Comparison: 1.5.7dev-MSVC2017-64bit vs. 1.9.9dev-GCC730-64bit




Test description 1.5.7dev-MSVC2017-64bit /
1.9.9dev-GCC730-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset1.31 ms /
902.92 us
Δ 45.04%
763.60 Hz /
1.11 KHz
∇ -31.05%
icp-slam (match grid): Run with sample dataset1.76 ms /
1.30 ms
Δ 35.61%
569.34 Hz /
772.09 Hz
∇ -26.26%
poses: CPose3D (+) CPose3D108.84 ns /
17.52 ns
Δ 521.23%
9.19 MHz /
57.08 MHz
∇ -83.90%
poses: CPose3D.composeFrom()98.66 ns /
16.58 ns
Δ 495.05%
10.14 MHz /
60.31 MHz
∇ -83.19%
poses: CPose3D (+) CPoint3D10.79 ns /
4.77 ns
Δ 126.18%
92.65 MHz /
209.56 MHz
∇ -55.79%
poses: CPose3D.composePoint()9.95 ns /
5.91 ns
Δ 68.34%
100.55 MHz /
169.26 MHz
∇ -40.60%
poses: CPose3D.composePoint()+Jacobs77.35 ns /
113.42 ns
∇ -31.80%
12.93 MHz /
8.82 MHz
Δ 46.63%
poses: CPoint3D (-) CPose3D29.11 ns /
8.24 ns
Δ 253.30%
34.35 MHz /
121.36 MHz
∇ -71.70%
poses: CPose3D.inverseComposePoint()21.72 ns /
14.52 ns
Δ 49.66%
46.03 MHz /
68.89 MHz
∇ -33.18%
poses: CPose2D (+) CPose2D14.66 ns /
17.57 ns
∇ -16.52%
68.20 MHz /
56.93 MHz
Δ 19.79%
poses: CPose2D.composeFrom()8.87 ns /
13.86 ns
∇ -36.02%
112.80 MHz /
72.17 MHz
Δ 56.30%
poses: CPose2D (+) CPoint2D10.10 ns /
7.64 ns
Δ 32.13%
99.04 MHz /
130.86 MHz
∇ -24.32%
poses: CPose2D.composePoint()5.96 ns /
5.95 ns
Δ 0.17%
167.67 MHz /
167.95 MHz
∇ -0.17%
poses: CPose3DQuat (+) CPose3DQuat46.29 ns /
18.36 ns
Δ 152.13%
21.60 MHz /
54.47 MHz
∇ -60.34%
poses: CPose3DQuat.composeFrom()34.10 ns /
19.07 ns
Δ 78.84%
29.32 MHz /
52.44 MHz
∇ -44.08%
poses: CPose3DQuat (+) CPoint3D24.82 ns /
12.33 ns
Δ 101.37%
40.29 MHz /
81.13 MHz
∇ -50.34%
poses: CPose3DQuat.composePoint()16.57 ns /
10.47 ns
Δ 58.16%
60.36 MHz /
95.47 MHz
∇ -36.77%
poses: CPose3DQuat.invcomposePoint()13.13 ns /
8.56 ns
Δ 53.39%
76.16 MHz /
116.82 MHz
∇ -34.81%
poses: Conv CPose3DQuat <- CPose3D12.13 ns /
9.85 ns
Δ 23.14%
82.47 MHz /
101.55 MHz
∇ -18.79%
poses: Conv CPose3D -> CPose3DQuat43.97 ns /
79.25 ns
∇ -44.52%
22.74 MHz /
12.62 MHz
Δ 80.25%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)960.22 ns /
520.00 ns
Δ 84.66%
1.04 MHz /
1.92 MHz
∇ -45.85%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)941.20 ns /
540.00 ns
Δ 74.30%
1.06 MHz /
1.85 MHz
∇ -42.63%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.89 us /
7.73 us
∇ -23.76%
169.68 KHz /
129.37 KHz
Δ 31.16%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)1.72 us /
284.60 ns
Δ 505.14%
580.64 KHz /
3.51 MHz
∇ -83.47%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)1.72 us /
285.00 ns
Δ 505.26%
579.72 KHz /
3.51 MHz
∇ -83.48%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.21 us /
4.03 us
Δ 4.37%
237.73 KHz /
248.11 KHz
∇ -4.19%
CPose3DInterpolator: CPose3D insert pose at end189.89 ns /
198.03 ns
∇ -4.11%
5.27 MHz /
5.05 MHz
Δ 4.28%
CPose3DInterpolator: CPose3D insert pose random279.35 ns /
215.30 ns
Δ 29.75%
3.58 MHz /
4.64 MHz
∇ -22.93%
CPose3DInterpolator: CPose3D query408.39 ns /
547.04 ns
∇ -25.35%
2.45 MHz /
1.83 MHz
Δ 33.95%
CPose3DInterpolator: TPose3D insert pose at end166.84 ns /
169.83 ns
∇ -1.76%
5.99 MHz /
5.89 MHz
Δ 1.79%
CPose3DInterpolator: TPose3D insert pose random272.92 ns /
201.49 ns
Δ 35.45%
3.66 MHz /
4.96 MHz
∇ -26.17%
CPose3DInterpolator: TPose3D query318.24 ns /
479.99 ns
∇ -33.70%
3.14 MHz /
2.08 MHz
Δ 50.82%
CPose2DInterpolator: TPose2D insert pose at end160.68 ns /
156.29 ns
Δ 2.80%
6.22 MHz /
6.40 MHz
∇ -2.73%
CPose2DInterpolator: TPose2D insert pose random226.10 ns /
174.72 ns
Δ 29.40%
4.42 MHz /
5.72 MHz
∇ -22.72%
CPose2DInterpolator: TPose2D query144.72 ns /
171.34 ns
∇ -15.54%
6.91 MHz /
5.84 MHz
Δ 18.39%
matrix: unit, dyn[float], 3x321.72 ns /
20.30 ns
Δ 6.96%
46.04 MHz /
49.25 MHz
∇ -6.51%
matrix: unit, dyn[double], 3x321.63 ns /
18.13 ns
Δ 19.33%
46.23 MHz /
55.16 MHz
∇ -16.20%
matrix: unit, dyn[float], 6x658.30 ns /
44.79 ns
