Test description | 0.9.1-GCC-64bit / 0.9.2-GCC-64bit | |||
Execution time | Execution rate (Hz) | |||
icp-slam (match points): Run with sample dataset | 21.60 ms / 19.99 ms | Δ 8.05% | 46.30 Hz / 50.03 Hz | ∇ -7.45% |
icp-slam (match grid): Run with sample dataset | 20.51 ms / 19.29 ms | Δ 6.33% | 48.75 Hz / 51.84 Hz | ∇ -5.95% |
poses: CPose3D (+) CPose3D | 449.02 ns / 42.85 ns | Δ 947.89% | 2.23 MHz / 23.34 MHz | ∇ -90.46% |
poses: CPose3D.composeFrom() | 233.83 ns / 37.80 ns | Δ 518.60% | 4.28 MHz / 26.46 MHz | ∇ -83.83% |
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 / 11.91 ns | ∇ -15.50% | 99.38 MHz / 83.98 MHz | Δ 18.35% |
poses: CPoint3D (-) CPose3D | 37.71 ns / 48.98 ns | ∇ -23.02% | 26.52 MHz / 20.42 MHz | Δ 29.90% |
poses: CPose3D.inverseComposePoint() | 40.98 ns / 34.95 ns | Δ 17.24% | 24.40 MHz / 28.61 MHz | ∇ -14.70% |
poses: CPose2D (+) CPose2D | 78.17 ns / 78.58 ns | ∇ -0.52% | 12.79 MHz / 12.73 MHz | Δ 0.52% |
poses: CPose2D.composeFrom() | 62.17 ns / 70.31 ns | ∇ -11.58% | 16.08 MHz / 14.22 MHz | Δ 13.10% |
poses: CPose2D (+) CPoint2D | 63.86 ns / 61.33 ns | Δ 4.13% | 15.66 MHz / 16.31 MHz | ∇ -3.97% |
poses: CPose2D.composePoint() | 61.98 ns / 65.17 ns | ∇ -4.89% | 16.13 MHz / 15.35 MHz | Δ 5.14% |
poses: CPose3DQuat (+) CPose3DQuat | 47.00 ns / 44.66 ns | Δ 5.24% | 21.28 MHz / 22.39 MHz | ∇ -4.98% |
poses: CPose3DQuat.composeFrom() | 39.80 ns / 39.43 ns | Δ 0.94% | 25.13 MHz / 25.36 MHz | ∇ -0.93% |
poses: CPose3DQuat (+) CPoint3D | 22.62 ns / 18.24 ns | Δ 24.04% | 44.21 MHz / 54.84 MHz | ∇ -19.38% |
poses: CPose3DQuat.composePoint() | 18.93 ns / 17.94 ns | Δ 5.53% | 52.83 MHz / 55.75 MHz | ∇ -5.24% |
poses: CPoint3D (-) CPose3DQuat | 391.26 ns / 55.43 ns | Δ 605.91% | 2.56 MHz / 18.04 MHz | ∇ -85.83% |
poses: CPose3DQuat.invcomposePoint() | 18.05 ns / 17.64 ns | Δ 2.35% | 55.39 MHz / 56.69 MHz | ∇ -2.29% |
poses: Conv CPose3DQuat <- CPose3D | 355.00 ns / 16.70 ns | Δ 2026.14% | 2.82 MHz / 59.89 MHz | ∇ -95.30% |
poses: Conv CPose3D -> CPose3DQuat | 173.19 ns / 169.28 ns | Δ 2.31% | 5.77 MHz / 5.91 MHz | ∇ -2.26% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) | 814.76 us / 760.96 us | Δ 7.07% | 1.23 KHz / 1.31 KHz | ∇ -6.60% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) | 821.91 us / 760.62 us | Δ 8.06% | 1.22 KHz / 1.31 KHz | ∇ -7.46% |
