Test description | 0.9.1-GCC-64bit / 0.9.2preSVN2157-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 20.59 ms | Δ 4.92% | 46.30 Hz / 48.58 Hz | ∇ -4.69% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 20.64 ms | ∇ -0.61% | 48.75 Hz / 48.45 Hz | Δ 0.61% |
poses: CPose3D (+) CPose3D | 449.02 ns / 42.90 ns | Δ 946.67% | 2.23 MHz / 23.31 MHz | ∇ -90.45% |
poses: CPose3D.composeFrom() | 233.83 ns / 37.61 ns | Δ 521.72% | 4.28 MHz / 26.59 MHz | ∇ -83.92% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 7.25 ns | Δ 47.08% | 93.76 MHz / 137.89 MHz | ∇ -32.01% |
poses: CPose3D.composePoint() | 10.06 ns / 11.83 ns | ∇ -14.95% | 99.38 MHz / 84.53 MHz | Δ 17.57% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 39.31 ns | ∇ -4.08% | 26.52 MHz / 25.44 MHz | Δ 4.25% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 34.91 ns | Δ 17.39% | 24.40 MHz / 28.65 MHz | ∇ -14.81% |
poses: CPose2D (+) CPose2D | 78.17 ns / 76.08 ns | Δ 2.75% | 12.79 MHz / 13.14 MHz | ∇ -2.67% |
poses: CPose2D.composeFrom() | 62.17 ns / 61.61 ns | Δ 0.91% | 16.08 MHz / 16.23 MHz | ∇ -0.90% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 60.26 ns | Δ 5.97% | 15.66 MHz / 16.59 MHz | ∇ -5.64% |
poses: CPose2D.composePoint() | 61.98 ns / 62.26 ns | ∇ -0.46% | 16.13 MHz / 16.06 MHz | Δ 0.46% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 40.99 ns | Δ 14.66% | 21.28 MHz / 24.40 MHz | ∇ -12.79% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 39.39 ns | Δ 1.04% | 25.13 MHz / 25.39 MHz | ∇ -1.03% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 18.30 ns | Δ 23.58% | 44.21 MHz / 54.63 MHz | ∇ -19.08% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 17.94 ns | Δ 5.51% | 52.83 MHz / 55.74 MHz | ∇ -5.22% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 55.46 ns | Δ 605.53% | 2.56 MHz / 18.03 MHz | ∇ -85.83% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 17.66 ns | Δ 2.23% | 55.39 MHz / 56.63 MHz | ∇ -2.18% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 16.78 ns | Δ 2014.99% | 2.82 MHz / 59.58 MHz | ∇ -95.27% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 169.37 ns | Δ 2.26% | 5.77 MHz / 5.90 MHz | ∇ -2.21% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 799.08 us | Δ 1.96% | 1.23 KHz / 1.25 KHz | ∇ -1.92% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 803.31 us | Δ 2.32% | 1.22 KHz / 1.24 KHz | ∇ -2.26% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 9.44 us | Δ 1.37% | 104.48 KHz / 105.91 KHz | ∇ -1.35% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 648.90 ns | Δ 5.15% | 1.47 MHz / 1.54 MHz | ∇ -4.90% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 631.00 ns | ∇ -15.40% | 1.87 MHz / 1.58 MHz | Δ 18.21% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 8.18 us | Δ 4.13% | 117.45 KHz / 122.30 KHz | ∇ -3.97% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 24.43 ns | ∇ -15.70% | 48.56 MHz / 40.94 MHz | Δ 18.62% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 23.18 ns | ∇ -2.49% | 44.24 MHz / 43.14 MHz | Δ 2.55% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 59.50 ns | Δ 7.43% | 15.64 MHz / 16.81 MHz | ∇ -6.91% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 62.26 ns | Δ 4.74% | 15.33 MHz / 16.06 MHz | ∇ -4.52% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.35 ns | ∇ -0.29% | 2.89 GHz / 2.88 GHz | Δ 0.29% |
