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




Test description 0.9.4-GCC-64bit /
0.9.2-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset20.74 ms /
19.99 ms
Δ 3.78%
48.21 Hz /
50.03 Hz
∇ -3.64%
icp-slam (match grid): Run with sample dataset17.09 ms /
19.29 ms
∇ -11.41%
58.52 Hz /
51.84 Hz
Δ 12.89%
poses: CPose3D (+) CPose3D29.76 ns /
42.85 ns
∇ -30.55%
33.60 MHz /
23.34 MHz
Δ 43.99%
poses: CPose3D.composeFrom()21.90 ns /
37.80 ns
∇ -42.06%
45.66 MHz /
26.46 MHz
Δ 72.60%
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 /
11.91 ns
∇ -1.98%
85.68 MHz /
83.98 MHz
Δ 2.02%
poses: CPoint3D (-) CPose3D13.29 ns /
48.98 ns
∇ -72.88%
75.27 MHz /
20.42 MHz
Δ 268.67%
poses: CPose3D.inverseComposePoint()24.48 ns /
34.95 ns
∇ -29.96%
40.85 MHz /
28.61 MHz
Δ 42.78%
poses: CPose2D (+) CPose2D71.64 ns /
78.58 ns
∇ -8.82%
13.96 MHz /
12.73 MHz
Δ 9.68%
poses: CPose2D.composeFrom()69.41 ns /
70.31 ns
∇ -1.29%
14.41 MHz /
14.22 MHz
Δ 1.31%
poses: CPose2D (+) CPoint2D60.78 ns /
61.33 ns
∇ -0.90%
16.45 MHz /
16.31 MHz
Δ 0.91%
poses: CPose2D.composePoint()60.80 ns /
65.17 ns
∇ -6.70%
16.45 MHz /
15.35 MHz
Δ 7.18%
poses: CPose3DQuat (+) CPose3DQuat40.47 ns /
44.66 ns
∇ -9.38%
24.71 MHz /
22.39 MHz
Δ 10.35%
poses: CPose3DQuat.composeFrom()37.55 ns /
39.43 ns
∇ -4.77%
26.63 MHz /
25.36 MHz
Δ 5.01%
poses: CPose3DQuat (+) CPoint3D17.39 ns /
18.24 ns
∇ -4.65%
57.51 MHz /
54.84 MHz
Δ 4.88%
poses: CPose3DQuat.composePoint()17.48 ns /
17.94 ns
∇ -2.53%
57.20 MHz /
55.75 MHz
Δ 2.60%
poses: CPoint3D (-) CPose3DQuat 32.97 ns /
55.43 ns
∇ -40.52%
30.33 MHz /
18.04 MHz
Δ 68.12%
poses: CPose3DQuat.invcomposePoint()19.11 ns /
17.64 ns
Δ 8.31%
52.34 MHz /
56.69 MHz
∇ -7.67%
poses: Conv CPose3DQuat <- CPose3D23.42 ns /
16.70 ns
Δ 40.26%
42.70 MHz /
59.89 MHz
∇ -28.71%
poses: Conv CPose3D -> CPose3DQuat172.72 ns /
169.28 ns
Δ 2.03%
5.79 MHz /
5.91 MHz
∇ -1.99%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)671.00 ns /
760.96 us
∇ -99.91%
1.49 MHz /
1.31 KHz
Δ 113306.11%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)652.00 ns /
760.62 us
∇ -99.91%
1.53 MHz /
1.31 KHz
Δ 116559.13%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)8.74 us /
9.47 us
∇ -7.74%
114.40 KHz /
105.55 KHz
Δ 8.39%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)454.10 ns /
545.30 ns
∇ -16.72%
2.20 MHz /
1.83 MHz
Δ 20.08%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)452.90 ns /
544.10 ns
∇ -16.76%
2.21 MHz /
1.84 MHz