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) | 9.57 us / 9.47 us | Δ 1.02% | 104.48 KHz / 105.55 KHz | ∇ -1.01% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) | 682.30 ns / 545.30 ns | Δ 25.12% | 1.47 MHz / 1.83 MHz | ∇ -20.08% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) | 533.80 ns / 544.10 ns | ∇ -1.89% | 1.87 MHz / 1.84 MHz | Δ 1.93% |
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) | 8.51 us / 8.11 us | Δ 5.01% | 117.45 KHz / 123.33 KHz | ∇ -4.78% |
matrix: unit, dyn[float], 3x3 | 20.59 ns / 20.92 ns | ∇ -1.56% | 48.56 MHz / 47.81 MHz | Δ 1.58% |
matrix: unit, dyn[double], 3x3 | 22.60 ns / 20.15 ns | Δ 12.18% | 44.24 MHz / 49.63 MHz | ∇ -10.86% |
matrix: unit, dyn[float], 6x6 | 63.92 ns / 54.04 ns | Δ 18.30% | 15.64 MHz / 18.51 MHz | ∇ -15.47% |
matrix: unit, dyn[double], 6x6 | 65.22 ns / 55.27 ns | Δ 18.00% | 15.33 MHz / 18.09 MHz | ∇ -15.26% |
matrix: unit, fix[float,3,3] | 0.35 ns / 0.35 ns | ∇ 0.00% | 2.89 GHz / 2.89 GHz | ∇ 0.00% |
matrix: unit, fix[double,3,3] | 1.19 ns / 1.19 ns | ∇ 0.00% | 842.46 MHz / 842.46 MHz | ∇ 0.00% |
matrix: unit, fix[float,6,6] | 1.68 ns / 1.70 ns | ∇ -0.94% | 594.53 MHz / 588.93 MHz | Δ 0.95% |
matrix: unit, fix[double,6,6] | 2.86 ns / 2.77 ns | Δ 3.10% | 349.53 MHz / 360.36 MHz | ∇ -3.01% |
matrix: multiply, dyn[float ], 3x3 * 3x3 | 73.50 ns / 73.10 ns | Δ 0.55% | 13.61 MHz / 13.68 MHz | ∇ -0.54% |
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 / 72.40 ns | ∇ -0.41% | 13.87 MHz / 13.81 MHz | Δ 0.42% |
matrix: multiply, fix[double], 3x3 * 3x3 | 23.50 ns / 23.40 ns | Δ 0.43% | 42.55 MHz / 42.74 MHz | ∇ -0.43% |
matrix: multiply, dyn[float ], 3x6 * 6x3 | 112.90 ns / 110.50 ns | Δ 2.17% | 8.86 MHz / 9.05 MHz | ∇ -2.13% |
matrix: multiply, fix[float ], 3x6 * 6x3 | 45.00 ns / 45.10 ns | ∇ -0.22% | 22.22 MHz / 22.17 MHz | Δ 0.22% |
matrix: multiply, dyn[double], 3x6 * 6x3 | 110.50 ns / 116.30 ns | ∇ -4.99% | 9.05 MHz / 8.60 MHz | Δ 5.25% |
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 / 5.19 us | Δ 12.14% | 171.91 KHz / 192.77 KHz | ∇ -10.82% |
matrix: multiply, fix[float ], 10x40 * 40x10 | 3.57 us / 3.55 us | Δ 0.59% | 279.91 KHz / 281.56 KHz | ∇ -0.59% |
matrix: multiply, dyn[double], 10x40 * 40x10 | 5.88 us / 5.18 us | Δ 13.60% | 169.93 KHz / 193.05 KHz | ∇ -11.98% |
