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




Test description 1.2.0dev-CLANG-64bit /
1.2.0dev-MSVC11-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset953.05 us /
1.19 ms
∇ -19.80%
1.05 KHz /
841.46 Hz
Δ 24.69%
icp-slam (match grid): Run with sample dataset1.53 ms /
1.97 ms
∇ -22.13%
653.27 Hz /
508.70 Hz
Δ 28.42%
poses: CPose3D (+) CPose3D14.66 ns /
21.31 ns
∇ -31.22%
68.21 MHz /
46.92 MHz
Δ 45.39%
poses: CPose3D.composeFrom()9.48 ns /
13.36 ns
∇ -29.06%
105.49 MHz /
74.83 MHz
Δ 40.96%
poses: CPose3D (+) CPoint3D3.41 ns /
10.61 ns
∇ -67.84%
292.91 MHz /
94.21 MHz
Δ 210.91%
poses: CPose3D.composePoint()5.68 ns /
9.80 ns
∇ -42.07%
176.12 MHz /
102.03 MHz
Δ 72.61%
poses: CPose3D.composePoint()+Jacobs106.09 ns /
100.13 ns
Δ 5.96%
9.43 MHz /
9.99 MHz
∇ -5.62%
poses: CPoint3D (-) CPose3D5.38 ns /
26.84 ns
∇ -79.95%
185.87 MHz /
37.26 MHz
Δ 398.86%
poses: CPose3D.inverseComposePoint()8.01 ns /
17.51 ns
∇ -54.29%
124.91 MHz /
57.10 MHz
Δ 118.75%
poses: CPose2D (+) CPose2D11.91 ns /
14.88 ns
∇ -19.94%
83.96 MHz /
67.22 MHz
Δ 24.90%
poses: CPose2D.composeFrom()9.81 ns /
10.50 ns
∇ -6.64%
101.98 MHz /
95.21 MHz
Δ 7.11%
poses: CPose2D (+) CPoint2D3.94 ns /
7.09 ns
∇ -44.52%
254.07 MHz /
140.95 MHz
Δ 80.25%
poses: CPose2D.composePoint()3.62 ns /
5.70 ns
∇ -36.51%
276.09 MHz /
175.30 MHz
Δ 57.50%
poses: CPose3DQuat (+) CPose3DQuat19.07 ns /
45.12 ns
∇ -57.73%
52.44 MHz /
22.16 MHz
Δ 136.59%
poses: CPose3DQuat.composeFrom()18.03 ns /
31.67 ns
∇ -43.07%
55.46 MHz /
31.57 MHz
Δ 75.66%
poses: CPose3DQuat (+) CPoint3D11.62 ns /
25.16 ns
∇ -53.81%
86.04 MHz /
39.74 MHz
Δ 116.50%
poses: CPose3DQuat.composePoint()9.39 ns /
17.84 ns
∇ -47.39%
106.52 MHz /
56.04 MHz
Δ 90.08%
poses: CPoint3D (-) CPose3DQuat 13.70 ns /
36.85 ns
∇ -62.83%
73.01 MHz /
27.14 MHz
Δ 169.07%
poses: CPose3DQuat.invcomposePoint()8.28 ns /
15.15 ns
∇ -45.38%
120.83 MHz /
66.00 MHz
Δ 83.08%
poses: Conv CPose3DQuat <- CPose3D7.87 ns /
12.61 ns
∇ -37.60%
127.06 MHz /
79.29 MHz
Δ 60.25%
poses: Conv CPose3D -> CPose3DQuat73.28 ns /
54.28 ns
Δ 35.01%
13.65 MHz /
18.42 MHz
∇ -25.93%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)61.47 us /
485.54 ns
Δ 12560.85%
16.27 KHz /
2.06 MHz
∇ -99.21%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.94 us /
468.18 ns
Δ 12917.34%
16.41 KHz /
2.14 MHz
∇ -99.23%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.42 us /
6.23 us
∇ -12.89%
184.33 KHz /
160.58 KHz
Δ 14.79%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)362.00 ns /
371.95 ns
∇ -2.67%
2.76 MHz /
2.69 MHz
Δ 2.75%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)348.80 ns /
373.43 ns
∇ -6.59%
2.87 MHz /
2.68 MHz
Δ 7.06%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)6.19 us /
5.91 us
Δ 4.76%
161.50 KHz /
169.19 KHz
∇ -4.55%
matrix: unit, dyn[float], 3x327.75 ns /
55.82 ns
∇ -50.29%
36.04 MHz /
17.92 MHz
Δ 101.16%
matrix: unit, dyn[double], 3x330.77 ns /
53.69 ns
∇ -42.69%
32.50 MHz /
18.62 MHz
Δ 74.50%
matrix: unit, dyn[float], 6x640.79 ns /
81.08 ns
∇ -49.69%
24.51 MHz /
12.33 MHz
Δ 98.76%
matrix: unit, dyn[double], 6x642.16 ns /
82.32 ns
∇ -48.79%
23.72 MHz /
12.15 MHz
Δ 95.27%
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]0.00 ns /
4.87 ns
∇ -100.00%
inf THz /
205.27 MHz
Δ inf%
matrix: multiply, dyn[float ], 3x3 * 3x3204.80 ns /
281.39 ns
∇ -27.22%
4.88 MHz /
3.55 MHz
Δ 37.40%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x3187.10 ns /
266.66 ns
∇ -29.84%
5.34 MHz /
3.75 MHz
