Test description | 0.9.1-GCC-64bit / 0.9.3-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 20.90 ms | Δ 3.35% | 46.30 Hz / 47.85 Hz | ∇ -3.25% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 18.76 ms | Δ 9.32% | 48.75 Hz / 53.30 Hz | ∇ -8.53% |
poses: CPose3D (+) CPose3D | 449.02 ns / 41.67 ns | Δ 977.56% | 2.23 MHz / 24.00 MHz | ∇ -90.72% |
poses: CPose3D.composeFrom() | 233.83 ns / 32.39 ns | Δ 621.92% | 4.28 MHz / 30.87 MHz | ∇ -86.15% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 8.02 ns | Δ 32.93% | 93.76 MHz / 124.63 MHz | ∇ -24.77% |
poses: CPose3D.composePoint() | 10.06 ns / 11.53 ns | ∇ -12.76% | 99.38 MHz / 86.70 MHz | Δ 14.63% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 18.18 ns | Δ 107.37% | 26.52 MHz / 54.99 MHz | ∇ -51.78% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 25.21 ns | Δ 62.51% | 24.40 MHz / 39.66 MHz | ∇ -38.47% |
poses: CPose2D (+) CPose2D | 78.17 ns / 72.10 ns | Δ 8.42% | 12.79 MHz / 13.87 MHz | ∇ -7.76% |
poses: CPose2D.composeFrom() | 62.17 ns / 69.22 ns | ∇ -10.19% | 16.08 MHz / 14.45 MHz | Δ 11.34% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 60.48 ns | Δ 5.59% | 15.66 MHz / 16.53 MHz | ∇ -5.29% |
poses: CPose2D.composePoint() | 61.98 ns / 60.01 ns | Δ 3.28% | 16.13 MHz / 16.66 MHz | ∇ -3.18% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 42.70 ns | Δ 10.07% | 21.28 MHz / 23.42 MHz | ∇ -9.15% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 38.27 ns | Δ 4.00% | 25.13 MHz / 26.13 MHz | ∇ -3.84% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 17.90 ns | Δ 26.34% | 44.21 MHz / 55.85 MHz | ∇ -20.85% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 18.44 ns | Δ 2.66% | 52.83 MHz / 54.23 MHz | ∇ -2.59% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 33.31 ns | Δ 1074.53% | 2.56 MHz / 30.02 MHz | ∇ -91.49% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 19.52 ns | ∇ -7.49% | 55.39 MHz / 51.24 MHz | Δ 8.10% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 16.27 ns | Δ 2081.40% | 2.82 MHz / 61.45 MHz | ∇ -95.42% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 169.77 ns | Δ 2.01% | 5.77 MHz / 5.89 MHz | ∇ -1.97% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 799.00 ns | Δ 101872.15% | 1.23 KHz / 1.25 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 788.50 ns | Δ 104136.97% | 1.22 KHz / 1.27 MHz | ∇ -99.90% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 9.11 us | Δ 5.12% | 104.48 KHz / 109.83 KHz | ∇ -4.87% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 557.50 ns | Δ 22.39% | 1.47 MHz / 1.79 MHz | ∇ -18.29% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 558.50 ns | ∇ -4.42% | 1.87 MHz / 1.79 MHz | Δ 4.63% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 8.42 us | Δ 1.17% | 117.45 KHz / 118.81 KHz | ∇ -1.15% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 17.83 ns | Δ 15.46% | 48.56 MHz / 56.07 MHz | ∇ -13.39% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 19.48 ns | Δ 16.07% | 44.24 MHz / 51.35 MHz | ∇ -13.84% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 54.85 ns | Δ 16.55% | 15.64 MHz / 18.23 MHz | ∇ -14.20% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 55.93 ns | Δ 16.60% | 15.33 MHz / 17.88 MHz | ∇ -14.24% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.00 ns | Δ inf% | 2.89 GHz / inf THz | ∇ -nan% |
matrix: unit, fix[double,3,3] | 1.19 ns / 0.00 ns | Δ inf% | 842.46 MHz / inf THz | ∇ -nan% |
matrix: unit, fix[float,6,6] | 1.68 ns / 1.50 ns | Δ 12.28% | 594.53 MHz / 667.56 MHz | ∇ -10.94% |