Δ 20.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)7.98 us /
8.11 us
∇ -1.64%
125.39 KHz /
123.33 KHz
Δ 1.66%
matrix: unit, dyn[float], 3x317.64 ns /
20.92 ns
∇ -15.69%
56.71 MHz /
47.81 MHz
Δ 18.62%
matrix: unit, dyn[double], 3x319.86 ns /
20.15 ns
∇ -1.42%
50.34 MHz /
49.63 MHz
Δ 1.44%
matrix: unit, dyn[float], 6x657.06 ns /
54.04 ns
Δ 5.59%
17.53 MHz /
18.51 MHz
∇ -5.29%
matrix: unit, dyn[double], 6x660.00 ns /
55.27 ns
Δ 8.56%
16.67 MHz /
18.09 MHz
∇ -7.89%
matrix: unit, fix[float,3,3]0.00 ns /
0.35 ns
∇ -100.00%
1.#J THz /
2.89 GHz
Δ 1.#J%
matrix: unit, fix[double,3,3]0.00 ns /
1.19 ns
∇ -100.00%
1.#J THz /
842.46 MHz
Δ 1.#J%
matrix: unit, fix[float,6,6]0.00 ns /
1.70 ns
∇ -100.00%
1.#J THz /
588.93 MHz
Δ 1.#J%
matrix: unit, fix[double,6,6]0.00 ns /
2.77 ns
∇ -100.00%
1.#J THz /
360.36 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x3 * 3x3242.70 ns /
73.10 ns
Δ 232.01%
4.12 MHz /
13.68 MHz
∇ -69.88%
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 /
72.40 ns
Δ 219.89%
4.32 MHz /
13.81 MHz
∇ -68.74%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
23.40 ns
∇ -100.00%
1.#J THz /
42.74 MHz
Δ 1.#J%
matrix: multiply, dyn[float ], 3x6 * 6x3296.50 ns /
110.50 ns
Δ 168.33%
3.37 MHz /
9.05 MHz
∇ -62.73%
matrix: multiply, fix[float ], 3x6 * 6x30.10 ns /
45.10 ns
∇ -99.78%
10.00 GHz /
22.17 MHz
Δ 45000.00%
matrix: multiply, dyn[double], 3x6 * 6x3259.20 ns /
116.30 ns
Δ 122.87%
3.86 MHz /
8.60 MHz
∇ -55.13%
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 /
5.19 us
∇ -59.64%
477.69 KHz /
192.77 KHz
Δ 147.80%
matrix: multiply, fix[float ], 10x40 * 40x101.79 us /
3.55 us
∇ -49.64%
559.03 KHz /
281.56 KHz
Δ 98.55%
matrix: multiply, dyn[double], 10x40 * 40x102.43 us /
5.18 us
∇ -53.11%
411.68 KHz /
193.05 KHz
Δ 113.25%
matrix: multiply, fix[double], 10x40 * 40x102.16 us /
3.61 us
∇ -40.06%
462.21 KHz /
277.05 KHz
Δ 66.83%
matrix: inv, dyn[double] 3x3767.00 ns /
329.00 ns
Δ 133.13%
1.30 MHz /
3.04 MHz
∇ -57.11%
matrix: inv, fix[double] 3x30.00 ns /
21.00 ns
∇ -100.00%
1.#J THz /
47.62 MHz
Δ 1.#J%
matrix: inv, dyn[double] 6x61.78 us /
1.20 us
Δ 48.21%
561.80 KHz /
832.64 KHz
∇ -32.53%
matrix: inv, fix[double] 6x61.73 us /
578.00 ns
Δ 198.96%
578.70 KHz /
1.73 MHz
∇ -66.55%
matrix: inv, dyn[double] 20x2016.27 us /
25.64 us
∇ -36.55%
61.47 KHz /
39.01 KHz
Δ 57.60%
matrix: inv, fix[double] 20x2013.44 us /
17.36 us
∇ -22.60%
74.41 KHz /
57.60 KHz
Δ 29.19%
matrix: inv, dyn[double] 40x4068.00 us /
189.04 us
∇ -64.03%
