Test description | 0.9.1-GCC-64bit / 0.9.4-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 20.74 ms | Δ 4.12% | 46.30 Hz / 48.21 Hz | ∇ -3.96% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 17.09 ms | Δ 20.03% | 48.75 Hz / 58.52 Hz | ∇ -16.69% |
poses: CPose3D (+) CPose3D | 449.02 ns / 29.76 ns | Δ 1408.80% | 2.23 MHz / 33.60 MHz | ∇ -93.37% |
poses: CPose3D.composeFrom() | 233.83 ns / 21.90 ns | Δ 967.72% | 4.28 MHz / 45.66 MHz | ∇ -90.63% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 7.23 ns | Δ 47.44% | 93.76 MHz / 138.24 MHz | ∇ -32.18% |
poses: CPose3D.composePoint() | 10.06 ns / 11.67 ns | ∇ -13.79% | 99.38 MHz / 85.68 MHz | Δ 16.00% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 13.29 ns | Δ 183.82% | 26.52 MHz / 75.27 MHz | ∇ -64.77% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 24.48 ns | Δ 67.39% | 24.40 MHz / 40.85 MHz | ∇ -40.26% |
poses: CPose2D (+) CPose2D | 78.17 ns / 71.64 ns | Δ 9.11% | 12.79 MHz / 13.96 MHz | ∇ -8.35% |
poses: CPose2D.composeFrom() | 62.17 ns / 69.41 ns | ∇ -10.43% | 16.08 MHz / 14.41 MHz | Δ 11.64% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 60.78 ns | Δ 5.08% | 15.66 MHz / 16.45 MHz | ∇ -4.84% |
poses: CPose2D.composePoint() | 61.98 ns / 60.80 ns | Δ 1.94% | 16.13 MHz / 16.45 MHz | ∇ -1.90% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 40.47 ns | Δ 16.14% | 21.28 MHz / 24.71 MHz | ∇ -13.89% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 37.55 ns | Δ 5.99% | 25.13 MHz / 26.63 MHz | ∇ -5.65% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 17.39 ns | Δ 30.09% | 44.21 MHz / 57.51 MHz | ∇ -23.13% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 17.48 ns | Δ 8.27% | 52.83 MHz / 57.20 MHz | ∇ -7.64% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 32.97 ns | Δ 1086.78% | 2.56 MHz / 30.33 MHz | ∇ -91.57% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 19.11 ns | ∇ -5.51% | 55.39 MHz / 52.34 MHz | Δ 5.83% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 23.42 ns | Δ 1415.80% | 2.82 MHz / 42.70 MHz | ∇ -93.40% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 172.72 ns | Δ 0.28% | 5.77 MHz / 5.79 MHz | ∇ -0.28% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 671.00 ns | Δ 121324.37% | 1.23 KHz / 1.49 MHz | ∇ -99.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 652.00 ns | Δ 125959.59% | 1.22 KHz / 1.53 MHz | ∇ -99.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 8.74 us | Δ 9.50% | 104.48 KHz / 114.40 KHz | ∇ -8.67% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 454.10 ns | Δ 50.25% | 1.47 MHz / 2.20 MHz | ∇ -33.45% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 452.90 ns | Δ 17.86% | 1.87 MHz / 2.21 MHz | ∇ -15.16% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 7.98 us | Δ 6.76% | 117.45 KHz / 125.39 KHz | ∇ -6.33% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 17.64 ns | Δ 16.77% | 48.56 MHz / 56.71 MHz | ∇ -14.36% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 19.86 ns | Δ 13.80% | 44.24 MHz / 50.34 MHz | ∇ -12.13% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 57.06 ns | Δ 12.04% | 15.64 MHz / 17.53 MHz | ∇ -10.75% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 60.00 ns | Δ 8.70% | 15.33 MHz / 16.67 MHz | ∇ -8.00% |
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 / 0.00 ns | Δ 1.#J% | 594.53 MHz / 1.#J THz | ∇ -1.#J% |
matrix: unit, fix[double,6,6] | 2.86 ns / 0.00 ns | Δ 1.#J% | 349.53 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 242.70 ns | ∇ -69.72% | 13.61 MHz / 4.12 MHz | Δ 230.20% |
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 / 231.60 ns | ∇ -68.87% | 13.87 MHz / 4.32 MHz | Δ 221.22% |
