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




Test description 1.2.0dev-MSVC11-64bit /
1.2.0dev-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset1.19 ms /
961.56 us
Δ 23.59%
841.46 Hz /
1.04 KHz
∇ -19.09%
icp-slam (match grid): Run with sample dataset1.97 ms /
1.30 ms
Δ 50.85%
508.70 Hz /
767.35 Hz
∇ -33.71%
poses: CPose3D (+) CPose3D21.31 ns /
14.72 ns
Δ 44.80%
46.92 MHz /
67.93 MHz
∇ -30.94%
poses: CPose3D.composeFrom()13.36 ns /
11.55 ns
Δ 15.70%
74.83 MHz /
86.58 MHz
∇ -13.57%
poses: CPose3D (+) CPoint3D10.61 ns /
4.33 ns
Δ 145.25%
94.21 MHz /
231.05 MHz
∇ -59.23%
poses: CPose3D.composePoint()9.80 ns /
5.61 ns
Δ 74.82%
102.03 MHz /
178.38 MHz
∇ -42.80%
poses: CPose3D.composePoint()+Jacobs100.13 ns /
107.66 ns
∇ -7.00%
9.99 MHz /
9.29 MHz
Δ 7.53%
poses: CPoint3D (-) CPose3D26.84 ns /
7.38 ns
Δ 263.57%
37.26 MHz /
135.46 MHz
∇ -72.49%
poses: CPose3D.inverseComposePoint()17.51 ns /
13.91 ns
Δ 25.88%
57.10 MHz /
71.88 MHz
∇ -20.56%
poses: CPose2D (+) CPose2D14.88 ns /
15.08 ns
∇ -1.33%
67.22 MHz /
66.33 MHz
Δ 1.35%
poses: CPose2D.composeFrom()10.50 ns /
10.29 ns
Δ 2.05%
95.21 MHz /
97.16 MHz
∇ -2.01%
poses: CPose2D (+) CPoint2D7.09 ns /
3.12 ns
Δ 127.25%
140.95 MHz /
320.31 MHz
∇ -56.00%
poses: CPose2D.composePoint()5.70 ns /
3.15 ns
Δ 80.98%
175.30 MHz /
317.26 MHz
∇ -44.75%
poses: CPose3DQuat (+) CPose3DQuat45.12 ns /
20.40 ns
Δ 121.17%
22.16 MHz /
49.02 MHz
∇ -54.79%
poses: CPose3DQuat.composeFrom()31.67 ns /
19.77 ns
Δ 60.20%
31.57 MHz /
50.58 MHz
∇ -37.58%
poses: CPose3DQuat (+) CPoint3D25.16 ns /
9.27 ns
Δ 171.44%
39.74 MHz /
107.87 MHz
∇ -63.16%
poses: CPose3DQuat.composePoint()17.84 ns /
8.73 ns
Δ 104.36%
56.04 MHz /
114.52 MHz
∇ -51.07%
poses: CPoint3D (-) CPose3DQuat 36.85 ns /
16.98 ns
Δ 117.03%
27.14 MHz /
58.89 MHz
∇ -53.92%
poses: CPose3DQuat.invcomposePoint()15.15 ns /
8.98 ns
Δ 68.72%
66.00 MHz /
111.36 MHz
∇ -40.73%
poses: Conv CPose3DQuat <- CPose3D12.61 ns /
9.17 ns
Δ 37.47%
79.29 MHz /
109.00 MHz
∇ -27.26%
poses: Conv CPose3D -> CPose3DQuat54.28 ns /
83.90 ns
∇ -35.31%
18.42 MHz /
11.92 MHz
Δ 54.57%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)485.54 ns /
61.69 us
∇ -99.21%
2.06 MHz /
16.21 KHz
Δ 12605.44%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)468.18 ns /
60.97 us
∇ -99.23%
2.14 MHz /
16.40 KHz
Δ 12922.25%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)6.23 us /
5.42 us
Δ 14.82%
160.58 KHz /
184.37 KHz
∇ -12.90%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)371.95 ns /
317.90 ns
Δ 17.00%
2.69 MHz /
3.15 MHz
∇ -14.53%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)373.43 ns /
305.40 ns
Δ 22.27%
2.68 MHz /
3.27 MHz
∇ -18.22%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)5.91 us /
4.81 us
Δ 23.00%
169.19 KHz /
208.11 KHz
∇ -18.70%
matrix: unit, dyn[float], 3x355.82 ns /
27.00 ns
Δ 106.76%
17.92 MHz /
37.04 MHz
∇ -51.63%
matrix: unit, dyn[double], 3x353.69 ns /
30.23 ns
Δ 77.64%
18.62 MHz /
33.09 MHz
∇ -43.71%
matrix: unit, dyn[float], 6x681.08 ns /
46.22 ns
Δ 75.42%
12.33 MHz /
21.64 MHz
∇ -42.99%
matrix: unit, dyn[double], 6x682.32 ns /
48.71 ns
Δ 69.01%
12.15 MHz /
20.53 MHz
∇ -40.83%
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 /
0.03 ns
Δ 15123.95%
205.27 MHz /
31.25 GHz
∇ -99.34%
matrix: multiply, dyn[float ], 3x3 * 3x3281.39 ns /
175.00 ns
Δ 60.79%
3.55 MHz /
5.71 MHz
∇ -37.81%
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 /
167.10 ns
Δ 59.58%
3.75 MHz /
5.98 MHz
∇ -37.34%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.10 ns
