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




Test description 1.9.9dev-GCC730-64bit /
1.5.7dev-GCC730-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset902.92 us /
936.60 us
∇ -3.60%
1.11 KHz /
1.07 KHz
Δ 3.73%
icp-slam (match grid): Run with sample dataset1.30 ms /
1.22 ms
Δ 6.41%
772.09 Hz /
821.57 Hz
∇ -6.02%
poses: CPose3D (+) CPose3D17.52 ns /
16.22 ns
Δ 8.01%
57.08 MHz /
61.65 MHz
∇ -7.42%
poses: CPose3D.composeFrom()16.58 ns /
14.96 ns
Δ 10.83%
60.31 MHz /
66.84 MHz
∇ -9.77%
poses: CPose3D (+) CPoint3D4.77 ns /
3.38 ns
Δ 41.35%
209.56 MHz /
296.21 MHz
∇ -29.25%
poses: CPose3D.composePoint()5.91 ns /
6.23 ns
∇ -5.17%
169.26 MHz /
160.51 MHz
Δ 5.45%
poses: CPose3D.composePoint()+Jacobs113.42 ns /
116.85 ns
∇ -2.93%
8.82 MHz /
8.56 MHz
Δ 3.02%
poses: CPoint3D (-) CPose3D8.24 ns /
7.44 ns
Δ 10.72%
121.36 MHz /
134.37 MHz
∇ -9.68%
poses: CPose3D.inverseComposePoint()14.52 ns /
16.60 ns
∇ -12.56%
68.89 MHz /
60.23 MHz
Δ 14.37%
poses: CPose2D (+) CPose2D17.57 ns /
11.88 ns
Δ 47.86%
56.93 MHz /
84.18 MHz
∇ -32.37%
poses: CPose2D.composeFrom()13.86 ns /
12.31 ns
Δ 12.56%
72.17 MHz /
81.23 MHz
∇ -11.16%
poses: CPose2D (+) CPoint2D7.64 ns /
3.25 ns
Δ 135.28%
130.86 MHz /
307.88 MHz
∇ -57.50%
poses: CPose2D.composePoint()5.95 ns /
2.98 ns
Δ 99.53%
167.95 MHz /
335.12 MHz
∇ -49.88%
poses: CPose3DQuat (+) CPose3DQuat18.36 ns /
21.79 ns
∇ -15.74%
54.47 MHz /
45.89 MHz
Δ 18.68%
poses: CPose3DQuat.composeFrom()19.07 ns /
18.96 ns
Δ 0.58%
52.44 MHz /
52.74 MHz
∇ -0.58%
poses: CPose3DQuat (+) CPoint3D12.33 ns /
9.76 ns
Δ 26.24%
81.13 MHz /
102.42 MHz
∇ -20.79%
poses: CPose3DQuat.composePoint()10.47 ns /
9.23 ns
Δ 13.53%
95.47 MHz /
108.39 MHz
∇ -11.92%
poses: CPose3DQuat.invcomposePoint()8.56 ns /
8.01 ns
Δ 6.81%
116.82 MHz /
124.78 MHz
∇ -6.38%
poses: Conv CPose3DQuat <- CPose3D9.85 ns /
7.88 ns
Δ 24.96%
101.55 MHz /
126.90 MHz
∇ -19.98%
poses: Conv CPose3D -> CPose3DQuat79.25 ns /
70.81 ns
Δ 11.92%
12.62 MHz /
14.12 MHz
∇ -10.65%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)520.00 ns /
60.96 us
∇ -99.15%
1.92 MHz /
16.40 KHz
Δ 11622.88%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)540.00 ns /
60.56 us
∇ -99.11%
1.85 MHz /
16.51 KHz
Δ 11114.44%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)7.73 us /
7.61 us
Δ 1.52%
129.37 KHz /
131.34 KHz
∇ -1.50%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)284.60 ns /
270.70 ns
Δ 5.13%
3.51 MHz /
3.69 MHz
∇ -4.88%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)285.00 ns /
270.60 ns
Δ 5.32%
3.51 MHz /
3.70 MHz
∇ -5.05%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.03 us /
4.12 us
∇ -2.19%
248.11 KHz /
242.69 KHz
Δ 2.24%
CPose3DInterpolator: CPose3D insert pose at end198.03 ns /
198.13 ns
∇ -0.05%
5.05 MHz /
5.05 MHz
Δ 0.05%
CPose3DInterpolator: CPose3D insert pose random215.30 ns /
186.81 ns
Δ 15.25%
4.64 MHz /
5.35 MHz
∇ -13.23%
CPose3DInterpolator: CPose3D query547.04 ns /
570.42 ns
∇ -4.10%
1.83 MHz /
1.75 MHz
Δ 4.27%
CPose3DInterpolator: TPose3D insert pose at end169.83 ns /
174.17 ns
∇ -2.50%
5.89 MHz /
5.74 MHz
Δ 2.56%
CPose3DInterpolator: TPose3D insert pose random201.49 ns /
230.96 ns
∇ -12.76%
4.96 MHz /
4.33 MHz
Δ 14.63%
CPose3DInterpolator: TPose3D query479.99 ns /
511.64 ns
∇ -6.19%
2.08 MHz /
1.95 MHz
Δ 6.59%
CPose2DInterpolator: TPose2D insert pose at end156.29 ns /
153.49 ns
Δ 1.83%
6.40 MHz /
6.52 MHz
∇ -1.79%
CPose2DInterpolator: TPose2D insert pose random174.72 ns /
204.45 ns
∇ -14.54%
5.72 MHz /
4.89 MHz
Δ 17.01%
CPose2DInterpolator: TPose2D query171.34 ns /
185.58 ns
∇ -7.67%
5.84 MHz /
5.39 MHz
Δ 8.31%
matrix: unit, dyn[float], 3x320.30 ns /
20.81 ns
∇ -2.44%
49.25 MHz /
48.05 MHz
Δ 2.50%
matrix: unit, dyn[double], 3x318.13 ns /
18.03 ns
Δ 0.53%
55.16 MHz /
55.46 MHz
∇ -0.53%
matrix: unit, dyn[float], 6x644.79 ns /
49.43 ns
∇ -9.39%
22.33 MHz /
20.23 MHz
Δ 10.37%
matrix: unit, dyn[double], 6x639.03 ns /
38.37 ns
Δ 1.71%
25.62 MHz /
26.06 MHz
∇ -1.68%
matrix: unit, fix[float,3,3]0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[double,3,3]0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[float,6,6]0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: unit, fix[double,6,6]3.10 ns /