matrix: unit, fix[double,6,6] | 2.86 ns / 5.61 ns | ∇ -48.97% | 349.53 MHz / 178.35 MHz | Δ 95.98% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 291.30 ns | ∇ -74.77% | 13.61 MHz / 3.43 MHz | Δ 296.33% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 0.00 ns | Δ inf% | 41.49 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 292.50 ns | ∇ -75.35% | 13.87 MHz / 3.42 MHz | Δ 305.69% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 0.00 ns | Δ inf% | 42.55 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 347.50 ns | ∇ -67.51% | 8.86 MHz / 2.88 MHz | Δ 207.79% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 0.00 ns | Δ inf% | 22.22 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 340.40 ns | ∇ -67.54% | 9.05 MHz / 2.94 MHz | Δ 208.05% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 0.00 ns | Δ inf% | 22.17 MHz / inf THz | ∇ -nan% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 2.42 us | Δ 140.35% | 171.91 KHz / 413.19 KHz | ∇ -58.39% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 2.23 us | Δ 60.12% | 279.91 KHz / 448.19 KHz | ∇ -37.55% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 2.31 us | Δ 154.63% | 169.93 KHz / 432.69 KHz | ∇ -60.73% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 2.12 us | Δ 79.77% | 262.04 KHz / 471.08 KHz | ∇ -44.37% |
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 / 780.00 ns | ∇ -47.05% | 2.42 MHz / 1.28 MHz | Δ 88.86% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 0.00 ns | Δ inf% | 45.45 MHz / inf THz | ∇ -nan% |
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 / 1.97 us | ∇ -36.66% | 800.64 KHz / 507.10 KHz | Δ 57.89% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 1.60 us | ∇ -63.90% | 1.73 MHz / 624.61 KHz | Δ 176.99% |
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 / 16.08 us | Δ 77.76% | 34.98 KHz / 62.19 KHz | ∇ -43.74% |
matrix: inv, fix[double] 20x20 | 17.20 us / 14.48 us | Δ 18.79% | 58.15 KHz / 69.08 KHz | ∇ -15.82% |
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 / 65.78 us | Δ 205.46% | 4.98 KHz / 15.20 KHz | ∇ -67.26% |
matrix: inv, fix[double] 40x40 | 134.50 us / 64.13 us | Δ 109.73% | 7.43 KHz / 15.59 KHz | ∇ -52.32% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / X | 156.25 MHz / X | ||
matrix: det, fix[float ] 2x2 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 2x2 | 8.80 ns / 212.60 ns | ∇ -95.86% | 113.64 MHz / 4.70 MHz | Δ 2315.91% |
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 / X | 97.09 MHz / X | ||
matrix: det, fix[float ] 3x3 | 0.00 ns / X | inf THz / X | ||
matrix: det, dyn[double] 3x3 | 10.30 ns / 323.30 ns | ∇ -96.81% | 97.09 MHz / 3.09 MHz | Δ 3038.83% |
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 / 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 / 774.90 ns | ∇ -4.62% | 1.35 MHz / 1.29 MHz | Δ 4.84% |
matrix: det, fix[double] 6x6 | 219.80 ns / 592.30 ns | ∇ -62.89% | 4.55 MHz / 1.69 MHz | Δ 169.47% |
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 / 8.50 us | ∇ -23.28% | 153.32 KHz / 117.63 KHz | Δ 30.34% |
matrix: det, fix[double] 20x20 | 4.73 us / 7.72 us | ∇ -38.77% | 211.54 KHz / 129.53 KHz | Δ 63.31% |
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 / 32.23 us | Δ 0.53% | 30.87 KHz / 31.03 KHz | ∇ -0.52% |
matrix: det, fix[double] 40x40 | 27.53 us / 30.71 us | ∇ -10.36% | 36.33 KHz / 32.57 KHz | Δ 11.55% |
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 / 130.00 ns | ∇ 0.00% | 7.69 MHz / 7.69 MHz | ∇ 0.00% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 22.98 us | ∇ -18.49% | 53.39 KHz / 43.52 KHz | Δ 22.69% |