∇ -100.00%
inf THz /
10.00 GHz
Δ inf%
matrix: multiply, dyn[float ], 3x6 * 6x3299.53 ns /
204.90 ns
Δ 46.18%
3.34 MHz /
4.88 MHz
∇ -31.59%
matrix: multiply, fix[float ], 3x6 * 6x31.21 ns /
0.00 ns
Δ inf%
828.21 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x6 * 6x3294.25 ns /
192.80 ns
Δ 52.62%
3.40 MHz /
5.19 MHz
∇ -34.48%
matrix: multiply, fix[double], 3x6 * 6x31.90 ns /
0.10 ns
Δ 1801.70%
525.85 MHz /
10.00 GHz
∇ -94.74%
matrix: multiply, dyn[float ], 10x40 * 40x101.43 us /
1.04 us
Δ 36.89%
700.05 KHz /
958.31 KHz
∇ -26.95%
matrix: multiply, fix[float ], 10x40 * 40x101.16 us /
904.60 ns
Δ 28.27%
861.82 KHz /
1.11 MHz
∇ -22.04%
matrix: multiply, dyn[double], 10x40 * 40x101.66 us /
1.24 us
Δ 33.60%
603.16 KHz /
805.80 KHz
∇ -25.15%
matrix: multiply, fix[double], 10x40 * 40x101.34 us /
1.04 us
Δ 28.94%
745.85 KHz /
961.72 KHz
∇ -22.45%
matrix: inv, dyn[double] 3x3791.17 ns /
494.00 ns
Δ 60.16%
1.26 MHz /
2.02 MHz
∇ -37.56%
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 /
985.00 ns
Δ 60.28%
633.43 KHz /
1.02 MHz
∇ -37.61%
matrix: inv, fix[double] 6x61.11 us /
624.00 ns
Δ 78.31%
898.76 KHz /
1.60 MHz
∇ -43.92%
matrix: inv, dyn[double] 20x2013.08 us /
6.35 us
Δ 106.08%
76.44 KHz /
157.53 KHz
∇ -51.48%
matrix: inv, fix[double] 20x2011.37 us /
6.11 us
Δ 86.13%
87.95 KHz /
163.69 KHz
∇ -46.27%
matrix: inv, dyn[double] 40x4049.83 us /
27.64 us
Δ 80.26%
20.07 KHz /
36.17 KHz
∇ -44.53%
matrix: inv, fix[double] 40x4047.25 us /
27.08 us
Δ 74.51%
21.16 KHz /
36.93 KHz
∇ -42.70%
matrix: det, dyn[double] 2x2296.97 ns /
201.20 ns
Δ 47.60%
3.37 MHz /
4.97 MHz
∇ -32.25%
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 /
227.20 ns
Δ 73.75%
2.53 MHz /
4.40 MHz
∇ -42.45%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6927.12 ns /
408.40 ns
Δ 127.01%
1.08 MHz /
2.45 MHz
∇ -55.95%
matrix: det, fix[double] 6x6674.14 ns /
237.00 ns
Δ 184.45%
1.48 MHz /
4.22 MHz
∇ -64.84%
matrix: det, dyn[double] 20x208.63 us /
3.43 us
Δ 152.05%
115.81 KHz /
291.90 KHz
∇ -60.32%
matrix: det, fix[double] 20x208.16 us /
2.99 us
Δ 173.10%
122.50 KHz /
334.55 KHz
∇ -63.38%
matrix: det, dyn[double] 40x4031.29 us /
12.23 us
Δ 155.86%
31.96 KHz /
81.76 KHz
∇ -60.92%
matrix: det, fix[double] 40x4030.53 us /
11.78 us
Δ 159.21%
32.76 KHz /
84.91 KHz
∇ -61.42%
matrix: chol, dyn[double] 4x4555.42 ns /
330.00 ns
Δ 68.31%
1.80 MHz /
3.03 MHz
∇ -40.59%
matrix: chol, fix[double] 4x4108.67 ns /
60.00 ns
Δ 81.11%
9.20 MHz /
16.67 MHz
∇ -44.79%
matrix: chol, dyn[double] 40x4013.42 us /
9.76 us
Δ 37.54%
74.50 KHz /
102.46 KHz
∇ -27.29%
matrix: chol, fix[double] 40x4011.33 us /
8.48 us
Δ 33.63%
88.25 KHz /
117.92 KHz
∇ -25.17%
matrix: chol, sparse [2x2;2x2]4.98 us /
5.80 us
∇ -14.13%
200.78 KHz /
172.41 KHz
Δ 16.45%
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 /
25.00 us
Δ 32.94%
30.09 KHz /
40.00 KHz
∇ -24.78%
matrix: chol, sparse 10x[6x6]17.40 us /
16.07 us
Δ 8.27%
57.47 KHz /
62.23 KHz
∇ -7.64%
matrix: chol, dyn[double] 20x[6x6]152.29 us /
121.60 us
Δ 25.24%
6.57 KHz /
8.22 KHz
∇ -20.15%
matrix: chol, sparse 20x[6x6]33.90 us /
28.49 us
Δ 18.99%
29.50 KHz /
35.10 KHz
∇ -15.96%
matrix: chol, dyn[double] 50x[6x6]1.86 ms /
1.26 ms
Δ 47.54%
538.68 Hz /
794.79 Hz
∇ -32.22%
matrix: chol, sparse 50x[6x6]72.77 us /
72.25 us
Δ 0.72%
13.74 KHz /
13.84 KHz
∇ -0.72%
matrix: chol, dyn[double] 100x[6x6]15.15 ms /
12.96 ms
Δ 16.87%
66.00 Hz /
77.13 Hz
∇ -14.43%
matrix: chol, sparse 100x[6x6]154.65 us /
138.44 us
Δ 11.71%
6.47 KHz /
