Comparison: 1.5.7dev-GCC730-64bit vs. 1.9.9dev-GCC730-64bit




Test description 1.5.7dev-GCC730-64bit /
1.9.9dev-GCC730-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset936.60 us /
902.92 us
Δ 3.73%
1.07 KHz /
1.11 KHz
∇ -3.60%
icp-slam (match grid): Run with sample dataset1.22 ms /
1.30 ms
∇ -6.02%
821.57 Hz /
772.09 Hz
Δ 6.41%
poses: CPose3D (+) CPose3D16.22 ns /
17.52 ns
∇ -7.42%
61.65 MHz /
57.08 MHz
Δ 8.01%
poses: CPose3D.composeFrom()14.96 ns /
16.58 ns
∇ -9.77%
66.84 MHz /
60.31 MHz
Δ 10.83%
poses: CPose3D (+) CPoint3D3.38 ns /
4.77 ns
∇ -29.25%
296.21 MHz /
209.56 MHz
Δ 41.35%
poses: CPose3D.composePoint()6.23 ns /
5.91 ns
Δ 5.45%
160.51 MHz /
169.26 MHz
∇ -5.17%
poses: CPose3D.composePoint()+Jacobs116.85 ns /
113.42 ns
Δ 3.02%
8.56 MHz /
8.82 MHz
∇ -2.93%
poses: CPoint3D (-) CPose3D7.44 ns /
8.24 ns
∇ -9.68%
134.37 MHz /
121.36 MHz
Δ 10.72%
poses: CPose3D.inverseComposePoint()16.60 ns /
14.52 ns
Δ 14.37%
60.23 MHz /
68.89 MHz
∇ -12.56%
poses: CPose2D (+) CPose2D11.88 ns /
17.57 ns
∇ -32.37%
84.18 MHz /
56.93 MHz
Δ 47.86%
poses: CPose2D.composeFrom()12.31 ns /
13.86 ns
∇ -11.16%
81.23 MHz /
72.17 MHz
Δ 12.56%
poses: CPose2D (+) CPoint2D3.25 ns /
7.64 ns
∇ -57.50%
307.88 MHz /
130.86 MHz
Δ 135.28%
poses: CPose2D.composePoint()2.98 ns /
5.95 ns
∇ -49.88%
335.12 MHz /
167.95 MHz
Δ 99.53%
poses: CPose3DQuat (+) CPose3DQuat21.79 ns /
18.36 ns
Δ 18.68%
45.89 MHz /
54.47 MHz
∇ -15.74%
poses: CPose3DQuat.composeFrom()18.96 ns /
19.07 ns
∇ -0.58%
52.74 MHz /
52.44 MHz
Δ 0.58%
poses: CPose3DQuat (+) CPoint3D9.76 ns /
12.33 ns
∇ -20.79%
102.42 MHz /
81.13 MHz
Δ 26.24%
poses: CPose3DQuat.composePoint()9.23 ns /
10.47 ns
∇ -11.92%
108.39 MHz /
95.47 MHz
Δ 13.53%
poses: CPose3DQuat.invcomposePoint()8.01 ns /
8.56 ns
∇ -6.38%
124.78 MHz /
116.82 MHz
Δ 6.81%
poses: Conv CPose3DQuat <- CPose3D7.88 ns /
9.85 ns
∇ -19.98%
126.90 MHz /
101.55 MHz
Δ 24.96%
poses: Conv CPose3D -> CPose3DQuat70.81 ns /
79.25 ns
∇ -10.65%
14.12 MHz /
12.62 MHz
Δ 11.92%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)60.96 us /
520.00 ns
Δ 11622.88%
16.40 KHz /
1.92 MHz
∇ -99.15%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.56 us /
540.00 ns
Δ 11114.44%
16.51 KHz /
1.85 MHz
∇ -99.11%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)7.61 us /
7.73 us
∇ -1.50%
131.34 KHz /
129.37 KHz
Δ 1.52%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)270.70 ns /
284.60 ns
∇ -4.88%
3.69 MHz /
3.51 MHz
Δ 5.13%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)270.60 ns /
285.00 ns
∇ -5.05%
3.70 MHz /
3.51 MHz
Δ 5.32%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.12 us /
4.03 us
Δ 2.24%
242.69 KHz /
248.11 KHz
∇ -2.19%
CPose3DInterpolator: CPose3D insert pose at end198.13 ns /
198.03 ns
Δ 0.05%
5.05 MHz /
5.05 MHz
∇ -0.05%
CPose3DInterpolator: CPose3D insert pose random186.81 ns /
215.30 ns
∇ -13.23%
5.35 MHz /
4.64 MHz
Δ 15.25%
CPose3DInterpolator: CPose3D query570.42 ns /
547.04 ns
Δ 4.27%
1.75 MHz /
1.83 MHz
∇ -4.10%
CPose3DInterpolator: TPose3D insert pose at end174.17 ns /
169.83 ns
Δ 2.56%
5.74 MHz /
5.89 MHz
∇ -2.50%
CPose3DInterpolator: TPose3D insert pose random230.96 ns /
201.49 ns
Δ 14.63%
4.33 MHz /
4.96 MHz
∇ -12.76%
CPose3DInterpolator: TPose3D query511.64 ns /
479.99 ns
Δ 6.59%
1.95 MHz /
2.08 MHz
∇ -6.19%
CPose2DInterpolator: TPose2D insert pose at end153.49 ns /
156.29 ns
∇ -1.79%
6.52 MHz /
6.40 MHz
Δ 1.83%
CPose2DInterpolator: TPose2D insert pose random204.45 ns /
174.72 ns
Δ 17.01%
4.89 MHz /
5.72 MHz
∇ -14.54%
CPose2DInterpolator: TPose2D query185.58 ns /
171.34 ns
Δ 8.31%
5.39 MHz /
5.84 MHz
∇ -7.67%
matrix: unit, dyn[float], 3x320.81 ns /
20.30 ns
Δ 2.50%
48.05 MHz /
49.25 MHz
∇ -2.44%
matrix: unit, dyn[double], 3x318.03 ns /
18.13 ns
∇ -0.53%
55.46 MHz /
55.16 MHz
Δ 0.53%
matrix: unit, dyn[float], 6x649.43 ns /
44.79 ns
Δ 10.37%
20.23 MHz /
22.33 MHz
∇ -9.39%
matrix: unit, dyn[double], 6x638.37 ns /
39.03 ns
∇ -1.68%
26.06 MHz /
25.62 MHz
Δ 1.71%
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]0.00 ns /
3.10 ns
∇ -100.00%
inf THz /
322.58 MHz
Δ inf%
