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




Test description 1.2.0dev-GCC-64bit /
1.2.0dev-CLANG-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset961.56 us /
953.05 us
Δ 0.89%
1.04 KHz /
1.05 KHz
∇ -0.88%
icp-slam (match grid): Run with sample dataset1.30 ms /
1.53 ms
∇ -14.87%
767.35 Hz /
653.27 Hz
Δ 17.46%
poses: CPose3D (+) CPose3D14.72 ns /
14.66 ns
Δ 0.41%
67.93 MHz /
68.21 MHz
∇ -0.41%
poses: CPose3D.composeFrom()11.55 ns /
9.48 ns
Δ 21.84%
86.58 MHz /
105.49 MHz
∇ -17.92%
poses: CPose3D (+) CPoint3D4.33 ns /
3.41 ns
Δ 26.77%
231.05 MHz /
292.91 MHz
∇ -21.12%
poses: CPose3D.composePoint()5.61 ns /
5.68 ns
∇ -1.27%
178.38 MHz /
176.12 MHz
Δ 1.28%
poses: CPose3D.composePoint()+Jacobs107.66 ns /
106.09 ns
Δ 1.48%
9.29 MHz /
9.43 MHz
∇ -1.46%
poses: CPoint3D (-) CPose3D7.38 ns /
5.38 ns
Δ 37.21%
135.46 MHz /
185.87 MHz
∇ -27.12%
poses: CPose3D.inverseComposePoint()13.91 ns /
8.01 ns
Δ 73.77%
71.88 MHz /
124.91 MHz
∇ -42.45%
poses: CPose2D (+) CPose2D15.08 ns /
11.91 ns
Δ 26.58%
66.33 MHz /
83.96 MHz
∇ -21.00%
poses: CPose2D.composeFrom()10.29 ns /
9.81 ns
Δ 4.96%
97.16 MHz /
101.98 MHz
∇ -4.72%
poses: CPose2D (+) CPoint2D3.12 ns /
3.94 ns
∇ -20.68%
320.31 MHz /
254.07 MHz
Δ 26.07%
poses: CPose2D.composePoint()3.15 ns /
3.62 ns
∇ -12.98%
317.26 MHz /
276.09 MHz
Δ 14.91%
poses: CPose3DQuat (+) CPose3DQuat20.40 ns /
19.07 ns
Δ 6.97%
49.02 MHz /
52.44 MHz
∇ -6.52%
poses: CPose3DQuat.composeFrom()19.77 ns /
18.03 ns
Δ 9.65%
50.58 MHz /
55.46 MHz
∇ -8.80%
poses: CPose3DQuat (+) CPoint3D9.27 ns /
11.62 ns
∇ -20.24%
107.87 MHz /
86.04 MHz
Δ 25.37%
poses: CPose3DQuat.composePoint()8.73 ns /
9.39 ns
∇ -6.99%
114.52 MHz /
106.52 MHz
Δ 7.51%
poses: CPoint3D (-) CPose3DQuat 16.98 ns /
13.70 ns
Δ 23.98%
58.89 MHz /
73.01 MHz
∇ -19.34%
poses: CPose3DQuat.invcomposePoint()8.98 ns /
8.28 ns
Δ 8.51%
111.36 MHz /
120.83 MHz
∇ -7.84%
poses: Conv CPose3DQuat <- CPose3D9.17 ns /
7.87 ns
Δ 16.57%
109.00 MHz /
127.06 MHz
∇ -14.21%
poses: Conv CPose3D -> CPose3DQuat83.90 ns /
73.28 ns
Δ 14.49%
11.92 MHz /
13.65 MHz
∇ -12.66%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)61.69 us /
61.47 us
Δ 0.35%
16.21 KHz /
16.27 KHz
∇ -0.35%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.97 us /
60.94 us
Δ 0.04%
16.40 KHz /
16.41 KHz
∇ -0.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.42 us /
5.42 us
∇ -0.02%
184.37 KHz /
184.33 KHz
Δ 0.02%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)317.90 ns /
362.00 ns
∇ -12.18%
3.15 MHz /
2.76 MHz
Δ 13.87%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)305.40 ns /
348.80 ns
∇ -12.44%
3.27 MHz /
2.87 MHz
Δ 14.21%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.81 us /
6.19 us
∇ -22.40%
208.11 KHz /
161.50 KHz
Δ 28.86%
matrix: unit, dyn[float], 3x327.00 ns /
27.75 ns
∇ -2.71%
37.04 MHz /
36.04 MHz
Δ 2.78%
matrix: unit, dyn[double], 3x330.23 ns /
30.77 ns
∇ -1.77%
33.09 MHz /
32.50 MHz
Δ 1.80%
matrix: unit, dyn[float], 6x646.22 ns /
40.79 ns
Δ 13.30%
21.64 MHz /
24.51 MHz
∇ -11.74%
matrix: unit, dyn[double], 6x648.71 ns /
42.16 ns
Δ 15.54%
20.53 MHz /
23.72 MHz
∇ -13.45%
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 /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[double,6,6]0.03 ns /
0.00 ns
Δ inf%
31.25 GHz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x3 * 3x3175.00 ns /
204.80 ns
∇ -14.55%
5.71 MHz /
4.88 MHz
Δ 17.03%
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 /
187.10 ns
∇ -10.69%
5.98 MHz /
