Comparison: 1.2.0dev-GCC-64bit vs. 1.2.0dev-MSVC11-64bit




Test description 1.2.0dev-GCC-64bit /
1.2.0dev-MSVC11-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset961.56 us /
1.19 ms
∇ -19.09%
1.04 KHz /
841.46 Hz
Δ 23.59%
icp-slam (match grid): Run with sample dataset1.30 ms /
1.97 ms
∇ -33.71%
767.35 Hz /
508.70 Hz
Δ 50.85%
poses: CPose3D (+) CPose3D14.72 ns /
21.31 ns
∇ -30.94%
67.93 MHz /
46.92 MHz
Δ 44.80%
poses: CPose3D.composeFrom()11.55 ns /
13.36 ns
∇ -13.57%
86.58 MHz /
74.83 MHz
Δ 15.70%
poses: CPose3D (+) CPoint3D4.33 ns /
10.61 ns
∇ -59.23%
231.05 MHz /
94.21 MHz
Δ 145.25%
poses: CPose3D.composePoint()5.61 ns /
9.80 ns
∇ -42.80%
178.38 MHz /
102.03 MHz
Δ 74.82%
poses: CPose3D.composePoint()+Jacobs107.66 ns /
100.13 ns
Δ 7.53%
9.29 MHz /
9.99 MHz
∇ -7.00%
poses: CPoint3D (-) CPose3D7.38 ns /
26.84 ns
∇ -72.49%
135.46 MHz /
37.26 MHz
Δ 263.57%
poses: CPose3D.inverseComposePoint()13.91 ns /
17.51 ns
∇ -20.56%
71.88 MHz /
57.10 MHz
Δ 25.88%
poses: CPose2D (+) CPose2D15.08 ns /
14.88 ns
Δ 1.35%
66.33 MHz /
67.22 MHz
∇ -1.33%
poses: CPose2D.composeFrom()10.29 ns /
10.50 ns
∇ -2.01%
97.16 MHz /
95.21 MHz
Δ 2.05%
poses: CPose2D (+) CPoint2D3.12 ns /
7.09 ns
∇ -56.00%
320.31 MHz /
140.95 MHz
Δ 127.25%
poses: CPose2D.composePoint()3.15 ns /
5.70 ns
∇ -44.75%
317.26 MHz /
175.30 MHz
Δ 80.98%
poses: CPose3DQuat (+) CPose3DQuat20.40 ns /
45.12 ns
∇ -54.79%
49.02 MHz /
22.16 MHz
Δ 121.17%
poses: CPose3DQuat.composeFrom()19.77 ns /
31.67 ns
∇ -37.58%
50.58 MHz /
31.57 MHz
Δ 60.20%
poses: CPose3DQuat (+) CPoint3D9.27 ns /
25.16 ns
∇ -63.16%
107.87 MHz /
39.74 MHz
Δ 171.44%
poses: CPose3DQuat.composePoint()8.73 ns /
17.84 ns
∇ -51.07%
114.52 MHz /
56.04 MHz
Δ 104.36%
poses: CPoint3D (-) CPose3DQuat 16.98 ns /
36.85 ns
∇ -53.92%
58.89 MHz /
27.14 MHz
Δ 117.03%
poses: CPose3DQuat.invcomposePoint()8.98 ns /
15.15 ns
∇ -40.73%
111.36 MHz /
66.00 MHz
Δ 68.72%
poses: Conv CPose3DQuat <- CPose3D9.17 ns /
12.61 ns
∇ -27.26%
109.00 MHz /
79.29 MHz
Δ 37.47%
poses: Conv CPose3D -> CPose3DQuat83.90 ns /
54.28 ns
Δ 54.57%
11.92 MHz /
18.42 MHz
∇ -35.31%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)61.69 us /
485.54 ns
Δ 12605.44%
16.21 KHz /
2.06 MHz
∇ -99.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.97 us /
468.18 ns
Δ 12922.25%
16.40 KHz /
2.14 MHz
∇ -99.23%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.42 us /
6.23 us
∇ -12.90%
184.37 KHz /
160.58 KHz
Δ 14.82%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)317.90 ns /
371.95 ns
∇ -14.53%
3.15 MHz /
2.69 MHz
Δ 17.00%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)305.40 ns /
373.43 ns
∇ -18.22%
3.27 MHz /
2.68 MHz
Δ 22.27%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.81 us /
5.91 us
∇ -18.70%
208.11 KHz /
169.19 KHz
Δ 23.00%
matrix: unit, dyn[float], 3x327.00 ns /
55.82 ns
∇ -51.63%
37.04 MHz /
17.92 MHz
Δ 106.76%
matrix: unit, dyn[double], 3x330.23 ns /
53.69 ns
∇ -43.71%
33.09 MHz /
18.62 MHz
Δ 77.64%
matrix: unit, dyn[float], 6x646.22 ns /
81.08 ns
∇ -42.99%
21.64 MHz /
12.33 MHz
Δ 75.42%
matrix: unit, dyn[double], 6x648.71 ns /
82.32 ns
∇ -40.83%
20.53 MHz /
12.15 MHz
Δ 69.01%
matrix: unit, fix[float,3,3]0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[double,3,3]0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[float,6,6]0.00 ns /
4.21 ns
∇ -100.00%
inf THz /
237.38 MHz
Δ inf%
matrix: unit, fix[double,6,6]0.03 ns /
4.87 ns
∇ -99.34%
31.25 GHz /
205.27 MHz
Δ 15123.95%
matrix: multiply, dyn[float ], 3x3 * 3x3175.00 ns /
281.39 ns
∇ -37.81%
5.71 MHz /
3.55 MHz
