Test description | 0.9.1-GCC-64bit / 0.9.3-MSVC9-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 31.56 ms | ∇ -31.55% | 46.30 Hz / 31.69 Hz | Δ 46.10% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 53.95 ms | ∇ -61.98% | 48.75 Hz / 18.54 Hz | Δ 162.99% |
poses: CPose3D (+) CPose3D | 449.02 ns / 194.14 ns | Δ 131.29% | 2.23 MHz / 5.15 MHz | ∇ -56.76% |
poses: CPose3D.composeFrom() | 233.83 ns / 34.65 ns | Δ 574.79% | 4.28 MHz / 28.86 MHz | ∇ -85.18% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 28.67 ns | ∇ -62.79% | 93.76 MHz / 34.88 MHz | Δ 168.77% |
poses: CPose3D.composePoint() | 10.06 ns / 18.49 ns | ∇ -45.59% | 99.38 MHz / 54.08 MHz | Δ 83.78% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 93.89 ns | ∇ -59.84% | 26.52 MHz / 10.65 MHz | Δ 148.99% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 44.39 ns | ∇ -7.69% | 24.40 MHz / 22.53 MHz | Δ 8.33% |
poses: CPose2D (+) CPose2D | 78.17 ns / 103.92 ns | ∇ -24.78% | 12.79 MHz / 9.62 MHz | Δ 32.95% |
poses: CPose2D.composeFrom() | 62.17 ns / 91.82 ns | ∇ -32.29% | 16.08 MHz / 10.89 MHz | Δ 47.69% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 140.37 ns | ∇ -54.50% | 15.66 MHz / 7.12 MHz | Δ 119.79% |
poses: CPose2D.composePoint() | 61.98 ns / 66.26 ns | ∇ -6.46% | 16.13 MHz / 15.09 MHz | Δ 6.91% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 93.35 ns | ∇ -49.65% | 21.28 MHz / 10.71 MHz | Δ 98.63% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 60.52 ns | ∇ -34.24% | 25.13 MHz / 16.52 MHz | Δ 52.07% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 116.72 ns | ∇ -80.62% | 44.21 MHz / 8.57 MHz | Δ 415.98% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 31.02 ns | ∇ -38.98% | 52.83 MHz / 32.23 MHz | Δ 63.89% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 126.78 ns | Δ 208.61% | 2.56 MHz / 7.89 MHz | ∇ -67.60% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 30.88 ns | ∇ -41.54% | 55.39 MHz / 32.38 MHz | Δ 71.04% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 33.42 ns | Δ 962.38% | 2.82 MHz / 29.93 MHz | ∇ -90.59% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 211.33 ns | ∇ -18.05% | 5.77 MHz / 4.73 MHz | Δ 22.02% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 19.45 us | Δ 4088.44% | 1.23 KHz / 51.41 KHz | ∇ -97.61% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 2.93 us | Δ 27930.95% | 1.22 KHz / 341.05 KHz | ∇ -99.64% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 34.64 us | ∇ -72.37% | 104.48 KHz / 28.87 KHz | Δ 261.89% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 860.26 ns | ∇ -20.69% | 1.47 MHz / 1.16 MHz | Δ 26.08% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 880.23 ns | ∇ -39.36% | 1.87 MHz / 1.14 MHz | Δ 64.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 21.76 us | ∇ -60.88% | 117.45 KHz / 45.95 KHz | Δ 155.61% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 44.99 ns | ∇ -54.23% | 48.56 MHz / 22.23 MHz | Δ 118.48% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 45.16 ns | ∇ -49.95% | 44.24 MHz / 22.14 MHz | Δ 99.80% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 160.84 ns | ∇ -60.26% | 15.64 MHz / 6.22 MHz | Δ 151.61% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 160.97 ns | ∇ -59.48% | 15.33 MHz / 6.21 MHz | Δ 146.82% |
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 / 6.73 ns | ∇ -75.02% | 594.53 MHz / 148.49 MHz | Δ 300.38% |
matrix: unit, fix[double,6,6] | 2.86 ns / 7.86 ns | ∇ -63.59% | 349.53 MHz / 127.26 MHz | Δ 174.66% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 550.79 ns | ∇ -86.66% | 13.61 MHz / 1.82 MHz | Δ 649.37% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 0.05 ns | Δ 53111.33% | 41.49 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 432.98 ns | ∇ -83.35% | 13.87 MHz / 2.31 MHz | Δ 500.53% |