matrix: chol, fix[double] 40x40 | 16.74 us / 19.50 us | ∇ -14.15% | 59.74 KHz / 51.28 KHz | Δ 16.49% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 8.20 us | Δ 3.66% | 117.65 KHz / 121.95 KHz | ∇ -3.53% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 85.30 us | Δ 10.08% | 10.65 KHz / 11.72 KHz | ∇ -9.16% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 56.80 us | ∇ -6.87% | 18.90 KHz / 17.61 KHz | Δ 7.37% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 39.31 us | Δ 1.83% | 24.98 KHz / 25.44 KHz | ∇ -1.80% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 266.80 us | Δ 54.16% | 2.43 KHz / 3.75 KHz | ∇ -35.13% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 72.76 us | Δ 3.05% | 13.34 KHz / 13.74 KHz | ∇ -2.96% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 2.67 ms | Δ 222.36% | 116.18 Hz / 374.53 Hz | ∇ -68.98% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 176.19 us | Δ 5.20% | 5.40 KHz / 5.68 KHz | ∇ -4.94% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 20.73 ms | Δ 553.08% | 7.39 Hz / 48.23 Hz | ∇ -84.69% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 351.05 us | Δ 2.49% | 2.78 KHz / 2.85 KHz | ∇ -2.43% |
matrix: chol, dyn[double] 120x[6x6] | 364.31 ms / 34.60 ms | Δ 952.83% | 2.74 Hz / 28.90 Hz | ∇ -90.50% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 415.89 us | Δ 2.52% | 2.35 KHz / 2.40 KHz | ∇ -2.46% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 50.32 ms | Δ 1490.17% | 1.25 Hz / 19.87 Hz | ∇ -93.71% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 482.94 us | Δ 3.04% | 2.01 KHz / 2.07 KHz | ∇ -2.95% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
gridmap2D: setCell | 2.58 ns / 2.61 ns | ∇ -0.92% | 387.19 MHz / 383.63 MHz | Δ 0.93% |
gridmap2D: updateCell | 7.47 ns / 6.99 ns | Δ 6.89% | 133.80 MHz / 143.02 MHz | ∇ -6.45% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.51 ns | Δ 6.54% | 1.83 GHz / 1.95 GHz | ∇ -6.14% |
gridmap2D: insert scan w/o widening | 104.80 us / 102.59 us | Δ 2.15% | 9.54 KHz / 9.75 KHz | ∇ -2.11% |
gridmap2D: insert scan with widening | 295.32 us / 284.11 us | Δ 3.95% | 3.39 KHz / 3.52 KHz | ∇ -3.80% |
gridmap2D: resize | 1.83 ms / 722.00 us | Δ 152.91% | 547.65 Hz / 1.39 KHz | ∇ -60.46% |
gridmap2D: computeLikelihood | 16.65 us / 15.69 us | Δ 6.10% | 60.06 KHz / 63.72 KHz | ∇ -5.75% |
pointmap: insert 100 scans | 3.11 ms / 2.97 ms | Δ 4.93% | 321.23 Hz / 337.06 Hz | ∇ -4.69% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.36 us | ∇ -1.83% | 233.64 KHz / 229.36 KHz | Δ 1.87% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 357.08 us | ∇ -0.59% | 2.82 KHz / 2.80 KHz | Δ 0.60% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.19 ms | ∇ -1.26% | 241.67 Hz / 238.61 Hz | Δ 1.28% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 4.72 us | ∇ -9.32% | 233.64 KHz / 211.86 KHz | Δ 10.28% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 362.68 us | ∇ -0.40% | 2.77 KHz / 2.76 KHz | Δ 0.40% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.10 ms | ∇ -0.23% | 244.66 Hz / 244.09 Hz | Δ 0.23% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.39 us | ∇ -1.44% | 730.99 KHz / 720.46 KHz | Δ 1.46% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 101.86 us | ∇ -2.85% | 10.10 KHz / 9.82 KHz | Δ 2.93% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 11.78 ms | Δ 1.53% | 83.64 Hz / 84.92 Hz | ∇ -1.51% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 5.62 ms | ∇ -0.37% | 178.50 Hz / 177.84 Hz | Δ 0.37% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 130.59 ms | ∇ -0.79% | 7.72 Hz / 7.66 Hz | Δ 0.79% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 5.69 ms | ∇ -0.63% | 176.84 Hz / 175.73 Hz | Δ 0.63% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 132.22 ms | Δ 0.15% | 7.55 Hz / 7.56 Hz | ∇ -0.15% |
random: drawUniform32bit | 15.70 ns / 15.67 ns | Δ 0.19% | 63.70 MHz / 63.82 MHz | ∇ -0.19% |
random: drawUniform | 15.69 ns / 15.66 ns | Δ 0.25% | 63.72 MHz / 63.88 MHz | ∇ -0.25% |
random: drawGaussian1D_normalized | 70.40 ns / 69.89 ns | Δ 0.72% | 14.20 MHz / 14.31 MHz | ∇ -0.72% |
random: drawGaussian1D | 70.38 ns / 69.86 ns | Δ 0.74% | 14.21 MHz / 14.32 MHz | ∇ -0.74% |