Δ 60.79%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x3167.10 ns /
266.66 ns
∇ -37.34%
5.98 MHz /
3.75 MHz
Δ 59.58%
matrix: multiply, fix[double], 3x3 * 3x30.10 ns /
0.00 ns
Δ inf%
10.00 GHz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x6 * 6x3204.90 ns /
299.53 ns
∇ -31.59%
4.88 MHz /
3.34 MHz
Δ 46.18%
matrix: multiply, fix[float ], 3x6 * 6x30.00 ns /
1.21 ns
∇ -100.00%
inf THz /
828.21 MHz
Δ inf%
matrix: multiply, dyn[double], 3x6 * 6x3192.80 ns /
294.25 ns
∇ -34.48%
5.19 MHz /
3.40 MHz
Δ 52.62%
matrix: multiply, fix[double], 3x6 * 6x30.10 ns /
1.90 ns
∇ -94.74%
10.00 GHz /
525.85 MHz
Δ 1801.70%
matrix: multiply, dyn[float ], 10x40 * 40x101.04 us /
1.43 us
∇ -26.95%
958.31 KHz /
700.05 KHz
Δ 36.89%
matrix: multiply, fix[float ], 10x40 * 40x10904.60 ns /
1.16 us
∇ -22.04%
1.11 MHz /
861.82 KHz
Δ 28.27%
matrix: multiply, dyn[double], 10x40 * 40x101.24 us /
1.66 us
∇ -25.15%
805.80 KHz /
603.16 KHz
Δ 33.60%
matrix: multiply, fix[double], 10x40 * 40x101.04 us /
1.34 us
∇ -22.45%
961.72 KHz /
745.85 KHz
Δ 28.94%
matrix: inv, dyn[double] 3x3494.00 ns /
791.17 ns
∇ -37.56%
2.02 MHz /
1.26 MHz
Δ 60.16%
matrix: inv, fix[double] 3x30.00 ns /
12.98 ns
∇ -100.00%
inf THz /
77.04 MHz
Δ inf%
matrix: inv, dyn[double] 6x6985.00 ns /
1.58 us
∇ -37.61%
1.02 MHz /
633.43 KHz
Δ 60.28%
matrix: inv, fix[double] 6x6624.00 ns /
1.11 us
∇ -43.92%
1.60 MHz /
898.76 KHz
Δ 78.31%
matrix: inv, dyn[double] 20x206.35 us /
13.08 us
∇ -51.48%
157.53 KHz /
76.44 KHz
Δ 106.08%
matrix: inv, fix[double] 20x206.11 us /
11.37 us
∇ -46.27%
163.69 KHz /
87.95 KHz
Δ 86.13%
matrix: inv, dyn[double] 40x4027.64 us /
49.83 us
∇ -44.53%
36.17 KHz /
20.07 KHz
Δ 80.26%
matrix: inv, fix[double] 40x4027.08 us /
47.25 us
∇ -42.70%
36.93 KHz /
21.16 KHz
Δ 74.51%
matrix: det, dyn[double] 2x2201.20 ns /
296.97 ns
∇ -32.25%
4.97 MHz /
3.37 MHz
Δ 47.60%
matrix: det, fix[double] 2x20.00 ns /
0.03 ns
∇ -100.00%
inf THz /
33.13 GHz
Δ inf%
matrix: det, dyn[double] 3x3227.20 ns /
394.77 ns
∇ -42.45%
4.40 MHz /
2.53 MHz
Δ 73.75%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6408.40 ns /
927.12 ns
∇ -55.95%
2.45 MHz /
1.08 MHz
Δ 127.01%
matrix: det, fix[double] 6x6237.00 ns /
674.14 ns
∇ -64.84%
4.22 MHz /
1.48 MHz
Δ 184.45%
matrix: det, dyn[double] 20x203.43 us /
8.63 us
∇ -60.32%
291.90 KHz /
115.81 KHz
Δ 152.05%
matrix: det, fix[double] 20x202.99 us /
8.16 us
∇ -63.38%
334.55 KHz /
122.50 KHz
Δ 173.10%
matrix: det, dyn[double] 40x4012.23 us /
31.29 us
∇ -60.92%
81.76 KHz /
31.96 KHz
Δ 155.86%
matrix: det, fix[double] 40x4011.78 us /
30.53 us
∇ -61.42%
84.91 KHz /
32.76 KHz
Δ 159.21%
matrix: chol, dyn[double] 4x4330.00 ns /
555.42 ns
∇ -40.59%
3.03 MHz /
1.80 MHz
Δ 68.31%
matrix: chol, fix[double] 4x460.00 ns /
108.67 ns
∇ -44.79%
16.67 MHz /
9.20 MHz
Δ 81.11%
matrix: chol, dyn[double] 40x409.76 us /
13.42 us
∇ -27.29%
102.46 KHz /
74.50 KHz
Δ 37.54%
matrix: chol, fix[double] 40x408.48 us /
11.33 us
∇ -25.17%
117.92 KHz /
88.25 KHz
Δ 33.63%
matrix: chol, sparse [2x2;2x2]5.80 us /
4.98 us
Δ 16.45%
172.41 KHz /
200.78 KHz
∇ -14.13%
matrix: chol, sparse [30x30;10x10]34.80 us /
43.98 us
∇ -20.87%
28.74 KHz /
22.74 KHz
Δ 26.38%
matrix: chol, dyn[double] 10x[6x6]25.00 us /
33.23 us
∇ -24.78%
40.00 KHz /
30.09 KHz
Δ 32.94%
matrix: chol, sparse 10x[6x6]16.07 us /
17.40 us
∇ -7.64%
62.23 KHz /
57.47 KHz
Δ 8.27%
matrix: chol, dyn[double] 20x[6x6]121.60 us /
152.29 us
∇ -20.15%
8.22 KHz /
6.57 KHz
Δ 25.24%
matrix: chol, sparse 20x[6x6]28.49 us /
33.90 us
∇ -15.96%
35.10 KHz /
29.50 KHz
Δ 18.99%
matrix: chol, dyn[double] 50x[6x6]1.26 ms /
