Test description | 0.9.1-GCC-64bit / 0.9.1-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 31.78 ms | ∇ -32.04% | 46.30 Hz / 31.46 Hz | Δ 47.15% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 53.70 ms | ∇ -61.81% | 48.75 Hz / 18.62 Hz | Δ 161.81% |
poses: CPose3D (+) CPose3D | 449.02 ns / 925.38 ns | ∇ -51.48% | 2.23 MHz / 1.08 MHz | Δ 106.09% |
poses: CPose3D.composeFrom() | 233.83 ns / 617.00 ns | ∇ -62.10% | 4.28 MHz / 1.62 MHz | Δ 163.87% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 35.98 ns | ∇ -70.35% | 93.76 MHz / 27.80 MHz | Δ 237.30% |
poses: CPose3D.composePoint() | 10.06 ns / 14.62 ns | ∇ -31.16% | 99.38 MHz / 68.42 MHz | Δ 45.26% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 75.43 ns | ∇ -50.01% | 26.52 MHz / 13.26 MHz | Δ 100.03% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 56.48 ns | ∇ -27.45% | 24.40 MHz / 17.70 MHz | Δ 37.84% |
poses: CPose2D (+) CPose2D | 78.17 ns / 121.60 ns | ∇ -35.71% | 12.79 MHz / 8.22 MHz | Δ 55.56% |
poses: CPose2D.composeFrom() | 62.17 ns / 66.63 ns | ∇ -6.69% | 16.08 MHz / 15.01 MHz | Δ 7.17% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 93.73 ns | ∇ -31.87% | 15.66 MHz / 10.67 MHz | Δ 46.77% |
poses: CPose2D.composePoint() | 61.98 ns / 62.24 ns | ∇ -0.42% | 16.13 MHz / 16.07 MHz | Δ 0.42% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 100.74 ns | ∇ -53.34% | 21.28 MHz / 9.93 MHz | Δ 114.34% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 57.92 ns | ∇ -31.29% | 25.13 MHz / 17.26 MHz | Δ 45.54% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 61.33 ns | ∇ -63.12% | 44.21 MHz / 16.31 MHz | Δ 171.13% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 27.34 ns | ∇ -30.77% | 52.83 MHz / 36.57 MHz | Δ 44.45% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 580.67 ns | ∇ -32.62% | 2.56 MHz / 1.72 MHz | Δ 48.41% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 28.18 ns | ∇ -35.94% | 55.39 MHz / 35.48 MHz | Δ 56.10% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 506.67 ns | ∇ -29.93% | 2.82 MHz / 1.97 MHz | Δ 42.72% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 214.86 ns | ∇ -19.39% | 5.77 MHz / 4.65 MHz | Δ 24.05% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 1.56 us | Δ 52285.30% | 1.23 KHz / 642.96 KHz | ∇ -99.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 1.51 us | Δ 54461.03% | 1.22 KHz / 663.83 KHz | ∇ -99.82% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 23.29 us | ∇ -58.90% | 104.48 KHz / 42.94 KHz | Δ 143.31% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 1.64 us | ∇ -58.40% | 1.47 MHz / 609.77 KHz | Δ 140.36% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 1.66 us | ∇ -67.93% | 1.87 MHz / 600.84 KHz | Δ 211.79% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 16.05 us | ∇ -46.94% | 117.45 KHz / 62.32 KHz | Δ 88.45% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 39.66 ns | ∇ -48.07% | 48.56 MHz / 25.22 MHz | Δ 92.58% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 42.75 ns | ∇ -47.12% | 44.24 MHz / 23.39 MHz | Δ 89.11% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 152.29 ns | ∇ -58.02% | 15.64 MHz / 6.57 MHz | Δ 138.23% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 150.45 ns | ∇ -56.65% | 15.33 MHz / 6.65 MHz | Δ 130.70% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.30 ns | ∇ -89.50% | 2.89 GHz / 303.37 MHz | Δ 852.70% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.48 ns | ∇ -65.87% | 842.46 MHz / 287.56 MHz | Δ 192.97% |
