Test description | 0.9.1-GCC-64bit / 0.9.4-MSVC10-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 26.54 ms | ∇ -18.62% | 46.30 Hz / 37.68 Hz | Δ 22.89% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 32.17 ms | ∇ -36.24% | 48.75 Hz / 31.08 Hz | Δ 56.84% |
poses: CPose3D (+) CPose3D | 449.02 ns / 62.83 ns | Δ 614.68% | 2.23 MHz / 15.92 MHz | ∇ -86.01% |
poses: CPose3D.composeFrom() | 233.83 ns / 41.42 ns | Δ 464.55% | 4.28 MHz / 24.14 MHz | ∇ -82.29% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 18.89 ns | ∇ -43.53% | 93.76 MHz / 52.94 MHz | Δ 77.10% |
poses: CPose3D.composePoint() | 10.06 ns / 17.17 ns | ∇ -41.41% | 99.38 MHz / 58.23 MHz | Δ 70.69% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 88.79 ns | ∇ -57.53% | 26.52 MHz / 11.26 MHz | Δ 135.46% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 44.00 ns | ∇ -6.87% | 24.40 MHz / 22.73 MHz | Δ 7.38% |
poses: CPose2D (+) CPose2D | 78.17 ns / 72.08 ns | Δ 8.45% | 12.79 MHz / 13.87 MHz | ∇ -7.79% |
poses: CPose2D.composeFrom() | 62.17 ns / 63.27 ns | ∇ -1.73% | 16.08 MHz / 15.81 MHz | Δ 1.77% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 34.42 ns | Δ 85.55% | 15.66 MHz / 29.05 MHz | ∇ -46.11% |
poses: CPose2D.composePoint() | 61.98 ns / 26.02 ns | Δ 138.17% | 16.13 MHz / 38.43 MHz | ∇ -58.01% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 113.59 ns | ∇ -58.62% | 21.28 MHz / 8.80 MHz | Δ 141.68% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 82.72 ns | ∇ -51.88% | 25.13 MHz / 12.09 MHz | Δ 107.83% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 41.33 ns | ∇ -45.27% | 44.21 MHz / 24.20 MHz | Δ 82.70% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 31.13 ns | ∇ -39.19% | 52.83 MHz / 32.12 MHz | Δ 64.46% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 113.89 ns | Δ 243.54% | 2.56 MHz / 8.78 MHz | ∇ -70.89% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 33.95 ns | ∇ -46.82% | 55.39 MHz / 29.46 MHz | Δ 88.03% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 26.44 ns | Δ 1242.47% | 2.82 MHz / 37.82 MHz | ∇ -92.55% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 97.31 ns | Δ 77.98% | 5.77 MHz / 10.28 MHz | ∇ -43.81% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 948.85 ns | Δ 85767.62% | 1.23 KHz / 1.05 MHz | ∇ -99.88% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 938.66 ns | Δ 87461.67% | 1.22 KHz / 1.07 MHz | ∇ -99.89% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 21.21 us | ∇ -54.87% | 104.48 KHz / 47.15 KHz | Δ 121.60% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 532.44 ns | Δ 28.14% | 1.47 MHz / 1.88 MHz | ∇ -21.96% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 528.23 ns | Δ 1.05% | 1.87 MHz / 1.89 MHz | ∇ -1.04% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 11.19 us | ∇ -23.92% | 117.45 KHz / 89.35 KHz | Δ 31.45% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 45.20 ns | ∇ -54.44% | 48.56 MHz / 22.13 MHz | Δ 119.49% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 45.86 ns | ∇ -50.71% | 44.24 MHz / 21.81 MHz | Δ 102.87% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 177.43 ns | ∇ -63.97% | 15.64 MHz / 5.64 MHz | Δ 177.57% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 169.52 ns | ∇ -61.53% | 15.33 MHz / 5.90 MHz | Δ 159.93% |
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 / 6.37 ns | ∇ -73.58% | 594.53 MHz / 157.06 MHz | Δ 278.54% |
matrix: unit, fix[double,6,6] | 2.86 ns / 7.86 ns | ∇ -63.61% | 349.53 MHz / 127.19 MHz | Δ 174.80% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 485.93 ns | ∇ -84.87% | 13.61 MHz / 2.06 MHz | Δ 561.13% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 0.05 ns | Δ 53111.09% | 41.49 MHz / 22.08 GHz | ∇ -99.81% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 528.41 ns | ∇ -86.36% | 13.87 MHz / 1.89 MHz | Δ 632.89% |
