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




Test description 1.5.7dev-MSVC2017-64bit /
1.5.7dev-GCC730-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset1.31 ms /
936.60 us
Δ 39.82%
763.60 Hz /
1.07 KHz
∇ -28.48%
icp-slam (match grid): Run with sample dataset1.76 ms /
1.22 ms
Δ 44.30%
569.34 Hz /
821.57 Hz
∇ -30.70%
poses: CPose3D (+) CPose3D108.84 ns /
16.22 ns
Δ 571.02%
9.19 MHz /
61.65 MHz
∇ -85.10%
poses: CPose3D.composeFrom()98.66 ns /
14.96 ns
Δ 559.49%
10.14 MHz /
66.84 MHz
∇ -84.84%
poses: CPose3D (+) CPoint3D10.79 ns /
3.38 ns
Δ 219.71%
92.65 MHz /
296.21 MHz
∇ -68.72%
poses: CPose3D.composePoint()9.95 ns /
6.23 ns
Δ 59.64%
100.55 MHz /
160.51 MHz
∇ -37.36%
poses: CPose3D.composePoint()+Jacobs77.35 ns /
116.85 ns
∇ -33.80%
12.93 MHz /
8.56 MHz
Δ 51.06%
poses: CPoint3D (-) CPose3D29.11 ns /
7.44 ns
Δ 291.19%
34.35 MHz /
134.37 MHz
∇ -74.44%
poses: CPose3D.inverseComposePoint()21.72 ns /
16.60 ns
Δ 30.85%
46.03 MHz /
60.23 MHz
∇ -23.58%
poses: CPose2D (+) CPose2D14.66 ns /
11.88 ns
Δ 23.43%
68.20 MHz /
84.18 MHz
∇ -18.98%
poses: CPose2D.composeFrom()8.87 ns /
12.31 ns
∇ -27.99%
112.80 MHz /
81.23 MHz
Δ 38.86%
poses: CPose2D (+) CPoint2D10.10 ns /
3.25 ns
Δ 210.88%
99.04 MHz /
307.88 MHz
∇ -67.83%
poses: CPose2D.composePoint()5.96 ns /
2.98 ns
Δ 99.87%
167.67 MHz /
335.12 MHz
∇ -49.97%
poses: CPose3DQuat (+) CPose3DQuat46.29 ns /
21.79 ns
Δ 112.44%
21.60 MHz /
45.89 MHz
∇ -52.93%
poses: CPose3DQuat.composeFrom()34.10 ns /
18.96 ns
Δ 79.87%
29.32 MHz /
52.74 MHz
∇ -44.41%
poses: CPose3DQuat (+) CPoint3D24.82 ns /
9.76 ns
Δ 154.21%
40.29 MHz /
102.42 MHz
∇ -60.66%
poses: CPose3DQuat.composePoint()16.57 ns /
9.23 ns
Δ 79.56%
60.36 MHz /
108.39 MHz
∇ -44.31%
poses: CPose3DQuat.invcomposePoint()13.13 ns /
8.01 ns
Δ 63.84%
76.16 MHz /
124.78 MHz
∇ -38.97%
poses: Conv CPose3DQuat <- CPose3D12.13 ns /
7.88 ns
Δ 53.88%
82.47 MHz /
126.90 MHz
∇ -35.01%
poses: Conv CPose3D -> CPose3DQuat43.97 ns /
70.81 ns
∇ -37.91%
22.74 MHz /
14.12 MHz
Δ 61.05%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)960.22 ns /
60.96 us
∇ -98.42%
1.04 MHz /
16.40 KHz
Δ 6248.46%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)941.20 ns /
60.56 us
∇ -98.45%
1.06 MHz /
16.51 KHz
Δ 6334.13%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.89 us /
7.61 us
∇ -22.60%
169.68 KHz /
131.34 KHz
Δ 29.20%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.72 us /
270.70 ns
Δ 536.21%
580.64 KHz /
3.69 MHz
∇ -84.28%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.72 us /
270.60 ns
Δ 537.46%
579.72 KHz /
3.70 MHz
∇ -84.31%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.21 us /
4.12 us
Δ 2.09%
237.73 KHz /
242.69 KHz
∇ -2.04%
CPose3DInterpolator: CPose3D insert pose at end189.89 ns /
198.13 ns
∇ -4.16%
5.27 MHz /
5.05 MHz
Δ 4.34%
CPose3DInterpolator: CPose3D insert pose random279.35 ns /
186.81 ns
Δ 49.54%
3.58 MHz /
5.35 MHz
∇ -33.13%
CPose3DInterpolator: CPose3D query408.39 ns /
570.42 ns
∇ -28.41%
2.45 MHz /
1.75 MHz
Δ 39.68%
CPose3DInterpolator: TPose3D insert pose at end166.84 ns /
174.17 ns
∇ -4.21%
5.99 MHz /
5.74 MHz
Δ 4.40%
CPose3DInterpolator: TPose3D insert pose random272.92 ns /
230.96 ns
Δ 18.17%
3.66 MHz /
4.33 MHz
∇ -15.37%
CPose3DInterpolator: TPose3D query318.24 ns /
511.64 ns
∇ -37.80%
3.14 MHz /
1.95 MHz
Δ 60.77%
CPose2DInterpolator: TPose2D insert pose at end160.68 ns /
153.49 ns
Δ 4.68%
6.22 MHz /
6.52 MHz
∇ -4.47%
CPose2DInterpolator: TPose2D insert pose random226.10 ns /
204.45 ns
Δ 10.59%
4.42 MHz /
4.89 MHz
∇ -9.57%
CPose2DInterpolator: TPose2D query144.72 ns /
185.58 ns
∇ -22.02%
6.91 MHz /
5.39 MHz
Δ 28.23%
matrix: unit, dyn[float], 3x321.72 ns /
20.81 ns
Δ 4.35%
46.04 MHz /
48.05 MHz
∇ -4.17%
matrix: unit, dyn[double], 3x321.63 ns /
18.03 ns
Δ 19.96%
46.23 MHz /
55.46 MHz
∇ -16.64%
matrix: unit, dyn[float], 6x658.30 ns /
49.43 ns
Δ 17.95%
17.15 MHz /
20.23 MHz
∇ -15.22%
matrix: unit, dyn[double], 6x657.93 ns /