7.22 KHz
∇ -10.48%
matrix: chol, dyn[double] 120x[6x6]23.45 ms /
20.15 ms
Δ 16.39%
42.65 Hz /
49.64 Hz
∇ -14.08%
matrix: chol, sparse 120x[6x6]169.12 us /
160.11 us
Δ 5.63%
5.91 KHz /
6.25 KHz
∇ -5.33%
matrix: chol, dyn[double] 140x[6x6]34.02 ms /
28.57 ms
Δ 19.06%
29.40 Hz /
35.00 Hz
∇ -16.01%
matrix: chol, sparse 140x[6x6]204.88 us /
197.59 us
Δ 3.69%
4.88 KHz /
5.06 KHz
∇ -3.56%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x40.00 ns /
1.00 us
∇ -100.00%
inf THz /
1.00 MHz
Δ inf%
gridmap2D: getCell2.78 ns /
0.00 ns
Δ inf%
360.02 MHz /
inf THz
∇ -nan%
gridmap2D: setCell1.95 ns /
0.78 ns
Δ 148.92%
511.96 MHz /
1.27 GHz
∇ -59.83%
gridmap2D: updateCell3.54 ns /
2.85 ns
Δ 24.32%
282.14 MHz /
350.75 MHz
∇ -19.56%
gridmap2D: updateCell_fast_occupied0.41 ns /
0.87 ns
∇ -52.97%
2.45 GHz /
1.15 GHz
Δ 112.62%
gridmap2D: insert scan w/o widening57.49 us /
50.95 us
Δ 12.85%
17.39 KHz /
19.63 KHz
∇ -11.38%
gridmap2D: insert scan with widening150.17 us /
155.87 us
∇ -3.66%
6.66 KHz /
6.42 KHz
Δ 3.80%
gridmap2D: resize735.62 us /
413.00 us
Δ 78.12%
1.36 KHz /
2.42 KHz
∇ -43.86%
gridmap2D: computeLikelihood9.02 us /
9.27 us
∇ -2.68%
110.82 KHz /
107.85 KHz
Δ 2.76%
gridmap2D: determineMatching2D32.66 us /
27.15 us
Δ 20.26%
30.62 KHz /
36.83 KHz
∇ -16.85%
pointmap: insert 100 scans722.46 us /
319.43 us
Δ 126.17%
1.38 KHz /
3.13 KHz
∇ -55.79%
pointmap: build 2D kd-tree of 1 scan1.50 us /
1.88 us
∇ -20.36%
667.91 KHz /
531.91 KHz
Δ 25.57%
pointmap: build 2D kd-tree of 100 scan154.18 us /
87.64 us
Δ 75.92%
6.49 KHz /
11.41 KHz
∇ -43.16%
pointmap: build 2D kd-tree of 1000 scan1.81 ms /
1.00 ms
Δ 80.53%
552.64 Hz /
997.69 Hz
∇ -44.61%
pointmap: build 3D kd-tree of 1 scan1.76 us /
1.72 us
Δ 2.49%
567.27 KHz /
581.40 KHz
∇ -2.43%
pointmap: build 3D kd-tree of 100 scan171.94 us /
112.52 us
Δ 52.81%
5.82 KHz /
8.89 KHz
∇ -34.56%
pointmap: build 3D kd-tree of 1000 scan1.84 ms /
1.07 ms
Δ 71.53%
543.27 Hz /
931.86 Hz
∇ -41.70%
pointmap: kd-tree 2d query on 10 scans498.67 ns /
365.00 ns
Δ 36.62%
2.01 MHz /
2.74 MHz
∇ -26.80%
pointmap: kd-tree 2d query on 1000 scans44.11 us /
25.82 us
Δ 70.81%
22.67 KHz /
38.73 KHz
∇ -41.46%
pointmap: kd-tree 2d query on 10000 scans5.20 ms /
2.97 ms
Δ 75.18%
192.19 Hz /
336.68 Hz
∇ -42.92%
pointmap: (insert scan+2D kd-tree query) x 101.77 ms /
979.40 us
Δ 80.65%
565.21 Hz /
1.02 KHz
∇ -44.64%
pointmap: (insert scan+2D kd-tree query) x 5043.89 ms /
24.89 ms
Δ 76.34%
22.78 Hz /
40.18 Hz
∇ -43.29%
pointmap: (insert scan+3D kd-tree query) x 101.82 ms /
1.03 ms
Δ 77.44%
549.65 Hz /
975.28 Hz
∇ -43.64%
pointmap: (insert scan+3D kd-tree query) x 5045.35 ms /
24.95 ms
Δ 81.72%
22.05 Hz /
40.07 Hz
∇ -44.97%
pointmap: computeMatchingWith2D30.66 us /
25.78 us
Δ 18.92%
32.62 KHz /
38.79 KHz
∇ -15.91%
pointmap: boundingBox (10 scans)927.89 ns /
871.82 ns
Δ 6.43%
1.08 MHz /
1.15 MHz
∇ -6.04%
pointmap: boundingBox (1000 scans)90.74 us /
85.77 us
Δ 5.80%
11.02 KHz /
11.66 KHz
∇ -5.48%
random: drawUniform32bit5.12 ns /
3.62 ns
Δ 41.41%
195.36 MHz /
276.26 MHz
∇ -29.28%
random: drawUniform5.06 ns /
3.64 ns
Δ 39.02%
197.45 MHz /
274.50 MHz
∇ -28.07%
random: drawGaussian1D_normalized23.05 ns /
29.73 ns
∇ -22.46%
43.38 MHz /
33.64 MHz
Δ 28.97%
random: drawGaussian1D22.83 ns /
29.95 ns
∇ -23.78%
43.81 MHz /
33.39 MHz
Δ 31.20%
random: system rand()13.49 ns /
15.19 ns
∇ -11.20%
74.11 MHz /
65.81 MHz
Δ 12.61%
random: drawGaussianMultivariate(fixed 3x3)642.84 ns /
490.68 ns
Δ 31.01%
1.56 MHz /
2.04 MHz
∇ -23.67%
