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




Test description 1.2.0dev-MSVC11-64bit /
1.2.0dev-CLANG-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset1.19 ms /
953.05 us
Δ 24.69%
841.46 Hz /
1.05 KHz
∇ -19.80%
icp-slam (match grid): Run with sample dataset1.97 ms /
1.53 ms
Δ 28.42%
508.70 Hz /
653.27 Hz
∇ -22.13%
poses: CPose3D (+) CPose3D21.31 ns /
14.66 ns
Δ 45.39%
46.92 MHz /
68.21 MHz
∇ -31.22%
poses: CPose3D.composeFrom()13.36 ns /
9.48 ns
Δ 40.96%
74.83 MHz /
105.49 MHz
∇ -29.06%
poses: CPose3D (+) CPoint3D10.61 ns /
3.41 ns
Δ 210.91%
94.21 MHz /
292.91 MHz
∇ -67.84%
poses: CPose3D.composePoint()9.80 ns /
5.68 ns
Δ 72.61%
102.03 MHz /
176.12 MHz
∇ -42.07%
poses: CPose3D.composePoint()+Jacobs100.13 ns /
106.09 ns
∇ -5.62%
9.99 MHz /
9.43 MHz
Δ 5.96%
poses: CPoint3D (-) CPose3D26.84 ns /
5.38 ns
Δ 398.86%
37.26 MHz /
185.87 MHz
∇ -79.95%
poses: CPose3D.inverseComposePoint()17.51 ns /
8.01 ns
Δ 118.75%
57.10 MHz /
124.91 MHz
∇ -54.29%
poses: CPose2D (+) CPose2D14.88 ns /
11.91 ns
Δ 24.90%
67.22 MHz /
83.96 MHz
∇ -19.94%
poses: CPose2D.composeFrom()10.50 ns /
9.81 ns
Δ 7.11%
95.21 MHz /
101.98 MHz
∇ -6.64%
poses: CPose2D (+) CPoint2D7.09 ns /
3.94 ns
Δ 80.25%
140.95 MHz /
254.07 MHz
∇ -44.52%
poses: CPose2D.composePoint()5.70 ns /
3.62 ns
Δ 57.50%
175.30 MHz /
276.09 MHz
∇ -36.51%
poses: CPose3DQuat (+) CPose3DQuat45.12 ns /
19.07 ns
Δ 136.59%
22.16 MHz /
52.44 MHz
∇ -57.73%
poses: CPose3DQuat.composeFrom()31.67 ns /
18.03 ns
Δ 75.66%
31.57 MHz /
55.46 MHz
∇ -43.07%
poses: CPose3DQuat (+) CPoint3D25.16 ns /
11.62 ns
Δ 116.50%
39.74 MHz /
86.04 MHz
∇ -53.81%
poses: CPose3DQuat.composePoint()17.84 ns /
9.39 ns
Δ 90.08%
56.04 MHz /
106.52 MHz
∇ -47.39%
poses: CPoint3D (-) CPose3DQuat 36.85 ns /
13.70 ns
Δ 169.07%
27.14 MHz /
73.01 MHz
∇ -62.83%
poses: CPose3DQuat.invcomposePoint()15.15 ns /
8.28 ns
Δ 83.08%
66.00 MHz /
120.83 MHz
∇ -45.38%
poses: Conv CPose3DQuat <- CPose3D12.61 ns /
7.87 ns
Δ 60.25%
79.29 MHz /
127.06 MHz
∇ -37.60%
poses: Conv CPose3D -> CPose3DQuat54.28 ns /
73.28 ns
∇ -25.93%
18.42 MHz /
13.65 MHz
Δ 35.01%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)485.54 ns /
61.47 us
∇ -99.21%
2.06 MHz /
16.27 KHz
Δ 12560.85%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)468.18 ns /
60.94 us
∇ -99.23%
2.14 MHz /
16.41 KHz
Δ 12917.34%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)6.23 us /
5.42 us
Δ 14.79%
160.58 KHz /
184.33 KHz
∇ -12.89%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)371.95 ns /
362.00 ns
Δ 2.75%
2.69 MHz /
2.76 MHz
∇ -2.67%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)373.43 ns /
348.80 ns
Δ 7.06%
2.68 MHz /
2.87 MHz
∇ -6.59%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)5.91 us /
6.19 us
∇ -4.55%
169.19 KHz /
161.50 KHz
Δ 4.76%
matrix: unit, dyn[float], 3x355.82 ns /
27.75 ns
Δ 101.16%
17.92 MHz /
36.04 MHz
∇ -50.29%
matrix: unit, dyn[double], 3x353.69 ns /
30.77 ns
Δ 74.50%
18.62 MHz /
32.50 MHz
∇ -42.69%
matrix: unit, dyn[float], 6x681.08 ns /
40.79 ns
Δ 98.76%
12.33 MHz /
24.51 MHz
∇ -49.69%
matrix: unit, dyn[double], 6x682.32 ns /
42.16 ns
Δ 95.27%
12.15 MHz /
23.72 MHz
∇ -48.79%
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]4.21 ns /
0.00 ns
Δ inf%
237.38 MHz /
inf THz
∇ -nan%
matrix: unit, fix[double,6,6]4.87 ns /
0.00 ns
Δ inf%
205.27 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x3 * 3x3281.39 ns /
204.80 ns
Δ 37.40%
3.55 MHz /
4.88 MHz
∇ -27.22%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x3266.66 ns /
187.10 ns
Δ 42.52%
