<html><head><title>mrpt-performance results - Configuration: 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Results for: 0.9.1-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td align="center"><b>Test description</b></td> <td align="center"><b>Execution time</b></td><td align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td> <td align="right">21.60 ms</td> <td align="right">46.30 Hz</td> </tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td> <td align="right">20.51 ms</td> <td align="right">48.75 Hz</td> </tr> <tr> <td>poses: CPose3D (+) CPose3D</td> <td align="right">449.02 ns</td> <td align="right">2.23 MHz</td> </tr> <tr> <td>poses: CPose3D.composeFrom()</td> <td align="right">233.83 ns</td> <td align="right">4.28 MHz</td> </tr> <tr> <td>poses: CPose3D (+) CPoint3D</td> <td align="right">10.67 ns</td> <td align="right">93.76 MHz</td> </tr> <tr> <td>poses: CPose3D.composePoint()</td> <td align="right">10.06 ns</td> <td align="right">99.38 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3D</td> <td align="right">37.71 ns</td> <td align="right">26.52 MHz</td> </tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td> <td align="right">40.98 ns</td> <td align="right">24.40 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPose2D</td> <td align="right">78.17 ns</td> <td align="right">12.79 MHz</td> </tr> <tr> <td>poses: CPose2D.composeFrom()</td> <td align="right">62.17 ns</td> <td align="right">16.08 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPoint2D</td> <td align="right">63.86 ns</td> <td align="right">15.66 MHz</td> </tr> <tr> <td>poses: CPose2D.composePoint()</td> <td align="right">61.98 ns</td> <td align="right">16.13 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td> <td align="right">47.00 ns</td> <td align="right">21.28 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td> <td align="right">39.80 ns</td> <td align="right">25.13 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td> <td align="right">22.62 ns</td> <td align="right">44.21 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composePoint()</td> <td align="right">18.93 ns</td> <td align="right">52.83 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td> <td align="right">391.26 ns</td> <td align="right">2.56 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td> <td align="right">18.05 ns</td> <td align="right">55.39 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td> <td align="right">355.00 ns</td> <td align="right">2.82 MHz</td> </tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td> <td align="right">173.19 ns</td> <td align="right">5.77 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td> <td align="right">814.76 us</td> <td align="right">1.23 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td> <td align="right">821.91 us</td> <td align="right">1.22 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td> <td align="right">9.57 us</td> <td align="right">104.48 KHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td> <td align="right">682.30 ns</td> <td align="right">1.47 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td> <td align="right">533.80 ns</td> <td align="right">1.87 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td> <td align="right">8.51 us</td> <td align="right">117.45 KHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 3x3</td> <td align="right">20.59 ns</td> <td align="right">48.56 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 3x3</td> <td align="right">22.60 ns</td> <td align="right">44.24 MHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 6x6</td> <td align="right">63.92 ns</td> <td align="right">15.64 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 6x6</td> <td align="right">65.22 ns</td> <td align="right">15.33 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,3,3]</td> <td align="right">0.35 ns</td> <td align="right">2.89 GHz</td> </tr> <tr> <td>matrix: unit, fix[double,3,3]</td> <td align="right">1.19 ns</td> <td align="right">842.46 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,6,6]</td> <td align="right">1.68 ns</td> <td align="right">594.53 MHz</td> </tr> <tr> <td>matrix: unit, fix[double,6,6]</td> <td align="right">2.86 ns</td> <td align="right">349.53 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td> <td align="right">73.50 ns</td> <td align="right">13.61 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td> <td align="right">24.10 ns</td> <td align="right">41.49 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td> <td align="right">72.10 ns</td> <td align="right">13.87 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td> <td align="right">23.50 ns</td> <td align="right">42.55 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td> <td align="right">112.90 ns</td> <td align="right">8.86 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td> <td align="right">45.00 ns</td> <td align="right">22.22 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td> <td align="right">110.50 ns</td> <td align="right">9.05 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td> <td align="right">45.10 ns</td> <td align="right">22.17 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td> <td align="right">5.82 us</td> <td align="right">171.91 KHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td> <td align="right">3.57 us</td> <td align="right">279.91 KHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td> <td align="right">5.88 us</td> <td align="right">169.93 KHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td> <td align="right">3.82 us</td> <td align="right">262.04 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td> <td align="right">449.00 ns</td> <td align="right">2.23 MHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 3x3</td> <td align="right">33.00 ns</td> <td align="right">30.30 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 3x3</td> <td align="right">413.00 ns</td> <td align="right">2.42 MHz</td> </tr> <tr> <td>matrix: inv, fix[double] 3x3</td> <td align="right">22.00 ns</td> <td align="right">45.45 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td> <td align="right">1.31 us</td> <td align="right">761.04 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 6x6</td> <td align="right">468.00 ns</td> <td align="right">2.14 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 6x6</td> <td align="right">1.25 us</td> <td