matrix: multiply, fix[double], 10x40 * 40x10 | 3.82 us / 3.61 us | Δ 5.73% | 262.04 KHz / 277.05 KHz | ∇ -5.42% |
matrix: inv, dyn[float ] 3x3 | 449.00 ns / 333.00 ns | Δ 34.83% | 2.23 MHz / 3.00 MHz | ∇ -25.84% |
matrix: inv, fix[float ] 3x3 | 33.00 ns / 21.00 ns | Δ 57.14% | 30.30 MHz / 47.62 MHz | ∇ -36.36% |
matrix: inv, dyn[double] 3x3 | 413.00 ns / 329.00 ns | Δ 25.53% | 2.42 MHz / 3.04 MHz | ∇ -20.34% |
matrix: inv, fix[double] 3x3 | 22.00 ns / 21.00 ns | Δ 4.76% | 45.45 MHz / 47.62 MHz | ∇ -4.55% |
matrix: inv, dyn[float ] 6x6 | 1.31 us / 1.22 us | Δ 7.97% | 761.04 KHz / 821.69 KHz | ∇ -7.38% |
matrix: inv, fix[float ] 6x6 | 468.00 ns / 468.00 ns | ∇ 0.00% | 2.14 MHz / 2.14 MHz | ∇ 0.00% |
matrix: inv, dyn[double] 6x6 | 1.25 us / 1.20 us | Δ 4.00% | 800.64 KHz / 832.64 KHz | ∇ -3.84% |
matrix: inv, fix[double] 6x6 | 578.00 ns / 578.00 ns | ∇ 0.00% | 1.73 MHz / 1.73 MHz | ∇ 0.00% |
matrix: inv, dyn[float ] 20x20 | 28.01 us / 25.24 us | Δ 10.97% | 35.71 KHz / 39.62 KHz | ∇ -9.88% |
matrix: inv, fix[float ] 20x20 | 12.67 us / 12.60 us | Δ 0.56% | 78.91 KHz / 79.36 KHz | ∇ -0.56% |
matrix: inv, dyn[double] 20x20 | 28.58 us / 25.64 us | Δ 11.50% | 34.98 KHz / 39.01 KHz | ∇ -10.31% |
matrix: inv, fix[double] 20x20 | 17.20 us / 17.36 us | ∇ -0.96% | 58.15 KHz / 57.60 KHz | Δ 0.97% |
matrix: inv, dyn[float ] 40x40 | 205.67 us / 190.86 us | Δ 7.76% | 4.86 KHz / 5.24 KHz | ∇ -7.20% |
matrix: inv, fix[float ] 40x40 | 92.66 us / 88.89 us | Δ 4.25% | 10.79 KHz / 11.25 KHz | ∇ -4.07% |
matrix: inv, dyn[double] 40x40 | 200.95 us / 189.04 us | Δ 6.30% | 4.98 KHz / 5.29 KHz | ∇ -5.93% |
matrix: inv, fix[double] 40x40 | 134.50 us / 121.47 us | Δ 10.73% | 7.43 KHz / 8.23 KHz | ∇ -9.69% |
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 / 692.40 ns | Δ 34.53% | 1.07 MHz / 1.44 MHz | ∇ -25.67% |
matrix: det, fix[float ] 6x6 | 215.70 ns / 207.00 ns | Δ 4.20% | 4.64 MHz / 4.83 MHz | ∇ -4.03% |
matrix: det, dyn[double] 6x6 | 739.10 ns / 696.30 ns | Δ 6.15% | 1.35 MHz / 1.44 MHz | ∇ -5.79% |
matrix: det, fix[double] 6x6 | 219.80 ns / 212.30 ns | Δ 3.53% | 4.55 MHz / 4.71 MHz | ∇ -3.41% |
matrix: det, dyn[float ] 20x20 | 5.64 us / 5.39 us | Δ 4.66% | 177.30 KHz / 185.56 KHz | ∇ -4.45% |