3.75 MHz /
5.34 MHz
∇ -29.84%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x6 * 6x3299.53 ns /
227.10 ns
Δ 31.89%
3.34 MHz /
4.40 MHz
∇ -24.18%
matrix: multiply, fix[float ], 3x6 * 6x31.21 ns /
25.10 ns
∇ -95.19%
828.21 MHz /
39.84 MHz
Δ 1978.80%
matrix: multiply, dyn[double], 3x6 * 6x3294.25 ns /
219.80 ns
Δ 33.87%
3.40 MHz /
4.55 MHz
∇ -25.30%
matrix: multiply, fix[double], 3x6 * 6x31.90 ns /
31.10 ns
∇ -93.89%
525.85 MHz /
32.15 MHz
Δ 1535.38%
matrix: multiply, dyn[float ], 10x40 * 40x101.43 us /
1.43 us
Δ 0.13%
700.05 KHz /
700.97 KHz
∇ -0.13%
matrix: multiply, fix[float ], 10x40 * 40x101.16 us /
1.14 us
Δ 1.93%
861.82 KHz /
878.43 KHz
∇ -1.89%
matrix: multiply, dyn[double], 10x40 * 40x101.66 us /
1.50 us
Δ 10.49%
603.16 KHz /
666.44 KHz
∇ -9.50%
matrix: multiply, fix[double], 10x40 * 40x101.34 us /
1.23 us
Δ 8.65%
745.85 KHz /
810.37 KHz
∇ -7.96%
matrix: inv, dyn[double] 3x3791.17 ns /
492.00 ns
Δ 60.81%
1.26 MHz /
2.03 MHz
∇ -37.81%
matrix: inv, fix[double] 3x312.98 ns /
0.00 ns
Δ inf%
77.04 MHz /
inf THz
∇ -nan%
matrix: inv, dyn[double] 6x61.58 us /
914.00 ns
Δ 72.73%
633.43 KHz /
1.09 MHz
∇ -42.10%
matrix: inv, fix[double] 6x61.11 us /
591.00 ns
Δ 88.26%
898.76 KHz /
1.69 MHz
∇ -46.88%
matrix: inv, dyn[double] 20x2013.08 us /
6.83 us
Δ 91.60%
76.44 KHz /
146.46 KHz
∇ -47.81%
matrix: inv, fix[double] 20x2011.37 us /
6.04 us
Δ 88.41%
87.95 KHz /
165.70 KHz
∇ -46.92%
matrix: inv, dyn[double] 40x4049.83 us /
28.78 us
Δ 73.16%
20.07 KHz /
34.75 KHz
∇ -42.25%
matrix: inv, fix[double] 40x4047.25 us /
28.04 us
Δ 68.51%
21.16 KHz /
35.66 KHz
∇ -40.66%
matrix: det, dyn[double] 2x2296.97 ns /
189.00 ns
Δ 57.13%
3.37 MHz /
5.29 MHz
∇ -36.36%
matrix: det, fix[double] 2x20.03 ns /
0.00 ns
Δ inf%
33.13 GHz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3394.77 ns /
223.50 ns
Δ 76.63%
2.53 MHz /
4.47 MHz
∇ -43.38%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6927.12 ns /
396.90 ns
Δ 133.59%
1.08 MHz /
2.52 MHz
∇ -57.19%
matrix: det, fix[double] 6x6674.14 ns /
226.90 ns
Δ 197.11%
1.48 MHz /
4.41 MHz
∇ -66.34%
matrix: det, dyn[double] 20x208.63 us /
3.38 us
Δ 155.72%
115.81 KHz /
296.16 KHz
∇ -60.89%
matrix: det, fix[double] 20x208.16 us /
2.99 us
Δ 173.16%
122.50 KHz /
334.63 KHz
∇ -63.39%
matrix: det, dyn[double] 40x4031.29 us /
12.13 us
Δ 158.03%
31.96 KHz /
82.46 KHz
∇ -61.25%
matrix: det, fix[double] 40x4030.53 us /
11.37 us
Δ 168.60%
32.76 KHz /
87.98 KHz
∇ -62.77%
matrix: chol, dyn[double] 4x4555.42 ns /
490.00 ns
Δ 13.35%
1.80 MHz /
2.04 MHz
∇ -11.78%
matrix: chol, fix[double] 4x4108.67 ns /
50.00 ns
Δ 117.34%
9.20 MHz /
20.00 MHz
∇ -53.99%
matrix: chol, dyn[double] 40x4013.42 us /
10.97 us
Δ 22.37%
74.50 KHz /
91.16 KHz
∇ -18.28%
matrix: chol, fix[double] 40x4011.33 us /
9.92 us
Δ 14.23%
88.25 KHz /
100.81 KHz
∇ -12.46%
matrix: chol, sparse [2x2;2x2]4.98 us /
7.10 us
∇ -29.85%
200.78 KHz /
140.85 KHz
Δ 42.55%
matrix: chol, sparse [30x30;10x10]43.98 us /
34.80 us
Δ 26.38%
22.74 KHz /
28.74 KHz
∇ -20.87%
matrix: chol, dyn[double] 10x[6x6]33.23 us /
27.30 us
Δ 21.74%
30.09 KHz /
36.63 KHz
∇ -17.86%
matrix: chol, sparse 10x[6x6]17.40 us /
16.08 us
Δ 8.20%
57.47 KHz /
62.19 KHz
∇ -7.58%
matrix: chol, dyn[double] 20x[6x6]152.29 us /
130.20 us
Δ 16.96%
6.57 KHz /
7.68 KHz
∇ -14.50%
matrix: chol, sparse 20x[6x6]33.90 us /
28.60 us
Δ 18.54%
29.50 KHz /
34.97 KHz
∇ -15.64%
matrix: chol, dyn[double] 50x[6x6]1.86 ms /
1.36 ms
Δ 36.41%
538.68 Hz /
734.81 Hz
∇ -26.69%
matrix: chol, sparse 50x[6x6]72.77 us /
74.01 us
∇ -1.67%
