Test description | 0.9.1-GCC-64bit / 0.9.2-MSVC-32bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 30.39 ms | ∇ -28.94% | 46.30 Hz / 32.90 Hz | Δ 40.72% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 52.58 ms | ∇ -60.99% | 48.75 Hz / 19.02 Hz | Δ 156.34% |
poses: CPose3D (+) CPose3D | 449.02 ns / 264.70 ns | Δ 69.63% | 2.23 MHz / 3.78 MHz | ∇ -41.05% |
poses: CPose3D.composeFrom() | 233.83 ns / 98.01 ns | Δ 138.59% | 4.28 MHz / 10.20 MHz | ∇ -58.09% |
poses: CPose3D (+) CPoint3D | 10.67 ns / 27.86 ns | ∇ -61.72% | 93.76 MHz / 35.89 MHz | Δ 161.22% |
poses: CPose3D.composePoint() | 10.06 ns / 19.17 ns | ∇ -47.52% | 99.38 MHz / 52.16 MHz | Δ 90.54% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 51.66 ns | ∇ -27.00% | 26.52 MHz / 19.36 MHz | Δ 36.99% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 46.91 ns | ∇ -12.65% | 24.40 MHz / 21.32 MHz | Δ 14.49% |
poses: CPose2D (+) CPose2D | 78.17 ns / 99.28 ns | ∇ -21.26% | 12.79 MHz / 10.07 MHz | Δ 27.00% |
poses: CPose2D.composeFrom() | 62.17 ns / 89.67 ns | ∇ -30.67% | 16.08 MHz / 11.15 MHz | Δ 44.24% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 82.07 ns | ∇ -22.18% | 15.66 MHz / 12.18 MHz | Δ 28.51% |
poses: CPose2D.composePoint() | 61.98 ns / 64.58 ns | ∇ -4.02% | 16.13 MHz / 15.49 MHz | Δ 4.19% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 87.19 ns | ∇ -46.09% | 21.28 MHz / 11.47 MHz | Δ 85.51% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 57.14 ns | ∇ -30.35% | 25.13 MHz / 17.50 MHz | Δ 43.58% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 48.22 ns | ∇ -53.09% | 44.21 MHz / 20.74 MHz | Δ 113.18% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 29.64 ns | ∇ -36.14% | 52.83 MHz / 33.74 MHz | Δ 56.58% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 84.32 ns | Δ 364.03% | 2.56 MHz / 11.86 MHz | ∇ -78.45% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 30.72 ns | ∇ -41.23% | 55.39 MHz / 32.55 MHz | Δ 70.15% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 33.02 ns | Δ 975.14% | 2.82 MHz / 30.29 MHz | ∇ -90.70% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 206.69 ns | ∇ -16.20% | 5.77 MHz / 4.84 MHz | Δ 19.34% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 1.35 us | Δ 60165.82% | 1.23 KHz / 739.68 KHz | ∇ -99.83% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 1.40 us | Δ 58430.04% | 1.22 KHz / 712.12 KHz | ∇ -99.83% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 23.15 us | ∇ -58.65% | 104.48 KHz / 43.20 KHz | Δ 141.83% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 1.62 us | ∇ -57.90% | 1.47 MHz / 617.00 KHz | Δ 137.54% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 1.63 us | ∇ -67.24% | 1.87 MHz / 613.67 KHz | Δ 205.27% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 15.82 us | ∇ -46.18% | 117.45 KHz / 63.21 KHz | Δ 85.79% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 38.75 ns | ∇ -46.85% | 48.56 MHz / 25.81 MHz | Δ 88.16% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 38.69 ns | ∇ -41.58% | 44.24 MHz / 25.85 MHz | Δ 71.17% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 163.36 ns | ∇ -60.87% | 15.64 MHz / 6.12 MHz | Δ 155.55% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 213.06 ns | ∇ -69.39% | 15.33 MHz / 4.69 MHz | Δ 226.69% |
matrix: unit, fix[float,3,3] | 0.35 ns / 3.56 ns | ∇ -90.29% | 2.89 GHz / 280.77 MHz | Δ 929.39% |
