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




Test description 1.9.9dev-GCC730-64bit /
1.5.7dev-MSVC2017-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset902.92 us /
1.31 ms
∇ -31.05%
1.11 KHz /
763.60 Hz
Δ 45.04%
icp-slam (match grid): Run with sample dataset1.30 ms /
1.76 ms
∇ -26.26%
772.09 Hz /
569.34 Hz
Δ 35.61%
poses: CPose3D (+) CPose3D17.52 ns /
108.84 ns
∇ -83.90%
57.08 MHz /
9.19 MHz
Δ 521.23%
poses: CPose3D.composeFrom()16.58 ns /
98.66 ns
∇ -83.19%
60.31 MHz /
10.14 MHz
Δ 495.05%
poses: CPose3D (+) CPoint3D4.77 ns /
10.79 ns
∇ -55.79%
209.56 MHz /
92.65 MHz
Δ 126.18%
poses: CPose3D.composePoint()5.91 ns /
9.95 ns
∇ -40.60%
169.26 MHz /
100.55 MHz
Δ 68.34%
poses: CPose3D.composePoint()+Jacobs113.42 ns /
77.35 ns
Δ 46.63%
8.82 MHz /
12.93 MHz
∇ -31.80%
poses: CPoint3D (-) CPose3D8.24 ns /
29.11 ns
∇ -71.70%
121.36 MHz /
34.35 MHz
Δ 253.30%
poses: CPose3D.inverseComposePoint()14.52 ns /
21.72 ns
∇ -33.18%
68.89 MHz /
46.03 MHz
Δ 49.66%
poses: CPose2D (+) CPose2D17.57 ns /
14.66 ns
Δ 19.79%
56.93 MHz /
68.20 MHz
∇ -16.52%
poses: CPose2D.composeFrom()13.86 ns /
8.87 ns
Δ 56.30%
72.17 MHz /
112.80 MHz
∇ -36.02%
poses: CPose2D (+) CPoint2D7.64 ns /
10.10 ns
∇ -24.32%
130.86 MHz /
99.04 MHz
Δ 32.13%
poses: CPose2D.composePoint()5.95 ns /
5.96 ns
∇ -0.17%
167.95 MHz /
167.67 MHz
Δ 0.17%
poses: CPose3DQuat (+) CPose3DQuat18.36 ns /
46.29 ns
∇ -60.34%
54.47 MHz /
21.60 MHz
Δ 152.13%
poses: CPose3DQuat.composeFrom()19.07 ns /
34.10 ns
∇ -44.08%
52.44 MHz /
29.32 MHz
Δ 78.84%
poses: CPose3DQuat (+) CPoint3D12.33 ns /
24.82 ns
∇ -50.34%
81.13 MHz /
40.29 MHz
Δ 101.37%
poses: CPose3DQuat.composePoint()10.47 ns /
16.57 ns
∇ -36.77%
95.47 MHz /
60.36 MHz
Δ 58.16%
poses: CPose3DQuat.invcomposePoint()8.56 ns /
13.13 ns
∇ -34.81%
116.82 MHz /
76.16 MHz
Δ 53.39%
poses: Conv CPose3DQuat <- CPose3D9.85 ns /
12.13 ns
∇ -18.79%
101.55 MHz /
82.47 MHz
Δ 23.14%
poses: Conv CPose3D -> CPose3DQuat79.25 ns /
43.97 ns
Δ 80.25%
12.62 MHz /
22.74 MHz
∇ -44.52%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)520.00 ns /
960.22 ns
∇ -45.85%
1.92 MHz /
1.04 MHz
Δ 84.66%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)540.00 ns /
941.20 ns
∇ -42.63%
1.85 MHz /
1.06 MHz
Δ 74.30%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)7.73 us /
5.89 us
Δ 31.16%
129.37 KHz /
169.68 KHz
∇ -23.76%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)284.60 ns /
1.72 us
∇ -83.47%
3.51 MHz /
580.64 KHz
Δ 505.14%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)285.00 ns /
1.72 us
∇ -83.48%
3.51 MHz /
579.72 KHz
Δ 505.26%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)4.03 us /
4.21 us
∇ -4.19%
248.11 KHz /
237.73 KHz
Δ 4.37%
CPose3DInterpolator: CPose3D insert pose at end198.03 ns /
189.89 ns
Δ 4.28%
5.05 MHz /
5.27 MHz
∇ -4.11%
CPose3DInterpolator: CPose3D insert pose random215.30 ns /
279.35 ns
∇ -22.93%
4.64 MHz /
3.58 MHz
Δ 29.75%
CPose3DInterpolator: CPose3D query547.04 ns /
408.39 ns
Δ 33.95%
1.83 MHz /
2.45 MHz
∇ -25.35%
CPose3DInterpolator: TPose3D insert pose at end169.83 ns /
166.84 ns
Δ 1.79%
5.89 MHz /
5.99 MHz
∇ -1.76%
CPose3DInterpolator: TPose3D insert pose random201.49 ns /
272.92 ns
∇ -26.17%
4.96 MHz /
3.66 MHz
Δ 35.45%
CPose3DInterpolator: TPose3D query479.99 ns /
318.24 ns
Δ 50.82%
2.08 MHz /
3.14 MHz
∇ -33.70%
CPose2DInterpolator: TPose2D insert pose at end156.29 ns /
160.68 ns
∇ -2.73%
6.40 MHz /
6.22 MHz
Δ 2.80%
CPose2DInterpolator: TPose2D insert pose random174.72 ns /
226.10 ns
∇ -22.72%
5.72 MHz /
4.42 MHz
Δ 29.40%
CPose2DInterpolator: TPose2D query171.34 ns /
144.72 ns
Δ 18.39%
5.84 MHz /
6.91 MHz
∇ -15.54%
matrix: unit, dyn[float], 3x320.30 ns /
21.72 ns
∇ -6.51%
49.25 MHz /
46.04 MHz
Δ 6.96%
matrix: unit, dyn[double], 3x318.13 ns /
21.63 ns
∇ -16.20%
55.16 MHz /
46.23 MHz
Δ 19.33%
matrix: unit, dyn[float], 6x644.79 ns /
58.30 ns
∇ -23.18%
22.33 MHz /
17.15 MHz
Δ 30.17%
matrix: unit, dyn[double], 6x639.03 ns /
57.93 ns
∇ -32.62%
25.62 MHz /
17.26 MHz
Δ 48.41%
matrix: unit, fix[float,3,3]0.00 ns /
0.83 ns
∇ -100.00%
inf THz /
1.21 GHz
Δ inf%