13.74 KHz /
13.51 KHz
Δ 1.70%
matrix: chol, dyn[double] 100x[6x6]15.15 ms /
13.64 ms
Δ 11.05%
66.00 Hz /
73.30 Hz
∇ -9.95%
matrix: chol, sparse 100x[6x6]154.65 us /
136.62 us
Δ 13.20%
6.47 KHz /
7.32 KHz
∇ -11.66%
matrix: chol, dyn[double] 120x[6x6]23.45 ms /
21.29 ms
Δ 10.14%
42.65 Hz /
46.97 Hz
∇ -9.20%
matrix: chol, sparse 120x[6x6]169.12 us /
161.99 us
Δ 4.40%
5.91 KHz /
6.17 KHz
∇ -4.21%
matrix: chol, dyn[double] 140x[6x6]34.02 ms /
29.42 ms
Δ 15.64%
29.40 Hz /
34.00 Hz
∇ -13.52%
matrix: chol, sparse 140x[6x6]204.88 us /
188.71 us
Δ 8.57%
4.88 KHz /
5.30 KHz
∇ -7.89%
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: getCell2.78 ns /
0.00 ns
Δ inf%
360.02 MHz /
inf THz
∇ -nan%
gridmap2D: setCell1.95 ns /
0.83 ns
Δ 136.19%
511.96 MHz /
1.21 GHz
∇ -57.66%
gridmap2D: updateCell3.54 ns /
3.99 ns
∇ -11.15%
282.14 MHz /
250.69 MHz
Δ 12.54%
gridmap2D: updateCell_fast_occupied0.41 ns /
0.78 ns
∇ -47.73%
2.45 GHz /
1.28 GHz
Δ 91.30%
gridmap2D: insert scan w/o widening57.49 us /
61.32 us
∇ -6.24%
17.39 KHz /
16.31 KHz
Δ 6.66%
gridmap2D: insert scan with widening150.17 us /
191.71 us
∇ -21.67%
6.66 KHz /
5.22 KHz
Δ 27.66%
gridmap2D: resize735.62 us /
396.00 us
Δ 85.76%
1.36 KHz /
2.53 KHz
∇ -46.17%
gridmap2D: computeLikelihood9.02 us /
7.40 us
Δ 21.96%
110.82 KHz /
135.15 KHz
∇ -18.00%
gridmap2D: determineMatching2D32.66 us /
28.90 us
Δ 13.00%
30.62 KHz /
34.60 KHz
∇ -11.51%
pointmap: insert 100 scans722.46 us /
294.71 us
Δ 145.14%
1.38 KHz /
3.39 KHz
∇ -59.21%
pointmap: build 2D kd-tree of 1 scan1.50 us /
1.48 us
Δ 1.16%
667.91 KHz /
675.68 KHz
∇ -1.15%
pointmap: build 2D kd-tree of 100 scan154.18 us /
126.16 us
Δ 22.21%
6.49 KHz /
7.93 KHz
∇ -18.17%
pointmap: build 2D kd-tree of 1000 scan1.81 ms /
1.45 ms
Δ 24.40%
552.64 Hz /
687.49 Hz
∇ -19.62%
pointmap: build 3D kd-tree of 1 scan1.76 us /
2.28 us
∇ -22.68%
567.27 KHz /
438.60 KHz
Δ 29.34%
pointmap: build 3D kd-tree of 100 scan171.94 us /
184.16 us
∇ -6.64%
5.82 KHz /
5.43 KHz
Δ 7.11%
pointmap: build 3D kd-tree of 1000 scan1.84 ms /
2.11 ms
∇ -12.68%
543.27 Hz /
474.37 Hz
Δ 14.53%
pointmap: kd-tree 2d query on 10 scans498.67 ns /
420.00 ns
Δ 18.73%
2.01 MHz /
2.38 MHz
∇ -15.78%
pointmap: kd-tree 2d query on 1000 scans44.11 us /
36.53 us
Δ 20.75%
22.67 KHz /
27.38 KHz
∇ -17.18%
pointmap: kd-tree 2d query on 10000 scans5.20 ms /
4.16 ms
Δ 24.98%
192.19 Hz /
240.19 Hz
∇ -19.98%
pointmap: (insert scan+2D kd-tree query) x 101.77 ms /
1.35 ms
Δ 30.82%
565.21 Hz /
739.43 Hz
∇ -23.56%
pointmap: (insert scan+2D kd-tree query) x 5043.89 ms /
33.52 ms
Δ 30.93%
22.78 Hz /
29.83 Hz
∇ -23.63%
pointmap: (insert scan+3D kd-tree query) x 101.82 ms /
1.87 ms
∇ -2.80%
549.65 Hz /
534.27 Hz
Δ 2.88%
pointmap: (insert scan+3D kd-tree query) x 5045.35 ms /
49.10 ms
∇ -7.65%
22.05 Hz /
20.37 Hz
Δ 8.28%
pointmap: computeMatchingWith2D30.66 us /
27.29 us
Δ 12.34%
32.62 KHz /
36.65 KHz
∇ -10.98%
pointmap: boundingBox (10 scans)927.89 ns /
883.34 ns
Δ 5.04%
1.08 MHz /
1.13 MHz
∇ -4.80%
pointmap: boundingBox (1000 scans)90.74 us /
85.38 us
Δ 6.28%
11.02 KHz /
11.71 KHz
∇ -5.91%
random: drawUniform32bit5.12 ns /
4.58 ns
Δ 11.75%
195.36 MHz /
218.31 MHz
∇ -10.51%
random: drawUniform5.06 ns /
4.68 ns
Δ 8.22%
197.45 MHz /
213.67 MHz
∇ -7.59%
random: drawGaussian1D_normalized23.05 ns /
29.99 ns
∇ -23.14%
43.38 MHz /
33.34 MHz
Δ 30.11%
random: drawGaussian1D22.83 ns /
30.11 ns
∇ -24.19%
43.81 MHz /
33.21 MHz
Δ 31.91%
random: system rand()13.49 ns /
14.99 ns
∇ -10.01%
74.11 MHz /
66.70 MHz
Δ 11.12%