matrix: det, fix[float ] 20x20 | 4.05 us / 3.90 us | Δ 3.87% | 246.81 KHz / 256.35 KHz | ∇ -3.72% |
matrix: det, dyn[double] 20x20 | 6.52 us / 6.40 us | Δ 1.86% | 153.32 KHz / 156.16 KHz | ∇ -1.82% |
matrix: det, fix[double] 20x20 | 4.73 us / 4.72 us | Δ 0.11% | 211.54 KHz / 211.77 KHz | ∇ -0.11% |
matrix: det, dyn[float ] 40x40 | 30.83 us / 30.35 us | Δ 1.59% | 32.43 KHz / 32.95 KHz | ∇ -1.57% |
matrix: det, fix[float ] 40x40 | 25.85 us / 26.47 us | ∇ -2.33% | 38.68 KHz / 37.78 KHz | Δ 2.39% |
matrix: det, dyn[double] 40x40 | 32.40 us / 32.49 us | ∇ -0.30% | 30.87 KHz / 30.77 KHz | Δ 0.31% |
matrix: det, fix[double] 40x40 | 27.53 us / 27.34 us | Δ 0.69% | 36.33 KHz / 36.58 KHz | ∇ -0.69% |
matrix: chol, dyn[double] 4x4 | 170.00 ns / 130.00 ns | Δ 30.77% | 5.88 MHz / 7.69 MHz | ∇ -23.53% |
matrix: chol, fix[double] 4x4 | 130.00 ns / 140.00 ns | ∇ -7.14% | 7.69 MHz / 7.14 MHz | Δ 7.69% |
matrix: chol, dyn[double] 40x40 | 18.73 us / 18.52 us | Δ 1.13% | 53.39 KHz / 54.00 KHz | ∇ -1.12% |
matrix: chol, fix[double] 40x40 | 16.74 us / 16.55 us | Δ 1.15% | 59.74 KHz / 60.42 KHz | ∇ -1.14% |
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 / 82.90 us | Δ 13.27% | 10.65 KHz / 12.06 KHz | ∇ -11.71% |
matrix: chol, dyn[double] 10x[6x6] | 52.90 us / 52.70 us | Δ 0.38% | 18.90 KHz / 18.98 KHz | ∇ -0.38% |
matrix: chol, sparse 10x[6x6] | 40.03 us / 38.59 us | Δ 3.73% | 24.98 KHz / 25.91 KHz | ∇ -3.60% |
matrix: chol, dyn[double] 20x[6x6] | 411.30 us / 409.80 us | Δ 0.37% | 2.43 KHz / 2.44 KHz | ∇ -0.36% |
matrix: chol, sparse 20x[6x6] | 74.98 us / 70.75 us | Δ 5.98% | 13.34 KHz / 14.13 KHz | ∇ -5.64% |
matrix: chol, dyn[double] 50x[6x6] | 8.61 ms / 8.58 ms | Δ 0.36% | 116.18 Hz / 116.60 Hz | ∇ -0.36% |
matrix: chol, sparse 50x[6x6] | 185.35 us / 171.20 us | Δ 8.27% | 5.40 KHz / 5.84 KHz | ∇ -7.63% |
matrix: chol, dyn[double] 100x[6x6] | 135.40 ms / 133.58 ms | Δ 1.36% | 7.39 Hz / 7.49 Hz | ∇ -1.34% |
matrix: chol, sparse 100x[6x6] | 359.80 us / 341.85 us | Δ 5.25% | 2.78 KHz / 2.93 KHz | ∇ -4.99% |
matrix: chol, dyn[double] 120x[6x6] | 364.31 ms / 354.49 ms | Δ 2.77% | 2.74 Hz / 2.82 Hz | ∇ -2.70% |
matrix: chol, sparse 120x[6x6] | 426.39 us / 401.50 us | Δ 6.20% | 2.35 KHz / 2.49 KHz | ∇ -5.84% |
matrix: chol, dyn[double] 140x[6x6] | 800.16 ms / 773.25 ms | Δ 3.48% | 1.25 Hz / 1.29 Hz | ∇ -3.36% |
