Comparison: 1.2.0dev-CLANG-64bit vs. 1.2.0dev-GCC-64bit




Test description 1.2.0dev-CLANG-64bit /
1.2.0dev-GCC-64bit
Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset953.05 us /
961.56 us
∇ -0.88%
1.05 KHz /
1.04 KHz
Δ 0.89%
icp-slam (match grid): Run with sample dataset1.53 ms /
1.30 ms
Δ 17.46%
653.27 Hz /
767.35 Hz
∇ -14.87%
poses: CPose3D (+) CPose3D14.66 ns /
14.72 ns
∇ -0.41%
68.21 MHz /
67.93 MHz
Δ 0.41%
poses: CPose3D.composeFrom()9.48 ns /
11.55 ns
∇ -17.92%
105.49 MHz /
86.58 MHz
Δ 21.84%
poses: CPose3D (+) CPoint3D3.41 ns /
4.33 ns
∇ -21.12%
292.91 MHz /
231.05 MHz
Δ 26.77%
poses: CPose3D.composePoint()5.68 ns /
5.61 ns
Δ 1.28%
176.12 MHz /
178.38 MHz
∇ -1.27%
poses: CPose3D.composePoint()+Jacobs106.09 ns /
107.66 ns
∇ -1.46%
9.43 MHz /
9.29 MHz
Δ 1.48%
poses: CPoint3D (-) CPose3D5.38 ns /
7.38 ns
∇ -27.12%
185.87 MHz /
135.46 MHz
Δ 37.21%
poses: CPose3D.inverseComposePoint()8.01 ns /
13.91 ns
∇ -42.45%
124.91 MHz /
71.88 MHz
Δ 73.77%
poses: CPose2D (+) CPose2D11.91 ns /
15.08 ns
∇ -21.00%
83.96 MHz /
66.33 MHz
Δ 26.58%
poses: CPose2D.composeFrom()9.81 ns /
10.29 ns
∇ -4.72%
101.98 MHz /
97.16 MHz
Δ 4.96%
poses: CPose2D (+) CPoint2D3.94 ns /
3.12 ns
Δ 26.07%
254.07 MHz /
320.31 MHz
∇ -20.68%
poses: CPose2D.composePoint()3.62 ns /
3.15 ns
Δ 14.91%
276.09 MHz /
317.26 MHz
∇ -12.98%
poses: CPose3DQuat (+) CPose3DQuat19.07 ns /
20.40 ns
∇ -6.52%
52.44 MHz /
49.02 MHz
Δ 6.97%
poses: CPose3DQuat.composeFrom()18.03 ns /
19.77 ns
∇ -8.80%
55.46 MHz /
50.58 MHz
Δ 9.65%
poses: CPose3DQuat (+) CPoint3D11.62 ns /
9.27 ns
Δ 25.37%
86.04 MHz /
107.87 MHz
∇ -20.24%
poses: CPose3DQuat.composePoint()9.39 ns /
8.73 ns
Δ 7.51%
106.52 MHz /
114.52 MHz
∇ -6.99%
poses: CPoint3D (-) CPose3DQuat 13.70 ns /
16.98 ns
∇ -19.34%
73.01 MHz /
58.89 MHz
Δ 23.98%
poses: CPose3DQuat.invcomposePoint()8.28 ns /
8.98 ns
∇ -7.84%
120.83 MHz /
111.36 MHz
Δ 8.51%
poses: Conv CPose3DQuat <- CPose3D7.87 ns /
9.17 ns
∇ -14.21%
127.06 MHz /
109.00 MHz
Δ 16.57%
poses: Conv CPose3D -> CPose3DQuat73.28 ns /
83.90 ns
∇ -12.66%
13.65 MHz /
11.92 MHz
Δ 14.49%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)61.47 us /
61.69 us
∇ -0.35%
16.27 KHz /
16.21 KHz
Δ 0.35%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)60.94 us /
60.97 us
∇ -0.04%
16.41 KHz /
16.40 KHz
Δ 0.04%
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)5.42 us /
5.42 us
Δ 0.02%
184.33 KHz /
184.37 KHz
∇ -0.02%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)362.00 ns /
317.90 ns
Δ 13.87%
2.76 MHz /
3.15 MHz
∇ -12.18%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)348.80 ns /
305.40 ns
Δ 14.21%
2.87 MHz /
3.27 MHz
∇ -12.44%
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)6.19 us /
4.81 us
Δ 28.86%
161.50 KHz /
208.11 KHz
∇ -22.40%
matrix: unit, dyn[float], 3x327.75 ns /
27.00 ns
Δ 2.78%
36.04 MHz /
37.04 MHz
∇ -2.71%
matrix: unit, dyn[double], 3x330.77 ns /
30.23 ns
Δ 1.80%
32.50 MHz /
33.09 MHz
∇ -1.77%
matrix: unit, dyn[float], 6x640.79 ns /
46.22 ns
∇ -11.74%
24.51 MHz /
21.64 MHz
Δ 13.30%
matrix: unit, dyn[double], 6x642.16 ns /
48.71 ns
∇ -13.45%
23.72 MHz /
20.53 MHz
Δ 15.54%
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]0.00 ns /
0.03 ns
∇ -100.00%
inf THz /
31.25 GHz
Δ inf%
matrix: multiply, dyn[float ], 3x3 * 3x3204.80 ns /
175.00 ns
Δ 17.03%
4.88 MHz /
5.71 MHz
∇ -14.55%
matrix: multiply, fix[float ], 3x3 * 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x3 * 3x3187.10 ns /
167.10 ns
Δ 11.97%
5.34 MHz /
5.98 MHz
∇ -10.69%
matrix: multiply, fix[double], 3x3 * 3x30.00 ns /