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 / 547.16 ns | ∇ -79.37% | 8.86 MHz / 1.83 MHz | Δ 384.65% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 2.36 ns | Δ 1810.71% | 22.22 MHz / 424.60 MHz | ∇ -94.77% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 391.50 ns | ∇ -71.78% | 9.05 MHz / 2.55 MHz | Δ 254.30% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 2.36 ns | Δ 1814.95% | 22.17 MHz / 424.60 MHz | ∇ -94.78% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 2.74 us | Δ 112.03% | 171.91 KHz / 364.51 KHz | ∇ -52.84% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 2.08 us | Δ 71.45% | 279.91 KHz / 479.89 KHz | ∇ -41.67% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 3.47 us | Δ 69.80% | 169.93 KHz / 288.55 KHz | ∇ -41.11% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 2.38 us | Δ 60.11% | 262.04 KHz / 419.56 KHz | ∇ -37.54% |
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 / 1.09 us | ∇ -61.96% | 2.42 MHz / 921.12 KHz | Δ 162.87% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 22.19 ns | ∇ -0.87% | 45.45 MHz / 45.06 MHz | Δ 0.88% |
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 / 2.78 us | ∇ -55.08% | 800.64 KHz / 359.66 KHz | Δ 122.61% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 2.22 us | ∇ -73.98% | 1.73 MHz / 450.23 KHz | Δ 284.27% |
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 / 30.71 us | ∇ -6.93% | 34.98 KHz / 32.56 KHz | Δ 7.45% |
matrix: inv, fix[double] 20x20 | 17.20 us / 24.08 us | ∇ -28.58% | 58.15 KHz / 41.53 KHz | Δ 40.01% |
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 / 117.18 us | Δ 71.49% | 4.98 KHz / 8.53 KHz | ∇ -41.69% |
matrix: inv, fix[double] 40x40 | 134.50 us / 112.80 us | Δ 19.24% | 7.43 KHz / 8.86 KHz | ∇ -16.13% |
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 / 765.51 ns | ∇ -98.85% | 113.64 MHz / 1.31 MHz | Δ 8599.02% |
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 / 822.31 ns | ∇ -98.75% | 97.09 MHz / 1.22 MHz | Δ 7883.58% |
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 / 1.78 us | ∇ -58.58% | 1.35 MHz / 560.47 KHz | Δ 141.40% |
matrix: det, fix[double] 6x6 | 219.80 ns / 1.51 us | ∇ -85.46% | 4.55 MHz / 661.35 KHz | Δ 587.92% |
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 / 18.54 us | ∇ -64.82% | 153.32 KHz / 53.94 KHz | Δ 184.22% |
matrix: det, fix[double] 20x20 | 4.73 us / 19.01 us | ∇ -75.13% | 211.54 KHz / 52.61 KHz | Δ 302.10% |
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 / 72.40 us | ∇ -55.25% | 30.87 KHz / 13.81 KHz | Δ 123.48% |
matrix: det, fix[double] 40x40 | 27.53 us / 67.43 us | ∇ -59.18% | 36.33 KHz / 14.83 KHz | Δ 144.96% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 606.90 ns | ∇ -71.99% | 5.88 MHz / 1.65 MHz | Δ 257.00% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 190.22 ns | ∇ -31.66% | 7.69 MHz / 5.26 MHz | Δ 46.33% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 31.59 us | ∇ -40.70% | 53.39 KHz / 31.66 KHz | Δ 68.64% |
matrix: chol, fix[double] 40x40 | 16.74 us / 20.87 us | ∇ -19.77% | 59.74 KHz / 47.93 KHz | Δ 24.65% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 7.11 us | Δ 19.54% | 117.65 KHz / 140.63 KHz | ∇ -16.34% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 94.75 us | ∇ -0.90% | 10.65 KHz / 10.55 KHz | Δ 0.90% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 75.59 us | ∇ -30.02% | 18.90 KHz / 13.23 KHz | Δ 42.89% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 43.20 us | ∇ -7.35% | 24.98 KHz / 23.15 KHz | Δ 7.93% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 453.46 us | ∇ -9.30% | 2.43 KHz / 2.21 KHz | Δ 10.25% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 74.00 us | Δ 1.32% | 13.34 KHz / 13.51 KHz | ∇ -1.31% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 3.54 ms | Δ 142.89% | 116.18 Hz / 282.19 Hz | ∇ -58.83% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 178.69 us | Δ 3.73% | 5.40 KHz / 5.60 KHz | ∇ -3.59% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 22.29 ms | Δ 507.56% | 7.39 Hz / 44.87 Hz | ∇ -83.54% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 359.36 us | Δ 0.12% | 2.78 KHz / 2.78 KHz | ∇ -0.12% |