38.37 ns
Δ 50.95%
17.26 MHz /
26.06 MHz
∇ -33.75%
matrix: unit, fix[float,3,3]0.83 ns /
0.00 ns
Δ inf%
1.21 GHz /
inf THz
∇ -nan%
matrix: unit, fix[double,3,3]1.34 ns /
0.00 ns
Δ inf%
746.12 MHz /
inf THz
∇ -nan%
matrix: unit, fix[float,6,6]4.12 ns /
0.00 ns
Δ inf%
242.52 MHz /
inf THz
∇ -nan%
matrix: unit, fix[double,6,6]6.34 ns /
0.00 ns
Δ inf%
157.62 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x3 * 3x3177.80 ns /
75.60 ns
Δ 135.18%
5.62 MHz /
13.23 MHz
∇ -57.48%
matrix: multiply, fix[float ], 3x3 * 3x3106.68 ns /
0.00 ns
Δ inf%
9.37 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x3162.46 ns /
82.10 ns
Δ 97.88%
6.16 MHz /
12.18 MHz
∇ -49.46%
matrix: multiply, fix[double], 3x3 * 3x398.07 ns /
0.20 ns
Δ 48937.19%
10.20 MHz /
5.00 GHz
∇ -99.80%
matrix: multiply, dyn[float ], 3x6 * 6x3184.38 ns /
88.00 ns
Δ 109.52%
5.42 MHz /
11.36 MHz
∇ -52.27%
matrix: multiply, fix[float ], 3x6 * 6x3131.40 ns /
0.00 ns
Δ inf%
7.61 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x6 * 6x3183.56 ns /
91.40 ns
Δ 100.83%
5.45 MHz /
10.94 MHz
∇ -50.21%
matrix: multiply, fix[double], 3x6 * 6x3114.34 ns /
0.80 ns
Δ 14193.08%
8.75 MHz /
1.25 GHz
∇ -99.30%
matrix: multiply, dyn[float ], 10x40 * 40x101.00 us /
1.08 us
∇ -6.93%
997.38 KHz /
928.25 KHz
Δ 7.45%
matrix: multiply, fix[float ], 10x40 * 40x10831.72 ns /
794.20 ns
Δ 4.72%
1.20 MHz /
1.26 MHz
∇ -4.51%
matrix: multiply, dyn[double], 10x40 * 40x101.55 us /
1.71 us
∇ -9.36%
647.07 KHz /
586.48 KHz
Δ 10.33%
matrix: multiply, fix[double], 10x40 * 40x101.33 us /
1.32 us
Δ 1.45%
749.16 KHz /
760.05 KHz
∇ -1.43%
matrix: inv, dyn[double] 3x3997.04 ns /
592.00 ns
Δ 68.42%
1.00 MHz /
1.69 MHz
∇ -40.62%
matrix: inv, fix[double] 3x317.81 ns /
1.00 ns
Δ 1680.98%
56.15 MHz /
1.00 GHz
∇ -94.39%
matrix: inv, dyn[double] 6x61.67 us /
1.57 us
Δ 6.46%
599.82 KHz /
638.57 KHz
∇ -6.07%
matrix: inv, fix[double] 6x61.01 us /
818.00 ns
Δ 22.92%
994.53 KHz /
1.22 MHz
∇ -18.65%
matrix: inv, dyn[double] 20x2010.40 us /
8.98 us
Δ 15.81%
96.14 KHz /
111.33 KHz
∇ -13.65%
matrix: inv, fix[double] 20x209.45 us /
8.15 us
Δ 15.82%
105.87 KHz /
122.62 KHz
∇ -13.66%
matrix: inv, dyn[double] 40x4040.34 us /
43.66 us
∇ -7.59%
24.79 KHz /
22.90 KHz
Δ 8.22%
matrix: inv, fix[double] 40x4038.14 us /
40.36 us
∇ -5.50%
26.22 KHz /
24.77 KHz
Δ 5.83%
matrix: det, dyn[double] 2x2332.38 ns /
165.10 ns
Δ 101.32%
3.01 MHz /
6.06 MHz
∇ -50.33%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3437.03 ns /
225.50 ns
Δ 93.81%
2.29 MHz /
4.43 MHz
∇ -48.40%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6810.13 ns /
445.40 ns
Δ 81.89%
1.23 MHz /
2.25 MHz
∇ -45.02%
matrix: det, fix[double] 6x6606.86 ns /
299.10 ns
Δ 102.90%
1.65 MHz /
3.34 MHz
∇ -50.71%
matrix: det, dyn[double] 20x206.30 us /
4.34 us
Δ 45.04%
158.75 KHz /
230.26 KHz
∇ -31.06%
matrix: det, fix[double] 20x205.89 us /
3.89 us
Δ 51.15%
169.88 KHz /
256.77 KHz
∇ -33.84%
matrix: det, dyn[double] 40x4022.96 us /
17.00 us
Δ 35.05%
43.55 KHz /
58.81 KHz
∇ -25.95%
matrix: det, fix[double] 40x4022.85 us /
16.62 us
Δ 37.54%
43.75 KHz /
60.18 KHz
∇ -27.29%
matrix: chol, dyn[double] 4x4682.20 ns /
250.00 ns
Δ 172.88%
1.47 MHz /
4.00 MHz
∇ -63.35%
matrix: chol, fix[double] 4x4316.95 ns /
90.00 ns
Δ 252.17%
3.16 MHz /
11.11 MHz
∇ -71.60%
matrix: chol, dyn[double] 40x4015.61 us /
10.76 us
Δ 45.09%
64.05 KHz /
92.94 KHz
∇ -31.08%
matrix: chol, fix[double] 40x4014.14 us /
10.29 us
Δ 37.38%
70.74 KHz /
97.18 KHz
∇ -27.21%
matrix: chol, sparse [2x2;2x2]123.13 us /
9.80 us
Δ 1156.42%
8.12 KHz /
102.04 KHz
∇ -92.04%
matrix: chol, sparse [30x30;10x10]44.19 us /
38.80 us
Δ 13.90%
22.63 KHz /
25.77 KHz
∇ -12.20%
matrix: chol, dyn[double] 10x[6x6]38.64 us /
28.50 us
Δ 35.57%
25.88 KHz /
35.09 KHz
∇ -26.24%
matrix: chol, sparse 10x[6x6]18.44 us /
16.75 us
Δ 10.08%
54.24 KHz /
59.70 KHz
∇ -9.15%
matrix: chol, dyn[double] 20x[6x6]187.94 us /
148.10 us
Δ 26.90%
5.32 KHz /
6.75 KHz
