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




Test description 0.9.2-GCC-64bit /
0.9.2preSVN2157-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset19.99 ms /
20.59 ms
∇ -2.90%
50.03 Hz /
48.58 Hz
Δ 2.98%
icp-slam (match grid): Run with sample dataset19.29 ms /
20.64 ms
∇ -6.52%
51.84 Hz /
48.45 Hz
Δ 6.98%
poses: CPose3D (+) CPose3D42.85 ns /
42.90 ns
∇ -0.12%
23.34 MHz /
23.31 MHz
Δ 0.12%
poses: CPose3D.composeFrom()37.80 ns /
37.61 ns
Δ 0.51%
26.46 MHz /
26.59 MHz
∇ -0.50%
poses: CPose3D (+) CPoint3D7.25 ns /
7.25 ns
∇ 0.00%
137.89 MHz /
137.89 MHz
∇ 0.00%
poses: CPose3D.composePoint()11.91 ns /
11.83 ns
Δ 0.66%
83.98 MHz /
84.53 MHz
∇ -0.66%
poses: CPoint3D (-) CPose3D48.98 ns /
39.31 ns
Δ 24.60%
20.42 MHz /
25.44 MHz
∇ -19.74%
poses: CPose3D.inverseComposePoint()34.95 ns /
34.91 ns
Δ 0.13%
28.61 MHz /
28.65 MHz
∇ -0.13%
poses: CPose2D (+) CPose2D78.58 ns /
76.08 ns
Δ 3.28%
12.73 MHz /
13.14 MHz
∇ -3.18%
poses: CPose2D.composeFrom()70.31 ns /
61.61 ns
Δ 14.12%
14.22 MHz /
16.23 MHz
∇ -12.38%
poses: CPose2D (+) CPoint2D61.33 ns /
60.26 ns
Δ 1.77%
16.31 MHz /
16.59 MHz
∇ -1.74%
poses: CPose2D.composePoint()65.17 ns /
62.26 ns
Δ 4.66%
15.35 MHz /
16.06 MHz
∇ -4.46%
poses: CPose3DQuat (+) CPose3DQuat44.66 ns /
40.99 ns
Δ 8.95%
22.39 MHz /
24.40 MHz
∇ -8.22%
poses: CPose3DQuat.composeFrom()39.43 ns /
39.39 ns
Δ 0.10%
25.36 MHz /
25.39 MHz
∇ -0.10%
poses: CPose3DQuat (+) CPoint3D18.24 ns /
18.30 ns
∇ -0.37%
54.84 MHz /
54.63 MHz
Δ 0.37%
poses: CPose3DQuat.composePoint()17.94 ns /
17.94 ns
∇ -0.02%
55.75 MHz /
55.74 MHz
Δ 0.02%
poses: CPoint3D (-) CPose3DQuat 55.43 ns /
55.46 ns
∇ -0.05%
18.04 MHz /
18.03 MHz
Δ 0.05%
poses: CPose3DQuat.invcomposePoint()17.64 ns /
17.66 ns
∇ -0.11%
56.69 MHz /
56.63 MHz
Δ 0.11%
poses: Conv CPose3DQuat <- CPose3D16.70 ns /
16.78 ns
∇ -0.52%
59.89 MHz /
59.58 MHz
Δ 0.53%
poses: Conv CPose3D -> CPose3DQuat169.28 ns /
169.37 ns
∇ -0.05%
5.91 MHz /
5.90 MHz
Δ 0.05%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)760.96 us /
799.08 us
∇ -4.77%
1.31 KHz /
1.25 KHz
Δ 5.01%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)760.62 us /
803.31 us
∇ -5.31%
1.31 KHz /
1.24 KHz
Δ 5.61%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)9.47 us /
9.44 us
Δ 0.34%
105.55 KHz /
105.91 KHz