Δ 30.17%
17.15 MHz /
22.33 MHz
∇ -23.18%
matrix: unit, dyn[double], 6x657.93 ns /
39.03 ns
Δ 48.41%
17.26 MHz /
25.62 MHz
∇ -32.62%
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 /
3.10 ns
Δ 104.66%
157.62 MHz /
322.58 MHz
∇ -51.14%
matrix: multiply, dyn[float ], 3x3 * 3x3177.80 ns /
74.80 ns
Δ 137.69%
5.62 MHz /
13.37 MHz
∇ -57.93%
matrix: multiply, fix[float ], 3x3 * 3x3106.68 ns /
0.10 ns
Δ 106577.39%
9.37 MHz /
10.00 GHz
∇ -99.91%
matrix: multiply, dyn[double], 3x3 * 3x3162.46 ns /
73.30 ns
Δ 121.64%
6.16 MHz /
13.64 MHz
∇ -54.88%
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 /
88.20 ns
Δ 109.04%
5.42 MHz /
11.34 MHz
∇ -52.16%
matrix: multiply, fix[float ], 3x6 * 6x3131.40 ns /
2.80 ns
Δ 4592.85%
7.61 MHz /
357.14 MHz
∇ -97.87%
matrix: multiply, dyn[double], 3x6 * 6x3183.56 ns /
92.10 ns
Δ 99.31%
5.45 MHz /
10.86 MHz
∇ -49.83%
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 /
1.10 us
∇ -9.17%
997.38 KHz /
905.88 KHz
Δ 10.10%
matrix: multiply, fix[float ], 10x40 * 40x10831.72 ns /
787.10 ns
Δ 5.67%
1.20 MHz /
1.27 MHz
∇ -5.36%
matrix: multiply, dyn[double], 10x40 * 40x101.55 us /
1.71 us
∇ -9.79%
647.07 KHz /
583.74 KHz
Δ 10.85%
matrix: multiply, fix[double], 10x40 * 40x101.33 us /
1.31 us
Δ 1.78%
749.16 KHz /
762.49 KHz
∇ -1.75%
matrix: inv, dyn[double] 3x3997.04 ns /
552.00 ns
Δ 80.62%
1.00 MHz /
1.81 MHz
∇ -44.64%
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 /
1.56 us
Δ 6.73%
599.82 KHz /
640.20 KHz
∇ -6.31%
matrix: inv, fix[double] 6x61.01 us /
811.00 ns
Δ 23.98%
994.53 KHz /
1.23 MHz
∇ -19.34%
matrix: inv, dyn[double] 20x2010.40 us /
9.61 us
Δ 8.25%
96.14 KHz /
104.07 KHz
∇ -7.62%
matrix: inv, fix[double] 20x209.45 us /
8.32 us
Δ 13.51%
105.87 KHz /
120.18 KHz
∇ -11.90%
matrix: inv, dyn[double] 40x4040.34 us /
40.62 us
∇ -0.69%
24.79 KHz /
24.62 KHz
Δ 0.69%
matrix: inv, fix[double] 40x4038.14 us /
40.56 us
∇ -5.96%
26.22 KHz /
24.65 KHz
Δ 6.34%
matrix: det, dyn[double] 2x2332.38 ns /
162.40 ns
Δ 104.67%
3.01 MHz /
6.16 MHz
∇ -51.14%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3437.03 ns /
222.70 ns
Δ 96.24%
2.29 MHz /
4.49 MHz
∇ -49.04%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6810.13 ns /
498.50 ns
Δ 62.51%
1.23 MHz /
2.01 MHz
∇ -38.47%
matrix: det, fix[double] 6x6606.86 ns /
317.50 ns
Δ 91.14%
1.65 MHz /
3.15 MHz
∇ -47.68%
matrix: det, dyn[double] 20x206.30 us /
4.31 us
Δ 46.06%
158.75 KHz /
231.87 KHz
∇ -31.54%
matrix: det, fix[double] 20x205.89 us /
3.96 us
Δ 48.78%
169.88 KHz /
252.75 KHz
∇ -32.79%
matrix: det, dyn[double] 40x4022.96 us /
17.05 us
Δ 34.66%
43.55 KHz /
58.64 KHz
∇ -25.74%
matrix: det, fix[double] 40x4022.85 us /
16.89 us
Δ 35.33%
43.75 KHz /
59.21 KHz
∇ -26.11%
matrix: chol, dyn[double] 4x4682.20 ns /
530.00 ns
Δ 28.72%
1.47 MHz /
1.89 MHz
∇ -22.31%
matrix: chol, fix[double] 4x4316.95 ns /
290.00 ns
Δ 9.29%
3.16 MHz /
3.45 MHz
∇ -8.50%
matrix: chol, dyn[double] 40x4015.61 us /
10.81 us
Δ 44.42%
64.05 KHz /
92.51 KHz
∇ -30.76%
matrix: chol, fix[double] 40x4014.14 us /
10.61 us
Δ 33.23%
70.74 KHz /
94.25 KHz
∇ -24.94%
matrix: chol, sparse [2x2;2x2]123.13 us /
6.10 us
Δ 1918.50%
8.12 KHz /
163.93 KHz
∇ -95.05%
matrix: chol, sparse [30x30;10x10]44.19 us /
36.50 us
Δ 21.07%
22.63 KHz /
27.40 KHz
∇ -17.41%
matrix: chol, dyn[double] 10x[6x6]38.64 us /
28.80 us
Δ 34.16%
25.88 KHz /
34.72 KHz
∇ -25.46%
matrix: chol, sparse 10x[6x6]18.44 us /
16.74 us
Δ 10.14%
54.24 KHz /
59.74 KHz
∇ -9.21%
matrix: chol, dyn[double] 20x[6x6]187.94 us /
151.40 us
Δ 24.13%
5.32 KHz /
6.61 KHz
∇ -19.44%
matrix: chol, sparse 20x[6x6]32.61 us /
29.33 us
Δ 11.17%
30.67 KHz /
34.09 KHz
∇ -10.05%
matrix: chol, dyn[double] 50x[6x6]2.45 ms /
1.67 ms
Δ 46.65%
407.79 Hz /
598.01 Hz
∇ -31.81%
matrix: chol, sparse 50x[6x6]159.41 us /
69.84 us
Δ 128.25%
6.27 KHz /
14.32 KHz
∇ -56.19%
matrix: chol, dyn[double] 100x[6x6]16.61 ms /
14.94 ms