matrix: chol, dyn[double] 120x[6x6] | 364.32 ms / 36.29 ms | Δ 904.00% | 2.74 Hz / 27.56 Hz | ∇ -90.04% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 411.86 us | Δ 3.53% | 2.35 KHz / 2.43 KHz | ∇ -3.41% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 54.34 ms | Δ 1372.44% | 1.25 Hz / 18.40 Hz | ∇ -93.21% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 488.10 us | Δ 1.95% | 2.01 KHz / 2.05 KHz | ∇ -1.91% |
gridmap2D: getCell | 0.00 ns / 4.13 ns | ∇ -100.00% | 1.#J THz / 242.07 MHz | Δ 1.#J% |
gridmap2D: setCell | 2.58 ns / 5.65 ns | ∇ -54.25% | 387.19 MHz / 177.14 MHz | Δ 118.57% |
gridmap2D: updateCell | 7.47 ns / 6.93 ns | Δ 7.88% | 133.80 MHz / 144.35 MHz | ∇ -7.31% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.50% | 1.83 GHz / 833.40 MHz | Δ 119.80% |
gridmap2D: insert scan w/o widening | 104.80 us / 102.16 us | Δ 2.58% | 9.54 KHz / 9.79 KHz | ∇ -2.52% |
gridmap2D: insert scan with widening | 295.32 us / 276.88 us | Δ 6.66% | 3.39 KHz / 3.61 KHz | ∇ -6.25% |
gridmap2D: resize | 1.83 ms / 3.89 ms | ∇ -53.06% | 547.65 Hz / 257.06 Hz | Δ 113.04% |
gridmap2D: computeLikelihood | 16.65 us / 13.92 us | Δ 19.61% | 60.06 KHz / 71.84 KHz | ∇ -16.40% |
pointmap: insert 100 scans | 3.11 ms / 1.87 ms | Δ 66.31% | 321.23 Hz / 534.24 Hz | ∇ -39.87% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 5.09 us | ∇ -15.93% | 233.64 KHz / 196.43 KHz | Δ 18.94% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 486.39 us | ∇ -27.02% | 2.82 KHz / 2.06 KHz | Δ 37.03% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.10 ms | ∇ -18.82% | 241.67 Hz / 196.20 Hz | Δ 23.18% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 5.56 us | ∇ -23.05% | 233.64 KHz / 179.80 KHz | Δ 29.95% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 467.24 us | ∇ -22.69% | 2.77 KHz / 2.14 KHz | Δ 29.34% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.18 ms | ∇ -21.12% | 244.66 Hz / 192.98 Hz | Δ 26.78% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.59 us | ∇ -14.19% | 730.99 KHz / 627.25 KHz | Δ 16.54% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 126.68 us | ∇ -21.88% | 10.10 KHz / 7.89 KHz | Δ 28.00% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 13.86 ms | ∇ -13.75% | 83.64 Hz / 72.14 Hz | Δ 15.94% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 6.54 ms | ∇ -14.39% | 178.50 Hz / 152.81 Hz | Δ 16.81% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 174.77 ms | ∇ -25.87% | 7.72 Hz / 5.72 Hz | Δ 34.89% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 6.88 ms | ∇ -17.84% | 176.84 Hz / 145.28 Hz | Δ 21.72% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 181.38 ms | ∇ -26.99% | 7.55 Hz / 5.51 Hz | Δ 36.96% |
random: drawUniform32bit | 15.70 ns / 9.54 ns | Δ 64.64% | 63.70 MHz / 104.87 MHz | ∇ -39.26% |
random: drawUniform | 15.69 ns / 9.69 ns | Δ 61.98% | 63.72 MHz / 103.21 MHz | ∇ -38.26% |
random: drawGaussian1D_normalized | 70.40 ns / 52.06 ns | Δ 35.22% | 14.20 MHz / 19.21 MHz | ∇ -26.05% |
random: drawGaussian1D | 70.38 ns / 50.73 ns | Δ 38.72% | 14.21 MHz / 19.71 MHz | ∇ -27.91% |