matrix: unit, fix[double,3,3]0.00 ns /
1.34 ns
∇ -100.00%
inf THz /
746.12 MHz
Δ inf%
matrix: unit, fix[float,6,6]0.00 ns /
4.12 ns
∇ -100.00%
inf THz /
242.52 MHz
Δ inf%
matrix: unit, fix[double,6,6]3.10 ns /
6.34 ns
∇ -51.14%
322.58 MHz /
157.62 MHz
Δ 104.66%
matrix: multiply, dyn[float ], 3x3 * 3x374.80 ns /
177.80 ns
∇ -57.93%
13.37 MHz /
5.62 MHz
Δ 137.69%
matrix: multiply, fix[float ], 3x3 * 3x30.10 ns /
106.68 ns
∇ -99.91%
10.00 GHz /
9.37 MHz
Δ 106577.39%
matrix: multiply, dyn[double], 3x3 * 3x373.30 ns /
162.46 ns
∇ -54.88%
13.64 MHz /
6.16 MHz
Δ 121.64%
matrix: multiply, fix[double], 3x3 * 3x30.20 ns /
98.07 ns
∇ -99.80%
5.00 GHz /
10.20 MHz
Δ 48937.19%
matrix: multiply, dyn[float ], 3x6 * 6x388.20 ns /
184.38 ns
∇ -52.16%
11.34 MHz /
5.42 MHz
Δ 109.04%
matrix: multiply, fix[float ], 3x6 * 6x32.80 ns /
131.40 ns
∇ -97.87%
357.14 MHz /
7.61 MHz
Δ 4592.85%
matrix: multiply, dyn[double], 3x6 * 6x392.10 ns /
183.56 ns
∇ -49.83%
10.86 MHz /
5.45 MHz
Δ 99.31%
matrix: multiply, fix[double], 3x6 * 6x30.80 ns /
114.34 ns
∇ -99.30%
1.25 GHz /
8.75 MHz
Δ 14193.08%
matrix: multiply, dyn[float ], 10x40 * 40x101.10 us /
1.00 us
Δ 10.10%
905.88 KHz /
997.38 KHz
∇ -9.17%
matrix: multiply, fix[float ], 10x40 * 40x10787.10 ns /
831.72 ns
∇ -5.36%
1.27 MHz /
1.20 MHz
Δ 5.67%
matrix: multiply, dyn[double], 10x40 * 40x101.71 us /
1.55 us
Δ 10.85%
583.74 KHz /
647.07 KHz
∇ -9.79%
matrix: multiply, fix[double], 10x40 * 40x101.31 us /
1.33 us
∇ -1.75%
762.49 KHz /
749.16 KHz
Δ 1.78%
matrix: inv, dyn[double] 3x3552.00 ns /
997.04 ns
∇ -44.64%
1.81 MHz /
1.00 MHz
Δ 80.62%
matrix: inv, fix[double] 3x31.00 ns /
17.81 ns
∇ -94.39%
1.00 GHz /
56.15 MHz
Δ 1680.98%
matrix: inv, dyn[double] 6x61.56 us /
1.67 us
∇ -6.31%
640.20 KHz /
599.82 KHz
Δ 6.73%
matrix: inv, fix[double] 6x6811.00 ns /
1.01 us
∇ -19.34%
1.23 MHz /
994.53 KHz
Δ 23.98%
matrix: inv, dyn[double] 20x209.61 us /
10.40 us
∇ -7.62%
104.07 KHz /
96.14 KHz
Δ 8.25%
matrix: inv, fix[double] 20x208.32 us /
9.45 us
∇ -11.90%
120.18 KHz /
105.87 KHz
Δ 13.51%
matrix: inv, dyn[double] 40x4040.62 us /
40.34 us
Δ 0.69%
24.62 KHz /
24.79 KHz
∇ -0.69%
matrix: inv, fix[double] 40x4040.56 us /
38.14 us
Δ 6.34%
24.65 KHz /
26.22 KHz
∇ -5.96%
matrix: det, dyn[double] 2x2162.40 ns /
332.38 ns
∇ -51.14%
6.16 MHz /
3.01 MHz
Δ 104.67%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3222.70 ns /
437.03 ns
∇ -49.04%
4.49 MHz /
2.29 MHz
Δ 96.24%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6498.50 ns /
810.13 ns
∇ -38.47%
2.01 MHz /
1.23 MHz
Δ 62.51%
matrix: det, fix[double] 6x6317.50 ns /
606.86 ns
∇ -47.68%
3.15 MHz /
1.65 MHz
Δ 91.14%
matrix: det, dyn[double] 20x204.31 us /
6.30 us
∇ -31.54%
231.87 KHz /
158.75 KHz
Δ 46.06%
matrix: det, fix[double] 20x203.96 us /
5.89 us
∇ -32.79%
252.75 KHz /
169.88 KHz
Δ 48.78%
matrix: det, dyn[double] 40x4017.05 us /
22.96 us
∇ -25.74%
58.64 KHz /
43.55 KHz
Δ 34.66%
matrix: det, fix[double] 40x4016.89 us /
22.85 us
∇ -26.11%
59.21 KHz /
43.75 KHz
Δ 35.33%
matrix: chol, dyn[double] 4x4530.00 ns /
682.20 ns
∇ -22.31%
1.89 MHz /
1.47 MHz
Δ 28.72%
matrix: chol, fix[double] 4x4290.00 ns /
316.95 ns
∇ -8.50%
3.45 MHz /
3.16 MHz
Δ 9.29%
matrix: chol, dyn[double] 40x4010.81 us /
15.61 us
∇ -30.76%
92.51 KHz /
64.05 KHz
Δ 44.42%
matrix: chol, fix[double] 40x4010.61 us /
14.14 us
∇ -24.94%
94.25 KHz /
70.74 KHz
Δ 33.23%
matrix: chol, sparse [2x2;2x2]6.10 us /
123.13 us
∇ -95.05%
163.93 KHz /
8.12 KHz
Δ 1918.50%
matrix: chol, sparse [30x30;10x10]36.50 us /
44.19 us
∇ -17.41%
27.40 KHz /
22.63 KHz
Δ 21.07%
matrix: chol, dyn[double] 10x[6x6]28.80 us /
38.64 us
∇ -25.46%
34.72 KHz /
25.88 KHz
Δ 34.16%
matrix: chol, sparse 10x[6x6]16.74 us /
18.44 us
∇ -9.21%
59.74 KHz /
54.24 KHz
Δ 10.14%
matrix: chol, dyn[double] 20x[6x6]151.40 us /
187.94 us
∇ -19.44%
6.61 KHz /
5.32 KHz
Δ 24.13%
matrix: chol, sparse 20x[6x6]29.33 us /
32.61 us
∇ -10.05%
34.09 KHz /
30.67 KHz
Δ 11.17%
matrix: chol, dyn[double] 50x[6x6]1.67 ms /
2.45 ms
∇ -31.81%
598.01 Hz /
407.79 Hz
Δ 46.65%
matrix: chol, sparse 50x[6x6]69.84 us /
159.41 us
∇ -56.19%
14.32 KHz /