0.10 ns
∇ -100.00%
inf THz /
10.00 GHz
Δ inf%
matrix: multiply, dyn[float ], 3x6 * 6x3227.10 ns /
204.90 ns
Δ 10.83%
4.40 MHz /
4.88 MHz
∇ -9.78%
matrix: multiply, fix[float ], 3x6 * 6x325.10 ns /
0.00 ns
Δ inf%
39.84 MHz /
inf THz
∇ -nan%
matrix: multiply, dyn[double], 3x6 * 6x3219.80 ns /
192.80 ns
Δ 14.00%
4.55 MHz /
5.19 MHz
∇ -12.28%
matrix: multiply, fix[double], 3x6 * 6x331.10 ns /
0.10 ns
Δ 31000.00%
32.15 MHz /
10.00 GHz
∇ -99.68%
matrix: multiply, dyn[float ], 10x40 * 40x101.43 us /
1.04 us
Δ 36.71%
700.97 KHz /
958.31 KHz
∇ -26.85%
matrix: multiply, fix[float ], 10x40 * 40x101.14 us /
904.60 ns
Δ 25.85%
878.43 KHz /
1.11 MHz
∇ -20.54%
matrix: multiply, dyn[double], 10x40 * 40x101.50 us /
1.24 us
Δ 20.91%
666.44 KHz /
805.80 KHz
∇ -17.29%
matrix: multiply, fix[double], 10x40 * 40x101.23 us /
1.04 us
Δ 18.68%
810.37 KHz /
961.72 KHz
∇ -15.74%
matrix: inv, dyn[double] 3x3492.00 ns /
494.00 ns
∇ -0.40%
2.03 MHz /
2.02 MHz
Δ 0.41%
matrix: inv, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: inv, dyn[double] 6x6914.00 ns /
985.00 ns
∇ -7.21%
1.09 MHz /
1.02 MHz
Δ 7.77%
matrix: inv, fix[double] 6x6591.00 ns /
624.00 ns
∇ -5.29%
1.69 MHz /
1.60 MHz
Δ 5.58%
matrix: inv, dyn[double] 20x206.83 us /
6.35 us
Δ 7.56%
146.46 KHz /
157.53 KHz
∇ -7.03%
matrix: inv, fix[double] 20x206.04 us /
6.11 us
∇ -1.21%
165.70 KHz /
163.69 KHz
Δ 1.23%
matrix: inv, dyn[double] 40x4028.78 us /
27.64 us
Δ 4.10%
34.75 KHz /
36.17 KHz
∇ -3.94%
matrix: inv, fix[double] 40x4028.04 us /
27.08 us
Δ 3.56%
35.66 KHz /
36.93 KHz
∇ -3.44%
matrix: det, dyn[double] 2x2189.00 ns /
201.20 ns
∇ -6.06%
5.29 MHz /
4.97 MHz
Δ 6.46%
matrix: det, fix[double] 2x20.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 3x3223.50 ns /
227.20 ns
∇ -1.63%
4.47 MHz /
4.40 MHz
Δ 1.66%
matrix: det, fix[double] 3x30.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: det, dyn[double] 6x6396.90 ns /
408.40 ns
∇ -2.82%
2.52 MHz /
2.45 MHz
Δ 2.90%
matrix: det, fix[double] 6x6226.90 ns /
237.00 ns
∇ -4.26%
4.41 MHz /
4.22 MHz
Δ 4.45%
matrix: det, dyn[double] 20x203.38 us /
3.43 us
∇ -1.44%
296.16 KHz /
291.90 KHz
Δ 1.46%
matrix: det, fix[double] 20x202.99 us /
2.99 us
∇ -0.02%
334.63 KHz /
334.55 KHz
Δ 0.02%
matrix: det, dyn[double] 40x4012.13 us /
12.23 us
∇ -0.84%
82.46 KHz /
81.76 KHz
Δ 0.85%
matrix: det, fix[double] 40x4011.37 us /
11.78 us
∇ -3.50%
87.98 KHz /
84.91 KHz
Δ 3.62%
matrix: chol, dyn[double] 4x4490.00 ns /
330.00 ns
Δ 48.48%
2.04 MHz /
3.03 MHz
∇ -32.65%
matrix: chol, fix[double] 4x450.00 ns /
60.00 ns
∇ -16.67%
20.00 MHz /
16.67 MHz
Δ 20.00%
matrix: chol, dyn[double] 40x4010.97 us /
9.76 us
Δ 12.40%
91.16 KHz /
102.46 KHz
∇ -11.03%
matrix: chol, fix[double] 40x409.92 us /
8.48 us
Δ 16.98%
100.81 KHz /
117.92 KHz
∇ -14.52%
matrix: chol, sparse [2x2;2x2]7.10 us /
5.80 us
Δ 22.41%
140.85 KHz /
172.41 KHz
∇ -18.31%
matrix: chol, sparse [30x30;10x10]34.80 us /
34.80 us
∇ 0.00%
28.74 KHz /
28.74 KHz
∇ 0.00%
matrix: chol, dyn[double] 10x[6x6]27.30 us /
25.00 us
Δ 9.20%
36.63 KHz /
40.00 KHz
∇ -8.42%
matrix: chol, sparse 10x[6x6]16.08 us /
16.07 us
Δ 0.06%
62.19 KHz /
62.23 KHz
∇ -0.06%
matrix: chol, dyn[double] 20x[6x6]130.20 us /
121.60 us
Δ 7.07%
7.68 KHz /
8.22 KHz
∇ -6.61%
matrix: chol, sparse 20x[6x6]28.60 us /
28.49 us
Δ 0.39%
34.97 KHz /
35.10 KHz
∇ -0.38%
matrix: chol, dyn[double] 50x[6x6]1.36 ms /
1.26 ms
Δ 8.16%
734.81 Hz /
794.79 Hz
∇ -7.55%
matrix: chol, sparse 50x[6x6]74.01 us /
72.25 us
Δ 2.44%
13.51 KHz /
13.84 KHz
∇ -2.38%
matrix: chol, dyn[double] 100x[6x6]13.64 ms /