Δ 11.14%
60.21 Hz /
66.92 Hz
∇ -10.03%
matrix: chol, sparse 100x[6x6]143.31 us /
142.72 us
Δ 0.41%
6.98 KHz /
7.01 KHz
∇ -0.41%
matrix: chol, dyn[double] 120x[6x6]22.18 ms /
23.75 ms
∇ -6.64%
45.09 Hz /
42.10 Hz
Δ 7.12%
matrix: chol, sparse 120x[6x6]169.63 us /
163.62 us
Δ 3.67%
5.90 KHz /
6.11 KHz
∇ -3.54%
matrix: chol, dyn[double] 140x[6x6]33.41 ms /
36.15 ms
∇ -7.57%
29.93 Hz /
27.66 Hz
Δ 8.19%
matrix: chol, sparse 140x[6x6]202.09 us /
190.66 us
Δ 5.99%
4.95 KHz /
5.24 KHz
∇ -5.65%
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 /
4.07 ns
∇ -28.48%
343.63 MHz /
245.78 MHz
Δ 39.81%
gridmap2D: setCell1.86 ns /
2.90 ns
∇ -35.88%
536.87 MHz /
344.23 MHz
Δ 55.96%
gridmap2D: updateCell3.46 ns /
5.82 ns
∇ -40.66%
289.38 MHz /
171.70 MHz
Δ 68.53%
gridmap2D: updateCell_fast_occupied1.88 ns /
0.86 ns
Δ 119.65%
530.87 MHz /
1.17 GHz
∇ -54.47%
gridmap2D: insert scan w/o widening62.88 us /
56.46 us
Δ 11.37%
15.90 KHz /
17.71 KHz
∇ -10.21%
gridmap2D: insert scan with widening175.10 us /
158.80 us
Δ 10.27%
5.71 KHz /
6.30 KHz
∇ -9.31%
gridmap2D: resize757.97 us /
308.00 us
Δ 146.09%
1.32 KHz /
3.25 KHz
∇ -59.37%
gridmap2D: computeLikelihood8.30 us /
9.34 us
∇ -11.18%
120.54 KHz /
107.06 KHz
Δ 12.58%
gridmap2D: determineMatching2D35.80 us /
22.76 us
Δ 57.33%
27.93 KHz /
43.94 KHz
∇ -36.44%
pointmap: insert 100 scans526.37 us /
296.72 us
Δ 77.40%
1.90 KHz /
3.37 KHz
∇ -43.63%
pointmap: build 2D kd-tree of 1 scan2.27 us /
1.40 us
Δ 62.14%
440.53 KHz /
714.29 KHz
∇ -38.33%
pointmap: build 2D kd-tree of 100 scan155.06 us /
82.24 us
Δ 88.55%
6.45 KHz /
12.16 KHz
∇ -46.96%
pointmap: build 2D kd-tree of 1000 scan1.69 ms /
911.44 us
Δ 84.91%
593.35 Hz /
1.10 KHz
∇ -45.92%
pointmap: build 3D kd-tree of 1 scan2.31 us /
920.00 ns
Δ 150.68%
433.61 KHz /
1.09 MHz
∇ -60.11%
pointmap: build 3D kd-tree of 100 scan159.93 us /
87.64 us
Δ 82.48%
6.25 KHz /
11.41 KHz
∇ -45.20%
pointmap: build 3D kd-tree of 1000 scan1.73 ms /
918.80 us
Δ 88.41%
577.66 Hz /
1.09 KHz
∇ -46.92%
pointmap: kd-tree 2d query on 10 scans516.48 ns /
317.00 ns
Δ 62.93%
1.94 MHz /
3.15 MHz
∇ -38.62%
pointmap: kd-tree 2d query on 1000 scans42.42 us /
22.90 us
Δ 85.23%
23.57 KHz /
43.67 KHz
∇ -46.01%
pointmap: kd-tree 2d query on 10000 scans4.92 ms /
2.66 ms
Δ 84.50%
203.42 Hz /
375.31 Hz
∇ -45.80%
pointmap: (insert scan+2D kd-tree query) x 101.82 ms /
946.05 us
Δ 91.87%
550.91 Hz /
1.06 KHz
∇ -47.88%
pointmap: (insert scan+2D kd-tree query) x 5042.41 ms /
23.20 ms
Δ 82.77%
23.58 Hz /
43.10 Hz
∇ -45.29%
pointmap: (insert scan+3D kd-tree query) x 101.73 ms /
936.50 us
Δ 84.70%
578.12 Hz /
1.07 KHz
∇ -45.86%
pointmap: (insert scan+3D kd-tree query) x 5043.82 ms /
23.27 ms
Δ 88.33%
22.82 Hz /
42.98 Hz
∇ -46.90%
pointmap: computeMatchingWith2D33.73 us /
21.92 us
Δ 53.91%
29.64 KHz /
45.62 KHz
∇ -35.03%
pointmap: boundingBox (10 scans)10.77 us /
892.30 ns
Δ 1107.01%
92.85 KHz /
1.12 MHz
∇ -91.72%
pointmap: boundingBox (1000 scans)1.07 ms /
85.56 us
Δ 1154.97%
931.26 Hz /
11.69 KHz
∇ -92.03%
random: drawUniform32bit4.58 ns /
22.75 ns
∇ -79.86%
218.18 MHz /
43.95 MHz
Δ 396.47%
random: drawUniform4.56 ns /
22.74 ns
∇ -79.93%
219.10 MHz /
43.98 MHz
Δ 398.14%
random: drawGaussian1D_normalized20.91 ns /
55.74 ns
∇ -62.49%
47.83 MHz /
17.94 MHz
Δ 166.58%
random: drawGaussian1D20.77 ns /
55.81 ns
∇ -62.79%
48.15 MHz /
17.92 MHz
Δ 168.72%
random: system rand()14.59 ns /
10.62 ns
Δ 37.36%
68.54 MHz /
94.14 MHz
∇ -27.20%
random: drawGaussianMultivariate(fixed 3x3)561.77 ns /
551.60 ns
Δ 1.84%
1.78 MHz /
1.81 MHz
∇ -1.81%
random: drawGaussianMultivariate(dyn 3x3)1.64 us /
1.19 us
Δ 37.74%
608.03 KHz /
837.52 KHz
∇ -27.40%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)55.97 ns /
115.14 ns
∇ -51.39%
17.87 MHz /
8.69 MHz
Δ 105.71%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)87.22 ns /
180.82 ns
∇ -51.76%
11.46 MHz /
5.53 MHz