14.70 KHz /
5.29 KHz
Δ 177.98%
matrix: inv, fix[double] 40x4063.01 us /
121.47 us
∇ -48.13%
15.87 KHz /
8.23 KHz
Δ 92.79%
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 /
696.30 ns
Δ 35.53%
1.06 MHz /
1.44 MHz
∇ -26.22%
matrix: det, fix[double] 6x6575.90 ns /
212.30 ns
Δ 171.27%
1.74 MHz /
4.71 MHz
∇ -63.14%
matrix: det, dyn[double] 20x208.10 us /
6.40 us
Δ 26.55%
123.40 KHz /
156.16 KHz
∇ -20.98%
matrix: det, fix[double] 20x207.48 us /
4.72 us
Δ 58.50%
133.61 KHz /
211.77 KHz
∇ -36.91%
matrix: det, dyn[double] 40x4030.87 us /
32.49 us
∇ -4.99%
32.39 KHz /
30.77 KHz
Δ 5.26%
matrix: det, fix[double] 40x4029.01 us /
27.34 us
Δ 6.13%
34.47 KHz /
36.58 KHz
∇ -5.77%
matrix: chol, dyn[double] 4x4530.00 ns /
130.00 ns
Δ 307.69%
1.89 MHz /
7.69 MHz
∇ -75.47%
matrix: chol, fix[double] 4x4120.00 ns /
140.00 ns
∇ -14.29%
8.33 MHz /
7.14 MHz
Δ 16.67%
matrix: chol, dyn[double] 40x4020.70 us /
18.52 us
Δ 11.77%
48.31 KHz /
54.00 KHz
∇ -10.53%
matrix: chol, fix[double] 40x4016.54 us /
16.55 us
∇ -0.06%
60.46 KHz /
60.42 KHz
Δ 0.06%
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 /
82.90 us
Δ 5.79%
11.40 KHz /
12.06 KHz
∇ -5.47%
matrix: chol, dyn[double] 10x[6x6]51.70 us /
52.70 us
∇ -1.90%
19.34 KHz /
18.98 KHz
Δ 1.93%
matrix: chol, sparse 10x[6x6]38.27 us /
38.59 us
∇ -0.83%
26.13 KHz /
25.91 KHz
Δ 0.84%
matrix: chol, dyn[double] 20x[6x6]255.50 us /
409.80 us
∇ -37.65%
3.91 KHz /
2.44 KHz
Δ 60.39%
matrix: chol, sparse 20x[6x6]70.94 us /
70.75 us
Δ 0.27%
14.10 KHz /
14.13 KHz
∇ -0.27%
matrix: chol, dyn[double] 50x[6x6]2.75 ms /
8.58 ms
∇ -67.93%
363.64 Hz /
116.60 Hz
Δ 211.85%
matrix: chol, sparse 50x[6x6]169.22 us /
171.20 us
∇ -1.16%
5.91 KHz /
5.84 KHz
Δ 1.17%
matrix: chol, dyn[double] 100x[6x6]22.06 ms /
133.58 ms
∇ -83.49%
45.33 Hz /
7.49 Hz
Δ 505.55%
matrix: chol, sparse 100x[6x6]339.61 us /
341.85 us
∇ -0.66%
2.94 KHz /
2.93 KHz
Δ 0.66%
matrix: chol, dyn[double] 120x[6x6]36.67 ms /
354.49 ms
∇ -89.66%
27.27 Hz /
2.82 Hz
Δ 866.79%
matrix: chol, sparse 120x[6x6]402.38 us /
401.50 us
Δ 0.22%
2.49 KHz /
2.49 KHz
∇ -0.22%
matrix: chol, dyn[double] 140x[6x6]53.86 ms /
773.25 ms
∇ -93.03%
18.57 Hz /
1.29 Hz
Δ 1335.59%
matrix: chol, sparse 140x[6x6]476.81 us /
469.25 us
Δ 1.61%
2.10 KHz /
2.13 KHz
∇ -1.59%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -100.00%
1.#J THz /
10.00 THz
Δ 1.#J%
gridmap2D: setCell2.71 ns /
2.58 ns
Δ 5.06%
369.33 MHz /
388.02 MHz
∇ -4.82%
gridmap2D: updateCell6.04 ns /
7.84 ns
∇ -22.95%