matrix: unit, fix[double,3,3] | 1.19 ns / 1.19 ns | ∇ -0.08% | 842.46 MHz / 841.75 MHz | Δ 0.08% |
matrix: unit, fix[float,6,6] | 1.68 ns / 1.70 ns | ∇ -1.23% | 594.53 MHz / 587.20 MHz | Δ 1.25% |
matrix: unit, fix[double,6,6] | 2.86 ns / 2.77 ns | Δ 3.29% | 349.53 MHz / 361.01 MHz | ∇ -3.18% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 85.80 ns | ∇ -14.34% | 13.61 MHz / 11.66 MHz | Δ 16.73% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 23.80 ns | Δ 1.26% | 41.49 MHz / 42.02 MHz | ∇ -1.24% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 75.90 ns | ∇ -5.01% | 13.87 MHz / 13.18 MHz | Δ 5.27% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 23.50 ns | ∇ 0.00% | 42.55 MHz / 42.55 MHz | ∇ 0.00% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 118.10 ns | ∇ -4.40% | 8.86 MHz / 8.47 MHz | Δ 4.61% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 44.70 ns | Δ 0.67% | 22.22 MHz / 22.37 MHz | ∇ -0.67% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 110.50 ns | ∇ 0.00% | 9.05 MHz / 9.05 MHz | ∇ 0.00% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 45.20 ns | ∇ -0.22% | 22.17 MHz / 22.12 MHz | Δ 0.22% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 5.44 us | Δ 7.00% | 171.91 KHz / 183.95 KHz | ∇ -6.54% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 3.78 us | ∇ -5.37% | 279.91 KHz / 264.87 KHz | Δ 5.68% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 5.54 us | Δ 6.15% | 169.93 KHz / 180.38 KHz | ∇ -5.79% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 4.07 us | ∇ -6.34% | 262.04 KHz / 245.43 KHz | Δ 6.77% |
matrix: inv, dyn[float ] 3x3 | 449.00 ns / 631.00 ns | ∇ -28.84% | 2.23 MHz / 1.58 MHz | Δ 40.53% |
matrix: inv, fix[float ] 3x3 | 33.00 ns / 35.00 ns | ∇ -5.71% | 30.30 MHz / 28.57 MHz | Δ 6.06% |
matrix: inv, dyn[double] 3x3 | 413.00 ns / 644.00 ns | ∇ -35.87% | 2.42 MHz / 1.55 MHz | Δ 55.93% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 39.00 ns | ∇ -43.59% | 45.45 MHz / 25.64 MHz | Δ 77.27% |
matrix: inv, dyn[float ] 6x6 | 1.31 us / 2.37 us | ∇ -44.58% | 761.04 KHz / 421.76 KHz | Δ 80.44% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 812.00 ns | ∇ -42.36% | 2.14 MHz / 1.23 MHz | Δ 73.50% |
matrix: inv, dyn[double] 6x6 | 1.25 us / 1.26 us | ∇ -0.95% | 800.64 KHz / 793.02 KHz | Δ 0.96% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 575.00 ns | Δ 0.52% | 1.73 MHz / 1.74 MHz | ∇ -0.52% |
matrix: inv, dyn[float ] 20x20 | 28.01 us / 25.94 us | Δ 7.98% | 35.71 KHz / 38.55 KHz | ∇ -7.39% |
matrix: inv, fix[float ] 20x20 | 12.67 us / 14.14 us | ∇ -10.41% | 78.91 KHz / 70.70 KHz | Δ 11.62% |
matrix: inv, dyn[double] 20x20 | 28.58 us / 25.76 us | Δ 10.98% | 34.98 KHz / 38.83 KHz | ∇ -9.89% |
matrix: inv, fix[double] 20x20 | 17.20 us / 17.04 us | Δ 0.93% | 58.15 KHz / 58.69 KHz | ∇ -0.92% |
matrix: inv, dyn[float ] 40x40 | 205.67 us / 205.11 us | Δ 0.27% | 4.86 KHz / 4.88 KHz | ∇ -0.27% |
matrix: inv, fix[float ] 40x40 | 92.66 us / 93.29 us | ∇ -0.67% | 10.79 KHz / 10.72 KHz | Δ 0.68% |
matrix: inv, dyn[double] 40x40 | 200.95 us / 207.20 us | ∇ -3.02% | 4.98 KHz / 4.83 KHz | Δ 3.11% |
matrix: inv, fix[double] 40x40 | 134.50 us / 133.80 us | Δ 0.52% | 7.43 KHz / 7.47 KHz | ∇ -0.52% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 6.40 ns | ∇ 0.00% | 156.25 MHz / 156.25 MHz | ∇ 0.00% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 2x2 | 8.80 ns / 6.40 ns | Δ 37.50% | 113.64 MHz / 156.25 MHz | ∇ -27.27% |
