Comparison: 1.5.7dev-GCC730-64bit vs. 1.5.7dev-MSVC2017-64bit




Test description 1.5.7dev-GCC730-64bit /
1.5.7dev-MSVC2017-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset936.60 us /
1.31 ms
∇ -28.48%
1.07 KHz /
763.60 Hz
Δ 39.82%
icp-slam (match grid): Run with sample dataset1.22 ms /
1.76 ms
∇ -30.70%
821.57 Hz /
569.34 Hz
Δ 44.30%
poses: CPose3D (+) CPose3D16.22 ns /
108.84 ns
∇ -85.10%
61.65 MHz /
9.19 MHz
Δ 571.02%
poses: CPose3D.composeFrom()14.96 ns /
98.66 ns
∇ -84.84%
66.84 MHz /
10.14 MHz
Δ 559.49%
poses: CPose3D (+) CPoint3D3.38 ns /
10.79 ns
∇ -68.72%
296.21 MHz /
92.65 MHz
Δ 219.71%
poses: CPose3D.composePoint()6.23 ns /
9.95 ns
∇ -37.36%
160.51 MHz /
100.55 MHz
Δ 59.64%
poses: CPose3D.composePoint()+Jacobs116.85 ns /
77.35 ns
Δ 51.06%
8.56 MHz /
12.93 MHz
∇ -33.80%
poses: CPoint3D (-) CPose3D7.44 ns /
29.11 ns
∇ -74.44%
134.37 MHz /
34.35 MHz
Δ 291.19%
poses: CPose3D.inverseComposePoint()16.60 ns /
21.72 ns
∇ -23.58%
60.23 MHz /
46.03 MHz
Δ 30.85%
poses: CPose2D (+) CPose2D11.88 ns /
14.66 ns
∇ -18.98%
84.18 MHz /
68.20 MHz
Δ 23.43%
poses: CPose2D.composeFrom()12.31 ns /
8.87 ns
Δ 38.86%
81.23 MHz /
112.80 MHz
∇ -27.99%
poses: CPose2D (+) CPoint2D3.25 ns /
10.10 ns
∇ -67.83%
307.88 MHz /
99.04 MHz
Δ 210.88%
poses: CPose2D.composePoint()2.98 ns /
5.96 ns
∇ -49.97%
335.12 MHz /
167.67 MHz
Δ 99.87%
poses: CPose3DQuat (+) CPose3DQuat21.79 ns /
46.29 ns
∇ -52.93%
45.89 MHz /
21.60 MHz
Δ 112.44%
poses: CPose3DQuat.composeFrom()18.96 ns /
34.10 ns
∇ -44.41%
52.74 MHz /
29.32 MHz
Δ 79.87%
poses: CPose3DQuat (+) CPoint3D9.76 ns /
24.82 ns
∇ -60.66%
102.42 MHz /
40.29 MHz
Δ 154.21%
poses: CPose3DQuat.composePoint()9.23 ns /
16.57 ns
∇ -44.31%
108.39 MHz /
60.36 MHz
Δ 79.56%
poses: CPose3DQuat.invcomposePoint()8.01 ns /
13.13 ns
∇ -38.97%
124.78 MHz /
76.16 MHz
Δ 63.84%
poses: Conv CPose3DQuat <- CPose3D7.88 ns /
12.13 ns
∇ -35.01%
126.90 MHz /
82.47 MHz
Δ 53.88%
poses: Conv CPose3D -> CPose3DQuat70.81 ns /
43.97 ns
Δ 61.05%
14.12 MHz /
22.74 MHz
∇ -37.91%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)60.96 us /
960.22 ns
Δ 6248.46%
16.40 KHz /
1.04 MHz
∇ -98.42%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.56 us /
941.20 ns
Δ 6334.13%
16.51 KHz /
1.06 MHz
∇ -98.45%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)7.61 us /
5.89 us
Δ 29.20%
131.34 KHz /
169.68 KHz
∇ -22.60%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)270.70 ns /
1.72 us
∇ -84.28%
3.69 MHz /
580.64 KHz
Δ 536.21%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)270.60 ns /
1.72 us
∇ -84.31%
3.70 MHz /
579.72 KHz
Δ 537.46%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.12 us /
4.21 us
∇ -2.04%
242.69 KHz /
237.73 KHz
Δ 2.09%
CPose3DInterpolator: CPose3D insert pose at end198.13 ns /
189.89 ns
Δ 4.34%
5.05 MHz /
5.27 MHz
∇ -4.16%
CPose3DInterpolator: CPose3D insert pose random186.81 ns /
279.35 ns
∇ -33.13%
5.35 MHz /
3.58 MHz
Δ 49.54%
CPose3DInterpolator: CPose3D query570.42 ns /
408.39 ns
Δ 39.68%
1.75 MHz /
2.45 MHz
∇ -28.41%
CPose3DInterpolator: TPose3D insert pose at end174.17 ns /
166.84 ns
Δ 4.40%
5.74 MHz /
5.99 MHz
∇ -4.21%
CPose3DInterpolator: TPose3D insert pose random230.96 ns /
272.92 ns
∇ -15.37%
4.33 MHz /
3.66 MHz
Δ 18.17%
CPose3DInterpolator: TPose3D query511.64 ns /
318.24 ns
Δ 60.77%
1.95 MHz /
3.14 MHz
∇ -37.80%
CPose2DInterpolator: TPose2D insert pose at end153.49 ns /
160.68 ns
∇ -4.47%
6.52 MHz /
6.22 MHz
Δ 4.68%
CPose2DInterpolator: TPose2D insert pose random204.45 ns /
226.10 ns
∇ -9.57%
4.89 MHz /
4.42 MHz
Δ 10.59%
CPose2DInterpolator: TPose2D query185.58 ns /
144.72 ns
Δ 28.23%
5.39 MHz /
6.91 MHz
∇ -22.02%
matrix: unit, dyn[float], 3x320.81 ns /
21.72 ns
∇ -4.17%
48.05 MHz /
46.04 MHz
Δ 4.35%
matrix: unit, dyn[double], 3x318.03 ns /
21.63 ns
∇ -16.64%
55.46 MHz /
46.23 MHz
Δ 19.96%
matrix: unit, dyn[float], 6x649.43 ns /
58.30 ns
∇ -15.22%
20.23 MHz /
17.15 MHz
Δ 17.95%
matrix: unit, dyn[double], 6x638.37 ns /
57.93 ns
∇ -33.75%
26.06 MHz /
17.26 MHz
Δ 50.95%
matrix: unit, fix[float,3,3]0.00 ns /
0.83 ns
∇ -100.00%
inf THz /
1.21 GHz
Δ inf%