165.59 MHz /
127.58 MHz
Δ 29.79%
gridmap2D: updateCell_fast_occupied0.61 ns /
0.55 ns
Δ 11.53%
1.63 GHz /
1.82 GHz
∇ -10.34%
gridmap2D: insert scan w/o widening99.83 us /
102.06 us
∇ -2.18%
10.02 KHz /
9.80 KHz
Δ 2.23%
gridmap2D: insert scan with widening293.13 us /
289.47 us
Δ 1.26%
3.41 KHz /
3.45 KHz
∇ -1.25%
gridmap2D: resize630.00 us /
1.97 ms
∇ -67.96%
1.59 KHz /
508.65 Hz
Δ 212.06%
gridmap2D: computeLikelihood17.81 us /
15.74 us
Δ 13.19%
56.14 KHz /
63.55 KHz
∇ -11.65%
pointmap: insert 100 scans1.01 ms /
3.04 ms
∇ -66.76%
990.80 Hz /
329.30 Hz
Δ 200.88%
pointmap: build 2D kd-tree of 1 scan4.52 us /
4.32 us
Δ 4.63%
221.24 KHz /
231.48 KHz
∇ -4.42%
pointmap: build 2D kd-tree of 100 scan364.44 us /
352.12 us
Δ 3.50%
2.74 KHz /
2.84 KHz
∇ -3.38%
pointmap: build 2D kd-tree of 1000 scan4.38 ms /
4.14 ms
Δ 5.83%
228.21 Hz /
241.51 Hz
∇ -5.51%
pointmap: build 3D kd-tree of 1 scan5.16 us /
4.68 us
Δ 10.26%
193.80 KHz /
213.68 KHz
∇ -9.30%
pointmap: build 3D kd-tree of 100 scan372.44 us /
359.52 us
Δ 3.59%
2.68 KHz /
2.78 KHz
∇ -3.47%
pointmap: build 3D kd-tree of 1000 scan4.20 ms /
4.03 ms
Δ 4.29%
238.06 Hz /
248.28 Hz
∇ -4.11%
pointmap: kd-tree 2d query on 10 scans1.42 us /
1.41 us
Δ 1.14%
703.73 KHz /
711.74 KHz
∇ -1.13%
pointmap: kd-tree 2d query on 1000 scans101.86 us /
97.21 us
Δ 4.78%
9.82 KHz /
10.29 KHz
∇ -4.56%
pointmap: kd-tree 2d query on 10000 scans12.17 ms /
11.62 ms
Δ 4.74%
82.15 Hz /
86.05 Hz
∇ -4.53%
pointmap: (insert scan+2D kd-tree query) x 105.64 ms /
5.59 ms
Δ 0.86%
177.25 Hz /
178.77 Hz
∇ -0.85%
pointmap: (insert scan+2D kd-tree query) x 50132.76 ms /
129.28 ms
Δ 2.69%
7.53 Hz /
7.73 Hz
∇ -2.62%
pointmap: (insert scan+3D kd-tree query) x 105.71 ms /
5.66 ms
Δ 0.85%
175.04 Hz /
176.53 Hz
∇ -0.85%
pointmap: (insert scan+3D kd-tree query) x 50134.74 ms /
131.22 ms
Δ 2.68%
7.42 Hz /
7.62 Hz
∇ -2.61%
random: drawUniform32bit14.55 ns /
14.50 ns
Δ 0.29%
68.75 MHz /
68.95 MHz
∇ -0.29%
random: drawUniform14.56 ns /
14.50 ns
Δ 0.39%
68.69 MHz /
68.96 MHz
∇ -0.39%
random: drawGaussian1D_normalized66.87 ns /
68.97 ns
∇ -3.05%
14.96 MHz /
14.50 MHz
Δ 3.15%
random: drawGaussian1D66.81 ns /
68.98 ns
∇ -3.15%
14.97 MHz /
14.50 MHz
Δ 3.25%
random: system rand()10.63 ns /
10.45 ns
Δ 1.71%
94.11 MHz /
95.72 MHz
∇ -1.68%
random: drawGaussianMultivariate(fixed 3x3)903.36 ns /
1.31 us
∇ -30.88%
1.11 MHz /
765.12 KHz
Δ 44.68%
random: drawGaussianMultivariate(dyn 3x3)1.61 us /
2.73 us
∇ -41.00%
621.01 KHz /
366.37 KHz