matrix: unit, fix[float,6,6] | 1.68 ns / 3.06 ns | ∇ -44.97% | 594.53 MHz / 327.19 MHz | Δ 81.71% |
matrix: unit, fix[double,6,6] | 2.86 ns / 6.65 ns | ∇ -56.95% | 349.53 MHz / 150.48 MHz | Δ 132.27% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 167.81 ns | ∇ -56.20% | 13.61 MHz / 5.96 MHz | Δ 128.31% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 108.61 ns | ∇ -77.81% | 41.49 MHz / 9.21 MHz | Δ 350.66% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 158.88 ns | ∇ -54.62% | 13.87 MHz / 6.29 MHz | Δ 120.37% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 90.86 ns | ∇ -74.13% | 42.55 MHz / 11.01 MHz | Δ 286.62% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 272.47 ns | ∇ -58.56% | 8.86 MHz / 3.67 MHz | Δ 141.34% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 193.12 ns | ∇ -76.70% | 22.22 MHz / 5.18 MHz | Δ 329.16% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 238.91 ns | ∇ -53.75% | 9.05 MHz / 4.19 MHz | Δ 116.21% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 139.05 ns | ∇ -67.56% | 22.17 MHz / 7.19 MHz | Δ 208.30% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 16.80 us | ∇ -65.38% | 171.91 KHz / 59.51 KHz | Δ 188.88% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 13.06 us | ∇ -72.65% | 279.91 KHz / 76.57 KHz | Δ 265.57% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 13.55 us | ∇ -56.57% | 169.93 KHz / 73.81 KHz | Δ 130.24% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 9.96 us | ∇ -61.69% | 262.04 KHz / 100.40 KHz | Δ 161.00% |
matrix: inv, dyn[float ] 3x3 | 449.00 ns / 1.50 us | ∇ -70.10% | 2.23 MHz / 665.84 KHz | Δ 234.49% |
matrix: inv, fix[float ] 3x3 | 33.00 ns / 59.79 ns | ∇ -44.80% | 30.30 MHz / 16.73 MHz | Δ 81.17% |
matrix: inv, dyn[double] 3x3 | 413.00 ns / 1.53 us | ∇ -73.04% | 2.42 MHz / 652.84 KHz | Δ 270.89% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 31.25 ns | ∇ -29.60% | 45.45 MHz / 32.00 MHz | Δ 42.05% |
matrix: inv, dyn[float ] 6x6 | 1.31 us / 5.07 us | ∇ -74.08% | 761.04 KHz / 197.26 KHz | Δ 285.81% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 1.33 us | ∇ -64.93% | 2.14 MHz / 749.46 KHz | Δ 185.11% |
matrix: inv, dyn[double] 6x6 | 1.25 us / 5.08 us | ∇ -75.43% | 800.64 KHz / 196.68 KHz | Δ 307.08% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 926.67 ns | ∇ -37.63% | 1.73 MHz / 1.08 MHz | Δ 60.32% |
matrix: inv, dyn[float ] 20x20 | 28.01 us / 81.86 us | ∇ -65.79% | 35.71 KHz / 12.22 KHz | Δ 192.29% |
matrix: inv, fix[float ] 20x20 | 12.67 us / 40.71 us | ∇ -68.87% | 78.91 KHz / 24.56 KHz | Δ 221.28% |
matrix: inv, dyn[double] 20x20 | 28.58 us / 108.60 us | ∇ -73.68% | 34.98 KHz / 9.21 KHz | Δ 279.92% |
matrix: inv, fix[double] 20x20 | 17.20 us / 19.22 us | ∇ -10.54% | 58.15 KHz / 52.02 KHz | Δ 11.78% |
matrix: inv, dyn[float ] 40x40 | 205.67 us / 609.15 us | ∇ -66.24% | 4.86 KHz / 1.64 KHz | Δ 196.19% |
matrix: inv, fix[float ] 40x40 | 92.66 us / 307.68 us | ∇ -69.88% | 10.79 KHz / 3.25 KHz | Δ 232.04% |
matrix: inv, dyn[double] 40x40 | 200.95 us / 818.27 us | ∇ -75.44% | 4.98 KHz / 1.22 KHz | Δ 307.21% |