random: system rand() | 11.07 ns / 24.47 ns | ∇ -54.78% | 90.37 MHz / 40.87 MHz | Δ 121.12% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 1.24 us | Δ 7.08% | 751.96 KHz / 805.20 KHz | ∇ -6.61% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 3.19 us | ∇ -4.65% | 328.99 KHz / 313.70 KHz | Δ 4.88% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 130.03 ns | Δ 25.21% | 6.14 MHz / 7.69 MHz | ∇ -20.14% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 198.35 ns | Δ 23.81% | 4.07 MHz / 5.04 MHz | ∇ -19.23% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 451.66 ns | Δ 13.96% | 1.94 MHz / 2.21 MHz | ∇ -12.25% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 136.92 ns | Δ 26.96% | 5.75 MHz / 7.30 MHz | ∇ -21.23% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 213.52 ns | Δ 21.50% | 3.85 MHz / 4.68 MHz | ∇ -17.70% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 478.55 ns | Δ 9.49% | 1.91 MHz / 2.09 MHz | ∇ -8.67% |
random: permuteVector (len=10) | 288.60 ns / 244.07 ns | Δ 18.24% | 3.47 MHz / 4.10 MHz | ∇ -15.43% |
random: permuteVector (len=100) | 3.07 us / 3.12 us | ∇ -1.69% | 325.61 KHz / 320.11 KHz | Δ 1.72% |
random: permuteVector (len=1000) | 30.26 us / 30.82 us | ∇ -1.84% | 33.05 KHz / 32.44 KHz | Δ 1.87% |
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 / 29.87 ms | Δ 6.35% | 31.48 Hz / 33.48 Hz | ∇ -5.97% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 42.98 ms | Δ 6.31% | 21.88 Hz / 23.26 Hz | ∇ -5.94% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 69.03 ms | Δ 6.24% | 13.64 Hz / 14.49 Hz | ∇ -5.87% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 22.86 ms | Δ 18.80% | 36.83 Hz / 43.75 Hz | ∇ -15.82% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 35.20 ms | Δ 14.50% | 24.81 Hz / 28.41 Hz | ∇ -12.67% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 57.29 ms | Δ 12.47% | 15.52 Hz / 17.45 Hz | ∇ -11.09% |
images: Gauss filter (640x480) | 4.52 ms / 4.45 ms | Δ 1.54% | 221.30 Hz / 224.70 Hz | ∇ -1.52% |
images: Gauss filter (800x600) | 7.35 ms / 8.06 ms | ∇ -8.75% | 136.05 Hz / 124.15 Hz | Δ 9.59% |
images: Gauss filter (1024x768) | 11.22 ms / 13.86 ms | ∇ -19.04% | 89.13 Hz / 72.16 Hz | Δ 23.52% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 17.29 us | ∇ -63.44% | 158.23 KHz / 57.84 KHz | Δ 173.54% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 16.49 us | ∇ -71.01% | 209.21 KHz / 60.66 KHz | Δ 244.90% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 9.72 us | ∇ -77.98% | 467.29 KHz / 102.89 KHz | Δ 354.18% |
feature_extraction [640x480]: Harris | 28.31 ms / 31.46 ms | ∇ -10.00% | 35.32 Hz / 31.79 Hz | Δ 11.11% |
feature_extraction [640x480]: KLT | 27.34 ms / 30.94 ms | ∇ -11.64% | 36.57 Hz / 32.32 Hz | Δ 13.18% |
feature_extraction [640x480]: SIFT | 641.91 ms / 653.53 ms | ∇ -1.78% | 1.56 Hz / 1.53 Hz | Δ 1.81% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 210.38 ms | ∇ -18.88% | 5.86 Hz / 4.75 Hz | Δ 23.28% |
feature_extraction [640x480]: SURF | 201.21 ms / 243.66 ms | ∇ -17.42% | 4.97 Hz / 4.10 Hz | Δ 21.10% |
feature_extraction [640x480]: FAST | 5.22 ms / 6.32 ms | ∇ -17.39% | 191.49 Hz / 158.19 Hz | Δ 21.05% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 45.12 ms | Δ 34.78% | 16.44 Hz / 22.16 Hz | ∇ -25.80% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 46.60 ms | ∇ -7.16% | 23.12 Hz / 21.46 Hz | Δ 7.71% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 40.89 ms | ∇ -2.39% | 25.06 Hz / 24.46 Hz | Δ 2.45% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | ∇ -0.59% | 783.36 mHz / 778.73 mHz | Δ 0.59% |
feature_matching [640x480]: SURF | 386.18 ms / 502.54 ms | ∇ -23.16% | 2.59 Hz / 1.99 Hz | Δ 30.13% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 19.71 ms | ∇ -18.20% | 62.03 Hz / 50.74 Hz | Δ 22.25% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 13.01 ms | ∇ -15.96% | 91.46 Hz / 76.86 Hz | Δ 18.99% |