∇ -0.34%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)545.30 ns /
648.90 ns
∇ -15.97%
1.83 MHz /
1.54 MHz
Δ 19.00%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)544.10 ns /
631.00 ns
∇ -13.77%
1.84 MHz /
1.58 MHz
Δ 15.97%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)8.11 us /
8.18 us
∇ -0.84%
123.33 KHz /
122.30 KHz
Δ 0.85%
matrix: unit, dyn[float], 3x320.92 ns /
24.43 ns
∇ -14.37%
47.81 MHz /
40.94 MHz
Δ 16.78%
matrix: unit, dyn[double], 3x320.15 ns /
23.18 ns
∇ -13.08%
49.63 MHz /
43.14 MHz
Δ 15.05%
matrix: unit, dyn[float], 6x654.04 ns /
59.50 ns
∇ -9.19%
18.51 MHz /
16.81 MHz
Δ 10.12%
matrix: unit, dyn[double], 6x655.27 ns /
62.26 ns
∇ -11.24%
18.09 MHz /
16.06 MHz
Δ 12.66%
matrix: unit, fix[float,3,3]0.35 ns /
0.35 ns
∇ -0.29%
2.89 GHz /
2.88 GHz
Δ 0.29%
matrix: unit, fix[double,3,3]1.19 ns /
1.19 ns
∇ -0.08%
842.46 MHz /
841.75 MHz
Δ 0.08%
matrix: unit, fix[float,6,6]1.70 ns /
1.70 ns
∇ -0.29%
588.93 MHz /
587.20 MHz
Δ 0.29%
matrix: unit, fix[double,6,6]2.77 ns /
2.77 ns
Δ 0.18%
360.36 MHz /
361.01 MHz
∇ -0.18%
matrix: multiply, dyn[float ], 3x3 * 3x373.10 ns /
85.80 ns
∇ -14.80%
13.68 MHz /
11.66 MHz
Δ 17.37%
matrix: multiply, fix[float ], 3x3 * 3x323.80 ns /
23.80 ns
∇ 0.00%
42.02 MHz /
42.02 MHz
∇ 0.00%
matrix: multiply, dyn[double], 3x3 * 3x372.40 ns /
75.90 ns
∇ -4.61%
13.81 MHz /
13.18 MHz
Δ 4.83%
matrix: multiply, fix[double], 3x3 * 3x323.40 ns /
23.50 ns
∇ -0.43%
42.74 MHz /
42.55 MHz
Δ 0.43%
matrix: multiply, dyn[float ], 3x6 * 6x3110.50 ns /
118.10 ns
∇ -6.44%
9.05 MHz /
8.47 MHz
Δ 6.88%
matrix: multiply, fix[float ], 3x6 * 6x345.10 ns /
44.70 ns
Δ 0.89%
22.17 MHz /
22.37 MHz
∇ -0.89%
matrix: multiply, dyn[double], 3x6 * 6x3116.30 ns /
110.50 ns
Δ 5.25%
8.60 MHz /
9.05 MHz
∇ -4.99%
matrix: multiply, fix[double], 3x6 * 6x345.20 ns /
45.20 ns
∇ 0.00%
22.12 MHz /
22.12 MHz
∇ 0.00%
matrix: multiply, dyn[float ], 10x40 * 40x105.19 us /
5.44 us
∇ -4.58%
192.77 KHz /
183.95 KHz
Δ 4.80%
matrix: multiply, fix[float ], 10x40 * 40x103.55 us /
3.78 us
∇ -5.93%
281.56 KHz /
264.87 KHz
Δ 6.30%
matrix: multiply, dyn[double], 10x40 * 40x105.18 us /
5.54 us
∇ -6.57%
193.05 KHz /
180.38 KHz
Δ 7.03%
matrix: multiply, fix[double], 10x40 * 40x103.61 us /
4.07 us
∇ -11.41%
277.05 KHz /
245.43 KHz
Δ 12.88%
matrix: inv, dyn[float ] 3x3333.00 ns /
631.00 ns
∇ -47.23%
3.00 MHz /