0.00 ns
Δ inf%
322.58 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[float ], 3x3 * 3x374.80 ns /
75.60 ns
∇ -1.06%
13.37 MHz /
13.23 MHz
Δ 1.07%
matrix: multiply, fix[float ], 3x3 * 3x30.10 ns /
0.00 ns
Δ inf%
10.00 GHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x373.30 ns /
82.10 ns
∇ -10.72%
13.64 MHz /
12.18 MHz
Δ 12.01%
matrix: multiply, fix[double], 3x3 * 3x30.20 ns /
0.20 ns
∇ 0.00%
5.00 GHz /
5.00 GHz
∇ 0.00%
matrix: multiply, dyn[float ], 3x6 * 6x388.20 ns /
88.00 ns
Δ 0.23%
11.34 MHz /
11.36 MHz
∇ -0.23%
matrix: multiply, fix[float ], 3x6 * 6x32.80 ns /
0.00 ns
Δ inf%
357.14 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x6 * 6x392.10 ns /
91.40 ns
Δ 0.77%
10.86 MHz /
10.94 MHz
∇ -0.76%
matrix: multiply, fix[double], 3x6 * 6x30.80 ns /
0.80 ns
∇ 0.00%
1.25 GHz /
1.25 GHz
∇ 0.00%
matrix: multiply, dyn[float ], 10x40 * 40x101.10 us /
1.08 us
Δ 2.47%
905.88 KHz /
928.25 KHz
∇ -2.41%
matrix: multiply, fix[float ], 10x40 * 40x10787.10 ns /
794.20 ns
∇ -0.89%
1.27 MHz /
1.26 MHz
Δ 0.90%
matrix: multiply, dyn[double], 10x40 * 40x101.71 us /
1.71 us
Δ 0.47%
583.74 KHz /
586.48 KHz
∇ -0.47%
matrix: multiply, fix[double], 10x40 * 40x101.31 us /
1.32 us
∇ -0.32%
762.49 KHz /
760.05 KHz
Δ 0.32%
matrix: inv, dyn[double] 3x3552.00 ns /
592.00 ns
∇ -6.76%
1.81 MHz /
1.69 MHz
Δ 7.25%
matrix: inv, fix[double] 3x31.00 ns /
1.00 ns
∇ 0.00%
1.00 GHz /
1.00 GHz
∇ 0.00%
matrix: inv, dyn[double] 6x61.56 us /
1.57 us
∇ -0.26%
640.20 KHz /
638.57 KHz
Δ 0.26%
matrix: inv, fix[double] 6x6811.00 ns /
818.00 ns
∇ -0.86%
1.23 MHz /
1.22 MHz
Δ 0.86%
matrix: inv, dyn[double] 20x209.61 us /
8.98 us
Δ 6.98%
104.07 KHz /
111.33 KHz
∇ -6.53%
matrix: inv, fix[double] 20x208.32 us /
8.15 us
Δ 2.04%
120.18 KHz /
122.62 KHz
∇ -1.99%
matrix: inv, dyn[double] 40x4040.62 us /
43.66 us
∇ -6.95%
24.62 KHz /
22.90 KHz
Δ 7.47%
matrix: inv, fix[double] 40x4040.56 us /
40.36 us
Δ 0.49%
24.65 KHz /
24.77 KHz
∇ -0.49%
matrix: det, dyn[double] 2x2162.40 ns /
165.10 ns
∇ -1.64%
6.16 MHz /
6.06 MHz
Δ 1.66%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3222.70 ns /
225.50 ns
∇ -1.24%
4.49 MHz /
4.43 MHz
Δ 1.26%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6498.50 ns /
445.40 ns
Δ 11.92%
2.01 MHz /
2.25 MHz
∇ -10.65%
matrix: det, fix[double] 6x6317.50 ns /
299.10 ns
Δ 6.15%
3.15 MHz /
3.34 MHz
∇ -5.80%
matrix: det, dyn[double] 20x204.31 us /
4.34 us
∇ -0.70%
231.87 KHz /
230.26 KHz
Δ 0.70%
matrix: det, fix[double] 20x203.96 us /
3.89 us
Δ 1.59%
252.75 KHz /
256.77 KHz
∇ -1.57%
matrix: det, dyn[double] 40x4017.05 us /
17.00 us
Δ 0.29%
58.64 KHz /
58.81 KHz
∇ -0.29%
matrix: det, fix[double] 40x4016.89 us /
16.62 us
Δ 1.63%
59.21 KHz /
60.18 KHz
∇ -1.61%
matrix: chol, dyn[double] 4x4530.00 ns /
250.00 ns
Δ 112.00%
1.89 MHz /
4.00 MHz
∇ -52.83%
matrix: chol, fix[double] 4x4290.00 ns /
90.00 ns
Δ 222.22%
3.45 MHz /
11.11 MHz
∇ -68.97%
matrix: chol, dyn[double] 40x4010.81 us /
10.76 us
Δ 0.46%
92.51 KHz /
92.94 KHz
∇ -0.46%
matrix: chol, fix[double] 40x4010.61 us /
10.29 us
Δ 3.11%
94.25 KHz /
97.18 KHz
∇ -3.02%
matrix: chol, sparse [2x2;2x2]6.10 us /
9.80 us
∇ -37.76%
163.93 KHz /
102.04 KHz
Δ 60.66%
matrix: chol, sparse [30x30;10x10]36.50 us /
38.80 us
∇ -5.93%
27.40 KHz /
25.77 KHz
Δ 6.30%
matrix: chol, dyn[double] 10x[6x6]28.80 us /
28.50 us
Δ 1.05%
34.72 KHz /
35.09 KHz
∇ -1.04%
matrix: chol, sparse 10x[6x6]16.74 us /
16.75 us
∇ -0.06%
59.74 KHz /
59.70 KHz
Δ 0.06%
matrix: chol, dyn[double] 20x[6x6]151.40 us /
148.10 us
Δ 2.23%
6.61 KHz /
6.75 KHz
∇ -2.18%
matrix: chol, sparse 20x[6x6]29.33 us /
29.60 us
∇ -0.91%
34.09 KHz /
33.78 KHz
Δ 0.92%
matrix: chol, dyn[double] 50x[6x6]1.67 ms /
1.67 ms
∇ -0.02%
598.01 Hz /
597.87 Hz
Δ 0.02%
matrix: chol, sparse 50x[6x6]69.84 us /
70.37 us
∇ -0.75%
14.32 KHz /
14.21 KHz
Δ 0.76%
matrix: chol, dyn[double] 100x[6x6]14.94 ms /
13.50 ms
Δ 10.73%
66.92 Hz /
74.09 Hz
∇ -9.69%
matrix: chol, sparse 100x[6x6]142.72 us /
134.72 us
Δ 5.94%
7.01 KHz /
7.42 KHz
∇ -5.61%