matrix: multiply, dyn[float ], 3x3 * 3x375.60 ns /
74.80 ns
Δ 1.07%
13.23 MHz /
13.37 MHz
∇ -1.06%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.10 ns
∇ -100.00%
inf THz /
10.00 GHz
Δ inf%
matrix: multiply, dyn[double], 3x3 * 3x382.10 ns /
73.30 ns
Δ 12.01%
12.18 MHz /
13.64 MHz
∇ -10.72%
matrix: multiply, fix[double], 3x3 * 3x30.20 ns /
0.20 ns
∇ 0.00%
5.00 GHz /
5.00 GHz
∇ 0.00%
matrix: multiply, dyn[float ], 3x6 * 6x388.00 ns /
88.20 ns
∇ -0.23%
11.36 MHz /
11.34 MHz
Δ 0.23%
matrix: multiply, fix[float ], 3x6 * 6x30.00 ns /
2.80 ns
∇ -100.00%
inf THz /
357.14 MHz
Δ inf%
matrix: multiply, dyn[double], 3x6 * 6x391.40 ns /
92.10 ns
∇ -0.76%
10.94 MHz /
10.86 MHz
Δ 0.77%
matrix: multiply, fix[double], 3x6 * 6x30.80 ns /
0.80 ns
∇ 0.00%
1.25 GHz /
1.25 GHz
∇ 0.00%
matrix: multiply, dyn[float ], 10x40 * 40x101.08 us /
1.10 us
∇ -2.41%
928.25 KHz /
905.88 KHz
Δ 2.47%
matrix: multiply, fix[float ], 10x40 * 40x10794.20 ns /
787.10 ns
Δ 0.90%
1.26 MHz /
1.27 MHz
∇ -0.89%
matrix: multiply, dyn[double], 10x40 * 40x101.71 us /
1.71 us
∇ -0.47%
586.48 KHz /
583.74 KHz
Δ 0.47%
matrix: multiply, fix[double], 10x40 * 40x101.32 us /
1.31 us
Δ 0.32%
760.05 KHz /
762.49 KHz
∇ -0.32%
matrix: inv, dyn[double] 3x3592.00 ns /
552.00 ns
Δ 7.25%
1.69 MHz /
1.81 MHz
∇ -6.76%
matrix: inv, fix[double] 3x31.00 ns /
1.00 ns
∇ 0.00%
1.00 GHz /
1.00 GHz
∇ 0.00%
matrix: inv, dyn[double] 6x61.57 us /
1.56 us
Δ 0.26%
638.57 KHz /
640.20 KHz
∇ -0.26%
matrix: inv, fix[double] 6x6818.00 ns /
811.00 ns
Δ 0.86%
1.22 MHz /
1.23 MHz
∇ -0.86%
matrix: inv, dyn[double] 20x208.98 us /
9.61 us
∇ -6.53%
111.33 KHz /
104.07 KHz
Δ 6.98%
matrix: inv, fix[double] 20x208.15 us /
8.32 us
∇ -1.99%
122.62 KHz /
120.18 KHz
Δ 2.04%
matrix: inv, dyn[double] 40x4043.66 us /
40.62 us
Δ 7.47%
22.90 KHz /
24.62 KHz
∇ -6.95%
matrix: inv, fix[double] 40x4040.36 us /
40.56 us
∇ -0.49%
24.77 KHz /
24.65 KHz
Δ 0.49%
matrix: det, dyn[double] 2x2165.10 ns /
162.40 ns
Δ 1.66%
6.06 MHz /
6.16 MHz
∇ -1.64%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3225.50 ns /
222.70 ns
Δ 1.26%
4.43 MHz /
4.49 MHz
∇ -1.24%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6445.40 ns /
498.50 ns
∇ -10.65%
2.25 MHz /
2.01 MHz
Δ 11.92%
matrix: det, fix[double] 6x6299.10 ns /
317.50 ns
∇ -5.80%
3.34 MHz /
3.15 MHz
Δ 6.15%
matrix: det, dyn[double] 20x204.34 us /
4.31 us
Δ 0.70%
230.26 KHz /
231.87 KHz
∇ -0.70%
matrix: det, fix[double] 20x203.89 us /
3.96 us
∇ -1.57%
256.77 KHz /
252.75 KHz
Δ 1.59%
matrix: det, dyn[double] 40x4017.00 us /
17.05 us
∇ -0.29%
58.81 KHz /
58.64 KHz
Δ 0.29%
matrix: det, fix[double] 40x4016.62 us /
16.89 us
∇ -1.61%
60.18 KHz /
59.21 KHz
Δ 1.63%
matrix: chol, dyn[double] 4x4250.00 ns /
530.00 ns
∇ -52.83%
4.00 MHz /
1.89 MHz
Δ 112.00%
matrix: chol, fix[double] 4x490.00 ns /
290.00 ns
∇ -68.97%
11.11 MHz /
3.45 MHz
Δ 222.22%
matrix: chol, dyn[double] 40x4010.76 us /
10.81 us
∇ -0.46%
92.94 KHz /
92.51 KHz
Δ 0.46%
matrix: chol, fix[double] 40x4010.29 us /
10.61 us
∇ -3.02%
97.18 KHz /
94.25 KHz
Δ 3.11%
matrix: chol, sparse [2x2;2x2]9.80 us /
6.10 us
Δ 60.66%
102.04 KHz /
163.93 KHz
∇ -37.76%
matrix: chol, sparse [30x30;10x10]38.80 us /
36.50 us
Δ 6.30%
25.77 KHz /
27.40 KHz
∇ -5.93%
matrix: chol, dyn[double] 10x[6x6]28.50 us /
28.80 us
∇ -1.04%
35.09 KHz /
34.72 KHz
Δ 1.05%
matrix: chol, sparse 10x[6x6]16.75 us /
16.74 us
Δ 0.06%
59.70 KHz /
59.74 KHz
∇ -0.06%
matrix: chol, dyn[double] 20x[6x6]148.10 us /
151.40 us
∇ -2.18%
6.75 KHz /
6.61 KHz
Δ 2.23%
matrix: chol, sparse 20x[6x6]29.60 us /
29.33 us
Δ 0.92%
33.78 KHz /
34.09 KHz
∇ -0.91%
matrix: chol, dyn[double] 50x[6x6]1.67 ms /
1.67 ms
Δ 0.02%
597.87 Hz /
598.01 Hz
∇ -0.02%
matrix: chol, sparse 50x[6x6]70.37 us /
69.84 us
Δ 0.76%
14.21 KHz /
14.32 KHz
∇ -0.75%
matrix: chol, dyn[double] 100x[6x6]13.50 ms /
14.94 ms
∇ -9.69%
74.09 Hz /
66.92 Hz
Δ 10.73%
matrix: chol, sparse 100x[6x6]134.72 us /
142.72 us
∇ -5.61%
7.42 KHz /
7.01 KHz
Δ 5.94%
matrix: chol, dyn[double] 120x[6x6]24.56 ms /
23.75 ms
Δ 3.39%
40.72 Hz /
42.10 Hz
∇ -3.28%
matrix: chol, sparse 120x[6x6]163.32 us /