matrix: unit, fix[double,3,3] | 1.19 ns / 3.29 ns | ∇ -63.90% | 842.46 MHz / 304.17 MHz | Δ 176.97% |
matrix: unit, fix[float,6,6] | 1.68 ns / 2.77 ns | ∇ -39.29% | 594.53 MHz / 360.95 MHz | Δ 64.71% |
matrix: unit, fix[double,6,6] | 2.86 ns / 6.07 ns | ∇ -52.85% | 349.53 MHz / 164.80 MHz | Δ 112.10% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 168.66 ns | ∇ -56.42% | 13.61 MHz / 5.93 MHz | Δ 129.47% |
matrix: multiply, fix[float ], 3x3 * 3x3 | 24.10 ns / 109.47 ns | ∇ -77.98% | 41.49 MHz / 9.14 MHz | Δ 354.23% |
matrix: multiply, dyn[double], 3x3 * 3x3 | 72.10 ns / 159.15 ns | ∇ -54.70% | 13.87 MHz / 6.28 MHz | Δ 120.74% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 87.59 ns | ∇ -73.17% | 42.55 MHz / 11.42 MHz | Δ 272.74% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 272.34 ns | ∇ -58.54% | 8.86 MHz / 3.67 MHz | Δ 141.22% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 190.04 ns | ∇ -76.32% | 22.22 MHz / 5.26 MHz | Δ 322.31% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 245.84 ns | ∇ -55.05% | 9.05 MHz / 4.07 MHz | Δ 122.48% |
matrix: multiply, fix[double], 3x6 * 6x3 | 45.10 ns / 138.91 ns | ∇ -67.53% | 22.17 MHz / 7.20 MHz | Δ 208.00% |
matrix: multiply, dyn[float ], 10x40 * 40x10 | 5.82 us / 16.67 us | ∇ -65.10% | 171.91 KHz / 60.00 KHz | Δ 186.54% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 12.92 us | ∇ -72.35% | 279.91 KHz / 77.41 KHz | Δ 261.61% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 13.30 us | ∇ -55.77% | 169.93 KHz / 75.16 KHz | Δ 126.09% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 9.66 us | ∇ -60.49% | 262.04 KHz / 103.53 KHz | Δ 153.12% |
matrix: inv, dyn[float ] 3x3 | 449.00 ns / 1.46 us | ∇ -69.21% | 2.23 MHz / 685.70 KHz | Δ 224.80% |
matrix: inv, fix[float ] 3x3 | 33.00 ns / 59.78 ns | ∇ -44.80% | 30.30 MHz / 16.73 MHz | Δ 81.16% |
matrix: inv, dyn[double] 3x3 | 413.00 ns / 1.47 us | ∇ -71.85% | 2.42 MHz / 681.67 KHz | Δ 255.20% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 30.80 ns | ∇ -28.57% | 45.45 MHz / 32.47 MHz | Δ 39.99% |
matrix: inv, dyn[float ] 6x6 | 1.31 us / 4.39 us | ∇ -70.06% | 761.04 KHz / 227.86 KHz | Δ 234.00% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 1.39 us | ∇ -66.35% | 2.14 MHz / 718.96 KHz | Δ 197.20% |
matrix: inv, dyn[double] 6x6 | 1.25 us / 5.05 us | ∇ -75.24% | 800.64 KHz / 198.20 KHz | Δ 303.96% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 944.32 ns | ∇ -38.79% | 1.73 MHz / 1.06 MHz | Δ 63.38% |
matrix: inv, dyn[float ] 20x20 | 28.01 us / 80.56 us | ∇ -65.24% | 35.71 KHz / 12.41 KHz | Δ 187.66% |
matrix: inv, fix[float ] 20x20 | 12.67 us / 39.77 us | ∇ -68.14% | 78.91 KHz / 25.14 KHz | Δ 213.88% |
matrix: inv, dyn[double] 20x20 | 28.58 us / 106.06 us | ∇ -73.05% | 34.98 KHz / 9.43 KHz | Δ 271.04% |
matrix: inv, fix[double] 20x20 | 17.20 us / 18.99 us | ∇ -9.46% | 58.15 KHz / 52.65 KHz | Δ 10.45% |
matrix: inv, dyn[float ] 40x40 | 205.67 us / 594.37 us | ∇ -65.40% | 4.86 KHz / 1.68 KHz | Δ 189.00% |
matrix: inv, fix[float ] 40x40 | 92.66 us / 302.87 us | ∇ -69.40% | 10.79 KHz / 3.30 KHz | Δ 226.85% |
matrix: inv, dyn[double] 40x40 | 200.95 us / 805.07 us | ∇ -75.04% | 4.98 KHz / 1.24 KHz | Δ 300.64% |
matrix: inv, fix[double] 40x40 | 134.50 us / 129.27 us | Δ 4.05% | 7.43 KHz / 7.74 KHz | ∇ -3.89% |
matrix: det, dyn[float ] 2x2 | 6.40 ns / 7.97 ns | ∇ -19.71% | 156.25 MHz / 125.45 MHz | Δ 24.55% |
matrix: det, fix[float ] 2x2 | 0.00 ns / 0.05 ns | ∇ -100.00% | inf THz / 22.08 GHz | Δ inf% |