6.27 KHz
Δ 128.25%
matrix: chol, dyn[double] 100x[6x6]14.94 ms /
16.61 ms
∇ -10.03%
66.92 Hz /
60.21 Hz
Δ 11.14%
matrix: chol, sparse 100x[6x6]142.72 us /
143.31 us
∇ -0.41%
7.01 KHz /
6.98 KHz
Δ 0.41%
matrix: chol, dyn[double] 120x[6x6]23.75 ms /
22.18 ms
Δ 7.12%
42.10 Hz /
45.09 Hz
∇ -6.64%
matrix: chol, sparse 120x[6x6]163.62 us /
169.63 us
∇ -3.54%
6.11 KHz /
5.90 KHz
Δ 3.67%
matrix: chol, dyn[double] 140x[6x6]36.15 ms /
33.41 ms
Δ 8.19%
27.66 Hz /
29.93 Hz
∇ -7.57%
matrix: chol, sparse 140x[6x6]190.66 us /
202.09 us
∇ -5.65%
5.24 KHz /
4.95 KHz
Δ 5.99%
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 /
2.91 ns
Δ 39.81%
245.78 MHz /
343.63 MHz
∇ -28.48%
gridmap2D: setCell2.90 ns /
1.86 ns
Δ 55.96%
344.23 MHz /
536.87 MHz
∇ -35.88%
gridmap2D: updateCell5.82 ns /
3.46 ns
Δ 68.53%
171.70 MHz /
289.38 MHz
∇ -40.66%
gridmap2D: updateCell_fast_occupied0.86 ns /
1.88 ns
∇ -54.47%
1.17 GHz /
530.87 MHz
Δ 119.65%
gridmap2D: insert scan w/o widening56.46 us /
62.88 us
∇ -10.21%
17.71 KHz /
15.90 KHz
Δ 11.37%
gridmap2D: insert scan with widening158.80 us /
175.10 us
∇ -9.31%
6.30 KHz /
5.71 KHz
Δ 10.27%
gridmap2D: resize308.00 us /
757.97 us
∇ -59.37%
3.25 KHz /
1.32 KHz
Δ 146.09%
gridmap2D: computeLikelihood9.34 us /
8.30 us
Δ 12.58%
107.06 KHz /
120.54 KHz
∇ -11.18%
gridmap2D: determineMatching2D22.76 us /
35.80 us
∇ -36.44%
43.94 KHz /
27.93 KHz
Δ 57.33%
pointmap: insert 100 scans296.72 us /
526.37 us
∇ -43.63%
3.37 KHz /
1.90 KHz
Δ 77.40%
pointmap: build 2D kd-tree of 1 scan1.40 us /
2.27 us
∇ -38.33%
714.29 KHz /
440.53 KHz
Δ 62.14%
pointmap: build 2D kd-tree of 100 scan82.24 us /
155.06 us
∇ -46.96%
12.16 KHz /
6.45 KHz
Δ 88.55%
pointmap: build 2D kd-tree of 1000 scan911.44 us /
1.69 ms
∇ -45.92%
1.10 KHz /
593.35 Hz
Δ 84.91%
pointmap: build 3D kd-tree of 1 scan920.00 ns /
2.31 us
∇ -60.11%
1.09 MHz /
433.61 KHz
Δ 150.68%
pointmap: build 3D kd-tree of 100 scan87.64 us /
159.93 us
∇ -45.20%
11.41 KHz /
6.25 KHz
Δ 82.48%
pointmap: build 3D kd-tree of 1000 scan918.80 us /
1.73 ms
∇ -46.92%
1.09 KHz /
577.66 Hz
Δ 88.41%
pointmap: kd-tree 2d query on 10 scans317.00 ns /
516.48 ns
∇ -38.62%
3.15 MHz /
1.94 MHz
Δ 62.93%
pointmap: kd-tree 2d query on 1000 scans22.90 us /
42.42 us
∇ -46.01%
43.67 KHz /
23.57 KHz
Δ 85.23%
pointmap: kd-tree 2d query on 10000 scans2.66 ms /
4.92 ms
∇ -45.80%
375.31 Hz /
203.42 Hz
Δ 84.50%
pointmap: (insert scan+2D kd-tree query) x 10946.05 us /
1.82 ms
∇ -47.88%
1.06 KHz /
550.91 Hz
Δ 91.87%
pointmap: (insert scan+2D kd-tree query) x 5023.20 ms /
42.41 ms
∇ -45.29%
43.10 Hz /
23.58 Hz
Δ 82.77%
pointmap: (insert scan+3D kd-tree query) x 10936.50 us /
1.73 ms
∇ -45.86%
1.07 KHz /
578.12 Hz
Δ 84.70%
pointmap: (insert scan+3D kd-tree query) x 5023.27 ms /
43.82 ms
∇ -46.90%
42.98 Hz /
22.82 Hz
Δ 88.33%
pointmap: computeMatchingWith2D21.92 us /
33.73 us
∇ -35.03%
45.62 KHz /
29.64 KHz
Δ 53.91%
pointmap: boundingBox (10 scans)892.30 ns /
10.77 us
∇ -91.72%
1.12 MHz /
92.85 KHz
Δ 1107.01%
pointmap: boundingBox (1000 scans)85.56 us /
1.07 ms
∇ -92.03%
11.69 KHz /
931.26 Hz
Δ 1154.97%
random: drawUniform32bit22.75 ns /
4.58 ns
Δ 396.47%
43.95 MHz /
218.18 MHz
∇ -79.86%
random: drawUniform22.74 ns /
4.56 ns
Δ 398.14%
43.98 MHz /
219.10 MHz
∇ -79.93%
random: drawGaussian1D_normalized55.74 ns /
20.91 ns
Δ 166.58%
17.94 MHz /
47.83 MHz
∇ -62.49%
random: drawGaussian1D55.81 ns /
20.77 ns
Δ 168.72%
17.92 MHz /
48.15 MHz
∇ -62.79%
random: system rand()10.62 ns /
14.59 ns
∇ -27.20%
94.14 MHz /
68.54 MHz
Δ 37.36%
random: drawGaussianMultivariate(fixed 3x3)551.60 ns /
561.77 ns
∇ -1.81%
1.81 MHz /
1.78 MHz
Δ 1.84%
random: drawGaussianMultivariate(dyn 3x3)1.19 us /
1.64 us
∇ -27.40%
837.52 KHz /
608.03 KHz
Δ 37.74%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)115.14 ns /
55.97 ns
Δ 105.71%
8.69 MHz /
17.87 MHz
∇ -51.39%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)180.82 ns /
87.22 ns
Δ 107.31%
5.53 MHz /
11.46 MHz
∇ -51.76%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)380.13 ns /
183.80 ns
Δ 106.81%
2.63 MHz /
5.44 MHz