5.34 MHz
Δ 11.97%
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 /
227.10 ns
∇ -9.78%
4.88 MHz /
4.40 MHz
Δ 10.83%
matrix: multiply, fix[float ], 3x6 * 6x30.00 ns /
25.10 ns
∇ -100.00%
inf THz /
39.84 MHz
Δ inf%
matrix: multiply, dyn[double], 3x6 * 6x3192.80 ns /
219.80 ns
∇ -12.28%
5.19 MHz /
4.55 MHz
Δ 14.00%
matrix: multiply, fix[double], 3x6 * 6x30.10 ns /
31.10 ns
∇ -99.68%
10.00 GHz /
32.15 MHz
Δ 31000.00%
matrix: multiply, dyn[float ], 10x40 * 40x101.04 us /
1.43 us
∇ -26.85%
958.31 KHz /
700.97 KHz
Δ 36.71%
matrix: multiply, fix[float ], 10x40 * 40x10904.60 ns /
1.14 us
∇ -20.54%
1.11 MHz /
878.43 KHz
Δ 25.85%
matrix: multiply, dyn[double], 10x40 * 40x101.24 us /
1.50 us
∇ -17.29%
805.80 KHz /
666.44 KHz
Δ 20.91%
matrix: multiply, fix[double], 10x40 * 40x101.04 us /
1.23 us
∇ -15.74%
961.72 KHz /
810.37 KHz
Δ 18.68%
matrix: inv, dyn[double] 3x3494.00 ns /
492.00 ns
Δ 0.41%
2.02 MHz /
2.03 MHz
∇ -0.40%
matrix: inv, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: inv, dyn[double] 6x6985.00 ns /
914.00 ns
Δ 7.77%
1.02 MHz /
1.09 MHz
∇ -7.21%
matrix: inv, fix[double] 6x6624.00 ns /
591.00 ns
Δ 5.58%
1.60 MHz /
1.69 MHz
∇ -5.29%
matrix: inv, dyn[double] 20x206.35 us /
6.83 us
∇ -7.03%
157.53 KHz /
146.46 KHz
Δ 7.56%
matrix: inv, fix[double] 20x206.11 us /
6.04 us
Δ 1.23%
163.69 KHz /
165.70 KHz
∇ -1.21%
matrix: inv, dyn[double] 40x4027.64 us /
28.78 us
∇ -3.94%
36.17 KHz /
34.75 KHz
Δ 4.10%
matrix: inv, fix[double] 40x4027.08 us /
28.04 us
∇ -3.44%
36.93 KHz /
35.66 KHz
Δ 3.56%
matrix: det, dyn[double] 2x2201.20 ns /
189.00 ns
Δ 6.46%
4.97 MHz /
5.29 MHz
∇ -6.06%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3227.20 ns /
223.50 ns
Δ 1.66%
4.40 MHz /
4.47 MHz
∇ -1.63%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6408.40 ns /
396.90 ns
Δ 2.90%
2.45 MHz /
2.52 MHz
∇ -2.82%
matrix: det, fix[double] 6x6237.00 ns /
226.90 ns
Δ 4.45%
4.22 MHz /
4.41 MHz
∇ -4.26%
matrix: det, dyn[double] 20x203.43 us /
3.38 us
Δ 1.46%
291.90 KHz /
296.16 KHz
∇ -1.44%
matrix: det, fix[double] 20x202.99 us /
2.99 us
Δ 0.02%
334.55 KHz /
334.63 KHz
∇ -0.02%
matrix: det, dyn[double] 40x4012.23 us /
12.13 us
Δ 0.85%
81.76 KHz /
82.46 KHz
∇ -0.84%
matrix: det, fix[double] 40x4011.78 us /
11.37 us
Δ 3.62%
84.91 KHz /
87.98 KHz
∇ -3.50%
matrix: chol, dyn[double] 4x4330.00 ns /
490.00 ns
∇ -32.65%
3.03 MHz /
2.04 MHz
Δ 48.48%
matrix: chol, fix[double] 4x460.00 ns /
50.00 ns
Δ 20.00%
16.67 MHz /
20.00 MHz
∇ -16.67%
matrix: chol, dyn[double] 40x409.76 us /
10.97 us
∇ -11.03%
102.46 KHz /
91.16 KHz
Δ 12.40%
matrix: chol, fix[double] 40x408.48 us /
9.92 us
∇ -14.52%
117.92 KHz /
100.81 KHz
Δ 16.98%
matrix: chol, sparse [2x2;2x2]5.80 us /
7.10 us
∇ -18.31%
172.41 KHz /
140.85 KHz
Δ 22.41%
matrix: chol, sparse [30x30;10x10]34.80 us /
34.80 us
∇ 0.00%
28.74 KHz /
28.74 KHz
∇ 0.00%
matrix: chol, dyn[double] 10x[6x6]25.00 us /
27.30 us
∇ -8.42%
40.00 KHz /
36.63 KHz
Δ 9.20%
matrix: chol, sparse 10x[6x6]16.07 us /
16.08 us
∇ -0.06%
62.23 KHz /
62.19 KHz
Δ 0.06%
matrix: chol, dyn[double] 20x[6x6]121.60 us /
130.20 us
∇ -6.61%
8.22 KHz /
7.68 KHz
Δ 7.07%
matrix: chol, sparse 20x[6x6]28.49 us /
28.60 us
∇ -0.38%
35.10 KHz /
34.97 KHz
Δ 0.39%
matrix: chol, dyn[double] 50x[6x6]1.26 ms /
1.36 ms
∇ -7.55%
794.79 Hz /
734.81 Hz
Δ 8.16%
matrix: chol, sparse 50x[6x6]72.25 us /
74.01 us
∇ -2.38%
13.84 KHz /
13.51 KHz
Δ 2.44%
matrix: chol, dyn[double] 100x[6x6]12.96 ms /
13.64 ms
∇ -4.97%
77.13 Hz /
73.30 Hz
Δ 5.23%