Δ 42.52%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x6 * 6x3227.10 ns /
299.53 ns
∇ -24.18%
4.40 MHz /
3.34 MHz
Δ 31.89%
matrix: multiply, fix[float ], 3x6 * 6x325.10 ns /
1.21 ns
Δ 1978.80%
39.84 MHz /
828.21 MHz
∇ -95.19%
matrix: multiply, dyn[double], 3x6 * 6x3219.80 ns /
294.25 ns
∇ -25.30%
4.55 MHz /
3.40 MHz
Δ 33.87%
matrix: multiply, fix[double], 3x6 * 6x331.10 ns /
1.90 ns
Δ 1535.38%
32.15 MHz /
525.85 MHz
∇ -93.89%
matrix: multiply, dyn[float ], 10x40 * 40x101.43 us /
1.43 us
∇ -0.13%
700.97 KHz /
700.05 KHz
Δ 0.13%
matrix: multiply, fix[float ], 10x40 * 40x101.14 us /
1.16 us
∇ -1.89%
878.43 KHz /
861.82 KHz
Δ 1.93%
matrix: multiply, dyn[double], 10x40 * 40x101.50 us /
1.66 us
∇ -9.50%
666.44 KHz /
603.16 KHz
Δ 10.49%
matrix: multiply, fix[double], 10x40 * 40x101.23 us /
1.34 us
∇ -7.96%
810.37 KHz /
745.85 KHz
Δ 8.65%
matrix: inv, dyn[double] 3x3492.00 ns /
791.17 ns
∇ -37.81%
2.03 MHz /
1.26 MHz
Δ 60.81%
matrix: inv, fix[double] 3x30.00 ns /
12.98 ns
∇ -100.00%
inf THz /
77.04 MHz
Δ inf%
matrix: inv, dyn[double] 6x6914.00 ns /
1.58 us
∇ -42.10%
1.09 MHz /
633.43 KHz
Δ 72.73%
matrix: inv, fix[double] 6x6591.00 ns /
1.11 us
∇ -46.88%
1.69 MHz /
898.76 KHz
Δ 88.26%
matrix: inv, dyn[double] 20x206.83 us /
13.08 us
∇ -47.81%
146.46 KHz /
76.44 KHz
Δ 91.60%
matrix: inv, fix[double] 20x206.04 us /
11.37 us
∇ -46.92%
165.70 KHz /
87.95 KHz
Δ 88.41%
matrix: inv, dyn[double] 40x4028.78 us /
49.83 us
∇ -42.25%
34.75 KHz /
20.07 KHz
Δ 73.16%
matrix: inv, fix[double] 40x4028.04 us /
47.25 us
∇ -40.66%
35.66 KHz /
21.16 KHz
Δ 68.51%
matrix: det, dyn[double] 2x2189.00 ns /
296.97 ns
∇ -36.36%
5.29 MHz /
3.37 MHz
Δ 57.13%
matrix: det, fix[double] 2x20.00 ns /
0.03 ns
∇ -100.00%
inf THz /
33.13 GHz
Δ inf%
matrix: det, dyn[double] 3x3223.50 ns /
394.77 ns
∇ -43.38%
4.47 MHz /
2.53 MHz
Δ 76.63%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6396.90 ns /
927.12 ns
∇ -57.19%
2.52 MHz /
1.08 MHz
Δ 133.59%
matrix: det, fix[double] 6x6226.90 ns /
674.14 ns
∇ -66.34%
4.41 MHz /
1.48 MHz
Δ 197.11%
matrix: det, dyn[double] 20x203.38 us /
8.63 us
∇ -60.89%
296.16 KHz /
115.81 KHz
Δ 155.72%
matrix: det, fix[double] 20x202.99 us /
8.16 us
∇ -63.39%
334.63 KHz /
122.50 KHz
Δ 173.16%
matrix: det, dyn[double] 40x4012.13 us /
31.29 us
∇ -61.25%
82.46 KHz /
31.96 KHz
Δ 158.03%
matrix: det, fix[double] 40x4011.37 us /
30.53 us
∇ -62.77%
87.98 KHz /
32.76 KHz
Δ 168.60%
matrix: chol, dyn[double] 4x4490.00 ns /
555.42 ns
∇ -11.78%
2.04 MHz /
1.80 MHz
Δ 13.35%
matrix: chol, fix[double] 4x450.00 ns /
108.67 ns
∇ -53.99%
20.00 MHz /
9.20 MHz
Δ 117.34%
matrix: chol, dyn[double] 40x4010.97 us /
13.42 us
∇ -18.28%
91.16 KHz /
74.50 KHz
Δ 22.37%
matrix: chol, fix[double] 40x409.92 us /
11.33 us
∇ -12.46%
100.81 KHz /
88.25 KHz
Δ 14.23%
matrix: chol, sparse [2x2;2x2]7.10 us /
4.98 us
Δ 42.55%
140.85 KHz /
200.78 KHz
∇ -29.85%
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]27.30 us /
33.23 us
∇ -17.86%
36.63 KHz /
30.09 KHz
Δ 21.74%
matrix: chol, sparse 10x[6x6]16.08 us /
17.40 us
∇ -7.58%
62.19 KHz /
57.47 KHz
Δ 8.20%
matrix: chol, dyn[double] 20x[6x6]130.20 us /
152.29 us
∇ -14.50%
7.68 KHz /
6.57 KHz
Δ 16.96%
matrix: chol, sparse 20x[6x6]28.60 us /
33.90 us
∇ -15.64%
34.97 KHz /
29.50 KHz
Δ 18.54%
matrix: chol, dyn[double] 50x[6x6]1.36 ms /
1.86 ms
∇ -26.69%
734.81 Hz /
538.68 Hz
Δ 36.41%
matrix: chol, sparse 50x[6x6]74.01 us /
72.77 us
Δ 1.70%
13.51 KHz /
13.74 KHz
∇ -1.67%
matrix: chol, dyn[double] 100x[6x6]13.64 ms /
15.15 ms
∇ -9.95%
73.30 Hz /
66.00 Hz