matrix: inv, fix[double] 40x40 | 134.50 us / 136.18 us | ∇ -1.23% | 7.43 KHz / 7.34 KHz | Δ 1.25% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 9.15 ns | ∇ -30.05% | 156.25 MHz / 109.30 MHz | Δ 42.95% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 2x2 | 8.80 ns / 9.56 ns | ∇ -7.92% | 113.64 MHz / 104.64 MHz | Δ 8.60% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 3x3 | 10.30 ns / 19.70 ns | ∇ -47.72% | 97.09 MHz / 50.76 MHz | Δ 91.28% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 15.90 ns | ∇ -35.21% | 97.09 MHz / 62.90 MHz | Δ 54.34% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[float ] 6x6 | 931.50 ns / 2.32 us | ∇ -59.82% | 1.07 MHz / 431.38 KHz | Δ 148.86% |
matrix: det, fix[float ] 6x6 | 215.70 ns / 434.76 ns | ∇ -50.39% | 4.64 MHz / 2.30 MHz | Δ 101.56% |
matrix: det, dyn[double] 6x6 | 739.10 ns / 2.38 us | ∇ -68.93% | 1.35 MHz / 420.40 KHz | Δ 221.83% |
matrix: det, fix[double] 6x6 | 219.80 ns / 422.89 ns | ∇ -48.02% | 4.55 MHz / 2.36 MHz | Δ 92.40% |
matrix: det, dyn[float ] 20x20 | 5.64 us / 18.34 us | ∇ -69.24% | 177.30 KHz / 54.54 KHz | Δ 225.12% |
matrix: det, fix[float ] 20x20 | 4.05 us / 9.85 us | ∇ -58.85% | 246.81 KHz / 101.56 KHz | Δ 143.01% |
matrix: det, dyn[double] 20x20 | 6.52 us / 18.19 us | ∇ -64.13% | 153.32 KHz / 54.99 KHz | Δ 178.82% |
matrix: det, fix[double] 20x20 | 4.73 us / 6.52 us | ∇ -27.53% | 211.54 KHz / 153.30 KHz | Δ 37.99% |
matrix: det, dyn[float ] 40x40 | 30.83 us / 111.92 us | ∇ -72.45% | 32.43 KHz / 8.93 KHz | Δ 262.99% |
matrix: det, fix[float ] 40x40 | 25.85 us / 63.43 us | ∇ -59.24% | 38.68 KHz / 15.77 KHz | Δ 145.32% |
matrix: det, dyn[double] 40x40 | 32.40 us / 114.84 us | ∇ -71.79% | 30.87 KHz / 8.71 KHz | Δ 254.50% |
matrix: det, fix[double] 40x40 | 27.53 us / 36.00 us | ∇ -23.54% | 36.33 KHz / 27.78 KHz | Δ 30.79% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 185.70 ns | ∇ -8.45% | 5.88 MHz / 5.39 MHz | Δ 9.23% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 113.23 ns | Δ 14.81% | 7.69 MHz / 8.83 MHz | ∇ -12.90% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 24.43 us | ∇ -23.33% | 53.39 KHz / 40.93 KHz | Δ 30.43% |
matrix: chol, fix[double] 40x40 | 16.74 us / 17.73 us | ∇ -5.59% | 59.74 KHz / 56.40 KHz | Δ 5.92% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 10.78 us | ∇ -21.15% | 117.65 KHz / 92.77 KHz | Δ 26.82% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 117.89 us | ∇ -20.35% | 10.65 KHz / 8.48 KHz | Δ 25.55% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 70.52 us | ∇ -24.98% | 18.90 KHz / 14.18 KHz | Δ 33.31% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 52.59 us | ∇ -23.88% | 24.98 KHz / 19.02 KHz | Δ 31.37% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 491.10 us | ∇ -16.25% | 2.43 KHz / 2.04 KHz | Δ 19.40% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 85.83 us | ∇ -12.64% | 13.34 KHz / 11.65 KHz | Δ 14.47% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 9.44 ms | ∇ -8.87% | 116.18 Hz / 105.88 Hz | Δ 9.73% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 204.52 us | ∇ -9.37% | 5.40 KHz / 4.89 KHz | Δ 10.34% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 150.13 ms | ∇ -9.81% | 7.39 Hz / 6.66 Hz | Δ 10.88% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 415.58 us | ∇ -13.42% | 2.78 KHz / 2.41 KHz | Δ 15.50% |
matrix: chol, dyn[double] 120x[6x6] | 364.31 ms / 461.43 ms | ∇ -21.05% | 2.74 Hz / 2.17 Hz | Δ 26.66% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 484.92 us | ∇ -12.07% | 2.35 KHz / 2.06 KHz | Δ 13.73% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 947.45 ms | ∇ -15.55% | 1.25 Hz / 1.06 Hz | Δ 18.41% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 586.44 us | ∇ -15.15% | 2.01 KHz / 1.71 KHz | Δ 17.85% |