Δ 107.31%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)183.80 ns /
380.13 ns
∇ -51.65%
5.44 MHz /
2.63 MHz
Δ 106.81%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)61.16 ns /
122.87 ns
∇ -50.22%
16.35 MHz /
8.14 MHz
Δ 100.90%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)94.72 ns /
197.55 ns
∇ -52.05%
10.56 MHz /
5.06 MHz
Δ 108.56%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)202.25 ns /
390.58 ns
∇ -48.22%
4.94 MHz /
2.56 MHz
Δ 93.11%
random: permuteVector (len=10)342.43 ns /
1.69 us
∇ -79.77%
2.92 MHz /
590.81 KHz
Δ 394.29%
random: permuteVector (len=100)3.50 us /
3.30 us
Δ 6.14%
285.70 KHz /
303.24 KHz
∇ -5.79%
random: permuteVector (len=1000)34.48 us /
19.67 us
Δ 75.26%
29.00 KHz /
50.83 KHz
∇ -42.94%
math: round52.00 ns /
0.03 ns
Δ 159790.63%
19.23 MHz /
30.75 GHz
∇ -99.94%
math: std::hypot(float)5.42 ns /
0.00 ns
Δ 54201401.33%
184.50 MHz /
100.00 THz
∇ -100.00%
math: mrpt::math::hypot_fast(float)3.93 ns /
X
254.43 MHz /
X
math: mrpt::math::hypot_fast(double)5.24 ns /
X
190.72 MHz /
X
images: Gauss filter (640x480)919.51 us /
2.01 ms
∇ -54.19%
1.09 KHz /
498.17 Hz
Δ 118.31%
images: Gauss filter (800x600)1.50 ms /
3.21 ms
∇ -53.34%
667.43 Hz /
311.42 Hz
Δ 114.31%
images: Gauss filter (1024x768)2.43 ms /
5.27 ms
∇ -53.94%
411.66 Hz /
189.63 Hz
Δ 117.09%
images: Half sample GRAY (160x120)44.68 us /
753.33 ns
Δ 5831.15%
22.38 KHz /
1.33 MHz
∇ -98.31%
images: Half sample GRAY (320x240)12.34 us /
1.81 us
Δ 582.97%
81.04 KHz /
553.51 KHz
∇ -85.36%
images: Half sample GRAY (640x480)44.43 us /
7.24 us
Δ 513.33%
22.51 KHz /
138.06 KHz
∇ -83.70%
images: Half sample GRAY (800x600)62.97 us /
12.12 us
Δ 419.67%
15.88 KHz /
82.53 KHz
∇ -80.76%
images: Half sample GRAY (1024x768)73.10 us /
20.49 us
Δ 256.77%
13.68 KHz /
48.80 KHz
∇ -71.97%
images: Half sample GRAY (1280x1024)83.61 us /
33.85 us
Δ 146.99%
11.96 KHz /
29.54 KHz
∇ -59.51%
images: Half sample RGB (160x120)7.37 us /
1.40 us
Δ 424.99%
135.73 KHz /
712.59 KHz
∇ -80.95%
images: Half sample RGB (320x240)25.88 us /
4.44 us
Δ 483.26%
38.64 KHz /
225.39 KHz
∇ -82.86%
images: Half sample RGB (640x480)99.11 us /
21.84 us
Δ 353.79%
10.09 KHz /
45.79 KHz
∇ -77.96%
images: Half sample RGB (800x600)121.43 us /
34.88 us
Δ 248.17%
8.24 KHz /
28.67 KHz
∇ -71.28%
images: Half sample RGB (1024x768)173.65 us /
58.20 us
Δ 198.34%
5.76 KHz /
17.18 KHz
∇ -66.48%
images: Half sample RGB (1280x1024)182.74 us /
119.26 us
Δ 53.22%
5.47 KHz /
8.38 KHz
∇ -34.74%
images: Half sample smooth GRAY (160x120)28.12 us /
1.08 us
Δ 2495.53%
35.56 KHz /
923.08 KHz
∇ -96.15%
images: Half sample smooth GRAY (320x240)6.24 us /
3.11 us
Δ 100.53%
160.35 KHz /
321.54 KHz
∇ -50.13%
images: Half sample smooth GRAY (640x480)20.79 us /
13.89 us
Δ 49.71%
48.10 KHz /
72.01 KHz
∇ -33.20%
images: Half sample smooth GRAY (800x600)30.69 us /
21.31 us
Δ 43.97%
32.59 KHz /
46.92 KHz
∇ -30.54%
images: Half sample smooth GRAY (1024x768)33.69 us /
34.33 us
∇ -1.87%
29.68 KHz /
29.13 KHz
Δ 1.91%
images: Half sample smooth GRAY (1280x1024)38.04 us /
56.59 us
∇ -32.79%
26.29 KHz /
17.67 KHz
Δ 48.78%
images: Half sample smooth RGB (160x120)9.57 us /
10.08 us
∇ -5.04%
104.47 KHz /
99.21 KHz
Δ 5.31%
images: Half sample smooth RGB (320x240)33.29 us /
33.64 us
∇ -1.05%
30.04 KHz /
29.72 KHz
Δ 1.06%
images: Half sample smooth RGB (640x480)126.81 us /
127.81 us
∇ -0.78%
7.89 KHz /
7.82 KHz
Δ 0.79%
images: Half sample smooth RGB (800x600)176.80 us /
191.91 us
∇ -7.88%
5.66 KHz /
5.21 KHz
Δ 8.55%
images: Half sample smooth RGB (1024x768)209.31 us /
194.27 us
Δ 7.74%
4.78 KHz /
5.15 KHz
∇ -7.18%
images: Half sample smooth RGB (1280x1024)221.21 us /
364.64 us
∇ -39.33%
4.52 KHz /
2.74 KHz
Δ 64.84%
images: RGB->GRAY 8u (40x30)6.60 us /
5.59 us
Δ 18.08%
151.59 KHz /
179.00 KHz
∇ -15.31%
images: RGB->GRAY 8u (80x60)7.36 us /
4.23 us
Δ 73.77%
135.94 KHz /
236.22 KHz
