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




Test description 0.9.2preSVN2157-GCC-64bit /
0.9.4-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.59 ms /
20.74 ms
∇ -0.76%
48.58 Hz /
48.21 Hz
Δ 0.77%
icp-slam (match grid): Run with sample dataset20.64 ms /
17.09 ms
Δ 20.76%
48.45 Hz /
58.52 Hz
∇ -17.19%
poses: CPose3D (+) CPose3D42.90 ns /
29.76 ns
Δ 44.15%
23.31 MHz /
33.60 MHz
∇ -30.63%
poses: CPose3D.composeFrom()37.61 ns /
21.90 ns
Δ 71.74%
26.59 MHz /
45.66 MHz
∇ -41.77%
poses: CPose3D (+) CPoint3D7.25 ns /
7.23 ns
Δ 0.25%
137.89 MHz /
138.24 MHz
∇ -0.25%
poses: CPose3D.composePoint()11.83 ns /
11.67 ns
Δ 1.35%
84.53 MHz /
85.68 MHz
∇ -1.34%
poses: CPoint3D (-) CPose3D39.31 ns /
13.29 ns
Δ 195.89%
25.44 MHz /
75.27 MHz
∇ -66.20%
poses: CPose3D.inverseComposePoint()34.91 ns /
24.48 ns
Δ 42.59%
28.65 MHz /
40.85 MHz
∇ -29.87%
poses: CPose2D (+) CPose2D76.08 ns /
71.64 ns
Δ 6.19%
13.14 MHz /
13.96 MHz
∇ -5.83%
poses: CPose2D.composeFrom()61.61 ns /
69.41 ns
∇ -11.23%
16.23 MHz /
14.41 MHz
Δ 12.65%
poses: CPose2D (+) CPoint2D60.26 ns /
60.78 ns
∇ -0.84%
16.59 MHz /
16.45 MHz
Δ 0.85%
poses: CPose2D.composePoint()62.26 ns /
60.80 ns
Δ 2.41%
16.06 MHz /
16.45 MHz
∇ -2.35%
poses: CPose3DQuat (+) CPose3DQuat40.99 ns /
40.47 ns
Δ 1.28%
24.40 MHz /
24.71 MHz
∇ -1.27%
poses: CPose3DQuat.composeFrom()39.39 ns /
37.55 ns
Δ 4.90%
25.39 MHz /
26.63 MHz
∇ -4.67%
poses: CPose3DQuat (+) CPoint3D18.30 ns /
17.39 ns
Δ 5.27%
54.63 MHz /
57.51 MHz
∇ -5.00%
poses: CPose3DQuat.composePoint()17.94 ns /
17.48 ns
Δ 2.62%
55.74 MHz /
57.20 MHz
∇ -2.55%
poses: CPoint3D (-) CPose3DQuat 55.46 ns /
32.97 ns
Δ 68.21%
18.03 MHz /
30.33 MHz
∇ -40.55%
poses: CPose3DQuat.invcomposePoint()17.66 ns /
19.11 ns
∇ -7.57%
56.63 MHz /
52.34 MHz
Δ 8.19%
poses: Conv CPose3DQuat <- CPose3D16.78 ns /
23.42 ns
∇ -28.33%
59.58 MHz /
42.70 MHz
Δ 39.53%
poses: Conv CPose3D -> CPose3DQuat169.37 ns /
172.72 ns
∇ -1.94%
5.90 MHz /
5.79 MHz
Δ 1.98%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)799.08 us /
671.00 ns
Δ 118987.70%
1.25 KHz /
1.49 MHz
∇ -99.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)803.31 us /
652.00 ns
Δ 123106.60%
1.24 KHz /
1.53 MHz
∇ -99.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.44 us /
8.74 us
Δ 8.02%
105.91 KHz /
114.40 KHz
∇ -7.42%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)648.90 ns /
454.10 ns
Δ 42.90%
1.54 MHz /
2.20 MHz
∇ -30.02%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)631.00 ns /