matrix: unit, fix[double,3,3]0.00 ns /
1.34 ns
∇ -100.00%
inf THz /
746.12 MHz
Δ inf%
matrix: unit, fix[float,6,6]0.00 ns /
4.12 ns
∇ -100.00%
inf THz /
242.52 MHz
Δ inf%
matrix: unit, fix[double,6,6]0.00 ns /
6.34 ns
∇ -100.00%
inf THz /
157.62 MHz
Δ inf%
matrix: multiply, dyn[float ], 3x3 * 3x375.60 ns /
177.80 ns
∇ -57.48%
13.23 MHz /
5.62 MHz
Δ 135.18%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
106.68 ns
∇ -100.00%
inf THz /
9.37 MHz
Δ inf%
matrix: multiply, dyn[double], 3x3 * 3x382.10 ns /
162.46 ns
∇ -49.46%
12.18 MHz /
6.16 MHz
Δ 97.88%
matrix: multiply, fix[double], 3x3 * 3x30.20 ns /
98.07 ns
∇ -99.80%
5.00 GHz /
10.20 MHz
Δ 48937.19%
matrix: multiply, dyn[float ], 3x6 * 6x388.00 ns /
184.38 ns
∇ -52.27%
11.36 MHz /
5.42 MHz
Δ 109.52%
matrix: multiply, fix[float ], 3x6 * 6x30.00 ns /
131.40 ns
∇ -100.00%
inf THz /
7.61 MHz
Δ inf%
matrix: multiply, dyn[double], 3x6 * 6x391.40 ns /
183.56 ns
∇ -50.21%
10.94 MHz /
5.45 MHz
Δ 100.83%
matrix: multiply, fix[double], 3x6 * 6x30.80 ns /
114.34 ns
∇ -99.30%
1.25 GHz /
8.75 MHz
Δ 14193.08%
matrix: multiply, dyn[float ], 10x40 * 40x101.08 us /
1.00 us
Δ 7.45%
928.25 KHz /
997.38 KHz
∇ -6.93%
matrix: multiply, fix[float ], 10x40 * 40x10794.20 ns /
831.72 ns
∇ -4.51%
1.26 MHz /
1.20 MHz
Δ 4.72%
matrix: multiply, dyn[double], 10x40 * 40x101.71 us /
1.55 us
Δ 10.33%
586.48 KHz /
647.07 KHz
∇ -9.36%
matrix: multiply, fix[double], 10x40 * 40x101.32 us /
1.33 us
∇ -1.43%
760.05 KHz /
749.16 KHz
Δ 1.45%
matrix: inv, dyn[double] 3x3592.00 ns /
997.04 ns
∇ -40.62%
1.69 MHz /
1.00 MHz
Δ 68.42%
matrix: inv, fix[double] 3x31.00 ns /
17.81 ns
∇ -94.39%
1.00 GHz /
56.15 MHz
Δ 1680.98%
matrix: inv, dyn[double] 6x61.57 us /
1.67 us
∇ -6.07%
638.57 KHz /
599.82 KHz
Δ 6.46%
matrix: inv, fix[double] 6x6818.00 ns /
1.01 us
∇ -18.65%
1.22 MHz /
994.53 KHz
Δ 22.92%
matrix: inv, dyn[double] 20x208.98 us /
10.40 us
∇ -13.65%
111.33 KHz /
96.14 KHz
Δ 15.81%
matrix: inv, fix[double] 20x208.15 us /
9.45 us
∇ -13.66%
122.62 KHz /
105.87 KHz
Δ 15.82%
matrix: inv, dyn[double] 40x4043.66 us /
40.34 us
Δ 8.22%
22.90 KHz /
24.79 KHz
∇ -7.59%
matrix: inv, fix[double] 40x4040.36 us /
38.14 us
Δ 5.83%
24.77 KHz /
26.22 KHz
∇ -5.50%
matrix: det, dyn[double] 2x2165.10 ns /
332.38 ns
∇ -50.33%
6.06 MHz /
3.01 MHz
Δ 101.32%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3225.50 ns /
437.03 ns
∇ -48.40%
4.43 MHz /
2.29 MHz
Δ 93.81%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6445.40 ns /
810.13 ns
∇ -45.02%
2.25 MHz /
1.23 MHz
Δ 81.89%
matrix: det, fix[double] 6x6299.10 ns /
606.86 ns
∇ -50.71%
3.34 MHz /
1.65 MHz
Δ 102.90%
matrix: det, dyn[double] 20x204.34 us /
6.30 us
∇ -31.06%
230.26 KHz /
158.75 KHz
Δ 45.04%
matrix: det, fix[double] 20x203.89 us /
5.89 us
∇ -33.84%
256.77 KHz /
169.88 KHz
Δ 51.15%
matrix: det, dyn[double] 40x4017.00 us /
22.96 us
∇ -25.95%
58.81 KHz /
43.55 KHz
Δ 35.05%
matrix: det, fix[double] 40x4016.62 us /
22.85 us
∇ -27.29%
60.18 KHz /
43.75 KHz
Δ 37.54%
matrix: chol, dyn[double] 4x4250.00 ns /
682.20 ns
∇ -63.35%
4.00 MHz /
1.47 MHz
Δ 172.88%
matrix: chol, fix[double] 4x490.00 ns /
316.95 ns
∇ -71.60%
11.11 MHz /
3.16 MHz
Δ 252.17%
matrix: chol, dyn[double] 40x4010.76 us /
15.61 us
∇ -31.08%
92.94 KHz /
64.05 KHz
Δ 45.09%
matrix: chol, fix[double] 40x4010.29 us /
14.14 us
∇ -27.21%
97.18 KHz /
70.74 KHz
Δ 37.38%
matrix: chol, sparse [2x2;2x2]9.80 us /
123.13 us
∇ -92.04%
102.04 KHz /
8.12 KHz
Δ 1156.42%
matrix: chol, sparse [30x30;10x10]38.80 us /
44.19 us
∇ -12.20%
25.77 KHz /
22.63 KHz
Δ 13.90%
matrix: chol, dyn[double] 10x[6x6]28.50 us /
38.64 us
∇ -26.24%
35.09 KHz /
25.88 KHz
Δ 35.57%
matrix: chol, sparse 10x[6x6]16.75 us /
18.44 us
∇ -9.15%
59.70 KHz /
54.24 KHz
Δ 10.08%
matrix: chol, dyn[double] 20x[6x6]148.10 us /
187.94 us
∇ -21.20%
6.75 KHz /
5.32 KHz
Δ 26.90%
matrix: chol, sparse 20x[6x6]29.60 us /
32.61 us
∇ -9.22%
33.78 KHz /
30.67 KHz
Δ 10.16%
matrix: chol, dyn[double] 50x[6x6]1.67 ms /
2.45 ms
∇ -31.79%
597.87 Hz /
407.79 Hz
Δ 46.61%
matrix: chol, sparse 50x[6x6]70.37 us /
159.41 us
∇ -55.86%
14.21 KHz /