matrix: chol, sparse 100x[6x6]138.44 us /
136.62 us
Δ 1.33%
7.22 KHz /
7.32 KHz
∇ -1.31%
matrix: chol, dyn[double] 120x[6x6]20.15 ms /
21.29 ms
∇ -5.37%
49.64 Hz /
46.97 Hz
Δ 5.68%
matrix: chol, sparse 120x[6x6]160.11 us /
161.99 us
∇ -1.16%
6.25 KHz /
6.17 KHz
Δ 1.17%
matrix: chol, dyn[double] 140x[6x6]28.57 ms /
29.42 ms
∇ -2.88%
35.00 Hz /
34.00 Hz
Δ 2.96%
matrix: chol, sparse 140x[6x6]197.59 us /
188.71 us
Δ 4.71%
5.06 KHz /
5.30 KHz
∇ -4.49%
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 /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: setCell0.78 ns /
0.83 ns
∇ -5.11%
1.27 GHz /
1.21 GHz
Δ 5.39%
gridmap2D: updateCell2.85 ns /
3.99 ns
∇ -28.53%
350.75 MHz /
250.69 MHz
Δ 39.92%
gridmap2D: updateCell_fast_occupied0.87 ns /
0.78 ns
Δ 11.15%
1.15 GHz /
1.28 GHz
∇ -10.03%
gridmap2D: insert scan w/o widening50.95 us /
61.32 us
∇ -16.91%
19.63 KHz /
16.31 KHz
Δ 20.36%
gridmap2D: insert scan with widening155.87 us /
191.71 us
∇ -18.69%
6.42 KHz /
5.22 KHz
Δ 22.99%
gridmap2D: resize413.00 us /
396.00 us
Δ 4.29%
2.42 KHz /
2.53 KHz
∇ -4.12%
gridmap2D: computeLikelihood9.27 us /
7.40 us
Δ 25.32%
107.85 KHz /
135.15 KHz
∇ -20.20%
gridmap2D: determineMatching2D27.15 us /
28.90 us
∇ -6.04%
36.83 KHz /
34.60 KHz
Δ 6.42%
pointmap: insert 100 scans319.43 us /
294.71 us
Δ 8.39%
3.13 KHz /
3.39 KHz
∇ -7.74%
pointmap: build 2D kd-tree of 1 scan1.88 us /
1.48 us
Δ 27.03%
531.91 KHz /
675.68 KHz
∇ -21.28%
pointmap: build 2D kd-tree of 100 scan87.64 us /
126.16 us
∇ -30.53%
11.41 KHz /
7.93 KHz
Δ 43.95%
pointmap: build 2D kd-tree of 1000 scan1.00 ms /
1.45 ms
∇ -31.09%
997.69 Hz /
687.49 Hz
Δ 45.12%
pointmap: build 3D kd-tree of 1 scan1.72 us /
2.28 us
∇ -24.56%
581.40 KHz /
438.60 KHz
Δ 32.56%
pointmap: build 3D kd-tree of 100 scan112.52 us /
184.16 us
∇ -38.90%
8.89 KHz /
5.43 KHz
Δ 63.67%
pointmap: build 3D kd-tree of 1000 scan1.07 ms /
2.11 ms
∇ -49.09%
931.86 Hz /
474.37 Hz
Δ 96.44%
pointmap: kd-tree 2d query on 10 scans365.00 ns /
420.00 ns
∇ -13.10%
2.74 MHz /
2.38 MHz
Δ 15.07%
pointmap: kd-tree 2d query on 1000 scans25.82 us /
36.53 us
∇ -29.31%
38.73 KHz /
27.38 KHz
Δ 41.46%
pointmap: kd-tree 2d query on 10000 scans2.97 ms /
4.16 ms
∇ -28.66%
336.68 Hz /
240.19 Hz
Δ 40.17%
pointmap: (insert scan+2D kd-tree query) x 10979.40 us /
1.35 ms
∇ -27.58%
1.02 KHz /
739.43 Hz
Δ 38.08%
pointmap: (insert scan+2D kd-tree query) x 5024.89 ms /
33.52 ms
∇ -25.75%
40.18 Hz /
29.83 Hz
Δ 34.68%
pointmap: (insert scan+3D kd-tree query) x 101.03 ms /
1.87 ms
∇ -45.22%
975.28 Hz /
534.27 Hz
Δ 82.54%
pointmap: (insert scan+3D kd-tree query) x 5024.95 ms /
49.10 ms
∇ -49.18%
40.07 Hz /
20.37 Hz
Δ 96.76%
pointmap: computeMatchingWith2D25.78 us /
27.29 us
∇ -5.54%
38.79 KHz /
36.65 KHz
Δ 5.86%
pointmap: boundingBox (10 scans)871.82 ns /
883.34 ns
∇ -1.30%
1.15 MHz /
1.13 MHz
Δ 1.32%
pointmap: boundingBox (1000 scans)85.77 us /
85.38 us
Δ 0.46%
11.66 KHz /
11.71 KHz
∇ -0.46%
random: drawUniform32bit3.62 ns /
4.58 ns
∇ -20.98%
276.26 MHz /
218.31 MHz
Δ 26.54%
random: drawUniform3.64 ns /
4.68 ns
∇ -22.16%
274.50 MHz /
213.67 MHz
Δ 28.47%
random: drawGaussian1D_normalized29.73 ns /
29.99 ns
∇ -0.88%
33.64 MHz /
33.34 MHz
Δ 0.88%
random: drawGaussian1D29.95 ns /
30.11 ns
∇ -0.54%
33.39 MHz /
33.21 MHz
Δ 0.54%
random: system rand()15.19 ns /
14.99 ns
Δ 1.34%
65.81 MHz /
66.70 MHz
∇ -1.32%
random: drawGaussianMultivariate(fixed 3x3)490.68 ns /
481.40 ns
Δ 1.93%
2.04 MHz /
2.08 MHz
∇ -1.89%
random: drawGaussianMultivariate(dyn 3x3)1.03 us /