gridmap2D: getCell | 0.00 ns / 5.77 ns | ∇ -100.00% | inf THz / 173.23 MHz | Δ inf% |
gridmap2D: setCell | 2.58 ns / 7.96 ns | ∇ -67.55% | 387.19 MHz / 125.64 MHz | Δ 208.18% |
gridmap2D: updateCell | 7.47 ns / 10.80 ns | ∇ -30.81% | 133.80 MHz / 92.58 MHz | Δ 44.52% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.21 ns | ∇ -54.88% | 1.83 GHz / 826.59 MHz | Δ 121.61% |
gridmap2D: insert scan w/o widening | 104.80 us / 204.23 us | ∇ -48.69% | 9.54 KHz / 4.90 KHz | Δ 94.89% |
gridmap2D: insert scan with widening | 295.32 us / 344.40 us | ∇ -14.25% | 3.39 KHz / 2.90 KHz | Δ 16.62% |
gridmap2D: resize | 1.83 ms / 2.62 ms | ∇ -30.26% | 547.65 Hz / 381.93 Hz | Δ 43.39% |
gridmap2D: computeLikelihood | 16.65 us / 18.59 us | ∇ -10.43% | 60.06 KHz / 53.79 KHz | Δ 11.64% |
pointmap: insert 100 scans | 3.11 ms / 5.62 ms | ∇ -44.58% | 321.23 Hz / 178.02 Hz | Δ 80.45% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.21 us | ∇ -31.12% | 233.64 KHz / 160.93 KHz | Δ 45.19% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 511.81 us | ∇ -30.65% | 2.82 KHz / 1.95 KHz | Δ 44.19% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.59 ms | ∇ -25.99% | 241.67 Hz / 178.86 Hz | Δ 35.11% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 7.23 us | ∇ -40.79% | 233.64 KHz / 138.34 KHz | Δ 68.89% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 523.10 us | ∇ -30.94% | 2.77 KHz / 1.91 KHz | Δ 44.81% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.77 ms | ∇ -29.20% | 244.66 Hz / 173.21 Hz | Δ 41.25% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 2.05 us | ∇ -33.37% | 730.99 KHz / 487.07 KHz | Δ 50.08% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 140.79 us | ∇ -29.71% | 10.10 KHz / 7.10 KHz | Δ 42.26% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 15.17 ms | ∇ -21.20% | 83.64 Hz / 65.91 Hz | Δ 26.90% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 8.69 ms | ∇ -35.57% | 178.50 Hz / 115.01 Hz | Δ 55.20% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 196.44 ms | ∇ -34.05% | 7.72 Hz / 5.09 Hz | Δ 51.63% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 8.73 ms | ∇ -35.20% | 176.84 Hz / 114.60 Hz | Δ 54.31% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 198.48 ms | ∇ -33.28% | 7.55 Hz / 5.04 Hz | Δ 49.88% |
random: drawUniform32bit | 15.70 ns / 7.29 ns | Δ 115.25% | 63.70 MHz / 137.11 MHz | ∇ -53.54% |
random: drawUniform | 15.69 ns / 7.33 ns | Δ 114.21% | 63.72 MHz / 136.49 MHz | ∇ -53.32% |
random: drawGaussian1D_normalized | 70.40 ns / 51.27 ns | Δ 37.30% | 14.20 MHz / 19.50 MHz | ∇ -27.17% |
random: drawGaussian1D | 70.38 ns / 51.74 ns | Δ 36.02% | 14.21 MHz / 19.33 MHz | ∇ -26.48% |
random: system rand() | 11.07 ns / 29.39 ns | ∇ -62.34% | 90.37 MHz / 34.03 MHz | Δ 165.56% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 2.64 us | ∇ -49.67% | 751.96 KHz / 378.48 KHz | Δ 98.68% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 8.53 us | ∇ -64.38% | 328.99 KHz / 117.18 KHz | Δ 180.77% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 215.16 ns | ∇ -24.33% | 6.14 MHz / 4.65 MHz | Δ 32.16% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 359.98 ns | ∇ -31.78% | 4.07 MHz / 2.78 MHz | Δ 46.58% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 732.12 ns | ∇ -29.69% | 1.94 MHz / 1.37 MHz | Δ 42.23% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 213.59 ns | ∇ -18.61% | 5.75 MHz / 4.68 MHz | Δ 22.87% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 339.30 ns | ∇ -23.54% | 3.85 MHz / 2.95 MHz | Δ 30.79% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 760.92 ns | ∇ -31.14% | 1.91 MHz / 1.31 MHz | Δ 45.22% |
