<html><head><title>mrpt-performance results - Configuration: 0.9.2preSVN2157-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Results for: 0.9.2preSVN2157-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">20.59 ms</td> <td align="right">48.58 Hz</td> </tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td> <td align="right">20.64 ms</td> <td align="right">48.45 Hz</td> </tr> <tr> <td>poses: CPose3D (+) CPose3D</td> <td align="right">42.90 ns</td> <td align="right">23.31 MHz</td> </tr> <tr> <td>poses: CPose3D.composeFrom()</td> <td align="right">37.61 ns</td> <td align="right">26.59 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">11.83 ns</td> <td align="right">84.53 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3D</td> <td align="right">39.31 ns</td> <td align="right">25.44 MHz</td> </tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td> <td align="right">34.91 ns</td> <td align="right">28.65 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPose2D</td> <td align="right">76.08 ns</td> <td align="right">13.14 MHz</td> </tr> <tr> <td>poses: CPose2D.composeFrom()</td> <td align="right">61.61 ns</td> <td align="right">16.23 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPoint2D</td> <td align="right">60.26 ns</td> <td align="right">16.59 MHz</td> </tr> <tr> <td>poses: CPose2D.composePoint()</td> <td align="right">62.26 ns</td> <td align="right">16.06 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td> <td align="right">40.99 ns</td> <td align="right">24.40 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td> <td align="right">39.39 ns</td> <td align="right">25.39 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td> <td align="right">18.30 ns</td> <td align="right">54.63 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composePoint()</td> <td align="right">17.94 ns</td> <td align="right">55.74 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td> <td align="right">55.46 ns</td> <td align="right">18.03 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td> <td align="right">17.66 ns</td> <td align="right">56.63 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td> <td align="right">16.78 ns</td> <td align="right">59.58 MHz</td> </tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td> <td align="right">169.37 ns</td> <td align="right">5.90 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td> <td align="right">799.08 us</td> <td align="right">1.25 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td> <td align="right">803.31 us</td> <td align="right">1.24 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td> <td align="right">9.44 us</td> <td align="right">105.91 KHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td> <td align="right">648.90 ns</td> <td align="right">1.54 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td> <td align="right">631.00 ns</td> <td align="right">1.58 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td> <td align="right">8.18 us</td> <td align="right">122.30 KHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 3x3</td> <td align="right">24.43 ns</td> <td align="right">40.94 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 3x3</td> <td align="right">23.18 ns</td> <td align="right">43.14 MHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 6x6</td> <td align="right">59.50 ns</td> <td align="right">16.81 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 6x6</td> <td align="right">62.26 ns</td> <td align="right">16.06 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,3,3]</td> <td align="right">0.35 ns</td> <td align="right">2.88 GHz</td> </tr> <tr> <td>matrix: unit, fix[double,3,3]</td> <td align="right">1.19 ns</td> <td align="right">841.75 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,6,6]</td> <td align="right">1.70 ns</td> <td align="right">587.20 MHz</td> </tr> <tr> <td>matrix: unit, fix[double,6,6]</td> <td align="right">2.77 ns</td> <td align="right">361.01 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td> <td align="right">85.80 ns</td> <td align="right">11.66 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">75.90 ns</td> <td align="right">13.18 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">118.10 ns</td> <td align="right">8.47 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td> <td align="right">44.70 ns</td> <td align="right">22.37 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">45.20 ns</td> <td align="right">22.12 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td> <td align="right">5.44 us</td> <td align="right">183.95 KHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td> <td align="right">3.78 us</td> <td align="right">264.87 KHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td> <td align="right">5.54 us</td> <td align="right">180.38 KHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td> <td align="right">4.07 us</td> <td align="right">245.43 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td> <td align="right">631.00 ns</td> <td align="right">1.58 MHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 3x3</td> <td align="right">35.00 ns</td> <td align="right">28.57 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 3x3</td> <td align="right">644.00 ns</td> <td align="right">1.55 MHz</td> </tr> <tr> <td>matrix: inv, fix[double] 3x3</td> <td align="right">39.00 ns</td> <td align="right">25.64 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td> <td align="right">2.37 us</td> <td align="right">421.76 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 6x6</td> <td align="right">812.00 ns</td> <td align="right">1.23 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 6x6</td> <td align="right">1.26 us</td> <td align="right">793.02 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 6x6</td> <td align="right">575.00 ns</td> <td align="right">1.74 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td> <td align="right">25.94 us</td> <td align="right">38.55 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 20x20</td> <td align="right">14.15 us</td> <td align="right">70.70 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 20x20</td> <td align="right">25.76 us</td> <td align="right">38.83 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 20x20</td> <td align="right">17.04 us</td> <td align="right">58.69 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td> <td align="right">205.11 us</td> <td align="right">4.88 