1.58 MHz
Δ 89.49%
matrix: inv, fix[float ] 3x321.00 ns /
35.00 ns
∇ -40.00%
47.62 MHz /
28.57 MHz
Δ 66.67%
matrix: inv, dyn[double] 3x3329.00 ns /
644.00 ns
∇ -48.91%
3.04 MHz /
1.55 MHz
Δ 95.74%
matrix: inv, fix[double] 3x321.00 ns /
39.00 ns
∇ -46.15%
47.62 MHz /
25.64 MHz
Δ 85.71%
matrix: inv, dyn[float ] 6x61.22 us /
2.37 us
∇ -48.67%
821.69 KHz /
421.76 KHz
Δ 94.82%
matrix: inv, fix[float ] 6x6468.00 ns /
812.00 ns
∇ -42.36%
2.14 MHz /
1.23 MHz
Δ 73.50%
matrix: inv, dyn[double] 6x61.20 us /
1.26 us
∇ -4.76%
832.64 KHz /
793.02 KHz
Δ 5.00%
matrix: inv, fix[double] 6x6578.00 ns /
575.00 ns
Δ 0.52%
1.73 MHz /
1.74 MHz
∇ -0.52%
matrix: inv, dyn[float ] 20x2025.24 us /
25.94 us
∇ -2.69%
39.62 KHz /
38.55 KHz
Δ 2.77%
matrix: inv, fix[float ] 20x2012.60 us /
14.14 us
∇ -10.92%
79.36 KHz /
70.70 KHz
Δ 12.25%
matrix: inv, dyn[double] 20x2025.64 us /
25.76 us
∇ -0.46%
39.01 KHz /
38.83 KHz
Δ 0.46%
matrix: inv, fix[double] 20x2017.36 us /
17.04 us
Δ 1.90%
57.60 KHz /
58.69 KHz
∇ -1.87%
matrix: inv, dyn[float ] 40x40190.86 us /
205.11 us
∇ -6.95%
5.24 KHz /
4.88 KHz
Δ 7.46%
matrix: inv, fix[float ] 40x4088.89 us /
93.29 us
∇ -4.72%
11.25 KHz /
10.72 KHz
Δ 4.95%
matrix: inv, dyn[double] 40x40189.04 us /
207.20 us
∇ -8.76%
5.29 KHz /
4.83 KHz
Δ 9.61%
matrix: inv, fix[double] 40x40121.47 us /
133.80 us
∇ -9.22%
8.23 KHz /
7.47 KHz
Δ 10.16%
matrix: det, dyn[float ] 2x26.40 ns /
6.40 ns
∇ 0.00%
156.25 MHz /
156.25 MHz
∇ 0.00%
matrix: det, fix[float ] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 2x26.40 ns /
6.40 ns
∇ 0.00%
156.25 MHz /
156.25 MHz
∇ 0.00%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 3x310.30 ns /
10.30 ns
∇ 0.00%
97.09 MHz /
97.09 MHz
∇ 0.00%
matrix: det, fix[float ] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x310.30 ns /
10.30 ns
∇ 0.00%
97.09 MHz /
97.09 MHz
∇ 0.00%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[float ] 6x6692.40 ns /
653.50 ns
Δ 5.95%
1.44 MHz /
1.53 MHz
∇ -5.62%
matrix: det, fix[float ] 6x6207.00 ns /
210.00 ns
∇ -1.43%
4.83 MHz /
4.76 MHz
Δ 1.45%
matrix: det, dyn[double] 6x6696.30 ns /
730.30 ns
∇ -4.66%
1.44 MHz /
1.37 MHz
Δ 4.88%
matrix: det, fix[double] 6x6212.30 ns /
212.10 ns
Δ 0.09%
4.71 MHz /
4.71 MHz
∇ -0.09%
matrix: det, dyn[float ] 20x205.39 us /
5.70 us
∇ -5.48%
185.56 KHz /
175.40 KHz
Δ 5.80%