1.08 us
∇ -4.69%
967.37 KHz /
922.02 KHz
Δ 4.92%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)62.45 ns /
64.40 ns
∇ -3.03%
16.01 MHz /
15.53 MHz
Δ 3.12%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)101.17 ns /
103.37 ns
∇ -2.13%
9.88 MHz /
9.67 MHz
Δ 2.18%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)222.19 ns /
224.22 ns
∇ -0.91%
4.50 MHz /
4.46 MHz
Δ 0.91%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)70.81 ns /
71.83 ns
∇ -1.42%
14.12 MHz /
13.92 MHz
Δ 1.44%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)111.18 ns /
112.25 ns
∇ -0.95%
8.99 MHz /
8.91 MHz
Δ 0.96%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)233.52 ns /
237.59 ns
∇ -1.71%
4.28 MHz /
4.21 MHz
Δ 1.74%
random: permuteVector (len=10)163.30 ns /
154.00 ns
Δ 6.04%
6.12 MHz /
6.49 MHz
∇ -5.70%
random: permuteVector (len=100)1.89 us /
1.92 us
∇ -1.50%
528.40 KHz /
520.48 KHz
Δ 1.52%
random: permuteVector (len=1000)18.92 us /
19.13 us
∇ -1.13%
52.86 KHz /
52.26 KHz
Δ 1.15%
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 /
6.59 ms
∇ -15.92%
180.35 Hz /
151.65 Hz
Δ 18.93%
images: Save as JPEG (800x600, quality=95%)8.03 ms /
8.07 ms
∇ -0.51%
124.52 Hz /
123.88 Hz
Δ 0.52%
images: Save as JPEG (1024x768, quality=95%)13.11 ms /
14.45 ms
∇ -9.25%
76.28 Hz /
69.22 Hz
Δ 10.19%
images: Save as JPEG (640x480, quality=75%)5.36 ms /
4.60 ms
Δ 16.56%
186.57 Hz /
217.47 Hz
∇ -14.21%
images: Save as JPEG (800x600, quality=75%)6.93 ms /
8.61 ms
∇ -19.48%
144.28 Hz /
116.17 Hz
Δ 24.19%
images: Save as JPEG (1024x768, quality=75%)11.04 ms /
11.21 ms
∇ -1.53%
90.61 Hz /
89.23 Hz
Δ 1.55%
images: Gauss filter (640x480)2.64 ms /
1.81 ms
Δ 45.80%
379.03 Hz /
552.64 Hz
∇ -31.41%
images: Gauss filter (800x600)2.98 ms /
2.88 ms
Δ 3.27%
336.12 Hz /
347.12 Hz
∇ -3.17%
images: Gauss filter (1024x768)5.01 ms /
4.98 ms
Δ 0.61%
199.74 Hz /
200.97 Hz
∇ -0.61%
images: Half sample GRAY (160x120)496.67 ns /
546.67 ns
∇ -9.15%
2.01 MHz /
1.83 MHz
Δ 10.07%
images: Half sample GRAY (320x240)1.59 us /
1.76 us
∇ -10.02%
630.25 KHz /
567.11 KHz
Δ 11.13%
images: Half sample GRAY (640x480)7.23 us /
8.98 us
∇ -19.46%
138.31 KHz /
111.40 KHz
Δ 24.16%
images: Half sample GRAY (800x600)12.20 us /
15.50 us
∇ -21.33%
81.99 KHz /
64.50 KHz
Δ 27.11%
images: Half sample GRAY (1024x768)20.54 us /
28.39 us
∇ -27.64%
48.69 KHz /
35.23 KHz
Δ 38.20%
images: Half sample GRAY (1280x1024)33.65 us /
40.99 us
∇ -17.91%
29.72 KHz /
24.40 KHz
Δ 21.81%
images: Half sample RGB (160x120)1.29 us /
1.32 us
∇ -2.28%
777.20 KHz /
759.49 KHz
Δ 2.33%
images: Half sample RGB (320x240)5.17 us /
5.06 us
Δ 2.11%
193.55 KHz /
197.63 KHz
∇ -2.06%
images: Half sample RGB (640x480)24.58 us /
23.85 us
Δ 3.06%
40.69 KHz /
41.93 KHz
∇ -2.97%
images: Half sample RGB (800x600)39.59 us /
42.04 us
∇ -5.84%
25.26 KHz /
23.78 KHz
Δ 6.20%
images: Half sample RGB (1024x768)66.37 us /
62.77 us
Δ 5.75%
15.07 KHz /
15.93 KHz
∇ -5.43%
images: Half sample RGB (1280x1024)123.95 us /
122.93 us
Δ 0.82%
8.07 KHz /
8.13 KHz
∇ -0.82%
images: Half sample smooth GRAY (160x120)820.00 ns /
813.33 ns
Δ 0.82%
1.22 MHz /
1.23 MHz
∇ -0.81%
images: Half sample smooth GRAY (320x240)2.81 us /
2.76 us
Δ 1.81%
355.87 KHz /
362.32 KHz
∇ -1.78%
images: Half sample smooth GRAY (640x480)16.41 us /
14.05 us
Δ 16.75%
60.95 KHz /
71.16 KHz
∇ -14.34%
images: Half sample smooth GRAY (800x600)21.92 us /
19.76 us
Δ 10.91%
45.63 KHz /
50.61 KHz
∇ -9.84%
images: Half sample smooth GRAY (1024x768)34.31 us /