6.27 KHz
Δ 126.53%
matrix: chol, dyn[double] 100x[6x6]13.50 ms /
16.61 ms
∇ -18.74%
74.09 Hz /
60.21 Hz
Δ 23.06%
matrix: chol, sparse 100x[6x6]134.72 us /
143.31 us
∇ -5.99%
7.42 KHz /
6.98 KHz
Δ 6.38%
matrix: chol, dyn[double] 120x[6x6]24.56 ms /
22.18 ms
Δ 10.75%
40.72 Hz /
45.09 Hz
∇ -9.70%
matrix: chol, sparse 120x[6x6]163.32 us /
169.63 us
∇ -3.72%
6.12 KHz /
5.90 KHz
Δ 3.86%
matrix: chol, dyn[double] 140x[6x6]35.44 ms /
33.41 ms
Δ 6.06%
28.22 Hz /
29.93 Hz
∇ -5.72%
matrix: chol, sparse 140x[6x6]188.90 us /
202.09 us
∇ -6.53%
5.29 KHz /
4.95 KHz
Δ 6.98%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: getCell0.00 ns /
2.91 ns
∇ -100.00%
inf THz /
343.63 MHz
Δ inf%
gridmap2D: setCell0.95 ns /
1.86 ns
∇ -48.80%
1.05 GHz /
536.87 MHz
Δ 95.31%
gridmap2D: updateCell3.43 ns /
3.46 ns
∇ -0.83%
291.80 MHz /
289.38 MHz
Δ 0.84%
gridmap2D: updateCell_fast_occupied0.86 ns /
1.88 ns
∇ -54.61%
1.17 GHz /
530.87 MHz
Δ 120.32%
gridmap2D: insert scan w/o widening60.12 us /
62.88 us
∇ -4.38%
16.63 KHz /
15.90 KHz
Δ 4.59%
gridmap2D: insert scan with widening167.16 us /
175.10 us
∇ -4.54%
5.98 KHz /
5.71 KHz
Δ 4.75%
gridmap2D: resize271.00 us /
757.97 us
∇ -64.25%
3.69 KHz /
1.32 KHz
Δ 179.69%
gridmap2D: computeLikelihood8.78 us /
8.30 us
Δ 5.77%
113.96 KHz /
120.54 KHz
∇ -5.45%
gridmap2D: determineMatching2D22.26 us /
35.80 us
∇ -37.83%
44.93 KHz /
27.93 KHz
Δ 60.85%
pointmap: insert 100 scans288.09 us /
526.37 us
∇ -45.27%
3.47 KHz /
1.90 KHz
Δ 82.71%
pointmap: build 2D kd-tree of 1 scan1.08 us /
2.27 us
∇ -52.42%
925.93 KHz /
440.53 KHz
Δ 110.18%
pointmap: build 2D kd-tree of 100 scan84.64 us /
155.06 us
∇ -45.41%
11.81 KHz /
6.45 KHz
Δ 83.20%
pointmap: build 2D kd-tree of 1000 scan939.64 us /
1.69 ms
∇ -44.25%
1.06 KHz /
593.35 Hz
Δ 79.36%
pointmap: build 3D kd-tree of 1 scan1.52 us /
2.31 us
∇ -34.09%
657.89 KHz /
433.61 KHz
Δ 51.72%
pointmap: build 3D kd-tree of 100 scan88.16 us /
159.93 us
∇ -44.87%
11.34 KHz /
6.25 KHz
Δ 81.40%
pointmap: build 3D kd-tree of 1000 scan939.00 us /
1.73 ms
∇ -45.76%
1.06 KHz /
577.66 Hz
Δ 84.36%
pointmap: kd-tree 2d query on 10 scans319.00 ns /
516.48 ns
∇ -38.24%
3.13 MHz /
1.94 MHz
Δ 61.91%
pointmap: kd-tree 2d query on 1000 scans23.54 us /
42.42 us
∇ -44.50%
42.47 KHz /
23.57 KHz
Δ 80.17%
pointmap: kd-tree 2d query on 10000 scans2.74 ms /
4.92 ms
∇ -44.25%
364.91 Hz /
203.42 Hz
Δ 79.39%
pointmap: (insert scan+2D kd-tree query) x 10951.65 us /
1.82 ms
∇ -47.57%
1.05 KHz /
550.91 Hz
Δ 90.74%
pointmap: (insert scan+2D kd-tree query) x 5023.84 ms /
42.41 ms
∇ -43.79%
41.95 Hz /
23.58 Hz
Δ 77.92%
pointmap: (insert scan+3D kd-tree query) x 10928.80 us /
1.73 ms
∇ -46.30%
1.08 KHz /
578.12 Hz
Δ 86.23%
pointmap: (insert scan+3D kd-tree query) x 5023.74 ms /
43.82 ms
∇ -45.82%
42.12 Hz /
22.82 Hz
Δ 84.56%
pointmap: computeMatchingWith2D21.35 us /
33.73 us
∇ -36.70%
46.83 KHz /
29.64 KHz
Δ 57.99%
pointmap: boundingBox (10 scans)875.32 ns /
10.77 us
∇ -91.87%
1.14 MHz /
92.85 KHz
Δ 1130.42%
pointmap: boundingBox (1000 scans)85.22 us /
1.07 ms
∇ -92.06%
11.73 KHz /
931.26 Hz
Δ 1160.12%
random: drawUniform32bit4.47 ns /
4.58 ns
∇ -2.56%
223.92 MHz /
218.18 MHz
Δ 2.63%
random: drawUniform4.45 ns /
4.56 ns
∇ -2.43%
224.56 MHz /
219.10 MHz
Δ 2.49%
random: drawGaussian1D_normalized51.69 ns /
20.91 ns
Δ 147.23%
19.35 MHz /
47.83 MHz
∇ -59.55%
random: drawGaussian1D51.88 ns /
20.77 ns
Δ 149.79%
19.28 MHz /
48.15 MHz
∇ -59.97%
random: system rand()10.85 ns /
14.59 ns
∇ -25.62%
92.14 MHz /
68.54 MHz
Δ 34.44%
random: drawGaussianMultivariate(fixed 3x3)544.38 ns /
561.77 ns
∇ -3.10%
1.84 MHz /
1.78 MHz
Δ 3.19%
random: drawGaussianMultivariate(dyn 3x3)1.17 us /
1.64 us
∇ -28.69%
852.67 KHz /
608.03 KHz
Δ 40.23%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)104.51 ns /
55.97 ns
Δ 86.72%
9.57 MHz /
17.87 MHz
∇ -46.44%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)166.05 ns /
87.22 ns
Δ 90.38%
6.02 MHz /
11.46 MHz
∇ -47.47%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)344.60 ns /
183.80 ns
Δ 87.49%
2.90 MHz /
5.44 MHz
