Test description | 0.9.1-GCC-64bit / 0.9.4-MSVC10-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 37.14 ms | ∇ -41.84% | 46.30 Hz / 26.93 Hz | Δ 71.94% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 36.34 ms | ∇ -43.55% | 48.75 Hz / 27.52 Hz | Δ 77.14% |
poses: CPose3D (+) CPose3D | 449.02 ns / 197.08 ns | Δ 127.84% | 2.23 MHz / 5.07 MHz | ∇ -56.11% |
poses: CPose3D.composeFrom() | 233.83 ns / 33.62 ns | Δ 595.42% | 4.28 MHz / 29.74 MHz | ∇ -85.62% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 25.13 ns | ∇ -57.56% | 93.76 MHz / 39.79 MHz | Δ 135.65% |
poses: CPose3D.composePoint() | 10.06 ns / 21.31 ns | ∇ -52.77% | 99.38 MHz / 46.94 MHz | Δ 111.75% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 89.96 ns | ∇ -58.09% | 26.52 MHz / 11.12 MHz | Δ 138.58% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 47.25 ns | ∇ -13.27% | 24.40 MHz / 21.17 MHz | Δ 15.30% |
poses: CPose2D (+) CPose2D | 78.17 ns / 108.63 ns | ∇ -28.04% | 12.79 MHz / 9.21 MHz | Δ 38.96% |
poses: CPose2D.composeFrom() | 62.17 ns / 94.77 ns | ∇ -34.40% | 16.08 MHz / 10.55 MHz | Δ 52.44% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 80.61 ns | ∇ -20.77% | 15.66 MHz / 12.41 MHz | Δ 26.22% |
poses: CPose2D.composePoint() | 61.98 ns / 67.32 ns | ∇ -7.94% | 16.13 MHz / 14.85 MHz | Δ 8.62% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 81.31 ns | ∇ -42.19% | 21.28 MHz / 12.30 MHz | Δ 72.99% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 51.56 ns | ∇ -22.81% | 25.13 MHz / 19.39 MHz | Δ 29.56% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 55.91 ns | ∇ -59.54% | 44.21 MHz / 17.89 MHz | Δ 147.17% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 32.73 ns | ∇ -42.17% | 52.83 MHz / 30.55 MHz | Δ 72.91% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 124.02 ns | Δ 215.49% | 2.56 MHz / 8.06 MHz | ∇ -68.30% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 30.61 ns | ∇ -41.01% | 55.39 MHz / 32.67 MHz | Δ 69.53% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 28.12 ns | Δ 1162.39% | 2.82 MHz / 35.56 MHz | ∇ -92.08% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 216.84 ns | ∇ -20.13% | 5.77 MHz / 4.61 MHz | Δ 25.20% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 1.24 us | Δ 65602.22% | 1.23 KHz / 806.40 KHz | ∇ -99.85% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 1.20 us | Δ 68574.20% | 1.22 KHz / 835.55 KHz | ∇ -99.85% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 20.15 us | ∇ -52.50% | 104.48 KHz / 49.63 KHz | Δ 110.54% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 817.60 ns | ∇ -16.55% | 1.47 MHz / 1.22 MHz | Δ 19.83% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 823.40 ns | ∇ -35.17% | 1.87 MHz / 1.21 MHz | Δ 54.25% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 19.09 us | ∇ -55.40% | 117.45 KHz / 52.39 KHz | Δ 124.20% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 49.67 ns | ∇ -58.54% | 48.56 MHz / 20.13 MHz | Δ 141.20% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 50.90 ns | ∇ -55.59% | 44.24 MHz / 19.64 MHz | Δ 125.20% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 180.98 ns | ∇ -64.68% | 15.64 MHz / 5.53 MHz | Δ 183.12% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 177.90 ns | ∇ -63.34% | 15.33 MHz / 5.62 MHz | Δ 172.78% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ 1.#J% | 2.89 GHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ 1.#J% | 842.46 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[float,6,6] | 1.68 ns / 6.63 ns | ∇ -74.63% | 594.53 MHz / 150.81 MHz | Δ 294.21% |