34.71 us
∇ -1.17%
29.15 KHz /
28.81 KHz
Δ 1.19%
images: Half sample smooth GRAY (1280x1024)60.52 us /
58.39 us
Δ 3.64%
16.52 KHz /
17.13 KHz
∇ -3.51%
images: Half sample smooth RGB (160x120)49.89 us /
19.31 us
Δ 158.43%
20.04 KHz /
51.80 KHz
∇ -61.30%
images: Half sample smooth RGB (320x240)49.84 us /
77.18 us
∇ -35.43%
20.07 KHz /
12.96 KHz
Δ 54.87%
images: Half sample smooth RGB (640x480)195.38 us /
293.36 us
∇ -33.40%
5.12 KHz /
3.41 KHz
Δ 50.15%
images: Half sample smooth RGB (800x600)294.64 us /
453.46 us
∇ -35.02%
3.39 KHz /
2.21 KHz
Δ 53.90%
images: Half sample smooth RGB (1024x768)484.11 us /
750.24 us
∇ -35.47%
2.07 KHz /
1.33 KHz
Δ 54.97%
images: Half sample smooth RGB (1280x1024)828.65 us /
1.26 ms
∇ -34.18%
1.21 KHz /
794.35 Hz
Δ 51.92%
images: RGB->GRAY 8u (40x30)65.72 us /
2.03 us
Δ 3142.60%
15.22 KHz /
493.42 KHz
∇ -96.92%
images: RGB->GRAY 8u (80x60)1.32 us /
1.50 us
∇ -11.97%
755.67 KHz /
665.19 KHz
Δ 13.60%
images: RGB->GRAY 8u (160x120)4.65 us /
5.50 us
∇ -15.39%
214.90 KHz /
181.82 KHz
Δ 18.19%
images: RGB->GRAY 8u (320x240)19.20 us /
23.58 us
∇ -18.56%
52.07 KHz /
42.41 KHz
Δ 22.79%
images: RGB->GRAY 8u (640x480)77.66 us /
93.26 us
∇ -16.73%
12.88 KHz /
10.72 KHz
Δ 20.09%
images: RGB->GRAY 8u (800x600)120.69 us /
151.18 us
∇ -20.17%
8.29 KHz /
6.61 KHz
Δ 25.26%
images: RGB->GRAY 8u (1024x768)194.51 us /
239.21 us
∇ -18.69%
5.14 KHz /
4.18 KHz
Δ 22.98%
images: RGB->GRAY 8u (1280x1024)357.09 us /
437.17 us
∇ -18.32%
2.80 KHz /
2.29 KHz
Δ 22.43%
images: KLT score (WIN=2 5x5)27.48 ns /
27.18 ns
Δ 1.13%
36.38 MHz /
36.80 MHz
∇ -1.12%
images: KLT score (WIN=3 7x7)34.76 ns /
30.58 ns
Δ 13.66%
28.77 MHz /
32.70 MHz
∇ -12.01%
images: KLT score (WIN=4 9x9)36.30 ns /
34.95 ns
Δ 3.86%
27.55 MHz /
28.61 MHz
∇ -3.72%
images: KLT score (WIN=5 10x10)43.37 ns /
36.95 ns
Δ 17.38%
23.06 MHz /
27.06 MHz
∇ -14.81%
images: KLT score (WIN=6 13x13)47.96 ns /
40.48 ns
Δ 18.47%
20.85 MHz /
24.70 MHz
∇ -15.59%
images: KLT score (WIN=7 15x15)48.23 ns /
44.47 ns
Δ 8.47%
20.73 MHz /
22.49 MHz
∇ -7.81%
images: KLT score (WIN=8 17x17)60.00 ns /
47.54 ns
Δ 26.21%
16.67 MHz /
21.03 MHz
∇ -20.77%
images: KLT score (WIN=9 19x19)62.56 ns /
51.02 ns
Δ 22.61%
15.98 MHz /
19.60 MHz
∇ -18.44%
images: KLT score (WIN=10 21x21)67.38 ns /
54.47 ns
Δ 23.69%
14.84 MHz /
18.36 MHz
∇ -19.15%
images: KLT score (WIN=11 23x23)61.61 ns /
57.70 ns
Δ 6.76%
16.23 MHz /
17.33 MHz
∇ -6.33%
images: KLT score (WIN=12 25x25)76.06 ns /
61.07 ns
Δ 24.54%
13.15 MHz /
16.37 MHz
∇ -19.70%
images: KLT score (WIN=13 27x27)82.17 ns /
65.06 ns
Δ 26.28%
12.17 MHz /
15.37 MHz
∇ -20.81%
images: KLT score (WIN=14 29x29)74.11 ns /
68.24 ns
Δ 8.60%
13.49 MHz /
14.65 MHz
∇ -7.92%
images: KLT score (WIN=15 31x31)78.43 ns /
70.93 ns
Δ 10.58%
12.75 MHz /
14.10 MHz
∇ -9.56%
images: KLT score (WIN=16 33x33)103.64 ns /
77.24 ns
Δ 34.18%
9.65 MHz /
12.95 MHz
∇ -25.47%
images: buildPyramid 640x480,4 levs,no smooth,no gray86.49 us /
85.93 us
Δ 0.65%
11.56 KHz /
11.64 KHz
∇ -0.64%
images: buildPyramid 640x480,4 levs, smooth,no gray306.83 us /
440.81 us
∇ -30.39%
3.26 KHz /
2.27 KHz
Δ 43.66%
images: buildPyramid 640x480,4 levs,no smooth, gray87.56 us /
103.93 us
∇ -15.75%
11.42 KHz /
9.62 KHz
Δ 18.69%
images: buildPyramid 640x480,4 levs, smooth, gray94.34 us /
108.55 us
∇ -13.09%
10.60 KHz /
9.21 KHz
Δ 15.07%
images: buildPyramid 640x480,8 levs,no smooth,no gray90.20 us /
88.64 us
Δ 1.76%
11.09 KHz /
11.28 KHz
∇ -1.73%
