∇ -2.48%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
4.09 ms
Δ 2.61%
238.06 Hz /
244.29 Hz
∇ -2.55%
pointmap: kd-tree 2d query on 10 scans1.42 us /
1.38 us
Δ 2.82%
703.73 KHz /
723.59 KHz
∇ -2.74%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
100.93 us
Δ 0.92%
9.82 KHz /
9.91 KHz
∇ -0.91%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
11.91 ms
Δ 2.19%
82.15 Hz /
83.95 Hz
∇ -2.14%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
5.62 ms
Δ 0.43%
177.25 Hz /
178.01 Hz
∇ -0.43%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
130.76 ms
Δ 1.53%
7.53 Hz /
7.65 Hz
∇ -1.51%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
5.67 ms
Δ 0.75%
175.04 Hz /
176.35 Hz
∇ -0.74%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
132.64 ms
Δ 1.58%
7.42 Hz /
7.54 Hz
∇ -1.56%
random: drawUniform32bit14.55 ns /
14.57 ns
∇ -0.17%
68.75 MHz /
68.63 MHz
Δ 0.18%
random: drawUniform14.56 ns /
14.62 ns
∇ -0.41%
68.69 MHz /
68.41 MHz
Δ 0.41%
random: drawGaussian1D_normalized66.87 ns /
68.70 ns
∇ -2.67%
14.96 MHz /
14.56 MHz
Δ 2.74%
random: drawGaussian1D66.81 ns /
68.68 ns
∇ -2.73%
14.97 MHz /
14.56 MHz
Δ 2.81%
random: system rand()10.63 ns /
10.45 ns
Δ 1.66%
94.11 MHz /
95.67 MHz
∇ -1.63%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
1.31 us
∇ -30.91%
1.11 MHz /
764.77 KHz
Δ 44.75%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
2.79 us
∇ -42.20%
621.01 KHz /
358.92 KHz
Δ 73.02%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
158.26 ns
∇ -8.60%
6.91 MHz /
6.32 MHz
Δ 9.41%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
236.42 ns
∇ -7.17%
4.56 MHz /
4.23 MHz
Δ 7.72%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
489.37 ns
∇ -3.39%
2.12 MHz /
2.04 MHz
Δ 3.51%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
164.61 ns
∇ -7.48%
6.57 MHz /
6.07 MHz
Δ 8.09%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
248.12 ns
∇ -5.27%
4.25 MHz /
4.03 MHz
Δ 5.57%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
514.83 ns
∇ -4.51%
2.03 MHz /
1.94 MHz
Δ 4.73%
random: permuteVector (len=10)243.60 ns /
317.50 ns
∇ -23.28%
4.11 MHz /
3.15 MHz
Δ 30.34%
random: permuteVector (len=100)2.99 us /
3.06 us
∇ -2.52%
334.99 KHz /
326.54 KHz
Δ 2.59%
random: permuteVector (len=1000)29.51 us /
30.27 us
∇ -2.49%
33.88 KHz /
33.04 KHz
Δ 2.55%
math: round0.10 ns /
0.10 ns
Δ 0.07%
10.08 GHz /
10.09 GHz
∇ -0.07%
images: Save as JPEG (640x480, quality=95%)33.63 ms /
27.27 ms
Δ 23.32%
29.74 Hz /
36.67 Hz
∇ -18.91%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
43.27 ms
Δ 15.20%
20.06 Hz /
23.11 Hz
∇ -13.19%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
74.67 ms
∇ -6.81%
14.37 Hz /
13.39 Hz
Δ 7.30%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
26.31 ms
Δ 16.48%
32.63 Hz /
38.01 Hz
∇ -14.15%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
40.92 ms
Δ 7.30%
22.78 Hz /
24.44 Hz
∇ -6.81%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
62.56 ms
∇ -0.05%
15.99 Hz /
15.99 Hz
Δ 0.05%
images: Gauss filter (640x480)3.81 ms /
4.48 ms
∇ -15.13%
262.76 Hz /
223.01 Hz
Δ 17.82%
images: Gauss filter (800x600)5.96 ms /
7.46 ms
∇ -20.06%
167.70 Hz /
134.07 Hz
Δ 25.09%
images: Gauss filter (1024x768)10.46 ms /
12.41 ms
∇ -15.73%
95.61 Hz /
80.57 Hz
Δ 18.67%
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 /
5.15 us
Δ 146.41%
78.80 KHz /
194.17 KHz
∇ -59.42%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
4.35 us
Δ 126.44%
101.52 KHz /
229.89 KHz
∇ -55.84%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
2.12 us
Δ 147.17%
190.84 KHz /
471.70 KHz
∇ -59.54%
feature_extraction [640x480]: Harris21.14 ms /
33.18 ms
∇ -36.29%
47.31 Hz /
30.14 Hz
Δ 56.96%
feature_extraction [640x480]: KLT21.45 ms /