matrix: unit, fix[double,6,6] | 2.86 ns / 8.86 ns | ∇ -67.70% | 349.53 MHz / 112.91 MHz | Δ 209.55% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 680.28 ns | ∇ -89.20% | 13.61 MHz / 1.47 MHz | Δ 825.54% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 0.00 ns | Δ 1.#J% | 41.49 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 458.35 ns | ∇ -84.27% | 13.87 MHz / 2.18 MHz | Δ 535.71% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ 1.#J% | 42.55 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 680.46 ns | ∇ -83.41% | 8.86 MHz / 1.47 MHz | Δ 502.71% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 35.28 ns | Δ 27.54% | 22.22 MHz / 28.34 MHz | ∇ -21.60% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 514.01 ns | ∇ -78.50% | 9.05 MHz / 1.95 MHz | Δ 365.17% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 3.40 ns | Δ 1227.70% | 22.17 MHz / 294.39 MHz | ∇ -92.47% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 5.18 us | Δ 12.30% | 171.91 KHz / 193.06 KHz | ∇ -10.95% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 4.56 us | ∇ -21.60% | 279.91 KHz / 219.44 KHz | Δ 27.56% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 3.79 us | Δ 55.23% | 169.93 KHz / 263.78 KHz | ∇ -35.58% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 2.92 us | Δ 30.54% | 262.04 KHz / 342.06 KHz | ∇ -23.39% |
matrix: inv, dyn[float ] 3x3 | 449.00 ns / X | 2.23 MHz / X | ||
matrix: inv, fix[float ] 3x3 | 33.00 ns / X | 30.30 MHz / X | ||
matrix: inv, dyn[double] 3x3 | 413.00 ns / 1.50 us | ∇ -72.52% | 2.42 MHz / 665.44 KHz | Δ 263.87% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 9.51 ns | Δ 131.31% | 45.45 MHz / 105.14 MHz | ∇ -56.77% |
matrix: inv, dyn[float ] 6x6 | 1.31 us / X | 761.04 KHz / X | ||
matrix: inv, fix[float ] 6x6 | 468.00 ns / X | 2.14 MHz / X | ||
matrix: inv, dyn[double] 6x6 | 1.25 us / 3.90 us | ∇ -68.00% | 800.64 KHz / 256.17 KHz | Δ 212.54% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 3.54 us | ∇ -83.67% | 1.73 MHz / 282.49 KHz | Δ 512.45% |
matrix: inv, dyn[float ] 20x20 | 28.01 us / X | 35.71 KHz / X | ||
matrix: inv, fix[float ] 20x20 | 12.67 us / X | 78.91 KHz / X | ||
matrix: inv, dyn[double] 20x20 | 28.58 us / 34.19 us | ∇ -16.40% | 34.98 KHz / 29.25 KHz | Δ 19.62% |
matrix: inv, fix[double] 20x20 | 17.20 us / 29.35 us | ∇ -41.41% | 58.15 KHz / 34.07 KHz | Δ 70.69% |
matrix: inv, dyn[float ] 40x40 | 205.67 us / X | 4.86 KHz / X | ||
matrix: inv, fix[float ] 40x40 | 92.66 us / X | 10.79 KHz / X | ||
matrix: inv, dyn[double] 40x40 | 200.95 us / 134.24 us | Δ 49.69% | 4.98 KHz / 7.45 KHz | ∇ -33.20% |
matrix: inv, fix[double] 40x40 | 134.50 us / 126.45 us | Δ 6.37% | 7.43 KHz / 7.91 KHz | ∇ -5.99% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 2x2 | 8.80 ns / 601.74 ns | ∇ -98.54% | 113.64 MHz / 1.66 MHz | Δ 6737.96% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | 1.#J THz / 22.08 GHz | Δ 1.#J% |