∇ -21.20%
matrix: chol, sparse 20x[6x6]32.61 us /
29.60 us
Δ 10.16%
30.67 KHz /
33.78 KHz
∇ -9.22%
matrix: chol, dyn[double] 50x[6x6]2.45 ms /
1.67 ms
Δ 46.61%
407.79 Hz /
597.87 Hz
∇ -31.79%
matrix: chol, sparse 50x[6x6]159.41 us /
70.37 us
Δ 126.53%
6.27 KHz /
14.21 KHz
∇ -55.86%
matrix: chol, dyn[double] 100x[6x6]16.61 ms /
13.50 ms
Δ 23.06%
60.21 Hz /
74.09 Hz
∇ -18.74%
matrix: chol, sparse 100x[6x6]143.31 us /
134.72 us
Δ 6.38%
6.98 KHz /
7.42 KHz
∇ -5.99%
matrix: chol, dyn[double] 120x[6x6]22.18 ms /
24.56 ms
∇ -9.70%
45.09 Hz /
40.72 Hz
Δ 10.75%
matrix: chol, sparse 120x[6x6]169.63 us /
163.32 us
Δ 3.86%
5.90 KHz /
6.12 KHz
∇ -3.72%
matrix: chol, dyn[double] 140x[6x6]33.41 ms /
35.44 ms
∇ -5.72%
29.93 Hz /
28.22 Hz
Δ 6.06%
matrix: chol, sparse 140x[6x6]202.09 us /
188.90 us
Δ 6.98%
4.95 KHz /
5.29 KHz
∇ -6.53%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: getCell2.91 ns /
0.00 ns
Δ inf%
343.63 MHz /
inf THz
∇ -nan%
gridmap2D: setCell1.86 ns /
0.95 ns
Δ 95.31%
536.87 MHz /
1.05 GHz
∇ -48.80%
gridmap2D: updateCell3.46 ns /
3.43 ns
Δ 0.84%
289.38 MHz /
291.80 MHz
∇ -0.83%
gridmap2D: updateCell_fast_occupied1.88 ns /
0.86 ns
Δ 120.32%
530.87 MHz /
1.17 GHz
∇ -54.61%
gridmap2D: insert scan w/o widening62.88 us /
60.12 us
Δ 4.59%
15.90 KHz /
16.63 KHz
∇ -4.38%
gridmap2D: insert scan with widening175.10 us /
167.16 us
Δ 4.75%
5.71 KHz /
5.98 KHz
∇ -4.54%
gridmap2D: resize757.97 us /
271.00 us
Δ 179.69%
1.32 KHz /
3.69 KHz
∇ -64.25%
gridmap2D: computeLikelihood8.30 us /
8.78 us
∇ -5.45%
120.54 KHz /
113.96 KHz
Δ 5.77%
gridmap2D: determineMatching2D35.80 us /
22.26 us
Δ 60.85%
27.93 KHz /
44.93 KHz
∇ -37.83%
pointmap: insert 100 scans526.37 us /
288.09 us
Δ 82.71%
1.90 KHz /
3.47 KHz
∇ -45.27%
pointmap: build 2D kd-tree of 1 scan2.27 us /
1.08 us
Δ 110.18%
440.53 KHz /
925.93 KHz
∇ -52.42%
pointmap: build 2D kd-tree of 100 scan155.06 us /
84.64 us
Δ 83.20%
6.45 KHz /
11.81 KHz
∇ -45.41%
pointmap: build 2D kd-tree of 1000 scan1.69 ms /
939.64 us
Δ 79.36%
593.35 Hz /
1.06 KHz
∇ -44.25%
pointmap: build 3D kd-tree of 1 scan2.31 us /
1.52 us
Δ 51.72%
433.61 KHz /
657.89 KHz
∇ -34.09%
pointmap: build 3D kd-tree of 100 scan159.93 us /
88.16 us
Δ 81.40%
6.25 KHz /
11.34 KHz
∇ -44.87%
pointmap: build 3D kd-tree of 1000 scan1.73 ms /
939.00 us
Δ 84.36%
577.66 Hz /
1.06 KHz
∇ -45.76%
pointmap: kd-tree 2d query on 10 scans516.48 ns /
319.00 ns
Δ 61.91%
1.94 MHz /
3.13 MHz
∇ -38.24%
pointmap: kd-tree 2d query on 1000 scans42.42 us /
23.54 us
Δ 80.17%
23.57 KHz /
42.47 KHz
∇ -44.50%
pointmap: kd-tree 2d query on 10000 scans4.92 ms /
2.74 ms
Δ 79.39%
203.42 Hz /
364.91 Hz
∇ -44.25%
pointmap: (insert scan+2D kd-tree query) x 101.82 ms /
951.65 us
Δ 90.74%
550.91 Hz /
1.05 KHz
∇ -47.57%
pointmap: (insert scan+2D kd-tree query) x 5042.41 ms /
23.84 ms
Δ 77.92%
23.58 Hz /
41.95 Hz
∇ -43.79%
pointmap: (insert scan+3D kd-tree query) x 101.73 ms /
928.80 us
Δ 86.23%
578.12 Hz /
1.08 KHz
∇ -46.30%
pointmap: (insert scan+3D kd-tree query) x 5043.82 ms /
23.74 ms
Δ 84.56%
22.82 Hz /
42.12 Hz
∇ -45.82%
pointmap: computeMatchingWith2D33.73 us /
21.35 us
Δ 57.99%
29.64 KHz /
46.83 KHz
∇ -36.70%
pointmap: boundingBox (10 scans)10.77 us /
875.32 ns
Δ 1130.42%
92.85 KHz /
1.14 MHz
∇ -91.87%
pointmap: boundingBox (1000 scans)1.07 ms /
85.22 us
Δ 1160.12%
931.26 Hz /
11.73 KHz
∇ -92.06%
random: drawUniform32bit4.58 ns /
4.47 ns
Δ 2.63%
218.18 MHz /
223.92 MHz
∇ -2.56%
random: drawUniform4.56 ns /
4.45 ns
Δ 2.49%
219.10 MHz /
224.56 MHz
∇ -2.43%
random: drawGaussian1D_normalized20.91 ns /
51.69 ns
∇ -59.55%
47.83 MHz /
19.35 MHz
Δ 147.23%
random: drawGaussian1D20.77 ns /
51.88 ns
∇ -59.97%
48.15 MHz /
19.28 MHz
Δ 149.79%
random: system rand()14.59 ns /
10.85 ns
Δ 34.44%
68.54 MHz /
92.14 MHz
∇ -25.62%
random: drawGaussianMultivariate(fixed 3x3)561.77 ns /
544.38 ns
Δ 3.19%
1.78 MHz /
1.84 MHz
∇ -3.10%
random: drawGaussianMultivariate(dyn 3x3)1.64 us /
1.17 us