random: drawGaussianMultivariate(dyn 3x3)1.64 us /
1.03 us
Δ 58.68%
609.64 KHz /
967.37 KHz
∇ -36.98%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)62.47 ns /
62.45 ns
Δ 0.03%
16.01 MHz /
16.01 MHz
∇ -0.03%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)93.49 ns /
101.17 ns
∇ -7.59%
10.70 MHz /
9.88 MHz
Δ 8.21%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)206.29 ns /
222.19 ns
∇ -7.15%
4.85 MHz /
4.50 MHz
Δ 7.70%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)67.45 ns /
70.81 ns
∇ -4.74%
14.82 MHz /
14.12 MHz
Δ 4.98%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)103.64 ns /
111.18 ns
∇ -6.79%
9.65 MHz /
8.99 MHz
Δ 7.28%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)223.65 ns /
233.52 ns
∇ -4.23%
4.47 MHz /
4.28 MHz
Δ 4.41%
random: permuteVector (len=10)258.09 ns /
163.30 ns
Δ 58.04%
3.87 MHz /
6.12 MHz
∇ -36.73%
random: permuteVector (len=100)2.48 us /
1.89 us
Δ 30.80%
403.96 KHz /
528.40 KHz
∇ -23.55%
random: permuteVector (len=1000)24.52 us /
18.92 us
Δ 29.60%
40.79 KHz /
52.86 KHz
∇ -22.84%
math: round0.00 ns /
0.03 ns
∇ -100.00%
inf THz /
31.11 GHz
Δ inf%
images: Save as JPEG (640x480, quality=95%)16.32 ms /
5.54 ms
Δ 194.38%
61.27 Hz /
180.35 Hz
∇ -66.03%
images: Save as JPEG (800x600, quality=95%)24.66 ms /
8.03 ms
Δ 207.11%
40.55 Hz /
124.52 Hz
∇ -67.44%
images: Save as JPEG (1024x768, quality=95%)39.84 ms /
13.11 ms
Δ 203.86%
25.10 Hz /
76.28 Hz
∇ -67.09%
images: Save as JPEG (640x480, quality=75%)13.46 ms /
5.36 ms
Δ 151.12%
74.30 Hz /
186.57 Hz
∇ -60.18%
images: Save as JPEG (800x600, quality=75%)21.00 ms /
6.93 ms
Δ 203.00%
47.62 Hz /
144.28 Hz
∇ -67.00%
images: Save as JPEG (1024x768, quality=75%)34.05 ms /
11.04 ms
Δ 208.52%
29.37 Hz /
90.61 Hz
∇ -67.59%
images: Gauss filter (640x480)3.23 ms /
2.64 ms
Δ 22.32%
309.87 Hz /
379.03 Hz
∇ -18.25%
images: Gauss filter (800x600)3.68 ms /
2.98 ms
Δ 23.72%
271.68 Hz /
336.12 Hz
∇ -19.17%
images: Gauss filter (1024x768)6.20 ms /
5.01 ms
Δ 23.85%
161.28 Hz /
199.74 Hz
∇ -19.26%
images: Half sample GRAY (160x120)821.05 ns /
496.67 ns
Δ 65.31%
1.22 MHz /
2.01 MHz
∇ -39.51%
images: Half sample GRAY (320x240)2.31 us /
1.59 us
Δ 45.79%
432.30 KHz /
630.25 KHz
∇ -31.41%
images: Half sample GRAY (640x480)10.75 us /
7.23 us
Δ 48.70%
93.01 KHz /
138.31 KHz
∇ -32.75%
images: Half sample GRAY (800x600)16.35 us /
12.20 us
Δ 34.02%
61.18 KHz /
81.99 KHz
∇ -25.38%
images: Half sample GRAY (1024x768)27.16 us /
20.54 us
Δ 32.23%
36.82 KHz /
48.69 KHz
∇ -24.38%
images: Half sample GRAY (1280x1024)43.39 us /
33.65 us
Δ 28.97%
23.04 KHz /
29.72 KHz
∇ -22.46%
images: Half sample RGB (160x120)1.67 us /
1.29 us
Δ 29.66%
599.43 KHz /
777.20 KHz
∇ -22.87%
images: Half sample RGB (320x240)6.45 us /
5.17 us
Δ 24.85%
155.02 KHz /
193.55 KHz
∇ -19.91%
images: Half sample RGB (640x480)25.97 us /
24.58 us
Δ 5.69%
38.50 KHz /
40.69 KHz
∇ -5.38%
images: Half sample RGB (800x600)40.08 us /
39.59 us
Δ 1.25%
24.95 KHz /
25.26 KHz
∇ -1.23%
images: Half sample RGB (1024x768)144.64 us /
66.37 us
Δ 117.92%
6.91 KHz /
15.07 KHz
∇ -54.11%
images: Half sample RGB (1280x1024)242.89 us /
123.95 us
Δ 95.96%
4.12 KHz /
8.07 KHz
∇ -48.97%
images: Half sample smooth GRAY (160x120)1.01 us /
820.00 ns
Δ 22.71%
993.85 KHz /
1.22 MHz
∇ -18.50%
images: Half sample smooth GRAY (320x240)3.32 us /
2.81 us
Δ 18.13%
301.26 KHz /
355.87 KHz
∇ -15.35%
images: Half sample smooth GRAY (640x480)16.31 us /
16.41 us
∇ -0.56%
61.30 KHz /
60.95 KHz
Δ 0.57%
images: Half sample smooth GRAY (800x600)23.34 us /
