<html><head><title>mrpt-performance results - Configuration: 0.9.2-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Results for: 0.9.2-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">19.99 ms</td> <td align="right">50.03 Hz</td> </tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td> <td align="right">19.29 ms</td> <td align="right">51.84 Hz</td> </tr> <tr> <td>poses: CPose3D (+) CPose3D</td> <td align="right">42.85 ns</td> <td align="right">23.34 MHz</td> </tr> <tr> <td>poses: CPose3D.composeFrom()</td> <td align="right">37.80 ns</td> <td align="right">26.46 MHz</td> </tr> <tr> <td>poses: CPose3D (+) CPoint3D</td> <td align="right">7.25 ns</td> <td align="right">137.89 MHz</td> </tr> <tr> <td>poses: CPose3D.composePoint()</td> <td align="right">11.91 ns</td> <td align="right">83.98 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3D</td> <td align="right">48.98 ns</td> <td align="right">20.42 MHz</td> </tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td> <td align="right">34.95 ns</td> <td align="right">28.61 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPose2D</td> <td align="right">78.58 ns</td> <td align="right">12.73 MHz</td> </tr> <tr> <td>poses: CPose2D.composeFrom()</td> <td align="right">70.31 ns</td> <td align="right">14.22 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPoint2D</td> <td align="right">61.33 ns</td> <td align="right">16.31 MHz</td> </tr> <tr> <td>poses: CPose2D.composePoint()</td> <td align="right">65.17 ns</td> <td align="right">15.35 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td> <td align="right">44.66 ns</td> <td align="right">22.39 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td> <td align="right">39.43 ns</td> <td align="right">25.36 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td> <td align="right">18.24 ns</td> <td align="right">54.84 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composePoint()</td> <td align="right">17.94 ns</td> <td align="right">55.75 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td> <td align="right">55.43 ns</td> <td align="right">18.04 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td> <td align="right">17.64 ns</td> <td align="right">56.69 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td> <td align="right">16.70 ns</td> <td align="right">59.89 MHz</td> </tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td> <td align="right">169.28 ns</td> <td align="right">5.91 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td> <td align="right">760.96 us</td> <td align="right">1.31 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td> <td align="right">760.62 us</td> <td align="right">1.31 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td> <td align="right">9.47 us</td> <td align="right">105.55 KHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td> <td align="right">545.30 ns</td> <td align="right">1.83 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td> <td align="right">544.10 ns</td> <td align="right">1.84 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td> <td align="right">8.11 us</td> <td align="right">123.33 KHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 3x3</td> <td align="right">20.92 ns</td> <td align="right">47.81 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 3x3</td> <td align="right">20.15 ns</td> <td align="right">49.63 MHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 6x6</td> <td align="right">54.04 ns</td> <td align="right">18.51 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 6x6</td> <td align="right">55.27 ns</td> <td align="right">18.09 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">1.70 ns</td> <td align="right">588.93 MHz</td> </tr> <tr> <td>matrix: unit, fix[double,6,6]</td> <td align="right">2.77 ns</td> <td align="right">360.36 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td> <td align="right">73.10 ns</td> <td align="right">13.68 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td> <td align="right">23.80 ns</td> <td align="right">42.02 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td> <td align="right">72.40 ns</td> <td align="right">13.81 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td> <td align="right">23.40 ns</td> <td align="right">42.74 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td> <td align="right">110.50 ns</td> <td align="right">9.05 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td> <td align="right">45.10 ns</td> <td align="right">22.17 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td> <td align="right">116.30 ns</td> <td align="right">8.60 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td> <td align="right">45.20 ns</td> <td align="right">22.12 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td> <td align="right">5.19 us</td> <td align="right">192.77 KHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td> <td align="right">3.55 us</td> <td align="right">281.56 KHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td> <td align="right">5.18 us</td> <td align="right">193.05 KHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td> <td align="right">3.61 us</td> <td align="right">277.05 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td> <td align="right">333.00 ns</td> <td align="right">3.00 MHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 3x3</td> <td align="right">21.00 ns</td> <td align="right">47.62 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 3x3</td> <td align="right">329.00 ns</td> <td align="right">3.04 MHz</td> </tr> <tr> <td>matrix: inv, fix[double] 3x3</td> <td align="right">21.00 ns</td> <td align="right">47.62 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td> <td align="right">1.22 us</td> <td align="right">821.69 