Δ 40.23%
608.03 KHz /
852.67 KHz
∇ -28.69%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)55.97 ns /
104.51 ns
∇ -46.44%
17.87 MHz /
9.57 MHz
Δ 86.72%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)87.22 ns /
166.05 ns
∇ -47.47%
11.46 MHz /
6.02 MHz
Δ 90.38%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)183.80 ns /
344.60 ns
∇ -46.66%
5.44 MHz /
2.90 MHz
Δ 87.49%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)61.16 ns /
112.66 ns
∇ -45.71%
16.35 MHz /
8.88 MHz
Δ 84.20%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)94.72 ns /
182.01 ns
∇ -47.96%
10.56 MHz /
5.49 MHz
Δ 92.15%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)202.25 ns /
361.46 ns
∇ -44.05%
4.94 MHz /
2.77 MHz
Δ 78.72%
random: permuteVector (len=10)342.43 ns /
153.80 ns
Δ 122.65%
2.92 MHz /
6.50 MHz
∇ -55.09%
random: permuteVector (len=100)3.50 us /
1.62 us
Δ 116.42%
285.70 KHz /
618.31 KHz
∇ -53.79%
random: permuteVector (len=1000)34.48 us /
15.53 us
Δ 122.07%
29.00 KHz /
64.41 KHz
∇ -54.97%
math: round52.00 ns /
0.03 ns
Δ 159251.62%
19.23 MHz /
30.65 GHz
∇ -99.94%
math: std::hypot(float)5.42 ns /
4.94 ns
Δ 9.67%
184.50 MHz /
202.33 MHz
∇ -8.81%
math: mrpt::math::hypot_fast(float)3.93 ns /
1.81 ns
Δ 116.98%
254.43 MHz /
552.07 MHz
∇ -53.91%
math: mrpt::math::hypot_fast(double)5.24 ns /
3.62 ns
Δ 44.70%
190.72 MHz /
275.97 MHz
∇ -30.89%
images: Gauss filter (640x480)919.51 us /
2.18 ms
∇ -57.89%
1.09 KHz /
458.01 Hz
Δ 137.45%
images: Gauss filter (800x600)1.50 ms /
3.12 ms
∇ -51.94%
667.43 Hz /
320.79 Hz
Δ 108.06%
images: Gauss filter (1024x768)2.43 ms /
5.25 ms
∇ -53.70%
411.66 Hz /
190.61 Hz
Δ 115.97%
images: Half sample GRAY (160x120)44.68 us /
806.67 ns
Δ 5439.01%
22.38 KHz /
1.24 MHz
∇ -98.19%
images: Half sample GRAY (320x240)12.34 us /
1.79 us
Δ 589.33%
81.04 KHz /
558.66 KHz
∇ -85.49%
images: Half sample GRAY (640x480)44.43 us /
7.54 us
Δ 489.20%
22.51 KHz /
132.63 KHz
∇ -83.03%
images: Half sample GRAY (800x600)62.97 us /
12.46 us
Δ 405.35%
15.88 KHz /
80.26 KHz
∇ -80.21%
images: Half sample GRAY (1024x768)73.10 us /
20.16 us
Δ 262.61%
13.68 KHz /
49.60 KHz
∇ -72.42%
images: Half sample GRAY (1280x1024)83.61 us /
33.44 us
Δ 150.02%
11.96 KHz /
29.90 KHz
∇ -60.00%
images: Half sample RGB (160x120)7.37 us /
1.47 us
Δ 401.18%
135.73 KHz /
680.27 KHz
∇ -80.05%
images: Half sample RGB (320x240)25.88 us /
4.68 us
Δ 452.54%
38.64 KHz /
213.52 KHz
∇ -81.90%
images: Half sample RGB (640x480)99.11 us /
22.17 us
Δ 346.96%
10.09 KHz /
45.10 KHz
∇ -77.63%
images: Half sample RGB (800x600)121.43 us /
33.14 us
Δ 266.38%
8.24 KHz /
30.17 KHz
∇ -72.71%
images: Half sample RGB (1024x768)173.65 us /
53.65 us
Δ 223.68%
5.76 KHz /
18.64 KHz
∇ -69.11%
images: Half sample RGB (1280x1024)182.74 us /
100.80 us
Δ 81.29%
5.47 KHz /
9.92 KHz
∇ -44.84%
images: Half sample smooth GRAY (160x120)28.12 us /
1.13 us
Δ 2388.34%
35.56 KHz /
884.96 KHz
∇ -95.98%
images: Half sample smooth GRAY (320x240)6.24 us /
2.96 us
Δ 110.93%
160.35 KHz /
338.22 KHz
∇ -52.59%
images: Half sample smooth GRAY (640x480)20.79 us /
13.10 us
Δ 58.66%
48.10 KHz /
76.32 KHz
∇ -36.97%
images: Half sample smooth GRAY (800x600)30.69 us /
22.30 us
Δ 37.60%
32.59 KHz /
44.84 KHz
∇ -27.33%
images: Half sample smooth GRAY (1024x768)33.69 us /
35.66 us
∇ -5.52%
29.68 KHz /
28.05 KHz
Δ 5.85%
images: Half sample smooth GRAY (1280x1024)38.04 us /
56.33 us
∇ -32.47%
26.29 KHz /
17.75 KHz
Δ 48.09%
images: Half sample smooth RGB (160x120)9.57 us /
11.92 us
∇ -19.68%
104.47 KHz /
83.92 KHz
Δ 24.50%
images: Half sample smooth RGB (320x240)33.29 us /
36.43 us
∇ -8.62%
30.04 KHz /
27.45 KHz
Δ 9.43%
images: Half sample smooth RGB (640x480)126.81 us /
126.84 us
∇ -0.03%
7.89 KHz /
7.88 KHz
Δ 0.03%
images: Half sample smooth RGB (800x600)176.80 us /
142.65 us
Δ 23.94%
5.66 KHz /
7.01 KHz
∇ -19.31%
images: Half sample smooth RGB (1024x768)209.31 us /
261.31 us
∇ -19.90%
4.78 KHz /
3.83 KHz
Δ 24.84%