random: permuteVector (len=10) | 288.60 ns / 411.34 ns | ∇ -29.84% | 3.47 MHz / 2.43 MHz | Δ 42.53% |
random: permuteVector (len=100) | 3.07 us / 3.59 us | ∇ -14.41% | 325.61 KHz / 278.70 KHz | Δ 16.83% |
random: permuteVector (len=1000) | 30.26 us / 34.34 us | ∇ -11.88% | 33.05 KHz / 29.12 KHz | Δ 13.48% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 9.77 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 27.92 ms | Δ 13.76% | 31.48 Hz / 35.81 Hz | ∇ -12.10% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 43.53 ms | Δ 4.98% | 21.88 Hz / 22.97 Hz | ∇ -4.74% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 70.76 ms | Δ 3.64% | 13.64 Hz / 14.13 Hz | ∇ -3.51% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 23.43 ms | Δ 15.87% | 36.83 Hz / 42.67 Hz | ∇ -13.70% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 36.52 ms | Δ 10.39% | 24.81 Hz / 27.39 Hz | ∇ -9.41% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 59.82 ms | Δ 7.73% | 15.52 Hz / 16.72 Hz | ∇ -7.18% |
images: Gauss filter (640x480) | 4.52 ms / 6.68 ms | ∇ -32.34% | 221.30 Hz / 149.74 Hz | Δ 47.79% |
images: Gauss filter (800x600) | 7.35 ms / 8.62 ms | ∇ -14.72% | 136.05 Hz / 116.03 Hz | Δ 17.26% |
images: Gauss filter (1024x768) | 11.22 ms / 14.49 ms | ∇ -22.57% | 89.13 Hz / 69.01 Hz | Δ 29.16% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 21.12 us | ∇ -70.08% | 158.23 KHz / 47.34 KHz | Δ 234.24% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 19.36 us | ∇ -75.31% | 209.21 KHz / 51.65 KHz | Δ 305.07% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 6.24 us | ∇ -65.69% | 467.29 KHz / 160.34 KHz | Δ 191.43% |
feature_extraction [640x480]: Harris | 28.31 ms / 40.83 ms | ∇ -30.65% | 35.32 Hz / 24.49 Hz | Δ 44.19% |
feature_extraction [640x480]: KLT | 27.34 ms / 33.62 ms | ∇ -18.66% | 36.57 Hz / 29.75 Hz | Δ 22.95% |
feature_extraction [640x480]: SIFT | 641.91 ms / 705.28 ms | ∇ -8.98% | 1.56 Hz / 1.42 Hz | Δ 9.87% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 214.22 ms | ∇ -20.34% | 5.86 Hz / 4.67 Hz | Δ 25.53% |
feature_extraction [640x480]: SURF | 201.21 ms / 326.57 ms | ∇ -38.39% | 4.97 Hz / 3.06 Hz | Δ 62.30% |
feature_extraction [640x480]: FAST | 5.22 ms / 7.69 ms | ∇ -32.07% | 191.49 Hz / 130.08 Hz | Δ 47.22% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 105.90 ms | ∇ -42.58% | 16.44 Hz / 9.44 Hz | Δ 74.15% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 57.67 ms | ∇ -24.99% | 23.12 Hz / 17.34 Hz | Δ 33.32% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 50.27 ms | ∇ -20.60% | 25.06 Hz / 19.89 Hz | Δ 25.95% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.38 sec | ∇ -7.50% | 783.36 mHz / 724.62 mHz | Δ 8.11% |
feature_matching [640x480]: SURF | 386.18 ms / 618.66 ms | ∇ -37.58% | 2.59 Hz / 1.62 Hz | Δ 60.20% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 22.11 ms | ∇ -27.09% | 62.03 Hz / 45.22 Hz | Δ 37.16% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 14.58 ms | ∇ -25.03% | 91.46 Hz / 68.57 Hz | Δ 33.39% |