∇ -51.65%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)122.87 ns /
61.16 ns
Δ 100.90%
8.14 MHz /
16.35 MHz
∇ -50.22%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)197.55 ns /
94.72 ns
Δ 108.56%
5.06 MHz /
10.56 MHz
∇ -52.05%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)390.58 ns /
202.25 ns
Δ 93.11%
2.56 MHz /
4.94 MHz
∇ -48.22%
random: permuteVector (len=10)1.69 us /
342.43 ns
Δ 394.29%
590.81 KHz /
2.92 MHz
∇ -79.77%
random: permuteVector (len=100)3.30 us /
3.50 us
∇ -5.79%
303.24 KHz /
285.70 KHz
Δ 6.14%
random: permuteVector (len=1000)19.67 us /
34.48 us
∇ -42.94%
50.83 KHz /
29.00 KHz
Δ 75.26%
math: round0.03 ns /
52.00 ns
∇ -99.94%
30.75 GHz /
19.23 MHz
Δ 159790.63%
math: std::hypot(float)0.00 ns /
5.42 ns
∇ -100.00%
100.00 THz /
184.50 MHz
Δ 54201401.33%
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 /
X
149.14 Hz /
X
images: Save as JPEG (800x600, quality=95%)9.09 ms /
X
110.00 Hz /
X
images: Save as JPEG (1024x768, quality=95%)14.11 ms /
X
70.89 Hz /
X
images: Save as JPEG (640x480, quality=75%)4.88 ms /
X
205.05 Hz /
X
images: Save as JPEG (800x600, quality=75%)7.53 ms /
X
132.76 Hz /
X
images: Save as JPEG (1024x768, quality=75%)12.32 ms /
X
81.18 Hz /
X
images: Save BMP 800x600 disk6.36 ms /
X
157.29 Hz /
X
images: Save PNG 800x600 disk22.14 ms /
X
45.17 Hz /
X
images: Save JPG 800x600 disk8.62 ms /
X
116.07 Hz /
X
images: Load BMP 800x600 disk298.27 us /
X
3.35 KHz /
X
images: Load PNG 800x600 disk8.93 ms /
X
111.94 Hz /
X
images: Load JPG 800x600 disk6.22 ms /
X
160.76 Hz /
X
images: Save BMP 800x600 shared mem417.93 us /
X
2.39 KHz /
X
images: Save PNG 800x600 shared mem17.09 ms /
X
58.52 Hz /
X
images: Save JPG 800x600 shared mem6.13 ms /
X
163.16 Hz /
X
images: Load BMP 800x600 shared mem278.67 us /
X
3.59 KHz /
X
images: Load PNG 800x600 shared mem9.01 ms /
X
110.95 Hz /
X
images: Load JPG 800x600 shared mem6.22 ms /
X
160.78 Hz /
X
images: Gauss filter (640x480)2.01 ms /
919.51 us
Δ 118.31%
498.17 Hz /
1.09 KHz
∇ -54.19%
images: Gauss filter (800x600)3.21 ms /
1.50 ms
Δ 114.31%
311.42 Hz /
667.43 Hz
∇ -53.34%
images: Gauss filter (1024x768)5.27 ms /
2.43 ms
Δ 117.09%
189.63 Hz /
411.66 Hz
∇ -53.94%
images: Half sample GRAY (160x120)753.33 ns /
44.68 us
∇ -98.31%
1.33 MHz /
22.38 KHz
Δ 5831.15%
images: Half sample GRAY (320x240)1.81 us /
12.34 us
∇ -85.36%
553.51 KHz /
81.04 KHz
Δ 582.97%
images: Half sample GRAY (640x480)7.24 us /
44.43 us
∇ -83.70%
138.06 KHz /
22.51 KHz
Δ 513.33%
images: Half sample GRAY (800x600)12.12 us /
62.97 us
∇ -80.76%
82.53 KHz /
15.88 KHz
Δ 419.67%
images: Half sample GRAY (1024x768)20.49 us /
73.10 us
∇ -71.97%
48.80 KHz /
13.68 KHz
Δ 256.77%
images: Half sample GRAY (1280x1024)33.85 us /
83.61 us
∇ -59.51%
29.54 KHz /
11.96 KHz
Δ 146.99%
images: Half sample RGB (160x120)1.40 us /
7.37 us
∇ -80.95%
712.59 KHz /
135.73 KHz
Δ 424.99%
images: Half sample RGB (320x240)4.44 us /
25.88 us
∇ -82.86%
225.39 KHz /
38.64 KHz
Δ 483.26%
images: Half sample RGB (640x480)21.84 us /
99.11 us
∇ -77.96%
45.79 KHz /
10.09 KHz
Δ 353.79%
images: Half sample RGB (800x600)34.88 us /
121.43 us
∇ -71.28%
28.67 KHz /
8.24 KHz
Δ 248.17%
images: Half sample RGB (1024x768)58.20 us /
173.65 us
∇ -66.48%
17.18 KHz /
5.76 KHz
Δ 198.34%
images: Half sample RGB (1280x1024)119.26 us /
182.74 us
∇ -34.74%
8.38 KHz /
5.47 KHz
Δ 53.22%
images: Half sample smooth GRAY (160x120)1.08 us /
28.12 us
∇ -96.15%
923.08 KHz /
35.56 KHz
Δ 2495.53%
images: Half sample smooth GRAY (320x240)3.11 us /
6.24 us
∇ -50.13%
321.54 KHz /
160.35 KHz
Δ 100.53%
images: Half sample smooth GRAY (640x480)13.89 us /
20.79 us
∇ -33.20%
72.01 KHz /
48.10 KHz
Δ 49.71%
images: Half sample smooth GRAY (800x600)21.31 us /
30.69 us
∇ -30.54%
46.92 KHz /
32.59 KHz
Δ 43.97%
images: Half sample smooth GRAY (1024x768)34.33 us /
33.69 us
Δ 1.91%
29.13 KHz /
29.68 KHz
∇ -1.87%
images: Half sample smooth GRAY (1280x1024)56.59 us /
38.04 us
Δ 48.78%
17.67 KHz /
26.29 KHz
∇ -32.79%
images: Half sample smooth RGB (160x120)10.08 us /
9.57 us
Δ 5.31%
99.21 KHz /
104.47 KHz
∇ -5.04%