∇ -46.66%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)112.66 ns /
61.16 ns
Δ 84.20%
8.88 MHz /
16.35 MHz
∇ -45.71%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)182.01 ns /
94.72 ns
Δ 92.15%
5.49 MHz /
10.56 MHz
∇ -47.96%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)361.46 ns /
202.25 ns
Δ 78.72%
2.77 MHz /
4.94 MHz
∇ -44.05%
random: permuteVector (len=10)153.80 ns /
342.43 ns
∇ -55.09%
6.50 MHz /
2.92 MHz
Δ 122.65%
random: permuteVector (len=100)1.62 us /
3.50 us
∇ -53.79%
618.31 KHz /
285.70 KHz
Δ 116.42%
random: permuteVector (len=1000)15.53 us /
34.48 us
∇ -54.97%
64.41 KHz /
29.00 KHz
Δ 122.07%
math: round0.03 ns /
52.00 ns
∇ -99.94%
30.65 GHz /
19.23 MHz
Δ 159251.62%
math: std::hypot(float)4.94 ns /
5.42 ns
∇ -8.81%
202.33 MHz /
184.50 MHz
Δ 9.67%
math: mrpt::math::hypot_fast(float)1.81 ns /
3.93 ns
∇ -53.91%
552.07 MHz /
254.43 MHz
Δ 116.98%
math: mrpt::math::hypot_fast(double)3.62 ns /
5.24 ns
∇ -30.89%
275.97 MHz /
190.72 MHz
Δ 44.70%
images: Save as JPEG (640x480, quality=95%)7.41 ms /
X
134.98 Hz /
X
images: Save as JPEG (800x600, quality=95%)9.29 ms /
X
107.69 Hz /
X
images: Save as JPEG (1024x768, quality=95%)14.19 ms /
X
70.45 Hz /
X
images: Save as JPEG (640x480, quality=75%)4.83 ms /
X
207.20 Hz /
X
images: Save as JPEG (800x600, quality=75%)7.60 ms /
X
131.66 Hz /
X
images: Save as JPEG (1024x768, quality=75%)12.16 ms /
X
82.25 Hz /
X
images: Save BMP 800x600 disk6.35 ms /
X
157.54 Hz /
X
images: Save PNG 800x600 disk27.95 ms /
X
35.78 Hz /
X
images: Save JPG 800x600 disk8.62 ms /
X
116.05 Hz /
X
images: Load BMP 800x600 disk262.47 us /
X
3.81 KHz /
X
images: Load PNG 800x600 disk8.40 ms /
X
119.09 Hz /
X
images: Load JPG 800x600 disk6.20 ms /
X
161.30 Hz /
X
images: Save BMP 800x600 shared mem386.27 us /
X
2.59 KHz /
X
images: Save PNG 800x600 shared mem22.68 ms /
X
44.08 Hz /
X
images: Save JPG 800x600 shared mem6.07 ms /
X
164.72 Hz /
X
images: Load BMP 800x600 shared mem272.77 us /
X
3.67 KHz /
X
images: Load PNG 800x600 shared mem8.40 ms /
X
119.05 Hz /
X
images: Load JPG 800x600 shared mem6.20 ms /
X
161.39 Hz /
X
images: Gauss filter (640x480)2.18 ms /
919.51 us
Δ 137.45%
458.01 Hz /
1.09 KHz
∇ -57.89%
images: Gauss filter (800x600)3.12 ms /
1.50 ms
Δ 108.06%
320.79 Hz /
667.43 Hz
∇ -51.94%
images: Gauss filter (1024x768)5.25 ms /
2.43 ms
Δ 115.97%
190.61 Hz /
411.66 Hz
∇ -53.70%
images: Half sample GRAY (160x120)806.67 ns /
44.68 us
∇ -98.19%
1.24 MHz /
22.38 KHz
Δ 5439.01%
images: Half sample GRAY (320x240)1.79 us /
12.34 us
∇ -85.49%
558.66 KHz /
81.04 KHz
Δ 589.33%
images: Half sample GRAY (640x480)7.54 us /
44.43 us
∇ -83.03%
132.63 KHz /
22.51 KHz
Δ 489.20%
images: Half sample GRAY (800x600)12.46 us /
62.97 us
∇ -80.21%
80.26 KHz /
15.88 KHz
Δ 405.35%
images: Half sample GRAY (1024x768)20.16 us /
73.10 us
∇ -72.42%
49.60 KHz /
13.68 KHz
Δ 262.61%
images: Half sample GRAY (1280x1024)33.44 us /
83.61 us
∇ -60.00%
29.90 KHz /
11.96 KHz
Δ 150.02%
images: Half sample RGB (160x120)1.47 us /
7.37 us
∇ -80.05%
680.27 KHz /
135.73 KHz
Δ 401.18%
images: Half sample RGB (320x240)4.68 us /
25.88 us
∇ -81.90%
213.52 KHz /
38.64 KHz
Δ 452.54%
images: Half sample RGB (640x480)22.17 us /
99.11 us
∇ -77.63%
45.10 KHz /
10.09 KHz
Δ 346.96%
images: Half sample RGB (800x600)33.14 us /
121.43 us
∇ -72.71%
30.17 KHz /
8.24 KHz
Δ 266.38%
images: Half sample RGB (1024x768)53.65 us /
173.65 us
∇ -69.11%
18.64 KHz /
5.76 KHz
Δ 223.68%
images: Half sample RGB (1280x1024)100.80 us /
182.74 us
∇ -44.84%
9.92 KHz /
5.47 KHz
Δ 81.29%
images: Half sample smooth GRAY (160x120)1.13 us /
28.12 us
∇ -95.98%
884.96 KHz /
35.56 KHz
Δ 2388.34%
images: Half sample smooth GRAY (320x240)2.96 us /
6.24 us
∇ -52.59%
338.22 KHz /
160.35 KHz
Δ 110.93%
images: Half sample smooth GRAY (640x480)13.10 us /
20.79 us
∇ -36.97%
76.32 KHz /
48.10 KHz
Δ 58.66%
images: Half sample smooth GRAY (800x600)22.30 us /
30.69 us
∇ -27.33%
44.84 KHz /
32.59 KHz
Δ 37.60%
images: Half sample smooth GRAY (1024x768)35.66 us /
33.69 us
Δ 5.85%
28.05 KHz /
29.68 KHz
∇ -5.52%
images: Half sample smooth GRAY (1280x1024)56.33 us /