random: system rand() | 11.07 ns / 12.21 ns | ∇ -9.41% | 90.37 MHz / 81.87 MHz | Δ 10.38% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 2.70 us | ∇ -50.73% | 751.96 KHz / 370.49 KHz | Δ 102.96% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 5.71 us | ∇ -46.76% | 328.99 KHz / 175.14 KHz | Δ 87.84% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 148.19 ns | Δ 9.87% | 6.14 MHz / 6.75 MHz | ∇ -8.98% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 232.46 ns | Δ 5.65% | 4.07 MHz / 4.30 MHz | ∇ -5.34% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 489.71 ns | Δ 5.11% | 1.94 MHz / 2.04 MHz | ∇ -4.86% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 159.54 ns | Δ 8.96% | 5.75 MHz / 6.27 MHz | ∇ -8.22% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 247.75 ns | Δ 4.71% | 3.85 MHz / 4.04 MHz | ∇ -4.50% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 521.91 ns | Δ 0.40% | 1.91 MHz / 1.92 MHz | ∇ -0.40% |
random: permuteVector (len=10) | 288.60 ns / 251.30 ns | Δ 14.84% | 3.47 MHz / 3.98 MHz | ∇ -12.92% |
random: permuteVector (len=100) | 3.07 us / 3.02 us | Δ 1.80% | 325.61 KHz / 331.46 KHz | ∇ -1.76% |
random: permuteVector (len=1000) | 30.26 us / 30.36 us | ∇ -0.35% | 33.05 KHz / 32.93 KHz | Δ 0.35% |
math: round | 0.10 ns / 0.10 ns | Δ 3.29% | 9.77 GHz / 10.09 GHz | ∇ -3.18% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 34.14 ms | ∇ -6.95% | 31.48 Hz / 29.29 Hz | Δ 7.47% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 49.83 ms | ∇ -8.29% | 21.88 Hz / 20.07 Hz | Δ 9.04% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 80.71 ms | ∇ -9.14% | 13.64 Hz / 12.39 Hz | Δ 10.06% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 29.36 ms | ∇ -7.53% | 36.83 Hz / 34.05 Hz | Δ 8.15% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 42.45 ms | ∇ -5.03% | 24.81 Hz / 23.56 Hz | Δ 5.30% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 65.41 ms | ∇ -1.48% | 15.52 Hz / 15.29 Hz | Δ 1.50% |
images: Gauss filter (640x480) | 4.52 ms / 4.66 ms | ∇ -3.12% | 221.30 Hz / 214.40 Hz | Δ 3.22% |
images: Gauss filter (800x600) | 7.35 ms / 5.98 ms | Δ 22.82% | 136.05 Hz / 167.10 Hz | ∇ -18.58% |
images: Gauss filter (1024x768) | 11.22 ms / 10.42 ms | Δ 7.63% | 89.13 Hz / 95.93 Hz | ∇ -7.08% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 11.35 us | ∇ -44.32% | 158.23 KHz / 88.11 KHz | Δ 79.59% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 9.96 us | ∇ -52.01% | 209.21 KHz / 100.40 KHz | Δ 108.37% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 5.52 us | ∇ -61.23% | 467.29 KHz / 181.16 KHz | Δ 157.94% |
feature_extraction [640x480]: Harris | 28.31 ms / 32.25 ms | ∇ -12.22% | 35.32 Hz / 31.01 Hz | Δ 13.91% |
feature_extraction [640x480]: KLT | 27.34 ms / 25.60 ms | Δ 6.79% | 36.57 Hz / 39.06 Hz | ∇ -6.35% |
feature_extraction [640x480]: SIFT | 641.91 ms / 630.91 ms | Δ 1.74% | 1.56 Hz / 1.59 Hz | ∇ -1.71% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 164.09 ms | Δ 4.00% | 5.86 Hz / 6.09 Hz | ∇ -3.85% |
feature_extraction [640x480]: SURF | 201.21 ms / 207.64 ms | ∇ -3.10% | 4.97 Hz / 4.82 Hz | Δ 3.19% |
feature_extraction [640x480]: FAST | 5.22 ms / 7.60 ms | ∇ -31.29% | 191.49 Hz / 131.57 Hz | Δ 45.54% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 60.60 ms | Δ 0.34% | 16.44 Hz / 16.50 Hz | ∇ -0.34% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 43.99 ms | ∇ -1.66% | 23.12 Hz / 22.73 Hz | Δ 1.69% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 36.29 ms | Δ 9.99% | 25.06 Hz / 27.56 Hz | ∇ -9.08% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.20 sec | Δ 6.53% | 783.36 mHz / 834.47 mHz | ∇ -6.13% |
feature_matching [640x480]: SURF | 386.18 ms / 379.83 ms | Δ 1.67% | 2.59 Hz / 2.63 Hz | ∇ -1.64% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 16.04 ms | Δ 0.54% | 62.03 Hz / 62.36 Hz | ∇ -0.54% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 10.85 ms | Δ 0.74% | 91.46 Hz / 92.14 Hz | ∇ -0.74% |