163.62 us
∇ -0.18%
6.12 KHz /
6.11 KHz
Δ 0.18%
matrix: chol, dyn[double] 140x[6x6]35.44 ms /
36.15 ms
∇ -1.96%
28.22 Hz /
27.66 Hz
Δ 2.00%
matrix: chol, sparse 140x[6x6]188.90 us /
190.66 us
∇ -0.92%
5.29 KHz /
5.24 KHz
Δ 0.93%
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 /
4.07 ns
∇ -100.00%
inf THz /
245.78 MHz
Δ inf%
gridmap2D: setCell0.95 ns /
2.90 ns
∇ -67.17%
1.05 GHz /
344.23 MHz
Δ 204.60%
gridmap2D: updateCell3.43 ns /
5.82 ns
∇ -41.16%
291.80 MHz /
171.70 MHz
Δ 69.94%
gridmap2D: updateCell_fast_occupied0.86 ns /
0.86 ns
∇ -0.30%
1.17 GHz /
1.17 GHz
Δ 0.30%
gridmap2D: insert scan w/o widening60.12 us /
56.46 us
Δ 6.49%
16.63 KHz /
17.71 KHz
∇ -6.09%
gridmap2D: insert scan with widening167.16 us /
158.80 us
Δ 5.26%
5.98 KHz /
6.30 KHz
∇ -5.00%
gridmap2D: resize271.00 us /
308.00 us
∇ -12.01%
3.69 KHz /
3.25 KHz
Δ 13.65%
gridmap2D: computeLikelihood8.78 us /
9.34 us
∇ -6.05%
113.96 KHz /
107.06 KHz
Δ 6.44%
gridmap2D: determineMatching2D22.26 us /
22.76 us
∇ -2.19%
44.93 KHz /
43.94 KHz
Δ 2.24%
pointmap: insert 100 scans288.09 us /
296.72 us
∇ -2.91%
3.47 KHz /
3.37 KHz
Δ 2.99%
pointmap: build 2D kd-tree of 1 scan1.08 us /
1.40 us
∇ -22.86%
925.93 KHz /
714.29 KHz
Δ 29.63%
pointmap: build 2D kd-tree of 100 scan84.64 us /
82.24 us
Δ 2.92%
11.81 KHz /
12.16 KHz
∇ -2.84%
pointmap: build 2D kd-tree of 1000 scan939.64 us /
911.44 us
Δ 3.09%
1.06 KHz /
1.10 KHz
∇ -3.00%
pointmap: build 3D kd-tree of 1 scan1.52 us /
920.00 ns
Δ 65.22%
657.89 KHz /
1.09 MHz
∇ -39.47%
pointmap: build 3D kd-tree of 100 scan88.16 us /
87.64 us
Δ 0.59%
11.34 KHz /
11.41 KHz
∇ -0.59%
pointmap: build 3D kd-tree of 1000 scan939.00 us /
918.80 us
Δ 2.20%
1.06 KHz /
1.09 KHz
∇ -2.15%
pointmap: kd-tree 2d query on 10 scans319.00 ns /
317.00 ns
Δ 0.63%
3.13 MHz /
3.15 MHz
∇ -0.63%
pointmap: kd-tree 2d query on 1000 scans23.54 us /
22.90 us
Δ 2.81%
42.47 KHz /
43.67 KHz
∇ -2.74%
pointmap: kd-tree 2d query on 10000 scans2.74 ms /
2.66 ms
Δ 2.85%
364.91 Hz /
375.31 Hz
∇ -2.77%
pointmap: (insert scan+2D kd-tree query) x 10951.65 us /
946.05 us
Δ 0.59%
1.05 KHz /
1.06 KHz
∇ -0.59%
pointmap: (insert scan+2D kd-tree query) x 5023.84 ms /
23.20 ms
Δ 2.73%
41.95 Hz /
43.10 Hz
∇ -2.66%
pointmap: (insert scan+3D kd-tree query) x 10928.80 us /
936.50 us
∇ -0.82%
1.08 KHz /
1.07 KHz
Δ 0.83%
pointmap: (insert scan+3D kd-tree query) x 5023.74 ms /
23.27 ms
Δ 2.04%
42.12 Hz /
42.98 Hz
∇ -2.00%
pointmap: computeMatchingWith2D21.35 us /
21.92 us
∇ -2.58%
46.83 KHz /
45.62 KHz
Δ 2.65%
pointmap: boundingBox (10 scans)875.32 ns /
892.30 ns
∇ -1.90%
1.14 MHz /
1.12 MHz
Δ 1.94%
pointmap: boundingBox (1000 scans)85.22 us /
85.56 us
∇ -0.41%
11.73 KHz /
11.69 KHz
Δ 0.41%
random: drawUniform32bit4.47 ns /
22.75 ns
∇ -80.37%
223.92 MHz /
43.95 MHz
Δ 409.53%
random: drawUniform4.45 ns /
22.74 ns
∇ -80.41%
224.56 MHz /
43.98 MHz
Δ 410.56%
random: drawGaussian1D_normalized51.69 ns /
55.74 ns
∇ -7.26%
19.35 MHz /
17.94 MHz
Δ 7.83%
random: drawGaussian1D51.88 ns /
55.81 ns
∇ -7.04%
19.28 MHz /
17.92 MHz
Δ 7.58%
random: system rand()10.85 ns /
10.62 ns
Δ 2.18%
92.14 MHz /
94.14 MHz
∇ -2.13%
random: drawGaussianMultivariate(fixed 3x3)544.38 ns /
551.60 ns
∇ -1.31%
1.84 MHz /
1.81 MHz
Δ 1.33%
random: drawGaussianMultivariate(dyn 3x3)1.17 us /
1.19 us
∇ -1.78%
852.67 KHz /
837.52 KHz
Δ 1.81%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)104.51 ns /
115.14 ns
∇ -9.23%
9.57 MHz /
8.69 MHz
Δ 10.17%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)166.05 ns /
180.82 ns
∇ -8.17%
6.02 MHz /
5.53 MHz
Δ 8.89%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)344.60 ns /
380.13 ns
∇ -9.35%
2.90 MHz /
2.63 MHz
Δ 10.31%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)112.66 ns /
122.87 ns
∇ -8.31%
8.88 MHz /
8.14 MHz
Δ 9.06%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)182.01 ns /
197.55 ns
∇ -7.87%
5.49 MHz /
5.06 MHz
Δ 8.54%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)361.46 ns /
390.58 ns
∇ -7.45%
2.77 MHz /
2.56 MHz
Δ 8.05%
random: permuteVector (len=10)153.80 ns /
1.69 us
∇ -90.91%
6.50 MHz /
590.81 KHz