38.04 us
Δ 48.09%
17.75 KHz /
26.29 KHz
∇ -32.47%
images: Half sample smooth RGB (160x120)11.92 us /
9.57 us
Δ 24.50%
83.92 KHz /
104.47 KHz
∇ -19.68%
images: Half sample smooth RGB (320x240)36.43 us /
33.29 us
Δ 9.43%
27.45 KHz /
30.04 KHz
∇ -8.62%
images: Half sample smooth RGB (640x480)126.84 us /
126.81 us
Δ 0.03%
7.88 KHz /
7.89 KHz
∇ -0.03%
images: Half sample smooth RGB (800x600)142.65 us /
176.80 us
∇ -19.31%
7.01 KHz /
5.66 KHz
Δ 23.94%
images: Half sample smooth RGB (1024x768)261.31 us /
209.31 us
Δ 24.84%
3.83 KHz /
4.78 KHz
∇ -19.90%
images: Half sample smooth RGB (1280x1024)275.76 us /
221.21 us
Δ 24.66%
3.63 KHz /
4.52 KHz
∇ -19.78%
images: RGB->GRAY 8u (40x30)4.20 us /
6.60 us
∇ -36.28%
237.91 KHz /
151.59 KHz
Δ 56.94%
images: RGB->GRAY 8u (80x60)1.89 us /
7.36 us
∇ -74.35%
530.04 KHz /
135.94 KHz
Δ 289.91%
images: RGB->GRAY 8u (160x120)8.07 us /
27.06 us
∇ -70.19%
123.97 KHz /
36.96 KHz
Δ 235.45%
images: RGB->GRAY 8u (320x240)36.87 us /
105.43 us
∇ -65.03%
27.12 KHz /
9.49 KHz
Δ 185.92%
images: RGB->GRAY 8u (640x480)123.99 us /
175.70 us
∇ -29.43%
8.07 KHz /
5.69 KHz
Δ 41.71%
images: RGB->GRAY 8u (800x600)160.60 us /
196.49 us
∇ -18.27%
6.23 KHz /
5.09 KHz
Δ 22.35%
images: RGB->GRAY 8u (1024x768)225.35 us /
367.76 us
∇ -38.72%
4.44 KHz /
2.72 KHz
Δ 63.20%
images: RGB->GRAY 8u (1280x1024)366.04 us /
834.98 us
∇ -56.16%
2.73 KHz /
1.20 KHz
Δ 128.11%
images: KLT score (WIN=2 5x5)27.32 ns /
43.55 ns
∇ -37.27%
36.61 MHz /
22.96 MHz
Δ 59.41%
images: KLT score (WIN=3 7x7)33.44 ns /
58.85 ns
∇ -43.17%
29.90 MHz /
16.99 MHz
Δ 75.96%
images: KLT score (WIN=4 9x9)37.69 ns /
76.23 ns
∇ -50.56%
26.53 MHz /
13.12 MHz
Δ 102.28%
images: KLT score (WIN=5 10x10)47.70 ns /
101.24 ns
∇ -52.89%
20.97 MHz /
9.88 MHz
Δ 112.27%
images: KLT score (WIN=6 13x13)53.85 ns /
129.38 ns
∇ -58.38%
18.57 MHz /
7.73 MHz
Δ 140.26%
images: KLT score (WIN=7 15x15)63.63 ns /
163.57 ns
∇ -61.10%
15.72 MHz /
6.11 MHz
Δ 157.06%
images: KLT score (WIN=8 17x17)60.62 ns /
207.36 ns
∇ -70.76%
16.49 MHz /
4.82 MHz
Δ 242.03%
images: KLT score (WIN=9 19x19)63.96 ns /
240.42 ns
∇ -73.40%
15.64 MHz /
4.16 MHz
Δ 275.90%
images: KLT score (WIN=10 21x21)68.09 ns /
274.50 ns
∇ -75.19%
14.69 MHz /
3.64 MHz
Δ 303.14%
images: KLT score (WIN=11 23x23)59.89 ns /
319.09 ns
∇ -81.23%
16.70 MHz /
3.13 MHz
Δ 432.77%
images: KLT score (WIN=12 25x25)78.90 ns /
368.43 ns
∇ -78.58%
12.67 MHz /
2.71 MHz
Δ 366.95%
images: KLT score (WIN=13 27x27)67.38 ns /
427.37 ns
∇ -84.23%
14.84 MHz /
2.34 MHz
Δ 534.27%
images: KLT score (WIN=14 29x29)70.05 ns /
483.04 ns
∇ -85.50%
14.28 MHz /
2.07 MHz
Δ 589.60%
images: KLT score (WIN=15 31x31)73.23 ns /
547.94 ns
∇ -86.64%
13.66 MHz /
1.83 MHz
Δ 648.23%
images: KLT score (WIN=16 33x33)103.99 ns /
619.70 ns
∇ -83.22%
9.62 MHz /
1.61 MHz
Δ 495.92%
images: buildPyramid 640x480,4 levs,no smooth,no gray81.41 us /
191.90 us
∇ -57.58%
12.28 KHz /
5.21 KHz
Δ 135.72%
images: buildPyramid 640x480,4 levs, smooth,no gray224.53 us /
231.26 us
∇ -2.91%
4.45 KHz /
4.32 KHz
Δ 3.00%
images: buildPyramid 640x480,4 levs,no smooth, gray132.60 us /
280.65 us
∇ -52.75%
7.54 KHz /
3.56 KHz
Δ 111.65%
images: buildPyramid 640x480,4 levs, smooth, gray144.11 us /
228.84 us
∇ -37.02%
6.94 KHz /
4.37 KHz
Δ 58.79%
images: buildPyramid 640x480,8 levs,no smooth,no gray105.23 us /
207.46 us
∇ -49.28%
9.50 KHz /
4.82 KHz
Δ 97.15%
images: buildPyramid 640x480,8 levs, smooth,no gray237.08 us /
240.02 us
∇ -1.23%
4.22 KHz /
4.17 KHz
Δ 1.24%
images: buildPyramid 640x480,8 levs,no smooth, gray95.91 us /
284.19 us
∇ -66.25%
10.43 KHz /
3.52 KHz
Δ 196.31%
images: buildPyramid 640x480,8 levs, smooth, gray104.65 us /
238.30 us
∇ -56.08%
9.56 KHz /
4.20 KHz
Δ 127.70%
stereo: prepare rectify map 640x480 RGB18.50 ms /
4.52 ms
Δ 309.69%
54.06 Hz /
221.47 Hz
∇ -75.59%
stereo: prepare rectify map 800x600 RGB28.78 ms /
5.88 ms
Δ 389.31%
34.74 Hz /
170.00 Hz
∇ -79.56%
stereo: prepare rectify map 1024x768 RGB47.30 ms /
9.45 ms
Δ 400.36%
21.14 Hz /
105.78 Hz
∇ -80.01%
stereo: prepare rectify map 1024x768->800x600 RGB28.78 ms /
5.92 ms
Δ 385.74%