∇ -42.45%
images: RGB->GRAY 8u (160x120)27.06 us /
11.42 us
Δ 136.88%
36.96 KHz /
87.54 KHz
∇ -57.78%
images: RGB->GRAY 8u (320x240)105.43 us /
35.87 us
Δ 193.89%
9.49 KHz /
27.88 KHz
∇ -65.97%
images: RGB->GRAY 8u (640x480)175.70 us /
127.77 us
Δ 37.52%
5.69 KHz /
7.83 KHz
∇ -27.28%
images: RGB->GRAY 8u (800x600)196.49 us /
169.11 us
Δ 16.19%
5.09 KHz /
5.91 KHz
∇ -13.94%
images: RGB->GRAY 8u (1024x768)367.76 us /
237.72 us
Δ 54.70%
2.72 KHz /
4.21 KHz
∇ -35.36%
images: RGB->GRAY 8u (1280x1024)834.98 us /
377.32 us
Δ 121.29%
1.20 KHz /
2.65 KHz
∇ -54.81%
images: KLT score (WIN=2 5x5)43.55 ns /
27.26 ns
Δ 59.73%
22.96 MHz /
36.68 MHz
∇ -37.40%
images: KLT score (WIN=3 7x7)58.85 ns /
33.33 ns
Δ 76.57%
16.99 MHz /
30.00 MHz
∇ -43.36%
images: KLT score (WIN=4 9x9)76.23 ns /
37.96 ns
Δ 100.81%
13.12 MHz /
26.34 MHz
∇ -50.20%
images: KLT score (WIN=5 10x10)101.24 ns /
48.02 ns
Δ 110.85%
9.88 MHz /
20.83 MHz
∇ -52.57%
images: KLT score (WIN=6 13x13)129.38 ns /
53.09 ns
Δ 143.71%
7.73 MHz /
18.84 MHz
∇ -58.97%
images: KLT score (WIN=7 15x15)163.57 ns /
62.87 ns
Δ 160.16%
6.11 MHz /
15.91 MHz
∇ -61.56%
images: KLT score (WIN=8 17x17)207.36 ns /
59.92 ns
Δ 246.07%
4.82 MHz /
16.69 MHz
∇ -71.10%
images: KLT score (WIN=9 19x19)240.42 ns /
62.94 ns
Δ 281.98%
4.16 MHz /
15.89 MHz
∇ -73.82%
images: KLT score (WIN=10 21x21)274.50 ns /
66.64 ns
Δ 311.91%
3.64 MHz /
15.01 MHz
∇ -75.72%
images: KLT score (WIN=11 23x23)319.09 ns /
59.70 ns
Δ 434.53%
3.13 MHz /
16.75 MHz
∇ -81.29%
images: KLT score (WIN=12 25x25)368.43 ns /
78.23 ns
Δ 370.98%
2.71 MHz /
12.78 MHz
∇ -78.77%
images: KLT score (WIN=13 27x27)427.37 ns /
66.87 ns
Δ 539.13%
2.34 MHz /
14.95 MHz
∇ -84.35%
images: KLT score (WIN=14 29x29)483.04 ns /
69.47 ns
Δ 595.30%
2.07 MHz /
14.39 MHz
∇ -85.62%
images: KLT score (WIN=15 31x31)547.94 ns /
72.48 ns
Δ 656.00%
1.83 MHz /
13.80 MHz
∇ -86.77%
images: KLT score (WIN=16 33x33)619.70 ns /
103.32 ns
Δ 499.78%
1.61 MHz /
9.68 MHz
∇ -83.33%
images: buildPyramid 640x480,4 levs,no smooth,no gray191.90 us /
81.37 us
Δ 135.84%
5.21 KHz /
12.29 KHz
∇ -57.60%
images: buildPyramid 640x480,4 levs, smooth,no gray231.26 us /
224.34 us
Δ 3.09%
4.32 KHz /
4.46 KHz
∇ -2.99%
images: buildPyramid 640x480,4 levs,no smooth, gray280.65 us /
94.91 us
Δ 195.71%
3.56 KHz /
10.54 KHz
∇ -66.18%
images: buildPyramid 640x480,4 levs, smooth, gray228.84 us /
101.22 us
Δ 126.09%
4.37 KHz /
9.88 KHz
∇ -55.77%
images: buildPyramid 640x480,8 levs,no smooth,no gray207.46 us /
85.80 us
Δ 141.80%
4.82 KHz /
11.66 KHz
∇ -58.64%
images: buildPyramid 640x480,8 levs, smooth,no gray240.02 us /
231.53 us
Δ 3.67%
4.17 KHz /
4.32 KHz
∇ -3.54%
images: buildPyramid 640x480,8 levs,no smooth, gray284.19 us /
99.53 us
Δ 185.54%
3.52 KHz /
10.05 KHz
∇ -64.98%
images: buildPyramid 640x480,8 levs, smooth, gray238.30 us /
107.32 us
Δ 122.05%
4.20 KHz /
9.32 KHz
∇ -54.97%
stereo: prepare rectify map 640x480 RGB4.52 ms /
18.45 ms
∇ -75.52%
221.47 Hz /
54.21 Hz
Δ 308.56%
stereo: prepare rectify map 800x600 RGB5.88 ms /
28.81 ms
∇ -79.58%
170.00 Hz /
34.71 Hz
Δ 389.83%
stereo: prepare rectify map 1024x768 RGB9.45 ms /
47.34 ms
∇ -80.03%
105.78 Hz /
21.12 Hz
Δ 400.75%
stereo: prepare rectify map 1024x768->800x600 RGB5.92 ms /
28.79 ms
∇ -79.42%
168.79 Hz /
34.73 Hz
Δ 386.02%
stereo: prepare rectify map 1024x768->640x480 RGB3.88 ms /
18.49 ms
∇ -79.01%
257.65 Hz /
54.07 Hz
Δ 376.51%
stereo: rectify 640x480 RGB1.62 ms /
1.53 ms
Δ 5.53%
617.43 Hz /
651.57 Hz
∇ -5.24%
stereo: rectify 800x600 RGB2.00 ms /
1.62 ms
Δ 23.59%
499.77 Hz /
617.68 Hz
∇ -19.09%
stereo: rectify 1024x768 RGB3.71 ms /
2.94 ms
Δ 26.27%
269.37 Hz /
340.13 Hz
∇ -20.80%
stereo: rectify 1024x768->800x600 RGB2.08 ms /
2.00 ms
Δ 4.43%
479.92 Hz /
501.19 Hz
∇ -4.24%
stereo: rectify 1024x768->640x480 RGB1.75 ms /
1.69 ms
Δ 3.31%
572.46 Hz /
591.40 Hz
∇ -3.20%