452.90 ns
Δ 39.32%
1.58 MHz /
2.21 MHz
∇ -28.23%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.18 us /
7.98 us
Δ 2.53%
122.30 KHz /
125.39 KHz
∇ -2.46%
matrix: unit, dyn[float], 3x324.43 ns /
17.64 ns
Δ 38.51%
40.94 MHz /
56.71 MHz
∇ -27.81%
matrix: unit, dyn[double], 3x323.18 ns /
19.86 ns
Δ 16.70%
43.14 MHz /
50.34 MHz
∇ -14.31%
matrix: unit, dyn[float], 6x659.50 ns /
57.06 ns
Δ 4.29%
16.81 MHz /
17.53 MHz
∇ -4.12%
matrix: unit, dyn[double], 6x662.26 ns /
60.00 ns
Δ 3.78%
16.06 MHz /
16.67 MHz
∇ -3.64%
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 /
0.00 ns
Δ 1.#J%
587.20 MHz /
1.#J THz
∇ -1.#J%
matrix: unit, fix[double,6,6]2.77 ns /
0.00 ns
Δ 1.#J%
361.01 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x385.80 ns /
242.70 ns
∇ -64.65%
11.66 MHz /
4.12 MHz
Δ 182.87%
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 /
231.60 ns
∇ -67.23%
13.18 MHz /
4.32 MHz
Δ 205.14%
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 /
296.50 ns
∇ -60.17%
8.47 MHz /
3.37 MHz
Δ 151.06%
matrix: multiply, fix[float ], 3x6 * 6x344.70 ns /
0.10 ns
Δ 44600.00%
22.37 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 * 6x345.20 ns /
0.00 ns
Δ 1.#J%
22.12 MHz /
1.#J THz
∇ -1.#J%
matrix: multiply, dyn[float ], 10x40 * 40x105.44 us /
2.09 us
Δ 159.68%
183.95 KHz /
477.69 KHz
∇ -61.49%
matrix: multiply, fix[float ], 10x40 * 40x103.78 us /
1.79 us
Δ 111.06%
264.87 KHz /
559.03 KHz
∇ -52.62%
matrix: multiply, dyn[double], 10x40 * 40x105.54 us /
2.43 us
Δ 128.23%
180.38 KHz /
411.68 KHz
∇ -56.19%
matrix: multiply, fix[double], 10x40 * 40x104.07 us /
2.16 us
Δ 88.32%
245.43 KHz /
462.21 KHz
∇ -46.90%
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 /
767.00 ns
∇ -16.04%
1.55 MHz /
1.30 MHz
Δ 19.10%
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 /
1.78 us
∇ -29.16%
793.02 KHz /
561.80 KHz
Δ 41.16%
matrix: inv, fix[double] 6x6575.00 ns /
1.73 us
∇ -66.72%
1.74 MHz /
578.70 KHz
Δ 200.52%
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 /
16.27 us
Δ 58.33%
38.83 KHz /
61.47 KHz
∇ -36.84%
matrix: inv, fix[double] 20x2017.04 us /
13.44 us
Δ 26.78%
58.69 KHz /
74.41 KHz
∇ -21.12%
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 /
68.00 us
Δ 204.68%
4.83 KHz /
14.70 KHz
∇ -67.18%
matrix: inv, fix[double] 40x40133.80 us /
63.01 us
Δ 112.37%
7.47 KHz /
15.87 KHz
∇ -52.91%
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 /
209.40 ns
∇ -96.94%
156.25 MHz /
4.78 MHz
Δ 3171.87%