1.86 ms
∇ -32.22%
794.79 Hz /
538.68 Hz
Δ 47.54%
matrix: chol, sparse 50x[6x6]72.25 us /
72.77 us
∇ -0.72%
13.84 KHz /
13.74 KHz
Δ 0.72%
matrix: chol, dyn[double] 100x[6x6]12.96 ms /
15.15 ms
∇ -14.43%
77.13 Hz /
66.00 Hz
Δ 16.87%
matrix: chol, sparse 100x[6x6]138.44 us /
154.65 us
∇ -10.48%
7.22 KHz /
6.47 KHz
Δ 11.71%
matrix: chol, dyn[double] 120x[6x6]20.15 ms /
23.45 ms
∇ -14.08%
49.64 Hz /
42.65 Hz
Δ 16.39%
matrix: chol, sparse 120x[6x6]160.11 us /
169.12 us
∇ -5.33%
6.25 KHz /
5.91 KHz
Δ 5.63%
matrix: chol, dyn[double] 140x[6x6]28.57 ms /
34.02 ms
∇ -16.01%
35.00 Hz /
29.40 Hz
Δ 19.06%
matrix: chol, sparse 140x[6x6]197.59 us /
204.88 us
∇ -3.56%
5.06 KHz /
4.88 KHz
Δ 3.69%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x41.00 us /
0.00 ns
Δ inf%
1.00 MHz /
inf THz
∇ -nan%
gridmap2D: getCell0.00 ns /
2.78 ns
∇ -100.00%
inf THz /
360.02 MHz
Δ inf%
gridmap2D: setCell0.78 ns /
1.95 ns
∇ -59.83%
1.27 GHz /
511.96 MHz
Δ 148.92%
gridmap2D: updateCell2.85 ns /
3.54 ns
∇ -19.56%
350.75 MHz /
282.14 MHz
Δ 24.32%
gridmap2D: updateCell_fast_occupied0.87 ns /
0.41 ns
Δ 112.62%
1.15 GHz /
2.45 GHz
∇ -52.97%
gridmap2D: insert scan w/o widening50.95 us /
57.49 us
∇ -11.38%
19.63 KHz /
17.39 KHz
Δ 12.85%
gridmap2D: insert scan with widening155.87 us /
150.17 us
Δ 3.80%
6.42 KHz /
6.66 KHz
∇ -3.66%
gridmap2D: resize413.00 us /
735.62 us
∇ -43.86%
2.42 KHz /
1.36 KHz
Δ 78.12%
gridmap2D: computeLikelihood9.27 us /
9.02 us
Δ 2.76%
107.85 KHz /
110.82 KHz
∇ -2.68%
gridmap2D: determineMatching2D27.15 us /
32.66 us
∇ -16.85%
36.83 KHz /
30.62 KHz
Δ 20.26%
pointmap: insert 100 scans319.43 us /
722.46 us
∇ -55.79%
3.13 KHz /
1.38 KHz
Δ 126.17%
pointmap: build 2D kd-tree of 1 scan1.88 us /
1.50 us
Δ 25.57%
531.91 KHz /
667.91 KHz
∇ -20.36%
pointmap: build 2D kd-tree of 100 scan87.64 us /
154.18 us
∇ -43.16%
11.41 KHz /
6.49 KHz
Δ 75.92%
pointmap: build 2D kd-tree of 1000 scan1.00 ms /
1.81 ms
∇ -44.61%
997.69 Hz /
552.64 Hz
Δ 80.53%
pointmap: build 3D kd-tree of 1 scan1.72 us /
1.76 us
∇ -2.43%
581.40 KHz /
567.27 KHz
Δ 2.49%
pointmap: build 3D kd-tree of 100 scan112.52 us /
171.94 us
∇ -34.56%
8.89 KHz /
5.82 KHz
Δ 52.81%
pointmap: build 3D kd-tree of 1000 scan1.07 ms /
1.84 ms
∇ -41.70%
931.86 Hz /
543.27 Hz
Δ 71.53%
pointmap: kd-tree 2d query on 10 scans365.00 ns /
498.67 ns
∇ -26.80%
2.74 MHz /
2.01 MHz
Δ 36.62%
pointmap: kd-tree 2d query on 1000 scans25.82 us /
44.11 us
∇ -41.46%
38.73 KHz /
22.67 KHz
Δ 70.81%
pointmap: kd-tree 2d query on 10000 scans2.97 ms /
5.20 ms
∇ -42.92%
336.68 Hz /
192.19 Hz
Δ 75.18%
pointmap: (insert scan+2D kd-tree query) x 10979.40 us /
1.77 ms
∇ -44.64%
1.02 KHz /
565.21 Hz
Δ 80.65%
pointmap: (insert scan+2D kd-tree query) x 5024.89 ms /
43.89 ms
∇ -43.29%
40.18 Hz /
22.78 Hz
Δ 76.34%
pointmap: (insert scan+3D kd-tree query) x 101.03 ms /
1.82 ms
∇ -43.64%
975.28 Hz /
549.65 Hz
Δ 77.44%
pointmap: (insert scan+3D kd-tree query) x 5024.95 ms /
45.35 ms
∇ -44.97%
40.07 Hz /
22.05 Hz
Δ 81.72%
pointmap: computeMatchingWith2D25.78 us /
30.66 us
∇ -15.91%
38.79 KHz /
32.62 KHz
Δ 18.92%
pointmap: boundingBox (10 scans)871.82 ns /
927.89 ns
∇ -6.04%
1.15 MHz /
1.08 MHz
Δ 6.43%
pointmap: boundingBox (1000 scans)85.77 us /
90.74 us
∇ -5.48%
11.66 KHz /
11.02 KHz
Δ 5.80%
random: drawUniform32bit3.62 ns /
5.12 ns
∇ -29.28%
276.26 MHz /
195.36 MHz
Δ 41.41%
random: drawUniform3.64 ns /
5.06 ns
∇ -28.07%
274.50 MHz /
197.45 MHz
Δ 39.02%
random: drawGaussian1D_normalized29.73 ns /
23.05 ns
Δ 28.97%
33.64 MHz /
43.38 MHz
∇ -22.46%