matrix: chol, sparse 140x[6x6] | 497.60 us / 469.25 us | Δ 6.04% | 2.01 KHz / 2.13 KHz | ∇ -5.70% |
gridmap2D: getCell | 0.00 ns / 0.00 ns | ∇ -100.00% | inf THz / 10.00 THz | Δ inf% |
gridmap2D: setCell | 2.58 ns / 2.58 ns | Δ 0.21% | 387.19 MHz / 388.02 MHz | ∇ -0.21% |
gridmap2D: updateCell | 7.47 ns / 7.84 ns | ∇ -4.64% | 133.80 MHz / 127.58 MHz | Δ 4.87% |
gridmap2D: updateCell_fast_occupied | 0.55 ns / 0.55 ns | ∇ -0.87% | 1.83 GHz / 1.82 GHz | Δ 0.88% |
gridmap2D: insert scan w/o widening | 104.80 us / 102.06 us | Δ 2.69% | 9.54 KHz / 9.80 KHz | ∇ -2.62% |
gridmap2D: insert scan with widening | 295.32 us / 289.47 us | Δ 2.02% | 3.39 KHz / 3.45 KHz | ∇ -1.98% |
gridmap2D: resize | 1.83 ms / 1.97 ms | ∇ -7.12% | 547.65 Hz / 508.65 Hz | Δ 7.67% |
gridmap2D: computeLikelihood | 16.65 us / 15.74 us | Δ 5.81% | 60.06 KHz / 63.55 KHz | ∇ -5.49% |
pointmap: insert 100 scans | 3.11 ms / 3.04 ms | Δ 2.51% | 321.23 Hz / 329.30 Hz | ∇ -2.45% |
pointmap: build 2D kd-tree of 1 scan | 4.28 us / 4.32 us | ∇ -0.93% | 233.64 KHz / 231.48 KHz | Δ 0.93% |
pointmap: build 2D kd-tree of 100 scan | 354.96 us / 352.12 us | Δ 0.81% | 2.82 KHz / 2.84 KHz | ∇ -0.80% |
pointmap: build 2D kd-tree of 1000 scan | 4.14 ms / 4.14 ms | ∇ -0.06% | 241.67 Hz / 241.51 Hz | Δ 0.06% |
pointmap: build 3D kd-tree of 1 scan | 4.28 us / 4.68 us | ∇ -8.55% | 233.64 KHz / 213.68 KHz | Δ 9.35% |
pointmap: build 3D kd-tree of 100 scan | 361.24 us / 359.52 us | Δ 0.48% | 2.77 KHz / 2.78 KHz | ∇ -0.48% |
pointmap: build 3D kd-tree of 1000 scan | 4.09 ms / 4.03 ms | Δ 1.48% | 244.66 Hz / 248.28 Hz | ∇ -1.46% |
pointmap: kd-tree 2d query on 10 scans | 1.37 us / 1.41 us | ∇ -2.63% | 730.99 KHz / 711.74 KHz | Δ 2.70% |
pointmap: kd-tree 2d query on 1000 scans | 98.96 us / 97.21 us | Δ 1.81% | 10.10 KHz / 10.29 KHz | ∇ -1.77% |
pointmap: kd-tree 2d query on 10000 scans | 11.96 ms / 11.62 ms | Δ 2.88% | 83.64 Hz / 86.05 Hz | ∇ -2.80% |
pointmap: (insert scan+2D kd-tree query) x 10 | 5.60 ms / 5.59 ms | Δ 0.15% | 178.50 Hz / 178.77 Hz | ∇ -0.15% |
pointmap: (insert scan+2D kd-tree query) x 50 | 129.56 ms / 129.28 ms | Δ 0.21% | 7.72 Hz / 7.73 Hz | ∇ -0.21% |
pointmap: (insert scan+3D kd-tree query) x 10 | 5.65 ms / 5.66 ms | ∇ -0.17% | 176.84 Hz / 176.53 Hz | Δ 0.17% |