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 / 296.50 ns | ∇ -61.92% | 8.86 MHz / 3.37 MHz | Δ 162.62% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 0.10 ns | Δ 44900.00% | 22.22 MHz / 10.00 GHz | ∇ -99.78% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 259.20 ns | ∇ -57.37% | 9.05 MHz / 3.86 MHz | Δ 134.57% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 0.00 ns | Δ 1.#J% | 22.17 MHz / 1.#J THz | ∇ -1.#J% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 2.09 us | Δ 177.87% | 171.91 KHz / 477.69 KHz | ∇ -64.01% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 1.79 us | Δ 99.72% | 279.91 KHz / 559.03 KHz | ∇ -49.93% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 2.43 us | Δ 142.26% | 169.93 KHz / 411.68 KHz | ∇ -58.72% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 2.16 us | Δ 76.39% | 262.04 KHz / 462.21 KHz | ∇ -43.31% |
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 / 767.00 ns | ∇ -46.15% | 2.42 MHz / 1.30 MHz | Δ 85.71% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 0.00 ns | Δ 1.#J% | 45.45 MHz / 1.#J THz | ∇ -1.#J% |
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 / 1.78 us | ∇ -29.83% | 800.64 KHz / 561.80 KHz | Δ 42.51% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 1.73 us | ∇ -66.55% | 1.73 MHz / 578.70 KHz | Δ 198.96% |
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 / 16.27 us | Δ 75.72% | 34.98 KHz / 61.47 KHz | ∇ -43.09% |
matrix: inv, fix[double] 20x20 | 17.20 us / 13.44 us | Δ 27.96% | 58.15 KHz / 74.41 KHz | ∇ -21.85% |
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 / 68.00 us | Δ 195.49% | 4.98 KHz / 14.70 KHz | ∇ -66.16% |
matrix: inv, fix[double] 40x40 | 134.50 us / 63.01 us | Δ 113.48% | 7.43 KHz / 15.87 KHz | ∇ -53.16% |
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 / 209.40 ns | ∇ -95.80% | 113.64 MHz / 4.78 MHz | Δ 2279.55% |
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 / 331.30 ns | ∇ -96.89% | 97.09 MHz / 3.02 MHz | Δ 3116.50% |
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 / 943.70 ns | ∇ -21.68% | 1.35 MHz / 1.06 MHz | Δ 27.68% |
matrix: det, fix[double] 6x6 | 219.80 ns / 575.90 ns | ∇ -61.83% | 4.55 MHz / 1.74 MHz | Δ 162.01% |
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 / 8.10 us | ∇ -19.51% | 153.32 KHz / 123.40 KHz | Δ 24.25% |
matrix: det, fix[double] 20x20 | 4.73 us / 7.48 us | ∇ -36.84% | 211.54 KHz / 133.61 KHz | Δ 58.32% |
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 / 30.87 us | Δ 4.93% | 30.87 KHz / 32.39 KHz | ∇ -4.70% |
matrix: det, fix[double] 40x40 | 27.53 us / 29.01 us | ∇ -5.12% | 36.33 KHz / 34.47 KHz | Δ 5.39% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 530.00 ns | ∇ -67.92% | 5.88 MHz / 1.89 MHz | Δ 211.76% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 120.00 ns | Δ 8.33% | 7.69 MHz / 8.33 MHz | ∇ -7.69% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 20.70 us | ∇ -9.52% | 53.39 KHz / 48.31 KHz | Δ 10.52% |
matrix: chol, fix[double] 40x40 | 16.74 us / 16.54 us | Δ 1.21% | 59.74 KHz / 60.46 KHz | ∇ -1.19% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 12.20 us | ∇ -30.33% | 117.65 KHz / 81.97 KHz | Δ 43.53% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 87.70 us | Δ 7.07% | 10.65 KHz / 11.40 KHz | ∇ -6.60% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 51.70 us | Δ 2.32% | 18.90 KHz / 19.34 KHz | ∇ -2.27% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 38.27 us | Δ 4.60% | 24.98 KHz / 26.13 KHz | ∇ -4.40% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 255.50 us | Δ 60.98% | 2.43 KHz / 3.91 KHz | ∇ -37.88% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 70.94 us | Δ 5.69% | 13.34 KHz / 14.10 KHz | ∇ -5.39% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 2.75 ms | Δ 212.99% | 116.18 Hz / 363.64 Hz | ∇ -68.05% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 169.22 us | Δ 9.53% | 5.40 KHz / 5.91 KHz | ∇ -8.70% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 22.06 ms | Δ 513.78% | 7.39 Hz / 45.33 Hz | ∇ -83.71% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 339.61 us | Δ 5.95% | 2.78 KHz / 2.94 KHz | ∇ -5.61% |