12.96 ms
Δ 5.23%
73.30 Hz /
77.13 Hz
∇ -4.97%
matrix: chol, sparse 100x[6x6]136.62 us /
138.44 us
∇ -1.31%
7.32 KHz /
7.22 KHz
Δ 1.33%
matrix: chol, dyn[double] 120x[6x6]21.29 ms /
20.15 ms
Δ 5.68%
46.97 Hz /
49.64 Hz
∇ -5.37%
matrix: chol, sparse 120x[6x6]161.99 us /
160.11 us
Δ 1.17%
6.17 KHz /
6.25 KHz
∇ -1.16%
matrix: chol, dyn[double] 140x[6x6]29.42 ms /
28.57 ms
Δ 2.96%
34.00 Hz /
35.00 Hz
∇ -2.88%
matrix: chol, sparse 140x[6x6]188.71 us /
197.59 us
∇ -4.49%
5.30 KHz /
5.06 KHz
Δ 4.71%
matrix: loadFromArray[double] 4x40.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
matrix: load Eigen::Map[double] 4x40.00 ns /
1.00 us
∇ -100.00%
inf THz /
1.00 MHz
Δ inf%
gridmap2D: getCell0.00 ns /
0.00 ns
∇ -nan%
inf THz /
inf THz
∇ -nan%
gridmap2D: setCell0.83 ns /
0.78 ns
Δ 5.39%
1.21 GHz /
1.27 GHz
∇ -5.11%
gridmap2D: updateCell3.99 ns /
2.85 ns
Δ 39.92%
250.69 MHz /
350.75 MHz
∇ -28.53%
gridmap2D: updateCell_fast_occupied0.78 ns /
0.87 ns
∇ -10.03%
1.28 GHz /
1.15 GHz
Δ 11.15%
gridmap2D: insert scan w/o widening61.32 us /
50.95 us
Δ 20.36%
16.31 KHz /
19.63 KHz
∇ -16.91%
gridmap2D: insert scan with widening191.71 us /
155.87 us
Δ 22.99%
5.22 KHz /
6.42 KHz
∇ -18.69%
gridmap2D: resize396.00 us /
413.00 us
∇ -4.12%
2.53 KHz /
2.42 KHz
Δ 4.29%
gridmap2D: computeLikelihood7.40 us /
9.27 us
∇ -20.20%
135.15 KHz /
107.85 KHz
Δ 25.32%
gridmap2D: determineMatching2D28.90 us /
27.15 us
Δ 6.42%
34.60 KHz /
36.83 KHz
∇ -6.04%
pointmap: insert 100 scans294.71 us /
319.43 us
∇ -7.74%
3.39 KHz /
3.13 KHz
Δ 8.39%
pointmap: build 2D kd-tree of 1 scan1.48 us /
1.88 us
∇ -21.28%
675.68 KHz /
531.91 KHz
Δ 27.03%
pointmap: build 2D kd-tree of 100 scan126.16 us /
87.64 us
Δ 43.95%
7.93 KHz /
11.41 KHz
∇ -30.53%
pointmap: build 2D kd-tree of 1000 scan1.45 ms /
1.00 ms
Δ 45.12%
687.49 Hz /
997.69 Hz
∇ -31.09%
pointmap: build 3D kd-tree of 1 scan2.28 us /
1.72 us
Δ 32.56%
438.60 KHz /
581.40 KHz
∇ -24.56%
pointmap: build 3D kd-tree of 100 scan184.16 us /
112.52 us
Δ 63.67%
5.43 KHz /
8.89 KHz
∇ -38.90%
pointmap: build 3D kd-tree of 1000 scan2.11 ms /
1.07 ms
Δ 96.44%
474.37 Hz /
931.86 Hz
∇ -49.09%
pointmap: kd-tree 2d query on 10 scans420.00 ns /
365.00 ns
Δ 15.07%
2.38 MHz /
2.74 MHz
∇ -13.10%
pointmap: kd-tree 2d query on 1000 scans36.53 us /
25.82 us
Δ 41.46%
27.38 KHz /
38.73 KHz
∇ -29.31%
pointmap: kd-tree 2d query on 10000 scans4.16 ms /
2.97 ms
Δ 40.17%
240.19 Hz /
336.68 Hz
∇ -28.66%
pointmap: (insert scan+2D kd-tree query) x 101.35 ms /
979.40 us
Δ 38.08%
739.43 Hz /
1.02 KHz
∇ -27.58%
pointmap: (insert scan+2D kd-tree query) x 5033.52 ms /
24.89 ms
Δ 34.68%
29.83 Hz /
40.18 Hz
∇ -25.75%
pointmap: (insert scan+3D kd-tree query) x 101.87 ms /
1.03 ms
Δ 82.54%
534.27 Hz /
975.28 Hz
∇ -45.22%
pointmap: (insert scan+3D kd-tree query) x 5049.10 ms /
24.95 ms
Δ 96.76%
20.37 Hz /
40.07 Hz
∇ -49.18%
pointmap: computeMatchingWith2D27.29 us /
25.78 us
Δ 5.86%
36.65 KHz /
38.79 KHz
∇ -5.54%
pointmap: boundingBox (10 scans)883.34 ns /
871.82 ns
Δ 1.32%
1.13 MHz /
1.15 MHz
∇ -1.30%
pointmap: boundingBox (1000 scans)85.38 us /
85.77 us
∇ -0.46%
11.71 KHz /
11.66 KHz
Δ 0.46%
random: drawUniform32bit4.58 ns /
3.62 ns
Δ 26.54%
218.31 MHz /
276.26 MHz
∇ -20.98%
random: drawUniform4.68 ns /
3.64 ns
Δ 28.47%
213.67 MHz /
274.50 MHz
∇ -22.16%
random: drawGaussian1D_normalized29.99 ns /
29.73 ns
Δ 0.88%
33.34 MHz /
33.64 MHz
∇ -0.88%
random: drawGaussian1D30.11 ns /
29.95 ns
Δ 0.54%
33.21 MHz /
33.39 MHz
∇ -0.54%
random: system rand()14.99 ns /
15.19 ns
∇ -1.32%