random: drawGaussianMultivariate(fixed 3x3)642.84 ns /
481.40 ns
Δ 33.54%
1.56 MHz /
2.08 MHz
∇ -25.11%
random: drawGaussianMultivariate(dyn 3x3)1.64 us /
1.08 us
Δ 51.24%
609.64 KHz /
922.02 KHz
∇ -33.88%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)62.47 ns /
64.40 ns
∇ -3.00%
16.01 MHz /
15.53 MHz
Δ 3.10%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)93.49 ns /
103.37 ns
∇ -9.56%
10.70 MHz /
9.67 MHz
Δ 10.57%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)206.29 ns /
224.22 ns
∇ -7.99%
4.85 MHz /
4.46 MHz
Δ 8.69%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)67.45 ns /
71.83 ns
∇ -6.09%
14.82 MHz /
13.92 MHz
Δ 6.49%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)103.64 ns /
112.25 ns
∇ -7.67%
9.65 MHz /
8.91 MHz
Δ 8.31%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)223.65 ns /
237.59 ns
∇ -5.87%
4.47 MHz /
4.21 MHz
Δ 6.23%
random: permuteVector (len=10)258.09 ns /
154.00 ns
Δ 67.59%
3.87 MHz /
6.49 MHz
∇ -40.33%
random: permuteVector (len=100)2.48 us /
1.92 us
Δ 28.84%
403.96 KHz /
520.48 KHz
∇ -22.39%
random: permuteVector (len=1000)24.52 us /
19.13 us
Δ 28.13%
40.79 KHz /
52.26 KHz
∇ -21.96%
math: round0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
images: Save as JPEG (640x480, quality=95%)16.32 ms /
6.59 ms
Δ 147.52%
61.27 Hz /
151.65 Hz
∇ -59.60%
images: Save as JPEG (800x600, quality=95%)24.66 ms /
8.07 ms
Δ 205.54%
40.55 Hz /
123.88 Hz
∇ -67.27%
images: Save as JPEG (1024x768, quality=95%)39.84 ms /
14.45 ms
Δ 175.76%
25.10 Hz /
69.22 Hz
∇ -63.74%
images: Save as JPEG (640x480, quality=75%)13.46 ms /
4.60 ms
Δ 192.72%
74.30 Hz /
217.47 Hz
∇ -65.84%
images: Save as JPEG (800x600, quality=75%)21.00 ms /
8.61 ms
Δ 143.97%
47.62 Hz /
116.17 Hz
∇ -59.01%
images: Save as JPEG (1024x768, quality=75%)34.05 ms /
11.21 ms
Δ 203.80%
29.37 Hz /
89.23 Hz
∇ -67.08%
images: Gauss filter (640x480)3.23 ms /
1.81 ms
Δ 78.34%
309.87 Hz /
552.64 Hz
∇ -43.93%
images: Gauss filter (800x600)3.68 ms /
2.88 ms
Δ 27.77%
271.68 Hz /
347.12 Hz
∇ -21.73%
images: Gauss filter (1024x768)6.20 ms /
4.98 ms
Δ 24.61%
161.28 Hz /
200.97 Hz
∇ -19.75%
images: Half sample GRAY (160x120)821.05 ns /
546.67 ns
Δ 50.19%
1.22 MHz /
1.83 MHz
∇ -33.42%
images: Half sample GRAY (320x240)2.31 us /
1.76 us
Δ 31.18%
432.30 KHz /
567.11 KHz
∇ -23.77%
images: Half sample GRAY (640x480)10.75 us /
8.98 us
Δ 19.77%
93.01 KHz /
111.40 KHz
∇ -16.50%
images: Half sample GRAY (800x600)16.35 us /
15.50 us
Δ 5.43%
61.18 KHz /
64.50 KHz
∇ -5.15%
images: Half sample GRAY (1024x768)27.16 us /
28.39 us
∇ -4.32%
36.82 KHz /
35.23 KHz
Δ 4.51%
images: Half sample GRAY (1280x1024)43.39 us /
40.99 us
Δ 5.87%
23.04 KHz /
24.40 KHz
∇ -5.55%
images: Half sample RGB (160x120)1.67 us /
1.32 us
Δ 26.70%
599.43 KHz /
759.49 KHz
∇ -21.08%
images: Half sample RGB (320x240)6.45 us /
5.06 us
Δ 27.48%
155.02 KHz /
197.63 KHz
∇ -21.56%
images: Half sample RGB (640x480)25.97 us /
23.85 us
Δ 8.92%
38.50 KHz /
41.93 KHz
∇ -8.19%
images: Half sample RGB (800x600)40.08 us /
42.04 us
∇ -4.66%
24.95 KHz /
23.78 KHz
Δ 4.89%
images: Half sample RGB (1024x768)144.64 us /
62.77 us
Δ 130.44%
6.91 KHz /
15.93 KHz
∇ -56.60%
images: Half sample RGB (1280x1024)242.89 us /
122.93 us
Δ 97.58%
4.12 KHz /
8.13 KHz
∇ -49.39%
images: Half sample smooth GRAY (160x120)1.01 us /
813.33 ns
Δ 23.71%
993.85 KHz /
1.23 MHz
∇ -19.17%
images: Half sample smooth GRAY (320x240)3.32 us /
2.76 us
Δ 20.27%
301.26 KHz /
362.32 KHz
∇ -16.85%
images: Half sample smooth GRAY (640x480)16.31 us /
14.05 us
Δ 16.09%
61.30 KHz /