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">1.20 us</td> <td align="right">832.64 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">25.24 us</td> <td align="right">39.62 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 20x20</td> <td align="right">12.60 us</td> <td align="right">79.36 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 20x20</td> <td align="right">25.64 us</td> <td align="right">39.01 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 20x20</td> <td align="right">17.36 us</td> <td align="right">57.60 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td> <td align="right">190.86 us</td> <td align="right">5.24 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 40x40</td> <td align="right">88.89 us</td> <td align="right">11.25 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 40x40</td> <td align="right">189.04 us</td> <td align="right">5.29 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 40x40</td> <td align="right">121.47 us</td> <td align="right">8.23 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">1.#J THz</td> </tr> <tr> <td>matrix: det, dyn[double] 2x2</td> <td align="right">6.40 ns</td> <td align="right">156.25 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 2x2</td> <td align="right">0.00 ns</td> <td align="right">1.#J 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">1.#J 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">1.#J THz</td> </tr> <tr> <td>matrix: det, dyn[float ] 6x6</td> <td align="right">692.40 ns</td> <td align="right">1.44 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 6x6</td> <td align="right">207.00 ns</td> <td align="right">4.83 MHz</td> </tr> <tr> <td>matrix: det, dyn[double] 6x6</td> <td align="right">696.30 ns</td> <td align="right">1.44 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 6x6</td> <td align="right">212.30 ns</td> <td align="right">4.71 MHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 20x20</td> <td align="right">5.39 us</td> <td align="right">185.56 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 20x20</td> <td align="right">3.90 us</td> <td align="right">256.35 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 20x20</td> <td align="right">6.40 us</td> <td align="right">156.16 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 20x20</td> <td align="right">4.72 us</td> <td align="right">211.77 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 40x40</td> <td align="right">30.35 us</td> <td align="right">32.95 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 40x40</td> <td align="right">26.47 us</td> <td align="right">37.78 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 40x40</td> <td align="right">32.49 us</td> <td align="right">30.77 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 40x40</td> <td align="right">27.34 us</td> <td align="right">36.58 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 4x4</td> <td align="right">130.00 ns</td> <td align="right">7.69 MHz</td> </tr> <tr> <td>matrix: chol, fix[double] 4x4</td> <td align="right">140.00 ns</td> <td align="right">7.14 MHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 40x40</td> <td align="right">18.52 us</td> <td align="right">54.00 KHz</td> </tr> <tr> <td>matrix: chol, fix[double] 40x40</td> <td align="right">16.55 us</td> <td align="right">60.42 KHz</td> </tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td> <td align="right">8.20 us</td> <td align="right">121.95 KHz</td> </tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td> <td align="right">82.90 us</td> <td align="right">12.06 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td> <td align="right">52.70 us</td> <td align="right">18.98 KHz</td> </tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td> <td align="right">38.59 us</td> <td align="right">25.91 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td> <td align="right">409.80 us</td> <td align="right">2.44 KHz</td> </tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td> <td align="right">70.75 us</td> <td align="right">14.13 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td> <td align="right">8.58 ms</td> <td align="right">116.60 Hz</td> </tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td> <td align="right">171.20 us</td> <td align="right">5.84 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td> <td align="right">133.58 ms</td> <td align="right">7.49 Hz</td> </tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td> <td align="right">341.85 us</td> <td align="right">2.93 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td> <td align="right">354.49 ms</td> <td align="right">2.82 Hz</td> </tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td> <td align="right">401.50 us</td> <td align="right">2.49 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td> <td align="right">773.25 ms</td> <td align="right">1.29 Hz</td> </tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td> <td align="right">469.25 us</td> <td align="right">2.13 KHz</td> </tr> <tr> <td>gridmap2D: getCell</td> <td align="right">0.00 ns</td> <td align="right">10.00 THz</td> </tr> <tr> <td>gridmap2D: setCell</td> <td align="right">2.58 ns</td> <td align="right">388.02 MHz</td> </tr> <tr> <td>gridmap2D: updateCell</td> <td align="right">7.84 ns</td> <td align="right">127.58 MHz</td> </tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td> <td align="right">0.55 ns</td> <td align="right">1.82 GHz</td> </tr> <tr> <td>gridmap2D: insert scan w/o widening</td> <td align="right">102.06 us</td> <td align="right">9.80 KHz</td> </tr> <tr> <td>gridmap2D: insert scan with widening</td> <td align="right">289.47 us</td> <td align="right">3.45 KHz</td> </tr> <tr> <td>gridmap2D: resize</td> <td align="right">1.97 ms</td> <td