66.70 MHz /
65.81 MHz
Δ 1.34%
random: drawGaussianMultivariate(fixed 3x3)481.40 ns /
490.68 ns
∇ -1.89%
2.08 MHz /
2.04 MHz
Δ 1.93%
random: drawGaussianMultivariate(dyn 3x3)1.08 us /
1.03 us
Δ 4.92%
922.02 KHz /
967.37 KHz
∇ -4.69%
random: drawGaussianMultivariateMany(fixed 2x2, 1000)64.40 ns /
62.45 ns
Δ 3.12%
15.53 MHz /
16.01 MHz
∇ -3.03%
random: drawGaussianMultivariateMany(fixed 3x3, 1000)103.37 ns /
101.17 ns
Δ 2.18%
9.67 MHz /
9.88 MHz
∇ -2.13%
random: drawGaussianMultivariateMany(fixed 6x6, 1000)224.22 ns /
222.19 ns
Δ 0.91%
4.46 MHz /
4.50 MHz
∇ -0.91%
random: drawGaussianMultivariateMany(dyn 2x2, 1000)71.83 ns /
70.81 ns
Δ 1.44%
13.92 MHz /
14.12 MHz
∇ -1.42%
random: drawGaussianMultivariateMany(dyn 3x3, 1000)112.25 ns /
111.18 ns
Δ 0.96%
8.91 MHz /
8.99 MHz
∇ -0.95%
random: drawGaussianMultivariateMany(dyn 6x6, 1000)237.59 ns /
233.52 ns
Δ 1.74%
4.21 MHz /
4.28 MHz
∇ -1.71%
random: permuteVector (len=10)154.00 ns /
163.30 ns
∇ -5.70%
6.49 MHz /
6.12 MHz
Δ 6.04%
random: permuteVector (len=100)1.92 us /
1.89 us
Δ 1.52%
520.48 KHz /
528.40 KHz
∇ -1.50%
random: permuteVector (len=1000)19.13 us /
18.92 us
Δ 1.15%
52.26 KHz /
52.86 KHz
∇ -1.13%
math: round0.00 ns /
0.03 ns
∇ -100.00%
inf THz /
31.11 GHz
Δ inf%
images: Save as JPEG (640x480, quality=95%)6.59 ms /
5.54 ms
Δ 18.93%
151.65 Hz /
180.35 Hz
∇ -15.92%
images: Save as JPEG (800x600, quality=95%)8.07 ms /
8.03 ms
Δ 0.52%
123.88 Hz /
124.52 Hz
∇ -0.51%
images: Save as JPEG (1024x768, quality=95%)14.45 ms /
13.11 ms
Δ 10.19%
69.22 Hz /
76.28 Hz
∇ -9.25%
images: Save as JPEG (640x480, quality=75%)4.60 ms /
5.36 ms
∇ -14.21%
217.47 Hz /
186.57 Hz
Δ 16.56%
images: Save as JPEG (800x600, quality=75%)8.61 ms /
6.93 ms
Δ 24.19%
116.17 Hz /
144.28 Hz
∇ -19.48%
images: Save as JPEG (1024x768, quality=75%)11.21 ms /
11.04 ms
Δ 1.55%
89.23 Hz /
90.61 Hz
∇ -1.53%
images: Gauss filter (640x480)1.81 ms /
2.64 ms
∇ -31.41%
552.64 Hz /
379.03 Hz
Δ 45.80%
images: Gauss filter (800x600)2.88 ms /
2.98 ms
∇ -3.17%
347.12 Hz /
336.12 Hz
Δ 3.27%
images: Gauss filter (1024x768)4.98 ms /
5.01 ms
∇ -0.61%
200.97 Hz /
199.74 Hz
Δ 0.61%
images: Half sample GRAY (160x120)546.67 ns /
496.67 ns
Δ 10.07%
1.83 MHz /
2.01 MHz
∇ -9.15%
images: Half sample GRAY (320x240)1.76 us /
1.59 us
Δ 11.13%
567.11 KHz /
630.25 KHz
∇ -10.02%
images: Half sample GRAY (640x480)8.98 us /
7.23 us
Δ 24.16%
111.40 KHz /
138.31 KHz
∇ -19.46%
images: Half sample GRAY (800x600)15.50 us /
12.20 us
Δ 27.11%
64.50 KHz /
81.99 KHz
∇ -21.33%
images: Half sample GRAY (1024x768)28.39 us /
20.54 us
Δ 38.20%
35.23 KHz /
48.69 KHz
∇ -27.64%
images: Half sample GRAY (1280x1024)40.99 us /
33.65 us
Δ 21.81%
24.40 KHz /
29.72 KHz
∇ -17.91%
images: Half sample RGB (160x120)1.32 us /
1.29 us
Δ 2.33%
759.49 KHz /
777.20 KHz
∇ -2.28%
images: Half sample RGB (320x240)5.06 us /
5.17 us
∇ -2.06%
197.63 KHz /
193.55 KHz
Δ 2.11%
images: Half sample RGB (640x480)23.85 us /
24.58 us
∇ -2.97%
41.93 KHz /
40.69 KHz
Δ 3.06%
images: Half sample RGB (800x600)42.04 us /
39.59 us
Δ 6.20%
23.78 KHz /
25.26 KHz
∇ -5.84%
images: Half sample RGB (1024x768)62.77 us /
66.37 us
∇ -5.43%
15.93 KHz /
15.07 KHz
Δ 5.75%
images: Half sample RGB (1280x1024)122.93 us /
123.95 us
∇ -0.82%
8.13 KHz /
8.07 KHz
Δ 0.82%
images: Half sample smooth GRAY (160x120)813.33 ns /
820.00 ns
∇ -0.81%
1.23 MHz /
1.22 MHz
Δ 0.82%
images: Half sample smooth GRAY (320x240)2.76 us /
2.81 us
∇ -1.78%
362.32 KHz /
355.87 KHz
Δ 1.81%
images: Half sample smooth GRAY (640x480)14.05 us /
16.41 us
∇ -14.34%