34.75 Hz /
168.79 Hz
∇ -79.41%
stereo: prepare rectify map 1024x768->640x480 RGB18.42 ms /
3.88 ms
Δ 374.50%
54.30 Hz /
257.65 Hz
∇ -78.93%
stereo: rectify 640x480 RGB1.56 ms /
1.62 ms
∇ -3.50%
639.86 Hz /
617.43 Hz
Δ 3.63%
stereo: rectify 800x600 RGB2.05 ms /
2.00 ms
Δ 2.28%
488.62 Hz /
499.77 Hz
∇ -2.23%
stereo: rectify 1024x768 RGB3.27 ms /
3.71 ms
∇ -11.90%
305.76 Hz /
269.37 Hz
Δ 13.51%
stereo: rectify 1024x768->800x600 RGB1.99 ms /
2.08 ms
∇ -4.52%
502.64 Hz /
479.92 Hz
Δ 4.73%
stereo: rectify 1024x768->640x480 RGB1.64 ms /
1.75 ms
∇ -5.97%
608.81 Hz /
572.46 Hz
Δ 6.35%
stereo: rectify 640x480 GRAY1.13 ms /
890.62 us
Δ 27.31%
881.95 Hz /
1.12 KHz
∇ -21.45%
stereo: rectify 800x600 GRAY1.58 ms /
1.10 ms
Δ 43.56%
633.23 Hz /
909.06 Hz
∇ -30.34%
stereo: rectify 1024x768 GRAY2.40 ms /
2.18 ms
Δ 10.19%
416.50 Hz /
458.96 Hz
∇ -9.25%
stereo: rectify 1024x768->800x600 GRAY1.55 ms /
1.10 ms
Δ 41.19%
644.12 Hz /
909.41 Hz
∇ -29.17%
stereo: rectify 1024x768->640x480 GRAY1.29 ms /
895.97 us
Δ 44.16%
774.23 Hz /
1.12 KHz
∇ -30.63%
tfest: se3_l2 [CPose3DQuat]3.91 us /
10.63 us
∇ -63.23%
255.76 KHz /
94.03 KHz
Δ 172.00%
tfest: se3_l2 [vector TPoint3D]3.58 us /
8.97 us
∇ -60.09%
279.38 KHz /
111.51 KHz
Δ 150.55%
tfest: se2_l2 [x10 corrs]151.94 ns /
116.12 ns
Δ 30.85%
6.58 MHz /
8.61 MHz
∇ -23.57%
tfest: se2_l2 [x100 corrs]223.20 ns /
462.23 ns
∇ -51.71%
4.48 MHz /
2.16 MHz
Δ 107.09%
tfest: se2_l2 [x1000 corrs]1.04 us /
3.91 us
∇ -73.53%
965.48 KHz /
255.59 KHz
Δ 277.75%
feature_extraction [640x480]: Harris8.61 ms /
15.75 ms
∇ -45.36%
116.20 Hz /
63.49 Hz
Δ 83.03%
feature_extraction [640x480]: KLT6.55 ms /
9.92 ms
∇ -33.98%
152.74 Hz /
100.84 Hz
Δ 51.47%
feature_extraction [640x480]: SURF35.27 ms /
X
28.35 Hz /
X
feature_extraction [640x480]: FAST2.04 ms /
2.17 ms
∇ -5.68%
489.30 Hz /
461.50 Hz
Δ 6.02%
feature_extraction [640x480]: Spin desc.102.86 ms /
30.67 ms
Δ 235.35%
9.72 Hz /
32.60 Hz
∇ -70.18%
feature_extraction [640x480]: FASTER-92.77 ms /
2.91 ms
∇ -4.90%
361.38 Hz /
343.69 Hz
Δ 5.15%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.22 ms /
2.27 ms
∇ -46.29%
819.12 Hz /
439.93 Hz
Δ 86.20%
feature_extraction [640x480]: FASTER-101.90 ms /
2.32 ms
∇ -18.25%
527.56 Hz /
431.27 Hz
Δ 22.33%
feature_extraction [640x480]: FASTER-10 (sorted best 200)951.21 us /
1.88 ms
∇ -49.32%
1.05 KHz /
532.77 Hz
Δ 97.33%
feature_extraction [640x480]: FASTER-121.43 ms /
1.64 ms
∇ -12.73%
698.30 Hz /
609.44 Hz
Δ 14.58%
feature_extraction [640x480]: FASTER-12 (sorted best 200)909.78 us /
1.40 ms
∇ -34.94%
1.10 KHz /
715.16 Hz
Δ 53.70%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()414.84 us /
1.05 ms
∇ -60.50%
2.41 KHz /
952.09 Hz
Δ 153.19%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()332.75 us /
1.02 ms
∇ -67.43%
3.01 KHz /
978.83 Hz
Δ 207.02%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()388.20 us /
826.01 us
∇ -53.00%
2.58 KHz /
1.21 KHz
Δ 112.78%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index411.19 us /
1.05 ms
∇ -60.88%
2.43 KHz /
951.32 Hz
Δ 155.64%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index332.95 us /
1.02 ms
∇ -67.41%
3.00 KHz /
978.81 Hz
Δ 206.85%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index389.63 us /
828.21 us
∇ -52.95%
2.57 KHz /
1.21 KHz
Δ 112.56%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()590.48 us /
1.42 ms
∇ -58.29%
1.69 KHz /
706.45 Hz
Δ 139.73%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()427.60 us /
1.37 ms
∇ -68.69%
2.34 KHz /
732.34 Hz
Δ 219.34%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()447.50 us /
1.34 ms
∇ -66.73%
2.23 KHz /
743.54 Hz
Δ 200.54%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index534.93 us /
1.41 ms
∇ -62.08%
1.87 KHz /
708.80 Hz
Δ 163.74%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index428.89 us /
1.34 ms
∇ -68.09%
2.33 KHz /
743.91 Hz
Δ 213.43%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index446.37 us /
1.29 ms
∇ -65.30%
2.24 KHz /
777.31 Hz
Δ 188.21%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()731.75 us /
1.99 ms
∇ -63.19%
1.37 KHz /