stereo: rectify 640x480 GRAY890.62 us /
1.10 ms
∇ -19.19%
1.12 KHz /
907.32 Hz
Δ 23.75%
stereo: rectify 800x600 GRAY1.10 ms /
1.23 ms
∇ -10.50%
909.06 Hz /
813.64 Hz
Δ 11.73%
stereo: rectify 1024x768 GRAY2.18 ms /
2.26 ms
∇ -3.74%
458.96 Hz /
441.81 Hz
Δ 3.88%
stereo: rectify 1024x768->800x600 GRAY1.10 ms /
1.38 ms
∇ -20.52%
909.41 Hz /
722.75 Hz
Δ 25.83%
stereo: rectify 1024x768->640x480 GRAY895.97 us /
1.32 ms
∇ -31.90%
1.12 KHz /
760.11 Hz
Δ 46.84%
tfest: se3_l2 [CPose3DQuat]10.63 us /
2.82 us
Δ 277.73%
94.03 KHz /
355.19 KHz
∇ -73.53%
tfest: se3_l2 [vector TPoint3D]8.97 us /
2.86 us
Δ 213.13%
111.51 KHz /
349.17 KHz
∇ -68.06%
tfest: se2_l2 [x10 corrs]116.12 ns /
135.55 ns
∇ -14.33%
8.61 MHz /
7.38 MHz
Δ 16.73%
tfest: se2_l2 [x100 corrs]462.23 ns /
221.18 ns
Δ 108.98%
2.16 MHz /
4.52 MHz
∇ -52.15%
tfest: se2_l2 [x1000 corrs]3.91 us /
1.02 us
Δ 283.77%
255.59 KHz /
980.87 KHz
∇ -73.94%
feature_extraction [640x480]: Harris15.75 ms /
6.31 ms
Δ 149.75%
63.49 Hz /
158.55 Hz
∇ -59.96%
feature_extraction [640x480]: KLT9.92 ms /
6.67 ms
Δ 48.57%
100.84 Hz /
149.82 Hz
∇ -32.69%
feature_extraction [640x480]: FAST2.17 ms /
1.90 ms
Δ 14.20%
461.50 Hz /
527.03 Hz
∇ -12.43%
feature_extraction [640x480]: Spin desc.30.67 ms /
100.39 ms
∇ -69.45%
32.60 Hz /
9.96 Hz
Δ 227.31%
feature_extraction [640x480]: FASTER-92.91 ms /
2.31 ms
Δ 25.92%
343.69 Hz /
432.77 Hz
∇ -20.58%
feature_extraction [640x480]: FASTER-9 (sorted best 200)2.27 ms /
1.17 ms
Δ 93.74%
439.93 Hz /
852.33 Hz
∇ -48.39%
feature_extraction [640x480]: FASTER-102.32 ms /
1.75 ms
Δ 32.31%
431.27 Hz /
570.61 Hz
∇ -24.42%
feature_extraction [640x480]: FASTER-10 (sorted best 200)1.88 ms /
974.68 us
Δ 92.57%
532.77 Hz /
1.03 KHz
∇ -48.07%
feature_extraction [640x480]: FASTER-121.64 ms /
1.29 ms
Δ 26.96%
609.44 Hz /
773.75 Hz
∇ -21.24%
feature_extraction [640x480]: FASTER-12 (sorted best 200)1.40 ms /
964.98 us
Δ 44.90%
715.16 Hz /
1.04 KHz
∇ -30.99%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()1.05 ms /
397.71 us
Δ 164.09%
952.09 Hz /
2.51 KHz
∇ -62.13%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()1.02 ms /
372.97 us
Δ 173.91%
978.83 Hz /
2.68 KHz
∇ -63.49%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()826.01 us /
476.84 us
Δ 73.22%
1.21 KHz /
2.10 KHz
∇ -42.27%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index1.05 ms /
403.19 us
Δ 160.71%
951.32 Hz /
2.48 KHz
∇ -61.64%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index1.02 ms /
376.41 us
Δ 171.42%
978.81 Hz /
2.66 KHz
∇ -63.16%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index828.21 us /
478.39 us
Δ 73.12%
1.21 KHz /
2.09 KHz
∇ -42.24%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()1.42 ms /
502.18 us
Δ 181.88%
706.45 Hz /
1.99 KHz
∇ -64.52%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()1.37 ms /
474.23 us
Δ 187.94%
732.34 Hz /
2.11 KHz
∇ -65.27%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()1.34 ms /
548.60 us
Δ 145.15%
743.54 Hz /
1.82 KHz
∇ -59.21%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index1.41 ms /
507.99 us
Δ 177.73%
708.80 Hz /
1.97 KHz
∇ -63.99%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index1.34 ms /
536.86 us
Δ 150.39%
743.91 Hz /
1.86 KHz
∇ -60.06%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index1.29 ms /
550.06 us
Δ 133.88%
777.31 Hz /
1.82 KHz
∇ -57.24%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()1.99 ms /
646.02 us
Δ 207.71%
503.05 Hz /
1.55 KHz
∇ -67.50%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()1.91 ms /
638.23 us
Δ 199.35%
523.41 Hz /
1.57 KHz
∇ -66.59%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()1.70 ms /
605.17 us
Δ 180.99%
588.07 Hz /
1.65 KHz
∇ -64.41%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index1.99 ms /
651.80 us
Δ 205.43%
502.32 Hz /
1.53 KHz
∇ -67.26%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index1.90 ms /