Δ 11.05%
matrix: chol, sparse 100x[6x6]136.62 us /
154.65 us
∇ -11.66%
7.32 KHz /
6.47 KHz
Δ 13.20%
matrix: chol, dyn[double] 120x[6x6]21.29 ms /
23.45 ms
∇ -9.20%
46.97 Hz /
42.65 Hz
Δ 10.14%
matrix: chol, sparse 120x[6x6]161.99 us /
169.12 us
∇ -4.21%
6.17 KHz /
5.91 KHz
Δ 4.40%
matrix: chol, dyn[double] 140x[6x6]29.42 ms /
34.02 ms
∇ -13.52%
34.00 Hz /
29.40 Hz
Δ 15.64%
matrix: chol, sparse 140x[6x6]188.71 us /
204.88 us
∇ -7.89%
5.30 KHz /
4.88 KHz
Δ 8.57%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: getCell0.00 ns /
2.78 ns
∇ -100.00%
inf THz /
360.02 MHz
Δ inf%
gridmap2D: setCell0.83 ns /
1.95 ns
∇ -57.66%
1.21 GHz /
511.96 MHz
Δ 136.19%
gridmap2D: updateCell3.99 ns /
3.54 ns
Δ 12.54%
250.69 MHz /
282.14 MHz
∇ -11.15%
gridmap2D: updateCell_fast_occupied0.78 ns /
0.41 ns
Δ 91.30%
1.28 GHz /
2.45 GHz
∇ -47.73%
gridmap2D: insert scan w/o widening61.32 us /
57.49 us
Δ 6.66%
16.31 KHz /
17.39 KHz
∇ -6.24%
gridmap2D: insert scan with widening191.71 us /
150.17 us
Δ 27.66%
5.22 KHz /
6.66 KHz
∇ -21.67%
gridmap2D: resize396.00 us /
735.62 us
∇ -46.17%
2.53 KHz /
1.36 KHz
Δ 85.76%
gridmap2D: computeLikelihood7.40 us /
9.02 us
∇ -18.00%
135.15 KHz /
110.82 KHz
Δ 21.96%
gridmap2D: determineMatching2D28.90 us /
32.66 us
∇ -11.51%
34.60 KHz /
30.62 KHz
Δ 13.00%
pointmap: insert 100 scans294.71 us /
722.46 us
∇ -59.21%
3.39 KHz /
1.38 KHz
Δ 145.14%
pointmap: build 2D kd-tree of 1 scan1.48 us /
1.50 us
∇ -1.15%
675.68 KHz /
667.91 KHz
Δ 1.16%
pointmap: build 2D kd-tree of 100 scan126.16 us /
154.18 us
∇ -18.17%
7.93 KHz /
6.49 KHz
Δ 22.21%
pointmap: build 2D kd-tree of 1000 scan1.45 ms /
1.81 ms
∇ -19.62%
687.49 Hz /
552.64 Hz
Δ 24.40%
pointmap: build 3D kd-tree of 1 scan2.28 us /
1.76 us
Δ 29.34%
438.60 KHz /
567.27 KHz
∇ -22.68%
pointmap: build 3D kd-tree of 100 scan184.16 us /
171.94 us
Δ 7.11%
5.43 KHz /
5.82 KHz
∇ -6.64%
pointmap: build 3D kd-tree of 1000 scan2.11 ms /
1.84 ms
Δ 14.53%
474.37 Hz /
543.27 Hz
∇ -12.68%
pointmap: kd-tree 2d query on 10 scans420.00 ns /
498.67 ns
∇ -15.78%
2.38 MHz /
2.01 MHz
Δ 18.73%
pointmap: kd-tree 2d query on 1000 scans36.53 us /
44.11 us
∇ -17.18%
27.38 KHz /
22.67 KHz
Δ 20.75%
pointmap: kd-tree 2d query on 10000 scans4.16 ms /
5.20 ms
∇ -19.98%
240.19 Hz /
192.19 Hz
Δ 24.98%
pointmap: (insert scan+2D kd-tree query) x 101.35 ms /
1.77 ms
∇ -23.56%
739.43 Hz /
565.21 Hz
Δ 30.82%
pointmap: (insert scan+2D kd-tree query) x 5033.52 ms /
43.89 ms
∇ -23.63%
29.83 Hz /
22.78 Hz
Δ 30.93%
pointmap: (insert scan+3D kd-tree query) x 101.87 ms /
1.82 ms
Δ 2.88%
534.27 Hz /
549.65 Hz
∇ -2.80%
pointmap: (insert scan+3D kd-tree query) x 5049.10 ms /
45.35 ms
Δ 8.28%
20.37 Hz /
22.05 Hz
∇ -7.65%
pointmap: computeMatchingWith2D27.29 us /
30.66 us
∇ -10.98%
36.65 KHz /
32.62 KHz
Δ 12.34%
pointmap: boundingBox (10 scans)883.34 ns /
927.89 ns
∇ -4.80%
1.13 MHz /
1.08 MHz
Δ 5.04%
pointmap: boundingBox (1000 scans)85.38 us /
90.74 us
∇ -5.91%
11.71 KHz /
11.02 KHz
Δ 6.28%
random: drawUniform32bit4.58 ns /
5.12 ns
∇ -10.51%
218.31 MHz /
195.36 MHz
Δ 11.75%
random: drawUniform4.68 ns /
5.06 ns
∇ -7.59%
213.67 MHz /
197.45 MHz
Δ 8.22%
random: drawGaussian1D_normalized29.99 ns /
23.05 ns
Δ 30.11%
33.34 MHz /
43.38 MHz
∇ -23.14%
random: drawGaussian1D30.11 ns /
22.83 ns
Δ 31.91%
33.21 MHz /
43.81 MHz
∇ -24.19%
random: system rand()14.99 ns /
13.49 ns
Δ 11.12%
66.70 MHz /
74.11 MHz
∇ -10.01%
random: drawGaussianMultivariate(fixed 3x3)481.40 ns /
642.84 ns
∇ -25.11%
2.08 MHz /
1.56 MHz
Δ 33.54%