images: Half sample smooth RGB (1280x1024)221.21 us /
275.76 us
∇ -19.78%
4.52 KHz /
3.63 KHz
Δ 24.66%
images: RGB->GRAY 8u (40x30)6.60 us /
4.20 us
Δ 56.94%
151.59 KHz /
237.91 KHz
∇ -36.28%
images: RGB->GRAY 8u (80x60)7.36 us /
1.89 us
Δ 289.91%
135.94 KHz /
530.04 KHz
∇ -74.35%
images: RGB->GRAY 8u (160x120)27.06 us /
8.07 us
Δ 235.45%
36.96 KHz /
123.97 KHz
∇ -70.19%
images: RGB->GRAY 8u (320x240)105.43 us /
36.87 us
Δ 185.92%
9.49 KHz /
27.12 KHz
∇ -65.03%
images: RGB->GRAY 8u (640x480)175.70 us /
123.99 us
Δ 41.71%
5.69 KHz /
8.07 KHz
∇ -29.43%
images: RGB->GRAY 8u (800x600)196.49 us /
160.60 us
Δ 22.35%
5.09 KHz /
6.23 KHz
∇ -18.27%
images: RGB->GRAY 8u (1024x768)367.76 us /
225.35 us
Δ 63.20%
2.72 KHz /
4.44 KHz
∇ -38.72%
images: RGB->GRAY 8u (1280x1024)834.98 us /
366.04 us
Δ 128.11%
1.20 KHz /
2.73 KHz
∇ -56.16%
images: KLT score (WIN=2 5x5)43.55 ns /
27.32 ns
Δ 59.41%
22.96 MHz /
36.61 MHz
∇ -37.27%
images: KLT score (WIN=3 7x7)58.85 ns /
33.44 ns
Δ 75.96%
16.99 MHz /
29.90 MHz
∇ -43.17%
images: KLT score (WIN=4 9x9)76.23 ns /
37.69 ns
Δ 102.28%
13.12 MHz /
26.53 MHz
∇ -50.56%
images: KLT score (WIN=5 10x10)101.24 ns /
47.70 ns
Δ 112.27%
9.88 MHz /
20.97 MHz
∇ -52.89%
images: KLT score (WIN=6 13x13)129.38 ns /
53.85 ns
Δ 140.26%
7.73 MHz /
18.57 MHz
∇ -58.38%
images: KLT score (WIN=7 15x15)163.57 ns /
63.63 ns
Δ 157.06%
6.11 MHz /
15.72 MHz
∇ -61.10%
images: KLT score (WIN=8 17x17)207.36 ns /
60.62 ns
Δ 242.03%
4.82 MHz /
16.49 MHz
∇ -70.76%
images: KLT score (WIN=9 19x19)240.42 ns /
63.96 ns
Δ 275.90%
4.16 MHz /
15.64 MHz
∇ -73.40%
images: KLT score (WIN=10 21x21)274.50 ns /
68.09 ns
Δ 303.14%
3.64 MHz /
14.69 MHz
∇ -75.19%
images: KLT score (WIN=11 23x23)319.09 ns /
59.89 ns
Δ 432.77%
3.13 MHz /
16.70 MHz
∇ -81.23%
images: KLT score (WIN=12 25x25)368.43 ns /
78.90 ns
Δ 366.95%
2.71 MHz /
12.67 MHz
∇ -78.58%
images: KLT score (WIN=13 27x27)427.37 ns /
67.38 ns
Δ 534.27%
2.34 MHz /
14.84 MHz
∇ -84.23%
images: KLT score (WIN=14 29x29)483.04 ns /
70.05 ns
Δ 589.60%
2.07 MHz /
14.28 MHz
∇ -85.50%
images: KLT score (WIN=15 31x31)547.94 ns /
73.23 ns
Δ 648.23%
1.83 MHz /
13.66 MHz
∇ -86.64%
images: KLT score (WIN=16 33x33)619.70 ns /
103.99 ns
Δ 495.92%
1.61 MHz /
9.62 MHz
∇ -83.22%
images: buildPyramid 640x480,4 levs,no smooth,no gray191.90 us /
81.41 us
Δ 135.72%
5.21 KHz /
12.28 KHz
∇ -57.58%
images: buildPyramid 640x480,4 levs, smooth,no gray231.26 us /
224.53 us
Δ 3.00%
4.32 KHz /
4.45 KHz
∇ -2.91%
images: buildPyramid 640x480,4 levs,no smooth, gray280.65 us /
132.60 us
Δ 111.65%
3.56 KHz /
7.54 KHz
∇ -52.75%
images: buildPyramid 640x480,4 levs, smooth, gray228.84 us /
144.11 us
Δ 58.79%
4.37 KHz /
6.94 KHz
∇ -37.02%
images: buildPyramid 640x480,8 levs,no smooth,no gray207.46 us /
105.23 us
Δ 97.15%
4.82 KHz /
9.50 KHz
∇ -49.28%
images: buildPyramid 640x480,8 levs, smooth,no gray240.02 us /
237.08 us
Δ 1.24%
4.17 KHz /
4.22 KHz
∇ -1.23%
images: buildPyramid 640x480,8 levs,no smooth, gray284.19 us /
95.91 us
Δ 196.31%
3.52 KHz /
10.43 KHz
∇ -66.25%
images: buildPyramid 640x480,8 levs, smooth, gray238.30 us /
104.65 us
Δ 127.70%
4.20 KHz /
9.56 KHz
∇ -56.08%
stereo: prepare rectify map 640x480 RGB4.52 ms /
18.50 ms
∇ -75.59%
221.47 Hz /
54.06 Hz
Δ 309.69%
stereo: prepare rectify map 800x600 RGB5.88 ms /
28.78 ms
∇ -79.56%
170.00 Hz /
34.74 Hz
Δ 389.31%
stereo: prepare rectify map 1024x768 RGB9.45 ms /
47.30 ms
∇ -80.01%
105.78 Hz /
21.14 Hz
Δ 400.36%
stereo: prepare rectify map 1024x768->800x600 RGB5.92 ms /
28.78 ms
∇ -79.41%
168.79 Hz /
34.75 Hz
Δ 385.74%
stereo: prepare rectify map 1024x768->640x480 RGB3.88 ms /
18.42 ms
∇ -78.93%
257.65 Hz /
54.30 Hz
Δ 374.50%
stereo: rectify 640x480 RGB1.62 ms /
1.56 ms
Δ 3.63%
617.43 Hz /
639.86 Hz
∇ -3.50%
stereo: rectify 800x600 RGB2.00 ms /
2.05 ms
∇ -2.23%
499.77 Hz /
488.62 Hz
Δ 2.28%
stereo: rectify 1024x768 RGB3.71 ms /
3.27 ms
Δ 13.51%
269.37 Hz /
305.76 Hz
∇ -11.90%