random: drawGaussian1D29.95 ns /
22.83 ns
Δ 31.20%
33.39 MHz /
43.81 MHz
∇ -23.78%
random: system rand()15.19 ns /
13.49 ns
Δ 12.61%
65.81 MHz /
74.11 MHz
∇ -11.20%
random: drawGaussianMultivariate(fixed 3x3)490.68 ns /
642.84 ns
∇ -23.67%
2.04 MHz /
1.56 MHz
Δ 31.01%
random: drawGaussianMultivariate(dyn 3x3)1.03 us /
1.64 us
∇ -36.98%
967.37 KHz /
609.64 KHz
Δ 58.68%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)62.45 ns /
62.47 ns
∇ -0.03%
16.01 MHz /
16.01 MHz
Δ 0.03%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)101.17 ns /
93.49 ns
Δ 8.21%
9.88 MHz /
10.70 MHz
∇ -7.59%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)222.19 ns /
206.29 ns
Δ 7.70%
4.50 MHz /
4.85 MHz
∇ -7.15%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)70.81 ns /
67.45 ns
Δ 4.98%
14.12 MHz /
14.82 MHz
∇ -4.74%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)111.18 ns /
103.64 ns
Δ 7.28%
8.99 MHz /
9.65 MHz
∇ -6.79%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)233.52 ns /
223.65 ns
Δ 4.41%
4.28 MHz /
4.47 MHz
∇ -4.23%
random: permuteVector (len=10)163.30 ns /
258.09 ns
∇ -36.73%
6.12 MHz /
3.87 MHz
Δ 58.04%
random: permuteVector (len=100)1.89 us /
2.48 us
∇ -23.55%
528.40 KHz /
403.96 KHz
Δ 30.80%
random: permuteVector (len=1000)18.92 us /
24.52 us
∇ -22.84%
52.86 KHz /
40.79 KHz
Δ 29.60%
math: round0.03 ns /
0.00 ns
Δ inf%
31.11 GHz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)5.54 ms /
16.32 ms
∇ -66.03%
180.35 Hz /
61.27 Hz
Δ 194.38%
images: Save as JPEG (800x600, quality=95%)8.03 ms /
24.66 ms
∇ -67.44%
124.52 Hz /
40.55 Hz
Δ 207.11%
images: Save as JPEG (1024x768, quality=95%)13.11 ms /
39.84 ms
∇ -67.09%
76.28 Hz /
25.10 Hz
Δ 203.86%
images: Save as JPEG (640x480, quality=75%)5.36 ms /
13.46 ms
∇ -60.18%
186.57 Hz /
74.30 Hz
Δ 151.12%
images: Save as JPEG (800x600, quality=75%)6.93 ms /
21.00 ms
∇ -67.00%
144.28 Hz /
47.62 Hz
Δ 203.00%
images: Save as JPEG (1024x768, quality=75%)11.04 ms /
34.05 ms
∇ -67.59%
90.61 Hz /
29.37 Hz
Δ 208.52%
images: Gauss filter (640x480)2.64 ms /
3.23 ms
∇ -18.25%
379.03 Hz /
309.87 Hz
Δ 22.32%
images: Gauss filter (800x600)2.98 ms /
3.68 ms
∇ -19.17%
336.12 Hz /
271.68 Hz
Δ 23.72%
images: Gauss filter (1024x768)5.01 ms /
6.20 ms
∇ -19.26%
199.74 Hz /
161.28 Hz
Δ 23.85%
images: Half sample GRAY (160x120)496.67 ns /
821.05 ns
∇ -39.51%
2.01 MHz /
1.22 MHz
Δ 65.31%
images: Half sample GRAY (320x240)1.59 us /
2.31 us
∇ -31.41%
630.25 KHz /
432.30 KHz
Δ 45.79%
images: Half sample GRAY (640x480)7.23 us /
10.75 us
∇ -32.75%
138.31 KHz /
93.01 KHz
Δ 48.70%
images: Half sample GRAY (800x600)12.20 us /
16.35 us
∇ -25.38%
81.99 KHz /
61.18 KHz
Δ 34.02%
images: Half sample GRAY (1024x768)20.54 us /
27.16 us
∇ -24.38%
48.69 KHz /
36.82 KHz
Δ 32.23%
images: Half sample GRAY (1280x1024)33.65 us /
43.39 us
∇ -22.46%
29.72 KHz /
23.04 KHz
Δ 28.97%
images: Half sample RGB (160x120)1.29 us /
1.67 us
∇ -22.87%
777.20 KHz /
599.43 KHz
Δ 29.66%
images: Half sample RGB (320x240)5.17 us /
6.45 us
∇ -19.91%
193.55 KHz /
155.02 KHz
Δ 24.85%
images: Half sample RGB (640x480)24.58 us /
25.97 us
∇ -5.38%
40.69 KHz /
38.50 KHz
Δ 5.69%
images: Half sample RGB (800x600)39.59 us /
40.08 us
∇ -1.23%
25.26 KHz /
24.95 KHz
Δ 1.25%
images: Half sample RGB (1024x768)66.37 us /
144.64 us
∇ -54.11%
15.07 KHz /
6.91 KHz
Δ 117.92%
images: Half sample RGB (1280x1024)123.95 us /
242.89 us
∇ -48.97%
8.07 KHz /
4.12 KHz
Δ 95.96%
images: Half sample smooth GRAY (160x120)820.00 ns /
1.01 us
∇ -18.50%
1.22 MHz /
993.85 KHz
Δ 22.71%
images: Half sample smooth GRAY (320x240)2.81 us /