random: drawGaussianMultivariate(dyn 3x3)1.08 us /
1.64 us
∇ -33.88%
922.02 KHz /
609.64 KHz
Δ 51.24%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)64.40 ns /
62.47 ns
Δ 3.10%
15.53 MHz /
16.01 MHz
∇ -3.00%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)103.37 ns /
93.49 ns
Δ 10.57%
9.67 MHz /
10.70 MHz
∇ -9.56%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)224.22 ns /
206.29 ns
Δ 8.69%
4.46 MHz /
4.85 MHz
∇ -7.99%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)71.83 ns /
67.45 ns
Δ 6.49%
13.92 MHz /
14.82 MHz
∇ -6.09%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)112.25 ns /
103.64 ns
Δ 8.31%
8.91 MHz /
9.65 MHz
∇ -7.67%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)237.59 ns /
223.65 ns
Δ 6.23%
4.21 MHz /
4.47 MHz
∇ -5.87%
random: permuteVector (len=10)154.00 ns /
258.09 ns
∇ -40.33%
6.49 MHz /
3.87 MHz
Δ 67.59%
random: permuteVector (len=100)1.92 us /
2.48 us
∇ -22.39%
520.48 KHz /
403.96 KHz
Δ 28.84%
random: permuteVector (len=1000)19.13 us /
24.52 us
∇ -21.96%
52.26 KHz /
40.79 KHz
Δ 28.13%
math: round0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)6.59 ms /
16.32 ms
∇ -59.60%
151.65 Hz /
61.27 Hz
Δ 147.52%
images: Save as JPEG (800x600, quality=95%)8.07 ms /
24.66 ms
∇ -67.27%
123.88 Hz /
40.55 Hz
Δ 205.54%
images: Save as JPEG (1024x768, quality=95%)14.45 ms /
39.84 ms
∇ -63.74%
69.22 Hz /
25.10 Hz
Δ 175.76%
images: Save as JPEG (640x480, quality=75%)4.60 ms /
13.46 ms
∇ -65.84%
217.47 Hz /
74.30 Hz
Δ 192.72%
images: Save as JPEG (800x600, quality=75%)8.61 ms /
21.00 ms
∇ -59.01%
116.17 Hz /
47.62 Hz
Δ 143.97%
images: Save as JPEG (1024x768, quality=75%)11.21 ms /
34.05 ms
∇ -67.08%
89.23 Hz /
29.37 Hz
Δ 203.80%
images: Gauss filter (640x480)1.81 ms /
3.23 ms
∇ -43.93%
552.64 Hz /
309.87 Hz
Δ 78.34%
images: Gauss filter (800x600)2.88 ms /
3.68 ms
∇ -21.73%
347.12 Hz /
271.68 Hz
Δ 27.77%
images: Gauss filter (1024x768)4.98 ms /
6.20 ms
∇ -19.75%
200.97 Hz /
161.28 Hz
Δ 24.61%
images: Half sample GRAY (160x120)546.67 ns /
821.05 ns
∇ -33.42%
1.83 MHz /
1.22 MHz
Δ 50.19%
images: Half sample GRAY (320x240)1.76 us /
2.31 us
∇ -23.77%
567.11 KHz /
432.30 KHz
Δ 31.18%
images: Half sample GRAY (640x480)8.98 us /
10.75 us
∇ -16.50%
111.40 KHz /
93.01 KHz
Δ 19.77%
images: Half sample GRAY (800x600)15.50 us /
16.35 us
∇ -5.15%
64.50 KHz /
61.18 KHz
Δ 5.43%
images: Half sample GRAY (1024x768)28.39 us /
27.16 us
Δ 4.51%
35.23 KHz /
36.82 KHz
∇ -4.32%
images: Half sample GRAY (1280x1024)40.99 us /
43.39 us
∇ -5.55%
24.40 KHz /
23.04 KHz
Δ 5.87%
images: Half sample RGB (160x120)1.32 us /
1.67 us
∇ -21.08%
759.49 KHz /
599.43 KHz
Δ 26.70%
images: Half sample RGB (320x240)5.06 us /
6.45 us
∇ -21.56%
197.63 KHz /
155.02 KHz
Δ 27.48%
images: Half sample RGB (640x480)23.85 us /
25.97 us
∇ -8.19%
41.93 KHz /
38.50 KHz
Δ 8.92%
images: Half sample RGB (800x600)42.04 us /
40.08 us
Δ 4.89%
23.78 KHz /
24.95 KHz
∇ -4.66%
images: Half sample RGB (1024x768)62.77 us /
144.64 us
∇ -56.60%
15.93 KHz /
6.91 KHz
Δ 130.44%
images: Half sample RGB (1280x1024)122.93 us /
242.89 us
∇ -49.39%
8.13 KHz /
4.12 KHz
Δ 97.58%
images: Half sample smooth GRAY (160x120)813.33 ns /
1.01 us
∇ -19.17%
1.23 MHz /
993.85 KHz
Δ 23.71%
images: Half sample smooth GRAY (320x240)2.76 us /
3.32 us
∇ -16.85%
362.32 KHz /
301.26 KHz
Δ 20.27%
images: Half sample smooth GRAY (640x480)14.05 us /
16.31 us
∇ -13.86%
71.16 KHz /
61.30 KHz
Δ 16.09%
images: Half sample smooth GRAY (800x600)19.76 us /
23.34 us
∇ -15.35%
50.61 KHz /