29.64 ms
∇ -27.61%
46.61 Hz /
33.74 Hz
Δ 38.14%
feature_extraction [640x480]: SIFT591.25 ms /
637.68 ms
∇ -7.28%
1.69 Hz /
1.57 Hz
Δ 7.85%
feature_extraction [640x480]: SIFT desc.162.82 ms /
173.14 ms
∇ -5.96%
6.14 Hz /
5.78 Hz
Δ 6.34%
feature_extraction [640x480]: SURF197.33 ms /
202.84 ms
∇ -2.72%
5.07 Hz /
4.93 Hz
Δ 2.79%
feature_extraction [640x480]: FAST6.89 ms /
5.10 ms
Δ 34.99%
145.15 Hz /
195.94 Hz
∇ -25.92%
feature_extraction [640x480]: Spin desc.63.90 ms /
61.22 ms
Δ 4.37%
15.65 Hz /
16.33 Hz
∇ -4.19%
feature_matching [640x480]: Harris + CC38.54 ms /
43.90 ms
∇ -12.21%
25.95 Hz /
22.78 Hz
Δ 13.91%
feature_matching [640x480]: Harris + SAD33.59 ms /
38.32 ms
∇ -12.35%
29.77 Hz /
26.09 Hz
Δ 14.09%
feature_matching [640x480]: SIFT1.16 sec /
1.28 sec
∇ -9.33%
863.45 mHz /
782.87 mHz
Δ 10.29%
feature_matching [640x480]: SURF375.89 ms /
387.99 ms
∇ -3.12%
2.66 Hz /
2.58 Hz
Δ 3.22%
feature_matching [640x480]: FAST + CC15.89 ms /
15.73 ms
Δ 1.00%
62.95 Hz /
63.57 Hz
∇ -0.99%
feature_matching [640x480]: FAST + SAD10.48 ms /
10.56 ms
∇ -0.76%
95.42 Hz /
94.70 Hz
Δ 0.76%
graph(2d): insertEdge x 1e3158.24 us /
104.46 us
Δ 51.49%
6.32 KHz /
9.57 KHz
∇ -33.99%
graph(2d,vec): insertEdge x 1e3133.69 us /
X
7.48 KHz /
X
graph(2d): insertEdgeAtEnd x 1e384.43 us /
85.19 us
∇ -0.90%
11.84 KHz /
11.74 KHz
Δ 0.90%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
X
12.23 KHz /
X
graph(2d pdf): insertEdge x 1e3207.17 us /
134.65 us
Δ 53.86%
4.83 KHz /
7.43 KHz
∇ -35.00%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
X
4.30 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
119.89 us
Δ 105.81%
4.05 KHz /
8.34 KHz
∇ -51.41%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
X
5.19 KHz /
X
graph(2d): insertEdge x 1e42.08 ms /
1.39 ms
Δ 50.39%
480.05 Hz /
721.96 Hz
∇ -33.51%
graph(2d,vec): insertEdge x 1e41.62 ms /
X
618.53 Hz /
X
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
854.04 us
Δ 1.89%
1.15 KHz /
1.17 KHz
∇ -1.86%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
X
1.18 KHz /
X
graph(2d pdf): insertEdge x 1e42.34 ms /
1.61 ms
Δ 45.57%
427.14 Hz /
621.80 Hz
∇ -31.31%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
X
356.06 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
1.20 ms
Δ 77.06%
470.35 Hz /
832.81 Hz
∇ -43.52%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
X
469.13 Hz /
X
graph(3d): insertEdge x 1e3220.82 us /
132.91 us
Δ 66.14%
4.53 KHz /
7.52 KHz
∇ -39.81%
graph(3d,vec): insertEdge x 1e3221.81 us /
X
4.51 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
109.11 us
Δ 67.89%
5.46 KHz /
9.17 KHz
∇ -40.44%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
X
5.36 KHz /
X
graph(3d pdf): insertEdge x 1e3532.35 us /
349.74 us
Δ 52.21%
1.88 KHz /
2.86 KHz
∇ -34.30%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
X
1.86 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
321.54 us
Δ 51.64%
2.05 KHz /
3.11 KHz
∇ -34.06%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
X
2.03 KHz /
X
graph(3d): insertEdge x 1e42.78 ms /
1.89 ms
Δ 47.16%
359.55 Hz /
529.10 Hz
∇ -32.04%
graph(3d,vec): insertEdge x 1e42.77 ms /
X
360.52 Hz /
X
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
1.10 ms
Δ 90.58%
477.61 Hz /
910.25 Hz
∇ -47.53%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
X
487.11 Hz /
X
graph(3d pdf): insertEdge x 1e47.36 ms /
4.65 ms
Δ 58.46%
135.81 Hz /
215.20 Hz
∇ -36.89%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
X
143.42 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
4.05 ms
Δ 30.45%
189.20 Hz /
246.81 Hz
∇ -23.34%
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 2011/06/03,22:26:38.242449 with MRPT 0.9.4 by 'mrpt-performance'.