matrix: chol, dyn[double] 120x[6x6]23.75 ms /
24.56 ms
∇ -3.28%
42.10 Hz /
40.72 Hz
Δ 3.39%
matrix: chol, sparse 120x[6x6]163.62 us /
163.32 us
Δ 0.18%
6.11 KHz /
6.12 KHz
∇ -0.18%
matrix: chol, dyn[double] 140x[6x6]36.15 ms /
35.44 ms
Δ 2.00%
27.66 Hz /
28.22 Hz
∇ -1.96%
matrix: chol, sparse 140x[6x6]190.66 us /
188.90 us
Δ 0.93%
5.24 KHz /
5.29 KHz
∇ -0.92%
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: getCell4.07 ns /
0.00 ns
Δ inf%
245.78 MHz /
inf THz
∇ -nan%
gridmap2D: setCell2.90 ns /
0.95 ns
Δ 204.60%
344.23 MHz /
1.05 GHz
∇ -67.17%
gridmap2D: updateCell5.82 ns /
3.43 ns
Δ 69.94%
171.70 MHz /
291.80 MHz
∇ -41.16%
gridmap2D: updateCell_fast_occupied0.86 ns /
0.86 ns
Δ 0.30%
1.17 GHz /
1.17 GHz
∇ -0.30%
gridmap2D: insert scan w/o widening56.46 us /
60.12 us
∇ -6.09%
17.71 KHz /
16.63 KHz
Δ 6.49%
gridmap2D: insert scan with widening158.80 us /
167.16 us
∇ -5.00%
6.30 KHz /
5.98 KHz
Δ 5.26%
gridmap2D: resize308.00 us /
271.00 us
Δ 13.65%
3.25 KHz /
3.69 KHz
∇ -12.01%
gridmap2D: computeLikelihood9.34 us /
8.78 us
Δ 6.44%
107.06 KHz /
113.96 KHz
∇ -6.05%
gridmap2D: determineMatching2D22.76 us /
22.26 us
Δ 2.24%
43.94 KHz /
44.93 KHz
∇ -2.19%
pointmap: insert 100 scans296.72 us /
288.09 us
Δ 2.99%
3.37 KHz /
3.47 KHz
∇ -2.91%
pointmap: build 2D kd-tree of 1 scan1.40 us /
1.08 us
Δ 29.63%
714.29 KHz /
925.93 KHz
∇ -22.86%
pointmap: build 2D kd-tree of 100 scan82.24 us /
84.64 us
∇ -2.84%
12.16 KHz /
11.81 KHz
Δ 2.92%
pointmap: build 2D kd-tree of 1000 scan911.44 us /
939.64 us
∇ -3.00%
1.10 KHz /
1.06 KHz
Δ 3.09%
pointmap: build 3D kd-tree of 1 scan920.00 ns /
1.52 us
∇ -39.47%
1.09 MHz /
657.89 KHz
Δ 65.22%
pointmap: build 3D kd-tree of 100 scan87.64 us /
88.16 us
∇ -0.59%
11.41 KHz /
11.34 KHz
Δ 0.59%
pointmap: build 3D kd-tree of 1000 scan918.80 us /
939.00 us
∇ -2.15%
1.09 KHz /
1.06 KHz
Δ 2.20%
pointmap: kd-tree 2d query on 10 scans317.00 ns /
319.00 ns
∇ -0.63%
3.15 MHz /
3.13 MHz
Δ 0.63%
pointmap: kd-tree 2d query on 1000 scans22.90 us /
23.54 us
∇ -2.74%
43.67 KHz /
42.47 KHz
Δ 2.81%
pointmap: kd-tree 2d query on 10000 scans2.66 ms /
2.74 ms
∇ -2.77%
375.31 Hz /
364.91 Hz
Δ 2.85%
pointmap: (insert scan+2D kd-tree query) x 10946.05 us /
951.65 us
∇ -0.59%
1.06 KHz /
1.05 KHz
Δ 0.59%
pointmap: (insert scan+2D kd-tree query) x 5023.20 ms /
23.84 ms
∇ -2.66%
43.10 Hz /
41.95 Hz
Δ 2.73%
pointmap: (insert scan+3D kd-tree query) x 10936.50 us /
928.80 us
Δ 0.83%
1.07 KHz /
1.08 KHz
∇ -0.82%
pointmap: (insert scan+3D kd-tree query) x 5023.27 ms /
23.74 ms
∇ -2.00%
42.98 Hz /
42.12 Hz
Δ 2.04%
pointmap: computeMatchingWith2D21.92 us /
21.35 us
Δ 2.65%
45.62 KHz /
46.83 KHz
∇ -2.58%
pointmap: boundingBox (10 scans)892.30 ns /
875.32 ns
Δ 1.94%
1.12 MHz /
1.14 MHz
∇ -1.90%
pointmap: boundingBox (1000 scans)85.56 us /
85.22 us
Δ 0.41%
11.69 KHz /
11.73 KHz
∇ -0.41%
random: drawUniform32bit22.75 ns /
4.47 ns
Δ 409.53%
43.95 MHz /
223.92 MHz
∇ -80.37%
random: drawUniform22.74 ns /
4.45 ns
Δ 410.56%
43.98 MHz /
224.56 MHz
∇ -80.41%
random: drawGaussian1D_normalized55.74 ns /
51.69 ns
Δ 7.83%
17.94 MHz /
19.35 MHz
∇ -7.26%
random: drawGaussian1D55.81 ns /
51.88 ns
Δ 7.58%
17.92 MHz /
19.28 MHz
∇ -7.04%
random: system rand()10.62 ns /
10.85 ns
∇ -2.13%
94.14 MHz /
92.14 MHz
Δ 2.18%
random: drawGaussianMultivariate(fixed 3x3)551.60 ns /
544.38 ns
Δ 1.33%
1.81 MHz /
1.84 MHz
∇ -1.31%
random: drawGaussianMultivariate(dyn 3x3)1.19 us /
1.17 us
Δ 1.81%
837.52 KHz /
852.67 KHz
∇ -1.78%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)115.14 ns /
104.51 ns
Δ 10.17%
8.69 MHz /
9.57 MHz
∇ -9.23%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)180.82 ns /
166.05 ns
Δ 8.89%
5.53 MHz /
6.02 MHz
∇ -8.17%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)380.13 ns /
344.60 ns
Δ 10.31%
2.63 MHz /
2.90 MHz
∇ -9.35%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)122.87 ns /
112.66 ns
Δ 9.06%
8.14 MHz /
8.88 MHz
∇ -8.31%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)197.55 ns /
182.01 ns
Δ 8.54%
5.06 MHz /
5.49 MHz
∇ -7.87%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)390.58 ns /
361.46 ns