3.32 us
∇ -15.35%
355.87 KHz /
301.26 KHz
Δ 18.13%
images: Half sample smooth GRAY (640x480)16.41 us /
16.31 us
Δ 0.57%
60.95 KHz /
61.30 KHz
∇ -0.56%
images: Half sample smooth GRAY (800x600)21.92 us /
23.34 us
∇ -6.11%
45.63 KHz /
42.84 KHz
Δ 6.51%
images: Half sample smooth GRAY (1024x768)34.31 us /
38.27 us
∇ -10.35%
29.15 KHz /
26.13 KHz
Δ 11.54%
images: Half sample smooth GRAY (1280x1024)60.52 us /
64.21 us
∇ -5.76%
16.52 KHz /
15.57 KHz
Δ 6.11%
images: Half sample smooth RGB (160x120)49.89 us /
76.20 us
∇ -34.52%
20.04 KHz /
13.12 KHz
Δ 52.72%
images: Half sample smooth RGB (320x240)49.84 us /
59.18 us
∇ -15.79%
20.07 KHz /
16.90 KHz
Δ 18.75%
images: Half sample smooth RGB (640x480)195.38 us /
227.47 us
∇ -14.11%
5.12 KHz /
4.40 KHz
Δ 16.43%
images: Half sample smooth RGB (800x600)294.64 us /
183.77 us
Δ 60.33%
3.39 KHz /
5.44 KHz
∇ -37.63%
images: Half sample smooth RGB (1024x768)484.11 us /
264.07 us
Δ 83.32%
2.07 KHz /
3.79 KHz
∇ -45.45%
images: Half sample smooth RGB (1280x1024)828.65 us /
396.39 us
Δ 109.05%
1.21 KHz /
2.52 KHz
∇ -52.16%
images: RGB->GRAY 8u (40x30)65.72 us /
4.14 us
Δ 1486.80%
15.22 KHz /
241.46 KHz
∇ -93.70%
images: RGB->GRAY 8u (80x60)1.32 us /
1.56 us
∇ -15.20%
755.67 KHz /
640.78 KHz
Δ 17.93%
images: RGB->GRAY 8u (160x120)4.65 us /
5.21 us
∇ -10.63%
214.90 KHz /
192.05 KHz
Δ 11.90%
images: RGB->GRAY 8u (320x240)19.20 us /
19.63 us
∇ -2.18%
52.07 KHz /
50.94 KHz
Δ 2.23%
images: RGB->GRAY 8u (640x480)77.66 us /
83.56 us
∇ -7.06%
12.88 KHz /
11.97 KHz
Δ 7.60%
images: RGB->GRAY 8u (800x600)120.69 us /
128.72 us
∇ -6.24%
8.29 KHz /
7.77 KHz
Δ 6.66%
images: RGB->GRAY 8u (1024x768)194.51 us /
205.33 us
∇ -5.27%
5.14 KHz /
4.87 KHz
Δ 5.57%
images: RGB->GRAY 8u (1280x1024)357.09 us /
619.44 us
∇ -42.35%
2.80 KHz /
1.61 KHz
Δ 73.47%
images: KLT score (WIN=2 5x5)27.48 ns /
42.54 ns
∇ -35.39%
36.38 MHz /
23.51 MHz
Δ 54.78%
images: KLT score (WIN=3 7x7)34.76 ns /
58.71 ns
∇ -40.79%
28.77 MHz /
17.03 MHz
Δ 68.90%
images: KLT score (WIN=4 9x9)36.30 ns /
75.41 ns
∇ -51.87%
27.55 MHz /
13.26 MHz
Δ 107.77%
images: KLT score (WIN=5 10x10)43.37 ns /
98.57 ns
∇ -56.00%
23.06 MHz /
10.15 MHz
Δ 127.26%
images: KLT score (WIN=6 13x13)47.96 ns /
127.98 ns
∇ -62.53%
20.85 MHz /
7.81 MHz
Δ 166.87%
images: KLT score (WIN=7 15x15)48.23 ns /
159.87 ns
∇ -69.83%
20.73 MHz /
6.25 MHz
Δ 231.46%
images: KLT score (WIN=8 17x17)60.00 ns /
191.81 ns
∇ -68.72%
16.67 MHz /
5.21 MHz
Δ 219.67%
images: KLT score (WIN=9 19x19)62.56 ns /
228.52 ns
∇ -72.62%
15.98 MHz /
4.38 MHz
Δ 265.28%
images: KLT score (WIN=10 21x21)67.38 ns /
281.51 ns
∇ -76.07%
14.84 MHz /
3.55 MHz
Δ 317.82%
images: KLT score (WIN=11 23x23)61.61 ns /
321.97 ns
∇ -80.87%
16.23 MHz /
3.11 MHz
Δ 422.64%
images: KLT score (WIN=12 25x25)76.06 ns /
379.96 ns
∇ -79.98%
13.15 MHz /
2.63 MHz
Δ 399.54%
images: KLT score (WIN=13 27x27)82.17 ns /
431.81 ns
∇ -80.97%
12.17 MHz /
2.32 MHz
Δ 425.54%
images: KLT score (WIN=14 29x29)74.11 ns /
499.79 ns
∇ -85.17%
13.49 MHz /
2.00 MHz
Δ 574.39%
images: KLT score (WIN=15 31x31)78.43 ns /
562.76 ns
∇ -86.06%
12.75 MHz /
1.78 MHz
Δ 617.54%
images: KLT score (WIN=16 33x33)103.64 ns /
650.17 ns
∇ -84.06%
9.65 MHz /
1.54 MHz
Δ 527.33%
images: buildPyramid 640x480,4 levs,no smooth,no gray86.49 us /
409.68 us
∇ -78.89%
11.56 KHz /
2.44 KHz
Δ 373.69%
images: buildPyramid 640x480,4 levs, smooth,no gray306.83 us /
655.25 us
∇ -53.17%
3.26 KHz /
1.53 KHz
Δ 113.55%
images: buildPyramid 640x480,4 levs,no smooth, gray87.56 us /
94.29 us
∇ -7.13%
11.42 KHz /
10.61 KHz
Δ 7.68%