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 ] 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 /
943.70 ns
∇ -22.61%
1.37 MHz /
1.06 MHz
Δ 29.22%
matrix: det, fix[double] 6x6212.10 ns /
575.90 ns
∇ -63.17%
4.71 MHz /
1.74 MHz
Δ 171.52%
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 /
8.10 us
∇ -18.99%
152.33 KHz /
123.40 KHz
Δ 23.45%
matrix: det, fix[double] 20x205.04 us /
7.48 us
∇ -32.65%
198.38 KHz /
133.61 KHz
Δ 48.47%
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 /
30.87 us
Δ 27.66%
25.37 KHz /
32.39 KHz
∇ -21.67%
matrix: det, fix[double] 40x4029.04 us /
29.01 us
Δ 0.09%
34.44 KHz /
34.47 KHz
∇ -0.09%
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 /
120.00 ns
Δ 33.33%
6.25 MHz /
8.33 MHz
∇ -25.00%
matrix: chol, dyn[double] 40x4018.38 us /
20.70 us
∇ -11.21%
54.41 KHz /
48.31 KHz
Δ 12.62%
matrix: chol, fix[double] 40x4017.08 us /
16.54 us
Δ 3.26%
58.55 KHz /
60.46 KHz
∇ -3.16%
matrix: chol, sparse [2x2;2x2]8.30 us /
12.20 us
∇ -31.97%
120.48 KHz /
81.97 KHz
Δ 46.99%
matrix: chol, sparse [30x30;10x10]84.40 us /
87.70 us
∇ -3.76%
11.85 KHz /
11.40 KHz
Δ 3.91%
matrix: chol, dyn[double] 10x[6x6]53.00 us /
51.70 us
Δ 2.51%
18.87 KHz /
19.34 KHz
∇ -2.45%
matrix: chol, sparse 10x[6x6]39.49 us /
38.27 us
Δ 3.19%
25.32 KHz /
26.13 KHz
∇ -3.09%
matrix: chol, dyn[double] 20x[6x6]411.70 us /
255.50 us
Δ 61.14%
2.43 KHz /
3.91 KHz
∇ -37.94%
matrix: chol, sparse 20x[6x6]74.09 us /
70.94 us
Δ 4.44%
13.50 KHz /
14.10 KHz
∇ -4.25%
matrix: chol, dyn[double] 50x[6x6]10.38 ms /
2.75 ms
Δ 277.48%
96.33 Hz /
363.64 Hz
∇ -73.51%
matrix: chol, sparse 50x[6x6]248.74 us /
169.22 us
Δ 46.99%
4.02 KHz /
5.91 KHz
∇ -31.97%
matrix: chol, dyn[double] 100x[6x6]370.64 ms /
22.06 ms
Δ 1580.16%
2.70 Hz /
45.33 Hz
∇ -94.05%
matrix: chol, sparse 100x[6x6]353.56 us /
339.61 us
Δ 4.11%
2.83 KHz /
2.94 KHz
∇ -3.95%
matrix: chol, dyn[double] 120x[6x6]365.56 ms /
36.67 ms
Δ 896.99%
2.74 Hz /
27.27 Hz
∇ -89.97%
matrix: chol, sparse 120x[6x6]425.27 us /
402.38 us
Δ 5.69%
2.35 KHz /
2.49 KHz
∇ -5.38%
matrix: chol, dyn[double] 140x[6x6]796.04 ms /
53.86 ms
Δ 1377.91%
1.26 Hz /
18.57 Hz
∇ -93.23%
matrix: chol, sparse 140x[6x6]490.79 us /
476.81 us
Δ 2.93%
2.04 KHz /
2.10 KHz
∇ -2.85%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -1.#J%
1.#J THz /
1.#J THz
∇ -1.#J%
gridmap2D: setCell2.58 ns /
2.71 ns
∇ -4.75%
387.76 MHz /
369.33 MHz
Δ 4.99%
gridmap2D: updateCell7.44 ns /
6.04 ns
Δ 23.28%
134.32 MHz /
165.59 MHz