images: Half sample smooth RGB (320x240)33.64 us /
33.29 us
Δ 1.06%
29.72 KHz /
30.04 KHz
∇ -1.05%
images: Half sample smooth RGB (640x480)127.81 us /
126.81 us
Δ 0.79%
7.82 KHz /
7.89 KHz
∇ -0.78%
images: Half sample smooth RGB (800x600)191.91 us /
176.80 us
Δ 8.55%
5.21 KHz /
5.66 KHz
∇ -7.88%
images: Half sample smooth RGB (1024x768)194.27 us /
209.31 us
∇ -7.18%
5.15 KHz /
4.78 KHz
Δ 7.74%
images: Half sample smooth RGB (1280x1024)364.64 us /
221.21 us
Δ 64.84%
2.74 KHz /
4.52 KHz
∇ -39.33%
images: RGB->GRAY 8u (40x30)5.59 us /
6.60 us
∇ -15.31%
179.00 KHz /
151.59 KHz
Δ 18.08%
images: RGB->GRAY 8u (80x60)4.23 us /
7.36 us
∇ -42.45%
236.22 KHz /
135.94 KHz
Δ 73.77%
images: RGB->GRAY 8u (160x120)11.42 us /
27.06 us
∇ -57.78%
87.54 KHz /
36.96 KHz
Δ 136.88%
images: RGB->GRAY 8u (320x240)35.87 us /
105.43 us
∇ -65.97%
27.88 KHz /
9.49 KHz
Δ 193.89%
images: RGB->GRAY 8u (640x480)127.77 us /
175.70 us
∇ -27.28%
7.83 KHz /
5.69 KHz
Δ 37.52%
images: RGB->GRAY 8u (800x600)169.11 us /
196.49 us
∇ -13.94%
5.91 KHz /
5.09 KHz
Δ 16.19%
images: RGB->GRAY 8u (1024x768)237.72 us /
367.76 us
∇ -35.36%
4.21 KHz /
2.72 KHz
Δ 54.70%
images: RGB->GRAY 8u (1280x1024)377.32 us /
834.98 us
∇ -54.81%
2.65 KHz /
1.20 KHz
Δ 121.29%
images: KLT score (WIN=2 5x5)27.26 ns /
43.55 ns
∇ -37.40%
36.68 MHz /
22.96 MHz
Δ 59.73%
images: KLT score (WIN=3 7x7)33.33 ns /
58.85 ns
∇ -43.36%
30.00 MHz /
16.99 MHz
Δ 76.57%
images: KLT score (WIN=4 9x9)37.96 ns /
76.23 ns
∇ -50.20%
26.34 MHz /
13.12 MHz
Δ 100.81%
images: KLT score (WIN=5 10x10)48.02 ns /
101.24 ns
∇ -52.57%
20.83 MHz /
9.88 MHz
Δ 110.85%
images: KLT score (WIN=6 13x13)53.09 ns /
129.38 ns
∇ -58.97%
18.84 MHz /
7.73 MHz
Δ 143.71%
images: KLT score (WIN=7 15x15)62.87 ns /
163.57 ns
∇ -61.56%
15.91 MHz /
6.11 MHz
Δ 160.16%
images: KLT score (WIN=8 17x17)59.92 ns /
207.36 ns
∇ -71.10%
16.69 MHz /
4.82 MHz
Δ 246.07%
images: KLT score (WIN=9 19x19)62.94 ns /
240.42 ns
∇ -73.82%
15.89 MHz /
4.16 MHz
Δ 281.98%
images: KLT score (WIN=10 21x21)66.64 ns /
274.50 ns
∇ -75.72%
15.01 MHz /
3.64 MHz
Δ 311.91%
images: KLT score (WIN=11 23x23)59.70 ns /
319.09 ns
∇ -81.29%
16.75 MHz /
3.13 MHz
Δ 434.53%
images: KLT score (WIN=12 25x25)78.23 ns /
368.43 ns
∇ -78.77%
12.78 MHz /
2.71 MHz
Δ 370.98%
images: KLT score (WIN=13 27x27)66.87 ns /
427.37 ns
∇ -84.35%
14.95 MHz /
2.34 MHz
Δ 539.13%
images: KLT score (WIN=14 29x29)69.47 ns /
483.04 ns
∇ -85.62%
14.39 MHz /
2.07 MHz
Δ 595.30%
images: KLT score (WIN=15 31x31)72.48 ns /
547.94 ns
∇ -86.77%
13.80 MHz /
1.83 MHz
Δ 656.00%
images: KLT score (WIN=16 33x33)103.32 ns /
619.70 ns
∇ -83.33%
9.68 MHz /
1.61 MHz
Δ 499.78%
images: buildPyramid 640x480,4 levs,no smooth,no gray81.37 us /
191.90 us
∇ -57.60%
12.29 KHz /
5.21 KHz
Δ 135.84%
images: buildPyramid 640x480,4 levs, smooth,no gray224.34 us /
231.26 us
∇ -2.99%
4.46 KHz /
4.32 KHz
Δ 3.09%
images: buildPyramid 640x480,4 levs,no smooth, gray94.91 us /
280.65 us
∇ -66.18%
10.54 KHz /
3.56 KHz
Δ 195.71%
images: buildPyramid 640x480,4 levs, smooth, gray101.22 us /
228.84 us
∇ -55.77%
9.88 KHz /
4.37 KHz
Δ 126.09%
images: buildPyramid 640x480,8 levs,no smooth,no gray85.80 us /
207.46 us
∇ -58.64%
11.66 KHz /
4.82 KHz
Δ 141.80%
images: buildPyramid 640x480,8 levs, smooth,no gray231.53 us /
240.02 us
∇ -3.54%
4.32 KHz /
4.17 KHz
Δ 3.67%
images: buildPyramid 640x480,8 levs,no smooth, gray99.53 us /
284.19 us
∇ -64.98%
10.05 KHz /
3.52 KHz
Δ 185.54%
images: buildPyramid 640x480,8 levs, smooth, gray107.32 us /
238.30 us
∇ -54.97%
9.32 KHz /
4.20 KHz
Δ 122.05%
stereo: prepare rectify map 640x480 RGB18.45 ms /
4.52 ms
Δ 308.56%
54.21 Hz /
221.47 Hz
∇ -75.52%
stereo: prepare rectify map 800x600 RGB28.81 ms /
5.88 ms
Δ 389.83%
34.71 Hz /
170.00 Hz
∇ -79.58%
stereo: prepare rectify map 1024x768 RGB47.34 ms /
9.45 ms
Δ 400.75%
21.12 Hz /
105.78 Hz
∇ -80.03%
stereo: prepare rectify map 1024x768->800x600 RGB28.79 ms /
5.92 ms
Δ 386.02%
34.73 Hz /
168.79 Hz
∇ -79.42%
stereo: prepare rectify map 1024x768->640x480 RGB18.49 ms /
3.88 ms
Δ 376.51%
54.07 Hz /
257.65 Hz
∇ -79.01%
stereo: rectify 640x480 RGB1.53 ms /