matrix: det, fix[float ] 20x203.90 us /
4.20 us
∇ -7.19%
256.35 KHz /
237.92 KHz
Δ 7.75%
matrix: det, dyn[double] 20x206.40 us /
6.56 us
∇ -2.45%
156.16 KHz /
152.33 KHz
Δ 2.51%
matrix: det, fix[double] 20x204.72 us /
5.04 us
∇ -6.32%
211.77 KHz /
198.38 KHz
Δ 6.75%
matrix: det, dyn[float ] 40x4030.35 us /
32.38 us
∇ -6.26%
32.95 KHz /
30.89 KHz
Δ 6.68%
matrix: det, fix[float ] 40x4026.47 us /
27.92 us
∇ -5.17%
37.78 KHz /
35.82 KHz
Δ 5.45%
matrix: det, dyn[double] 40x4032.49 us /
39.41 us
∇ -17.55%
30.77 KHz /
25.37 KHz
Δ 21.28%
matrix: det, fix[double] 40x4027.34 us /
29.04 us
∇ -5.85%
36.58 KHz /
34.44 KHz
Δ 6.22%
matrix: chol, dyn[double] 4x4130.00 ns /
140.00 ns
∇ -7.14%
7.69 MHz /
7.14 MHz
Δ 7.69%
matrix: chol, fix[double] 4x4140.00 ns /
160.00 ns
∇ -12.50%
7.14 MHz /
6.25 MHz
Δ 14.29%
matrix: chol, dyn[double] 40x4018.52 us /
18.38 us
Δ 0.76%
54.00 KHz /
54.41 KHz
∇ -0.76%
matrix: chol, fix[double] 40x4016.55 us /
17.08 us
∇ -3.10%
60.42 KHz /
58.55 KHz
Δ 3.20%
matrix: chol, sparse [2x2;2x2]8.20 us /
8.30 us
∇ -1.20%
121.95 KHz /
120.48 KHz
Δ 1.22%
matrix: chol, sparse [30x30;10x10]82.90 us /
84.40 us
∇ -1.78%
12.06 KHz /
11.85 KHz
Δ 1.81%
matrix: chol, dyn[double] 10x[6x6]52.70 us /
53.00 us
∇ -0.57%
18.98 KHz /
18.87 KHz
Δ 0.57%
matrix: chol, sparse 10x[6x6]38.59 us /
39.49 us
∇ -2.28%
25.91 KHz /
25.32 KHz
Δ 2.33%
matrix: chol, dyn[double] 20x[6x6]409.80 us /
411.70 us
∇ -0.46%
2.44 KHz /
2.43 KHz
Δ 0.46%
matrix: chol, sparse 20x[6x6]70.75 us /
74.09 us
∇ -4.51%
14.13 KHz /
13.50 KHz
Δ 4.72%
matrix: chol, dyn[double] 50x[6x6]8.58 ms /
10.38 ms
∇ -17.39%
116.60 Hz /
96.33 Hz
Δ 21.04%
matrix: chol, sparse 50x[6x6]171.20 us /
248.74 us
∇ -31.17%
5.84 KHz /
4.02 KHz
Δ 45.29%
matrix: chol, dyn[double] 100x[6x6]133.58 ms /
370.64 ms
∇ -63.96%
7.49 Hz /
2.70 Hz
Δ 177.46%
matrix: chol, sparse 100x[6x6]341.85 us /
353.56 us
∇ -3.31%
2.93 KHz /
2.83 KHz
Δ 3.43%
matrix: chol, dyn[double] 120x[6x6]354.49 ms /
365.56 ms
∇ -3.03%
2.82 Hz /
2.74 Hz
Δ 3.12%
matrix: chol, sparse 120x[6x6]401.50 us /
425.27 us
∇ -5.59%
2.49 KHz /
2.35 KHz
Δ 5.92%
matrix: chol, dyn[double] 140x[6x6]773.25 ms /
796.04 ms
∇ -2.86%
1.29 Hz /
1.26 Hz
Δ 2.95%
matrix: chol, sparse 140x[6x6]469.25 us /
490.79 us
∇ -4.39%
2.13 KHz /
2.04 KHz
Δ 4.59%
gridmap2D: getCell0.00 ns /
0.00 ns
Δ inf%