Δ 8.05%
2.56 MHz /
2.77 MHz
∇ -7.45%
random: permuteVector (len=10)1.69 us /
153.80 ns
Δ 1000.52%
590.81 KHz /
6.50 MHz
∇ -90.91%
random: permuteVector (len=100)3.30 us /
1.62 us
Δ 103.90%
303.24 KHz /
618.31 KHz
∇ -50.96%
random: permuteVector (len=1000)19.67 us /
15.53 us
Δ 26.71%
50.83 KHz /
64.41 KHz
∇ -21.08%
math: round0.03 ns /
0.03 ns
∇ -0.34%
30.75 GHz /
30.65 GHz
Δ 0.34%
math: std::hypot(float)0.00 ns /
4.94 ns
∇ -100.00%
100.00 THz /
202.33 MHz
Δ 49424300.00%
math: mrpt::hypot_fast(float)0.00 ns /
X
inf THz /
X
math: mrpt::hypot_fast(double)0.00 ns /
X
inf THz /
X
images: Save as JPEG (640x480, quality=95%)6.71 ms /
7.41 ms
∇ -9.49%
149.14 Hz /
134.98 Hz
Δ 10.49%
images: Save as JPEG (800x600, quality=95%)9.09 ms /
9.29 ms
∇ -2.10%
110.00 Hz /
107.69 Hz
Δ 2.14%
images: Save as JPEG (1024x768, quality=95%)14.11 ms /
14.19 ms
∇ -0.62%
70.89 Hz /
70.45 Hz
Δ 0.63%
images: Save as JPEG (640x480, quality=75%)4.88 ms /
4.83 ms
Δ 1.05%
205.05 Hz /
207.20 Hz
∇ -1.04%
images: Save as JPEG (800x600, quality=75%)7.53 ms /
7.60 ms
∇ -0.83%
132.76 Hz /
131.66 Hz
Δ 0.84%
images: Save as JPEG (1024x768, quality=75%)12.32 ms /
12.16 ms
Δ 1.33%
81.18 Hz /
82.25 Hz
∇ -1.31%
images: Save BMP 800x600 disk6.36 ms /
6.35 ms
Δ 0.16%
157.29 Hz /
157.54 Hz
∇ -0.16%
images: Save PNG 800x600 disk22.14 ms /
27.95 ms
∇ -20.79%
45.17 Hz /
35.78 Hz
Δ 26.25%
images: Save JPG 800x600 disk8.62 ms /
8.62 ms
∇ -0.02%
116.07 Hz /
116.05 Hz
Δ 0.02%
images: Load BMP 800x600 disk298.27 us /
262.47 us
Δ 13.64%
3.35 KHz /
3.81 KHz
∇ -12.00%
images: Load PNG 800x600 disk8.93 ms /
8.40 ms
Δ 6.39%
111.94 Hz /
119.09 Hz
∇ -6.01%
images: Load JPG 800x600 disk6.22 ms /
6.20 ms
Δ 0.33%
160.76 Hz /
161.30 Hz
∇ -0.33%
images: Save BMP 800x600 shared mem417.93 us /
386.27 us
Δ 8.20%
2.39 KHz /
2.59 KHz
∇ -7.58%
images: Save PNG 800x600 shared mem17.09 ms /
22.68 ms
∇ -24.67%
58.52 Hz /
44.08 Hz
Δ 32.75%
images: Save JPG 800x600 shared mem6.13 ms /
6.07 ms
Δ 0.96%
163.16 Hz /
164.72 Hz
∇ -0.95%
images: Load BMP 800x600 shared mem278.67 us /
272.77 us
Δ 2.16%
3.59 KHz /
3.67 KHz
∇ -2.12%
images: Load PNG 800x600 shared mem9.01 ms /
8.40 ms
Δ 7.30%
110.95 Hz /
119.05 Hz
∇ -6.80%
images: Load JPG 800x600 shared mem6.22 ms /
6.20 ms
Δ 0.38%
160.78 Hz /
161.39 Hz
∇ -0.38%
images: Gauss filter (640x480)2.01 ms /
2.18 ms
∇ -8.06%
498.17 Hz /
458.01 Hz
Δ 8.77%
images: Gauss filter (800x600)3.21 ms /
3.12 ms
Δ 3.01%
311.42 Hz /
320.79 Hz
∇ -2.92%
images: Gauss filter (1024x768)5.27 ms /
5.25 ms
Δ 0.52%
189.63 Hz /
190.61 Hz
∇ -0.51%
images: Half sample GRAY (160x120)753.33 ns /
806.67 ns
∇ -6.61%
1.33 MHz /
1.24 MHz
Δ 7.08%
images: Half sample GRAY (320x240)1.81 us /
1.79 us
Δ 0.93%
553.51 KHz /
558.66 KHz
∇ -0.92%
images: Half sample GRAY (640x480)7.24 us /
7.54 us
∇ -3.93%
138.06 KHz /
132.63 KHz
Δ 4.10%
images: Half sample GRAY (800x600)12.12 us /
12.46 us
∇ -2.76%
82.53 KHz /
80.26 KHz
Δ 2.83%
images: Half sample GRAY (1024x768)20.49 us /
20.16 us
Δ 1.64%
48.80 KHz /
49.60 KHz
∇ -1.61%
images: Half sample GRAY (1280x1024)33.85 us /
33.44 us
Δ 1.23%
29.54 KHz /
29.90 KHz
∇ -1.21%
images: Half sample RGB (160x120)1.40 us /
1.47 us
∇ -4.54%
712.59 KHz /
680.27 KHz
Δ 4.75%
images: Half sample RGB (320x240)4.44 us /
4.68 us
∇ -5.27%
225.39 KHz /
213.52 KHz
Δ 5.56%
images: Half sample RGB (640x480)21.84 us /
22.17 us
∇ -1.50%
45.79 KHz /
45.10 KHz
Δ 1.53%
images: Half sample RGB (800x600)34.88 us /
33.14 us
Δ 5.23%
28.67 KHz /
30.17 KHz
∇ -4.97%
images: Half sample RGB (1024x768)58.20 us /
53.65 us
Δ 8.49%
17.18 KHz /
18.64 KHz
∇ -7.83%
images: Half sample RGB (1280x1024)119.26 us /
100.80 us
Δ 18.32%
8.38 KHz /
9.92 KHz
∇ -15.48%
images: Half sample smooth GRAY (160x120)1.08 us /
1.13 us
∇ -4.13%
923.08 KHz /
884.96 KHz
Δ 4.31%
images: Half sample smooth GRAY (320x240)3.11 us /
2.96 us
Δ 5.19%
321.54 KHz /
338.22 KHz
∇ -4.93%
images: Half sample smooth GRAY (640x480)13.89 us /
13.10 us
Δ 5.98%
72.01 KHz /
76.32 KHz
∇ -5.64%
images: Half sample smooth GRAY (800x600)21.31 us /
22.30 us
∇ -4.42%
46.92 KHz /
44.84 KHz
Δ 4.63%
images: Half sample smooth GRAY (1024x768)34.33 us /