Δ 1000.52%
random: permuteVector (len=100)1.62 us /
3.30 us
∇ -50.96%
618.31 KHz /
303.24 KHz
Δ 103.90%
random: permuteVector (len=1000)15.53 us /
19.67 us
∇ -21.08%
64.41 KHz /
50.83 KHz
Δ 26.71%
math: round0.03 ns /
0.03 ns
Δ 0.34%
30.65 GHz /
30.75 GHz
∇ -0.34%
math: std::hypot(float)4.94 ns /
0.00 ns
Δ 49424300.00%
202.33 MHz /
100.00 THz
∇ -100.00%
math: mrpt::math::hypot_fast(float)1.81 ns /
X
552.07 MHz /
X
math: mrpt::math::hypot_fast(double)3.62 ns /
X
275.97 MHz /
X
images: Save as JPEG (640x480, quality=95%)7.41 ms /
6.71 ms
Δ 10.49%
134.98 Hz /
149.14 Hz
∇ -9.49%
images: Save as JPEG (800x600, quality=95%)9.29 ms /
9.09 ms
Δ 2.14%
107.69 Hz /
110.00 Hz
∇ -2.10%
images: Save as JPEG (1024x768, quality=95%)14.19 ms /
14.11 ms
Δ 0.63%
70.45 Hz /
70.89 Hz
∇ -0.62%
images: Save as JPEG (640x480, quality=75%)4.83 ms /
4.88 ms
∇ -1.04%
207.20 Hz /
205.05 Hz
Δ 1.05%
images: Save as JPEG (800x600, quality=75%)7.60 ms /
7.53 ms
Δ 0.84%
131.66 Hz /
132.76 Hz
∇ -0.83%
images: Save as JPEG (1024x768, quality=75%)12.16 ms /
12.32 ms
∇ -1.31%
82.25 Hz /
81.18 Hz
Δ 1.33%
images: Save BMP 800x600 disk6.35 ms /
6.36 ms
∇ -0.16%
157.54 Hz /
157.29 Hz
Δ 0.16%
images: Save PNG 800x600 disk27.95 ms /
22.14 ms
Δ 26.25%
35.78 Hz /
45.17 Hz
∇ -20.79%
images: Save JPG 800x600 disk8.62 ms /
8.62 ms
Δ 0.02%
116.05 Hz /
116.07 Hz
∇ -0.02%
images: Load BMP 800x600 disk262.47 us /
298.27 us
∇ -12.00%
3.81 KHz /
3.35 KHz
Δ 13.64%
images: Load PNG 800x600 disk8.40 ms /
8.93 ms
∇ -6.01%
119.09 Hz /
111.94 Hz
Δ 6.39%
images: Load JPG 800x600 disk6.20 ms /
6.22 ms
∇ -0.33%
161.30 Hz /
160.76 Hz
Δ 0.33%
images: Save BMP 800x600 shared mem386.27 us /
417.93 us
∇ -7.58%
2.59 KHz /
2.39 KHz
Δ 8.20%
images: Save PNG 800x600 shared mem22.68 ms /
17.09 ms
Δ 32.75%
44.08 Hz /
58.52 Hz
∇ -24.67%
images: Save JPG 800x600 shared mem6.07 ms /
6.13 ms
∇ -0.95%
164.72 Hz /
163.16 Hz
Δ 0.96%
images: Load BMP 800x600 shared mem272.77 us /
278.67 us
∇ -2.12%
3.67 KHz /
3.59 KHz
Δ 2.16%
images: Load PNG 800x600 shared mem8.40 ms /
9.01 ms
∇ -6.80%
119.05 Hz /
110.95 Hz
Δ 7.30%
images: Load JPG 800x600 shared mem6.20 ms /
6.22 ms
∇ -0.38%
161.39 Hz /
160.78 Hz
Δ 0.38%
images: Gauss filter (640x480)2.18 ms /
2.01 ms
Δ 8.77%
458.01 Hz /
498.17 Hz
∇ -8.06%
images: Gauss filter (800x600)3.12 ms /
3.21 ms
∇ -2.92%
320.79 Hz /
311.42 Hz
Δ 3.01%
images: Gauss filter (1024x768)5.25 ms /
5.27 ms
∇ -0.51%
190.61 Hz /
189.63 Hz
Δ 0.52%
images: Half sample GRAY (160x120)806.67 ns /
753.33 ns
Δ 7.08%
1.24 MHz /
1.33 MHz
∇ -6.61%
images: Half sample GRAY (320x240)1.79 us /
1.81 us
∇ -0.92%
558.66 KHz /
553.51 KHz
Δ 0.93%
images: Half sample GRAY (640x480)7.54 us /
7.24 us
Δ 4.10%
132.63 KHz /
138.06 KHz
∇ -3.93%
images: Half sample GRAY (800x600)12.46 us /
12.12 us
Δ 2.83%
80.26 KHz /
82.53 KHz
∇ -2.76%
images: Half sample GRAY (1024x768)20.16 us /
20.49 us
∇ -1.61%
49.60 KHz /
48.80 KHz
Δ 1.64%
images: Half sample GRAY (1280x1024)33.44 us /
33.85 us
∇ -1.21%
29.90 KHz /
29.54 KHz
Δ 1.23%
images: Half sample RGB (160x120)1.47 us /
1.40 us
Δ 4.75%
680.27 KHz /
712.59 KHz
∇ -4.54%
images: Half sample RGB (320x240)4.68 us /
4.44 us
Δ 5.56%
213.52 KHz /
225.39 KHz
∇ -5.27%
images: Half sample RGB (640x480)22.17 us /
21.84 us
Δ 1.53%
45.10 KHz /
45.79 KHz
∇ -1.50%
images: Half sample RGB (800x600)33.14 us /
34.88 us
∇ -4.97%
30.17 KHz /
28.67 KHz
Δ 5.23%
images: Half sample RGB (1024x768)53.65 us /
58.20 us
∇ -7.83%
18.64 KHz /
17.18 KHz
Δ 8.49%
images: Half sample RGB (1280x1024)100.80 us /
119.26 us
∇ -15.48%
9.92 KHz /
8.38 KHz
Δ 18.32%
images: Half sample smooth GRAY (160x120)1.13 us /
1.08 us
Δ 4.31%
884.96 KHz /
923.08 KHz
∇ -4.13%
images: Half sample smooth GRAY (320x240)2.96 us /
3.11 us
∇ -4.93%
338.22 KHz /
321.54 KHz
Δ 5.19%
images: Half sample smooth GRAY (640x480)13.10 us /
13.89 us
∇ -5.64%
76.32 KHz /
72.01 KHz
Δ 5.98%
images: Half sample smooth GRAY (800x600)22.30 us /
21.31 us
Δ 4.63%
44.84 KHz /
46.92 KHz
∇ -4.42%
images: Half sample smooth GRAY (1024x768)35.66 us /
34.33 us
Δ 3.86%
28.05 KHz /
29.13 KHz
∇ -3.72%