71.16 KHz
∇ -13.86%
images: Half sample smooth GRAY (800x600)23.34 us /
19.76 us
Δ 18.13%
42.84 KHz /
50.61 KHz
∇ -15.35%
images: Half sample smooth GRAY (1024x768)38.27 us /
34.71 us
Δ 10.24%
26.13 KHz /
28.81 KHz
∇ -9.28%
images: Half sample smooth GRAY (1280x1024)64.21 us /
58.39 us
Δ 9.97%
15.57 KHz /
17.13 KHz
∇ -9.07%
images: Half sample smooth RGB (160x120)76.20 us /
19.31 us
Δ 294.68%
13.12 KHz /
51.80 KHz
∇ -74.66%
images: Half sample smooth RGB (320x240)59.18 us /
77.18 us
∇ -23.32%
16.90 KHz /
12.96 KHz
Δ 30.41%
images: Half sample smooth RGB (640x480)227.47 us /
293.36 us
∇ -22.46%
4.40 KHz /
3.41 KHz
Δ 28.96%
images: Half sample smooth RGB (800x600)183.77 us /
453.46 us
∇ -59.47%
5.44 KHz /
2.21 KHz
Δ 146.75%
images: Half sample smooth RGB (1024x768)264.07 us /
750.24 us
∇ -64.80%
3.79 KHz /
1.33 KHz
Δ 184.10%
images: Half sample smooth RGB (1280x1024)396.39 us /
1.26 ms
∇ -68.51%
2.52 KHz /
794.35 Hz
Δ 217.59%
images: RGB->GRAY 8u (40x30)4.14 us /
2.03 us
Δ 104.35%
241.46 KHz /
493.42 KHz
∇ -51.06%
images: RGB->GRAY 8u (80x60)1.56 us /
1.50 us
Δ 3.81%
640.78 KHz /
665.19 KHz
∇ -3.67%
images: RGB->GRAY 8u (160x120)5.21 us /
5.50 us
∇ -5.33%
192.05 KHz /
181.82 KHz
Δ 5.63%
images: RGB->GRAY 8u (320x240)19.63 us /
23.58 us
∇ -16.75%
50.94 KHz /
42.41 KHz
Δ 20.12%
images: RGB->GRAY 8u (640x480)83.56 us /
93.26 us
∇ -10.40%
11.97 KHz /
10.72 KHz
Δ 11.61%
images: RGB->GRAY 8u (800x600)128.72 us /
151.18 us
∇ -14.85%
7.77 KHz /
6.61 KHz
Δ 17.45%
images: RGB->GRAY 8u (1024x768)205.33 us /
239.21 us
∇ -14.16%
4.87 KHz /
4.18 KHz
Δ 16.50%
images: RGB->GRAY 8u (1280x1024)619.44 us /
437.17 us
Δ 41.69%
1.61 KHz /
2.29 KHz
∇ -29.42%
images: KLT score (WIN=2 5x5)42.54 ns /
27.18 ns
Δ 56.53%
23.51 MHz /
36.80 MHz
∇ -36.12%
images: KLT score (WIN=3 7x7)58.71 ns /
30.58 ns
Δ 91.96%
17.03 MHz /
32.70 MHz
∇ -47.91%
images: KLT score (WIN=4 9x9)75.41 ns /
34.95 ns
Δ 115.79%
13.26 MHz /
28.61 MHz
∇ -53.66%
images: KLT score (WIN=5 10x10)98.57 ns /
36.95 ns
Δ 166.76%
10.15 MHz /
27.06 MHz
∇ -62.51%
images: KLT score (WIN=6 13x13)127.98 ns /
40.48 ns
Δ 216.17%
7.81 MHz /
24.70 MHz
∇ -68.37%
images: KLT score (WIN=7 15x15)159.87 ns /
44.47 ns
Δ 259.52%
6.25 MHz /
22.49 MHz
∇ -72.19%
images: KLT score (WIN=8 17x17)191.81 ns /
47.54 ns
Δ 303.45%
5.21 MHz /
21.03 MHz
∇ -75.21%
images: KLT score (WIN=9 19x19)228.52 ns /
51.02 ns
Δ 347.89%
4.38 MHz /
19.60 MHz
∇ -77.67%
images: KLT score (WIN=10 21x21)281.51 ns /
54.47 ns
Δ 416.82%
3.55 MHz /
18.36 MHz
∇ -80.65%
images: KLT score (WIN=11 23x23)321.97 ns /
57.70 ns
Δ 457.98%
3.11 MHz /
17.33 MHz
∇ -82.08%
images: KLT score (WIN=12 25x25)379.96 ns /
61.07 ns
Δ 522.14%
2.63 MHz /
16.37 MHz
∇ -83.93%
images: KLT score (WIN=13 27x27)431.81 ns /
65.06 ns
Δ 563.66%
2.32 MHz /
15.37 MHz
∇ -84.93%
images: KLT score (WIN=14 29x29)499.79 ns /
68.24 ns
Δ 632.38%
2.00 MHz /
14.65 MHz
∇ -86.35%
images: KLT score (WIN=15 31x31)562.76 ns /
70.93 ns
Δ 693.42%
1.78 MHz /
14.10 MHz
∇ -87.40%
images: KLT score (WIN=16 33x33)650.17 ns /
77.24 ns
Δ 741.76%
1.54 MHz /
12.95 MHz
∇ -88.12%
images: buildPyramid 640x480,4 levs,no smooth,no gray409.68 us /
85.93 us
Δ 376.75%
2.44 KHz /
11.64 KHz
∇ -79.02%
images: buildPyramid 640x480,4 levs, smooth,no gray655.25 us /
440.81 us
Δ 48.65%
1.53 KHz /
2.27 KHz
∇ -32.73%
images: buildPyramid 640x480,4 levs,no smooth, gray94.29 us /
103.93 us
∇ -9.27%
10.61 KHz /
9.62 KHz
Δ 10.22%
images: buildPyramid 640x480,4 levs, smooth, gray97.03 us /
108.55 us
∇ -10.62%
10.31 KHz /
9.21 KHz
Δ 11.88%