35.66 us
∇ -3.72%
29.13 KHz /
28.05 KHz
Δ 3.86%
images: Half sample smooth GRAY (1280x1024)56.59 us /
56.33 us
Δ 0.47%
17.67 KHz /
17.75 KHz
∇ -0.47%
images: Half sample smooth RGB (160x120)10.08 us /
11.92 us
∇ -15.41%
99.21 KHz /
83.92 KHz
Δ 18.22%
images: Half sample smooth RGB (320x240)33.64 us /
36.43 us
∇ -7.65%
29.72 KHz /
27.45 KHz
Δ 8.28%
images: Half sample smooth RGB (640x480)127.81 us /
126.84 us
Δ 0.76%
7.82 KHz /
7.88 KHz
∇ -0.75%
images: Half sample smooth RGB (800x600)191.91 us /
142.65 us
Δ 34.53%
5.21 KHz /
7.01 KHz
∇ -25.67%
images: Half sample smooth RGB (1024x768)194.27 us /
261.31 us
∇ -25.66%
5.15 KHz /
3.83 KHz
Δ 34.51%
images: Half sample smooth RGB (1280x1024)364.64 us /
275.76 us
Δ 32.23%
2.74 KHz /
3.63 KHz
∇ -24.37%
images: RGB->GRAY 8u (40x30)5.59 us /
4.20 us
Δ 32.91%
179.00 KHz /
237.91 KHz
∇ -24.76%
images: RGB->GRAY 8u (80x60)4.23 us /
1.89 us
Δ 124.38%
236.22 KHz /
530.04 KHz
∇ -55.43%
images: RGB->GRAY 8u (160x120)11.42 us /
8.07 us
Δ 41.61%
87.54 KHz /
123.97 KHz
∇ -29.38%
images: RGB->GRAY 8u (320x240)35.87 us /
36.87 us
∇ -2.71%
27.88 KHz /
27.12 KHz
Δ 2.79%
images: RGB->GRAY 8u (640x480)127.77 us /
123.99 us
Δ 3.05%
7.83 KHz /
8.07 KHz
∇ -2.96%
images: RGB->GRAY 8u (800x600)169.11 us /
160.60 us
Δ 5.30%
5.91 KHz /
6.23 KHz
∇ -5.03%
images: RGB->GRAY 8u (1024x768)237.72 us /
225.35 us
Δ 5.49%
4.21 KHz /
4.44 KHz
∇ -5.21%
images: RGB->GRAY 8u (1280x1024)377.32 us /
366.04 us
Δ 3.08%
2.65 KHz /
2.73 KHz
∇ -2.99%
images: KLT score (WIN=2 5x5)27.26 ns /
27.32 ns
∇ -0.20%
36.68 MHz /
36.61 MHz
Δ 0.20%
images: KLT score (WIN=3 7x7)33.33 ns /
33.44 ns
∇ -0.34%
30.00 MHz /
29.90 MHz
Δ 0.34%
images: KLT score (WIN=4 9x9)37.96 ns /
37.69 ns
Δ 0.73%
26.34 MHz /
26.53 MHz
∇ -0.73%
images: KLT score (WIN=5 10x10)48.02 ns /
47.70 ns
Δ 0.68%
20.83 MHz /
20.97 MHz
∇ -0.67%
images: KLT score (WIN=6 13x13)53.09 ns /
53.85 ns
∇ -1.42%
18.84 MHz /
18.57 MHz
Δ 1.44%
images: KLT score (WIN=7 15x15)62.87 ns /
63.63 ns
∇ -1.19%
15.91 MHz /
15.72 MHz
Δ 1.21%
images: KLT score (WIN=8 17x17)59.92 ns /
60.62 ns
∇ -1.17%
16.69 MHz /
16.49 MHz
Δ 1.18%
images: KLT score (WIN=9 19x19)62.94 ns /
63.96 ns
∇ -1.59%
15.89 MHz /
15.64 MHz
Δ 1.62%
images: KLT score (WIN=10 21x21)66.64 ns /
68.09 ns
∇ -2.13%
15.01 MHz /
14.69 MHz
Δ 2.17%
images: KLT score (WIN=11 23x23)59.70 ns /
59.89 ns
∇ -0.33%
16.75 MHz /
16.70 MHz
Δ 0.33%
images: KLT score (WIN=12 25x25)78.23 ns /
78.90 ns
∇ -0.86%
12.78 MHz /
12.67 MHz
Δ 0.86%
images: KLT score (WIN=13 27x27)66.87 ns /
67.38 ns
∇ -0.76%
14.95 MHz /
14.84 MHz
Δ 0.77%
images: KLT score (WIN=14 29x29)69.47 ns /
70.05 ns
∇ -0.82%
14.39 MHz /
14.28 MHz
Δ 0.83%
images: KLT score (WIN=15 31x31)72.48 ns /
73.23 ns
∇ -1.03%
13.80 MHz /
13.66 MHz
Δ 1.04%
images: KLT score (WIN=16 33x33)103.32 ns /
103.99 ns
∇ -0.64%
9.68 MHz /
9.62 MHz
Δ 0.65%
images: buildPyramid 640x480,4 levs,no smooth,no gray81.37 us /
81.41 us
∇ -0.05%
12.29 KHz /
12.28 KHz
Δ 0.05%
images: buildPyramid 640x480,4 levs, smooth,no gray224.34 us /
224.53 us
∇ -0.09%
4.46 KHz /
4.45 KHz
Δ 0.09%
images: buildPyramid 640x480,4 levs,no smooth, gray94.91 us /
132.60 us
∇ -28.43%
10.54 KHz /
7.54 KHz
Δ 39.72%
images: buildPyramid 640x480,4 levs, smooth, gray101.22 us /
144.11 us
∇ -29.77%
9.88 KHz /
6.94 KHz
Δ 42.38%
images: buildPyramid 640x480,8 levs,no smooth,no gray85.80 us /
105.23 us
∇ -18.47%
11.66 KHz /
9.50 KHz
Δ 22.65%
images: buildPyramid 640x480,8 levs, smooth,no gray231.53 us /
237.08 us
∇ -2.34%
4.32 KHz /
4.22 KHz
Δ 2.40%
images: buildPyramid 640x480,8 levs,no smooth, gray99.53 us /
95.91 us
Δ 3.77%
10.05 KHz /
10.43 KHz
∇ -3.64%
images: buildPyramid 640x480,8 levs, smooth, gray107.32 us /
104.65 us
Δ 2.54%
9.32 KHz /
9.56 KHz
∇ -2.48%
stereo: prepare rectify map 640x480 RGB18.45 ms /
18.50 ms
∇ -0.28%
54.21 Hz /
54.06 Hz
Δ 0.28%
stereo: prepare rectify map 800x600 RGB28.81 ms /
28.78 ms
Δ 0.11%
34.71 Hz /
34.74 Hz
∇ -0.11%
stereo: prepare rectify map 1024x768 RGB47.34 ms /
47.30 ms
Δ 0.08%
21.12 Hz /
21.14 Hz
∇ -0.08%
stereo: prepare rectify map 1024x768->800x600 RGB28.79 ms /