align="right">508.65 Hz</td> </tr> <tr> <td>gridmap2D: computeLikelihood</td> <td align="right">15.74 us</td> <td align="right">63.55 KHz</td> </tr> <tr> <td>pointmap: insert 100 scans</td> <td align="right">3.04 ms</td> <td align="right">329.30 Hz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td> <td align="right">4.32 us</td> <td align="right">231.48 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td> <td align="right">352.12 us</td> <td align="right">2.84 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td> <td align="right">4.14 ms</td> <td align="right">241.51 Hz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td> <td align="right">4.68 us</td> <td align="right">213.68 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td> <td align="right">359.52 us</td> <td align="right">2.78 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td> <td align="right">4.03 ms</td> <td align="right">248.28 Hz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td> <td align="right">1.41 us</td> <td align="right">711.74 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td> <td align="right">97.21 us</td> <td align="right">10.29 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td> <td align="right">11.62 ms</td> <td align="right">86.05 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td> <td align="right">5.59 ms</td> <td align="right">178.77 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td> <td align="right">129.28 ms</td> <td align="right">7.73 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td> <td align="right">5.66 ms</td> <td align="right">176.53 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td> <td align="right">131.22 ms</td> <td align="right">7.62 Hz</td> </tr> <tr> <td>random: drawUniform32bit</td> <td align="right">14.50 ns</td> <td align="right">68.95 MHz</td> </tr> <tr> <td>random: drawUniform</td> <td align="right">14.50 ns</td> <td align="right">68.96 MHz</td> </tr> <tr> <td>random: drawGaussian1D_normalized</td> <td align="right">68.97 ns</td> <td align="right">14.50 MHz</td> </tr> <tr> <td>random: drawGaussian1D</td> <td align="right">68.98 ns</td> <td align="right">14.50 MHz</td> </tr> <tr> <td>random: system rand()</td> <td align="right">10.45 ns</td> <td align="right">95.72 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td> <td align="right">1.31 us</td> <td align="right">765.12 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td> <td align="right">2.73 us</td> <td align="right">366.37 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td> <td align="right">158.91 ns</td> <td align="right">6.29 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td> <td align="right">237.40 ns</td> <td align="right">4.21 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td> <td align="right">490.03 ns</td> <td align="right">2.04 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td> <td align="right">164.67 ns</td> <td align="right">6.07 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td> <td align="right">249.81 ns</td> <td align="right">4.00 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td> <td align="right">514.70 ns</td> <td align="right">1.94 MHz</td> </tr> <tr> <td>random: permuteVector (len=10)</td> <td align="right">296.20 ns</td> <td align="right">3.38 MHz</td> </tr> <tr> <td>random: permuteVector (len=100)</td> <td align="right">3.04 us</td> <td align="right">328.91 KHz</td> </tr> <tr> <td>random: permuteVector (len=1000)</td> <td align="right">30.22 us</td> <td align="right">33.09 KHz</td> </tr> <tr> <td>math: round</td> <td align="right">0.10 ns</td> <td align="right">10.09 GHz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td> <td align="right">35.06 ms</td> <td align="right">28.52 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td> <td align="right">48.96 ms</td> <td align="right">20.42 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td> <td align="right">74.65 ms</td> <td align="right">13.40 Hz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td> <td align="right">29.96 ms</td> <td align="right">33.37 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td> <td align="right">42.79 ms</td> <td align="right">23.37 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td> <td align="right">64.15 ms</td> <td align="right">15.59 Hz</td> </tr> <tr> <td>images: Gauss filter (640x480)</td> <td align="right">3.90 ms</td> <td align="right">256.30 Hz</td> </tr> <tr> <td>images: Gauss filter (800x600)</td> <td align="right">6.21 ms</td> <td align="right">160.99 Hz</td> </tr> <tr> <td>images: Gauss filter (1024x768)</td> <td align="right">10.55 ms</td> <td align="right">94.74 Hz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td> <td align="right">5.06 us</td> <td align="right">197.63 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td> <td align="right">4.30 us</td> <td align="right">232.56 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td> <td align="right">2.10 us</td> <td align="right">476.19 KHz</td> </tr> <tr> <td>feature_extraction [640x480]: Harris</td> <td align="right">24.28 ms</td> <td align="right">41.19 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: KLT</td> <td align="right">24.43 ms</td> <td align="right">40.94 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT</td> <td align="right">610.42 ms</td> <td align="right">1.64 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td> <td align="right">167.77 ms</td> <td align="right">5.96 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SURF</td> <td align="right">197.61 ms</td> <td align="right">5.06 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: FAST</td> <td align="right">5.24 ms</td> <td align="right">190.68 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td> <td align="right">59.98 