images: buildPyramid 640x480,8 levs, smooth,no gray523.57 us /
447.69 us
Δ 16.95%
1.91 KHz /
2.23 KHz
∇ -14.49%
images: buildPyramid 640x480,8 levs,no smooth, gray153.08 us /
105.95 us
Δ 44.49%
6.53 KHz /
9.44 KHz
∇ -30.79%
images: buildPyramid 640x480,8 levs, smooth, gray167.01 us /
111.40 us
Δ 49.92%
5.99 KHz /
8.98 KHz
∇ -33.30%
stereo: prepare rectify map 640x480 RGB12.54 ms /
10.10 ms
Δ 24.11%
79.74 Hz /
98.97 Hz
∇ -19.43%
stereo: prepare rectify map 800x600 RGB16.25 ms /
15.85 ms
Δ 2.52%
61.55 Hz /
63.10 Hz
∇ -2.46%
stereo: prepare rectify map 1024x768 RGB31.51 ms /
26.67 ms
Δ 18.12%
31.74 Hz /
37.49 Hz
∇ -15.34%
stereo: prepare rectify map 1024x768->800x600 RGB16.06 ms /
15.87 ms
Δ 1.20%
62.27 Hz /
63.02 Hz
∇ -1.18%
stereo: prepare rectify map 1024x768->640x480 RGB10.26 ms /
10.12 ms
Δ 1.34%
97.51 Hz /
98.81 Hz
∇ -1.32%
stereo: rectify 640x480 RGB4.26 ms /
4.03 ms
Δ 5.47%
234.99 Hz /
247.83 Hz
∇ -5.18%
stereo: rectify 800x600 RGB6.56 ms /
6.59 ms
∇ -0.44%
152.48 Hz /
151.82 Hz
Δ 0.44%
stereo: rectify 1024x768 RGB10.68 ms /
10.39 ms
Δ 2.79%
93.62 Hz /
96.24 Hz
∇ -2.71%
stereo: rectify 1024x768->800x600 RGB6.32 ms /
6.09 ms
Δ 3.72%
158.32 Hz /
164.21 Hz
∇ -3.59%
stereo: rectify 1024x768->640x480 RGB3.86 ms /
4.01 ms
∇ -3.53%
258.79 Hz /
249.65 Hz
Δ 3.66%
stereo: rectify 640x480 GRAY2.86 ms /
2.71 ms
Δ 5.29%
350.07 Hz /
368.60 Hz
∇ -5.03%
stereo: rectify 800x600 GRAY4.39 ms /
4.36 ms
Δ 0.66%
227.65 Hz /
229.16 Hz
∇ -0.66%
stereo: rectify 1024x768 GRAY7.59 ms /
7.36 ms
Δ 3.22%
131.72 Hz /
135.96 Hz
∇ -3.12%
stereo: rectify 1024x768->800x600 GRAY4.40 ms /
4.18 ms
Δ 5.15%
227.47 Hz /
239.18 Hz
∇ -4.90%
stereo: rectify 1024x768->640x480 GRAY2.70 ms /
2.79 ms
∇ -3.04%
369.87 Hz /
358.62 Hz
Δ 3.14%
scan_matching: 6D LS Rigid Trans. [CPose3D]4.82 us /
4.11 us
Δ 17.30%
207.60 KHz /
243.50 KHz
∇ -14.75%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.74 us /
4.06 us
Δ 16.73%
210.89 KHz /
246.17 KHz
∇ -14.33%
scan_matching: 6D LS Rigid Trans. [vector of points]2.22 us /
1.93 us
Δ 14.96%
449.90 KHz /
517.20 KHz
∇ -13.01%
scan_matching: leastSquares 2D [x10 corrs]88.57 ns /
82.66 ns
Δ 7.15%
11.29 MHz /
12.10 MHz
∇ -6.67%
scan_matching: leastSquares 2D [x100 corrs]188.44 ns /
162.18 ns
Δ 16.19%
5.31 MHz /
6.17 MHz
∇ -13.93%
scan_matching: leastSquares 2D [x1000 corrs]1.26 us /
1.15 us
Δ 9.19%
794.31 KHz /
867.33 KHz
∇ -8.42%
feature_extraction [640x480]: Harris10.97 ms /
8.27 ms
Δ 32.62%
91.13 Hz /
120.85 Hz
∇ -24.60%
feature_extraction [640x480]: KLT10.06 ms /
8.43 ms
Δ 19.36%
99.39 Hz /
118.63 Hz
∇ -16.22%
feature_extraction [640x480]: SIFT377.71 ms /
291.31 ms
Δ 29.66%
2.65 Hz /
3.43 Hz
∇ -22.88%
feature_extraction [640x480]: SIFT desc.135.82 ms /
89.69 ms
Δ 51.44%
7.36 Hz /
11.15 Hz
∇ -33.97%
feature_extraction [640x480]: SURF228.69 ms /
137.14 ms
Δ 66.76%
4.37 Hz /
7.29 Hz
∇ -40.03%
feature_extraction [640x480]: FAST2.58 ms /
1.54 ms
Δ 67.78%
387.11 Hz /
649.50 Hz
∇ -40.40%
feature_extraction [640x480]: Spin desc.42.20 ms /
29.70 ms
Δ 42.10%
23.70 Hz /
33.67 Hz
∇ -29.62%
feature_extraction [640x480]: FASTER-93.27 ms /
2.07 ms
Δ 57.76%
306.01 Hz /
482.75 Hz
∇ -36.61%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.77 ms /
1.13 ms
Δ 55.96%
566.48 Hz /
883.50 Hz
∇ -35.88%
feature_extraction [640x480]: FASTER-102.35 ms /
1.52 ms
Δ 54.59%
425.82 Hz /
658.26 Hz
∇ -35.31%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.30 ms /
876.06 us
Δ 48.89%
766.67 Hz /
1.14 KHz
∇ -32.84%