matrix: det, dyn[float ] 3x3 | 10.30 ns / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | 1.#J THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 872.81 ns | ∇ -98.82% | 97.09 MHz / 1.15 MHz | Δ 8373.87% |
matrix: det, fix[double] 3x3 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
matrix: det, dyn[float ] 6x6 | 931.50 ns / X | 1.07 MHz / X | ||
matrix: det, fix[float ] 6x6 | 215.70 ns / X | 4.64 MHz / X | ||
matrix: det, dyn[double] 6x6 | 739.10 ns / 2.32 us | ∇ -68.20% | 1.35 MHz / 430.29 KHz | Δ 214.43% |
matrix: det, fix[double] 6x6 | 219.80 ns / 2.17 us | ∇ -89.88% | 4.55 MHz / 460.60 KHz | Δ 887.75% |
matrix: det, dyn[float ] 20x20 | 5.64 us / X | 177.30 KHz / X | ||
matrix: det, fix[float ] 20x20 | 4.05 us / X | 246.81 KHz / X | ||
matrix: det, dyn[double] 20x20 | 6.52 us / 23.14 us | ∇ -71.81% | 153.32 KHz / 43.22 KHz | Δ 254.71% |
matrix: det, fix[double] 20x20 | 4.73 us / 21.38 us | ∇ -77.89% | 211.54 KHz / 46.78 KHz | Δ 352.22% |
matrix: det, dyn[float ] 40x40 | 30.83 us / X | 32.43 KHz / X | ||
matrix: det, fix[float ] 40x40 | 25.85 us / X | 38.68 KHz / X | ||
matrix: det, dyn[double] 40x40 | 32.40 us / 92.83 us | ∇ -65.10% | 30.87 KHz / 10.77 KHz | Δ 186.56% |
matrix: det, fix[double] 40x40 | 27.53 us / 90.97 us | ∇ -69.74% | 36.33 KHz / 10.99 KHz | Δ 230.48% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 892.24 ns | ∇ -80.95% | 5.88 MHz / 1.12 MHz | Δ 424.85% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 249.10 ns | ∇ -47.81% | 7.69 MHz / 4.01 MHz | Δ 91.62% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 41.12 us | ∇ -54.46% | 53.39 KHz / 24.32 KHz | Δ 119.56% |
matrix: chol, fix[double] 40x40 | 16.74 us / 26.92 us | ∇ -37.81% | 59.74 KHz / 37.15 KHz | Δ 60.79% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 15.31 us | ∇ -44.48% | 117.65 KHz / 65.32 KHz | Δ 80.10% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 116.85 us | ∇ -19.64% | 10.65 KHz / 8.56 KHz | Δ 24.44% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 98.96 us | ∇ -46.54% | 18.90 KHz / 10.10 KHz | Δ 87.07% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 55.18 us | ∇ -27.45% | 24.98 KHz / 18.12 KHz | Δ 37.84% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 498.07 us | ∇ -17.42% | 2.43 KHz / 2.01 KHz | Δ 21.10% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 133.40 us | ∇ -43.79% | 13.34 KHz / 7.50 KHz | Δ 77.91% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 4.99 ms | Δ 72.40% | 116.18 Hz / 200.30 Hz | ∇ -41.99% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 243.96 us | ∇ -24.02% | 5.40 KHz / 4.10 KHz | Δ 31.62% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 30.03 ms | Δ 350.95% | 7.39 Hz / 33.31 Hz | ∇ -77.82% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 486.08 us | ∇ -25.98% | 2.78 KHz / 2.06 KHz | Δ 35.10% |
matrix: chol, dyn[double] 120x[6x6] | 364.32 ms / 51.94 ms | Δ 601.35% | 2.74 Hz / 19.25 Hz | ∇ -85.74% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 583.78 us | ∇ -26.96% | 2.35 KHz / 1.71 KHz | Δ 36.91% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 76.91 ms | Δ 940.45% | 1.25 Hz / 13.00 Hz | ∇ -90.39% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 649.31 us | ∇ -23.36% | 2.01 KHz / 1.54 KHz | Δ 30.49% |