images: buildPyramid 640x480,4 levs, smooth, gray94.34 us /
97.03 us
∇ -2.77%
10.60 KHz /
10.31 KHz
Δ 2.85%
images: buildPyramid 640x480,8 levs,no smooth,no gray90.20 us /
409.91 us
∇ -78.00%
11.09 KHz /
2.44 KHz
Δ 354.46%
images: buildPyramid 640x480,8 levs, smooth,no gray523.57 us /
674.37 us
∇ -22.36%
1.91 KHz /
1.48 KHz
Δ 28.80%
images: buildPyramid 640x480,8 levs,no smooth, gray153.08 us /
94.55 us
Δ 61.90%
6.53 KHz /
10.58 KHz
∇ -38.23%
images: buildPyramid 640x480,8 levs, smooth, gray167.01 us /
101.90 us
Δ 63.89%
5.99 KHz /
9.81 KHz
∇ -38.98%
stereo: prepare rectify map 640x480 RGB12.54 ms /
13.57 ms
∇ -7.60%
79.74 Hz /
73.68 Hz
Δ 8.23%
stereo: prepare rectify map 800x600 RGB16.25 ms /
19.93 ms
∇ -18.49%
61.55 Hz /
50.17 Hz
Δ 22.68%
stereo: prepare rectify map 1024x768 RGB31.51 ms /
32.43 ms
∇ -2.86%
31.74 Hz /
30.83 Hz
Δ 2.94%
stereo: prepare rectify map 1024x768->800x600 RGB16.06 ms /
19.83 ms
∇ -19.03%
62.27 Hz /
50.42 Hz
Δ 23.51%
stereo: prepare rectify map 1024x768->640x480 RGB10.26 ms /
12.80 ms
∇ -19.90%
97.51 Hz /
78.10 Hz
Δ 24.85%
stereo: rectify 640x480 RGB4.26 ms /
1.86 ms
Δ 128.80%
234.99 Hz /
537.66 Hz
∇ -56.29%
stereo: rectify 800x600 RGB6.56 ms /
2.68 ms
Δ 145.12%
152.48 Hz /
373.76 Hz
∇ -59.20%
stereo: rectify 1024x768 RGB10.68 ms /
4.88 ms
Δ 118.85%
93.62 Hz /
204.89 Hz
∇ -54.31%
stereo: rectify 1024x768->800x600 RGB6.32 ms /
2.55 ms
Δ 148.09%
158.32 Hz /
392.76 Hz
∇ -59.69%
stereo: rectify 1024x768->640x480 RGB3.86 ms /
1.47 ms
Δ 162.98%
258.79 Hz /
680.56 Hz
∇ -61.97%
stereo: rectify 640x480 GRAY2.86 ms /
1.12 ms
Δ 154.80%
350.07 Hz /
891.97 Hz
∇ -60.75%
stereo: rectify 800x600 GRAY4.39 ms /
1.35 ms
Δ 226.19%
227.65 Hz /
742.56 Hz
∇ -69.34%
stereo: rectify 1024x768 GRAY7.59 ms /
2.55 ms
Δ 197.79%
131.72 Hz /
392.25 Hz
∇ -66.42%
stereo: rectify 1024x768->800x600 GRAY4.40 ms /
1.23 ms
Δ 258.38%
227.47 Hz /
815.21 Hz
∇ -72.10%
stereo: rectify 1024x768->640x480 GRAY2.70 ms /
1.06 ms
Δ 155.52%
369.87 Hz /
945.09 Hz
∇ -60.86%
scan_matching: 6D LS Rigid Trans. [CPose3D]4.82 us /
8.41 us
∇ -42.75%
207.60 KHz /
118.86 KHz
Δ 74.66%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.74 us /
8.38 us
∇ -43.44%
210.89 KHz /
119.28 KHz
Δ 76.80%
scan_matching: 6D LS Rigid Trans. [vector of points]2.22 us /
4.67 us
∇ -52.35%
449.90 KHz /
214.36 KHz
Δ 109.88%
scan_matching: leastSquares 2D [x10 corrs]88.57 ns /
104.27 ns
∇ -15.06%
11.29 MHz /
9.59 MHz
Δ 17.73%
scan_matching: leastSquares 2D [x100 corrs]188.44 ns /
304.74 ns
∇ -38.17%
5.31 MHz /
3.28 MHz
Δ 61.72%
scan_matching: leastSquares 2D [x1000 corrs]1.26 us /
2.27 us
∇ -44.61%
794.31 KHz /
440.00 KHz
Δ 80.53%
feature_extraction [640x480]: Harris10.97 ms /
9.94 ms
Δ 10.38%
91.13 Hz /
100.59 Hz
∇ -9.40%
feature_extraction [640x480]: KLT10.06 ms /
9.99 ms
Δ 0.68%
99.39 Hz /
100.07 Hz
∇ -0.67%
feature_extraction [640x480]: SIFT377.71 ms /
320.31 ms
Δ 17.92%
2.65 Hz /
3.12 Hz
∇ -15.20%
feature_extraction [640x480]: SIFT desc.135.82 ms /
105.33 ms
Δ 28.95%
7.36 Hz /
9.49 Hz
∇ -22.45%
feature_extraction [640x480]: SURF228.69 ms /
57.58 ms
Δ 297.19%
4.37 Hz /
17.37 Hz
∇ -74.82%
feature_extraction [640x480]: FAST2.58 ms /
1.59 ms
Δ 62.89%
387.11 Hz /
630.56 Hz
∇ -38.61%
feature_extraction [640x480]: Spin desc.42.20 ms /
23.87 ms
Δ 76.76%
23.70 Hz /
41.89 Hz
∇ -43.43%
feature_extraction [640x480]: FASTER-93.27 ms /
1.79 ms
Δ 82.87%
306.01 Hz /
559.60 Hz
∇ -45.32%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.77 ms /
1.53 ms
Δ 15.16%
566.48 Hz /
652.38 Hz
∇ -13.17%
feature_extraction [640x480]: FASTER-102.35 ms /