42.84 KHz
Δ 18.13%
images: Half sample smooth GRAY (1024x768)34.71 us /
38.27 us
∇ -9.28%
28.81 KHz /
26.13 KHz
Δ 10.24%
images: Half sample smooth GRAY (1280x1024)58.39 us /
64.21 us
∇ -9.07%
17.13 KHz /
15.57 KHz
Δ 9.97%
images: Half sample smooth RGB (160x120)19.31 us /
76.20 us
∇ -74.66%
51.80 KHz /
13.12 KHz
Δ 294.68%
images: Half sample smooth RGB (320x240)77.18 us /
59.18 us
Δ 30.41%
12.96 KHz /
16.90 KHz
∇ -23.32%
images: Half sample smooth RGB (640x480)293.36 us /
227.47 us
Δ 28.96%
3.41 KHz /
4.40 KHz
∇ -22.46%
images: Half sample smooth RGB (800x600)453.46 us /
183.77 us
Δ 146.75%
2.21 KHz /
5.44 KHz
∇ -59.47%
images: Half sample smooth RGB (1024x768)750.24 us /
264.07 us
Δ 184.10%
1.33 KHz /
3.79 KHz
∇ -64.80%
images: Half sample smooth RGB (1280x1024)1.26 ms /
396.39 us
Δ 217.59%
794.35 Hz /
2.52 KHz
∇ -68.51%
images: RGB->GRAY 8u (40x30)2.03 us /
4.14 us
∇ -51.06%
493.42 KHz /
241.46 KHz
Δ 104.35%
images: RGB->GRAY 8u (80x60)1.50 us /
1.56 us
∇ -3.67%
665.19 KHz /
640.78 KHz
Δ 3.81%
images: RGB->GRAY 8u (160x120)5.50 us /
5.21 us
Δ 5.63%
181.82 KHz /
192.05 KHz
∇ -5.33%
images: RGB->GRAY 8u (320x240)23.58 us /
19.63 us
Δ 20.12%
42.41 KHz /
50.94 KHz
∇ -16.75%
images: RGB->GRAY 8u (640x480)93.26 us /
83.56 us
Δ 11.61%
10.72 KHz /
11.97 KHz
∇ -10.40%
images: RGB->GRAY 8u (800x600)151.18 us /
128.72 us
Δ 17.45%
6.61 KHz /
7.77 KHz
∇ -14.85%
images: RGB->GRAY 8u (1024x768)239.21 us /
205.33 us
Δ 16.50%
4.18 KHz /
4.87 KHz
∇ -14.16%
images: RGB->GRAY 8u (1280x1024)437.17 us /
619.44 us
∇ -29.42%
2.29 KHz /
1.61 KHz
Δ 41.69%
images: KLT score (WIN=2 5x5)27.18 ns /
42.54 ns
∇ -36.12%
36.80 MHz /
23.51 MHz
Δ 56.53%
images: KLT score (WIN=3 7x7)30.58 ns /
58.71 ns
∇ -47.91%
32.70 MHz /
17.03 MHz
Δ 91.96%
images: KLT score (WIN=4 9x9)34.95 ns /
75.41 ns
∇ -53.66%
28.61 MHz /
13.26 MHz
Δ 115.79%
images: KLT score (WIN=5 10x10)36.95 ns /
98.57 ns
∇ -62.51%
27.06 MHz /
10.15 MHz
Δ 166.76%
images: KLT score (WIN=6 13x13)40.48 ns /
127.98 ns
∇ -68.37%
24.70 MHz /
7.81 MHz
Δ 216.17%
images: KLT score (WIN=7 15x15)44.47 ns /
159.87 ns
∇ -72.19%
22.49 MHz /
6.25 MHz
Δ 259.52%
images: KLT score (WIN=8 17x17)47.54 ns /
191.81 ns
∇ -75.21%
21.03 MHz /
5.21 MHz
Δ 303.45%
images: KLT score (WIN=9 19x19)51.02 ns /
228.52 ns
∇ -77.67%
19.60 MHz /
4.38 MHz
Δ 347.89%
images: KLT score (WIN=10 21x21)54.47 ns /
281.51 ns
∇ -80.65%
18.36 MHz /
3.55 MHz
Δ 416.82%
images: KLT score (WIN=11 23x23)57.70 ns /
321.97 ns
∇ -82.08%
17.33 MHz /
3.11 MHz
Δ 457.98%
images: KLT score (WIN=12 25x25)61.07 ns /
379.96 ns
∇ -83.93%
16.37 MHz /
2.63 MHz
Δ 522.14%
images: KLT score (WIN=13 27x27)65.06 ns /
431.81 ns
∇ -84.93%
15.37 MHz /
2.32 MHz
Δ 563.66%
images: KLT score (WIN=14 29x29)68.24 ns /
499.79 ns
∇ -86.35%
14.65 MHz /
2.00 MHz
Δ 632.38%
images: KLT score (WIN=15 31x31)70.93 ns /
562.76 ns
∇ -87.40%
14.10 MHz /
1.78 MHz
Δ 693.42%
images: KLT score (WIN=16 33x33)77.24 ns /
650.17 ns
∇ -88.12%
12.95 MHz /
1.54 MHz
Δ 741.76%
images: buildPyramid 640x480,4 levs,no smooth,no gray85.93 us /
409.68 us
∇ -79.02%
11.64 KHz /
2.44 KHz
Δ 376.75%
images: buildPyramid 640x480,4 levs, smooth,no gray440.81 us /
655.25 us
∇ -32.73%
2.27 KHz /
1.53 KHz
Δ 48.65%
images: buildPyramid 640x480,4 levs,no smooth, gray103.93 us /
94.29 us
Δ 10.22%
9.62 KHz /
10.61 KHz
∇ -9.27%
images: buildPyramid 640x480,4 levs, smooth, gray108.55 us /
97.03 us
Δ 11.88%
9.21 KHz /
10.31 KHz
∇ -10.62%
images: buildPyramid 640x480,8 levs,no smooth,no gray88.64 us /
409.91 us
∇ -78.38%