∇ -18.89%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.61 ns
∇ -10.31%
1.82 GHz /
1.63 GHz
Δ 11.49%
gridmap2D: insert scan w/o widening101.23 us /
99.83 us
Δ 1.40%
9.88 KHz /
10.02 KHz
∇ -1.38%
gridmap2D: insert scan with widening291.30 us /
293.13 us
∇ -0.62%
3.43 KHz /
3.41 KHz
Δ 0.63%
gridmap2D: resize1.89 ms /
630.00 us
Δ 199.68%
529.66 Hz /
1.59 KHz
∇ -66.63%
gridmap2D: computeLikelihood16.46 us /
17.81 us
∇ -7.60%
60.76 KHz /
56.14 KHz
Δ 8.22%
pointmap: insert 100 scans3.10 ms /
1.01 ms
Δ 207.23%
322.50 Hz /
990.80 Hz
∇ -67.45%
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 scan355.52 us /
364.44 us
∇ -2.45%
2.81 KHz /
2.74 KHz
Δ 2.51%
pointmap: build 2D kd-tree of 1000 scan4.16 ms /
4.38 ms
∇ -5.01%
240.24 Hz /
228.21 Hz
Δ 5.27%
pointmap: build 3D kd-tree of 1 scan4.76 us /
5.16 us
∇ -7.75%
210.08 KHz /
193.80 KHz
Δ 8.40%
pointmap: build 3D kd-tree of 100 scan363.20 us /
372.44 us
∇ -2.48%
2.75 KHz /
2.68 KHz
Δ 2.54%
pointmap: build 3D kd-tree of 1000 scan4.09 ms /
4.20 ms
∇ -2.55%
244.29 Hz /
238.06 Hz
Δ 2.61%
pointmap: kd-tree 2d query on 10 scans1.38 us /
1.42 us
∇ -2.74%
723.59 KHz /
703.73 KHz
Δ 2.82%
pointmap: kd-tree 2d query on 1000 scans100.93 us /
101.86 us
∇ -0.91%
9.91 KHz /
9.82 KHz
Δ 0.92%
pointmap: kd-tree 2d query on 10000 scans11.91 ms /
12.17 ms
∇ -2.14%
83.95 Hz /
82.15 Hz
Δ 2.19%
pointmap: (insert scan+2D kd-tree query) x 105.62 ms /
5.64 ms
∇ -0.43%
178.01 Hz /
177.25 Hz
Δ 0.43%
pointmap: (insert scan+2D kd-tree query) x 50130.76 ms /
132.76 ms
∇ -1.51%
7.65 Hz /
7.53 Hz
Δ 1.53%
pointmap: (insert scan+3D kd-tree query) x 105.67 ms /
5.71 ms
∇ -0.74%
176.35 Hz /
175.04 Hz
Δ 0.75%
pointmap: (insert scan+3D kd-tree query) x 50132.64 ms /
134.74 ms
∇ -1.56%
7.54 Hz /
7.42 Hz
Δ 1.58%
random: drawUniform32bit14.57 ns /
14.55 ns
Δ 0.18%
68.63 MHz /
68.75 MHz
∇ -0.17%
random: drawUniform14.62 ns /
14.56 ns
Δ 0.41%
68.41 MHz /
68.69 MHz
∇ -0.41%
random: drawGaussian1D_normalized68.70 ns /
66.87 ns
Δ 2.74%
14.56 MHz /
14.96 MHz
∇ -2.67%
random: drawGaussian1D68.68 ns /
66.81 ns
Δ 2.81%
14.56 MHz /
14.97 MHz
∇ -2.73%
random: system rand()10.45 ns /
10.63 ns
∇ -1.63%
95.67 MHz /
94.11 MHz
Δ 1.66%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
903.36 ns
Δ 44.75%
764.77 KHz /
1.11 MHz
∇ -30.91%
random: drawGaussianMultivariate(dyn 3x3)2.79 us /
1.61 us
Δ 73.02%
358.92 KHz /
621.01 KHz
∇ -42.20%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.26 ns /
144.65 ns
Δ 9.41%
6.32 MHz /
6.91 MHz