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 / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 10.30 ns | ∇ 0.00% | 97.09 MHz / 97.09 MHz | ∇ 0.00% |
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 / 653.50 ns | Δ 42.54% | 1.07 MHz / 1.53 MHz | ∇ -29.84% |
matrix: det, fix[float ] 6x6 | 215.70 ns / 210.00 ns | Δ 2.71% | 4.64 MHz / 4.76 MHz | ∇ -2.64% |
matrix: det, dyn[double] 6x6 | 739.10 ns / 730.30 ns | Δ 1.20% | 1.35 MHz / 1.37 MHz | ∇ -1.19% |
matrix: det, fix[double] 6x6 | 219.80 ns / 212.10 ns | Δ 3.63% | 4.55 MHz / 4.71 MHz | ∇ -3.50% |
matrix: det, dyn[float ] 20x20 | 5.64 us / 5.70 us | ∇ -1.08% | 177.30 KHz / 175.40 KHz | Δ 1.09% |
matrix: det, fix[float ] 20x20 | 4.05 us / 4.20 us | ∇ -3.60% | 246.81 KHz / 237.92 KHz | Δ 3.74% |
matrix: det, dyn[double] 20x20 | 6.52 us / 6.56 us | ∇ -0.64% | 153.32 KHz / 152.33 KHz | Δ 0.65% |
matrix: det, fix[double] 20x20 | 4.73 us / 5.04 us | ∇ -6.22% | 211.54 KHz / 198.38 KHz | Δ 6.63% |
matrix: det, dyn[float ] 40x40 | 30.83 us / 32.38 us | ∇ -4.77% | 32.43 KHz / 30.89 KHz | Δ 5.01% |
matrix: det, fix[float ] 40x40 | 25.85 us / 27.92 us | ∇ -7.38% | 38.68 KHz / 35.82 KHz | Δ 7.97% |
matrix: det, dyn[double] 40x40 | 32.40 us / 39.41 us | ∇ -17.80% | 30.87 KHz / 25.37 KHz | Δ 21.66% |
matrix: det, fix[double] 40x40 | 27.53 us / 29.04 us | ∇ -5.20% | 36.33 KHz / 34.44 KHz | Δ 5.49% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 140.00 ns | Δ 21.43% | 5.88 MHz / 7.14 MHz | ∇ -17.65% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 160.00 ns | ∇ -18.75% | 7.69 MHz / 6.25 MHz | Δ 23.08% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 18.38 us | Δ 1.90% | 53.39 KHz / 54.41 KHz | ∇ -1.87% |
matrix: chol, fix[double] 40x40 | 16.74 us / 17.08 us | ∇ -1.99% | 59.74 KHz / 58.55 KHz | Δ 2.03% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 8.30 us | Δ 2.41% | 117.65 KHz / 120.48 KHz | ∇ -2.35% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 84.40 us | Δ 11.26% | 10.65 KHz / 11.85 KHz | ∇ -10.12% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 53.00 us | ∇ -0.19% | 18.90 KHz / 18.87 KHz | Δ 0.19% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 39.49 us | Δ 1.37% | 24.98 KHz / 25.32 KHz | ∇ -1.35% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 411.70 us | ∇ -0.10% | 2.43 KHz / 2.43 KHz | Δ 0.10% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 74.09 us | Δ 1.20% | 13.34 KHz / 13.50 KHz | ∇ -1.19% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 10.38 ms | ∇ -17.09% | 116.18 Hz / 96.33 Hz | Δ 20.61% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 248.74 us | ∇ -25.48% | 5.40 KHz / 4.02 KHz | Δ 34.20% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 370.64 ms | ∇ -63.47% | 7.39 Hz / 2.70 Hz | Δ 173.74% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 353.56 us | Δ 1.76% | 2.78 KHz / 2.83 KHz | ∇ -1.73% |
matrix: chol, dyn[double] 120x[6x6] | 364.31 ms / 365.56 ms | ∇ -0.34% | 2.74 Hz / 2.74 Hz | Δ 0.34% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 425.27 us | Δ 0.26% | 2.35 KHz / 2.35 KHz | ∇ -0.26% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 796.04 ms | Δ 0.52% | 1.25 Hz / 1.26 Hz | ∇ -0.52% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 490.79 us | Δ 1.39% | 2.01 KHz / 2.04 KHz | ∇ -1.37% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -nan% | inf THz / inf THz | ∇ -nan% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | Δ 0.15% | 387.19 MHz / 387.76 MHz | ∇ -0.15% |