71.16 KHz /
60.95 KHz
Δ 16.75%
images: Half sample smooth GRAY (800x600)19.76 us /
21.92 us
∇ -9.84%
50.61 KHz /
45.63 KHz
Δ 10.91%
images: Half sample smooth GRAY (1024x768)34.71 us /
34.31 us
Δ 1.19%
28.81 KHz /
29.15 KHz
∇ -1.17%
images: Half sample smooth GRAY (1280x1024)58.39 us /
60.52 us
∇ -3.51%
17.13 KHz /
16.52 KHz
Δ 3.64%
images: Half sample smooth RGB (160x120)19.31 us /
49.89 us
∇ -61.30%
51.80 KHz /
20.04 KHz
Δ 158.43%
images: Half sample smooth RGB (320x240)77.18 us /
49.84 us
Δ 54.87%
12.96 KHz /
20.07 KHz
∇ -35.43%
images: Half sample smooth RGB (640x480)293.36 us /
195.38 us
Δ 50.15%
3.41 KHz /
5.12 KHz
∇ -33.40%
images: Half sample smooth RGB (800x600)453.46 us /
294.64 us
Δ 53.90%
2.21 KHz /
3.39 KHz
∇ -35.02%
images: Half sample smooth RGB (1024x768)750.24 us /
484.11 us
Δ 54.97%
1.33 KHz /
2.07 KHz
∇ -35.47%
images: Half sample smooth RGB (1280x1024)1.26 ms /
828.65 us
Δ 51.92%
794.35 Hz /
1.21 KHz
∇ -34.18%
images: RGB->GRAY 8u (40x30)2.03 us /
65.72 us
∇ -96.92%
493.42 KHz /
15.22 KHz
Δ 3142.60%
images: RGB->GRAY 8u (80x60)1.50 us /
1.32 us
Δ 13.60%
665.19 KHz /
755.67 KHz
∇ -11.97%
images: RGB->GRAY 8u (160x120)5.50 us /
4.65 us
Δ 18.19%
181.82 KHz /
214.90 KHz
∇ -15.39%
images: RGB->GRAY 8u (320x240)23.58 us /
19.20 us
Δ 22.79%
42.41 KHz /
52.07 KHz
∇ -18.56%
images: RGB->GRAY 8u (640x480)93.26 us /
77.66 us
Δ 20.09%
10.72 KHz /
12.88 KHz
∇ -16.73%
images: RGB->GRAY 8u (800x600)151.18 us /
120.69 us
Δ 25.26%
6.61 KHz /
8.29 KHz
∇ -20.17%
images: RGB->GRAY 8u (1024x768)239.21 us /
194.51 us
Δ 22.98%
4.18 KHz /
5.14 KHz
∇ -18.69%
images: RGB->GRAY 8u (1280x1024)437.17 us /
357.09 us
Δ 22.43%
2.29 KHz /
2.80 KHz
∇ -18.32%
images: KLT score (WIN=2 5x5)27.18 ns /
27.48 ns
∇ -1.12%
36.80 MHz /
36.38 MHz
Δ 1.13%
images: KLT score (WIN=3 7x7)30.58 ns /
34.76 ns
∇ -12.01%
32.70 MHz /
28.77 MHz
Δ 13.66%
images: KLT score (WIN=4 9x9)34.95 ns /
36.30 ns
∇ -3.72%
28.61 MHz /
27.55 MHz
Δ 3.86%
images: KLT score (WIN=5 10x10)36.95 ns /
43.37 ns
∇ -14.81%
27.06 MHz /
23.06 MHz
Δ 17.38%
images: KLT score (WIN=6 13x13)40.48 ns /
47.96 ns
∇ -15.59%
24.70 MHz /
20.85 MHz
Δ 18.47%
images: KLT score (WIN=7 15x15)44.47 ns /
48.23 ns
∇ -7.81%
22.49 MHz /
20.73 MHz
Δ 8.47%
images: KLT score (WIN=8 17x17)47.54 ns /
60.00 ns
∇ -20.77%
21.03 MHz /
16.67 MHz
Δ 26.21%
images: KLT score (WIN=9 19x19)51.02 ns /
62.56 ns
∇ -18.44%
19.60 MHz /
15.98 MHz
Δ 22.61%
images: KLT score (WIN=10 21x21)54.47 ns /
67.38 ns
∇ -19.15%
18.36 MHz /
14.84 MHz
Δ 23.69%
images: KLT score (WIN=11 23x23)57.70 ns /
61.61 ns
∇ -6.33%
17.33 MHz /
16.23 MHz
Δ 6.76%
images: KLT score (WIN=12 25x25)61.07 ns /
76.06 ns
∇ -19.70%
16.37 MHz /
13.15 MHz
Δ 24.54%
images: KLT score (WIN=13 27x27)65.06 ns /
82.17 ns
∇ -20.81%
15.37 MHz /
12.17 MHz
Δ 26.28%
images: KLT score (WIN=14 29x29)68.24 ns /
74.11 ns
∇ -7.92%
14.65 MHz /
13.49 MHz
Δ 8.60%
images: KLT score (WIN=15 31x31)70.93 ns /
78.43 ns
∇ -9.56%
14.10 MHz /
12.75 MHz
Δ 10.58%
images: KLT score (WIN=16 33x33)77.24 ns /
103.64 ns
∇ -25.47%
12.95 MHz /
9.65 MHz
Δ 34.18%
images: buildPyramid 640x480,4 levs,no smooth,no gray85.93 us /
86.49 us
∇ -0.64%
11.64 KHz /
11.56 KHz
Δ 0.65%
images: buildPyramid 640x480,4 levs, smooth,no gray440.81 us /
306.83 us
Δ 43.66%
2.27 KHz /
3.26 KHz
∇ -30.39%
images: buildPyramid 640x480,4 levs,no smooth, gray103.93 us /
87.56 us
Δ 18.69%
9.62 KHz /
11.42 KHz
∇ -15.75%
images: buildPyramid 640x480,4 levs, smooth, gray108.55 us /
94.34 us
Δ 15.07%
9.21 KHz /
10.60 KHz
∇ -13.09%