stereo: rectify 1024x768->800x600 RGB2.08 ms /
1.99 ms
Δ 4.73%
479.92 Hz /
502.64 Hz
∇ -4.52%
stereo: rectify 1024x768->640x480 RGB1.75 ms /
1.64 ms
Δ 6.35%
572.46 Hz /
608.81 Hz
∇ -5.97%
stereo: rectify 640x480 GRAY890.62 us /
1.13 ms
∇ -21.45%
1.12 KHz /
881.95 Hz
Δ 27.31%
stereo: rectify 800x600 GRAY1.10 ms /
1.58 ms
∇ -30.34%
909.06 Hz /
633.23 Hz
Δ 43.56%
stereo: rectify 1024x768 GRAY2.18 ms /
2.40 ms
∇ -9.25%
458.96 Hz /
416.50 Hz
Δ 10.19%
stereo: rectify 1024x768->800x600 GRAY1.10 ms /
1.55 ms
∇ -29.17%
909.41 Hz /
644.12 Hz
Δ 41.19%
stereo: rectify 1024x768->640x480 GRAY895.97 us /
1.29 ms
∇ -30.63%
1.12 KHz /
774.23 Hz
Δ 44.16%
tfest: se3_l2 [CPose3DQuat]10.63 us /
3.91 us
Δ 172.00%
94.03 KHz /
255.76 KHz
∇ -63.23%
tfest: se3_l2 [vector TPoint3D]8.97 us /
3.58 us
Δ 150.55%
111.51 KHz /
279.38 KHz
∇ -60.09%
tfest: se2_l2 [x10 corrs]116.12 ns /
151.94 ns
∇ -23.57%
8.61 MHz /
6.58 MHz
Δ 30.85%
tfest: se2_l2 [x100 corrs]462.23 ns /
223.20 ns
Δ 107.09%
2.16 MHz /
4.48 MHz
∇ -51.71%
tfest: se2_l2 [x1000 corrs]3.91 us /
1.04 us
Δ 277.75%
255.59 KHz /
965.48 KHz
∇ -73.53%
feature_extraction [640x480]: Harris15.75 ms /
8.61 ms
Δ 83.03%
63.49 Hz /
116.20 Hz
∇ -45.36%
feature_extraction [640x480]: KLT9.92 ms /
6.55 ms
Δ 51.47%
100.84 Hz /
152.74 Hz
∇ -33.98%
feature_extraction [640x480]: FAST2.17 ms /
2.04 ms
Δ 6.02%
461.50 Hz /
489.30 Hz
∇ -5.68%
feature_extraction [640x480]: Spin desc.30.67 ms /
102.86 ms
∇ -70.18%
32.60 Hz /
9.72 Hz
Δ 235.35%
feature_extraction [640x480]: FASTER-92.91 ms /
2.77 ms
Δ 5.15%
343.69 Hz /
361.38 Hz
∇ -4.90%
feature_extraction [640x480]: FASTER-9 (sorted best 200)2.27 ms /
1.22 ms
Δ 86.20%
439.93 Hz /
819.12 Hz
∇ -46.29%
feature_extraction [640x480]: FASTER-102.32 ms /
1.90 ms
Δ 22.33%
431.27 Hz /
527.56 Hz
∇ -18.25%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.88 ms /
951.21 us
Δ 97.33%
532.77 Hz /
1.05 KHz
∇ -49.32%
feature_extraction [640x480]: FASTER-121.64 ms /
1.43 ms
Δ 14.58%
609.44 Hz /
698.30 Hz
∇ -12.73%
feature_extraction [640x480]: FASTER-12 (sorted best 200)1.40 ms /
909.78 us
Δ 53.70%
715.16 Hz /
1.10 KHz
∇ -34.94%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()1.05 ms /
414.84 us
Δ 153.19%
952.09 Hz /
2.41 KHz
∇ -60.50%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()1.02 ms /
332.75 us
Δ 207.02%
978.83 Hz /
3.01 KHz
∇ -67.43%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()826.01 us /
388.20 us
Δ 112.78%
1.21 KHz /
2.58 KHz
∇ -53.00%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index1.05 ms /
411.19 us
Δ 155.64%
951.32 Hz /
2.43 KHz
∇ -60.88%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index1.02 ms /
332.95 us
Δ 206.85%
978.81 Hz /
3.00 KHz
∇ -67.41%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index828.21 us /
389.63 us
Δ 112.56%
1.21 KHz /
2.57 KHz
∇ -52.95%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()1.42 ms /
590.48 us
Δ 139.73%
706.45 Hz /
1.69 KHz
∇ -58.29%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()1.37 ms /
427.60 us
Δ 219.34%
732.34 Hz /
2.34 KHz
∇ -68.69%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()1.34 ms /
447.50 us
Δ 200.54%
743.54 Hz /
2.23 KHz
∇ -66.73%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index1.41 ms /
534.93 us
Δ 163.74%
708.80 Hz /
1.87 KHz
∇ -62.08%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index1.34 ms /
428.89 us
Δ 213.43%
743.91 Hz /
2.33 KHz
∇ -68.09%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index1.29 ms /
446.37 us
Δ 188.21%
777.31 Hz /
2.24 KHz
∇ -65.30%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()1.99 ms /
731.75 us
Δ 171.66%
503.05 Hz /
1.37 KHz
∇ -63.19%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()1.91 ms /
579.95 us
Δ 229.43%
523.41 Hz /
1.72 KHz
∇ -69.64%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()1.70 ms /
494.25 us
Δ 244.06%
588.07 Hz /
2.02 KHz
∇ -70.93%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index1.99 ms /