Δ 69.50%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)144.65 ns /
158.91 ns
∇ -8.97%
6.91 MHz /
6.29 MHz
Δ 9.86%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)219.48 ns /
237.40 ns
∇ -7.55%
4.56 MHz /
4.21 MHz
Δ 8.17%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)472.80 ns /
490.03 ns
∇ -3.52%
2.12 MHz /
2.04 MHz
Δ 3.65%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)152.29 ns /
164.67 ns
∇ -7.52%
6.57 MHz /
6.07 MHz
Δ 8.13%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)235.04 ns /
249.81 ns
∇ -5.92%
4.25 MHz /
4.00 MHz
Δ 6.29%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)491.60 ns /
514.70 ns
∇ -4.49%
2.03 MHz /
1.94 MHz
Δ 4.70%
random: permuteVector (len=10)243.60 ns /
296.20 ns
∇ -17.76%
4.11 MHz /
3.38 MHz
Δ 21.59%
random: permuteVector (len=100)2.99 us /
3.04 us
∇ -1.81%
334.99 KHz /
328.91 KHz
Δ 1.85%
random: permuteVector (len=1000)29.51 us /
30.22 us
∇ -2.34%
33.88 KHz /
33.09 KHz
Δ 2.40%
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 /
35.06 ms
∇ -4.09%
29.74 Hz /
28.52 Hz
Δ 4.26%
images: Save as JPEG (800x600, quality=95%)49.85 ms /
48.96 ms
Δ 1.81%
20.06 Hz /
20.42 Hz
∇ -1.78%
images: Save as JPEG (1024x768, quality=95%)69.59 ms /
74.65 ms
∇ -6.78%
14.37 Hz /
13.40 Hz
Δ 7.27%
images: Save as JPEG (640x480, quality=75%)30.64 ms /
29.96 ms
Δ 2.27%
32.63 Hz /
33.37 Hz
∇ -2.22%
images: Save as JPEG (800x600, quality=75%)43.91 ms /
42.79 ms
Δ 2.61%
22.78 Hz /
23.37 Hz
∇ -2.55%
images: Save as JPEG (1024x768, quality=75%)62.52 ms /
64.15 ms
∇ -2.53%
15.99 Hz /
15.59 Hz
Δ 2.60%
images: Gauss filter (640x480)3.81 ms /
3.90 ms
∇ -2.46%
262.76 Hz /
256.30 Hz
Δ 2.52%
images: Gauss filter (800x600)5.96 ms /
6.21 ms
∇ -4.00%
167.70 Hz /
160.99 Hz
Δ 4.17%
images: Gauss filter (1024x768)10.46 ms /
10.55 ms
∇ -0.90%
95.61 Hz /
94.74 Hz
Δ 0.91%
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 /
5.06 us
Δ 150.79%
78.80 KHz /
197.63 KHz
∇ -60.13%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]9.85 us /
4.30 us
Δ 129.07%
101.52 KHz /
232.56 KHz
∇ -56.35%
scan_matching: 6D LS Rigid Trans. [vector of points]5.24 us /
2.10 us
Δ 149.52%
190.84 KHz /
476.19 KHz
∇ -59.92%
feature_extraction [640x480]: Harris21.14 ms /
24.28 ms
∇ -12.92%
47.31 Hz /
41.19 Hz
Δ 14.84%
feature_extraction [640x480]: KLT21.45 ms /
24.43 ms
∇ -12.17%
46.61 Hz /
40.94 Hz
Δ 13.86%
feature_extraction [640x480]: SIFT591.25 ms /
610.42 ms
∇ -3.14%
1.69 Hz /
1.64 Hz
Δ 3.24%
feature_extraction [640x480]: SIFT desc.162.82 ms /