images: buildPyramid 640x480,8 levs,no smooth,no gray409.91 us /
88.64 us
Δ 362.46%
2.44 KHz /
11.28 KHz
∇ -78.38%
images: buildPyramid 640x480,8 levs, smooth,no gray674.37 us /
447.69 us
Δ 50.63%
1.48 KHz /
2.23 KHz
∇ -33.61%
images: buildPyramid 640x480,8 levs,no smooth, gray94.55 us /
105.95 us
∇ -10.75%
10.58 KHz /
9.44 KHz
Δ 12.05%
images: buildPyramid 640x480,8 levs, smooth, gray101.90 us /
111.40 us
∇ -8.53%
9.81 KHz /
8.98 KHz
Δ 9.32%
stereo: prepare rectify map 640x480 RGB13.57 ms /
10.10 ms
Δ 34.32%
73.68 Hz /
98.97 Hz
∇ -25.55%
stereo: prepare rectify map 800x600 RGB19.93 ms /
15.85 ms
Δ 25.77%
50.17 Hz /
63.10 Hz
∇ -20.49%
stereo: prepare rectify map 1024x768 RGB32.43 ms /
26.67 ms
Δ 21.59%
30.83 Hz /
37.49 Hz
∇ -17.76%
stereo: prepare rectify map 1024x768->800x600 RGB19.83 ms /
15.87 ms
Δ 24.99%
50.42 Hz /
63.02 Hz
∇ -19.99%
stereo: prepare rectify map 1024x768->640x480 RGB12.80 ms /
10.12 ms
Δ 26.52%
78.10 Hz /
98.81 Hz
∇ -20.96%
stereo: rectify 640x480 RGB1.86 ms /
4.03 ms
∇ -53.91%
537.66 Hz /
247.83 Hz
Δ 116.94%
stereo: rectify 800x600 RGB2.68 ms /
6.59 ms
∇ -59.38%
373.76 Hz /
151.82 Hz
Δ 146.19%
stereo: rectify 1024x768 RGB4.88 ms /
10.39 ms
∇ -53.03%
204.89 Hz /
96.24 Hz
Δ 112.91%
stereo: rectify 1024x768->800x600 RGB2.55 ms /
6.09 ms
∇ -58.19%
392.76 Hz /
164.21 Hz
Δ 139.19%
stereo: rectify 1024x768->640x480 RGB1.47 ms /
4.01 ms
∇ -63.32%
680.56 Hz /
249.65 Hz
Δ 172.61%
stereo: rectify 640x480 GRAY1.12 ms /
2.71 ms
∇ -58.68%
891.97 Hz /
368.60 Hz
Δ 141.99%
stereo: rectify 800x600 GRAY1.35 ms /
4.36 ms
∇ -69.14%
742.56 Hz /
229.16 Hz
Δ 224.04%
stereo: rectify 1024x768 GRAY2.55 ms /
7.36 ms
∇ -65.34%
392.25 Hz /
135.96 Hz
Δ 188.50%
stereo: rectify 1024x768->800x600 GRAY1.23 ms /
4.18 ms
∇ -70.66%
815.21 Hz /
239.18 Hz
Δ 240.83%
stereo: rectify 1024x768->640x480 GRAY1.06 ms /
2.79 ms
∇ -62.05%
945.09 Hz /
358.62 Hz
Δ 163.54%
scan_matching: 6D LS Rigid Trans. [CPose3D]8.41 us /
4.11 us
Δ 104.87%
118.86 KHz /
243.50 KHz
∇ -51.19%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]8.38 us /
4.06 us
Δ 106.38%
119.28 KHz /
246.17 KHz
∇ -51.54%
scan_matching: 6D LS Rigid Trans. [vector of points]4.67 us /
1.93 us
Δ 141.28%
214.36 KHz /
517.20 KHz
∇ -58.55%
scan_matching: leastSquares 2D [x10 corrs]104.27 ns /
82.66 ns
Δ 26.14%
9.59 MHz /
12.10 MHz
∇ -20.73%
scan_matching: leastSquares 2D [x100 corrs]304.74 ns /
162.18 ns
Δ 87.90%
3.28 MHz /
6.17 MHz
∇ -46.78%
scan_matching: leastSquares 2D [x1000 corrs]2.27 us /
1.15 us
Δ 97.12%
440.00 KHz /
867.33 KHz
∇ -49.27%
feature_extraction [640x480]: Harris9.94 ms /
8.27 ms
Δ 20.15%
100.59 Hz /
120.85 Hz
∇ -16.77%
feature_extraction [640x480]: KLT9.99 ms /
8.43 ms
Δ 18.55%
100.07 Hz /
118.63 Hz
∇ -15.65%
feature_extraction [640x480]: SIFT320.31 ms /
291.31 ms
Δ 9.96%
3.12 Hz /
3.43 Hz
∇ -9.05%
feature_extraction [640x480]: SIFT desc.105.33 ms /
89.69 ms
Δ 17.44%
9.49 Hz /
11.15 Hz
∇ -14.85%
feature_extraction [640x480]: SURF57.58 ms /
137.14 ms
∇ -58.02%
17.37 Hz /
7.29 Hz
Δ 138.19%
feature_extraction [640x480]: FAST1.59 ms /
1.54 ms
Δ 3.00%
630.56 Hz /
649.50 Hz
∇ -2.92%
feature_extraction [640x480]: Spin desc.23.87 ms /
29.70 ms
∇ -19.61%
41.89 Hz /
33.67 Hz
Δ 24.40%
feature_extraction [640x480]: FASTER-91.79 ms /
2.07 ms
∇ -13.73%
559.60 Hz /
482.75 Hz
Δ 15.92%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.53 ms /
1.13 ms
Δ 35.43%
652.38 Hz /
883.50 Hz
∇ -26.16%
feature_extraction [640x480]: FASTER-101.38 ms /
1.52 ms
∇ -9.24%
725.25 Hz /
658.26 Hz