21.92 us
Δ 6.51%
42.84 KHz /
45.63 KHz
∇ -6.11%
images: Half sample smooth GRAY (1024x768)38.27 us /
34.31 us
Δ 11.54%
26.13 KHz /
29.15 KHz
∇ -10.35%
images: Half sample smooth GRAY (1280x1024)64.21 us /
60.52 us
Δ 6.11%
15.57 KHz /
16.52 KHz
∇ -5.76%
images: Half sample smooth RGB (160x120)76.20 us /
49.89 us
Δ 52.72%
13.12 KHz /
20.04 KHz
∇ -34.52%
images: Half sample smooth RGB (320x240)59.18 us /
49.84 us
Δ 18.75%
16.90 KHz /
20.07 KHz
∇ -15.79%
images: Half sample smooth RGB (640x480)227.47 us /
195.38 us
Δ 16.43%
4.40 KHz /
5.12 KHz
∇ -14.11%
images: Half sample smooth RGB (800x600)183.77 us /
294.64 us
∇ -37.63%
5.44 KHz /
3.39 KHz
Δ 60.33%
images: Half sample smooth RGB (1024x768)264.07 us /
484.11 us
∇ -45.45%
3.79 KHz /
2.07 KHz
Δ 83.32%
images: Half sample smooth RGB (1280x1024)396.39 us /
828.65 us
∇ -52.16%
2.52 KHz /
1.21 KHz
Δ 109.05%
images: RGB->GRAY 8u (40x30)4.14 us /
65.72 us
∇ -93.70%
241.46 KHz /
15.22 KHz
Δ 1486.80%
images: RGB->GRAY 8u (80x60)1.56 us /
1.32 us
Δ 17.93%
640.78 KHz /
755.67 KHz
∇ -15.20%
images: RGB->GRAY 8u (160x120)5.21 us /
4.65 us
Δ 11.90%
192.05 KHz /
214.90 KHz
∇ -10.63%
images: RGB->GRAY 8u (320x240)19.63 us /
19.20 us
Δ 2.23%
50.94 KHz /
52.07 KHz
∇ -2.18%
images: RGB->GRAY 8u (640x480)83.56 us /
77.66 us
Δ 7.60%
11.97 KHz /
12.88 KHz
∇ -7.06%
images: RGB->GRAY 8u (800x600)128.72 us /
120.69 us
Δ 6.66%
7.77 KHz /
8.29 KHz
∇ -6.24%
images: RGB->GRAY 8u (1024x768)205.33 us /
194.51 us
Δ 5.57%
4.87 KHz /
5.14 KHz
∇ -5.27%
images: RGB->GRAY 8u (1280x1024)619.44 us /
357.09 us
Δ 73.47%
1.61 KHz /
2.80 KHz
∇ -42.35%
images: KLT score (WIN=2 5x5)42.54 ns /
27.48 ns
Δ 54.78%
23.51 MHz /
36.38 MHz
∇ -35.39%
images: KLT score (WIN=3 7x7)58.71 ns /
34.76 ns
Δ 68.90%
17.03 MHz /
28.77 MHz
∇ -40.79%
images: KLT score (WIN=4 9x9)75.41 ns /
36.30 ns
Δ 107.77%
13.26 MHz /
27.55 MHz
∇ -51.87%
images: KLT score (WIN=5 10x10)98.57 ns /
43.37 ns
Δ 127.26%
10.15 MHz /
23.06 MHz
∇ -56.00%
images: KLT score (WIN=6 13x13)127.98 ns /
47.96 ns
Δ 166.87%
7.81 MHz /
20.85 MHz
∇ -62.53%
images: KLT score (WIN=7 15x15)159.87 ns /
48.23 ns
Δ 231.46%
6.25 MHz /
20.73 MHz
∇ -69.83%
images: KLT score (WIN=8 17x17)191.81 ns /
60.00 ns
Δ 219.67%
5.21 MHz /
16.67 MHz
∇ -68.72%
images: KLT score (WIN=9 19x19)228.52 ns /
62.56 ns
Δ 265.28%
4.38 MHz /
15.98 MHz
∇ -72.62%
images: KLT score (WIN=10 21x21)281.51 ns /
67.38 ns
Δ 317.82%
3.55 MHz /
14.84 MHz
∇ -76.07%
images: KLT score (WIN=11 23x23)321.97 ns /
61.61 ns
Δ 422.64%
3.11 MHz /
16.23 MHz
∇ -80.87%
images: KLT score (WIN=12 25x25)379.96 ns /
76.06 ns
Δ 399.54%
2.63 MHz /
13.15 MHz
∇ -79.98%
images: KLT score (WIN=13 27x27)431.81 ns /
82.17 ns
Δ 425.54%
2.32 MHz /
12.17 MHz
∇ -80.97%
images: KLT score (WIN=14 29x29)499.79 ns /
74.11 ns
Δ 574.39%
2.00 MHz /
13.49 MHz
∇ -85.17%
images: KLT score (WIN=15 31x31)562.76 ns /
78.43 ns
Δ 617.54%
1.78 MHz /
12.75 MHz
∇ -86.06%
images: KLT score (WIN=16 33x33)650.17 ns /
103.64 ns
Δ 527.33%
1.54 MHz /
9.65 MHz
∇ -84.06%
images: buildPyramid 640x480,4 levs,no smooth,no gray409.68 us /
86.49 us
Δ 373.69%
2.44 KHz /
11.56 KHz
∇ -78.89%
images: buildPyramid 640x480,4 levs, smooth,no gray655.25 us /
306.83 us
Δ 113.55%
1.53 KHz /
3.26 KHz
∇ -53.17%
images: buildPyramid 640x480,4 levs,no smooth, gray94.29 us /
87.56 us
Δ 7.68%
10.61 KHz /
11.42 KHz
∇ -7.13%
images: buildPyramid 640x480,4 levs, smooth, gray97.03 us /
94.34 us
Δ 2.85%
10.31 KHz /
10.60 KHz
∇ -2.77%
images: buildPyramid 640x480,8 levs,no smooth,no gray409.91 us /