10.00 THz /
inf THz
∇ -nan%
gridmap2D: setCell2.58 ns /
2.58 ns
∇ -0.07%
388.02 MHz /
387.76 MHz
Δ 0.07%
gridmap2D: updateCell7.84 ns /
7.44 ns
Δ 5.28%
127.58 MHz /
134.32 MHz
∇ -5.01%
gridmap2D: updateCell_fast_occupied0.55 ns /
0.55 ns
∇ -0.04%
1.82 GHz /
1.82 GHz
Δ 0.04%
gridmap2D: insert scan w/o widening102.06 us /
101.23 us
Δ 0.82%
9.80 KHz /
9.88 KHz
∇ -0.81%
gridmap2D: insert scan with widening289.47 us /
291.30 us
∇ -0.63%
3.45 KHz /
3.43 KHz
Δ 0.63%
gridmap2D: resize1.97 ms /
1.89 ms
Δ 4.13%
508.65 Hz /
529.66 Hz
∇ -3.97%
gridmap2D: computeLikelihood15.74 us /
16.46 us
∇ -4.39%
63.55 KHz /
60.76 KHz
Δ 4.59%
pointmap: insert 100 scans3.04 ms /
3.10 ms
∇ -2.06%
329.30 Hz /
322.50 Hz
Δ 2.11%
pointmap: build 2D kd-tree of 1 scan4.32 us /
4.28 us
Δ 0.93%
231.48 KHz /
233.64 KHz
∇ -0.93%
pointmap: build 2D kd-tree of 100 scan352.12 us /
355.52 us
∇ -0.96%
2.84 KHz /
2.81 KHz
Δ 0.97%
pointmap: build 2D kd-tree of 1000 scan4.14 ms /
4.16 ms
∇ -0.53%
241.51 Hz /
240.24 Hz
Δ 0.53%
pointmap: build 3D kd-tree of 1 scan4.68 us /
4.76 us
∇ -1.68%
213.68 KHz /
210.08 KHz
Δ 1.71%
pointmap: build 3D kd-tree of 100 scan359.52 us /
363.20 us
∇ -1.01%
2.78 KHz /
2.75 KHz
Δ 1.02%
pointmap: build 3D kd-tree of 1000 scan4.03 ms /
4.09 ms
∇ -1.61%
248.28 Hz /
244.29 Hz
Δ 1.63%
pointmap: kd-tree 2d query on 10 scans1.41 us /
1.38 us
Δ 1.66%
711.74 KHz /
723.59 KHz
∇ -1.64%
pointmap: kd-tree 2d query on 1000 scans97.21 us /
100.93 us
∇ -3.69%
10.29 KHz /
9.91 KHz
Δ 3.83%
pointmap: kd-tree 2d query on 10000 scans11.62 ms /
11.91 ms
∇ -2.44%
86.05 Hz /
83.95 Hz
Δ 2.50%
pointmap: (insert scan+2D kd-tree query) x 105.59 ms /
5.62 ms
∇ -0.43%
178.77 Hz /
178.01 Hz
Δ 0.43%
pointmap: (insert scan+2D kd-tree query) x 50129.28 ms /
130.76 ms
∇ -1.13%
7.73 Hz /
7.65 Hz
Δ 1.14%
pointmap: (insert scan+3D kd-tree query) x 105.66 ms /
5.67 ms
∇ -0.10%
176.53 Hz /
176.35 Hz
Δ 0.10%
pointmap: (insert scan+3D kd-tree query) x 50131.22 ms /
132.64 ms
∇ -1.07%
7.62 Hz /
7.54 Hz
Δ 1.08%
random: drawUniform32bit14.50 ns /
14.57 ns
∇ -0.47%
68.95 MHz /
68.63 MHz
Δ 0.47%
random: drawUniform14.50 ns /
14.62 ns
∇ -0.80%
68.96 MHz /
68.41 MHz
Δ 0.80%
random: drawGaussian1D_normalized68.97 ns /
68.70 ns
Δ 0.40%
14.50 MHz /
14.56 MHz
∇ -0.39%
random: drawGaussian1D68.98 ns /
68.68 ns
Δ 0.43%
14.50 MHz /