1.38 ms
Δ 70.32%
425.82 Hz /
725.25 Hz
∇ -41.29%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.30 ms /
1.13 ms
Δ 15.48%
766.67 Hz /
885.36 Hz
∇ -13.41%
feature_extraction [640x480]: FASTER-121.73 ms /
1.11 ms
Δ 56.08%
578.55 Hz /
903.02 Hz
∇ -35.93%
feature_extraction [640x480]: FASTER-12 (sorted best 200)1.21 ms /
995.24 us
Δ 22.03%
823.38 Hz /
1.00 KHz
∇ -18.05%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()700.83 us /
460.91 us
Δ 52.05%
1.43 KHz /
2.17 KHz
∇ -34.23%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()508.65 us /
366.79 us
Δ 38.67%
1.97 KHz /
2.73 KHz
∇ -27.89%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()581.27 us /
466.68 us
Δ 24.56%
1.72 KHz /
2.14 KHz
∇ -19.71%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index703.07 us /
462.72 us
Δ 51.94%
1.42 KHz /
2.16 KHz
∇ -34.19%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index508.56 us /
363.34 us
Δ 39.97%
1.97 KHz /
2.75 KHz
∇ -28.55%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index580.21 us /
468.22 us
Δ 23.92%
1.72 KHz /
2.14 KHz
∇ -19.30%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()901.12 us /
656.72 us
Δ 37.22%
1.11 KHz /
1.52 KHz
∇ -27.12%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()647.38 us /
475.37 us
Δ 36.18%
1.54 KHz /
2.10 KHz
∇ -26.57%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()674.80 us /
535.08 us
Δ 26.11%
1.48 KHz /
1.87 KHz
∇ -20.71%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index901.50 us /
602.17 us
Δ 49.71%
1.11 KHz /
1.66 KHz
∇ -33.20%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index655.05 us /
522.88 us
Δ 25.28%
1.53 KHz /
1.91 KHz
∇ -20.18%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index675.64 us /
539.50 us
Δ 25.23%
1.48 KHz /
1.85 KHz
∇ -20.15%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()1.19 ms /
883.72 us
Δ 34.48%
841.48 Hz /
1.13 KHz
∇ -25.64%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()867.29 us /
638.43 us
Δ 35.85%
1.15 KHz /
1.57 KHz
∇ -26.39%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()761.35 us /
589.24 us
Δ 29.21%
1.31 KHz /
1.70 KHz
∇ -22.61%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index1.19 ms /
802.45 us
Δ 48.26%
840.52 Hz /
1.25 KHz
∇ -32.55%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index878.28 us /
715.35 us
Δ 22.78%
1.14 KHz /
1.40 KHz
∇ -18.55%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index749.89 us /
592.00 us
Δ 26.67%
1.33 KHz /
1.69 KHz
∇ -21.06%
feature_matching [640x480]: Harris + CC29.43 ms /
21.49 ms
Δ 36.93%
33.98 Hz /
46.53 Hz
∇ -26.97%
feature_matching [640x480]: Harris + SAD23.92 ms /
18.15 ms
Δ 31.82%
41.80 Hz /
55.10 Hz
∇ -24.14%
feature_matching [640x480]: SIFT922.45 ms /
623.90 ms
Δ 47.85%
1.08 Hz /
1.60 Hz
∇ -32.36%
feature_matching [640x480]: SURF443.16 ms /
95.48 ms
Δ 364.16%
2.26 Hz /
10.47 Hz
∇ -78.46%
feature_matching [640x480]: FAST + CC9.88 ms /
6.00 ms
Δ 64.49%
101.26 Hz /
166.56 Hz
∇ -39.21%
feature_matching [640x480]: FAST + SAD4.10 ms /
2.63 ms
Δ 55.88%
244.08 Hz /
380.47 Hz
∇ -35.85%
graph(2d): insertEdge x 1e3125.22 us /
153.48 us
∇ -18.41%
7.99 KHz /
6.52 KHz
Δ 22.57%
graph(2d,vec): insertEdge x 1e3126.83 us /
146.24 us
∇ -13.27%
7.88 KHz /
6.84 KHz
Δ 15.30%
graph(2d): insertEdgeAtEnd x 1e3107.97 us /
117.77 us
∇ -8.33%
9.26 KHz /
8.49 KHz
Δ 9.08%
graph(2d,vec): insertEdgeAtEnd x 1e3106.37 us /
117.80 us
∇ -9.70%
9.40 KHz /
8.49 KHz
Δ 10.74%
graph(2d pdf): insertEdge x 1e3195.94 us /
215.31 us
∇ -9.00%
5.10 KHz /
4.64 KHz
Δ 9.89%