∇ -8.60%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)236.42 ns /
219.48 ns
Δ 7.72%
4.23 MHz /
4.56 MHz
∇ -7.17%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)489.37 ns /
472.80 ns
Δ 3.51%
2.04 MHz /
2.12 MHz
∇ -3.39%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.61 ns /
152.29 ns
Δ 8.09%
6.07 MHz /
6.57 MHz
∇ -7.48%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)248.12 ns /
235.04 ns
Δ 5.57%
4.03 MHz /
4.25 MHz
∇ -5.27%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.83 ns /
491.60 ns
Δ 4.73%
1.94 MHz /
2.03 MHz
∇ -4.51%
random: permuteVector (len=10)317.50 ns /
243.60 ns
Δ 30.34%
3.15 MHz /
4.11 MHz
∇ -23.28%
random: permuteVector (len=100)3.06 us /
2.99 us
Δ 2.59%
326.54 KHz /
334.99 KHz
∇ -2.52%
random: permuteVector (len=1000)30.27 us /
29.51 us
Δ 2.55%
33.04 KHz /
33.88 KHz
∇ -2.49%
math: round0.10 ns /
0.10 ns
∇ -0.07%
10.09 GHz /
10.08 GHz
Δ 0.07%
images: Save as JPEG (640x480, quality=95%)27.27 ms /
33.63 ms
∇ -18.91%
36.67 Hz /
29.74 Hz
Δ 23.32%
images: Save as JPEG (800x600, quality=95%)43.27 ms /
49.85 ms
∇ -13.19%
23.11 Hz /
20.06 Hz
Δ 15.20%
images: Save as JPEG (1024x768, quality=95%)74.67 ms /
69.59 ms
Δ 7.30%
13.39 Hz /
14.37 Hz
∇ -6.81%
images: Save as JPEG (640x480, quality=75%)26.31 ms /
30.64 ms
∇ -14.15%
38.01 Hz /
32.63 Hz
Δ 16.48%
images: Save as JPEG (800x600, quality=75%)40.92 ms /
43.91 ms
∇ -6.81%
24.44 Hz /
22.78 Hz
Δ 7.30%
images: Save as JPEG (1024x768, quality=75%)62.56 ms /
62.52 ms
Δ 0.05%
15.99 Hz /
15.99 Hz
∇ -0.05%
images: Gauss filter (640x480)4.48 ms /
3.81 ms
Δ 17.82%
223.01 Hz /
262.76 Hz
∇ -15.13%
images: Gauss filter (800x600)7.46 ms /
5.96 ms
Δ 25.09%
134.07 Hz /
167.70 Hz
∇ -20.06%
images: Gauss filter (1024x768)12.41 ms /
10.46 ms
Δ 18.67%
80.57 Hz /
95.61 Hz
∇ -15.73%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.15 us /
12.69 us
∇ -59.42%
194.17 KHz /
78.80 KHz
Δ 146.41%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.35 us /
9.85 us
∇ -55.84%
229.89 KHz /
101.52 KHz
Δ 126.44%
scan_matching: 6D LS Rigid Trans. [vector of points]2.12 us /
5.24 us
∇ -59.54%
471.70 KHz /
190.84 KHz
Δ 147.17%
feature_extraction [640x480]: Harris33.18 ms /
21.14 ms
Δ 56.96%
30.14 Hz /
47.31 Hz
∇ -36.29%
feature_extraction [640x480]: KLT29.64 ms /
21.45 ms
Δ 38.14%
33.74 Hz /
46.61 Hz
∇ -27.61%
feature_extraction [640x480]: SIFT637.68 ms /
591.25 ms
Δ 7.85%
1.57 Hz /
1.69 Hz
∇ -7.28%
feature_extraction [640x480]: SIFT desc.173.14 ms /
162.82 ms
Δ 6.34%