14.56 MHz
∇ -0.43%
random: system rand()10.45 ns /
10.45 ns
∇ -0.05%
95.72 MHz /
95.67 MHz
Δ 0.05%
random: drawGaussianMultivariate(fixed 3x3)1.31 us /
1.31 us
∇ -0.05%
765.12 KHz /
764.77 KHz
Δ 0.05%
random: drawGaussianMultivariate(dyn 3x3)2.73 us /
2.79 us
∇ -2.03%
366.37 KHz /
358.92 KHz
Δ 2.08%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)158.91 ns /
158.26 ns
Δ 0.41%
6.29 MHz /
6.32 MHz
∇ -0.41%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)237.40 ns /
236.42 ns
Δ 0.41%
4.21 MHz /
4.23 MHz
∇ -0.41%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)490.03 ns /
489.37 ns
Δ 0.14%
2.04 MHz /
2.04 MHz
∇ -0.14%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)164.67 ns /
164.61 ns
Δ 0.03%
6.07 MHz /
6.07 MHz
∇ -0.03%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)249.81 ns /
248.12 ns
Δ 0.68%
4.00 MHz /
4.03 MHz
∇ -0.68%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)514.70 ns /
514.83 ns
∇ -0.02%
1.94 MHz /
1.94 MHz
Δ 0.02%
random: permuteVector (len=10)296.20 ns /
317.50 ns
∇ -6.71%
3.38 MHz /
3.15 MHz
Δ 7.19%
random: permuteVector (len=100)3.04 us /
3.06 us
∇ -0.72%
328.91 KHz /
326.54 KHz
Δ 0.73%
random: permuteVector (len=1000)30.22 us /
30.27 us
∇ -0.15%
33.09 KHz /
33.04 KHz
Δ 0.15%
math: round0.10 ns /
0.10 ns
∇ -0.01%
10.09 GHz /
10.09 GHz
Δ 0.01%
images: Save as JPEG (640x480, quality=95%)35.06 ms /
27.27 ms
Δ 28.57%
28.52 Hz /
36.67 Hz
∇ -22.22%
images: Save as JPEG (800x600, quality=95%)48.96 ms /
43.27 ms
Δ 13.15%
20.42 Hz /
23.11 Hz
∇ -11.62%
images: Save as JPEG (1024x768, quality=95%)74.65 ms /
74.67 ms
∇ -0.03%
13.40 Hz /
13.39 Hz
Δ 0.03%
images: Save as JPEG (640x480, quality=75%)29.96 ms /
26.31 ms
Δ 13.90%
33.37 Hz /
38.01 Hz
∇ -12.20%
images: Save as JPEG (800x600, quality=75%)42.79 ms /
40.92 ms
Δ 4.57%
23.37 Hz /
24.44 Hz
∇ -4.37%
images: Save as JPEG (1024x768, quality=75%)64.15 ms /
62.56 ms
Δ 2.54%
15.59 Hz /
15.99 Hz
∇ -2.48%
images: Gauss filter (640x480)3.90 ms /
4.48 ms
∇ -12.99%
256.30 Hz /
223.01 Hz
Δ 14.93%
images: Gauss filter (800x600)6.21 ms /
7.46 ms
∇ -16.72%
160.99 Hz /
134.07 Hz
Δ 20.08%
images: Gauss filter (1024x768)10.55 ms /
12.41 ms
∇ -14.96%
94.74 Hz /
80.57 Hz
Δ 17.59%
scan_matching: 6D LS Rigid Trans. [CPose3D]5.06 us /
5.15 us
∇ -1.75%
197.63 KHz /
194.17 KHz