matrix: chol, dyn[double] 120x[6x6] | 364.32 ms / 36.67 ms | Δ 893.59% | 2.74 Hz / 27.27 Hz | ∇ -89.94% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 402.38 us | Δ 5.97% | 2.35 KHz / 2.49 KHz | ∇ -5.63% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 53.86 ms | Δ 1385.56% | 1.25 Hz / 18.57 Hz | ∇ -93.27% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 476.81 us | Δ 4.36% | 2.01 KHz / 2.10 KHz | ∇ -4.18% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -1.#J% | 1.#J THz / 1.#J THz | ∇ -1.#J% |
gridmap2D: setCell | 2.58 ns / 2.71 ns | ∇ -4.61% | 387.19 MHz / 369.33 MHz | Δ 4.84% |
gridmap2D: updateCell | 7.47 ns / 6.04 ns | Δ 23.76% | 133.80 MHz / 165.59 MHz | ∇ -19.20% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.61 ns | ∇ -11.12% | 1.83 GHz / 1.63 GHz | Δ 12.51% |
gridmap2D: insert scan w/o widening | 104.80 us / 99.83 us | Δ 4.97% | 9.54 KHz / 10.02 KHz | ∇ -4.74% |
gridmap2D: insert scan with widening | 295.32 us / 293.13 us | Δ 0.75% | 3.39 KHz / 3.41 KHz | ∇ -0.74% |
gridmap2D: resize | 1.83 ms / 630.00 us | Δ 189.84% | 547.65 Hz / 1.59 KHz | ∇ -65.50% |
gridmap2D: computeLikelihood | 16.65 us / 17.81 us | ∇ -6.52% | 60.06 KHz / 56.14 KHz | Δ 6.97% |
pointmap: insert 100 scans | 3.11 ms / 1.01 ms | Δ 208.44% | 321.23 Hz / 990.80 Hz | ∇ -67.58% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.52 us | ∇ -5.31% | 233.64 KHz / 221.24 KHz | Δ 5.61% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 364.44 us | ∇ -2.60% | 2.82 KHz / 2.74 KHz | Δ 2.67% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.38 ms | ∇ -5.57% | 241.67 Hz / 228.21 Hz | Δ 5.90% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 5.16 us | ∇ -17.05% | 233.64 KHz / 193.80 KHz | Δ 20.56% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 372.44 us | ∇ -3.01% | 2.77 KHz / 2.68 KHz | Δ 3.10% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.20 ms | ∇ -2.70% | 244.66 Hz / 238.06 Hz | Δ 2.77% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.42 us | ∇ -3.73% | 730.99 KHz / 703.73 KHz | Δ 3.87% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 101.86 us | ∇ -2.84% | 10.10 KHz / 9.82 KHz | Δ 2.92% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 12.17 ms | ∇ -1.78% | 83.64 Hz / 82.15 Hz | Δ 1.81% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 5.64 ms | ∇ -0.70% | 178.50 Hz / 177.25 Hz | Δ 0.70% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 132.76 ms | ∇ -2.41% | 7.72 Hz / 7.53 Hz | Δ 2.47% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 5.71 ms | ∇ -1.01% | 176.84 Hz / 175.04 Hz | Δ 1.02% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 134.74 ms | ∇ -1.71% | 7.55 Hz / 7.42 Hz | Δ 1.74% |
random: drawUniform32bit | 15.70 ns / 14.55 ns | Δ 7.93% | 63.70 MHz / 68.75 MHz | ∇ -7.35% |
random: drawUniform | 15.69 ns / 14.56 ns | Δ 7.80% | 63.72 MHz / 68.69 MHz | ∇ -7.24% |
random: drawGaussian1D_normalized | 70.40 ns / 66.87 ns | Δ 5.28% | 14.20 MHz / 14.96 MHz | ∇ -5.02% |
random: drawGaussian1D | 70.38 ns / 66.81 ns | Δ 5.34% | 14.21 MHz / 14.97 MHz | ∇ -5.07% |