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 / 660.53 ns | ∇ -82.91% | 8.86 MHz / 1.51 MHz | Δ 485.05% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 38.91 ns | Δ 15.67% | 22.22 MHz / 25.70 MHz | ∇ -13.54% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 474.65 ns | ∇ -76.72% | 9.05 MHz / 2.11 MHz | Δ 329.55% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 8.74 ns | Δ 415.95% | 22.17 MHz / 114.40 MHz | ∇ -80.62% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 4.68 us | Δ 24.24% | 171.91 KHz / 213.59 KHz | ∇ -19.51% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 4.42 us | ∇ -19.19% | 279.91 KHz / 226.20 KHz | Δ 23.74% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 3.24 us | Δ 81.79% | 169.93 KHz / 308.92 KHz | ∇ -44.99% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 2.37 us | Δ 61.34% | 262.04 KHz / 422.77 KHz | ∇ -38.02% |
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 / 1.49 us | ∇ -72.23% | 2.42 MHz / 672.33 KHz | Δ 260.14% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 32.16 ns | ∇ -31.58% | 45.45 MHz / 31.10 MHz | Δ 46.17% |
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 / 3.50 us | ∇ -64.26% | 800.64 KHz / 286.11 KHz | Δ 179.83% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 2.72 us | ∇ -78.72% | 1.73 MHz / 368.24 KHz | Δ 369.84% |
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 / 31.87 us | ∇ -10.32% | 34.98 KHz / 31.37 KHz | Δ 11.51% |
matrix: inv, fix[double] 20x20 | 17.20 us / 28.91 us | ∇ -40.53% | 58.15 KHz / 34.58 KHz | Δ 68.15% |
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 / 124.22 us | Δ 61.77% | 4.98 KHz / 8.05 KHz | ∇ -38.18% |
matrix: inv, fix[double] 40x40 | 134.50 us / 122.24 us | Δ 10.03% | 7.43 KHz / 8.18 KHz | ∇ -9.11% |
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 / 647.62 ns | ∇ -98.64% | 113.64 MHz / 1.54 MHz | Δ 7259.29% |
matrix: det, fix[double] 2x2 | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -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 / 969.59 ns | ∇ -98.94% | 97.09 MHz / 1.03 MHz | Δ 9313.51% |
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 / 2.45 us | ∇ -69.88% | 1.35 MHz / 407.46 KHz | Δ 232.06% |
matrix: det, fix[double] 6x6 | 219.80 ns / 1.89 us | ∇ -88.35% | 4.55 MHz / 529.99 KHz | Δ 758.43% |
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 / 22.48 us | ∇ -70.98% | 153.32 KHz / 44.49 KHz | Δ 244.59% |
matrix: det, fix[double] 20x20 | 4.73 us / 21.45 us | ∇ -77.96% | 211.54 KHz / 46.63 KHz | Δ 353.66% |
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 / 80.28 us | ∇ -59.65% | 30.87 KHz / 12.46 KHz | Δ 147.80% |
matrix: det, fix[double] 40x40 | 27.53 us / 79.04 us | ∇ -65.17% | 36.33 KHz / 12.65 KHz | Δ 187.14% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 1.09 us | ∇ -84.43% | 5.88 MHz / 916.16 KHz | Δ 542.07% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 317.04 ns | ∇ -59.00% | 7.69 MHz / 3.15 MHz | Δ 143.88% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 75.74 us | ∇ -75.27% | 53.39 KHz / 13.20 KHz | Δ 304.36% |
matrix: chol, fix[double] 40x40 | 16.74 us / 55.31 us | ∇ -69.73% | 59.74 KHz / 18.08 KHz | Δ 230.40% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 16.89 us | ∇ -49.69% | 117.65 KHz / 59.19 KHz | Δ 98.75% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 247.29 us | ∇ -62.03% | 10.65 KHz / 4.04 KHz | Δ 163.35% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 180.76 us | ∇ -70.73% | 18.90 KHz / 5.53 KHz | Δ 241.70% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 91.89 us | ∇ -56.44% | 24.98 KHz / 10.88 KHz | Δ 129.56% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 765.78 us | ∇ -46.29% | 2.43 KHz / 1.31 KHz | Δ 86.19% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 116.55 us | ∇ -35.67% | 13.34 KHz / 8.58 KHz | Δ 55.44% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 4.08 ms | Δ 111.05% | 116.18 Hz / 245.20 Hz | ∇ -52.62% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 207.46 us | ∇ -10.66% | 5.40 KHz / 4.82 KHz | Δ 11.93% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 24.43 ms | Δ 454.13% | 7.39 Hz / 40.93 Hz | ∇ -81.95% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 403.40 us | ∇ -10.81% | 2.78 KHz / 2.48 KHz | Δ 12.12% |