1.62 ms
∇ -5.24%
651.57 Hz /
617.43 Hz
Δ 5.53%
stereo: rectify 800x600 RGB1.62 ms /
2.00 ms
∇ -19.09%
617.68 Hz /
499.77 Hz
Δ 23.59%
stereo: rectify 1024x768 RGB2.94 ms /
3.71 ms
∇ -20.80%
340.13 Hz /
269.37 Hz
Δ 26.27%
stereo: rectify 1024x768->800x600 RGB2.00 ms /
2.08 ms
∇ -4.24%
501.19 Hz /
479.92 Hz
Δ 4.43%
stereo: rectify 1024x768->640x480 RGB1.69 ms /
1.75 ms
∇ -3.20%
591.40 Hz /
572.46 Hz
Δ 3.31%
stereo: rectify 640x480 GRAY1.10 ms /
890.62 us
Δ 23.75%
907.32 Hz /
1.12 KHz
∇ -19.19%
stereo: rectify 800x600 GRAY1.23 ms /
1.10 ms
Δ 11.73%
813.64 Hz /
909.06 Hz
∇ -10.50%
stereo: rectify 1024x768 GRAY2.26 ms /
2.18 ms
Δ 3.88%
441.81 Hz /
458.96 Hz
∇ -3.74%
stereo: rectify 1024x768->800x600 GRAY1.38 ms /
1.10 ms
Δ 25.83%
722.75 Hz /
909.41 Hz
∇ -20.52%
stereo: rectify 1024x768->640x480 GRAY1.32 ms /
895.97 us
Δ 46.84%
760.11 Hz /
1.12 KHz
∇ -31.90%
tfest: se3_l2 [CPose3DQuat]2.82 us /
10.63 us
∇ -73.53%
355.19 KHz /
94.03 KHz
Δ 277.73%
tfest: se3_l2 [vector TPoint3D]2.86 us /
8.97 us
∇ -68.06%
349.17 KHz /
111.51 KHz
Δ 213.13%
tfest: se2_l2 [x10 corrs]135.55 ns /
116.12 ns
Δ 16.73%
7.38 MHz /
8.61 MHz
∇ -14.33%
tfest: se2_l2 [x100 corrs]221.18 ns /
462.23 ns
∇ -52.15%
4.52 MHz /
2.16 MHz
Δ 108.98%
tfest: se2_l2 [x1000 corrs]1.02 us /
3.91 us
∇ -73.94%
980.87 KHz /
255.59 KHz
Δ 283.77%
feature_extraction [640x480]: Harris6.31 ms /
15.75 ms
∇ -59.96%
158.55 Hz /
63.49 Hz
Δ 149.75%
feature_extraction [640x480]: KLT6.67 ms /
9.92 ms
∇ -32.69%
149.82 Hz /
100.84 Hz
Δ 48.57%
feature_extraction [640x480]: SURF33.78 ms /
X
29.60 Hz /
X
feature_extraction [640x480]: FAST1.90 ms /
2.17 ms
∇ -12.43%
527.03 Hz /
461.50 Hz
Δ 14.20%
feature_extraction [640x480]: Spin desc.100.39 ms /
30.67 ms
Δ 227.31%
9.96 Hz /
32.60 Hz
∇ -69.45%
feature_extraction [640x480]: FASTER-92.31 ms /
2.91 ms
∇ -20.58%
432.77 Hz /
343.69 Hz
Δ 25.92%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.17 ms /
2.27 ms
∇ -48.39%
852.33 Hz /
439.93 Hz
Δ 93.74%
feature_extraction [640x480]: FASTER-101.75 ms /
2.32 ms
∇ -24.42%
570.61 Hz /
431.27 Hz
Δ 32.31%
feature_extraction [640x480]: FASTER-10 (sorted best 200)974.68 us /
1.88 ms
∇ -48.07%
1.03 KHz /
532.77 Hz
Δ 92.57%
feature_extraction [640x480]: FASTER-121.29 ms /
1.64 ms
∇ -21.24%
773.75 Hz /
609.44 Hz
Δ 26.96%
feature_extraction [640x480]: FASTER-12 (sorted best 200)964.98 us /
1.40 ms
∇ -30.99%
1.04 KHz /
715.16 Hz
Δ 44.90%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()397.71 us /
1.05 ms
∇ -62.13%
2.51 KHz /
952.09 Hz
Δ 164.09%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()372.97 us /
1.02 ms
∇ -63.49%
2.68 KHz /
978.83 Hz
Δ 173.91%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()476.84 us /
826.01 us
∇ -42.27%
2.10 KHz /
1.21 KHz
Δ 73.22%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index403.19 us /
1.05 ms
∇ -61.64%
2.48 KHz /
951.32 Hz
Δ 160.71%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index376.41 us /
1.02 ms
∇ -63.16%
2.66 KHz /
978.81 Hz
Δ 171.42%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index478.39 us /
828.21 us
∇ -42.24%
2.09 KHz /
1.21 KHz
Δ 73.12%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()502.18 us /
1.42 ms
∇ -64.52%
1.99 KHz /
706.45 Hz
Δ 181.88%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()474.23 us /
1.37 ms
∇ -65.27%
2.11 KHz /
732.34 Hz
Δ 187.94%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()548.60 us /
1.34 ms
∇ -59.21%
1.82 KHz /
743.54 Hz
Δ 145.15%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index507.99 us /
1.41 ms
∇ -63.99%
1.97 KHz /
708.80 Hz
Δ 177.73%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index536.86 us /
1.34 ms
∇ -60.06%
1.86 KHz /
743.91 Hz
Δ 150.39%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index550.06 us /
1.29 ms
∇ -57.24%
1.82 KHz /
777.31 Hz
Δ 133.88%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()646.02 us /
1.99 ms
∇ -67.50%
1.55 KHz /
503.05 Hz
Δ 207.71%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()638.23 us /
1.91 ms
∇ -66.59%
1.57 KHz /
523.41 Hz
Δ 199.35%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()605.17 us /