11.28 KHz /
2.44 KHz
Δ 362.46%
images: buildPyramid 640x480,8 levs, smooth,no gray447.69 us /
674.37 us
∇ -33.61%
2.23 KHz /
1.48 KHz
Δ 50.63%
images: buildPyramid 640x480,8 levs,no smooth, gray105.95 us /
94.55 us
Δ 12.05%
9.44 KHz /
10.58 KHz
∇ -10.75%
images: buildPyramid 640x480,8 levs, smooth, gray111.40 us /
101.90 us
Δ 9.32%
8.98 KHz /
9.81 KHz
∇ -8.53%
stereo: prepare rectify map 640x480 RGB10.10 ms /
13.57 ms
∇ -25.55%
98.97 Hz /
73.68 Hz
Δ 34.32%
stereo: prepare rectify map 800x600 RGB15.85 ms /
19.93 ms
∇ -20.49%
63.10 Hz /
50.17 Hz
Δ 25.77%
stereo: prepare rectify map 1024x768 RGB26.67 ms /
32.43 ms
∇ -17.76%
37.49 Hz /
30.83 Hz
Δ 21.59%
stereo: prepare rectify map 1024x768->800x600 RGB15.87 ms /
19.83 ms
∇ -19.99%
63.02 Hz /
50.42 Hz
Δ 24.99%
stereo: prepare rectify map 1024x768->640x480 RGB10.12 ms /
12.80 ms
∇ -20.96%
98.81 Hz /
78.10 Hz
Δ 26.52%
stereo: rectify 640x480 RGB4.03 ms /
1.86 ms
Δ 116.94%
247.83 Hz /
537.66 Hz
∇ -53.91%
stereo: rectify 800x600 RGB6.59 ms /
2.68 ms
Δ 146.19%
151.82 Hz /
373.76 Hz
∇ -59.38%
stereo: rectify 1024x768 RGB10.39 ms /
4.88 ms
Δ 112.91%
96.24 Hz /
204.89 Hz
∇ -53.03%
stereo: rectify 1024x768->800x600 RGB6.09 ms /
2.55 ms
Δ 139.19%
164.21 Hz /
392.76 Hz
∇ -58.19%
stereo: rectify 1024x768->640x480 RGB4.01 ms /
1.47 ms
Δ 172.61%
249.65 Hz /
680.56 Hz
∇ -63.32%
stereo: rectify 640x480 GRAY2.71 ms /
1.12 ms
Δ 141.99%
368.60 Hz /
891.97 Hz
∇ -58.68%
stereo: rectify 800x600 GRAY4.36 ms /
1.35 ms
Δ 224.04%
229.16 Hz /
742.56 Hz
∇ -69.14%
stereo: rectify 1024x768 GRAY7.36 ms /
2.55 ms
Δ 188.50%
135.96 Hz /
392.25 Hz
∇ -65.34%
stereo: rectify 1024x768->800x600 GRAY4.18 ms /
1.23 ms
Δ 240.83%
239.18 Hz /
815.21 Hz
∇ -70.66%
stereo: rectify 1024x768->640x480 GRAY2.79 ms /
1.06 ms
Δ 163.54%
358.62 Hz /
945.09 Hz
∇ -62.05%
scan_matching: 6D LS Rigid Trans. [CPose3D]4.11 us /
8.41 us
∇ -51.19%
243.50 KHz /
118.86 KHz
Δ 104.87%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.06 us /
8.38 us
∇ -51.54%
246.17 KHz /
119.28 KHz
Δ 106.38%
scan_matching: 6D LS Rigid Trans. [vector of points]1.93 us /
4.67 us
∇ -58.55%
517.20 KHz /
214.36 KHz
Δ 141.28%
scan_matching: leastSquares 2D [x10 corrs]82.66 ns /
104.27 ns
∇ -20.73%
12.10 MHz /
9.59 MHz
Δ 26.14%
scan_matching: leastSquares 2D [x100 corrs]162.18 ns /
304.74 ns
∇ -46.78%
6.17 MHz /
3.28 MHz
Δ 87.90%
scan_matching: leastSquares 2D [x1000 corrs]1.15 us /
2.27 us
∇ -49.27%
867.33 KHz /
440.00 KHz
Δ 97.12%
feature_extraction [640x480]: Harris8.27 ms /
9.94 ms
∇ -16.77%
120.85 Hz /
100.59 Hz
Δ 20.15%
feature_extraction [640x480]: KLT8.43 ms /
9.99 ms
∇ -15.65%
118.63 Hz /
100.07 Hz
Δ 18.55%
feature_extraction [640x480]: SIFT291.31 ms /
320.31 ms
∇ -9.05%
3.43 Hz /
3.12 Hz
Δ 9.96%
feature_extraction [640x480]: SIFT desc.89.69 ms /
105.33 ms
∇ -14.85%
11.15 Hz /
9.49 Hz
Δ 17.44%
feature_extraction [640x480]: SURF137.14 ms /
57.58 ms
Δ 138.19%
7.29 Hz /
17.37 Hz
∇ -58.02%
feature_extraction [640x480]: FAST1.54 ms /
1.59 ms
∇ -2.92%
649.50 Hz /
630.56 Hz
Δ 3.00%
feature_extraction [640x480]: Spin desc.29.70 ms /
23.87 ms
Δ 24.40%
33.67 Hz /
41.89 Hz
∇ -19.61%
feature_extraction [640x480]: FASTER-92.07 ms /
1.79 ms
Δ 15.92%
482.75 Hz /
559.60 Hz
∇ -13.73%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.13 ms /
1.53 ms
∇ -26.16%
883.50 Hz /
652.38 Hz
Δ 35.43%
feature_extraction [640x480]: FASTER-101.52 ms /
1.38 ms
Δ 10.18%
658.26 Hz /
725.25 Hz
∇ -9.24%
feature_extraction [640x480]: FASTER-10 (sorted best 200)876.06 us /
1.13 ms