90.20 us
Δ 354.46%
2.44 KHz /
11.09 KHz
∇ -78.00%
images: buildPyramid 640x480,8 levs, smooth,no gray674.37 us /
523.57 us
Δ 28.80%
1.48 KHz /
1.91 KHz
∇ -22.36%
images: buildPyramid 640x480,8 levs,no smooth, gray94.55 us /
153.08 us
∇ -38.23%
10.58 KHz /
6.53 KHz
Δ 61.90%
images: buildPyramid 640x480,8 levs, smooth, gray101.90 us /
167.01 us
∇ -38.98%
9.81 KHz /
5.99 KHz
Δ 63.89%
stereo: prepare rectify map 640x480 RGB13.57 ms /
12.54 ms
Δ 8.23%
73.68 Hz /
79.74 Hz
∇ -7.60%
stereo: prepare rectify map 800x600 RGB19.93 ms /
16.25 ms
Δ 22.68%
50.17 Hz /
61.55 Hz
∇ -18.49%
stereo: prepare rectify map 1024x768 RGB32.43 ms /
31.51 ms
Δ 2.94%
30.83 Hz /
31.74 Hz
∇ -2.86%
stereo: prepare rectify map 1024x768->800x600 RGB19.83 ms /
16.06 ms
Δ 23.51%
50.42 Hz /
62.27 Hz
∇ -19.03%
stereo: prepare rectify map 1024x768->640x480 RGB12.80 ms /
10.26 ms
Δ 24.85%
78.10 Hz /
97.51 Hz
∇ -19.90%
stereo: rectify 640x480 RGB1.86 ms /
4.26 ms
∇ -56.29%
537.66 Hz /
234.99 Hz
Δ 128.80%
stereo: rectify 800x600 RGB2.68 ms /
6.56 ms
∇ -59.20%
373.76 Hz /
152.48 Hz
Δ 145.12%
stereo: rectify 1024x768 RGB4.88 ms /
10.68 ms
∇ -54.31%
204.89 Hz /
93.62 Hz
Δ 118.85%
stereo: rectify 1024x768->800x600 RGB2.55 ms /
6.32 ms
∇ -59.69%
392.76 Hz /
158.32 Hz
Δ 148.09%
stereo: rectify 1024x768->640x480 RGB1.47 ms /
3.86 ms
∇ -61.97%
680.56 Hz /
258.79 Hz
Δ 162.98%
stereo: rectify 640x480 GRAY1.12 ms /
2.86 ms
∇ -60.75%
891.97 Hz /
350.07 Hz
Δ 154.80%
stereo: rectify 800x600 GRAY1.35 ms /
4.39 ms
∇ -69.34%
742.56 Hz /
227.65 Hz
Δ 226.19%
stereo: rectify 1024x768 GRAY2.55 ms /
7.59 ms
∇ -66.42%
392.25 Hz /
131.72 Hz
Δ 197.79%
stereo: rectify 1024x768->800x600 GRAY1.23 ms /
4.40 ms
∇ -72.10%
815.21 Hz /
227.47 Hz
Δ 258.38%
stereo: rectify 1024x768->640x480 GRAY1.06 ms /
2.70 ms
∇ -60.86%
945.09 Hz /
369.87 Hz
Δ 155.52%
scan_matching: 6D LS Rigid Trans. [CPose3D]8.41 us /
4.82 us
Δ 74.66%
118.86 KHz /
207.60 KHz
∇ -42.75%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]8.38 us /
4.74 us
Δ 76.80%
119.28 KHz /
210.89 KHz
∇ -43.44%
scan_matching: 6D LS Rigid Trans. [vector of points]4.67 us /
2.22 us
Δ 109.88%
214.36 KHz /
449.90 KHz
∇ -52.35%
scan_matching: leastSquares 2D [x10 corrs]104.27 ns /
88.57 ns
Δ 17.73%
9.59 MHz /
11.29 MHz
∇ -15.06%
scan_matching: leastSquares 2D [x100 corrs]304.74 ns /
188.44 ns
Δ 61.72%
3.28 MHz /
5.31 MHz
∇ -38.17%
scan_matching: leastSquares 2D [x1000 corrs]2.27 us /
1.26 us
Δ 80.53%
440.00 KHz /
794.31 KHz
∇ -44.61%
feature_extraction [640x480]: Harris9.94 ms /
10.97 ms
∇ -9.40%
100.59 Hz /
91.13 Hz
Δ 10.38%
feature_extraction [640x480]: KLT9.99 ms /
10.06 ms
∇ -0.67%
100.07 Hz /
99.39 Hz
Δ 0.68%
feature_extraction [640x480]: SIFT320.31 ms /
377.71 ms
∇ -15.20%
3.12 Hz /
2.65 Hz
Δ 17.92%
feature_extraction [640x480]: SIFT desc.105.33 ms /
135.82 ms
∇ -22.45%
9.49 Hz /
7.36 Hz
Δ 28.95%
feature_extraction [640x480]: SURF57.58 ms /
228.69 ms
∇ -74.82%
17.37 Hz /
4.37 Hz
Δ 297.19%
feature_extraction [640x480]: FAST1.59 ms /
2.58 ms
∇ -38.61%
630.56 Hz /
387.11 Hz
Δ 62.89%
feature_extraction [640x480]: Spin desc.23.87 ms /
42.20 ms
∇ -43.43%
41.89 Hz /
23.70 Hz
Δ 76.76%
feature_extraction [640x480]: FASTER-91.79 ms /
3.27 ms
∇ -45.32%
559.60 Hz /
306.01 Hz
Δ 82.87%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.53 ms /
1.77 ms
∇ -13.17%
652.38 Hz /
566.48 Hz
Δ 15.16%
feature_extraction [640x480]: FASTER-101.38 ms /
2.35 ms
∇ -41.29%
725.25 Hz /
425.82 Hz
Δ 70.32%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.13 ms /
