I actually came to this question looking for an answer myself, and after reading the given answers I can only agree that the best way to compare DB queries performance is to get real-world numbers because there are just to many variables to be taken into account BUT, I also think that comparing the numbers between them leads to no good in almost all cases. What I mean is that the numbers should always be compared with an acceptable number and definitely not compared with each other.
I can understand if one way of querying takes say 0.02 seconds and the other one takes 20 seconds, that's an enormous difference. But what if one way of querying takes 0.0000000002 seconds, and the other one takes 0.0000002 seconds ? In both cases one way is a whopping 1000 times faster than the other one, but how "whopping" is it really in the second case ?
Bottom line as I personally see it: if it performs well, go for the easy solution. As long as you have a team manager, your code will get trolled anyways :)