∇ -22.44%
1.14 KHz /
885.36 Hz
Δ 28.93%
feature_extraction [640x480]: FASTER-121.15 ms /
1.11 ms
Δ 3.49%
872.61 Hz /
903.02 Hz
∇ -3.37%
feature_extraction [640x480]: FASTER-12 (sorted best 200)807.96 us /
995.24 us
∇ -18.82%
1.24 KHz /
1.00 KHz
Δ 23.18%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()416.11 us /
460.91 us
∇ -9.72%
2.40 KHz /
2.17 KHz
Δ 10.77%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()344.61 us /
366.79 us
∇ -6.05%
2.90 KHz /
2.73 KHz
Δ 6.44%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()394.78 us /
466.68 us
∇ -15.41%
2.53 KHz /
2.14 KHz
Δ 18.21%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index416.46 us /
462.72 us
∇ -10.00%
2.40 KHz /
2.16 KHz
Δ 11.11%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index345.72 us /
363.34 us
∇ -4.85%
2.89 KHz /
2.75 KHz
Δ 5.10%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index395.25 us /
468.22 us
∇ -15.58%
2.53 KHz /
2.14 KHz
Δ 18.46%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()543.02 us /
656.72 us
∇ -17.31%
1.84 KHz /
1.52 KHz
Δ 20.94%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()449.81 us /
475.37 us
∇ -5.38%
2.22 KHz /
2.10 KHz
Δ 5.68%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()449.00 us /
535.08 us
∇ -16.09%
2.23 KHz /
1.87 KHz
Δ 19.17%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index543.65 us /
602.17 us
∇ -9.72%
1.84 KHz /
1.66 KHz
Δ 10.76%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index450.51 us /
522.88 us
∇ -13.84%
2.22 KHz /
1.91 KHz
Δ 16.06%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index452.08 us /
539.50 us
∇ -16.20%
2.21 KHz /
1.85 KHz
Δ 19.34%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()722.86 us /
883.72 us
∇ -18.20%
1.38 KHz /
1.13 KHz
Δ 22.25%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()605.96 us /
638.43 us
∇ -5.09%
1.65 KHz /
1.57 KHz
Δ 5.36%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()508.05 us /
589.24 us
∇ -13.78%
1.97 KHz /
1.70 KHz
Δ 15.98%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index722.25 us /
802.45 us
∇ -9.99%
1.38 KHz /
1.25 KHz
Δ 11.10%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index606.39 us /
715.35 us
∇ -15.23%
1.65 KHz /
1.40 KHz
Δ 17.97%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index509.80 us /
592.00 us
∇ -13.88%
1.96 KHz /
1.69 KHz
Δ 16.12%
feature_matching [640x480]: Harris + CC17.44 ms /
21.49 ms
∇ -18.85%
57.34 Hz /
46.53 Hz
Δ 23.23%
feature_matching [640x480]: Harris + SAD14.99 ms /
18.15 ms
∇ -17.41%
66.71 Hz /
55.10 Hz
Δ 21.08%
feature_matching [640x480]: SIFT572.61 ms /
623.90 ms
∇ -8.22%
1.75 Hz /
1.60 Hz
Δ 8.96%
feature_matching [640x480]: SURF267.31 ms /
95.48 ms
Δ 179.98%
3.74 Hz /
10.47 Hz
∇ -64.28%
feature_matching [640x480]: FAST + CC5.76 ms /
6.00 ms
∇ -4.11%
173.69 Hz /
166.56 Hz
Δ 4.28%
feature_matching [640x480]: FAST + SAD2.54 ms /
2.63 ms
∇ -3.54%
394.44 Hz /
380.47 Hz
Δ 3.67%
graph(2d): insertEdge x 1e382.70 us /
153.48 us
∇ -46.12%
12.09 KHz /
6.52 KHz
Δ 85.58%
graph(2d,vec): insertEdge x 1e381.92 us /
146.24 us
∇ -43.98%
12.21 KHz /
6.84 KHz
Δ 78.52%
graph(2d): insertEdgeAtEnd x 1e366.32 us /
117.77 us
∇ -43.69%
15.08 KHz /
8.49 KHz
Δ 77.59%
graph(2d,vec): insertEdgeAtEnd x 1e368.52 us /
117.80 us
∇ -41.83%
14.59 KHz /
8.49 KHz
Δ 71.91%
graph(2d pdf): insertEdge x 1e3124.25 us /
215.31 us
∇ -42.29%
8.05 KHz /
4.64 KHz
Δ 73.28%
graph(2d pdf,vec): insertEdge x 1e3119.97 us /
191.64 us
∇ -37.40%
8.34 KHz /
5.22 KHz
Δ 59.74%