images: Half sample smooth GRAY (1280x1024)56.33 us /
56.59 us
∇ -0.47%
17.75 KHz /
17.67 KHz
Δ 0.47%
images: Half sample smooth RGB (160x120)11.92 us /
10.08 us
Δ 18.22%
83.92 KHz /
99.21 KHz
∇ -15.41%
images: Half sample smooth RGB (320x240)36.43 us /
33.64 us
Δ 8.28%
27.45 KHz /
29.72 KHz
∇ -7.65%
images: Half sample smooth RGB (640x480)126.84 us /
127.81 us
∇ -0.75%
7.88 KHz /
7.82 KHz
Δ 0.76%
images: Half sample smooth RGB (800x600)142.65 us /
191.91 us
∇ -25.67%
7.01 KHz /
5.21 KHz
Δ 34.53%
images: Half sample smooth RGB (1024x768)261.31 us /
194.27 us
Δ 34.51%
3.83 KHz /
5.15 KHz
∇ -25.66%
images: Half sample smooth RGB (1280x1024)275.76 us /
364.64 us
∇ -24.37%
3.63 KHz /
2.74 KHz
Δ 32.23%
images: RGB->GRAY 8u (40x30)4.20 us /
5.59 us
∇ -24.76%
237.91 KHz /
179.00 KHz
Δ 32.91%
images: RGB->GRAY 8u (80x60)1.89 us /
4.23 us
∇ -55.43%
530.04 KHz /
236.22 KHz
Δ 124.38%
images: RGB->GRAY 8u (160x120)8.07 us /
11.42 us
∇ -29.38%
123.97 KHz /
87.54 KHz
Δ 41.61%
images: RGB->GRAY 8u (320x240)36.87 us /
35.87 us
Δ 2.79%
27.12 KHz /
27.88 KHz
∇ -2.71%
images: RGB->GRAY 8u (640x480)123.99 us /
127.77 us
∇ -2.96%
8.07 KHz /
7.83 KHz
Δ 3.05%
images: RGB->GRAY 8u (800x600)160.60 us /
169.11 us
∇ -5.03%
6.23 KHz /
5.91 KHz
Δ 5.30%
images: RGB->GRAY 8u (1024x768)225.35 us /
237.72 us
∇ -5.21%
4.44 KHz /
4.21 KHz
Δ 5.49%
images: RGB->GRAY 8u (1280x1024)366.04 us /
377.32 us
∇ -2.99%
2.73 KHz /
2.65 KHz
Δ 3.08%
images: KLT score (WIN=2 5x5)27.32 ns /
27.26 ns
Δ 0.20%
36.61 MHz /
36.68 MHz
∇ -0.20%
images: KLT score (WIN=3 7x7)33.44 ns /
33.33 ns
Δ 0.34%
29.90 MHz /
30.00 MHz
∇ -0.34%
images: KLT score (WIN=4 9x9)37.69 ns /
37.96 ns
∇ -0.73%
26.53 MHz /
26.34 MHz
Δ 0.73%
images: KLT score (WIN=5 10x10)47.70 ns /
48.02 ns
∇ -0.67%
20.97 MHz /
20.83 MHz
Δ 0.68%
images: KLT score (WIN=6 13x13)53.85 ns /
53.09 ns
Δ 1.44%
18.57 MHz /
18.84 MHz
∇ -1.42%
images: KLT score (WIN=7 15x15)63.63 ns /
62.87 ns
Δ 1.21%
15.72 MHz /
15.91 MHz
∇ -1.19%
images: KLT score (WIN=8 17x17)60.62 ns /
59.92 ns
Δ 1.18%
16.49 MHz /
16.69 MHz
∇ -1.17%
images: KLT score (WIN=9 19x19)63.96 ns /
62.94 ns
Δ 1.62%
15.64 MHz /
15.89 MHz
∇ -1.59%
images: KLT score (WIN=10 21x21)68.09 ns /
66.64 ns
Δ 2.17%
14.69 MHz /
15.01 MHz
∇ -2.13%
images: KLT score (WIN=11 23x23)59.89 ns /
59.70 ns
Δ 0.33%
16.70 MHz /
16.75 MHz
∇ -0.33%
images: KLT score (WIN=12 25x25)78.90 ns /
78.23 ns
Δ 0.86%
12.67 MHz /
12.78 MHz
∇ -0.86%
images: KLT score (WIN=13 27x27)67.38 ns /
66.87 ns
Δ 0.77%
14.84 MHz /
14.95 MHz
∇ -0.76%
images: KLT score (WIN=14 29x29)70.05 ns /
69.47 ns
Δ 0.83%
14.28 MHz /
14.39 MHz
∇ -0.82%
images: KLT score (WIN=15 31x31)73.23 ns /
72.48 ns
Δ 1.04%
13.66 MHz /
13.80 MHz
∇ -1.03%
images: KLT score (WIN=16 33x33)103.99 ns /
103.32 ns
Δ 0.65%
9.62 MHz /
9.68 MHz
∇ -0.64%
images: buildPyramid 640x480,4 levs,no smooth,no gray81.41 us /
81.37 us
Δ 0.05%
12.28 KHz /
12.29 KHz
∇ -0.05%
images: buildPyramid 640x480,4 levs, smooth,no gray224.53 us /
224.34 us
Δ 0.09%
4.45 KHz /
4.46 KHz
∇ -0.09%
images: buildPyramid 640x480,4 levs,no smooth, gray132.60 us /
94.91 us
Δ 39.72%
7.54 KHz /
10.54 KHz
∇ -28.43%
images: buildPyramid 640x480,4 levs, smooth, gray144.11 us /
101.22 us
Δ 42.38%
6.94 KHz /
9.88 KHz
∇ -29.77%
images: buildPyramid 640x480,8 levs,no smooth,no gray105.23 us /
85.80 us
Δ 22.65%
9.50 KHz /
11.66 KHz
∇ -18.47%
images: buildPyramid 640x480,8 levs, smooth,no gray237.08 us /
231.53 us
Δ 2.40%
4.22 KHz /
4.32 KHz
∇ -2.34%
images: buildPyramid 640x480,8 levs,no smooth, gray95.91 us /
99.53 us
∇ -3.64%
10.43 KHz /
10.05 KHz
Δ 3.77%
images: buildPyramid 640x480,8 levs, smooth, gray104.65 us /
107.32 us
∇ -2.48%
9.56 KHz /
9.32 KHz
Δ 2.54%
stereo: prepare rectify map 640x480 RGB18.50 ms /
18.45 ms
Δ 0.28%
54.06 Hz /
54.21 Hz
∇ -0.28%
stereo: prepare rectify map 800x600 RGB28.78 ms /
28.81 ms
∇ -0.11%
34.74 Hz /
34.71 Hz
Δ 0.11%
stereo: prepare rectify map 1024x768 RGB47.30 ms /
47.34 ms
∇ -0.08%
21.14 Hz /
21.12 Hz
Δ 0.08%
stereo: prepare rectify map 1024x768->800x600 RGB28.78 ms /
28.79 ms
∇ -0.06%
34.75 Hz /
34.73 Hz