graph(2d pdf,vec): insertEdge x 1e3194.57 us /
191.64 us
Δ 1.53%
5.14 KHz /
5.22 KHz
∇ -1.51%
graph(2d pdf): insertEdgeAtEnd x 1e3179.20 us /
161.44 us
Δ 11.00%
5.58 KHz /
6.19 KHz
∇ -9.91%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3174.64 us /
162.72 us
Δ 7.32%
5.73 KHz /
6.15 KHz
∇ -6.82%
graph(2d): insertEdge x 1e42.16 ms /
1.95 ms
Δ 10.88%
463.02 Hz /
513.41 Hz
∇ -9.81%
graph(2d,vec): insertEdge x 1e41.80 ms /
1.91 ms
∇ -5.71%
554.93 Hz /
523.24 Hz
Δ 6.06%
graph(2d): insertEdgeAtEnd x 1e4875.00 us /
1.18 ms
∇ -26.02%
1.14 KHz /
845.52 Hz
Δ 35.17%
graph(2d,vec): insertEdgeAtEnd x 1e4863.37 us /
1.19 ms
∇ -27.29%
1.16 KHz /
842.16 Hz
Δ 37.53%
graph(2d pdf): insertEdge x 1e42.16 ms /
2.26 ms
∇ -4.18%
462.63 Hz /
443.31 Hz
Δ 4.36%
graph(2d pdf,vec): insertEdge x 1e42.44 ms /
2.07 ms
Δ 18.31%
409.29 Hz /
484.25 Hz
∇ -15.48%
graph(2d pdf): insertEdgeAtEnd x 1e41.88 ms /
1.62 ms
Δ 15.63%
532.39 Hz /
615.58 Hz
∇ -13.51%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.87 ms /
1.62 ms
Δ 15.45%
535.69 Hz /
618.43 Hz
∇ -13.38%
graph(3d): insertEdge x 1e3169.52 us /
165.26 us
Δ 2.58%
5.90 KHz /
6.05 KHz
∇ -2.52%
graph(3d,vec): insertEdge x 1e3162.80 us /
168.93 us
∇ -3.63%
6.14 KHz /
5.92 KHz
Δ 3.76%
graph(3d): insertEdgeAtEnd x 1e3141.73 us /
141.01 us
Δ 0.51%
7.06 KHz /
7.09 KHz
∇ -0.51%
graph(3d,vec): insertEdgeAtEnd x 1e3151.60 us /
142.47 us
Δ 6.41%
6.60 KHz /
7.02 KHz
∇ -6.02%
graph(3d pdf): insertEdge x 1e3479.91 us /
377.68 us
Δ 27.07%
2.08 KHz /
2.65 KHz
∇ -21.30%
graph(3d pdf,vec): insertEdge x 1e3483.38 us /
375.08 us
Δ 28.87%
2.07 KHz /
2.67 KHz
∇ -22.40%
graph(3d pdf): insertEdgeAtEnd x 1e3417.25 us /
318.48 us
Δ 31.01%
2.40 KHz /
3.14 KHz
∇ -23.67%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3411.56 us /
320.43 us
Δ 28.44%
2.43 KHz /
3.12 KHz
∇ -22.14%
graph(3d): insertEdge x 1e42.42 ms /
1.88 ms
Δ 28.97%
412.48 Hz /
531.97 Hz
∇ -22.46%
graph(3d,vec): insertEdge x 1e42.41 ms /
1.90 ms
Δ 26.64%
415.13 Hz /
525.71 Hz
∇ -21.04%
graph(3d): insertEdgeAtEnd x 1e41.61 ms /
1.42 ms
Δ 13.59%
620.76 Hz /
705.12 Hz
∇ -11.96%
graph(3d,vec): insertEdgeAtEnd x 1e41.62 ms /
1.43 ms
Δ 13.06%
617.97 Hz /
698.68 Hz
∇ -11.55%
graph(3d pdf): insertEdge x 1e46.01 ms /
4.73 ms
Δ 27.04%
166.38 Hz /
211.37 Hz
∇ -21.28%
graph(3d pdf,vec): insertEdge x 1e46.08 ms /
4.11 ms
Δ 47.88%
164.34 Hz /
243.02 Hz
∇ -32.38%
graph(3d pdf): insertEdgeAtEnd x 1e44.27 ms /
3.13 ms
Δ 36.39%
234.10 Hz /
319.29 Hz
∇ -26.68%
graph(3d pdf,vec): insertEdgeAtEnd x 1e44.23 ms /
3.15 ms
Δ 34.08%
236.47 Hz /
317.06 Hz
∇ -25.42%
graph(3d): dijkstra 1e2 nodes86.56 us /
89.02 us
∇ -2.76%
11.55 KHz /
11.23 KHz
Δ 2.84%
graph(3d,vec): dijkstra 1e2 nodes86.37 us /
88.05 us
∇ -1.91%
11.58 KHz /
11.36 KHz
Δ 1.94%
graph(3d): dijkstra 1e3 nodes1.10 ms /
1.08 ms
Δ 1.40%
911.70 Hz /
924.49 Hz
∇ -1.38%
graph(3d,vec): dijkstra 1e3 nodes1.09 ms /
1.08 ms
Δ 0.90%
919.38 Hz /
927.62 Hz
∇ -0.89%
graph(3d): dijkstra 1e4 nodes13.82 ms /
13.21 ms
Δ 4.64%
72.37 Hz /
75.73 Hz
∇ -4.43%
graph(3d,vec): dijkstra 1e4 nodes13.82 ms /
13.31 ms
Δ 3.77%
72.38 Hz /
75.11 Hz
∇ -3.64%
graph(3d): dijkstra 1e5 nodes259.36 ms /
175.87 ms
Δ 47.47%
3.86 Hz /
5.69 Hz
∇ -32.19%
graph(3d,vec): dijkstra 1e5 nodes260.84 ms /
176.57 ms
Δ 47.72%
3.83 Hz /
5.66 Hz
∇ -32.31%
graph(2d): dijkstra 1e5 nodes262.66 ms /
173.83 ms
Δ 51.10%
3.81 Hz /
5.75 Hz
∇ -33.82%
graph(2d,vec): dijkstra 1e5 nodes264.08 ms /
173.63 ms
Δ 52.09%
3.79 Hz /
5.76 Hz
∇ -34.25%

 


Page generated automatically at 2014/05/07,08:51:16.733312 with MRPT 1.2.0 by 'mrpt-performance'.