729.32 us
Δ 172.96%
502.32 Hz /
1.37 KHz
∇ -63.36%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index1.90 ms /
580.22 us
Δ 226.88%
527.26 Hz /
1.72 KHz
∇ -69.41%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index1.72 ms /
494.26 us
Δ 247.21%
582.72 Hz /
2.02 KHz
∇ -71.20%
feature_matching [640x480]: Harris + CC22.18 ms /
16.44 ms
Δ 34.92%
45.10 Hz /
60.84 Hz
∇ -25.88%
feature_matching [640x480]: Harris + SAD18.56 ms /
11.59 ms
Δ 60.05%
53.89 Hz /
86.25 Hz
∇ -37.52%
feature_matching [640x480]: FAST + CC6.94 ms /
7.56 ms
∇ -8.24%
144.08 Hz /
132.20 Hz
Δ 8.98%
feature_matching [640x480]: FAST + SAD3.61 ms /
2.99 ms
Δ 20.80%
277.32 Hz /
335.00 Hz
∇ -17.22%
graph(2d): insertEdge x 1e3158.15 us /
86.40 us
Δ 83.03%
6.32 KHz /
11.57 KHz
∇ -45.37%
graph(2d,vec): insertEdge x 1e3154.94 us /
85.45 us
Δ 81.32%
6.45 KHz /
11.70 KHz
∇ -44.85%
graph(2d): insertEdgeAtEnd x 1e3124.64 us /
69.20 us
Δ 80.11%
8.02 KHz /
14.45 KHz
∇ -44.48%
graph(2d,vec): insertEdgeAtEnd x 1e3120.41 us /
70.19 us
Δ 71.56%
8.30 KHz /
14.25 KHz
∇ -41.71%
graph(2d pdf): insertEdge x 1e3204.87 us /
116.71 us
Δ 75.53%
4.88 KHz /
8.57 KHz
∇ -43.03%
graph(2d pdf,vec): insertEdge x 1e3204.35 us /
123.52 us
Δ 65.44%
4.89 KHz /
8.10 KHz
∇ -39.56%
graph(2d pdf): insertEdgeAtEnd x 1e3162.60 us /
132.85 us
Δ 22.40%
6.15 KHz /
7.53 KHz
∇ -18.30%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3168.22 us /
99.13 us
Δ 69.69%
5.94 KHz /
10.09 KHz
∇ -41.07%
graph(2d): insertEdge x 1e41.67 ms /
1.50 ms
Δ 11.31%
598.93 Hz /
666.67 Hz
∇ -10.16%
graph(2d,vec): insertEdge x 1e41.68 ms /
1.24 ms
Δ 35.64%
596.30 Hz /
808.85 Hz
∇ -26.28%
graph(2d): insertEdgeAtEnd x 1e41.21 ms /
442.34 us
Δ 174.39%
823.91 Hz /
2.26 KHz
∇ -63.56%
graph(2d,vec): insertEdgeAtEnd x 1e41.21 ms /
435.94 us
Δ 178.47%
823.74 Hz /
2.29 KHz
∇ -64.09%
graph(2d pdf): insertEdge x 1e42.08 ms /
1.23 ms
Δ 68.89%
480.03 Hz /
810.72 Hz
∇ -40.79%
graph(2d pdf,vec): insertEdge x 1e42.19 ms /
1.64 ms
Δ 33.37%
457.17 Hz /
609.72 Hz
∇ -25.02%
graph(2d pdf): insertEdgeAtEnd x 1e41.52 ms /
981.13 us
Δ 55.38%
655.96 Hz /
1.02 KHz
∇ -35.64%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.70 ms /
963.43 us
Δ 76.14%
589.28 Hz /
1.04 KHz
∇ -43.23%
graph(3d): insertEdge x 1e3150.12 us /
121.18 us
Δ 23.88%
6.66 KHz /
8.25 KHz
∇ -19.28%
graph(3d,vec): insertEdge x 1e3150.55 us /
110.97 us
Δ 35.67%
6.64 KHz /
9.01 KHz
∇ -26.29%
graph(3d): insertEdgeAtEnd x 1e3109.39 us /
92.37 us
Δ 18.42%
9.14 KHz /
10.83 KHz
∇ -15.56%
graph(3d,vec): insertEdgeAtEnd x 1e3110.04 us /
90.57 us
Δ 21.50%
9.09 KHz /
11.04 KHz
∇ -17.70%
graph(3d pdf): insertEdge x 1e3312.72 us /
296.56 us
Δ 5.45%
3.20 KHz /
3.37 KHz
∇ -5.17%
graph(3d pdf,vec): insertEdge x 1e3360.19 us /
290.74 us
Δ 23.89%
2.78 KHz /
3.44 KHz
∇ -19.28%
graph(3d pdf): insertEdgeAtEnd x 1e3267.44 us /
226.89 us
Δ 17.87%
3.74 KHz /
4.41 KHz
∇ -15.16%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3263.46 us /
228.59 us
Δ 15.25%
3.80 KHz /
4.37 KHz
∇ -13.23%
graph(3d): insertEdge x 1e41.86 ms /
1.47 ms
Δ 26.53%
536.45 Hz /
678.77 Hz
∇ -20.97%
graph(3d,vec): insertEdge x 1e41.82 ms /
1.32 ms
Δ 38.05%
548.00 Hz /
756.48 Hz
∇ -27.56%
graph(3d): insertEdgeAtEnd x 1e41.32 ms /
891.24 us
Δ 47.68%
759.75 Hz /
1.12 KHz
∇ -32.29%
graph(3d,vec): insertEdgeAtEnd x 1e41.31 ms /
901.48 us
Δ 45.68%
761.47 Hz /
1.11 KHz
∇ -31.35%
graph(3d pdf): insertEdge x 1e43.62 ms /
3.97 ms
∇ -8.87%
276.61 Hz /
252.07 Hz
Δ 9.74%
graph(3d pdf,vec): insertEdge x 1e43.83 ms /
3.95 ms
∇ -3.07%
261.27 Hz /
253.24 Hz
Δ 3.17%
graph(3d pdf): insertEdgeAtEnd x 1e42.90 ms /
2.27 ms
Δ 27.33%
345.30 Hz /
439.68 Hz
∇ -21.46%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.90 ms /
2.27 ms
Δ 27.89%
344.56 Hz /
440.66 Hz
∇ -21.81%
graph(3d): dijkstra 1e2 nodes85.23 us /
47.91 us
Δ 77.89%
11.73 KHz /
20.87 KHz
∇ -43.78%
graph(3d,vec): dijkstra 1e2 nodes84.84 us /
47.74 us
Δ 77.71%
11.79 KHz /
20.95 KHz
∇ -43.73%