ms</td> <td align="right">16.67 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + CC</td> <td align="right">40.88 ms</td> <td align="right">24.46 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td> <td align="right">35.50 ms</td> <td align="right">28.17 Hz</td> </tr> <tr> <td>feature_matching [640x480]: SIFT</td> <td align="right">1.21 sec</td> <td align="right">828.07 mHz</td> </tr> <tr> <td>feature_matching [640x480]: SURF</td> <td align="right">379.92 ms</td> <td align="right">2.63 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + CC</td> <td align="right">16.06 ms</td> <td align="right">62.26 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td> <td align="right">10.73 ms</td> <td align="right">93.18 Hz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e3</td> <td align="right">117.65 us</td> <td align="right">8.50 KHz</td> </tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td> <td align="right">105.13 us</td> <td align="right">9.51 KHz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td> <td align="right">85.19 us</td> <td align="right">11.74 KHz</td> </tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td> <td align="right">84.46 us</td> <td align="right">11.84 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td> <td align="right">172.53 us</td> <td align="right">5.80 KHz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td> <td align="right">187.97 us</td> <td align="right">5.32 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">168.61 us</td> <td align="right">5.93 KHz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td> <td align="right">167.39 us</td> <td align="right">5.97 KHz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e4</td> <td align="right">1.73 ms</td> <td align="right">579.22 Hz</td> </tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td> <td align="right">1.45 ms</td> <td align="right">690.59 Hz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td> <td align="right">884.69 us</td> <td align="right">1.13 KHz</td> </tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td> <td align="right">862.22 us</td> <td align="right">1.16 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td> <td align="right">1.97 ms</td> <td align="right">506.65 Hz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td> <td align="right">2.31 ms</td> <td align="right">433.74 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">1.86 ms</td> <td align="right">538.12 Hz</td> </tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td> <td align="right">1.86 ms</td> <td align="right">538.35 Hz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e3</td> <td align="right">177.23 us</td> <td align="right">5.64 KHz</td> </tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td> <td align="right">178.36 us</td> <td align="right">5.61 KHz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td> <td align="right">157.86 us</td> <td align="right">6.33 KHz</td> </tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td> <td align="right">159.54 us</td> <td align="right">6.27 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td> <td align="right">507.00 us</td> <td align="right">1.97 KHz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td> <td align="right">509.46 us</td> <td align="right">1.96 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">473.36 us</td> <td align="right">2.11 KHz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td> <td align="right">474.07 us</td> <td align="right">2.11 KHz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e4</td> <td align="right">2.47 ms</td> <td align="right">404.60 Hz</td> </tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td> <td align="right">2.48 ms</td> <td align="right">402.82 Hz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td> <td align="right">1.75 ms</td> <td align="right">570.48 Hz</td> </tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td> <td align="right">1.77 ms</td> <td align="right">565.81 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td> <td align="right">5.53 ms</td> <td align="right">180.97 Hz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td> <td align="right">5.56 ms</td> <td align="right">179.70 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">4.85 ms</td> <td align="right">206.16 Hz</td> </tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td> <td align="right">4.85 ms</td> <td align="right">206.11 Hz</td> </tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td> <td align="right">96.04 us</td> <td align="right">10.41 KHz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td> <td align="right">80.39 us</td> <td align="right">12.44 KHz</td> </tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td> <td align="right">1.13 ms</td> <td align="right">885.05 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td> <td align="right">804.04 us</td> <td align="right">1.24 KHz</td> </tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td> <td align="right">19.14 ms</td> <td align="right">52.26 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td> <td align="right">9.65 ms</td> <td align="right">103.63 Hz</td> </tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td> <td align="right">290.37 ms</td> <td align="right">3.44 Hz</td> </tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td> <td align="right">117.73 ms</td> <td align="right">8.49 Hz</td> </tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td> <td align="right">268.93 ms</td> <td align="right">3.72 Hz</td> </tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td> <td align="right">103.05 ms</td> <td align="right">9.70 Hz</td> </tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:37.477405 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