503.05 Hz
Δ 171.66%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()579.95 us /
1.91 ms
∇ -69.64%
1.72 KHz /
523.41 Hz
Δ 229.43%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()494.25 us /
1.70 ms
∇ -70.93%
2.02 KHz /
588.07 Hz
Δ 244.06%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index729.32 us /
1.99 ms
∇ -63.36%
1.37 KHz /
502.32 Hz
Δ 172.96%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index580.22 us /
1.90 ms
∇ -69.41%
1.72 KHz /
527.26 Hz
Δ 226.88%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index494.26 us /
1.72 ms
∇ -71.20%
2.02 KHz /
582.72 Hz
Δ 247.21%
feature_matching [640x480]: Harris + CC16.44 ms /
22.18 ms
∇ -25.88%
60.84 Hz /
45.10 Hz
Δ 34.92%
feature_matching [640x480]: Harris + SAD11.59 ms /
18.56 ms
∇ -37.52%
86.25 Hz /
53.89 Hz
Δ 60.05%
feature_matching [640x480]: SURF64.71 ms /
X
15.45 Hz /
X
feature_matching [640x480]: FAST + CC7.56 ms /
6.94 ms
Δ 8.98%
132.20 Hz /
144.08 Hz
∇ -8.24%
feature_matching [640x480]: FAST + SAD2.99 ms /
3.61 ms
∇ -17.22%
335.00 Hz /
277.32 Hz
Δ 20.80%
graph(2d): insertEdge x 1e386.40 us /
158.15 us
∇ -45.37%
11.57 KHz /
6.32 KHz
Δ 83.03%
graph(2d,vec): insertEdge x 1e385.45 us /
154.94 us
∇ -44.85%
11.70 KHz /
6.45 KHz
Δ 81.32%
graph(2d): insertEdgeAtEnd x 1e369.20 us /
124.64 us
∇ -44.48%
14.45 KHz /
8.02 KHz
Δ 80.11%
graph(2d,vec): insertEdgeAtEnd x 1e370.19 us /
120.41 us
∇ -41.71%
14.25 KHz /
8.30 KHz
Δ 71.56%
graph(2d pdf): insertEdge x 1e3116.71 us /
204.87 us
∇ -43.03%
8.57 KHz /
4.88 KHz
Δ 75.53%
graph(2d pdf,vec): insertEdge x 1e3123.52 us /
204.35 us
∇ -39.56%
8.10 KHz /
4.89 KHz
Δ 65.44%
graph(2d pdf): insertEdgeAtEnd x 1e3132.85 us /
162.60 us
∇ -18.30%
7.53 KHz /
6.15 KHz
Δ 22.40%
graph(2d pdf,vec): insertEdgeAtEnd x 1e399.13 us /
168.22 us
∇ -41.07%
10.09 KHz /
5.94 KHz
Δ 69.69%
graph(2d): insertEdge x 1e41.50 ms /
1.67 ms
∇ -10.16%
666.67 Hz /
598.93 Hz
Δ 11.31%
graph(2d,vec): insertEdge x 1e41.24 ms /
1.68 ms
∇ -26.28%
808.85 Hz /
596.30 Hz
Δ 35.64%
graph(2d): insertEdgeAtEnd x 1e4442.34 us /
1.21 ms
∇ -63.56%
2.26 KHz /
823.91 Hz
Δ 174.39%
graph(2d,vec): insertEdgeAtEnd x 1e4435.94 us /
1.21 ms
∇ -64.09%
2.29 KHz /
823.74 Hz
Δ 178.47%
graph(2d pdf): insertEdge x 1e41.23 ms /
2.08 ms
∇ -40.79%
810.72 Hz /
480.03 Hz
Δ 68.89%
graph(2d pdf,vec): insertEdge x 1e41.64 ms /
2.19 ms
∇ -25.02%
609.72 Hz /
457.17 Hz
Δ 33.37%
graph(2d pdf): insertEdgeAtEnd x 1e4981.13 us /
1.52 ms
∇ -35.64%
1.02 KHz /
655.96 Hz
Δ 55.38%
graph(2d pdf,vec): insertEdgeAtEnd x 1e4963.43 us /
1.70 ms
∇ -43.23%
1.04 KHz /
589.28 Hz
Δ 76.14%
graph(3d): insertEdge x 1e3121.18 us /
150.12 us
∇ -19.28%
8.25 KHz /
6.66 KHz
Δ 23.88%
graph(3d,vec): insertEdge x 1e3110.97 us /
150.55 us
∇ -26.29%
9.01 KHz /
6.64 KHz
Δ 35.67%
graph(3d): insertEdgeAtEnd x 1e392.37 us /
109.39 us
∇ -15.56%
10.83 KHz /
9.14 KHz
Δ 18.42%
graph(3d,vec): insertEdgeAtEnd x 1e390.57 us /
110.04 us
∇ -17.70%
11.04 KHz /
9.09 KHz
Δ 21.50%
graph(3d pdf): insertEdge x 1e3296.56 us /
312.72 us
∇ -5.17%
3.37 KHz /
3.20 KHz
Δ 5.45%
graph(3d pdf,vec): insertEdge x 1e3290.74 us /
360.19 us
∇ -19.28%
3.44 KHz /
2.78 KHz
Δ 23.89%
graph(3d pdf): insertEdgeAtEnd x 1e3226.89 us /
267.44 us
∇ -15.16%
4.41 KHz /
3.74 KHz
Δ 17.87%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3228.59 us /
263.46 us
∇ -13.23%
4.37 KHz /
3.80 KHz
Δ 15.25%
graph(3d): insertEdge x 1e41.47 ms /
1.86 ms
∇ -20.97%
678.77 Hz /
536.45 Hz
Δ 26.53%
graph(3d,vec): insertEdge x 1e41.32 ms /
1.82 ms
∇ -27.56%
756.48 Hz /
548.00 Hz
Δ 38.05%
graph(3d): insertEdgeAtEnd x 1e4891.24 us /
1.32 ms
∇ -32.29%
1.12 KHz /
759.75 Hz
Δ 47.68%
graph(3d,vec): insertEdgeAtEnd x 1e4901.48 us /
1.31 ms
∇ -31.35%
1.11 KHz /
761.47 Hz
Δ 45.68%
graph(3d pdf): insertEdge x 1e43.97 ms /
3.62 ms
Δ 9.74%
252.07 Hz /
276.61 Hz
∇ -8.87%
graph(3d pdf,vec): insertEdge x 1e43.95 ms /
3.83 ms
Δ 3.17%
253.24 Hz /
261.27 Hz
∇ -3.07%
graph(3d pdf): insertEdgeAtEnd x 1e42.27 ms /
2.90 ms
∇ -21.46%
439.68 Hz /
345.30 Hz
Δ 27.33%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.27 ms /
2.90 ms
∇ -21.81%
440.66 Hz /
344.56 Hz