graph(3d): dijkstra 1e3 nodes950.94 us /
709.84 us
Δ 33.97%
1.05 KHz /
1.41 KHz
∇ -25.35%
graph(3d,vec): dijkstra 1e3 nodes954.30 us /
717.62 us
Δ 32.98%
1.05 KHz /
1.39 KHz
∇ -24.80%
graph(3d): dijkstra 1e4 nodes11.92 ms /
10.03 ms
Δ 18.77%
83.91 Hz /
99.66 Hz
∇ -15.81%
graph(3d,vec): dijkstra 1e4 nodes11.83 ms /
10.28 ms
Δ 15.07%
84.53 Hz /
97.27 Hz
∇ -13.09%
graph(3d): dijkstra 1e5 nodes155.44 ms /
176.58 ms
∇ -11.97%
6.43 Hz /
5.66 Hz
Δ 13.60%
graph(3d,vec): dijkstra 1e5 nodes154.14 ms /
175.46 ms
∇ -12.15%
6.49 Hz /
5.70 Hz
Δ 13.83%
graph(2d): dijkstra 1e5 nodes150.58 ms /
180.07 ms
∇ -16.37%
6.64 Hz /
5.55 Hz
Δ 19.58%
graph(2d,vec): dijkstra 1e5 nodes149.73 ms /
175.58 ms
∇ -14.72%
6.68 Hz /
5.70 Hz
Δ 17.26%
graphslam(2d): levmarq 50 KFs/101 edges908.20 us /
709.48 us
Δ 28.01%
1.10 KHz /
1.41 KHz
∇ -21.88%
graphslam(2d): levmarq 100 KFs/451 edges4.91 ms /
4.14 ms
Δ 18.45%
203.72 Hz /
241.31 Hz
∇ -15.58%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)52.81 ms /
7.80 ms
Δ 576.70%
18.94 Hz /
128.13 Hz
∇ -85.22%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)52.60 ms /
7.21 ms
Δ 629.22%
19.01 Hz /
138.64 Hz
∇ -86.29%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)52.83 ms /
7.25 ms
Δ 628.43%
18.93 Hz /
137.89 Hz
∇ -86.27%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)52.72 ms /
7.21 ms
Δ 631.42%
18.97 Hz /
138.74 Hz
∇ -86.33%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)38.09 ms /
6.30 ms
Δ 504.86%
26.25 Hz /
158.78 Hz
∇ -83.47%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)38.06 ms /
6.29 ms
Δ 505.00%
26.28 Hz /
158.98 Hz
∇ -83.47%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)38.41 ms /
6.19 ms
Δ 520.10%
26.03 Hz /
161.42 Hz
∇ -83.87%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)38.20 ms /
5.67 ms
Δ 573.32%
26.18 Hz /
176.25 Hz
∇ -85.15%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)18.76 ms /
3.91 ms
Δ 379.52%
53.29 Hz /
255.56 Hz
∇ -79.15%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)18.78 ms /
3.88 ms
Δ 384.26%
53.25 Hz /
257.85 Hz
∇ -79.35%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)18.98 ms /
3.86 ms
Δ 391.78%
52.70 Hz /
259.15 Hz
∇ -79.67%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)19.81 ms /
3.36 ms
Δ 490.22%
50.47 Hz /
297.89 Hz
∇ -83.06%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)14.46 ms /
3.38 ms
Δ 327.95%
69.17 Hz /
296.00 Hz
∇ -76.63%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)14.29 ms /
3.36 ms
Δ 325.30%
69.98 Hz /
297.63 Hz
∇ -76.49%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)14.59 ms /
3.39 ms
Δ 330.75%
68.53 Hz /
295.20 Hz
∇ -76.78%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)14.55 ms /
2.79 ms
Δ 421.66%
68.71 Hz /
358.44 Hz
∇ -80.83%
3DRangeScan: 320x240 Depth->2D scan2.14 ms /
2.11 ms
Δ 1.58%
466.86 Hz /
474.23 Hz
∇ -1.55%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.91 ms /
3.95 ms
∇ -1.01%
255.45 Hz /
252.87 Hz
Δ 1.02%
3DRangeScan: 320x240 Depth->2D scan + max_filter3.68 ms /
4.32 ms
∇ -14.83%
271.65 Hz /
231.37 Hz
Δ 17.41%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters6.04 ms /
6.38 ms
∇ -5.42%
165.66 Hz /
156.67 Hz
Δ 5.73%
CAtan2LUT: 20x20m,1cm cells,build102.30 ms /
360.78 ms
∇ -71.64%
9.78 Hz /
2.77 Hz
Δ 252.67%
CAtan2LUT: 20x20m,1cm cells,query7.64 ns /
7.41 ns
Δ 3.09%
130.96 MHz /
135.01 MHz
∇ -3.00%
CAtan2LUTMultiRes: 22x22m,build101.62 ms /
292.26 ms
∇ -65.23%
9.84 Hz /
3.42 Hz
Δ 187.60%
CAtan2LUTMultiRes: 22x22m,query10.59 ns /
19.02 ns
∇ -44.31%
94.41 MHz /
52.58 MHz
Δ 79.56%
CAtan2LUT: raw ::atan2() call22.56 ns /
94.87 ns
∇ -76.22%
44.33 MHz /
10.54 MHz
Δ 320.52%
Strings: mrpt::format() short str548.06 ns /
199.30 ns
Δ 174.99%
1.82 MHz /
5.02 MHz
∇ -63.64%
Strings: mrpt::format() long str15.47 us /
356.30 ns
Δ 4242.11%
64.64 KHz /
2.81 MHz
∇ -97.70%

 


Page generated automatically at 2018/10/29,14:04:22.995422 with MRPT 1.9.9 by 'mrpt-performance'.