1.30 ms
∇ -13.41%
885.36 Hz /
766.67 Hz
Δ 15.48%
feature_extraction [640x480]: FASTER-121.11 ms /
1.73 ms
∇ -35.93%
903.02 Hz /
578.55 Hz
Δ 56.08%
feature_extraction [640x480]: FASTER-12 (sorted best 200)995.24 us /
1.21 ms
∇ -18.05%
1.00 KHz /
823.38 Hz
Δ 22.03%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()460.91 us /
700.83 us
∇ -34.23%
2.17 KHz /
1.43 KHz
Δ 52.05%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()366.79 us /
508.65 us
∇ -27.89%
2.73 KHz /
1.97 KHz
Δ 38.67%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()466.68 us /
581.27 us
∇ -19.71%
2.14 KHz /
1.72 KHz
Δ 24.56%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index462.72 us /
703.07 us
∇ -34.19%
2.16 KHz /
1.42 KHz
Δ 51.94%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index363.34 us /
508.56 us
∇ -28.55%
2.75 KHz /
1.97 KHz
Δ 39.97%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index468.22 us /
580.21 us
∇ -19.30%
2.14 KHz /
1.72 KHz
Δ 23.92%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()656.72 us /
901.12 us
∇ -27.12%
1.52 KHz /
1.11 KHz
Δ 37.22%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()475.37 us /
647.38 us
∇ -26.57%
2.10 KHz /
1.54 KHz
Δ 36.18%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()535.08 us /
674.80 us
∇ -20.71%
1.87 KHz /
1.48 KHz
Δ 26.11%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index602.17 us /
901.50 us
∇ -33.20%
1.66 KHz /
1.11 KHz
Δ 49.71%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index522.88 us /
655.05 us
∇ -20.18%
1.91 KHz /
1.53 KHz
Δ 25.28%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index539.50 us /
675.64 us
∇ -20.15%
1.85 KHz /
1.48 KHz
Δ 25.23%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()883.72 us /
1.19 ms
∇ -25.64%
1.13 KHz /
841.48 Hz
Δ 34.48%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()638.43 us /
867.29 us
∇ -26.39%
1.57 KHz /
1.15 KHz
Δ 35.85%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()589.24 us /
761.35 us
∇ -22.61%
1.70 KHz /
1.31 KHz
Δ 29.21%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index802.45 us /
1.19 ms
∇ -32.55%
1.25 KHz /
840.52 Hz
Δ 48.26%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index715.35 us /
878.28 us
∇ -18.55%
1.40 KHz /
1.14 KHz
Δ 22.78%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index592.00 us /
749.89 us
∇ -21.06%
1.69 KHz /
1.33 KHz
Δ 26.67%
feature_matching [640x480]: Harris + CC21.49 ms /
29.43 ms
∇ -26.97%
46.53 Hz /
33.98 Hz
Δ 36.93%
feature_matching [640x480]: Harris + SAD18.15 ms /
23.92 ms
∇ -24.14%
55.10 Hz /
41.80 Hz
Δ 31.82%
feature_matching [640x480]: SIFT623.90 ms /
922.45 ms
∇ -32.36%
1.60 Hz /
1.08 Hz
Δ 47.85%
feature_matching [640x480]: SURF95.48 ms /
443.16 ms
∇ -78.46%
10.47 Hz /
2.26 Hz
Δ 364.16%
feature_matching [640x480]: FAST + CC6.00 ms /
9.88 ms
∇ -39.21%
166.56 Hz /
101.26 Hz
Δ 64.49%
feature_matching [640x480]: FAST + SAD2.63 ms /
4.10 ms
∇ -35.85%
380.47 Hz /
244.08 Hz
Δ 55.88%
graph(2d): insertEdge x 1e3153.48 us /
125.22 us
Δ 22.57%
6.52 KHz /
7.99 KHz
∇ -18.41%
graph(2d,vec): insertEdge x 1e3146.24 us /
126.83 us
Δ 15.30%
6.84 KHz /
7.88 KHz
∇ -13.27%
graph(2d): insertEdgeAtEnd x 1e3117.77 us /
107.97 us
Δ 9.08%
8.49 KHz /
9.26 KHz
∇ -8.33%
graph(2d,vec): insertEdgeAtEnd x 1e3117.80 us /
106.37 us
Δ 10.74%
8.49 KHz /
9.40 KHz
∇ -9.70%
graph(2d pdf): insertEdge x 1e3215.31 us /
195.94 us
Δ 9.89%
4.64 KHz /
5.10 KHz
∇ -9.00%
graph(2d pdf,vec): insertEdge x 1e3191.64 us /
194.57 us
∇ -1.51%