matrix: det, dyn[double] 2x2 | 8.80 ns / 8.47 ns | Δ 3.90% | 113.64 MHz / 118.07 MHz | ∇ -3.76% |
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 / 20.83 ns | ∇ -50.56% | 97.09 MHz / 48.00 MHz | Δ 102.27% |
matrix: det, fix[float ] 3x3 | 0.00 ns / 0.05 ns | ∇ -100.00% | inf THz / 22.08 GHz | Δ inf% |
matrix: det, dyn[double] 3x3 | 10.30 ns / 15.90 ns | ∇ -35.21% | 97.09 MHz / 62.90 MHz | Δ 54.34% |
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 / 2.28 us | ∇ -59.13% | 1.07 MHz / 438.79 KHz | Δ 144.66% |
matrix: det, fix[float ] 6x6 | 215.70 ns / 455.22 ns | ∇ -52.62% | 4.64 MHz / 2.20 MHz | Δ 111.04% |
matrix: det, dyn[double] 6x6 | 739.10 ns / 2.27 us | ∇ -67.43% | 1.35 MHz / 440.64 KHz | Δ 207.05% |
matrix: det, fix[double] 6x6 | 219.80 ns / 409.52 ns | ∇ -46.33% | 4.55 MHz / 2.44 MHz | Δ 86.32% |
matrix: det, dyn[float ] 20x20 | 5.64 us / 18.23 us | ∇ -69.06% | 177.30 KHz / 54.86 KHz | Δ 223.19% |
matrix: det, fix[float ] 20x20 | 4.05 us / 9.64 us | ∇ -57.96% | 246.81 KHz / 103.77 KHz | Δ 137.84% |
matrix: det, dyn[double] 20x20 | 6.52 us / 17.63 us | ∇ -63.00% | 153.32 KHz / 56.72 KHz | Δ 170.29% |
matrix: det, fix[double] 20x20 | 4.73 us / 6.19 us | ∇ -23.59% | 211.54 KHz / 161.63 KHz | Δ 30.88% |
matrix: det, dyn[float ] 40x40 | 30.83 us / 109.51 us | ∇ -71.84% | 32.43 KHz / 9.13 KHz | Δ 255.18% |
matrix: det, fix[float ] 40x40 | 25.85 us / 61.78 us | ∇ -58.15% | 38.68 KHz / 16.19 KHz | Δ 138.96% |
matrix: det, dyn[double] 40x40 | 32.40 us / 112.43 us | ∇ -71.19% | 30.87 KHz / 8.89 KHz | Δ 247.04% |
matrix: det, fix[double] 40x40 | 27.53 us / 35.24 us | ∇ -21.88% | 36.33 KHz / 28.38 KHz | Δ 28.01% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 172.11 ns | ∇ -1.22% | 5.88 MHz / 5.81 MHz | Δ 1.24% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 117.76 ns | Δ 10.40% | 7.69 MHz / 8.49 MHz | ∇ -9.42% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 24.40 us | ∇ -23.25% | 53.39 KHz / 40.98 KHz | Δ 30.29% |
matrix: chol, fix[double] 40x40 | 16.74 us / 17.68 us | ∇ -5.30% | 59.74 KHz / 56.57 KHz | Δ 5.60% |
matrix: chol, sparse [2x2;2x2] | 8.50 us / 8.42 us | Δ 0.90% | 117.65 KHz / 118.71 KHz | ∇ -0.89% |
matrix: chol, sparse [30x30;10x10] | 93.90 us / 118.80 us | ∇ -20.96% | 10.65 KHz / 8.42 KHz | Δ 26.52% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 69.79 us | ∇ -24.21% | 18.90 KHz / 14.33 KHz | Δ 31.93% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 52.54 us | ∇ -23.81% | 24.98 KHz / 19.03 KHz | Δ 31.25% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 466.09 us | ∇ -11.76% | 2.43 KHz / 2.15 KHz | Δ 13.32% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 89.01 us | ∇ -15.76% | 13.34 KHz / 11.24 KHz | Δ 18.71% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 9.32 ms | ∇ -7.69% | 116.18 Hz / 107.25 Hz | Δ 8.33% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 201.22 us | ∇ -7.89% | 5.40 KHz / 4.97 KHz | Δ 8.56% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 138.07 ms | ∇ -1.93% | 7.39 Hz / 7.24 Hz | Δ 1.97% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 401.45 us | ∇ -10.38% | 2.78 KHz / 2.49 KHz | Δ 11.58% |
matrix: chol, dyn[double] 120x[6x6] | 364.31 ms / 453.62 ms | ∇ -19.69% | 2.74 Hz / 2.20 Hz | Δ 24.51% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 474.18 us | ∇ -10.08% | 2.35 KHz / 2.11 KHz | Δ 11.21% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 945.16 ms | ∇ -15.34% | 1.25 Hz / 1.06 Hz | Δ 18.12% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 552.77 us | ∇ -9.98% | 2.01 KHz / 1.81 KHz | Δ 11.09% |