Δ 10.18%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.13 ms /
876.06 us
Δ 28.93%
885.36 Hz /
1.14 KHz
∇ -22.44%
feature_extraction [640x480]: FASTER-121.11 ms /
1.15 ms
∇ -3.37%
903.02 Hz /
872.61 Hz
Δ 3.49%
feature_extraction [640x480]: FASTER-12 (sorted best 200)995.24 us /
807.96 us
Δ 23.18%
1.00 KHz /
1.24 KHz
∇ -18.82%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()460.91 us /
416.11 us
Δ 10.77%
2.17 KHz /
2.40 KHz
∇ -9.72%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()366.79 us /
344.61 us
Δ 6.44%
2.73 KHz /
2.90 KHz
∇ -6.05%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()466.68 us /
394.78 us
Δ 18.21%
2.14 KHz /
2.53 KHz
∇ -15.41%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index462.72 us /
416.46 us
Δ 11.11%
2.16 KHz /
2.40 KHz
∇ -10.00%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index363.34 us /
345.72 us
Δ 5.10%
2.75 KHz /
2.89 KHz
∇ -4.85%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index468.22 us /
395.25 us
Δ 18.46%
2.14 KHz /
2.53 KHz
∇ -15.58%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()656.72 us /
543.02 us
Δ 20.94%
1.52 KHz /
1.84 KHz
∇ -17.31%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()475.37 us /
449.81 us
Δ 5.68%
2.10 KHz /
2.22 KHz
∇ -5.38%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()535.08 us /
449.00 us
Δ 19.17%
1.87 KHz /
2.23 KHz
∇ -16.09%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index602.17 us /
543.65 us
Δ 10.76%
1.66 KHz /
1.84 KHz
∇ -9.72%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index522.88 us /
450.51 us
Δ 16.06%
1.91 KHz /
2.22 KHz
∇ -13.84%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index539.50 us /
452.08 us
Δ 19.34%
1.85 KHz /
2.21 KHz
∇ -16.20%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()883.72 us /
722.86 us
Δ 22.25%
1.13 KHz /
1.38 KHz
∇ -18.20%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()638.43 us /
605.96 us
Δ 5.36%
1.57 KHz /
1.65 KHz
∇ -5.09%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()589.24 us /
508.05 us
Δ 15.98%
1.70 KHz /
1.97 KHz
∇ -13.78%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index802.45 us /
722.25 us
Δ 11.10%
1.25 KHz /
1.38 KHz
∇ -9.99%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index715.35 us /
606.39 us
Δ 17.97%
1.40 KHz /
1.65 KHz
∇ -15.23%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index592.00 us /
509.80 us
Δ 16.12%
1.69 KHz /
1.96 KHz
∇ -13.88%
feature_matching [640x480]: Harris + CC21.49 ms /
17.44 ms
Δ 23.23%
46.53 Hz /
57.34 Hz
∇ -18.85%
feature_matching [640x480]: Harris + SAD18.15 ms /
14.99 ms
Δ 21.08%
55.10 Hz /
66.71 Hz
∇ -17.41%
feature_matching [640x480]: SIFT623.90 ms /
572.61 ms
Δ 8.96%
1.60 Hz /
1.75 Hz
∇ -8.22%
feature_matching [640x480]: SURF95.48 ms /
267.31 ms
∇ -64.28%
10.47 Hz /
3.74 Hz
Δ 179.98%
feature_matching [640x480]: FAST + CC6.00 ms /
5.76 ms
Δ 4.28%
166.56 Hz /
173.69 Hz
∇ -4.11%
feature_matching [640x480]: FAST + SAD2.63 ms /
2.54 ms
Δ 3.67%
380.47 Hz /
394.44 Hz
∇ -3.54%
graph(2d): insertEdge x 1e3153.48 us /
82.70 us
Δ 85.58%
6.52 KHz /
12.09 KHz
∇ -46.12%
graph(2d,vec): insertEdge x 1e3146.24 us /
81.92 us
Δ 78.52%
6.84 KHz /
12.21 KHz
∇ -43.98%
graph(2d): insertEdgeAtEnd x 1e3117.77 us /
66.32 us
Δ 77.59%
8.49 KHz /
15.08 KHz
∇ -43.69%
graph(2d,vec): insertEdgeAtEnd x 1e3117.80 us /
68.52 us
Δ 71.91%
8.49 KHz /
14.59 KHz
∇ -41.83%
graph(2d pdf): insertEdge x 1e3215.31 us /
124.25 us
Δ 73.28%
4.64 KHz /
8.05 KHz
∇ -42.29%
graph(2d pdf,vec): insertEdge x 1e3191.64 us /
119.97 us
Δ 59.74%