matrix: chol, dyn[double] 120x[6x6] | 364.32 ms / 40.20 ms | Δ 806.22% | 2.74 Hz / 24.87 Hz | ∇ -88.97% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 479.83 us | ∇ -11.14% | 2.35 KHz / 2.08 KHz | Δ 12.53% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 59.95 ms | Δ 1234.76% | 1.25 Hz / 16.68 Hz | ∇ -92.51% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 560.09 us | ∇ -11.16% | 2.01 KHz / 1.79 KHz | Δ 12.56% |
gridmap2D: getCell | 0.00 ns / 5.69 ns | ∇ -100.00% | 1.#J THz / 175.73 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 8.06 ns | ∇ -67.96% | 387.19 MHz / 124.07 MHz | Δ 212.08% |
gridmap2D: updateCell | 7.47 ns / 61.98 ns | ∇ -87.94% | 133.80 MHz / 16.13 MHz | Δ 729.27% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.25 ns | ∇ -56.39% | 1.83 GHz / 798.82 MHz | Δ 129.32% |
gridmap2D: insert scan w/o widening | 104.80 us / 208.84 us | ∇ -49.82% | 9.54 KHz / 4.79 KHz | Δ 99.29% |
gridmap2D: insert scan with widening | 295.32 us / 346.08 us | ∇ -14.67% | 3.39 KHz / 2.89 KHz | Δ 17.19% |
gridmap2D: resize | 1.83 ms / 2.81 ms | ∇ -35.07% | 547.65 Hz / 355.60 Hz | Δ 54.00% |
gridmap2D: computeLikelihood | 16.65 us / 18.33 us | ∇ -9.14% | 60.06 KHz / 54.57 KHz | Δ 10.06% |
pointmap: insert 100 scans | 3.11 ms / 6.61 ms | ∇ -52.89% | 321.23 Hz / 151.33 Hz | Δ 112.27% |
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 / 536.01 us | ∇ -33.78% | 2.82 KHz / 1.87 KHz | Δ 51.01% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.64 ms | ∇ -26.69% | 241.67 Hz / 177.17 Hz | Δ 36.41% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 7.70 us | ∇ -44.41% | 233.64 KHz / 129.88 KHz | Δ 79.89% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 528.60 us | ∇ -31.66% | 2.77 KHz / 1.89 KHz | Δ 46.33% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.81 ms | ∇ -29.65% | 244.66 Hz / 172.12 Hz | Δ 42.14% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 2.13 us | ∇ -35.84% | 730.99 KHz / 468.98 KHz | Δ 55.87% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 145.70 us | ∇ -32.08% | 10.10 KHz / 6.86 KHz | Δ 47.22% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 15.49 ms | ∇ -22.80% | 83.64 Hz / 64.56 Hz | Δ 29.54% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 8.93 ms | ∇ -37.29% | 178.50 Hz / 111.93 Hz | Δ 59.48% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 200.06 ms | ∇ -35.24% | 7.72 Hz / 5.00 Hz | Δ 54.41% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 8.97 ms | ∇ -36.99% | 176.84 Hz / 111.43 Hz | Δ 58.69% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 201.21 ms | ∇ -34.18% | 7.55 Hz / 4.97 Hz | Δ 51.94% |
random: drawUniform32bit | 15.70 ns / 7.76 ns | Δ 102.41% | 63.70 MHz / 128.93 MHz | ∇ -50.60% |
random: drawUniform | 15.69 ns / 7.61 ns | Δ 106.24% | 63.72 MHz / 131.41 MHz | ∇ -51.51% |
random: drawGaussian1D_normalized | 70.40 ns / 51.84 ns | Δ 35.81% | 14.20 MHz / 19.29 MHz | ∇ -26.37% |
random: drawGaussian1D | 70.38 ns / 52.02 ns | Δ 35.28% | 14.21 MHz / 19.22 MHz | ∇ -26.08% |