640.70 us
Δ 196.02%
527.26 Hz /
1.56 KHz
∇ -66.22%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index1.72 ms /
606.24 us
Δ 183.07%
582.72 Hz /
1.65 KHz
∇ -64.67%
feature_matching [640x480]: Harris + CC22.18 ms /
15.55 ms
Δ 42.59%
45.10 Hz /
64.30 Hz
∇ -29.87%
feature_matching [640x480]: Harris + SAD18.56 ms /
11.05 ms
Δ 67.92%
53.89 Hz /
90.49 Hz
∇ -40.45%
feature_matching [640x480]: FAST + CC6.94 ms /
7.00 ms
∇ -0.80%
144.08 Hz /
142.92 Hz
Δ 0.81%
feature_matching [640x480]: FAST + SAD3.61 ms /
2.47 ms
Δ 46.05%
277.32 Hz /
405.04 Hz
∇ -31.53%
graph(2d): insertEdge x 1e3158.15 us /
93.49 us
Δ 69.15%
6.32 KHz /
10.70 KHz
∇ -40.88%
graph(2d,vec): insertEdge x 1e3154.94 us /
97.39 us
Δ 59.10%
6.45 KHz /
10.27 KHz
∇ -37.15%
graph(2d): insertEdgeAtEnd x 1e3124.64 us /
73.49 us
Δ 69.59%
8.02 KHz /
13.61 KHz
∇ -41.03%
graph(2d,vec): insertEdgeAtEnd x 1e3120.41 us /
74.27 us
Δ 62.13%
8.30 KHz /
13.46 KHz
∇ -38.32%
graph(2d pdf): insertEdge x 1e3204.87 us /
130.24 us
Δ 57.30%
4.88 KHz /
7.68 KHz
∇ -36.43%
graph(2d pdf,vec): insertEdge x 1e3204.35 us /
130.03 us
Δ 57.16%
4.89 KHz /
7.69 KHz
∇ -36.37%
graph(2d pdf): insertEdgeAtEnd x 1e3162.60 us /
113.28 us
Δ 43.54%
6.15 KHz /
8.83 KHz
∇ -30.34%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3168.22 us /
113.96 us
Δ 47.61%
5.94 KHz /
8.77 KHz
∇ -32.25%
graph(2d): insertEdge x 1e41.67 ms /
1.52 ms
Δ 9.54%
598.93 Hz /
656.10 Hz
∇ -8.71%
graph(2d,vec): insertEdge x 1e41.68 ms /
1.25 ms
Δ 34.00%
596.30 Hz /
799.05 Hz
∇ -25.37%
graph(2d): insertEdgeAtEnd x 1e41.21 ms /
488.95 us
Δ 148.23%
823.91 Hz /
2.05 KHz
∇ -59.71%
graph(2d,vec): insertEdgeAtEnd x 1e41.21 ms /
490.97 us
Δ 147.26%
823.74 Hz /
2.04 KHz
∇ -59.56%
graph(2d pdf): insertEdge x 1e42.08 ms /
1.29 ms
Δ 60.95%
480.03 Hz /
772.59 Hz
∇ -37.87%
graph(2d pdf,vec): insertEdge x 1e42.19 ms /
1.73 ms
Δ 26.36%
457.17 Hz /
577.69 Hz
∇ -20.86%
graph(2d pdf): insertEdgeAtEnd x 1e41.52 ms /
1.11 ms
Δ 37.96%
655.96 Hz /
904.94 Hz
∇ -27.51%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.70 ms /
1.11 ms
Δ 53.02%
589.28 Hz /
901.73 Hz
∇ -34.65%
graph(3d): insertEdge x 1e3150.12 us /
123.67 us
Δ 21.39%
6.66 KHz /
8.09 KHz
∇ -17.62%
graph(3d,vec): insertEdge x 1e3150.55 us /
125.66 us
Δ 19.80%
6.64 KHz /
7.96 KHz
∇ -16.53%
graph(3d): insertEdgeAtEnd x 1e3109.39 us /
103.65 us
Δ 5.54%
9.14 KHz /
9.65 KHz
∇ -5.25%
graph(3d,vec): insertEdgeAtEnd x 1e3110.04 us /
103.36 us
Δ 6.46%
9.09 KHz /
9.67 KHz
∇ -6.07%
graph(3d pdf): insertEdge x 1e3312.72 us /
293.13 us
Δ 6.68%
3.20 KHz /
3.41 KHz
∇ -6.27%
graph(3d pdf,vec): insertEdge x 1e3360.19 us /
290.78 us
Δ 23.87%
2.78 KHz /
3.44 KHz
∇ -19.27%
graph(3d pdf): insertEdgeAtEnd x 1e3267.44 us /
247.59 us
Δ 8.02%
3.74 KHz /
4.04 KHz
∇ -7.42%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3263.46 us /
247.19 us
Δ 6.58%
3.80 KHz /
4.05 KHz
∇ -6.18%
graph(3d): insertEdge x 1e41.86 ms /
1.53 ms
Δ 22.03%
536.45 Hz /
654.63 Hz
∇ -18.05%
graph(3d,vec): insertEdge x 1e41.82 ms /
1.52 ms
Δ 20.32%
548.00 Hz /
659.36 Hz
∇ -16.89%
graph(3d): insertEdgeAtEnd x 1e41.32 ms /
1.03 ms
Δ 28.24%
759.75 Hz /
974.27 Hz
∇ -22.02%
graph(3d,vec): insertEdgeAtEnd x 1e41.31 ms /
1.04 ms
Δ 26.67%
761.47 Hz /
964.55 Hz
∇ -21.05%
graph(3d pdf): insertEdge x 1e43.62 ms /
3.71 ms
∇ -2.49%
276.61 Hz /
269.73 Hz
Δ 2.55%
graph(3d pdf,vec): insertEdge x 1e43.83 ms /
3.71 ms
Δ 3.27%
261.27 Hz /
269.81 Hz
∇ -3.17%
graph(3d pdf): insertEdgeAtEnd x 1e42.90 ms /
2.49 ms
Δ 16.30%
345.30 Hz /
401.60 Hz
∇ -14.02%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.90 ms /
2.48 ms
Δ 16.86%
344.56 Hz /
402.64 Hz
∇ -14.42%
graph(3d): dijkstra 1e2 nodes85.23 us /
52.34 us
Δ 62.84%
11.73 KHz /
19.11 KHz
∇ -38.59%
graph(3d,vec): dijkstra 1e2 nodes84.84 us /
50.77 us
Δ 67.11%
11.79 KHz /
19.70 KHz
∇ -40.16%
graph(3d): dijkstra 1e3 nodes950.94 us /
747.15 us
Δ 27.28%
1.05 KHz /