Δ 27.89%
graph(3d): dijkstra 1e2 nodes47.91 us /
85.23 us
∇ -43.78%
20.87 KHz /
11.73 KHz
Δ 77.89%
graph(3d,vec): dijkstra 1e2 nodes47.74 us /
84.84 us
∇ -43.73%
20.95 KHz /
11.79 KHz
Δ 77.71%
graph(3d): dijkstra 1e3 nodes709.84 us /
950.94 us
∇ -25.35%
1.41 KHz /
1.05 KHz
Δ 33.97%
graph(3d,vec): dijkstra 1e3 nodes717.62 us /
954.30 us
∇ -24.80%
1.39 KHz /
1.05 KHz
Δ 32.98%
graph(3d): dijkstra 1e4 nodes10.03 ms /
11.92 ms
∇ -15.81%
99.66 Hz /
83.91 Hz
Δ 18.77%
graph(3d,vec): dijkstra 1e4 nodes10.28 ms /
11.83 ms
∇ -13.09%
97.27 Hz /
84.53 Hz
Δ 15.07%
graph(3d): dijkstra 1e5 nodes176.58 ms /
155.44 ms
Δ 13.60%
5.66 Hz /
6.43 Hz
∇ -11.97%
graph(3d,vec): dijkstra 1e5 nodes175.46 ms /
154.14 ms
Δ 13.83%
5.70 Hz /
6.49 Hz
∇ -12.15%
graph(2d): dijkstra 1e5 nodes180.07 ms /
150.58 ms
Δ 19.58%
5.55 Hz /
6.64 Hz
∇ -16.37%
graph(2d,vec): dijkstra 1e5 nodes175.58 ms /
149.73 ms
Δ 17.26%
5.70 Hz /
6.68 Hz
∇ -14.72%
graphslam(2d): levmarq 50 KFs/101 edges709.48 us /
908.20 us
∇ -21.88%
1.41 KHz /
1.10 KHz
Δ 28.01%
graphslam(2d): levmarq 100 KFs/451 edges4.14 ms /
4.91 ms
∇ -15.58%
241.31 Hz /
203.72 Hz
Δ 18.45%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)7.80 ms /
52.81 ms
∇ -85.22%
128.13 Hz /
18.94 Hz
Δ 576.70%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)7.21 ms /
52.60 ms
∇ -86.29%
138.64 Hz /
19.01 Hz
Δ 629.22%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)7.25 ms /
52.83 ms
∇ -86.27%
137.89 Hz /
18.93 Hz
Δ 628.43%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)7.21 ms /
52.72 ms
∇ -86.33%
138.74 Hz /
18.97 Hz
Δ 631.42%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)6.30 ms /
38.09 ms
∇ -83.47%
158.78 Hz /
26.25 Hz
Δ 504.86%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)6.29 ms /
38.06 ms
∇ -83.47%
158.98 Hz /
26.28 Hz
Δ 505.00%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)6.19 ms /
38.41 ms
∇ -83.87%
161.42 Hz /
26.03 Hz
Δ 520.10%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)5.67 ms /
38.20 ms
∇ -85.15%
176.25 Hz /
26.18 Hz
Δ 573.32%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)3.91 ms /
18.76 ms
∇ -79.15%
255.56 Hz /
53.29 Hz
Δ 379.52%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)3.88 ms /
18.78 ms
∇ -79.35%
257.85 Hz /
53.25 Hz
Δ 384.26%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)3.86 ms /
18.98 ms
∇ -79.67%
259.15 Hz /
52.70 Hz
Δ 391.78%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)3.36 ms /
19.81 ms
∇ -83.06%
297.89 Hz /
50.47 Hz
Δ 490.22%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)3.38 ms /
14.46 ms
∇ -76.63%
296.00 Hz /
69.17 Hz
Δ 327.95%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)3.36 ms /
14.29 ms
∇ -76.49%
297.63 Hz /
69.98 Hz
Δ 325.30%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)3.39 ms /
14.59 ms
∇ -76.78%
295.20 Hz /
68.53 Hz
Δ 330.75%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)2.79 ms /
14.55 ms
∇ -80.83%
358.44 Hz /
68.71 Hz
Δ 421.66%
3DRangeScan: 320x240 Depth->2D scan2.11 ms /
2.14 ms
∇ -1.55%
474.23 Hz /
466.86 Hz
Δ 1.58%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.95 ms /
3.91 ms
Δ 1.02%
252.87 Hz /
255.45 Hz
∇ -1.01%
3DRangeScan: 320x240 Depth->2D scan + max_filter4.32 ms /
3.68 ms
Δ 17.41%
231.37 Hz /
271.65 Hz
∇ -14.83%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters6.38 ms /
6.04 ms
Δ 5.73%
156.67 Hz /
165.66 Hz
∇ -5.42%
CAtan2LUT: 20x20m,1cm cells,build360.78 ms /
102.30 ms
Δ 252.67%
2.77 Hz /
9.78 Hz
∇ -71.64%
CAtan2LUT: 20x20m,1cm cells,query7.41 ns /
7.64 ns
∇ -3.00%
135.01 MHz /
130.96 MHz
Δ 3.09%
CAtan2LUTMultiRes: 22x22m,build292.26 ms /
101.62 ms
Δ 187.60%
3.42 Hz /
9.84 Hz
∇ -65.23%
CAtan2LUTMultiRes: 22x22m,query19.02 ns /
10.59 ns
Δ 79.56%
52.58 MHz /
94.41 MHz
∇ -44.31%
CAtan2LUT: raw ::atan2() call94.87 ns /
22.56 ns
Δ 320.52%
10.54 MHz /
44.33 MHz
∇ -76.22%
Strings: mrpt::format() short str199.30 ns /
548.06 ns
∇ -63.64%
5.02 MHz /
1.82 MHz
Δ 174.99%
Strings: mrpt::format() long str356.30 ns /
15.47 us
∇ -97.70%
2.81 MHz /
64.64 KHz
Δ 4242.11%

 


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