feature_extraction [640x480]: FASTER-121.73 ms /
1.15 ms
Δ 50.83%
578.55 Hz /
872.61 Hz
∇ -33.70%
feature_extraction [640x480]: FASTER-12 (sorted best 200)1.21 ms /
807.96 us
Δ 50.32%
823.38 Hz /
1.24 KHz
∇ -33.47%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()700.83 us /
416.11 us
Δ 68.43%
1.43 KHz /
2.40 KHz
∇ -40.63%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()508.65 us /
344.61 us
Δ 47.60%
1.97 KHz /
2.90 KHz
∇ -32.25%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()581.27 us /
394.78 us
Δ 47.24%
1.72 KHz /
2.53 KHz
∇ -32.08%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index703.07 us /
416.46 us
Δ 68.82%
1.42 KHz /
2.40 KHz
∇ -40.77%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index508.56 us /
345.72 us
Δ 47.10%
1.97 KHz /
2.89 KHz
∇ -32.02%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index580.21 us /
395.25 us
Δ 46.80%
1.72 KHz /
2.53 KHz
∇ -31.88%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()901.12 us /
543.02 us
Δ 65.95%
1.11 KHz /
1.84 KHz
∇ -39.74%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()647.38 us /
449.81 us
Δ 43.92%
1.54 KHz /
2.22 KHz
∇ -30.52%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()674.80 us /
449.00 us
Δ 50.29%
1.48 KHz /
2.23 KHz
∇ -33.46%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index901.50 us /
543.65 us
Δ 65.82%
1.11 KHz /
1.84 KHz
∇ -39.69%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index655.05 us /
450.51 us
Δ 45.40%
1.53 KHz /
2.22 KHz
∇ -31.23%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index675.64 us /
452.08 us
Δ 49.45%
1.48 KHz /
2.21 KHz
∇ -33.09%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()1.19 ms /
722.86 us
Δ 64.40%
841.48 Hz /
1.38 KHz
∇ -39.17%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()867.29 us /
605.96 us
Δ 43.13%
1.15 KHz /
1.65 KHz
∇ -30.13%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()761.35 us /
508.05 us
Δ 49.86%
1.31 KHz /
1.97 KHz
∇ -33.27%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index1.19 ms /
722.25 us
Δ 64.73%
840.52 Hz /
1.38 KHz
∇ -39.29%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index878.28 us /
606.39 us
Δ 44.84%
1.14 KHz /
1.65 KHz
∇ -30.96%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index749.89 us /
509.80 us
Δ 47.09%
1.33 KHz /
1.96 KHz
∇ -32.02%
feature_matching [640x480]: Harris + CC29.43 ms /
17.44 ms
Δ 68.74%
33.98 Hz /
57.34 Hz
∇ -40.74%
feature_matching [640x480]: Harris + SAD23.92 ms /
14.99 ms
Δ 59.61%
41.80 Hz /
66.71 Hz
∇ -37.35%
feature_matching [640x480]: SIFT922.45 ms /
572.61 ms
Δ 61.10%
1.08 Hz /
1.75 Hz
∇ -37.93%
feature_matching [640x480]: SURF443.16 ms /
267.31 ms
Δ 65.79%
2.26 Hz /
3.74 Hz
∇ -39.68%
feature_matching [640x480]: FAST + CC9.88 ms /
5.76 ms
Δ 71.53%
101.26 Hz /
173.69 Hz
∇ -41.70%
feature_matching [640x480]: FAST + SAD4.10 ms /
2.54 ms
Δ 61.60%
244.08 Hz /
394.44 Hz
∇ -38.12%
graph(2d): insertEdge x 1e3125.22 us /
82.70 us
Δ 51.41%
7.99 KHz /
12.09 KHz
∇ -33.95%
graph(2d,vec): insertEdge x 1e3126.83 us /
81.92 us
Δ 54.82%
7.88 KHz /
12.21 KHz
∇ -35.41%
graph(2d): insertEdgeAtEnd x 1e3107.97 us /
66.32 us
Δ 62.80%
9.26 KHz /
15.08 KHz
∇ -38.58%
graph(2d,vec): insertEdgeAtEnd x 1e3106.37 us /
68.52 us
Δ 55.23%
9.40 KHz /
14.59 KHz
∇ -35.58%
graph(2d pdf): insertEdge x 1e3195.94 us /
124.25 us
Δ 57.69%
5.10 KHz /
8.05 KHz
∇ -36.58%
graph(2d pdf,vec): insertEdge x 1e3194.57 us /
119.97 us
Δ 62.18%
5.14 KHz /
8.34 KHz
∇ -38.34%
graph(2d pdf): insertEdgeAtEnd x 1e3179.20 us /