gridmap2D: getCell | 0.00 ns / 5.57 ns | ∇ -100.00% | inf THz / 179.64 MHz | Δ inf% |
gridmap2D: setCell | 2.58 ns / 7.80 ns | ∇ -66.90% | 387.19 MHz / 128.17 MHz | Δ 202.08% |
gridmap2D: updateCell | 7.47 ns / 10.65 ns | ∇ -29.80% | 133.80 MHz / 93.93 MHz | Δ 42.44% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 1.20 ns | ∇ -54.43% | 1.83 GHz / 834.82 MHz | Δ 119.43% |
gridmap2D: insert scan w/o widening | 104.80 us / 202.10 us | ∇ -48.15% | 9.54 KHz / 4.95 KHz | Δ 92.85% |
gridmap2D: insert scan with widening | 295.32 us / 338.79 us | ∇ -12.83% | 3.39 KHz / 2.95 KHz | Δ 14.72% |
gridmap2D: resize | 1.83 ms / 3.58 ms | ∇ -48.98% | 547.65 Hz / 279.42 Hz | Δ 96.00% |
gridmap2D: computeLikelihood | 16.65 us / 18.09 us | ∇ -7.95% | 60.06 KHz / 55.28 KHz | Δ 8.64% |
pointmap: insert 100 scans | 3.11 ms / 5.50 ms | ∇ -43.35% | 321.23 Hz / 181.98 Hz | Δ 76.52% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 6.29 us | ∇ -31.92% | 233.64 KHz / 159.07 KHz | Δ 46.88% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 520.70 us | ∇ -31.83% | 2.82 KHz / 1.92 KHz | Δ 46.69% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 5.50 ms | ∇ -24.82% | 241.67 Hz / 181.67 Hz | Δ 33.02% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 6.47 us | ∇ -33.82% | 233.64 KHz / 154.62 KHz | Δ 51.11% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 526.59 us | ∇ -31.40% | 2.77 KHz / 1.90 KHz | Δ 45.77% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 5.63 ms | ∇ -27.44% | 244.66 Hz / 177.52 Hz | Δ 37.82% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 2.04 us | ∇ -32.91% | 730.99 KHz / 490.44 KHz | Δ 49.05% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 137.79 us | ∇ -28.18% | 10.10 KHz / 7.26 KHz | Δ 39.24% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 14.88 ms | ∇ -19.66% | 83.64 Hz / 67.19 Hz | Δ 24.47% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 8.57 ms | ∇ -34.63% | 178.50 Hz / 116.69 Hz | Δ 52.97% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 191.63 ms | ∇ -32.39% | 7.72 Hz / 5.22 Hz | Δ 47.91% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 8.64 ms | ∇ -34.53% | 176.84 Hz / 115.78 Hz | Δ 52.74% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 194.89 ms | ∇ -32.05% | 7.55 Hz / 5.13 Hz | Δ 47.17% |
random: drawUniform32bit | 15.70 ns / 7.21 ns | Δ 117.72% | 63.70 MHz / 138.68 MHz | ∇ -54.07% |
random: drawUniform | 15.69 ns / 7.18 ns | Δ 118.51% | 63.72 MHz / 139.23 MHz | ∇ -54.24% |
random: drawGaussian1D_normalized | 70.40 ns / 51.37 ns | Δ 37.04% | 14.20 MHz / 19.47 MHz | ∇ -27.03% |
random: drawGaussian1D | 70.38 ns / 51.39 ns | Δ 36.95% | 14.21 MHz / 19.46 MHz | ∇ -26.98% |
random: system rand() | 11.07 ns / 28.61 ns | ∇ -61.33% | 90.37 MHz / 34.95 MHz | Δ 158.58% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 2.55 us | ∇ -47.92% | 751.96 KHz / 391.65 KHz | Δ 92.00% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 8.36 us | ∇ -63.63% | 328.99 KHz / 119.66 KHz | Δ 174.93% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 213.95 ns | ∇ -23.90% | 6.14 MHz / 4.67 MHz | Δ 31.41% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 324.69 ns | ∇ -24.36% | 4.07 MHz / 3.08 MHz | Δ 32.21% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 829.70 ns | ∇ -37.96% | 1.94 MHz / 1.21 MHz | Δ 61.19% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 214.89 ns | ∇ -19.10% | 5.75 MHz / 4.65 MHz | Δ 23.62% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 364.99 ns | ∇ -28.92% | 3.85 MHz / 2.74 MHz | Δ 40.70% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 760.13 ns | ∇ -31.06% | 1.91 MHz / 1.32 MHz | Δ 45.06% |