5.78 Hz /
6.14 Hz
∇ -5.96%
feature_extraction [640x480]: SURF202.84 ms /
197.33 ms
Δ 2.79%
4.93 Hz /
5.07 Hz
∇ -2.72%
feature_extraction [640x480]: FAST5.10 ms /
6.89 ms
∇ -25.92%
195.94 Hz /
145.15 Hz
Δ 34.99%
feature_extraction [640x480]: Spin desc.61.22 ms /
63.90 ms
∇ -4.19%
16.33 Hz /
15.65 Hz
Δ 4.37%
feature_matching [640x480]: Harris + CC43.90 ms /
38.54 ms
Δ 13.91%
22.78 Hz /
25.95 Hz
∇ -12.21%
feature_matching [640x480]: Harris + SAD38.32 ms /
33.59 ms
Δ 14.09%
26.09 Hz /
29.77 Hz
∇ -12.35%
feature_matching [640x480]: SIFT1.28 sec /
1.16 sec
Δ 10.29%
782.87 mHz /
863.45 mHz
∇ -9.33%
feature_matching [640x480]: SURF387.99 ms /
375.89 ms
Δ 3.22%
2.58 Hz /
2.66 Hz
∇ -3.12%
feature_matching [640x480]: FAST + CC15.73 ms /
15.89 ms
∇ -0.99%
63.57 Hz /
62.95 Hz
Δ 1.00%
feature_matching [640x480]: FAST + SAD10.56 ms /
10.48 ms
Δ 0.76%
94.70 Hz /
95.42 Hz
∇ -0.76%
graph(2d): insertEdge x 1e3104.46 us /
158.24 us
∇ -33.99%
9.57 KHz /
6.32 KHz
Δ 51.49%
graph(2d): insertEdgeAtEnd x 1e385.19 us /
84.43 us
Δ 0.90%
11.74 KHz /
11.84 KHz
∇ -0.90%
graph(2d pdf): insertEdge x 1e3134.65 us /
207.17 us
∇ -35.00%
7.43 KHz /
4.83 KHz
Δ 53.86%
graph(2d pdf): insertEdgeAtEnd x 1e3119.89 us /
246.74 us
∇ -51.41%
8.34 KHz /
4.05 KHz
Δ 105.81%
graph(2d): insertEdge x 1e41.39 ms /
2.08 ms
∇ -33.51%
721.96 Hz /
480.05 Hz
Δ 50.39%
graph(2d): insertEdgeAtEnd x 1e4854.04 us /
870.19 us
∇ -1.86%
1.17 KHz /
1.15 KHz
Δ 1.89%
graph(2d pdf): insertEdge x 1e41.61 ms /
2.34 ms
∇ -31.31%
621.80 Hz /
427.14 Hz
Δ 45.57%
graph(2d pdf): insertEdgeAtEnd x 1e41.20 ms /
2.13 ms
∇ -43.52%
832.81 Hz /
470.35 Hz
Δ 77.06%
graph(3d): insertEdge x 1e3132.91 us /
220.82 us
∇ -39.81%
7.52 KHz /
4.53 KHz
Δ 66.14%
graph(3d): insertEdgeAtEnd x 1e3109.11 us /
183.18 us
∇ -40.44%
9.17 KHz /
5.46 KHz
Δ 67.89%
graph(3d pdf): insertEdge x 1e3349.74 us /
532.35 us
∇ -34.30%
2.86 KHz /
1.88 KHz
Δ 52.21%
graph(3d pdf): insertEdgeAtEnd x 1e3321.54 us /
487.59 us
∇ -34.06%
3.11 KHz /
2.05 KHz
Δ 51.64%
graph(3d): insertEdge x 1e41.89 ms /
2.78 ms
∇ -32.04%
529.10 Hz /
359.55 Hz
Δ 47.16%
graph(3d): insertEdgeAtEnd x 1e41.10 ms /
2.09 ms
∇ -47.53%
910.25 Hz /
477.61 Hz
Δ 90.58%
graph(3d pdf): insertEdge x 1e44.65 ms /
7.36 ms
∇ -36.89%
215.20 Hz /
135.81 Hz
Δ 58.46%
graph(3d pdf): insertEdgeAtEnd x 1e44.05 ms /
5.29 ms
∇ -23.34%
246.81 Hz /
189.20 Hz
Δ 30.45%
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 2011/06/03,22:26:38.983492 with MRPT 0.9.4 by 'mrpt-performance'.