167.77 ms
∇ -2.95%
6.14 Hz /
5.96 Hz
Δ 3.04%
feature_extraction [640x480]: SURF197.33 ms /
197.61 ms
∇ -0.14%
5.07 Hz /
5.06 Hz
Δ 0.14%
feature_extraction [640x480]: FAST6.89 ms /
5.24 ms
Δ 31.37%
145.15 Hz /
190.68 Hz
∇ -23.88%
feature_extraction [640x480]: Spin desc.63.90 ms /
59.98 ms
Δ 6.53%
15.65 Hz /
16.67 Hz
∇ -6.13%
feature_matching [640x480]: Harris + CC38.54 ms /
40.88 ms
∇ -5.73%
25.95 Hz /
24.46 Hz
Δ 6.07%
feature_matching [640x480]: Harris + SAD33.59 ms /
35.50 ms
∇ -5.37%
29.77 Hz /
28.17 Hz
Δ 5.67%
feature_matching [640x480]: SIFT1.16 sec /
1.21 sec
∇ -4.10%
863.45 mHz /
828.07 mHz
Δ 4.27%
feature_matching [640x480]: SURF375.89 ms /
379.92 ms
∇ -1.06%
2.66 Hz /
2.63 Hz
Δ 1.07%
feature_matching [640x480]: FAST + CC15.89 ms /
16.06 ms
∇ -1.10%
62.95 Hz /
62.26 Hz
Δ 1.11%
feature_matching [640x480]: FAST + SAD10.48 ms /
10.73 ms
∇ -2.35%
95.42 Hz /
93.18 Hz
Δ 2.41%
graph(2d): insertEdge x 1e3158.24 us /
117.65 us
Δ 34.50%
6.32 KHz /
8.50 KHz
∇ -25.65%
graph(2d,vec): insertEdge x 1e3133.69 us /
105.13 us
Δ 27.17%
7.48 KHz /
9.51 KHz
∇ -21.37%
graph(2d): insertEdgeAtEnd x 1e384.43 us /
85.19 us
∇ -0.89%
11.84 KHz /
11.74 KHz
Δ 0.90%
graph(2d,vec): insertEdgeAtEnd x 1e381.78 us /
84.46 us
∇ -3.18%
12.23 KHz /
11.84 KHz
Δ 3.29%
graph(2d pdf): insertEdge x 1e3207.17 us /
172.53 us
Δ 20.08%
4.83 KHz /
5.80 KHz
∇ -16.72%
graph(2d pdf,vec): insertEdge x 1e3232.57 us /
187.97 us
Δ 23.73%
4.30 KHz /
5.32 KHz
∇ -19.18%
graph(2d pdf): insertEdgeAtEnd x 1e3246.74 us /
168.61 us
Δ 46.34%
4.05 KHz /
5.93 KHz
∇ -31.67%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3192.59 us /
167.39 us
Δ 15.06%
5.19 KHz /
5.97 KHz
∇ -13.09%
graph(2d): insertEdge x 1e42.08 ms /
1.73 ms
Δ 20.66%
480.05 Hz /
579.22 Hz
∇ -17.12%
graph(2d,vec): insertEdge x 1e41.62 ms /
1.45 ms
Δ 11.65%
618.53 Hz /
690.59 Hz
∇ -10.43%
graph(2d): insertEdgeAtEnd x 1e4870.19 us /
884.69 us
∇ -1.64%
1.15 KHz /
1.13 KHz
Δ 1.67%
graph(2d,vec): insertEdgeAtEnd x 1e4846.92 us /
862.22 us
∇ -1.77%
1.18 KHz /
1.16 KHz
Δ 1.81%
graph(2d pdf): insertEdge x 1e42.34 ms /
1.97 ms
Δ 18.61%
427.14 Hz /
506.65 Hz
∇ -15.69%
graph(2d pdf,vec): insertEdge x 1e42.81 ms /
2.31 ms
Δ 21.82%
356.06 Hz /
433.74 Hz
∇ -17.91%
graph(2d pdf): insertEdgeAtEnd x 1e42.13 ms /
1.86 ms
Δ 14.41%
470.35 Hz /
538.12 Hz
∇ -12.59%
graph(2d pdf,vec): insertEdgeAtEnd x 1e42.13 ms /
1.86 ms
Δ 14.76%
469.13 Hz /
538.35 Hz
∇ -12.86%
graph(3d): insertEdge x 1e3220.82 us /