images: buildPyramid 640x480,8 levs,no smooth,no gray88.64 us /
90.20 us
∇ -1.73%
11.28 KHz /
11.09 KHz
Δ 1.76%
images: buildPyramid 640x480,8 levs, smooth,no gray447.69 us /
523.57 us
∇ -14.49%
2.23 KHz /
1.91 KHz
Δ 16.95%
images: buildPyramid 640x480,8 levs,no smooth, gray105.95 us /
153.08 us
∇ -30.79%
9.44 KHz /
6.53 KHz
Δ 44.49%
images: buildPyramid 640x480,8 levs, smooth, gray111.40 us /
167.01 us
∇ -33.30%
8.98 KHz /
5.99 KHz
Δ 49.92%
stereo: prepare rectify map 640x480 RGB10.10 ms /
12.54 ms
∇ -19.43%
98.97 Hz /
79.74 Hz
Δ 24.11%
stereo: prepare rectify map 800x600 RGB15.85 ms /
16.25 ms
∇ -2.46%
63.10 Hz /
61.55 Hz
Δ 2.52%
stereo: prepare rectify map 1024x768 RGB26.67 ms /
31.51 ms
∇ -15.34%
37.49 Hz /
31.74 Hz
Δ 18.12%
stereo: prepare rectify map 1024x768->800x600 RGB15.87 ms /
16.06 ms
∇ -1.18%
63.02 Hz /
62.27 Hz
Δ 1.20%
stereo: prepare rectify map 1024x768->640x480 RGB10.12 ms /
10.26 ms
∇ -1.32%
98.81 Hz /
97.51 Hz
Δ 1.34%
stereo: rectify 640x480 RGB4.03 ms /
4.26 ms
∇ -5.18%
247.83 Hz /
234.99 Hz
Δ 5.47%
stereo: rectify 800x600 RGB6.59 ms /
6.56 ms
Δ 0.44%
151.82 Hz /
152.48 Hz
∇ -0.44%
stereo: rectify 1024x768 RGB10.39 ms /
10.68 ms
∇ -2.71%
96.24 Hz /
93.62 Hz
Δ 2.79%
stereo: rectify 1024x768->800x600 RGB6.09 ms /
6.32 ms
∇ -3.59%
164.21 Hz /
158.32 Hz
Δ 3.72%
stereo: rectify 1024x768->640x480 RGB4.01 ms /
3.86 ms
Δ 3.66%
249.65 Hz /
258.79 Hz
∇ -3.53%
stereo: rectify 640x480 GRAY2.71 ms /
2.86 ms
∇ -5.03%
368.60 Hz /
350.07 Hz
Δ 5.29%
stereo: rectify 800x600 GRAY4.36 ms /
4.39 ms
∇ -0.66%
229.16 Hz /
227.65 Hz
Δ 0.66%
stereo: rectify 1024x768 GRAY7.36 ms /
7.59 ms
∇ -3.12%
135.96 Hz /
131.72 Hz
Δ 3.22%
stereo: rectify 1024x768->800x600 GRAY4.18 ms /
4.40 ms
∇ -4.90%
239.18 Hz /
227.47 Hz
Δ 5.15%
stereo: rectify 1024x768->640x480 GRAY2.79 ms /
2.70 ms
Δ 3.14%
358.62 Hz /
369.87 Hz
∇ -3.04%
scan_matching: 6D LS Rigid Trans. [CPose3D]4.11 us /
4.82 us
∇ -14.75%
243.50 KHz /
207.60 KHz
Δ 17.30%
scan_matching: 6D LS Rigid Trans. [CPose3DQuat]4.06 us /
4.74 us
∇ -14.33%
246.17 KHz /
210.89 KHz
Δ 16.73%
scan_matching: 6D LS Rigid Trans. [vector of points]1.93 us /
2.22 us
∇ -13.01%
517.20 KHz /
449.90 KHz
Δ 14.96%
scan_matching: leastSquares 2D [x10 corrs]82.66 ns /
88.57 ns
∇ -6.67%
12.10 MHz /
11.29 MHz
Δ 7.15%
scan_matching: leastSquares 2D [x100 corrs]162.18 ns /
188.44 ns
∇ -13.93%
6.17 MHz /
5.31 MHz
Δ 16.19%
scan_matching: leastSquares 2D [x1000 corrs]1.15 us /
1.26 us
∇ -8.42%
867.33 KHz /
794.31 KHz
Δ 9.19%
feature_extraction [640x480]: Harris8.27 ms /
10.97 ms
∇ -24.60%
120.85 Hz /
91.13 Hz
Δ 32.62%
feature_extraction [640x480]: KLT8.43 ms /
10.06 ms
∇ -16.22%
118.63 Hz /
99.39 Hz
Δ 19.36%
feature_extraction [640x480]: SIFT291.31 ms /
377.71 ms
∇ -22.88%
3.43 Hz /
2.65 Hz
Δ 29.66%
feature_extraction [640x480]: SIFT desc.89.69 ms /
135.82 ms
∇ -33.97%
11.15 Hz /
7.36 Hz
Δ 51.44%
feature_extraction [640x480]: SURF137.14 ms /
228.69 ms
∇ -40.03%
7.29 Hz /
4.37 Hz
Δ 66.76%
feature_extraction [640x480]: FAST1.54 ms /
2.58 ms
∇ -40.40%
649.50 Hz /
387.11 Hz
Δ 67.78%
feature_extraction [640x480]: Spin desc.29.70 ms /
42.20 ms
∇ -29.62%
33.67 Hz /
23.70 Hz
Δ 42.10%
feature_extraction [640x480]: FASTER-92.07 ms /
3.27 ms
∇ -36.61%
482.75 Hz /
306.01 Hz
Δ 57.76%
feature_extraction [640x480]: FASTER-9 (sorted best 200)1.13 ms /
1.77 ms
∇ -35.88%
883.50 Hz /
566.48 Hz
Δ 55.96%
feature_extraction [640x480]: FASTER-101.52 ms /
2.35 ms
∇ -35.31%
658.26 Hz /
425.82 Hz
Δ 54.59%
feature_extraction [640x480]: FASTER-10 (sorted best 200)876.06 us /
1.30 ms
∇ -32.84%