align="right">800.64 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 6x6</td> <td align="right">578.00 ns</td> <td align="right">1.73 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td> <td align="right">28.01 us</td> <td align="right">35.71 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 20x20</td> <td align="right">12.67 us</td> <td align="right">78.91 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 20x20</td> <td align="right">28.58 us</td> <td align="right">34.98 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 20x20</td> <td align="right">17.20 us</td> <td align="right">58.15 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td> <td align="right">205.67 us</td> <td align="right">4.86 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 40x40</td> <td align="right">92.66 us</td> <td align="right">10.79 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 40x40</td> <td align="right">200.95 us</td> <td align="right">4.98 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 40x40</td> <td align="right">134.50 us</td> <td align="right">7.43 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 2x2</td> <td align="right">6.40 ns</td> <td align="right">156.25 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 2x2</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[double] 2x2</td> <td align="right">8.80 ns</td> <td align="right">113.64 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 2x2</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[float ] 3x3</td> <td align="right">10.30 ns</td> <td align="right">97.09 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 3x3</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[double] 3x3</td> <td align="right">10.30 ns</td> <td align="right">97.09 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 3x3</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[float ] 6x6</td> <td align="right">931.50 ns</td> <td align="right">1.07 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 6x6</td> <td align="right">215.70 ns</td> <td align="right">4.64 MHz</td> </tr> <tr> <td>matrix: det, dyn[double] 6x6</td> <td align="right">739.10 ns</td> <td align="right">1.35 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 6x6</td> <td align="right">219.80 ns</td> <td align="right">4.55 MHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 20x20</td> <td align="right">5.64 us</td> <td align="right">177.30 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 20x20</td> <td align="right">4.05 us</td> <td align="right">246.81 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 20x20</td> <td align="right">6.52 us</td> <td align="right">153.32 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 20x20</td> <td align="right">4.73 us</td> <td align="right">211.54 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 40x40</td> <td align="right">30.83 us</td> <td align="right">32.43 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 40x40</td> <td align="right">25.85 us</td> <td align="right">38.68 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 40x40</td> <td align="right">32.40 us</td> <td align="right">30.87 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 40x40</td> <td align="right">27.53 us</td> <td align="right">36.33 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 4x4</td> <td align="right">170.00 ns</td> <td align="right">5.88 MHz</td> </tr> <tr> <td>matrix: chol, fix[double] 4x4</td> <td align="right">130.00 ns</td> <td align="right">7.69 MHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 40x40</td> <td align="right">18.73 us</td> <td align="right">53.39 KHz</td> </tr> <tr> <td>matrix: chol, fix[double] 40x40</td> <td align="right">16.74 us</td> <td align="right">59.74 KHz</td> </tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td> <td align="right">8.50 us</td> <td align="right">117.65 KHz</td> </tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td> <td align="right">93.90 us</td> <td align="right">10.65 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td> <td align="right">52.90 us</td> <td align="right">18.90 KHz</td> </tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td> <td align="right">40.03 us</td> <td align="right">24.98 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td> <td align="right">411.30 us</td> <td align="right">2.43 KHz</td> </tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td> <td align="right">74.98 us</td> <td align="right">13.34 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td> <td align="right">8.61 ms</td> <td align="right">116.18 Hz</td> </tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td> <td align="right">185.35 us</td> <td align="right">5.40 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td> <td align="right">135.40 ms</td> <td align="right">7.39 Hz</td> </tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td> <td align="right">359.80 us</td> <td align="right">2.78 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td> <td align="right">364.31 ms</td> <td align="right">2.74 Hz</td> </tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td> <td align="right">426.39 us</td> <td align="right">2.35 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td> <td align="right">800.16 ms</td> <td align="right">1.25 Hz</td> </tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td> <td align="right">497.60 us</td> <td align="right">2.01 KHz</td> </tr> <tr> <td>gridmap2D: getCell</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>gridmap2D: setCell</td> <td align="right">2.58 ns</td> <td align="right">387.19 MHz</td> </tr> <tr> <td>gridmap2D: updateCell</td> <td align="right">7.47 ns</td> <td align="right">133.80 MHz</td> </tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td> <td align="right">0.55 ns</td> <td align="right">1.83 GHz</td> </tr> <tr> <td>gridmap2D: insert scan w/o widening</td> <td align="right">104.80 us</td> <td align="right">9.54 KHz</td> </tr> <tr> <td>gridmap2D: insert scan with widening</td> <td align="right">295.32 us</td> <td align="right">3.39 KHz</td> </tr> <tr> <td>gridmap2D: resize</td> <td align="right">1.83 ms</td> <td align="right">547.65 Hz</td> </tr> <tr> <td>gridmap2D: computeLikelihood</td> <td align="right">16.65 us</td> <td align="right">60.06 KHz</td> </tr> <tr> <td>pointmap: insert 100 scans</td> <td align="right">3.11 ms</td> <td align="right">321.23 