random: system rand() | 11.07 ns / 27.43 ns | ∇ -59.66% | 90.37 MHz / 36.46 MHz | Δ 147.88% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 4.97 us | ∇ -73.22% | 751.96 KHz / 201.38 KHz | Δ 273.40% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 10.68 us | ∇ -71.53% | 328.99 KHz / 93.66 KHz | Δ 251.26% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 153.63 ns | Δ 5.98% | 6.14 MHz / 6.51 MHz | ∇ -5.64% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 250.07 ns | ∇ -1.79% | 4.07 MHz / 4.00 MHz | Δ 1.83% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 664.62 ns | ∇ -22.55% | 1.94 MHz / 1.50 MHz | Δ 29.12% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 153.22 ns | Δ 13.45% | 5.75 MHz / 6.53 MHz | ∇ -11.86% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 253.40 ns | Δ 2.38% | 3.85 MHz / 3.95 MHz | ∇ -2.32% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 622.96 ns | ∇ -15.89% | 1.91 MHz / 1.61 MHz | Δ 18.89% |
random: permuteVector (len=10) | 288.60 ns / 342.58 ns | ∇ -15.76% | 3.47 MHz / 2.92 MHz | Δ 18.70% |
random: permuteVector (len=100) | 3.07 us / 3.62 us | ∇ -15.07% | 325.61 KHz / 276.54 KHz | Δ 17.74% |
random: permuteVector (len=1000) | 30.26 us / 35.68 us | ∇ -15.20% | 33.05 KHz / 28.03 KHz | Δ 17.93% |
math: round | 0.10 ns / 0.00 ns | Δ 2260167.15% | 9.77 GHz / 220.79 THz | ∇ -100.00% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 28.08 ms | Δ 13.12% | 31.48 Hz / 35.61 Hz | ∇ -11.60% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 42.80 ms | Δ 6.78% | 21.88 Hz / 23.37 Hz | ∇ -6.35% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 69.14 ms | Δ 6.07% | 13.64 Hz / 14.46 Hz | ∇ -5.73% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 23.76 ms | Δ 14.28% | 36.83 Hz / 42.09 Hz | ∇ -12.50% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 37.25 ms | Δ 8.22% | 24.81 Hz / 26.85 Hz | ∇ -7.59% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 59.86 ms | Δ 7.66% | 15.52 Hz / 16.71 Hz | ∇ -7.11% |
images: Gauss filter (640x480) | 4.52 ms / 7.21 ms | ∇ -37.30% | 221.30 Hz / 138.75 Hz | Δ 59.49% |
images: Gauss filter (800x600) | 7.35 ms / 8.67 ms | ∇ -15.24% | 136.05 Hz / 115.32 Hz | Δ 17.98% |
images: Gauss filter (1024x768) | 11.22 ms / 14.94 ms | ∇ -24.91% | 89.13 Hz / 66.93 Hz | Δ 33.17% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 25.26 us | ∇ -74.98% | 158.23 KHz / 39.59 KHz | Δ 299.67% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 24.29 us | ∇ -80.32% | 209.21 KHz / 41.17 KHz | Δ 408.15% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 13.82 us | ∇ -84.51% | 467.29 KHz / 72.37 KHz | Δ 545.72% |
feature_extraction [640x480]: Harris | 28.31 ms / 53.60 ms | ∇ -47.18% | 35.32 Hz / 18.66 Hz | Δ 89.31% |
feature_extraction [640x480]: KLT | 27.34 ms / 32.67 ms | ∇ -16.31% | 36.57 Hz / 30.61 Hz | Δ 19.48% |
feature_extraction [640x480]: SIFT | 641.91 ms / 724.51 ms | ∇ -11.40% | 1.56 Hz / 1.38 Hz | Δ 12.87% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 217.33 ms | ∇ -21.48% | 5.86 Hz / 4.60 Hz | Δ 27.35% |
feature_extraction [640x480]: SURF | 201.21 ms / 320.21 ms | ∇ -37.16% | 4.97 Hz / 3.12 Hz | Δ 59.14% |
feature_extraction [640x480]: FAST | 5.22 ms / 9.58 ms | ∇ -45.50% | 191.49 Hz / 104.37 Hz | Δ 83.47% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 111.16 ms | ∇ -45.29% | 16.44 Hz / 9.00 Hz | Δ 82.79% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 64.75 ms | ∇ -33.19% | 23.12 Hz / 15.44 Hz | Δ 49.67% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 50.46 ms | ∇ -20.90% | 25.06 Hz / 19.82 Hz | Δ 26.42% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.37 sec | ∇ -6.49% | 783.36 mHz / 732.49 mHz | Δ 6.95% |
feature_matching [640x480]: SURF | 386.18 ms / 602.11 ms | ∇ -35.86% | 2.59 Hz / 1.66 Hz | Δ 55.92% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 23.55 ms | ∇ -31.54% | 62.03 Hz / 42.46 Hz | Δ 46.08% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 15.71 ms | ∇ -30.38% | 91.46 Hz / 63.67 Hz | Δ 43.65% |