177.23 us
Δ 24.59%
4.53 KHz /
5.64 KHz
∇ -19.74%
graph(3d,vec): insertEdge x 1e3221.81 us /
178.36 us
Δ 24.36%
4.51 KHz /
5.61 KHz
∇ -19.59%
graph(3d): insertEdgeAtEnd x 1e3183.18 us /
157.86 us
Δ 16.04%
5.46 KHz /
6.33 KHz
∇ -13.82%
graph(3d,vec): insertEdgeAtEnd x 1e3186.52 us /
159.54 us
Δ 16.91%
5.36 KHz /
6.27 KHz
∇ -14.46%
graph(3d pdf): insertEdge x 1e3532.35 us /
507.00 us
Δ 5.00%
1.88 KHz /
1.97 KHz
∇ -4.76%
graph(3d pdf,vec): insertEdge x 1e3537.98 us /
509.46 us
Δ 5.60%
1.86 KHz /
1.96 KHz
∇ -5.30%
graph(3d pdf): insertEdgeAtEnd x 1e3487.59 us /
473.36 us
Δ 3.01%
2.05 KHz /
2.11 KHz
∇ -2.92%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3493.50 us /
474.07 us
Δ 4.10%
2.03 KHz /
2.11 KHz
∇ -3.94%
graph(3d): insertEdge x 1e42.78 ms /
2.47 ms
Δ 12.53%
359.55 Hz /
404.60 Hz
∇ -11.13%
graph(3d,vec): insertEdge x 1e42.77 ms /
2.48 ms
Δ 11.74%
360.52 Hz /
402.82 Hz
∇ -10.50%
graph(3d): insertEdgeAtEnd x 1e42.09 ms /
1.75 ms
Δ 19.44%
477.61 Hz /
570.48 Hz
∇ -16.28%
graph(3d,vec): insertEdgeAtEnd x 1e42.05 ms /
1.77 ms
Δ 16.16%
487.11 Hz /
565.81 Hz
∇ -13.91%
graph(3d pdf): insertEdge x 1e47.36 ms /
5.53 ms
Δ 33.25%
135.81 Hz /
180.97 Hz
∇ -24.95%
graph(3d pdf,vec): insertEdge x 1e46.97 ms /
5.56 ms
Δ 25.29%
143.42 Hz /
179.70 Hz
∇ -20.19%
graph(3d pdf): insertEdgeAtEnd x 1e45.29 ms /
4.85 ms
Δ 8.96%
189.20 Hz /
206.16 Hz
∇ -8.23%
graph(3d pdf,vec): insertEdgeAtEnd x 1e45.49 ms /
4.85 ms
Δ 13.07%
182.28 Hz /
206.11 Hz
∇ -11.56%
graph(3d): dijkstra 1e2 nodes90.55 us /
96.04 us
∇ -5.72%
11.04 KHz /
10.41 KHz
Δ 6.06%
graph(3d,vec): dijkstra 1e2 nodes83.50 us /
80.39 us
Δ 3.88%
11.98 KHz /
12.44 KHz
∇ -3.73%
graph(3d): dijkstra 1e3 nodes1.13 ms /
1.13 ms
Δ 0.32%
882.20 Hz /
885.05 Hz
∇ -0.32%
graph(3d,vec): dijkstra 1e3 nodes767.67 us /
804.04 us
∇ -4.52%
1.30 KHz /
1.24 KHz
Δ 4.74%
graph(3d): dijkstra 1e4 nodes21.12 ms /
19.14 ms
Δ 10.37%
47.35 Hz /
52.26 Hz
∇ -9.39%
graph(3d,vec): dijkstra 1e4 nodes10.86 ms /
9.65 ms
Δ 12.56%
92.06 Hz /
103.63 Hz
∇ -11.16%
graph(3d): dijkstra 1e5 nodes341.35 ms /
290.37 ms
Δ 17.56%
2.93 Hz /
3.44 Hz
∇ -14.93%
graph(3d,vec): dijkstra 1e5 nodes142.53 ms /
117.73 ms
Δ 21.06%
7.02 Hz /
8.49 Hz
∇ -17.40%
graph(2d): dijkstra 1e5 nodes320.28 ms /
268.93 ms
Δ 19.09%
3.12 Hz /
3.72 Hz
∇ -16.03%
graph(2d,vec): dijkstra 1e5 nodes133.66 ms /
103.05 ms
Δ 29.71%
7.48 Hz /
9.70 Hz
∇ -22.90%

 


Page generated automatically at 2011/06/03,22:26:38.303453 with MRPT 0.9.4 by 'mrpt-performance'.