109.84 us
Δ 63.14%
5.58 KHz /
9.10 KHz
∇ -38.70%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3174.64 us /
107.46 us
Δ 62.51%
5.73 KHz /
9.31 KHz
∇ -38.47%
graph(2d): insertEdge x 1e42.16 ms /
1.51 ms
Δ 43.30%
463.02 Hz /
663.53 Hz
∇ -30.22%
graph(2d,vec): insertEdge x 1e41.80 ms /
1.29 ms
Δ 39.45%
554.93 Hz /
773.84 Hz
∇ -28.29%
graph(2d): insertEdgeAtEnd x 1e4875.00 us /
495.52 us
Δ 76.58%
1.14 KHz /
2.02 KHz
∇ -43.37%
graph(2d,vec): insertEdgeAtEnd x 1e4863.37 us /
537.30 us
Δ 60.69%
1.16 KHz /
1.86 KHz
∇ -37.77%
graph(2d pdf): insertEdge x 1e42.16 ms /
1.42 ms
Δ 52.54%
462.63 Hz /
705.71 Hz
∇ -34.44%
graph(2d pdf,vec): insertEdge x 1e42.44 ms /
1.69 ms
Δ 44.83%
409.29 Hz /
592.77 Hz
∇ -30.95%
graph(2d pdf): insertEdgeAtEnd x 1e41.88 ms /
1.13 ms
Δ 66.27%
532.39 Hz /
885.19 Hz
∇ -39.86%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.87 ms /
1.08 ms
Δ 72.72%
535.69 Hz /
925.23 Hz
∇ -42.10%
graph(3d): insertEdge x 1e3169.52 us /
112.54 us
Δ 50.64%
5.90 KHz /
8.89 KHz
∇ -33.62%
graph(3d,vec): insertEdge x 1e3162.80 us /
108.27 us
Δ 50.37%
6.14 KHz /
9.24 KHz
∇ -33.50%
graph(3d): insertEdgeAtEnd x 1e3141.73 us /
94.89 us
Δ 49.37%
7.06 KHz /
10.54 KHz
∇ -33.05%
graph(3d,vec): insertEdgeAtEnd x 1e3151.60 us /
92.33 us
Δ 64.20%
6.60 KHz /
10.83 KHz
∇ -39.10%
graph(3d pdf): insertEdge x 1e3479.91 us /
300.49 us
Δ 59.71%
2.08 KHz /
3.33 KHz
∇ -37.39%
graph(3d pdf,vec): insertEdge x 1e3483.38 us /
307.50 us
Δ 57.20%
2.07 KHz /
3.25 KHz
∇ -36.39%
graph(3d pdf): insertEdgeAtEnd x 1e3417.25 us /
255.67 us
Δ 63.20%
2.40 KHz /
3.91 KHz
∇ -38.73%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3411.56 us /
257.69 us
Δ 59.71%
2.43 KHz /
3.88 KHz
∇ -37.39%
graph(3d): insertEdge x 1e42.42 ms /
1.68 ms
Δ 44.34%
412.48 Hz /
595.38 Hz
∇ -30.72%
graph(3d,vec): insertEdge x 1e42.41 ms /
1.67 ms
Δ 44.37%
415.13 Hz /
599.32 Hz
∇ -30.73%
graph(3d): insertEdgeAtEnd x 1e41.61 ms /
968.30 us
Δ 66.37%
620.76 Hz /
1.03 KHz
∇ -39.89%
graph(3d,vec): insertEdgeAtEnd x 1e41.62 ms /
960.68 us
Δ 68.44%
617.97 Hz /
1.04 KHz
∇ -40.63%
graph(3d pdf): insertEdge x 1e46.01 ms /
4.00 ms
Δ 50.24%
166.38 Hz /
249.98 Hz
∇ -33.44%
graph(3d pdf,vec): insertEdge x 1e46.08 ms /
3.90 ms
Δ 55.91%
164.34 Hz /
256.23 Hz
∇ -35.86%
graph(3d pdf): insertEdgeAtEnd x 1e44.27 ms /
2.60 ms
Δ 64.51%
234.10 Hz /
385.13 Hz
∇ -39.22%
graph(3d pdf,vec): insertEdgeAtEnd x 1e44.23 ms /
2.56 ms
Δ 65.17%
236.47 Hz /
390.59 Hz
∇ -39.46%
graph(3d): dijkstra 1e2 nodes86.56 us /
54.14 us
Δ 59.89%
11.55 KHz /
18.47 KHz
∇ -37.46%
graph(3d,vec): dijkstra 1e2 nodes86.37 us /
53.02 us
Δ 62.92%
11.58 KHz /
18.86 KHz
∇ -38.62%
graph(3d): dijkstra 1e3 nodes1.10 ms /
725.54 us
Δ 51.18%
911.70 Hz /
1.38 KHz
∇ -33.85%
graph(3d,vec): dijkstra 1e3 nodes1.09 ms /
722.80 us
Δ 50.48%
919.38 Hz /
1.38 KHz
∇ -33.55%
graph(3d): dijkstra 1e4 nodes13.82 ms /
9.57 ms
Δ 44.42%
72.37 Hz /
104.52 Hz
∇ -30.76%
graph(3d,vec): dijkstra 1e4 nodes13.82 ms /
9.52 ms
Δ 45.11%
72.38 Hz /
105.03 Hz
∇ -31.08%
graph(3d): dijkstra 1e5 nodes259.36 ms /
184.61 ms
Δ 40.49%
3.86 Hz /
5.42 Hz
∇ -28.82%
graph(3d,vec): dijkstra 1e5 nodes260.84 ms /
182.47 ms
Δ 42.95%
3.83 Hz /
5.48 Hz
∇ -30.04%
graph(2d): dijkstra 1e5 nodes262.66 ms /
181.04 ms
Δ 45.09%
3.81 Hz /
5.52 Hz
∇ -31.08%
graph(2d,vec): dijkstra 1e5 nodes264.08 ms /
182.75 ms
Δ 44.50%
3.79 Hz /
5.47 Hz
∇ -30.80%

 


Page generated automatically at 2014/05/07,08:51:16.735103 with MRPT 1.2.0 by 'mrpt-performance'.