Δ 0.06%
stereo: prepare rectify map 1024x768->640x480 RGB18.42 ms /
18.49 ms
∇ -0.42%
54.30 Hz /
54.07 Hz
Δ 0.42%
stereo: rectify 640x480 RGB1.56 ms /
1.53 ms
Δ 1.83%
639.86 Hz /
651.57 Hz
∇ -1.80%
stereo: rectify 800x600 RGB2.05 ms /
1.62 ms
Δ 26.42%
488.62 Hz /
617.68 Hz
∇ -20.90%
stereo: rectify 1024x768 RGB3.27 ms /
2.94 ms
Δ 11.24%
305.76 Hz /
340.13 Hz
∇ -10.11%
stereo: rectify 1024x768->800x600 RGB1.99 ms /
2.00 ms
∇ -0.29%
502.64 Hz /
501.19 Hz
Δ 0.29%
stereo: rectify 1024x768->640x480 RGB1.64 ms /
1.69 ms
∇ -2.86%
608.81 Hz /
591.40 Hz
Δ 2.94%
stereo: rectify 640x480 GRAY1.13 ms /
1.10 ms
Δ 2.88%
881.95 Hz /
907.32 Hz
∇ -2.80%
stereo: rectify 800x600 GRAY1.58 ms /
1.23 ms
Δ 28.49%
633.23 Hz /
813.64 Hz
∇ -22.17%
stereo: rectify 1024x768 GRAY2.40 ms /
2.26 ms
Δ 6.08%
416.50 Hz /
441.81 Hz
∇ -5.73%
stereo: rectify 1024x768->800x600 GRAY1.55 ms /
1.38 ms
Δ 12.21%
644.12 Hz /
722.75 Hz
∇ -10.88%
stereo: rectify 1024x768->640x480 GRAY1.29 ms /
1.32 ms
∇ -1.82%
774.23 Hz /
760.11 Hz
Δ 1.86%
tfest: se3_l2 [CPose3DQuat]3.91 us /
2.82 us
Δ 38.88%
255.76 KHz /
355.19 KHz
∇ -27.99%
tfest: se3_l2 [vector TPoint3D]3.58 us /
2.86 us
Δ 24.98%
279.38 KHz /
349.17 KHz
∇ -19.99%
tfest: se2_l2 [x10 corrs]151.94 ns /
135.55 ns
Δ 12.09%
6.58 MHz /
7.38 MHz
∇ -10.79%
tfest: se2_l2 [x100 corrs]223.20 ns /
221.18 ns
Δ 0.91%
4.48 MHz /
4.52 MHz
∇ -0.91%
tfest: se2_l2 [x1000 corrs]1.04 us /
1.02 us
Δ 1.59%
965.48 KHz /
980.87 KHz
∇ -1.57%
feature_extraction [640x480]: Harris8.61 ms /
6.31 ms
Δ 36.45%
116.20 Hz /
158.55 Hz
∇ -26.71%
feature_extraction [640x480]: KLT6.55 ms /
6.67 ms
∇ -1.91%
152.74 Hz /
149.82 Hz
Δ 1.95%
feature_extraction [640x480]: SURF35.27 ms /
33.78 ms
Δ 4.39%
28.35 Hz /
29.60 Hz
∇ -4.21%
feature_extraction [640x480]: FAST2.04 ms /
1.90 ms
Δ 7.71%
489.30 Hz /
527.03 Hz
∇ -7.16%
feature_extraction [640x480]: Spin desc.102.86 ms /
100.39 ms
Δ 2.46%
9.72 Hz /
9.96 Hz
∇ -2.40%
feature_extraction [640x480]: FASTER-92.77 ms /
2.31 ms
Δ 19.76%
361.38 Hz /
432.77 Hz
∇ -16.50%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.22 ms /
1.17 ms
Δ 4.05%
819.12 Hz /
852.33 Hz
∇ -3.90%
feature_extraction [640x480]: FASTER-101.90 ms /
1.75 ms
Δ 8.16%
527.56 Hz /
570.61 Hz
∇ -7.55%
feature_extraction [640x480]: FASTER-10 (sorted best 200)951.21 us /
974.68 us
∇ -2.41%
1.05 KHz /
1.03 KHz
Δ 2.47%
feature_extraction [640x480]: FASTER-121.43 ms /
1.29 ms
Δ 10.81%
698.30 Hz /
773.75 Hz
∇ -9.75%
feature_extraction [640x480]: FASTER-12 (sorted best 200)909.78 us /
964.98 us
∇ -5.72%
1.10 KHz /
1.04 KHz
Δ 6.07%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()414.84 us /
397.71 us
Δ 4.31%
2.41 KHz /
2.51 KHz
∇ -4.13%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()332.75 us /
372.97 us
∇ -10.78%
3.01 KHz /
2.68 KHz
Δ 12.09%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()388.20 us /
476.84 us
∇ -18.59%
2.58 KHz /
2.10 KHz
Δ 22.83%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index411.19 us /
403.19 us
Δ 1.98%
2.43 KHz /
2.48 KHz
∇ -1.94%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index332.95 us /
376.41 us
∇ -11.55%
3.00 KHz /
2.66 KHz
Δ 13.05%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index389.63 us /
478.39 us
∇ -18.55%
2.57 KHz /
2.09 KHz
Δ 22.78%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()590.48 us /
502.18 us
Δ 17.58%
1.69 KHz /
1.99 KHz
∇ -14.95%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()427.60 us /
474.23 us
∇ -9.83%
2.34 KHz /
2.11 KHz
Δ 10.91%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()447.50 us /
548.60 us
∇ -18.43%
2.23 KHz /
1.82 KHz
Δ 22.59%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index534.93 us /
507.99 us
Δ 5.30%
1.87 KHz /
1.97 KHz
∇ -5.04%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index428.89 us /
536.86 us
∇ -20.11%
2.33 KHz /
1.86 KHz
Δ 25.18%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index446.37 us /
550.06 us
∇ -18.85%
2.24 KHz /
1.82 KHz
Δ 23.23%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()731.75 us /
646.02 us
Δ 13.27%
1.37 KHz /
1.55 KHz