gridmap2D: getCell | 0.00 ns / 6.44 ns | ∇ -100.00% | 1.#J THz / 155.25 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 9.52 ns | ∇ -72.88% | 387.19 MHz / 105.00 MHz | Δ 268.74% |
gridmap2D: updateCell | 7.47 ns / 9.85 ns | ∇ -24.10% | 133.80 MHz / 101.55 MHz | Δ 31.76% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.47 ns | ∇ -62.91% | 1.83 GHz / 679.40 MHz | Δ 169.62% |
gridmap2D: insert scan w/o widening | 104.80 us / 225.20 us | ∇ -53.46% | 9.54 KHz / 4.44 KHz | Δ 114.89% |
gridmap2D: insert scan with widening | 295.32 us / 365.80 us | ∇ -19.27% | 3.39 KHz / 2.73 KHz | Δ 23.86% |
gridmap2D: resize | 1.83 ms / 2.56 ms | ∇ -28.79% | 547.65 Hz / 389.96 Hz | Δ 40.44% |
gridmap2D: computeLikelihood | 16.65 us / 21.14 us | ∇ -21.25% | 60.06 KHz / 47.30 KHz | Δ 26.98% |
pointmap: insert 100 scans | 3.11 ms / 3.27 ms | ∇ -4.82% | 321.23 Hz / 305.75 Hz | Δ 5.07% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.03 us | ∇ -29.05% | 233.64 KHz / 165.76 KHz | Δ 40.95% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 579.42 us | ∇ -38.74% | 2.82 KHz / 1.73 KHz | Δ 63.24% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 6.14 ms | ∇ -32.61% | 241.67 Hz / 162.87 Hz | Δ 48.38% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 6.68 us | ∇ -35.98% | 233.64 KHz / 149.59 KHz | Δ 56.19% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 519.96 us | ∇ -30.53% | 2.77 KHz / 1.92 KHz | Δ 43.94% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 6.64 ms | ∇ -38.41% | 244.66 Hz / 150.68 Hz | Δ 62.37% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.95 us | ∇ -30.02% | 730.99 KHz / 511.57 KHz | Δ 42.89% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 167.14 us | ∇ -40.79% | 10.10 KHz / 5.98 KHz | Δ 68.89% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 17.45 ms | ∇ -31.50% | 83.64 Hz / 57.30 Hz | Δ 45.98% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 9.11 ms | ∇ -38.52% | 178.50 Hz / 109.75 Hz | Δ 62.65% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 210.71 ms | ∇ -38.51% | 7.72 Hz / 4.75 Hz | Δ 62.64% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 8.38 ms | ∇ -32.49% | 176.84 Hz / 119.37 Hz | Δ 48.14% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 198.71 ms | ∇ -33.36% | 7.55 Hz / 5.03 Hz | Δ 50.06% |
random: drawUniform32bit | 15.70 ns / 7.57 ns | Δ 107.40% | 63.70 MHz / 132.11 MHz | ∇ -51.78% |
random: drawUniform | 15.69 ns / 7.60 ns | Δ 106.45% | 63.72 MHz / 131.54 MHz | ∇ -51.56% |
random: drawGaussian1D_normalized | 70.40 ns / 58.48 ns | Δ 20.39% | 14.20 MHz / 17.10 MHz | ∇ -16.94% |
random: drawGaussian1D | 70.38 ns / 57.62 ns | Δ 22.13% | 14.21 MHz / 17.35 MHz | ∇ -18.12% |
random: system rand() | 11.07 ns / 29.43 ns | ∇ -62.40% | 90.37 MHz / 33.98 MHz | Δ 165.94% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 2.95 us | ∇ -54.89% | 751.96 KHz / 339.21 KHz | Δ 121.68% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 3.53 us | ∇ -14.00% | 328.99 KHz / 282.92 KHz | Δ 16.28% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 145.71 ns | Δ 11.73% | 6.14 MHz / 6.86 MHz | ∇ -10.50% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 227.37 ns | Δ 8.01% | 4.07 MHz / 4.40 MHz | ∇ -7.42% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 514.56 ns | Δ 0.04% | 1.94 MHz / 1.94 MHz | ∇ -0.04% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 170.42 ns | Δ 2.01% | 5.75 MHz / 5.87 MHz | ∇ -1.97% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 283.60 ns | ∇ -8.53% | 3.85 MHz / 3.53 MHz | Δ 9.32% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 661.22 ns | ∇ -20.75% | 1.91 MHz / 1.51 MHz | Δ 26.19% |