Δ 1.78%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.30 us /
4.35 us
∇ -1.15%
232.56 KHz /
229.89 KHz
Δ 1.16%
scan_matching: 6D LS Rigid Trans. [vector of points]2.10 us /
2.12 us
∇ -0.94%
476.19 KHz /
471.70 KHz
Δ 0.95%
feature_extraction [640x480]: Harris24.28 ms /
33.18 ms
∇ -26.84%
41.19 Hz /
30.14 Hz
Δ 36.68%
feature_extraction [640x480]: KLT24.43 ms /
29.64 ms
∇ -17.58%
40.94 Hz /
33.74 Hz
Δ 21.33%
feature_extraction [640x480]: SIFT610.42 ms /
637.68 ms
∇ -4.27%
1.64 Hz /
1.57 Hz
Δ 4.46%
feature_extraction [640x480]: SIFT desc.167.77 ms /
173.14 ms
∇ -3.10%
5.96 Hz /
5.78 Hz
Δ 3.20%
feature_extraction [640x480]: SURF197.61 ms /
202.84 ms
∇ -2.58%
5.06 Hz /
4.93 Hz
Δ 2.64%
feature_extraction [640x480]: FAST5.24 ms /
5.10 ms
Δ 2.76%
190.68 Hz /
195.94 Hz
∇ -2.68%
feature_extraction [640x480]: Spin desc.59.98 ms /
61.22 ms
∇ -2.02%
16.67 Hz /
16.33 Hz
Δ 2.06%
feature_matching [640x480]: Harris + CC40.88 ms /
43.90 ms
∇ -6.88%
24.46 Hz /
22.78 Hz
Δ 7.39%
feature_matching [640x480]: Harris + SAD35.50 ms /
38.32 ms
∇ -7.38%
28.17 Hz /
26.09 Hz
Δ 7.96%
feature_matching [640x480]: SIFT1.21 sec /
1.28 sec
∇ -5.46%
828.07 mHz /
782.87 mHz
Δ 5.77%
feature_matching [640x480]: SURF379.92 ms /
387.99 ms
∇ -2.08%
2.63 Hz /
2.58 Hz
Δ 2.13%
feature_matching [640x480]: FAST + CC16.06 ms /
15.73 ms
Δ 2.12%
62.26 Hz /
63.57 Hz
∇ -2.07%
feature_matching [640x480]: FAST + SAD10.73 ms /
10.56 ms
Δ 1.63%
93.18 Hz /
94.70 Hz
∇ -1.60%
graph(2d): insertEdge x 1e3117.65 us /
104.46 us
Δ 12.63%
8.50 KHz /
9.57 KHz
∇ -11.21%
graph(2d,vec): insertEdge x 1e3105.12 us /
X
9.51 KHz /
X
graph(2d): insertEdgeAtEnd x 1e385.19 us /
85.19 us
∇ -0.00%
11.74 KHz /
11.74 KHz
Δ 0.00%
graph(2d,vec): insertEdgeAtEnd x 1e384.46 us /
X
11.84 KHz /
X
graph(2d pdf): insertEdge x 1e3172.53 us /
134.65 us
Δ 28.13%
5.80 KHz /
7.43 KHz
∇ -21.96%
graph(2d pdf,vec): insertEdge x 1e3187.97 us /
X
5.32 KHz /
X
graph(2d pdf): insertEdgeAtEnd x 1e3168.61 us /
119.89 us
Δ 40.63%
5.93 KHz /
8.34 KHz
∇ -28.89%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3167.39 us /
X
5.97 KHz /
X
graph(2d): insertEdge x 1e41.73 ms /
1.39 ms
Δ 24.64%
579.22 Hz /
721.96 Hz
∇ -19.77%
graph(2d,vec): insertEdge x 1e41.45 ms /
X
690.59 Hz /
X
graph(2d): insertEdgeAtEnd x 1e4884.69 us /
854.04 us
Δ 3.59%
1.13 KHz /
1.17 KHz
∇ -3.46%