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 40x40</td> <td align="right">93.29 us</td> <td align="right">10.72 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 40x40</td> <td align="right">207.20 us</td> <td align="right">4.83 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 40x40</td> <td align="right">133.80 us</td> <td align="right">7.47 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">653.50 ns</td> <td align="right">1.53 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 6x6</td> <td align="right">210.00 ns</td> <td align="right">4.76 MHz</td> </tr> <tr> <td>matrix: det, dyn[double] 6x6</td> <td align="right">730.30 ns</td> <td align="right">1.37 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 6x6</td> <td align="right">212.10 ns</td> <td align="right">4.71 MHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 20x20</td> <td align="right">5.70 us</td> <td align="right">175.40 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 20x20</td> <td align="right">4.20 us</td> <td align="right">237.92 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 20x20</td> <td align="right">6.56 us</td> <td align="right">152.33 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 20x20</td> <td align="right">5.04 us</td> <td align="right">198.38 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 40x40</td> <td align="right">32.38 us</td> <td align="right">30.89 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 40x40</td> <td align="right">27.92 us</td> <td align="right">35.82 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 40x40</td> <td align="right">39.41 us</td> <td align="right">25.37 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 40x40</td> <td align="right">29.04 us</td> <td align="right">34.44 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 4x4</td> <td align="right">140.00 ns</td> <td align="right">7.14 MHz</td> </tr> <tr> <td>matrix: chol, fix[double] 4x4</td> <td align="right">160.00 ns</td> <td align="right">6.25 MHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 40x40</td> <td align="right">18.38 us</td> <td align="right">54.41 KHz</td> </tr> <tr> <td>matrix: chol, fix[double] 40x40</td> <td align="right">17.08 us</td> <td align="right">58.55 KHz</td> </tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td> <td align="right">8.30 us</td> <td align="right">120.48 KHz</td> </tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td> <td align="right">84.40 us</td> <td align="right">11.85 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td> <td align="right">53.00 us</td> <td align="right">18.87 KHz</td> </tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td> <td align="right">39.49 us</td> <td align="right">25.32 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td> <td align="right">411.70 us</td> <td align="right">2.43 KHz</td> </tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td> <td align="right">74.09 us</td> <td align="right">13.50 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td> <td align="right">10.38 ms</td> <td align="right">96.33 Hz</td> </tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td> <td align="right">248.74 us</td> <td align="right">4.02 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td> <td align="right">370.64 ms</td> <td align="right">2.70 Hz</td> </tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td> <td align="right">353.56 us</td> <td align="right">2.83 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td> <td align="right">365.56 ms</td> <td align="right">2.74 Hz</td> </tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td> <td align="right">425.27 us</td> <td align="right">2.35 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td> <td align="right">796.04 ms</td> <td align="right">1.26 Hz</td> </tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td> <td align="right">490.79 us</td> <td align="right">2.04 KHz</td> </tr> <tr> <td>gridmap2D: getCell</td> <td align="right">0.00 ns</td> <td align="right">1.#J THz</td> </tr> <tr> <td>gridmap2D: setCell</td> <td align="right">2.58 ns</td> <td align="right">387.76 MHz</td> </tr> <tr> <td>gridmap2D: updateCell</td> <td align="right">7.44 ns</td> <td align="right">134.32 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">101.23 us</td> <td align="right">9.88 KHz</td> </tr> <tr> <td>gridmap2D: insert scan with widening</td> <td align="right">291.30 us</td> <td align="right">3.43 KHz</td> </tr> <tr> <td>gridmap2D: resize</td> <td align="right">1.89 ms</td> <td align="right">529.66 Hz</td> </tr> <tr> <td>gridmap2D: computeLikelihood</td> <td align="right">16.46 us</td> <td align="right">60.76 KHz</td> </tr> <tr> <td>pointmap: insert 100 scans</td> <td align="right">3.10 ms</td> <td align="right">322.50 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">355.52 us</td> <td align="right">2.81 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td> <td align="right">4.16 ms</td> <td align="right">240.24 Hz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td> <td align="right">4.76 us</td> <td align="right">210.08 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td> <td align="right">363.20 us</td> <td align="right">2.75 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td> <td align="right">4.09 ms</td> <td align="right">244.29 Hz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td> <td align="right">1.38 us</td> <td align="right">723.59 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td> <td align="right">100.93 us</td> <td align="right">9.91 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td> <td align="right">11.91 ms</td> <td align="right">83.95 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td> <td align="right">5.62 ms</td> <td align="right">178.01 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td> <td align="right">130.76 ms</td> <td align="right">7.65 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td> <td align="right">5.67 ms</td> <td align="right">176.35 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td> <td align="right">132.64 ms</td> <td align="right">7.54 Hz</td> </tr> <tr> <td>random: drawUniform32bit</td> <td align="right">14.57 ns</td> <td align="right">68.63 MHz</td> </tr> <tr> <td>random: drawUniform</td> <td align="right">14.62 ns</td> <td align="right">68.41 MHz</td> </tr> <tr> <td>random: drawGaussian1D_normalized</td> <td align="right">68.70 ns</td> <td align="right">14.56 MHz</td> </tr> <tr> <td>random: drawGaussian1D</td> <td align="right">68.68 ns</td> <td align="right">14.56 MHz</td> </tr> <tr> <td>random: system rand()</td> <td align="right">10.45 ns</td> <td align="right">95.67 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td> <td align="right">1.31 us</td> <td align="right">764.77 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td> <td align="right">2.79 us</td> <td align="right">358.92 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td> <td align="right">158.26 ns</td> <td align="right">6.32 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td> <td align="right">236.42 ns</td> <td align="right">4.23 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td> <td align="right">489.37 ns</td> <td align="right">2.04 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td> <td align="right">164.61 ns</td> <td align="right">6.07 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td> <td align="right">248.12 ns</td> <td align="right">4.03 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td> <td align="right">514.83 ns</td> <td align="right">1.94 MHz</td> </tr> <tr> <td>random: permuteVector (len=10)</td> <td align="right">317.50 ns</td> <td align="right">3.15 MHz</td> </tr> <tr> <td>random: permuteVector (len=100)</td> <td align="right">3.06 us</td> <td align="right">326.54 KHz</td> </tr> <tr> <td>random: permuteVector (len=1000)</td> <td align="right">30.27 us</td> <td align="right">33.04 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">27.27 ms</td> <td align="right">36.67 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td> <td align="right">43.27 ms</td> <td align="right">23.11 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td> <td align="right">74.67 ms</td> <td align="right">13.39 Hz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td> <td align="right">26.31 ms</td> <td align="right">38.01 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td> <td align="right">40.92 ms</td> <td align="right">24.44 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td> <td align="right">62.56 ms</td> <td align="right">15.99 Hz</td> </tr> <tr> <td>images: Gauss filter (640x480)</td> <td align="right">4.48 ms</td> <td align="right">223.01 Hz</td> </tr> <tr> <td>images: Gauss filter (800x600)</td> <td align="right">7.46 ms</td> <td align="right">134.07 Hz</td> </tr> <tr> <td>images: Gauss filter (1024x768)</td> <td align="right">12.41 ms</td> <td align="right">80.57 Hz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td> <td align="right">5.15 us</td> <td align="right">194.17 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td> <td align="right">4.35 us</td> <td align="right">229.89 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td> <td align="right">2.12 us</td> <td align="right">471.70 KHz</td> </tr> <tr> <td>feature_extraction [640x480]: Harris</td> <td align="right">33.18 ms</td> <td align="right">30.14 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: KLT</td> <td align="right">29.64 ms</td> <td align="right">33.74 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT</td> <td align="right">637.68 ms</td> <td align="right">1.57 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td> <td align="right">173.14 ms</td> <td align="right">5.78 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SURF</td> <td align="right">202.84 ms</td> <td align="right">4.93 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: FAST</td> <td align="right">5.10 ms</td> <td align="right">195.94 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td> <td align="right">61.22 ms</td> <td align="right">16.33 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + CC</td> <td align="right">43.90 ms</td> <td align="right">22.78 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td> <td align="right">38.32 ms</td> <td align="right">26.09 Hz</td> </tr> <tr> <td>feature_matching [640x480]: SIFT</td> <td align="right">1.28 sec</td> <td align="right">782.87 mHz</td> </tr> <tr> <td>feature_matching [640x480]: SURF</td> <td align="right">387.99 ms</td> <td align="right">2.58 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + CC</td> <td align="right">15.73 ms</td> <td align="right">63.57 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td> <td align="right">10.56 ms</td> <td align="right">94.70 Hz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e3</td> <td align="right">104.46 us</td> <td align="right">9.57 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 pdf): insertEdge x 1e3</td> <td align="right">134.65 us</td> <td align="right">7.43 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">119.89 us</td> <td align="right">8.34 KHz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e4</td> <td align="right">1.39 ms</td> <td align="right">721.96 Hz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td> <td align="right">854.04 us</td> <td align="right">1.17 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td> <td align="right">1.61 ms</td> <td align="right">621.80 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">1.20 ms</td> <td align="right">832.81 Hz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e3</td> <td align="right">132.91 us</td> <td align="right">7.52 KHz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td> <td align="right">109.11 us</td> <td align="right">9.17 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td> <td align="right">349.74 us</td> <td align="right">2.86 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">321.54 us</td> <td align="right">3.11 KHz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e4</td> <td align="right">1.89 ms</td> <td align="right">529.10 Hz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td> <td align="right">1.10 ms</td> <td align="right">910.25 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td> <td align="right">4.65 ms</td> <td align="right">215.20 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">4.05 ms</td> <td align="right">246.81 Hz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e2 nodes</td> <td align="right">94.48 us</td> <td align="right">10.58 KHz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e3 nodes</td> <td align="right">1.16 ms</td> <td align="right">860.07 Hz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e4 nodes</td> <td align="right">19.13 ms</td> <td align="right">52.28 Hz</td> </tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:37.451404 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