gridmap2D: updateCell | 7.47 ns / 7.44 ns | Δ 0.39% | 133.80 MHz / 134.32 MHz | ∇ -0.39% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | ∇ -0.91% | 1.83 GHz / 1.82 GHz | Δ 0.92% |
gridmap2D: insert scan w/o widening | 104.80 us / 101.23 us | Δ 3.53% | 9.54 KHz / 9.88 KHz | ∇ -3.41% |
gridmap2D: insert scan with widening | 295.32 us / 291.30 us | Δ 1.38% | 3.39 KHz / 3.43 KHz | ∇ -1.36% |
gridmap2D: resize | 1.83 ms / 1.89 ms | ∇ -3.28% | 547.65 Hz / 529.66 Hz | Δ 3.40% |
gridmap2D: computeLikelihood | 16.65 us / 16.46 us | Δ 1.17% | 60.06 KHz / 60.76 KHz | ∇ -1.16% |
pointmap: insert 100 scans | 3.11 ms / 3.10 ms | Δ 0.39% | 321.23 Hz / 322.50 Hz | ∇ -0.39% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.28 us | ∇ 0.00% | 233.64 KHz / 233.64 KHz | ∇ 0.00% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 355.52 us | ∇ -0.16% | 2.82 KHz / 2.81 KHz | Δ 0.16% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.16 ms | ∇ -0.59% | 241.67 Hz / 240.24 Hz | Δ 0.59% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 4.76 us | ∇ -10.08% | 233.64 KHz / 210.08 KHz | Δ 11.21% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 363.20 us | ∇ -0.54% | 2.77 KHz / 2.75 KHz | Δ 0.54% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.09 ms | ∇ -0.15% | 244.66 Hz / 244.29 Hz | Δ 0.15% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.38 us | ∇ -1.01% | 730.99 KHz / 723.59 KHz | Δ 1.02% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 100.93 us | ∇ -1.95% | 10.10 KHz / 9.91 KHz | Δ 1.99% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 11.91 ms | Δ 0.37% | 83.64 Hz / 83.95 Hz | ∇ -0.37% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 5.62 ms | ∇ -0.27% | 178.50 Hz / 178.01 Hz | Δ 0.27% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 130.76 ms | ∇ -0.92% | 7.72 Hz / 7.65 Hz | Δ 0.93% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 5.67 ms | ∇ -0.27% | 176.84 Hz / 176.35 Hz | Δ 0.27% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 132.64 ms | ∇ -0.16% | 7.55 Hz / 7.54 Hz | Δ 0.16% |
random: drawUniform32bit | 15.70 ns / 14.57 ns | Δ 7.74% | 63.70 MHz / 68.63 MHz | ∇ -7.19% |
random: drawUniform | 15.69 ns / 14.62 ns | Δ 7.36% | 63.72 MHz / 68.41 MHz | ∇ -6.85% |
random: drawGaussian1D_normalized | 70.40 ns / 68.70 ns | Δ 2.47% | 14.20 MHz / 14.56 MHz | ∇ -2.41% |
random: drawGaussian1D | 70.38 ns / 68.68 ns | Δ 2.46% | 14.21 MHz / 14.56 MHz | ∇ -2.40% |
random: system rand() | 11.07 ns / 10.45 ns | Δ 5.86% | 90.37 MHz / 95.67 MHz | ∇ -5.54% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 1.31 us | Δ 1.70% | 751.96 KHz / 764.77 KHz | ∇ -1.68% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 2.79 us | Δ 9.10% | 328.99 KHz / 358.92 KHz | ∇ -8.34% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 158.26 ns | Δ 2.88% | 6.14 MHz / 6.32 MHz | ∇ -2.79% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 236.42 ns | Δ 3.88% | 4.07 MHz / 4.23 MHz | ∇ -3.73% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 489.37 ns | Δ 5.18% | 1.94 MHz / 2.04 MHz | ∇ -4.93% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 164.61 ns | Δ 5.60% | 5.75 MHz / 6.07 MHz | ∇ -5.30% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 248.12 ns | Δ 4.56% | 3.85 MHz / 4.03 MHz | ∇ -4.36% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 514.83 ns | Δ 1.78% | 1.91 MHz / 1.94 MHz | ∇ -1.75% |