random: permuteVector (len=10) | 288.60 ns / 304.45 ns | ∇ -5.21% | 3.47 MHz / 3.28 MHz | Δ 5.49% |
random: permuteVector (len=100) | 3.07 us / 3.47 us | ∇ -11.42% | 325.61 KHz / 288.42 KHz | Δ 12.89% |
random: permuteVector (len=1000) | 30.26 us / 37.99 us | ∇ -20.34% | 33.05 KHz / 26.33 KHz | Δ 25.54% |
math: round | 0.10 ns / 0.00 ns | Δ 2260156.92% | 9.77 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 33.06 ms | ∇ -3.91% | 31.48 Hz / 30.25 Hz | Δ 4.07% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 50.64 ms | ∇ -9.76% | 21.88 Hz / 19.75 Hz | Δ 10.81% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 82.66 ms | ∇ -11.28% | 13.64 Hz / 12.10 Hz | Δ 12.72% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 27.36 ms | ∇ -0.74% | 36.83 Hz / 36.56 Hz | Δ 0.75% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 43.25 ms | ∇ -6.81% | 24.81 Hz / 23.12 Hz | Δ 7.30% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 66.55 ms | ∇ -3.18% | 15.52 Hz / 15.03 Hz | Δ 3.28% |
images: Gauss filter (640x480) | 4.52 ms / 5.57 ms | ∇ -18.89% | 221.30 Hz / 179.49 Hz | Δ 23.29% |
images: Gauss filter (800x600) | 7.35 ms / 8.84 ms | ∇ -16.87% | 136.05 Hz / 113.10 Hz | Δ 20.29% |
images: Gauss filter (1024x768) | 11.22 ms / 14.37 ms | ∇ -21.94% | 89.13 Hz / 69.58 Hz | Δ 28.11% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 21.97 us | ∇ -71.23% | 158.23 KHz / 45.52 KHz | Δ 247.57% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 22.01 us | ∇ -78.28% | 209.21 KHz / 45.44 KHz | Δ 360.40% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 12.71 us | ∇ -83.16% | 467.29 KHz / 78.69 KHz | Δ 493.87% |
feature_extraction [640x480]: Harris | 28.31 ms / 38.32 ms | ∇ -26.11% | 35.32 Hz / 26.10 Hz | Δ 35.33% |
feature_extraction [640x480]: KLT | 27.34 ms / 37.22 ms | ∇ -26.53% | 36.57 Hz / 26.87 Hz | Δ 36.12% |
feature_extraction [640x480]: SIFT | 641.91 ms / 739.68 ms | ∇ -13.22% | 1.56 Hz / 1.35 Hz | Δ 15.23% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 232.95 ms | ∇ -26.74% | 5.86 Hz / 4.29 Hz | Δ 36.50% |
feature_extraction [640x480]: SURF | 201.21 ms / 309.97 ms | ∇ -35.09% | 4.97 Hz / 3.23 Hz | Δ 54.05% |
feature_extraction [640x480]: FAST | 5.22 ms / 6.88 ms | ∇ -24.15% | 191.49 Hz / 145.25 Hz | Δ 31.84% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 88.28 ms | ∇ -31.12% | 16.44 Hz / 11.33 Hz | Δ 45.18% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 59.68 ms | ∇ -27.52% | 23.12 Hz / 16.76 Hz | Δ 37.96% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 58.57 ms | ∇ -31.86% | 25.06 Hz / 17.07 Hz | Δ 46.75% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.50 sec | ∇ -14.72% | 783.36 mHz / 668.02 mHz | Δ 17.27% |
feature_matching [640x480]: SURF | 386.18 ms / 621.62 ms | ∇ -37.88% | 2.59 Hz / 1.61 Hz | Δ 60.97% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 21.69 ms | ∇ -25.68% | 62.03 Hz / 46.10 Hz | Δ 34.55% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 12.64 ms | ∇ -13.48% | 91.46 Hz / 79.13 Hz | Δ 15.58% |