1.14 KHz /
766.67 Hz
Δ 48.89%
feature_extraction [640x480]: FASTER-121.15 ms /
1.73 ms
∇ -33.70%
872.61 Hz /
578.55 Hz
Δ 50.83%
feature_extraction [640x480]: FASTER-12 (sorted best 200)807.96 us /
1.21 ms
∇ -33.47%
1.24 KHz /
823.38 Hz
Δ 50.32%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()416.11 us /
700.83 us
∇ -40.63%
2.40 KHz /
1.43 KHz
Δ 68.43%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()344.61 us /
508.65 us
∇ -32.25%
2.90 KHz /
1.97 KHz
Δ 47.60%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()394.78 us /
581.27 us
∇ -32.08%
2.53 KHz /
1.72 KHz
Δ 47.24%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER9()+row-index416.46 us /
703.07 us
∇ -40.77%
2.40 KHz /
1.42 KHz
Δ 68.82%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER10()+row-index345.72 us /
508.56 us
∇ -32.02%
2.89 KHz /
1.97 KHz
Δ 47.10%
feature_extraction [640x480]: detectFeatures_SSE2_FASTER12()+row-index395.25 us /
580.21 us
∇ -31.88%
2.53 KHz /
1.72 KHz
Δ 46.80%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()543.02 us /
901.12 us
∇ -39.74%
1.84 KHz /
1.11 KHz
Δ 65.95%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()449.81 us /
647.38 us
∇ -30.52%
2.22 KHz /
1.54 KHz
Δ 43.92%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()449.00 us /
674.80 us
∇ -33.46%
2.23 KHz /
1.48 KHz
Δ 50.29%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER9()+row-index543.65 us /
901.50 us
∇ -39.69%
1.84 KHz /
1.11 KHz
Δ 65.82%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER10()+row-index450.51 us /
655.05 us
∇ -31.23%
2.22 KHz /
1.53 KHz
Δ 45.40%
feature_extraction [800x600]: detectFeatures_SSE2_FASTER12()+row-index452.08 us /
675.64 us
∇ -33.09%
2.21 KHz /
1.48 KHz
Δ 49.45%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()722.86 us /
1.19 ms
∇ -39.17%
1.38 KHz /
841.48 Hz
Δ 64.40%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()605.96 us /
867.29 us
∇ -30.13%
1.65 KHz /
1.15 KHz
Δ 43.13%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()508.05 us /
761.35 us
∇ -33.27%
1.97 KHz /
1.31 KHz
Δ 49.86%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER9()+row-index722.25 us /
1.19 ms
∇ -39.29%
1.38 KHz /
840.52 Hz
Δ 64.73%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER10()+row-index606.39 us /
878.28 us
∇ -30.96%
1.65 KHz /
1.14 KHz
Δ 44.84%
feature_extraction [1024x768]: detectFeatures_SSE2_FASTER12()+row-index509.80 us /
749.89 us
∇ -32.02%
1.96 KHz /
1.33 KHz
Δ 47.09%
feature_matching [640x480]: Harris + CC17.44 ms /
29.43 ms
∇ -40.74%
57.34 Hz /
33.98 Hz
Δ 68.74%
feature_matching [640x480]: Harris + SAD14.99 ms /
23.92 ms
∇ -37.35%
66.71 Hz /
41.80 Hz
Δ 59.61%
feature_matching [640x480]: SIFT572.61 ms /
922.45 ms
∇ -37.93%
1.75 Hz /
1.08 Hz
Δ 61.10%
feature_matching [640x480]: SURF267.31 ms /
443.16 ms
∇ -39.68%
3.74 Hz /
2.26 Hz
Δ 65.79%
feature_matching [640x480]: FAST + CC5.76 ms /
9.88 ms
∇ -41.70%
173.69 Hz /
101.26 Hz
Δ 71.53%
feature_matching [640x480]: FAST + SAD2.54 ms /
4.10 ms
∇ -38.12%
394.44 Hz /
244.08 Hz
Δ 61.60%
graph(2d): insertEdge x 1e382.70 us /
125.22 us
∇ -33.95%
12.09 KHz /
7.99 KHz
Δ 51.41%
graph(2d,vec): insertEdge x 1e381.92 us /
126.83 us
∇ -35.41%
12.21 KHz /
7.88 KHz
Δ 54.82%
graph(2d): insertEdgeAtEnd x 1e366.32 us /
107.97 us
∇ -38.58%
15.08 KHz /
9.26 KHz
Δ 62.80%
graph(2d,vec): insertEdgeAtEnd x 1e368.52 us /
106.37 us
∇ -35.58%
14.59 KHz /
9.40 KHz
Δ 55.23%
graph(2d pdf): insertEdge x 1e3124.25 us /
195.94 us
∇ -36.58%
8.05 KHz /
5.10 KHz
Δ 57.69%
graph(2d pdf,vec): insertEdge x 1e3119.97 us /