random: permuteVector (len=10) | 288.60 ns / 317.50 ns | ∇ -9.10% | 3.47 MHz / 3.15 MHz | Δ 10.01% |
random: permuteVector (len=100) | 3.07 us / 3.06 us | Δ 0.29% | 325.61 KHz / 326.54 KHz | ∇ -0.29% |
random: permuteVector (len=1000) | 30.26 us / 30.27 us | ∇ -0.04% | 33.05 KHz / 33.04 KHz | Δ 0.04% |
math: round | 0.10 ns / 0.10 ns | Δ 3.28% | 9.77 GHz / 10.09 GHz | ∇ -3.17% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 27.27 ms | Δ 16.50% | 31.48 Hz / 36.67 Hz | ∇ -14.16% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 43.27 ms | Δ 5.61% | 21.88 Hz / 23.11 Hz | ∇ -5.31% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 74.67 ms | ∇ -1.79% | 13.64 Hz / 13.39 Hz | Δ 1.83% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 26.31 ms | Δ 3.21% | 36.83 Hz / 38.01 Hz | ∇ -3.11% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 40.92 ms | ∇ -1.48% | 24.81 Hz / 24.44 Hz | Δ 1.51% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 62.56 ms | Δ 3.01% | 15.52 Hz / 15.99 Hz | ∇ -2.92% |
images: Gauss filter (640x480) | 4.52 ms / 4.48 ms | Δ 0.78% | 221.30 Hz / 223.01 Hz | ∇ -0.77% |
images: Gauss filter (800x600) | 7.35 ms / 7.46 ms | ∇ -1.46% | 136.05 Hz / 134.07 Hz | Δ 1.48% |
images: Gauss filter (1024x768) | 11.22 ms / 12.41 ms | ∇ -9.61% | 89.13 Hz / 80.57 Hz | Δ 10.63% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 5.15 us | Δ 22.72% | 158.23 KHz / 194.17 KHz | ∇ -18.51% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 4.35 us | Δ 9.89% | 209.21 KHz / 229.89 KHz | ∇ -9.00% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 2.12 us | Δ 0.94% | 467.29 KHz / 471.70 KHz | ∇ -0.93% |
feature_extraction [640x480]: Harris | 28.31 ms / 33.18 ms | ∇ -14.67% | 35.32 Hz / 30.14 Hz | Δ 17.19% |
feature_extraction [640x480]: KLT | 27.34 ms / 29.64 ms | ∇ -7.74% | 36.57 Hz / 33.74 Hz | Δ 8.39% |
feature_extraction [640x480]: SIFT | 641.91 ms / 637.68 ms | Δ 0.66% | 1.56 Hz / 1.57 Hz | ∇ -0.66% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 173.14 ms | ∇ -1.44% | 5.86 Hz / 5.78 Hz | Δ 1.46% |
feature_extraction [640x480]: SURF | 201.21 ms / 202.84 ms | ∇ -0.80% | 4.97 Hz / 4.93 Hz | Δ 0.81% |
feature_extraction [640x480]: FAST | 5.22 ms / 5.10 ms | Δ 2.32% | 191.49 Hz / 195.94 Hz | ∇ -2.27% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 61.22 ms | ∇ -0.67% | 16.44 Hz / 16.33 Hz | Δ 0.67% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 43.90 ms | ∇ -1.45% | 23.12 Hz / 22.78 Hz | Δ 1.47% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 38.32 ms | Δ 4.14% | 25.06 Hz / 26.09 Hz | ∇ -3.98% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.28 sec | ∇ -0.06% | 783.36 mHz / 782.87 mHz | Δ 0.06% |
feature_matching [640x480]: SURF | 386.18 ms / 387.99 ms | ∇ -0.47% | 2.59 Hz / 2.58 Hz | Δ 0.47% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 15.73 ms | Δ 2.49% | 62.03 Hz / 63.57 Hz | ∇ -2.43% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 10.56 ms | Δ 3.54% | 91.46 Hz / 94.70 Hz | ∇ -3.42% |