1.70 ms
∇ -64.41%
1.65 KHz /
588.07 Hz
Δ 180.99%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index651.80 us /
1.99 ms
∇ -67.26%
1.53 KHz /
502.32 Hz
Δ 205.43%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index640.70 us /
1.90 ms
∇ -66.22%
1.56 KHz /
527.26 Hz
Δ 196.02%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index606.24 us /
1.72 ms
∇ -64.67%
1.65 KHz /
582.72 Hz
Δ 183.07%
feature_matching [640x480]: Harris + CC15.55 ms /
22.18 ms
∇ -29.87%
64.30 Hz /
45.10 Hz
Δ 42.59%
feature_matching [640x480]: Harris + SAD11.05 ms /
18.56 ms
∇ -40.45%
90.49 Hz /
53.89 Hz
Δ 67.92%
feature_matching [640x480]: SURF62.55 ms /
X
15.99 Hz /
X
feature_matching [640x480]: FAST + CC7.00 ms /
6.94 ms
Δ 0.81%
142.92 Hz /
144.08 Hz
∇ -0.80%
feature_matching [640x480]: FAST + SAD2.47 ms /
3.61 ms
∇ -31.53%
405.04 Hz /
277.32 Hz
Δ 46.05%
graph(2d): insertEdge x 1e393.49 us /
158.15 us
∇ -40.88%
10.70 KHz /
6.32 KHz
Δ 69.15%
graph(2d,vec): insertEdge x 1e397.39 us /
154.94 us
∇ -37.15%
10.27 KHz /
6.45 KHz
Δ 59.10%
graph(2d): insertEdgeAtEnd x 1e373.49 us /
124.64 us
∇ -41.03%
13.61 KHz /
8.02 KHz
Δ 69.59%
graph(2d,vec): insertEdgeAtEnd x 1e374.27 us /
120.41 us
∇ -38.32%
13.46 KHz /
8.30 KHz
Δ 62.13%
graph(2d pdf): insertEdge x 1e3130.24 us /
204.87 us
∇ -36.43%
7.68 KHz /
4.88 KHz
Δ 57.30%
graph(2d pdf,vec): insertEdge x 1e3130.03 us /
204.35 us
∇ -36.37%
7.69 KHz /
4.89 KHz
Δ 57.16%
graph(2d pdf): insertEdgeAtEnd x 1e3113.28 us /
162.60 us
∇ -30.34%
8.83 KHz /
6.15 KHz
Δ 43.54%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3113.96 us /
168.22 us
∇ -32.25%
8.77 KHz /
5.94 KHz
Δ 47.61%
graph(2d): insertEdge x 1e41.52 ms /
1.67 ms
∇ -8.71%
656.10 Hz /
598.93 Hz
Δ 9.54%
graph(2d,vec): insertEdge x 1e41.25 ms /
1.68 ms
∇ -25.37%
799.05 Hz /
596.30 Hz
Δ 34.00%
graph(2d): insertEdgeAtEnd x 1e4488.95 us /
1.21 ms
∇ -59.71%
2.05 KHz /
823.91 Hz
Δ 148.23%
graph(2d,vec): insertEdgeAtEnd x 1e4490.97 us /
1.21 ms
∇ -59.56%
2.04 KHz /
823.74 Hz
Δ 147.26%
graph(2d pdf): insertEdge x 1e41.29 ms /
2.08 ms
∇ -37.87%
772.59 Hz /
480.03 Hz
Δ 60.95%
graph(2d pdf,vec): insertEdge x 1e41.73 ms /
2.19 ms
∇ -20.86%
577.69 Hz /
457.17 Hz
Δ 26.36%
graph(2d pdf): insertEdgeAtEnd x 1e41.11 ms /
1.52 ms
∇ -27.51%
904.94 Hz /
655.96 Hz
Δ 37.96%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.11 ms /
1.70 ms
∇ -34.65%
901.73 Hz /
589.28 Hz
Δ 53.02%
graph(3d): insertEdge x 1e3123.67 us /
150.12 us
∇ -17.62%
8.09 KHz /
6.66 KHz
Δ 21.39%
graph(3d,vec): insertEdge x 1e3125.66 us /
150.55 us
∇ -16.53%
7.96 KHz /
6.64 KHz
Δ 19.80%
graph(3d): insertEdgeAtEnd x 1e3103.65 us /
109.39 us
∇ -5.25%
9.65 KHz /
9.14 KHz
Δ 5.54%
graph(3d,vec): insertEdgeAtEnd x 1e3103.36 us /
110.04 us
∇ -6.07%
9.67 KHz /
9.09 KHz
Δ 6.46%
graph(3d pdf): insertEdge x 1e3293.13 us /
312.72 us
∇ -6.27%
3.41 KHz /
3.20 KHz
Δ 6.68%
graph(3d pdf,vec): insertEdge x 1e3290.78 us /
360.19 us
∇ -19.27%
3.44 KHz /
2.78 KHz
Δ 23.87%
graph(3d pdf): insertEdgeAtEnd x 1e3247.59 us /
267.44 us
∇ -7.42%
4.04 KHz /
3.74 KHz
Δ 8.02%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3247.19 us /
263.46 us
∇ -6.18%
4.05 KHz /
3.80 KHz
Δ 6.58%
graph(3d): insertEdge x 1e41.53 ms /
1.86 ms
∇ -18.05%
654.63 Hz /
536.45 Hz
Δ 22.03%
graph(3d,vec): insertEdge x 1e41.52 ms /
1.82 ms
∇ -16.89%
659.36 Hz /
548.00 Hz
Δ 20.32%
graph(3d): insertEdgeAtEnd x 1e41.03 ms /
1.32 ms
∇ -22.02%
974.27 Hz /
759.75 Hz
Δ 28.24%
graph(3d,vec): insertEdgeAtEnd x 1e41.04 ms /
1.31 ms
∇ -21.05%
964.55 Hz /
761.47 Hz
Δ 26.67%
graph(3d pdf): insertEdge x 1e43.71 ms /
3.62 ms
Δ 2.55%
269.73 Hz /
276.61 Hz
∇ -2.49%
graph(3d pdf,vec): insertEdge x 1e43.71 ms /
3.83 ms
∇ -3.17%
269.81 Hz /
261.27 Hz
Δ 3.27%
graph(3d pdf): insertEdgeAtEnd x 1e42.49 ms /
2.90 ms
∇ -14.02%
401.60 Hz /
345.30 Hz
Δ 16.30%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.48 ms /
2.90 ms
∇ -14.42%
402.64 Hz /
344.56 Hz
Δ 16.86%
graph(3d): dijkstra 1e2 nodes52.34 us /
85.23 us
∇ -38.59%
19.11 KHz /
11.73 KHz
Δ 62.84%
graph(3d,vec): dijkstra 1e2 nodes50.77 us /
84.84 us