5.22 KHz /
8.34 KHz
∇ -37.40%
graph(2d pdf): insertEdgeAtEnd x 1e3161.44 us /
109.84 us
Δ 46.97%
6.19 KHz /
9.10 KHz
∇ -31.96%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3162.72 us /
107.46 us
Δ 51.42%
6.15 KHz /
9.31 KHz
∇ -33.96%
graph(2d): insertEdge x 1e41.95 ms /
1.51 ms
Δ 29.24%
513.41 Hz /
663.53 Hz
∇ -22.62%
graph(2d,vec): insertEdge x 1e41.91 ms /
1.29 ms
Δ 47.90%
523.24 Hz /
773.84 Hz
∇ -32.38%
graph(2d): insertEdgeAtEnd x 1e41.18 ms /
495.52 us
Δ 138.68%
845.52 Hz /
2.02 KHz
∇ -58.10%
graph(2d,vec): insertEdgeAtEnd x 1e41.19 ms /
537.30 us
Δ 121.00%
842.16 Hz /
1.86 KHz
∇ -54.75%
graph(2d pdf): insertEdge x 1e42.26 ms /
1.42 ms
Δ 59.19%
443.31 Hz /
705.71 Hz
∇ -37.18%
graph(2d pdf,vec): insertEdge x 1e42.07 ms /
1.69 ms
Δ 22.41%
484.25 Hz /
592.77 Hz
∇ -18.31%
graph(2d pdf): insertEdgeAtEnd x 1e41.62 ms /
1.13 ms
Δ 43.80%
615.58 Hz /
885.19 Hz
∇ -30.46%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.62 ms /
1.08 ms
Δ 49.61%
618.43 Hz /
925.23 Hz
∇ -33.16%
graph(3d): insertEdge x 1e3165.26 us /
112.54 us
Δ 46.85%
6.05 KHz /
8.89 KHz
∇ -31.90%
graph(3d,vec): insertEdge x 1e3168.93 us /
108.27 us
Δ 56.03%
5.92 KHz /
9.24 KHz
∇ -35.91%
graph(3d): insertEdgeAtEnd x 1e3141.01 us /
94.89 us
Δ 48.61%
7.09 KHz /
10.54 KHz
∇ -32.71%
graph(3d,vec): insertEdgeAtEnd x 1e3142.47 us /
92.33 us
Δ 54.31%
7.02 KHz /
10.83 KHz
∇ -35.19%
graph(3d pdf): insertEdge x 1e3377.68 us /
300.49 us
Δ 25.69%
2.65 KHz /
3.33 KHz
∇ -20.44%
graph(3d pdf,vec): insertEdge x 1e3375.08 us /
307.50 us
Δ 21.98%
2.67 KHz /
3.25 KHz
∇ -18.02%
graph(3d pdf): insertEdgeAtEnd x 1e3318.48 us /
255.67 us
Δ 24.57%
3.14 KHz /
3.91 KHz
∇ -19.72%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3320.43 us /
257.69 us
Δ 24.35%
3.12 KHz /
3.88 KHz
∇ -19.58%
graph(3d): insertEdge x 1e41.88 ms /
1.68 ms
Δ 11.92%
531.97 Hz /
595.38 Hz
∇ -10.65%
graph(3d,vec): insertEdge x 1e41.90 ms /
1.67 ms
Δ 14.00%
525.71 Hz /
599.32 Hz
∇ -12.28%
graph(3d): insertEdgeAtEnd x 1e41.42 ms /
968.30 us
Δ 46.46%
705.12 Hz /
1.03 KHz
∇ -31.72%
graph(3d,vec): insertEdgeAtEnd x 1e41.43 ms /
960.68 us
Δ 48.99%
698.68 Hz /
1.04 KHz
∇ -32.88%
graph(3d pdf): insertEdge x 1e44.73 ms /
4.00 ms
Δ 18.27%
211.37 Hz /
249.98 Hz
∇ -15.45%
graph(3d pdf,vec): insertEdge x 1e44.11 ms /
3.90 ms
Δ 5.44%
243.02 Hz /
256.23 Hz
∇ -5.16%
graph(3d pdf): insertEdgeAtEnd x 1e43.13 ms /
2.60 ms
Δ 20.62%
319.29 Hz /
385.13 Hz
∇ -17.09%
graph(3d pdf,vec): insertEdgeAtEnd x 1e43.15 ms /
2.56 ms
Δ 23.19%
317.06 Hz /
390.59 Hz
∇ -18.82%
graph(3d): dijkstra 1e2 nodes89.02 us /
54.14 us
Δ 64.43%
11.23 KHz /
18.47 KHz
∇ -39.18%
graph(3d,vec): dijkstra 1e2 nodes88.05 us /
53.02 us
Δ 66.08%
11.36 KHz /
18.86 KHz
∇ -39.79%
graph(3d): dijkstra 1e3 nodes1.08 ms /
725.54 us
Δ 49.09%
924.49 Hz /
1.38 KHz
∇ -32.92%
graph(3d,vec): dijkstra 1e3 nodes1.08 ms /
722.80 us
Δ 49.15%
927.62 Hz /
1.38 KHz
∇ -32.95%
graph(3d): dijkstra 1e4 nodes13.21 ms /
9.57 ms
Δ 38.02%
75.73 Hz /
104.52 Hz
∇ -27.55%
graph(3d,vec): dijkstra 1e4 nodes13.31 ms /
9.52 ms
Δ 39.83%
75.11 Hz /
105.03 Hz
∇ -28.48%
graph(3d): dijkstra 1e5 nodes175.87 ms /
184.61 ms
∇ -4.73%
5.69 Hz /
5.42 Hz
Δ 4.97%
graph(3d,vec): dijkstra 1e5 nodes176.57 ms /
182.47 ms
∇ -3.23%
5.66 Hz /
5.48 Hz
Δ 3.34%
graph(2d): dijkstra 1e5 nodes173.83 ms /
181.04 ms
∇ -3.98%
5.75 Hz /
5.52 Hz
Δ 4.14%
graph(2d,vec): dijkstra 1e5 nodes173.63 ms /
182.75 ms
∇ -4.99%
5.76 Hz /
5.47 Hz
Δ 5.25%

 


Page generated automatically at 2014/05/07,08:51:16.730918 with MRPT 1.2.0 by 'mrpt-performance'.