∇ -11.72%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()579.95 us /
638.23 us
∇ -9.13%
1.72 KHz /
1.57 KHz
Δ 10.05%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()494.25 us /
605.17 us
∇ -18.33%
2.02 KHz /
1.65 KHz
Δ 22.44%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index729.32 us /
651.80 us
Δ 11.89%
1.37 KHz /
1.53 KHz
∇ -10.63%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index580.22 us /
640.70 us
∇ -9.44%
1.72 KHz /
1.56 KHz
Δ 10.42%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index494.26 us /
606.24 us
∇ -18.47%
2.02 KHz /
1.65 KHz
Δ 22.66%
feature_matching [640x480]: Harris + CC16.44 ms /
15.55 ms
Δ 5.69%
60.84 Hz /
64.30 Hz
∇ -5.38%
feature_matching [640x480]: Harris + SAD11.59 ms /
11.05 ms
Δ 4.92%
86.25 Hz /
90.49 Hz
∇ -4.69%
feature_matching [640x480]: SURF64.71 ms /
62.55 ms
Δ 3.45%
15.45 Hz /
15.99 Hz
∇ -3.34%
feature_matching [640x480]: FAST + CC7.56 ms /
7.00 ms
Δ 8.11%
132.20 Hz /
142.92 Hz
∇ -7.50%
feature_matching [640x480]: FAST + SAD2.99 ms /
2.47 ms
Δ 20.91%
335.00 Hz /
405.04 Hz
∇ -17.29%
graph(2d): insertEdge x 1e386.40 us /
93.49 us
∇ -7.58%
11.57 KHz /
10.70 KHz
Δ 8.21%
graph(2d,vec): insertEdge x 1e385.45 us /
97.39 us
∇ -12.25%
11.70 KHz /
10.27 KHz
Δ 13.96%
graph(2d): insertEdgeAtEnd x 1e369.20 us /
73.49 us
∇ -5.85%
14.45 KHz /
13.61 KHz
Δ 6.21%
graph(2d,vec): insertEdgeAtEnd x 1e370.19 us /
74.27 us
∇ -5.50%
14.25 KHz /
13.46 KHz
Δ 5.82%
graph(2d pdf): insertEdge x 1e3116.71 us /
130.24 us
∇ -10.38%
8.57 KHz /
7.68 KHz
Δ 11.59%
graph(2d pdf,vec): insertEdge x 1e3123.52 us /
130.03 us
∇ -5.00%
8.10 KHz /
7.69 KHz
Δ 5.27%
graph(2d pdf): insertEdgeAtEnd x 1e3132.85 us /
113.28 us
Δ 17.28%
7.53 KHz /
8.83 KHz
∇ -14.73%
graph(2d pdf,vec): insertEdgeAtEnd x 1e399.13 us /
113.96 us
∇ -13.01%
10.09 KHz /
8.77 KHz
Δ 14.96%
graph(2d): insertEdge x 1e41.50 ms /
1.52 ms
∇ -1.59%
666.67 Hz /
656.10 Hz
Δ 1.61%
graph(2d,vec): insertEdge x 1e41.24 ms /
1.25 ms
∇ -1.21%
808.85 Hz /
799.05 Hz
Δ 1.23%
graph(2d): insertEdgeAtEnd x 1e4442.34 us /
488.95 us
∇ -9.53%
2.26 KHz /
2.05 KHz
Δ 10.54%
graph(2d,vec): insertEdgeAtEnd x 1e4435.94 us /
490.97 us
∇ -11.21%
2.29 KHz /
2.04 KHz
Δ 12.62%
graph(2d pdf): insertEdge x 1e41.23 ms /
1.29 ms
∇ -4.70%
810.72 Hz /
772.59 Hz
Δ 4.94%
graph(2d pdf,vec): insertEdge x 1e41.64 ms /
1.73 ms
∇ -5.25%
609.72 Hz /
577.69 Hz
Δ 5.55%
graph(2d pdf): insertEdgeAtEnd x 1e4981.13 us /
1.11 ms
∇ -11.21%
1.02 KHz /
904.94 Hz
Δ 12.63%
graph(2d pdf,vec): insertEdgeAtEnd x 1e4963.43 us /
1.11 ms
∇ -13.12%
1.04 KHz /
901.73 Hz
Δ 15.11%
graph(3d): insertEdge x 1e3121.18 us /
123.67 us
∇ -2.01%
8.25 KHz /
8.09 KHz
Δ 2.05%
graph(3d,vec): insertEdge x 1e3110.97 us /
125.66 us
∇ -11.69%
9.01 KHz /
7.96 KHz
Δ 13.24%
graph(3d): insertEdgeAtEnd x 1e392.37 us /
103.65 us
∇ -10.88%
10.83 KHz /
9.65 KHz
Δ 12.21%
graph(3d,vec): insertEdgeAtEnd x 1e390.57 us /
103.36 us
∇ -12.38%
11.04 KHz /
9.67 KHz
Δ 14.13%
graph(3d pdf): insertEdge x 1e3296.56 us /
293.13 us
Δ 1.17%
3.37 KHz /
3.41 KHz
∇ -1.16%
graph(3d pdf,vec): insertEdge x 1e3290.74 us /
290.78 us
∇ -0.02%
3.44 KHz /
3.44 KHz
Δ 0.02%
graph(3d pdf): insertEdgeAtEnd x 1e3226.89 us /
247.59 us
∇ -8.36%
4.41 KHz /
4.04 KHz
Δ 9.12%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3228.59 us /
247.19 us
∇ -7.52%
4.37 KHz /
4.05 KHz
Δ 8.14%
graph(3d): insertEdge x 1e41.47 ms /
1.53 ms
∇ -3.56%
678.77 Hz /
654.63 Hz
Δ 3.69%
graph(3d,vec): insertEdge x 1e41.32 ms /
1.52 ms
∇ -12.84%
756.48 Hz /
659.36 Hz
Δ 14.73%
graph(3d): insertEdgeAtEnd x 1e4891.24 us /
1.03 ms
∇ -13.17%
1.12 KHz /
974.27 Hz
Δ 15.17%
graph(3d,vec): insertEdgeAtEnd x 1e4901.48 us /
1.04 ms
∇ -13.05%
1.11 KHz /
964.55 Hz
Δ 15.00%
graph(3d pdf): insertEdge x 1e43.97 ms /
3.71 ms
Δ 7.00%
252.07 Hz /
269.73 Hz
∇ -6.55%
graph(3d pdf,vec): insertEdge x 1e43.95 ms /
3.71 ms
Δ 6.54%
253.24 Hz /
269.81 Hz
∇ -6.14%
graph(3d pdf): insertEdgeAtEnd x 1e42.27 ms /
2.49 ms
∇ -8.66%
439.68 Hz /
401.60 Hz
Δ 9.48%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.27 ms /
2.48 ms
∇ -8.63%
440.66 Hz /
402.64 Hz
Δ 9.44%