graph(2d pdf): insertEdgeAtEnd x 1e3109.84 us /
161.44 us
∇ -31.96%
9.10 KHz /
6.19 KHz
Δ 46.97%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3107.46 us /
162.72 us
∇ -33.96%
9.31 KHz /
6.15 KHz
Δ 51.42%
graph(2d): insertEdge x 1e41.51 ms /
1.95 ms
∇ -22.62%
663.53 Hz /
513.41 Hz
Δ 29.24%
graph(2d,vec): insertEdge x 1e41.29 ms /
1.91 ms
∇ -32.38%
773.84 Hz /
523.24 Hz
Δ 47.90%
graph(2d): insertEdgeAtEnd x 1e4495.52 us /
1.18 ms
∇ -58.10%
2.02 KHz /
845.52 Hz
Δ 138.68%
graph(2d,vec): insertEdgeAtEnd x 1e4537.30 us /
1.19 ms
∇ -54.75%
1.86 KHz /
842.16 Hz
Δ 121.00%
graph(2d pdf): insertEdge x 1e41.42 ms /
2.26 ms
∇ -37.18%
705.71 Hz /
443.31 Hz
Δ 59.19%
graph(2d pdf,vec): insertEdge x 1e41.69 ms /
2.07 ms
∇ -18.31%
592.77 Hz /
484.25 Hz
Δ 22.41%
graph(2d pdf): insertEdgeAtEnd x 1e41.13 ms /
1.62 ms
∇ -30.46%
885.19 Hz /
615.58 Hz
Δ 43.80%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.08 ms /
1.62 ms
∇ -33.16%
925.23 Hz /
618.43 Hz
Δ 49.61%
graph(3d): insertEdge x 1e3112.54 us /
165.26 us
∇ -31.90%
8.89 KHz /
6.05 KHz
Δ 46.85%
graph(3d,vec): insertEdge x 1e3108.27 us /
168.93 us
∇ -35.91%
9.24 KHz /
5.92 KHz
Δ 56.03%
graph(3d): insertEdgeAtEnd x 1e394.89 us /
141.01 us
∇ -32.71%
10.54 KHz /
7.09 KHz
Δ 48.61%
graph(3d,vec): insertEdgeAtEnd x 1e392.33 us /
142.47 us
∇ -35.19%
10.83 KHz /
7.02 KHz
Δ 54.31%
graph(3d pdf): insertEdge x 1e3300.49 us /
377.68 us
∇ -20.44%
3.33 KHz /
2.65 KHz
Δ 25.69%
graph(3d pdf,vec): insertEdge x 1e3307.50 us /
375.08 us
∇ -18.02%
3.25 KHz /
2.67 KHz
Δ 21.98%
graph(3d pdf): insertEdgeAtEnd x 1e3255.67 us /
318.48 us
∇ -19.72%
3.91 KHz /
3.14 KHz
Δ 24.57%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3257.69 us /
320.43 us
∇ -19.58%
3.88 KHz /
3.12 KHz
Δ 24.35%
graph(3d): insertEdge x 1e41.68 ms /
1.88 ms
∇ -10.65%
595.38 Hz /
531.97 Hz
Δ 11.92%
graph(3d,vec): insertEdge x 1e41.67 ms /
1.90 ms
∇ -12.28%
599.32 Hz /
525.71 Hz
Δ 14.00%
graph(3d): insertEdgeAtEnd x 1e4968.30 us /
1.42 ms
∇ -31.72%
1.03 KHz /
705.12 Hz
Δ 46.46%
graph(3d,vec): insertEdgeAtEnd x 1e4960.68 us /
1.43 ms
∇ -32.88%
1.04 KHz /
698.68 Hz
Δ 48.99%
graph(3d pdf): insertEdge x 1e44.00 ms /
4.73 ms
∇ -15.45%
249.98 Hz /
211.37 Hz
Δ 18.27%
graph(3d pdf,vec): insertEdge x 1e43.90 ms /
4.11 ms
∇ -5.16%
256.23 Hz /
243.02 Hz
Δ 5.44%
graph(3d pdf): insertEdgeAtEnd x 1e42.60 ms /
3.13 ms
∇ -17.09%
385.13 Hz /
319.29 Hz
Δ 20.62%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.56 ms /
3.15 ms
∇ -18.82%
390.59 Hz /
317.06 Hz
Δ 23.19%
graph(3d): dijkstra 1e2 nodes54.14 us /
89.02 us
∇ -39.18%
18.47 KHz /
11.23 KHz
Δ 64.43%
graph(3d,vec): dijkstra 1e2 nodes53.02 us /
88.05 us
∇ -39.79%
18.86 KHz /
11.36 KHz
Δ 66.08%
graph(3d): dijkstra 1e3 nodes725.54 us /
1.08 ms
∇ -32.92%
1.38 KHz /
924.49 Hz
Δ 49.09%
graph(3d,vec): dijkstra 1e3 nodes722.80 us /
1.08 ms
∇ -32.95%
1.38 KHz /
927.62 Hz
Δ 49.15%
graph(3d): dijkstra 1e4 nodes9.57 ms /
13.21 ms
∇ -27.55%
104.52 Hz /
75.73 Hz
Δ 38.02%
graph(3d,vec): dijkstra 1e4 nodes9.52 ms /
13.31 ms
∇ -28.48%
105.03 Hz /
75.11 Hz
Δ 39.83%
graph(3d): dijkstra 1e5 nodes184.61 ms /
175.87 ms
Δ 4.97%
5.42 Hz /
5.69 Hz
∇ -4.73%
graph(3d,vec): dijkstra 1e5 nodes182.47 ms /
176.57 ms
Δ 3.34%
5.48 Hz /
5.66 Hz
∇ -3.23%
graph(2d): dijkstra 1e5 nodes181.04 ms /
173.83 ms
Δ 4.14%
5.52 Hz /
5.75 Hz
∇ -3.98%
graph(2d,vec): dijkstra 1e5 nodes182.75 ms /
173.63 ms
Δ 5.25%
5.47 Hz /
5.76 Hz
∇ -4.99%

 


Page generated automatically at 2014/05/07,08:51:16.737076 with MRPT 1.2.0 by 'mrpt-performance'.