28.78 ms
Δ 0.06%
34.73 Hz /
34.75 Hz
∇ -0.06%
stereo: prepare rectify map 1024x768->640x480 RGB18.49 ms /
18.42 ms
Δ 0.42%
54.07 Hz /
54.30 Hz
∇ -0.42%
stereo: rectify 640x480 RGB1.53 ms /
1.56 ms
∇ -1.80%
651.57 Hz /
639.86 Hz
Δ 1.83%
stereo: rectify 800x600 RGB1.62 ms /
2.05 ms
∇ -20.90%
617.68 Hz /
488.62 Hz
Δ 26.42%
stereo: rectify 1024x768 RGB2.94 ms /
3.27 ms
∇ -10.11%
340.13 Hz /
305.76 Hz
Δ 11.24%
stereo: rectify 1024x768->800x600 RGB2.00 ms /
1.99 ms
Δ 0.29%
501.19 Hz /
502.64 Hz
∇ -0.29%
stereo: rectify 1024x768->640x480 RGB1.69 ms /
1.64 ms
Δ 2.94%
591.40 Hz /
608.81 Hz
∇ -2.86%
stereo: rectify 640x480 GRAY1.10 ms /
1.13 ms
∇ -2.80%
907.32 Hz /
881.95 Hz
Δ 2.88%
stereo: rectify 800x600 GRAY1.23 ms /
1.58 ms
∇ -22.17%
813.64 Hz /
633.23 Hz
Δ 28.49%
stereo: rectify 1024x768 GRAY2.26 ms /
2.40 ms
∇ -5.73%
441.81 Hz /
416.50 Hz
Δ 6.08%
stereo: rectify 1024x768->800x600 GRAY1.38 ms /
1.55 ms
∇ -10.88%
722.75 Hz /
644.12 Hz
Δ 12.21%
stereo: rectify 1024x768->640x480 GRAY1.32 ms /
1.29 ms
Δ 1.86%
760.11 Hz /
774.23 Hz
∇ -1.82%
tfest: se3_l2 [CPose3DQuat]2.82 us /
3.91 us
∇ -27.99%
355.19 KHz /
255.76 KHz
Δ 38.88%
tfest: se3_l2 [vector TPoint3D]2.86 us /
3.58 us
∇ -19.99%
349.17 KHz /
279.38 KHz
Δ 24.98%
tfest: se2_l2 [x10 corrs]135.55 ns /
151.94 ns
∇ -10.79%
7.38 MHz /
6.58 MHz
Δ 12.09%
tfest: se2_l2 [x100 corrs]221.18 ns /
223.20 ns
∇ -0.91%
4.52 MHz /
4.48 MHz
Δ 0.91%
tfest: se2_l2 [x1000 corrs]1.02 us /
1.04 us
∇ -1.57%
980.87 KHz /
965.48 KHz
Δ 1.59%
feature_extraction [640x480]: Harris6.31 ms /
8.61 ms
∇ -26.71%
158.55 Hz /
116.20 Hz
Δ 36.45%
feature_extraction [640x480]: KLT6.67 ms /
6.55 ms
Δ 1.95%
149.82 Hz /
152.74 Hz
∇ -1.91%
feature_extraction [640x480]: SURF33.78 ms /
35.27 ms
∇ -4.21%
29.60 Hz /
28.35 Hz
Δ 4.39%
feature_extraction [640x480]: FAST1.90 ms /
2.04 ms
∇ -7.16%
527.03 Hz /
489.30 Hz
Δ 7.71%
feature_extraction [640x480]: Spin desc.100.39 ms /
102.86 ms
∇ -2.40%
9.96 Hz /
9.72 Hz
Δ 2.46%
feature_extraction [640x480]: FASTER-92.31 ms /
2.77 ms
∇ -16.50%
432.77 Hz /
361.38 Hz
Δ 19.76%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.17 ms /
1.22 ms
∇ -3.90%
852.33 Hz /
819.12 Hz
Δ 4.05%
feature_extraction [640x480]: FASTER-101.75 ms /
1.90 ms
∇ -7.55%
570.61 Hz /
527.56 Hz
Δ 8.16%
feature_extraction [640x480]: FASTER-10 (sorted best 200)974.68 us /
951.21 us
Δ 2.47%
1.03 KHz /
1.05 KHz
∇ -2.41%
feature_extraction [640x480]: FASTER-121.29 ms /
1.43 ms
∇ -9.75%
773.75 Hz /
698.30 Hz
Δ 10.81%
feature_extraction [640x480]: FASTER-12 (sorted best 200)964.98 us /
909.78 us
Δ 6.07%
1.04 KHz /
1.10 KHz
∇ -5.72%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()397.71 us /
414.84 us
∇ -4.13%
2.51 KHz /
2.41 KHz
Δ 4.31%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()372.97 us /
332.75 us
Δ 12.09%
2.68 KHz /
3.01 KHz
∇ -10.78%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()476.84 us /
388.20 us
Δ 22.83%
2.10 KHz /
2.58 KHz
∇ -18.59%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index403.19 us /
411.19 us
∇ -1.94%
2.48 KHz /
2.43 KHz
Δ 1.98%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index376.41 us /
332.95 us
Δ 13.05%
2.66 KHz /
3.00 KHz
∇ -11.55%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index478.39 us /
389.63 us
Δ 22.78%
2.09 KHz /
2.57 KHz
∇ -18.55%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()502.18 us /
590.48 us
∇ -14.95%
1.99 KHz /
1.69 KHz
Δ 17.58%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()474.23 us /
427.60 us
Δ 10.91%
2.11 KHz /
2.34 KHz
∇ -9.83%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()548.60 us /
447.50 us
Δ 22.59%
1.82 KHz /
2.23 KHz
∇ -18.43%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index507.99 us /
534.93 us
∇ -5.04%
1.97 KHz /
1.87 KHz
Δ 5.30%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index536.86 us /
428.89 us
Δ 25.18%
1.86 KHz /
2.33 KHz
∇ -20.11%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index550.06 us /
446.37 us
Δ 23.23%
1.82 KHz /
2.24 KHz
∇ -18.85%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()646.02 us /
731.75 us
∇ -11.72%