graph(3d): dijkstra 1e2 nodes47.91 us /
52.34 us
∇ -8.46%
20.87 KHz /
19.11 KHz
Δ 9.24%
graph(3d,vec): dijkstra 1e2 nodes47.74 us /
50.77 us
∇ -5.96%
20.95 KHz /
19.70 KHz
Δ 6.34%
graph(3d): dijkstra 1e3 nodes709.84 us /
747.15 us
∇ -4.99%
1.41 KHz /
1.34 KHz
Δ 5.26%
graph(3d,vec): dijkstra 1e3 nodes717.62 us /
730.57 us
∇ -1.77%
1.39 KHz /
1.37 KHz
Δ 1.81%
graph(3d): dijkstra 1e4 nodes10.03 ms /
10.64 ms
∇ -5.68%
99.66 Hz /
94.00 Hz
Δ 6.02%
graph(3d,vec): dijkstra 1e4 nodes10.28 ms /
10.80 ms
∇ -4.80%
97.27 Hz /
92.60 Hz
Δ 5.04%
graph(3d): dijkstra 1e5 nodes176.58 ms /
167.96 ms
Δ 5.13%
5.66 Hz /
5.95 Hz
∇ -4.88%
graph(3d,vec): dijkstra 1e5 nodes175.46 ms /
169.81 ms
Δ 3.33%
5.70 Hz /
5.89 Hz
∇ -3.22%
graph(2d): dijkstra 1e5 nodes180.07 ms /
173.28 ms
Δ 3.92%
5.55 Hz /
5.77 Hz
∇ -3.77%
graph(2d,vec): dijkstra 1e5 nodes175.58 ms /
172.89 ms
Δ 1.56%
5.70 Hz /
5.78 Hz
∇ -1.53%
graphslam(2d): levmarq 50 KFs/101 edges709.48 us /
620.26 us
Δ 14.38%
1.41 KHz /
1.61 KHz
∇ -12.58%
graphslam(2d): levmarq 100 KFs/451 edges4.14 ms /
3.22 ms
Δ 28.84%
241.31 Hz /
310.90 Hz
∇ -22.38%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)7.80 ms /
1.09 ms
Δ 616.76%
128.13 Hz /
918.40 Hz
∇ -86.05%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)7.21 ms /
1.02 ms
Δ 605.49%
138.64 Hz /
978.06 Hz
∇ -85.83%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)7.25 ms /
909.15 us
Δ 697.66%
137.89 Hz /
1.10 KHz
∇ -87.46%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)7.21 ms /
970.51 us
Δ 642.70%
138.74 Hz /
1.03 KHz
∇ -86.54%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)6.30 ms /
1.97 ms
Δ 219.78%
158.78 Hz /
507.74 Hz
∇ -68.73%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)6.29 ms /
1.96 ms
Δ 220.57%
158.98 Hz /
509.63 Hz
∇ -68.81%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)6.19 ms /
1.86 ms
Δ 232.39%
161.42 Hz /
536.55 Hz
∇ -69.91%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)5.67 ms /
1.32 ms
Δ 329.30%
176.25 Hz /
756.64 Hz
∇ -76.71%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)3.91 ms /
1.94 ms
Δ 101.36%
255.56 Hz /
514.60 Hz
∇ -50.34%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)3.88 ms /
1.95 ms
Δ 98.58%
257.85 Hz /
512.03 Hz
∇ -49.64%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)3.86 ms /
1.88 ms
Δ 105.79%
259.15 Hz /
533.31 Hz
∇ -51.41%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)3.36 ms /
1.43 ms
Δ 134.32%
297.89 Hz /
698.03 Hz
∇ -57.32%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)3.38 ms /
2.05 ms
Δ 65.04%
296.00 Hz /
488.53 Hz
∇ -39.41%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)3.36 ms /
2.04 ms
Δ 64.76%
297.63 Hz /
490.40 Hz
∇ -39.31%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)3.39 ms /
2.06 ms
Δ 64.66%
295.20 Hz /
486.06 Hz
∇ -39.27%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)2.79 ms /
1.47 ms
Δ 90.21%
358.44 Hz /
681.79 Hz
∇ -47.43%
3DRangeScan: 320x240 Depth->2D scan2.11 ms /
1.25 ms
Δ 68.91%
474.23 Hz /
801.03 Hz
∇ -40.80%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.95 ms /
3.34 ms
Δ 18.39%
252.87 Hz /
299.37 Hz
∇ -15.53%
3DRangeScan: 320x240 Depth->2D scan + max_filter4.32 ms /
3.35 ms
Δ 28.83%
231.37 Hz /
298.08 Hz
∇ -22.38%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters6.38 ms /
5.16 ms
Δ 23.70%
156.67 Hz /
193.80 Hz
∇ -19.16%
CAtan2LUT: 20x20m,1cm cells,build360.78 ms /
360.93 ms
∇ -0.04%
2.77 Hz /
2.77 Hz
Δ 0.04%
CAtan2LUT: 20x20m,1cm cells,query7.41 ns /
7.31 ns
Δ 1.27%
135.01 MHz /
136.72 MHz
∇ -1.26%
CAtan2LUTMultiRes: 22x22m,build292.26 ms /
292.04 ms
Δ 0.07%
3.42 Hz /
3.42 Hz
∇ -0.07%
CAtan2LUTMultiRes: 22x22m,query19.02 ns /
19.01 ns
Δ 0.07%
52.58 MHz /
52.61 MHz
∇ -0.07%
CAtan2LUT: raw ::atan2() call94.87 ns /
94.61 ns
Δ 0.27%
10.54 MHz /
10.57 MHz
∇ -0.27%
Strings: mrpt::format() short str199.30 ns /
194.60 ns
Δ 2.42%
5.02 MHz /
5.14 MHz
∇ -2.36%
Strings: mrpt::format() long str356.30 ns /
354.10 ns
Δ 0.62%
2.81 MHz /
2.82 MHz
∇ -0.62%

 


Page generated automatically at 2018/10/29,14:04:22.999420 with MRPT 1.9.9 by 'mrpt-performance'.