random: system rand() | 11.07 ns / 10.63 ns | Δ 4.14% | 90.37 MHz / 94.11 MHz | ∇ -3.97% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 903.36 ns | Δ 47.21% | 751.96 KHz / 1.11 MHz | ∇ -32.07% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 1.61 us | Δ 88.76% | 328.99 KHz / 621.01 KHz | ∇ -47.02% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 144.65 ns | Δ 12.55% | 6.14 MHz / 6.91 MHz | ∇ -11.15% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 219.48 ns | Δ 11.89% | 4.07 MHz / 4.56 MHz | ∇ -10.63% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 472.80 ns | Δ 8.87% | 1.94 MHz / 2.12 MHz | ∇ -8.15% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 152.29 ns | Δ 14.15% | 5.75 MHz / 6.57 MHz | ∇ -12.39% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 235.04 ns | Δ 10.37% | 3.85 MHz / 4.25 MHz | ∇ -9.40% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 491.60 ns | Δ 6.59% | 1.91 MHz / 2.03 MHz | ∇ -6.18% |
random: permuteVector (len=10) | 288.60 ns / 243.60 ns | Δ 18.47% | 3.47 MHz / 4.11 MHz | ∇ -15.59% |
random: permuteVector (len=100) | 3.07 us / 2.99 us | Δ 2.88% | 325.61 KHz / 334.99 KHz | ∇ -2.80% |
random: permuteVector (len=1000) | 30.26 us / 29.51 us | Δ 2.52% | 33.05 KHz / 33.88 KHz | ∇ -2.45% |
math: round | 0.10 ns / 0.10 ns | Δ 3.21% | 9.77 GHz / 10.08 GHz | ∇ -3.11% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 33.63 ms | ∇ -5.53% | 31.48 Hz / 29.74 Hz | Δ 5.85% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 49.85 ms | ∇ -8.33% | 21.88 Hz / 20.06 Hz | Δ 9.08% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 69.59 ms | Δ 5.38% | 13.64 Hz / 14.37 Hz | ∇ -5.11% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 30.64 ms | ∇ -11.39% | 36.83 Hz / 32.63 Hz | Δ 12.85% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 43.91 ms | ∇ -8.19% | 24.81 Hz / 22.78 Hz | Δ 8.92% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 62.52 ms | Δ 3.06% | 15.52 Hz / 15.99 Hz | ∇ -2.97% |
images: Gauss filter (640x480) | 4.52 ms / 3.81 ms | Δ 18.73% | 221.30 Hz / 262.76 Hz | ∇ -15.78% |
images: Gauss filter (800x600) | 7.35 ms / 5.96 ms | Δ 23.27% | 136.05 Hz / 167.70 Hz | ∇ -18.88% |
images: Gauss filter (1024x768) | 11.22 ms / 10.46 ms | Δ 7.26% | 89.13 Hz / 95.61 Hz | ∇ -6.77% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 12.69 us | ∇ -50.20% | 158.23 KHz / 78.80 KHz | Δ 100.79% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 9.85 us | ∇ -51.47% | 209.21 KHz / 101.52 KHz | Δ 106.07% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 5.24 us | ∇ -59.16% | 467.29 KHz / 190.84 KHz | Δ 144.86% |
feature_extraction [640x480]: Harris | 28.31 ms / 21.14 ms | Δ 33.94% | 35.32 Hz / 47.31 Hz | ∇ -25.34% |
feature_extraction [640x480]: KLT | 27.34 ms / 21.45 ms | Δ 27.45% | 36.57 Hz / 46.61 Hz | ∇ -21.54% |
feature_extraction [640x480]: SIFT | 641.91 ms / 591.25 ms | Δ 8.57% | 1.56 Hz / 1.69 Hz | ∇ -7.89% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 162.82 ms | Δ 4.81% | 5.86 Hz / 6.14 Hz | ∇ -4.59% |
feature_extraction [640x480]: SURF | 201.21 ms / 197.33 ms | Δ 1.97% | 4.97 Hz / 5.07 Hz | ∇ -1.93% |
feature_extraction [640x480]: FAST | 5.22 ms / 6.89 ms | ∇ -24.20% | 191.49 Hz / 145.15 Hz | Δ 31.93% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 63.90 ms | ∇ -4.83% | 16.44 Hz / 15.65 Hz | Δ 5.08% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 38.54 ms | Δ 12.26% | 23.12 Hz / 25.95 Hz | ∇ -10.92% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 33.59 ms | Δ 18.82% | 25.06 Hz / 29.77 Hz | ∇ -15.84% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.16 sec | Δ 10.22% | 783.36 mHz / 863.45 mHz | ∇ -9.28% |
feature_matching [640x480]: SURF | 386.18 ms / 375.89 ms | Δ 2.74% | 2.59 Hz / 2.66 Hz | ∇ -2.66% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 15.89 ms | Δ 1.48% | 62.03 Hz / 62.95 Hz | ∇ -1.46% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 10.48 ms | Δ 4.33% | 91.46 Hz / 95.42 Hz | ∇ -4.15% |