1.55 KHz /
1.37 KHz
Δ 13.27%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()638.23 us /
579.95 us
Δ 10.05%
1.57 KHz /
1.72 KHz
∇ -9.13%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()605.17 us /
494.25 us
Δ 22.44%
1.65 KHz /
2.02 KHz
∇ -18.33%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index651.80 us /
729.32 us
∇ -10.63%
1.53 KHz /
1.37 KHz
Δ 11.89%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index640.70 us /
580.22 us
Δ 10.42%
1.56 KHz /
1.72 KHz
∇ -9.44%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index606.24 us /
494.26 us
Δ 22.66%
1.65 KHz /
2.02 KHz
∇ -18.47%
feature_matching [640x480]: Harris + CC15.55 ms /
16.44 ms
∇ -5.38%
64.30 Hz /
60.84 Hz
Δ 5.69%
feature_matching [640x480]: Harris + SAD11.05 ms /
11.59 ms
∇ -4.69%
90.49 Hz /
86.25 Hz
Δ 4.92%
feature_matching [640x480]: SURF62.55 ms /
64.71 ms
∇ -3.34%
15.99 Hz /
15.45 Hz
Δ 3.45%
feature_matching [640x480]: FAST + CC7.00 ms /
7.56 ms
∇ -7.50%
142.92 Hz /
132.20 Hz
Δ 8.11%
feature_matching [640x480]: FAST + SAD2.47 ms /
2.99 ms
∇ -17.29%
405.04 Hz /
335.00 Hz
Δ 20.91%
graph(2d): insertEdge x 1e393.49 us /
86.40 us
Δ 8.21%
10.70 KHz /
11.57 KHz
∇ -7.58%
graph(2d,vec): insertEdge x 1e397.39 us /
85.45 us
Δ 13.96%
10.27 KHz /
11.70 KHz
∇ -12.25%
graph(2d): insertEdgeAtEnd x 1e373.49 us /
69.20 us
Δ 6.21%
13.61 KHz /
14.45 KHz
∇ -5.85%
graph(2d,vec): insertEdgeAtEnd x 1e374.27 us /
70.19 us
Δ 5.82%
13.46 KHz /
14.25 KHz
∇ -5.50%
graph(2d pdf): insertEdge x 1e3130.24 us /
116.71 us
Δ 11.59%
7.68 KHz /
8.57 KHz
∇ -10.38%
graph(2d pdf,vec): insertEdge x 1e3130.03 us /
123.52 us
Δ 5.27%
7.69 KHz /
8.10 KHz
∇ -5.00%
graph(2d pdf): insertEdgeAtEnd x 1e3113.28 us /
132.85 us
∇ -14.73%
8.83 KHz /
7.53 KHz
Δ 17.28%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3113.96 us /
99.13 us
Δ 14.96%
8.77 KHz /
10.09 KHz
∇ -13.01%
graph(2d): insertEdge x 1e41.52 ms /
1.50 ms
Δ 1.61%
656.10 Hz /
666.67 Hz
∇ -1.59%
graph(2d,vec): insertEdge x 1e41.25 ms /
1.24 ms
Δ 1.23%
799.05 Hz /
808.85 Hz
∇ -1.21%
graph(2d): insertEdgeAtEnd x 1e4488.95 us /
442.34 us
Δ 10.54%
2.05 KHz /
2.26 KHz
∇ -9.53%
graph(2d,vec): insertEdgeAtEnd x 1e4490.97 us /
435.94 us
Δ 12.62%
2.04 KHz /
2.29 KHz
∇ -11.21%
graph(2d pdf): insertEdge x 1e41.29 ms /
1.23 ms
Δ 4.94%
772.59 Hz /
810.72 Hz
∇ -4.70%
graph(2d pdf,vec): insertEdge x 1e41.73 ms /
1.64 ms
Δ 5.55%
577.69 Hz /
609.72 Hz
∇ -5.25%
graph(2d pdf): insertEdgeAtEnd x 1e41.11 ms /
981.13 us
Δ 12.63%
904.94 Hz /
1.02 KHz
∇ -11.21%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.11 ms /
963.43 us
Δ 15.11%
901.73 Hz /
1.04 KHz
∇ -13.12%
graph(3d): insertEdge x 1e3123.67 us /
121.18 us
Δ 2.05%
8.09 KHz /
8.25 KHz
∇ -2.01%
graph(3d,vec): insertEdge x 1e3125.66 us /
110.97 us
Δ 13.24%
7.96 KHz /
9.01 KHz
∇ -11.69%
graph(3d): insertEdgeAtEnd x 1e3103.65 us /
92.37 us
Δ 12.21%
9.65 KHz /
10.83 KHz
∇ -10.88%
graph(3d,vec): insertEdgeAtEnd x 1e3103.36 us /
90.57 us
Δ 14.13%
9.67 KHz /
11.04 KHz
∇ -12.38%
graph(3d pdf): insertEdge x 1e3293.13 us /
296.56 us
∇ -1.16%
3.41 KHz /
3.37 KHz
Δ 1.17%
graph(3d pdf,vec): insertEdge x 1e3290.78 us /
290.74 us
Δ 0.02%
3.44 KHz /
3.44 KHz
∇ -0.02%
graph(3d pdf): insertEdgeAtEnd x 1e3247.59 us /
226.89 us
Δ 9.12%
4.04 KHz /
4.41 KHz
∇ -8.36%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3247.19 us /
228.59 us
Δ 8.14%
4.05 KHz /
4.37 KHz
∇ -7.52%
graph(3d): insertEdge x 1e41.53 ms /
1.47 ms
Δ 3.69%
654.63 Hz /
678.77 Hz
∇ -3.56%
graph(3d,vec): insertEdge x 1e41.52 ms /
1.32 ms
Δ 14.73%
659.36 Hz /
756.48 Hz
∇ -12.84%
graph(3d): insertEdgeAtEnd x 1e41.03 ms /
891.24 us
Δ 15.17%
974.27 Hz /
1.12 KHz
∇ -13.17%
graph(3d,vec): insertEdgeAtEnd x 1e41.04 ms /
901.48 us
Δ 15.00%
964.55 Hz /
1.11 KHz
∇ -13.05%
graph(3d pdf): insertEdge x 1e43.71 ms /
3.97 ms
∇ -6.55%
269.73 Hz /
252.07 Hz
Δ 7.00%
graph(3d pdf,vec): insertEdge x 1e43.71 ms /
3.95 ms
∇ -6.14%
269.81 Hz /
253.24 Hz
Δ 6.54%
graph(3d pdf): insertEdgeAtEnd x 1e42.49 ms /
2.27 ms
Δ 9.48%
401.60 Hz /
439.68 Hz
∇ -8.66%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.48 ms /
2.27 ms
Δ 9.44%
402.64 Hz /