random: permuteVector (len=10) | 288.60 ns / 420.57 ns | ∇ -31.38% | 3.47 MHz / 2.38 MHz | Δ 45.73% |
random: permuteVector (len=100) | 3.07 us / 3.56 us | ∇ -13.66% | 325.61 KHz / 281.12 KHz | Δ 15.82% |
random: permuteVector (len=1000) | 30.26 us / 33.55 us | ∇ -9.82% | 33.05 KHz / 29.80 KHz | Δ 10.89% |
math: round | 0.10 ns / 0.00 ns | Δ inf% | 9.77 GHz / inf THz | ∇ -nan% |
images: Save as JPEG (640x480, quality=95%) | 31.77 ms / 28.40 ms | Δ 11.86% | 31.48 Hz / 35.21 Hz | ∇ -10.60% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 43.71 ms | Δ 4.54% | 21.88 Hz / 22.88 Hz | ∇ -4.34% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 70.17 ms | Δ 4.50% | 13.64 Hz / 14.25 Hz | ∇ -4.31% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 24.11 ms | Δ 12.62% | 36.83 Hz / 41.48 Hz | ∇ -11.21% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 37.02 ms | Δ 8.87% | 24.81 Hz / 27.01 Hz | ∇ -8.15% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 59.51 ms | Δ 8.29% | 15.52 Hz / 16.80 Hz | ∇ -7.65% |
images: Gauss filter (640x480) | 4.52 ms / 5.29 ms | ∇ -14.62% | 221.30 Hz / 188.95 Hz | Δ 17.12% |
images: Gauss filter (800x600) | 7.35 ms / 8.36 ms | ∇ -12.06% | 136.05 Hz / 119.64 Hz | Δ 13.72% |
images: Gauss filter (1024x768) | 11.22 ms / 13.88 ms | ∇ -19.16% | 89.13 Hz / 72.06 Hz | Δ 23.70% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 18.63 us | ∇ -66.08% | 158.23 KHz / 53.67 KHz | Δ 194.82% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 17.89 us | ∇ -73.27% | 209.21 KHz / 55.91 KHz | Δ 274.17% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 5.05 us | ∇ -57.66% | 467.29 KHz / 197.84 KHz | Δ 136.19% |
feature_extraction [640x480]: Harris | 28.31 ms / 33.27 ms | ∇ -14.89% | 35.32 Hz / 30.06 Hz | Δ 17.50% |
feature_extraction [640x480]: KLT | 27.34 ms / 31.21 ms | ∇ -12.41% | 36.57 Hz / 32.04 Hz | Δ 14.16% |
feature_extraction [640x480]: SIFT | 641.91 ms / 675.81 ms | ∇ -5.02% | 1.56 Hz / 1.48 Hz | Δ 5.28% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 217.19 ms | ∇ -21.43% | 5.86 Hz / 4.60 Hz | Δ 27.27% |
feature_extraction [640x480]: SURF | 201.21 ms / 316.97 ms | ∇ -36.52% | 4.97 Hz / 3.15 Hz | Δ 57.53% |
feature_extraction [640x480]: FAST | 5.22 ms / 7.82 ms | ∇ -33.21% | 191.49 Hz / 127.91 Hz | Δ 49.71% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 103.38 ms | ∇ -41.18% | 16.44 Hz / 9.67 Hz | Δ 70.00% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 56.24 ms | ∇ -23.08% | 23.12 Hz / 17.78 Hz | Δ 30.00% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 47.55 ms | ∇ -16.06% | 25.06 Hz / 21.03 Hz | Δ 19.14% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.34 sec | ∇ -4.79% | 783.36 mHz / 745.82 mHz | Δ 5.03% |
feature_matching [640x480]: SURF | 386.18 ms / 606.64 ms | ∇ -36.34% | 2.59 Hz / 1.65 Hz | Δ 57.09% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 22.36 ms | ∇ -27.91% | 62.03 Hz / 44.72 Hz | Δ 38.71% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 15.00 ms | ∇ -27.08% | 91.46 Hz / 66.69 Hz | Δ 37.14% |