∇ -40.16%
19.70 KHz /
11.79 KHz
Δ 67.11%
graph(3d): dijkstra 1e3 nodes747.15 us /
950.94 us
∇ -21.43%
1.34 KHz /
1.05 KHz
Δ 27.28%
graph(3d,vec): dijkstra 1e3 nodes730.57 us /
954.30 us
∇ -23.44%
1.37 KHz /
1.05 KHz
Δ 30.62%
graph(3d): dijkstra 1e4 nodes10.64 ms /
11.92 ms
∇ -10.74%
94.00 Hz /
83.91 Hz
Δ 12.03%
graph(3d,vec): dijkstra 1e4 nodes10.80 ms /
11.83 ms
∇ -8.71%
92.60 Hz /
84.53 Hz
Δ 9.54%
graph(3d): dijkstra 1e5 nodes167.96 ms /
155.44 ms
Δ 8.06%
5.95 Hz /
6.43 Hz
∇ -7.45%
graph(3d,vec): dijkstra 1e5 nodes169.81 ms /
154.14 ms
Δ 10.17%
5.89 Hz /
6.49 Hz
∇ -9.23%
graph(2d): dijkstra 1e5 nodes173.28 ms /
150.58 ms
Δ 15.07%
5.77 Hz /
6.64 Hz
∇ -13.10%
graph(2d,vec): dijkstra 1e5 nodes172.89 ms /
149.73 ms
Δ 15.46%
5.78 Hz /
6.68 Hz
∇ -13.39%
graphslam(2d): levmarq 50 KFs/101 edges620.26 us /
908.20 us
∇ -31.70%
1.61 KHz /
1.10 KHz
Δ 46.42%
graphslam(2d): levmarq 100 KFs/451 edges3.22 ms /
4.91 ms
∇ -34.47%
310.90 Hz /
203.72 Hz
Δ 52.61%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2)1.09 ms /
52.81 ms
∇ -97.94%
918.40 Hz /
18.94 Hz
Δ 4750.28%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2)1.02 ms /
52.60 ms
∇ -98.06%
978.06 Hz /
19.01 Hz
Δ 5044.55%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2)909.15 us /
52.83 ms
∇ -98.28%
1.10 KHz /
18.93 Hz
Δ 5710.42%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2)970.51 us /
52.72 ms
∇ -98.16%
1.03 KHz /
18.97 Hz
Δ 5332.22%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,minFilter)1.97 ms /
38.09 ms
∇ -94.83%
507.74 Hz /
26.25 Hz
Δ 1834.20%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,minFilter)1.96 ms /
38.06 ms
∇ -94.84%
509.63 Hz /
26.28 Hz
Δ 1839.43%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,minFilter)1.86 ms /
38.41 ms
∇ -95.15%
536.55 Hz /
26.03 Hz
Δ 1961.15%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,minFilter)1.32 ms /
38.20 ms
∇ -96.54%
756.64 Hz /
26.18 Hz
Δ 2790.54%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,maxFilter)1.94 ms /
18.76 ms
∇ -89.64%
514.60 Hz /
53.29 Hz
Δ 865.57%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,maxFilter)1.95 ms /
18.78 ms
∇ -89.60%
512.03 Hz /
53.25 Hz
Δ 861.64%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,maxFilter)1.88 ms /
18.98 ms
∇ -90.12%
533.31 Hz /
52.70 Hz
Δ 912.05%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,maxFilter)1.43 ms /
19.81 ms
∇ -92.77%
698.03 Hz /
50.47 Hz
Δ 1283.04%
3DRangeScan: 320x240 Depth->3D (no LUT,w/o SSE2,min/maxFilter)2.05 ms /
14.46 ms
∇ -85.84%
488.53 Hz /
69.17 Hz
Δ 606.30%
3DRangeScan: 320x240 Depth->3D (no LUT,w/SSE2,min/maxFilter)2.04 ms /
14.29 ms
∇ -85.73%
490.40 Hz /
69.98 Hz
Δ 600.75%
3DRangeScan: 320x240 Depth->3D (LUT,w/o SSE2,min/maxFilter)2.06 ms /
14.59 ms
∇ -85.90%
486.06 Hz /
68.53 Hz
Δ 609.26%
3DRangeScan: 320x240 Depth->3D (LUT,w/SSE2,min/maxFilter)1.47 ms /
14.55 ms
∇ -89.92%
681.79 Hz /
68.71 Hz
Δ 892.25%
3DRangeScan: 320x240 Depth->2D scan1.25 ms /
2.14 ms
∇ -41.72%
801.03 Hz /
466.86 Hz
Δ 71.58%
3DRangeScan: 320x240 Depth->2D scan + min_filter3.34 ms /
3.91 ms
∇ -14.67%
299.37 Hz /
255.45 Hz
Δ 17.20%
3DRangeScan: 320x240 Depth->2D scan + max_filter3.35 ms /
3.68 ms
∇ -8.87%
298.08 Hz /
271.65 Hz
Δ 9.73%
3DRangeScan: 320x240 Depth->2D scan + min/max_filters5.16 ms /
6.04 ms
∇ -14.52%
193.80 Hz /
165.66 Hz
Δ 16.99%
CAtan2LUT: 20x20m,1cm cells,build360.93 ms /
102.30 ms
Δ 252.82%
2.77 Hz /
9.78 Hz
∇ -71.66%
CAtan2LUT: 20x20m,1cm cells,query7.31 ns /
7.64 ns
∇ -4.22%
136.72 MHz /
130.96 MHz
Δ 4.40%
CAtan2LUTMultiRes: 22x22m,build292.04 ms /
101.62 ms
Δ 187.38%
3.42 Hz /
9.84 Hz
∇ -65.20%
CAtan2LUTMultiRes: 22x22m,query19.01 ns /
10.59 ns
Δ 79.43%
52.61 MHz /
94.41 MHz
∇ -44.27%
CAtan2LUT: raw ::atan2() call94.61 ns /
22.56 ns
Δ 319.37%
10.57 MHz /
44.33 MHz
∇ -76.15%
Strings: mrpt::format() short str194.60 ns /
548.06 ns
∇ -64.49%
5.14 MHz /
1.82 MHz
Δ 181.63%
Strings: mrpt::format() long str354.10 ns /
15.47 us
∇ -97.71%
2.82 MHz /
64.64 KHz
Δ 4269.09%

 


Page generated automatically at 2018/10/29,14:04:22.983428 with MRPT 1.9.9 by 'mrpt-performance'.