440.66 Hz
∇ -8.63%
graph(3d): dijkstra 1e2 nodes52.34 us /
47.91 us
Δ 9.24%
19.11 KHz /
20.87 KHz
∇ -8.46%
graph(3d,vec): dijkstra 1e2 nodes50.77 us /
47.74 us
Δ 6.34%
19.70 KHz /
20.95 KHz
∇ -5.96%
graph(3d): dijkstra 1e3 nodes747.15 us /
709.84 us
Δ 5.26%
1.34 KHz /
1.41 KHz
∇ -4.99%
graph(3d,vec): dijkstra 1e3 nodes730.57 us /
717.62 us
Δ 1.81%
1.37 KHz /
1.39 KHz
∇ -1.77%
graph(3d): dijkstra 1e4 nodes10.64 ms /
10.03 ms
Δ 6.02%
94.00 Hz /
99.66 Hz
∇ -5.68%
graph(3d,vec): dijkstra 1e4 nodes10.80 ms /
10.28 ms
Δ 5.04%
92.60 Hz /
97.27 Hz
∇ -4.80%
graph(3d): dijkstra 1e5 nodes167.96 ms /
176.58 ms
∇ -4.88%
5.95 Hz /
5.66 Hz
Δ 5.13%
graph(3d,vec): dijkstra 1e5 nodes169.81 ms /
175.46 ms
∇ -3.22%
5.89 Hz /
5.70 Hz
Δ 3.33%
graph(2d): dijkstra 1e5 nodes173.28 ms /
180.07 ms
∇ -3.77%
5.77 Hz /
5.55 Hz
Δ 3.92%
graph(2d,vec): dijkstra 1e5 nodes172.89 ms /
175.58 ms
∇ -1.53%
5.78 Hz /
5.70 Hz
Δ 1.56%
graphslam(2d): levmarq 50 KFs/101 edges620.26 us /
709.48 us
∇ -12.58%
1.61 KHz /
1.41 KHz
Δ 14.38%
graphslam(2d): levmarq 100 KFs/451 edges3.22 ms /
4.14 ms
∇ -22.38%
310.90 Hz /
241.31 Hz
Δ 28.84%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)1.09 ms /
7.80 ms
∇ -86.05%
918.40 Hz /
128.13 Hz
Δ 616.76%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)1.02 ms /
7.21 ms
∇ -85.83%
978.06 Hz /
138.64 Hz
Δ 605.49%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)909.15 us /
7.25 ms
∇ -87.46%
1.10 KHz /
137.89 Hz
Δ 697.66%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)970.51 us /
7.21 ms
∇ -86.54%
1.03 KHz /
138.74 Hz
Δ 642.70%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)1.97 ms /
6.30 ms
∇ -68.73%
507.74 Hz /
158.78 Hz
Δ 219.78%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)1.96 ms /
6.29 ms
∇ -68.81%
509.63 Hz /
158.98 Hz
Δ 220.57%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)1.86 ms /
6.19 ms
∇ -69.91%
536.55 Hz /
161.42 Hz
Δ 232.39%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)1.32 ms /
5.67 ms
∇ -76.71%
756.64 Hz /
176.25 Hz
Δ 329.30%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)1.94 ms /
3.91 ms
∇ -50.34%
514.60 Hz /
255.56 Hz
Δ 101.36%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)1.95 ms /
3.88 ms
∇ -49.64%
512.03 Hz /
257.85 Hz
Δ 98.58%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)1.88 ms /
3.86 ms
∇ -51.41%
533.31 Hz /
259.15 Hz
Δ 105.79%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)1.43 ms /
3.36 ms
∇ -57.32%
698.03 Hz /
297.89 Hz
Δ 134.32%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)2.05 ms /
3.38 ms
∇ -39.41%
488.53 Hz /
296.00 Hz
Δ 65.04%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)2.04 ms /
3.36 ms
∇ -39.31%
490.40 Hz /
297.63 Hz
Δ 64.76%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)2.06 ms /
3.39 ms
∇ -39.27%
486.06 Hz /
295.20 Hz
Δ 64.66%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)1.47 ms /
2.79 ms
∇ -47.43%
681.79 Hz /
358.44 Hz
Δ 90.21%
3DRangeScan: 320x240 Depth->2D scan1.25 ms /
2.11 ms
∇ -40.80%
801.03 Hz /
474.23 Hz
Δ 68.91%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.34 ms /
3.95 ms
∇ -15.53%
299.37 Hz /
252.87 Hz
Δ 18.39%
3DRangeScan: 320x240 Depth->2D scan + max_filter3.35 ms /
4.32 ms
∇ -22.38%
298.08 Hz /
231.37 Hz
Δ 28.83%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters5.16 ms /
6.38 ms
∇ -19.16%
193.80 Hz /
156.67 Hz
Δ 23.70%
CAtan2LUT: 20x20m,1cm cells,build360.93 ms /
360.78 ms
Δ 0.04%
2.77 Hz /
2.77 Hz
∇ -0.04%
CAtan2LUT: 20x20m,1cm cells,query7.31 ns /
7.41 ns
∇ -1.26%
136.72 MHz /
135.01 MHz
Δ 1.27%
CAtan2LUTMultiRes: 22x22m,build292.04 ms /
292.26 ms
∇ -0.07%
3.42 Hz /
3.42 Hz
Δ 0.07%
CAtan2LUTMultiRes: 22x22m,query19.01 ns /
19.02 ns
∇ -0.07%
52.61 MHz /
52.58 MHz
Δ 0.07%
CAtan2LUT: raw ::atan2() call94.61 ns /
94.87 ns
∇ -0.27%
10.57 MHz /
10.54 MHz
Δ 0.27%
Strings: mrpt::format() short str194.60 ns /
199.30 ns
∇ -2.36%
5.14 MHz /
5.02 MHz
Δ 2.42%
Strings: mrpt::format() long str354.10 ns /
356.30 ns
∇ -0.62%
2.82 MHz /
2.81 MHz
Δ 0.62%

 


Page generated automatically at 2018/10/29,14:04:22.987426 with MRPT 1.9.9 by 'mrpt-performance'.