Hz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td> <td align="right">4.28 us</td> <td align="right">233.64 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td> <td align="right">354.96 us</td> <td align="right">2.82 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td> <td align="right">4.14 ms</td> <td align="right">241.67 Hz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td> <td align="right">4.28 us</td> <td align="right">233.64 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td> <td align="right">361.24 us</td> <td align="right">2.77 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td> <td align="right">4.09 ms</td> <td align="right">244.66 Hz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td> <td align="right">1.37 us</td> <td align="right">730.99 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td> <td align="right">98.96 us</td> <td align="right">10.10 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td> <td align="right">11.96 ms</td> <td align="right">83.64 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td> <td align="right">5.60 ms</td> <td align="right">178.50 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td> <td align="right">129.56 ms</td> <td align="right">7.72 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td> <td align="right">5.65 ms</td> <td align="right">176.84 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td> <td align="right">132.43 ms</td> <td align="right">7.55 Hz</td> </tr> <tr> <td>random: drawUniform32bit</td> <td align="right">15.70 ns</td> <td align="right">63.70 MHz</td> </tr> <tr> <td>random: drawUniform</td> <td align="right">15.69 ns</td> <td align="right">63.72 MHz</td> </tr> <tr> <td>random: drawGaussian1D_normalized</td> <td align="right">70.40 ns</td> <td align="right">14.20 MHz</td> </tr> <tr> <td>random: drawGaussian1D</td> <td align="right">70.38 ns</td> <td align="right">14.21 MHz</td> </tr> <tr> <td>random: system rand()</td> <td align="right">11.07 ns</td> <td align="right">90.37 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td> <td align="right">1.33 us</td> <td align="right">751.96 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td> <td align="right">3.04 us</td> <td align="right">328.99 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td> <td align="right">162.81 ns</td> <td align="right">6.14 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td> <td align="right">245.58 ns</td> <td align="right">4.07 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td> <td align="right">514.74 ns</td> <td align="right">1.94 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td> <td align="right">173.84 ns</td> <td align="right">5.75 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td> <td align="right">259.42 ns</td> <td align="right">3.85 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td> <td align="right">523.99 ns</td> <td align="right">1.91 MHz</td> </tr> <tr> <td>random: permuteVector (len=10)</td> <td align="right">288.60 ns</td> <td align="right">3.47 MHz</td> </tr> <tr> <td>random: permuteVector (len=100)</td> <td align="right">3.07 us</td> <td align="right">325.61 KHz</td> </tr> <tr> <td>random: permuteVector (len=1000)</td> <td align="right">30.26 us</td> <td align="right">33.05 KHz</td> </tr> <tr> <td>math: round</td> <td align="right">0.10 ns</td> <td align="right">9.77 GHz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td> <td align="right">31.77 ms</td> <td align="right">31.48 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td> <td align="right">45.70 ms</td> <td align="right">21.88 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td> <td align="right">73.33 ms</td> <td align="right">13.64 Hz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td> <td align="right">27.15 ms</td> <td align="right">36.83 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td> <td align="right">40.31 ms</td> <td align="right">24.81 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td> <td align="right">64.44 ms</td> <td align="right">15.52 Hz</td> </tr> <tr> <td>images: Gauss filter (640x480)</td> <td align="right">4.52 ms</td> <td align="right">221.30 Hz</td> </tr> <tr> <td>images: Gauss filter (800x600)</td> <td align="right">7.35 ms</td> <td align="right">136.05 Hz</td> </tr> <tr> <td>images: Gauss filter (1024x768)</td> <td align="right">11.22 ms</td> <td align="right">89.13 Hz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td> <td align="right">6.32 us</td> <td align="right">158.23 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td> <td align="right">4.78 us</td> <td align="right">209.21 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td> <td align="right">2.14 us</td> <td align="right">467.29 KHz</td> </tr> <tr> <td>feature_extraction [640x480]: Harris</td> <td align="right">28.31 ms</td> <td align="right">35.32 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: KLT</td> <td align="right">27.34 ms</td> <td align="right">36.57 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT</td> <td align="right">641.91 ms</td> <td align="right">1.56 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td> <td align="right">170.65 ms</td> <td align="right">5.86 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SURF</td> <td align="right">201.21 ms</td> <td align="right">4.97 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: FAST</td> <td align="right">5.22 ms</td> <td align="right">191.49 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td> <td align="right">60.81 ms</td> <td align="right">16.44 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + CC</td> <td align="right">43.26 ms</td> <td align="right">23.12 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td> <td align="right">39.91 ms</td> <td align="right">25.06 Hz</td> </tr> <tr> <td>feature_matching [640x480]: SIFT</td> <td align="right">1.28 sec</td> <td align="right">783.36 mHz</td> </tr> <tr> <td>feature_matching [640x480]: SURF</td> <td align="right">386.18 ms</td> <td align="right">2.59 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + CC</td> <td align="right">16.12 ms</td> <td align="right">62.03 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td> <td align="right">10.93 ms</td> <td align="right">91.46 Hz</td> </tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2010/12/18,14:13:40.081973 with MRPT 0.9.3 by 'mrpt-performance'.</small> </body></html>