194.57 us
∇ -38.34%
8.34 KHz /
5.14 KHz
Δ 62.18%
graph(2d pdf): insertEdgeAtEnd x 1e3109.84 us /
179.20 us
∇ -38.70%
9.10 KHz /
5.58 KHz
Δ 63.14%
graph(2d pdf,vec): insertEdgeAtEnd x 1e3107.46 us /
174.64 us
∇ -38.47%
9.31 KHz /
5.73 KHz
Δ 62.51%
graph(2d): insertEdge x 1e41.51 ms /
2.16 ms
∇ -30.22%
663.53 Hz /
463.02 Hz
Δ 43.30%
graph(2d,vec): insertEdge x 1e41.29 ms /
1.80 ms
∇ -28.29%
773.84 Hz /
554.93 Hz
Δ 39.45%
graph(2d): insertEdgeAtEnd x 1e4495.52 us /
875.00 us
∇ -43.37%
2.02 KHz /
1.14 KHz
Δ 76.58%
graph(2d,vec): insertEdgeAtEnd x 1e4537.30 us /
863.37 us
∇ -37.77%
1.86 KHz /
1.16 KHz
Δ 60.69%
graph(2d pdf): insertEdge x 1e41.42 ms /
2.16 ms
∇ -34.44%
705.71 Hz /
462.63 Hz
Δ 52.54%
graph(2d pdf,vec): insertEdge x 1e41.69 ms /
2.44 ms
∇ -30.95%
592.77 Hz /
409.29 Hz
Δ 44.83%
graph(2d pdf): insertEdgeAtEnd x 1e41.13 ms /
1.88 ms
∇ -39.86%
885.19 Hz /
532.39 Hz
Δ 66.27%
graph(2d pdf,vec): insertEdgeAtEnd x 1e41.08 ms /
1.87 ms
∇ -42.10%
925.23 Hz /
535.69 Hz
Δ 72.72%
graph(3d): insertEdge x 1e3112.54 us /
169.52 us
∇ -33.62%
8.89 KHz /
5.90 KHz
Δ 50.64%
graph(3d,vec): insertEdge x 1e3108.27 us /
162.80 us
∇ -33.50%
9.24 KHz /
6.14 KHz
Δ 50.37%
graph(3d): insertEdgeAtEnd x 1e394.89 us /
141.73 us
∇ -33.05%
10.54 KHz /
7.06 KHz
Δ 49.37%
graph(3d,vec): insertEdgeAtEnd x 1e392.33 us /
151.60 us
∇ -39.10%
10.83 KHz /
6.60 KHz
Δ 64.20%
graph(3d pdf): insertEdge x 1e3300.49 us /
479.91 us
∇ -37.39%
3.33 KHz /
2.08 KHz
Δ 59.71%
graph(3d pdf,vec): insertEdge x 1e3307.50 us /
483.38 us
∇ -36.39%
3.25 KHz /
2.07 KHz
Δ 57.20%
graph(3d pdf): insertEdgeAtEnd x 1e3255.67 us /
417.25 us
∇ -38.73%
3.91 KHz /
2.40 KHz
Δ 63.20%
graph(3d pdf,vec): insertEdgeAtEnd x 1e3257.69 us /
411.56 us
∇ -37.39%
3.88 KHz /
2.43 KHz
Δ 59.71%
graph(3d): insertEdge x 1e41.68 ms /
2.42 ms
∇ -30.72%
595.38 Hz /
412.48 Hz
Δ 44.34%
graph(3d,vec): insertEdge x 1e41.67 ms /
2.41 ms
∇ -30.73%
599.32 Hz /
415.13 Hz
Δ 44.37%
graph(3d): insertEdgeAtEnd x 1e4968.30 us /
1.61 ms
∇ -39.89%
1.03 KHz /
620.76 Hz
Δ 66.37%
graph(3d,vec): insertEdgeAtEnd x 1e4960.68 us /
1.62 ms
∇ -40.63%
1.04 KHz /
617.97 Hz
Δ 68.44%
graph(3d pdf): insertEdge x 1e44.00 ms /
6.01 ms
∇ -33.44%
249.98 Hz /
166.38 Hz
Δ 50.24%
graph(3d pdf,vec): insertEdge x 1e43.90 ms /
6.08 ms
∇ -35.86%
256.23 Hz /
164.34 Hz
Δ 55.91%
graph(3d pdf): insertEdgeAtEnd x 1e42.60 ms /
4.27 ms
∇ -39.22%
385.13 Hz /
234.10 Hz
Δ 64.51%
graph(3d pdf,vec): insertEdgeAtEnd x 1e42.56 ms /
4.23 ms
∇ -39.46%
390.59 Hz /
236.47 Hz
Δ 65.17%
graph(3d): dijkstra 1e2 nodes54.14 us /
86.56 us
∇ -37.46%
18.47 KHz /
11.55 KHz
Δ 59.89%
graph(3d,vec): dijkstra 1e2 nodes53.02 us /
86.37 us
∇ -38.62%
18.86 KHz /
11.58 KHz
Δ 62.92%
graph(3d): dijkstra 1e3 nodes725.54 us /
1.10 ms
∇ -33.85%
1.38 KHz /
911.70 Hz
Δ 51.18%
graph(3d,vec): dijkstra 1e3 nodes722.80 us /
1.09 ms
∇ -33.55%
1.38 KHz /
919.38 Hz
Δ 50.48%
graph(3d): dijkstra 1e4 nodes9.57 ms /
13.82 ms
∇ -30.76%
104.52 Hz /
72.37 Hz
Δ 44.42%
graph(3d,vec): dijkstra 1e4 nodes9.52 ms /
13.82 ms
∇ -31.08%
105.03 Hz /
72.38 Hz
Δ 45.11%
graph(3d): dijkstra 1e5 nodes184.61 ms /
259.36 ms
∇ -28.82%
5.42 Hz /
3.86 Hz
Δ 40.49%
graph(3d,vec): dijkstra 1e5 nodes182.47 ms /
260.84 ms
∇ -30.04%
5.48 Hz /
3.83 Hz
Δ 42.95%
graph(2d): dijkstra 1e5 nodes181.04 ms /
262.66 ms
∇ -31.08%
5.52 Hz /
3.81 Hz
Δ 45.09%
graph(2d,vec): dijkstra 1e5 nodes182.75 ms /
264.08 ms
∇ -30.80%
5.47 Hz /
3.79 Hz
Δ 44.50%

 


Page generated automatically at 2014/05/07,08:51:16.739047 with MRPT 1.2.0 by 'mrpt-performance'.