5.22 KHz /
5.14 KHz
Δ 1.53%
graph(2d pdf): insertEdgeAtEnd x 1e3161.44 us /
179.20 us
∇ -9.91%
6.19 KHz /
5.58 KHz
Δ 11.00%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3162.72 us /
174.64 us
∇ -6.82%
6.15 KHz /
5.73 KHz
Δ 7.32%
graph(2d): insertEdge x 1e41.95 ms /
2.16 ms
∇ -9.81%
513.41 Hz /
463.02 Hz
Δ 10.88%
graph(2d,vec): insertEdge x 1e41.91 ms /
1.80 ms
Δ 6.06%
523.24 Hz /
554.93 Hz
∇ -5.71%
graph(2d): insertEdgeAtEnd x 1e41.18 ms /
875.00 us
Δ 35.17%
845.52 Hz /
1.14 KHz
∇ -26.02%
graph(2d,vec): insertEdgeAtEnd x 1e41.19 ms /
863.37 us
Δ 37.53%
842.16 Hz /
1.16 KHz
∇ -27.29%
graph(2d pdf): insertEdge x 1e42.26 ms /
2.16 ms
Δ 4.36%
443.31 Hz /
462.63 Hz
∇ -4.18%
graph(2d pdf,vec): insertEdge x 1e42.07 ms /
2.44 ms
∇ -15.48%
484.25 Hz /
409.29 Hz
Δ 18.31%
graph(2d pdf): insertEdgeAtEnd x 1e41.62 ms /
1.88 ms
∇ -13.51%
615.58 Hz /
532.39 Hz
Δ 15.63%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.62 ms /
1.87 ms
∇ -13.38%
618.43 Hz /
535.69 Hz
Δ 15.45%
graph(3d): insertEdge x 1e3165.26 us /
169.52 us
∇ -2.52%
6.05 KHz /
5.90 KHz
Δ 2.58%
graph(3d,vec): insertEdge x 1e3168.93 us /
162.80 us
Δ 3.76%
5.92 KHz /
6.14 KHz
∇ -3.63%
graph(3d): insertEdgeAtEnd x 1e3141.01 us /
141.73 us
∇ -0.51%
7.09 KHz /
7.06 KHz
Δ 0.51%
graph(3d,vec): insertEdgeAtEnd x 1e3142.47 us /
151.60 us
∇ -6.02%
7.02 KHz /
6.60 KHz
Δ 6.41%
graph(3d pdf): insertEdge x 1e3377.68 us /
479.91 us
∇ -21.30%
2.65 KHz /
2.08 KHz
Δ 27.07%
graph(3d pdf,vec): insertEdge x 1e3375.08 us /
483.38 us
∇ -22.40%
2.67 KHz /
2.07 KHz
Δ 28.87%
graph(3d pdf): insertEdgeAtEnd x 1e3318.48 us /
417.25 us
∇ -23.67%
3.14 KHz /
2.40 KHz
Δ 31.01%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3320.43 us /
411.56 us
∇ -22.14%
3.12 KHz /
2.43 KHz
Δ 28.44%
graph(3d): insertEdge x 1e41.88 ms /
2.42 ms
∇ -22.46%
531.97 Hz /
412.48 Hz
Δ 28.97%
graph(3d,vec): insertEdge x 1e41.90 ms /
2.41 ms
∇ -21.04%
525.71 Hz /
415.13 Hz
Δ 26.64%
graph(3d): insertEdgeAtEnd x 1e41.42 ms /
1.61 ms
∇ -11.96%
705.12 Hz /
620.76 Hz
Δ 13.59%
graph(3d,vec): insertEdgeAtEnd x 1e41.43 ms /
1.62 ms
∇ -11.55%
698.68 Hz /
617.97 Hz
Δ 13.06%
graph(3d pdf): insertEdge x 1e44.73 ms /
6.01 ms
∇ -21.28%
211.37 Hz /
166.38 Hz
Δ 27.04%
graph(3d pdf,vec): insertEdge x 1e44.11 ms /
6.08 ms
∇ -32.38%
243.02 Hz /
164.34 Hz
Δ 47.88%
graph(3d pdf): insertEdgeAtEnd x 1e43.13 ms /
4.27 ms
∇ -26.68%
319.29 Hz /
234.10 Hz
Δ 36.39%
graph(3d pdf,vec): insertEdgeAtEnd x 1e43.15 ms /
4.23 ms
∇ -25.42%
317.06 Hz /
236.47 Hz
Δ 34.08%
graph(3d): dijkstra 1e2 nodes89.02 us /
86.56 us
Δ 2.84%
11.23 KHz /
11.55 KHz
∇ -2.76%
graph(3d,vec): dijkstra 1e2 nodes88.05 us /
86.37 us
Δ 1.94%
11.36 KHz /
11.58 KHz
∇ -1.91%
graph(3d): dijkstra 1e3 nodes1.08 ms /
1.10 ms
∇ -1.38%
924.49 Hz /
911.70 Hz
Δ 1.40%
graph(3d,vec): dijkstra 1e3 nodes1.08 ms /
1.09 ms
∇ -0.89%
927.62 Hz /
919.38 Hz
Δ 0.90%
graph(3d): dijkstra 1e4 nodes13.21 ms /
13.82 ms
∇ -4.43%
75.73 Hz /
72.37 Hz
Δ 4.64%
graph(3d,vec): dijkstra 1e4 nodes13.31 ms /
13.82 ms
∇ -3.64%
75.11 Hz /
72.38 Hz
Δ 3.77%
graph(3d): dijkstra 1e5 nodes175.87 ms /
259.36 ms
∇ -32.19%
5.69 Hz /
3.86 Hz
Δ 47.47%
graph(3d,vec): dijkstra 1e5 nodes176.57 ms /
260.84 ms
∇ -32.31%
5.66 Hz /
3.83 Hz
Δ 47.72%
graph(2d): dijkstra 1e5 nodes173.83 ms /
262.66 ms
∇ -33.82%
5.75 Hz /
3.81 Hz
Δ 51.10%
graph(2d,vec): dijkstra 1e5 nodes173.63 ms /
264.08 ms
∇ -34.25%
5.76 Hz /
3.79 Hz
Δ 52.09%

 


Page generated automatically at 2014/05/07,08:51:16.729091 with MRPT 1.2.0 by 'mrpt-performance'.