graph(2d,vec): insertEdgeAtEnd x 1e4862.22 us /
X
1.16 KHz /
X
graph(2d pdf): insertEdge x 1e41.97 ms /
1.61 ms
Δ 22.73%
506.65 Hz /
621.80 Hz
∇ -18.52%
graph(2d pdf,vec): insertEdge x 1e42.31 ms /
X
433.74 Hz /
X
graph(2d pdf): insertEdgeAtEnd x 1e41.86 ms /
1.20 ms
Δ 54.76%
538.12 Hz /
832.81 Hz
∇ -35.38%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.86 ms /
X
538.35 Hz /
X
graph(3d): insertEdge x 1e3177.23 us /
132.91 us
Δ 33.35%
5.64 KHz /
7.52 KHz
∇ -25.01%
graph(3d,vec): insertEdge x 1e3178.36 us /
X
5.61 KHz /
X
graph(3d): insertEdgeAtEnd x 1e3157.86 us /
109.11 us
Δ 44.68%
6.33 KHz /
9.17 KHz
∇ -30.88%
graph(3d,vec): insertEdgeAtEnd x 1e3159.54 us /
X
6.27 KHz /
X
graph(3d pdf): insertEdge x 1e3507.00 us /
349.74 us
Δ 44.96%
1.97 KHz /
2.86 KHz
∇ -31.02%
graph(3d pdf,vec): insertEdge x 1e3509.46 us /
X
1.96 KHz /
X
graph(3d pdf): insertEdgeAtEnd x 1e3473.36 us /
321.54 us
Δ 47.22%
2.11 KHz /
3.11 KHz
∇ -32.07%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3474.07 us /
X
2.11 KHz /
X
graph(3d): insertEdge x 1e42.47 ms /
1.89 ms
Δ 30.77%
404.60 Hz /
529.10 Hz
∇ -23.53%
graph(3d,vec): insertEdge x 1e42.48 ms /
X
402.82 Hz /
X
graph(3d): insertEdgeAtEnd x 1e41.75 ms /
1.10 ms
Δ 59.56%
570.48 Hz /
910.25 Hz
∇ -37.33%
graph(3d,vec): insertEdgeAtEnd x 1e41.77 ms /
X
565.81 Hz /
X
graph(3d pdf): insertEdge x 1e45.53 ms /
4.65 ms
Δ 18.92%
180.97 Hz /
215.20 Hz
∇ -15.91%
graph(3d pdf,vec): insertEdge x 1e45.56 ms /
X
179.70 Hz /
X
graph(3d pdf): insertEdgeAtEnd x 1e44.85 ms /
4.05 ms
Δ 19.72%
206.16 Hz /
246.81 Hz
∇ -16.47%
graph(3d pdf,vec): insertEdgeAtEnd x 1e44.85 ms /
X
206.11 Hz /
X
graph(3d): dijkstra 1e2 nodes96.04 us /
X
10.41 KHz /
X
graph(3d,vec): dijkstra 1e2 nodes80.39 us /
X
12.44 KHz /
X
graph(3d): dijkstra 1e3 nodes1.13 ms /
X
885.05 Hz /
X
graph(3d,vec): dijkstra 1e3 nodes804.04 us /
X
1.24 KHz /
X
graph(3d): dijkstra 1e4 nodes19.14 ms /
X
52.26 Hz /
X
graph(3d,vec): dijkstra 1e4 nodes9.65 ms /
X
103.63 Hz /
X
graph(3d): dijkstra 1e5 nodes290.37 ms /
X
3.44 Hz /
X
graph(3d,vec): dijkstra 1e5 nodes117.73 ms /
X
8.49 Hz /
X
graph(2d): dijkstra 1e5 nodes268.93 ms /
X
3.72 Hz /
X
graph(2d,vec): dijkstra 1e5 nodes103.05 ms /
X
9.70 Hz /
X

 


Page generated automatically at 2010/12/18,14:13:40.139714 with MRPT 0.9.3 by 'mrpt-performance'.