1.34 KHz
∇ -21.43%
graph(3d,vec): dijkstra 1e3 nodes954.30 us /
730.57 us
Δ 30.62%
1.05 KHz /
1.37 KHz
∇ -23.44%
graph(3d): dijkstra 1e4 nodes11.92 ms /
10.64 ms
Δ 12.03%
83.91 Hz /
94.00 Hz
∇ -10.74%
graph(3d,vec): dijkstra 1e4 nodes11.83 ms /
10.80 ms
Δ 9.54%
84.53 Hz /
92.60 Hz
∇ -8.71%
graph(3d): dijkstra 1e5 nodes155.44 ms /
167.96 ms
∇ -7.45%
6.43 Hz /
5.95 Hz
Δ 8.06%
graph(3d,vec): dijkstra 1e5 nodes154.14 ms /
169.81 ms
∇ -9.23%
6.49 Hz /
5.89 Hz
Δ 10.17%
graph(2d): dijkstra 1e5 nodes150.58 ms /
173.28 ms
∇ -13.10%
6.64 Hz /
5.77 Hz
Δ 15.07%
graph(2d,vec): dijkstra 1e5 nodes149.73 ms /
172.89 ms
∇ -13.39%
6.68 Hz /
5.78 Hz
Δ 15.46%
graphslam(2d): levmarq 50 KFs/101 edges908.20 us /
620.26 us
Δ 46.42%
1.10 KHz /
1.61 KHz
∇ -31.70%
graphslam(2d): levmarq 100 KFs/451 edges4.91 ms /
3.22 ms
Δ 52.61%
203.72 Hz /
310.90 Hz
∇ -34.47%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)52.81 ms /
1.09 ms
Δ 4750.28%
18.94 Hz /
918.40 Hz
∇ -97.94%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)52.60 ms /
1.02 ms
Δ 5044.55%
19.01 Hz /
978.06 Hz
∇ -98.06%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)52.83 ms /
909.15 us
Δ 5710.42%
18.93 Hz /
1.10 KHz
∇ -98.28%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)52.72 ms /
970.51 us
Δ 5332.22%
18.97 Hz /
1.03 KHz
∇ -98.16%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)38.09 ms /
1.97 ms
Δ 1834.20%
26.25 Hz /
507.74 Hz
∇ -94.83%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)38.06 ms /
1.96 ms
Δ 1839.43%
26.28 Hz /
509.63 Hz
∇ -94.84%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)38.41 ms /
1.86 ms
Δ 1961.15%
26.03 Hz /
536.55 Hz
∇ -95.15%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)38.20 ms /
1.32 ms
Δ 2790.54%
26.18 Hz /
756.64 Hz
∇ -96.54%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)18.76 ms /
1.94 ms
Δ 865.57%
53.29 Hz /
514.60 Hz
∇ -89.64%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)18.78 ms /
1.95 ms
Δ 861.64%
53.25 Hz /
512.03 Hz
∇ -89.60%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)18.98 ms /
1.88 ms
Δ 912.05%
52.70 Hz /
533.31 Hz
∇ -90.12%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)19.81 ms /
1.43 ms
Δ 1283.04%
50.47 Hz /
698.03 Hz
∇ -92.77%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)14.46 ms /
2.05 ms
Δ 606.30%
69.17 Hz /
488.53 Hz
∇ -85.84%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)14.29 ms /
2.04 ms
Δ 600.75%
69.98 Hz /
490.40 Hz
∇ -85.73%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)14.59 ms /
2.06 ms
Δ 609.26%
68.53 Hz /
486.06 Hz
∇ -85.90%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)14.55 ms /
1.47 ms
Δ 892.25%
68.71 Hz /
681.79 Hz
∇ -89.92%
3DRangeScan: 320x240 Depth->2D scan2.14 ms /
1.25 ms
Δ 71.58%
466.86 Hz /
801.03 Hz
∇ -41.72%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.91 ms /
3.34 ms
Δ 17.20%
255.45 Hz /
299.37 Hz
∇ -14.67%
3DRangeScan: 320x240 Depth->2D scan + max_filter3.68 ms /
3.35 ms
Δ 9.73%
271.65 Hz /
298.08 Hz
∇ -8.87%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters6.04 ms /
5.16 ms
Δ 16.99%
165.66 Hz /
193.80 Hz
∇ -14.52%
CAtan2LUT: 20x20m,1cm cells,build102.30 ms /
360.93 ms
∇ -71.66%
9.78 Hz /
2.77 Hz
Δ 252.82%
CAtan2LUT: 20x20m,1cm cells,query7.64 ns /
7.31 ns
Δ 4.40%
130.96 MHz /
136.72 MHz
∇ -4.22%
CAtan2LUTMultiRes: 22x22m,build101.62 ms /
292.04 ms
∇ -65.20%
9.84 Hz /
3.42 Hz
Δ 187.38%
CAtan2LUTMultiRes: 22x22m,query10.59 ns /
19.01 ns
∇ -44.27%
94.41 MHz /
52.61 MHz
Δ 79.43%
CAtan2LUT: raw ::atan2() call22.56 ns /
94.61 ns
∇ -76.15%
44.33 MHz /
10.57 MHz
Δ 319.37%
Strings: mrpt::format() short str548.06 ns /
194.60 ns
Δ 181.63%
1.82 MHz /
5.14 MHz
∇ -64.49%
Strings: mrpt::format() long str15.47 us /
354.10 ns
Δ 4269.09%
64.64 KHz /
2.82 MHz
∇ -97.71%

 


Page generated automatically at 2018/10/29,14:04:22.991424 with MRPT 1.9.9 by 'mrpt-performance'.