pointmap: (insert scan+3D kd-tree query) x 50 | 132.43 ms / 131.22 ms | Δ 0.92% | 7.55 Hz / 7.62 Hz | ∇ -0.91% |
random: drawUniform32bit | 15.70 ns / 14.50 ns | Δ 8.25% | 63.70 MHz / 68.95 MHz | ∇ -7.62% |
random: drawUniform | 15.69 ns / 14.50 ns | Δ 8.22% | 63.72 MHz / 68.96 MHz | ∇ -7.60% |
random: drawGaussian1D_normalized | 70.40 ns / 68.97 ns | Δ 2.07% | 14.20 MHz / 14.50 MHz | ∇ -2.03% |
random: drawGaussian1D | 70.38 ns / 68.98 ns | Δ 2.02% | 14.21 MHz / 14.50 MHz | ∇ -1.98% |
random: system rand() | 11.07 ns / 10.45 ns | Δ 5.92% | 90.37 MHz / 95.72 MHz | ∇ -5.59% |
random: drawGaussianMultivariate(fixed 3x3) | 1.33 us / 1.31 us | Δ 1.75% | 751.96 KHz / 765.12 KHz | ∇ -1.72% |
random: drawGaussianMultivariate(dyn 3x3) | 3.04 us / 2.73 us | Δ 11.36% | 328.99 KHz / 366.37 KHz | ∇ -10.20% |
random: drawGaussianMultivariateMany(fixed 2x2, 1000) | 162.81 ns / 158.91 ns | Δ 2.45% | 6.14 MHz / 6.29 MHz | ∇ -2.39% |
random: drawGaussianMultivariateMany(fixed 3x3, 1000) | 245.58 ns / 237.40 ns | Δ 3.45% | 4.07 MHz / 4.21 MHz | ∇ -3.33% |
random: drawGaussianMultivariateMany(fixed 6x6, 1000) | 514.74 ns / 490.03 ns | Δ 5.04% | 1.94 MHz / 2.04 MHz | ∇ -4.80% |
random: drawGaussianMultivariateMany(dyn 2x2, 1000) | 173.84 ns / 164.67 ns | Δ 5.57% | 5.75 MHz / 6.07 MHz | ∇ -5.27% |
random: drawGaussianMultivariateMany(dyn 3x3, 1000) | 259.42 ns / 249.81 ns | Δ 3.85% | 3.85 MHz / 4.00 MHz | ∇ -3.70% |
random: drawGaussianMultivariateMany(dyn 6x6, 1000) | 523.99 ns / 514.70 ns | Δ 1.80% | 1.91 MHz / 1.94 MHz | ∇ -1.77% |
random: permuteVector (len=10) | 288.60 ns / 296.20 ns | ∇ -2.57% | 3.47 MHz / 3.38 MHz | Δ 2.63% |
random: permuteVector (len=100) | 3.07 us / 3.04 us | Δ 1.02% | 325.61 KHz / 328.91 KHz | ∇ -1.01% |
random: permuteVector (len=1000) | 30.26 us / 30.22 us | Δ 0.12% | 33.05 KHz / 33.09 KHz | ∇ -0.12% |
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 / 35.06 ms | ∇ -9.39% | 31.48 Hz / 28.52 Hz | Δ 10.36% |
images: Save as JPEG (800x600, quality=95%) | 45.70 ms / 48.96 ms | ∇ -6.67% | 21.88 Hz / 20.42 Hz | Δ 7.14% |
images: Save as JPEG (1024x768, quality=95%) | 73.33 ms / 74.65 ms | ∇ -1.76% | 13.64 Hz / 13.40 Hz | Δ 1.79% |
images: Save as JPEG (640x480, quality=75%) | 27.15 ms / 29.96 ms | ∇ -9.38% | 36.83 Hz / 33.37 Hz | Δ 10.35% |
images: Save as JPEG (800x600, quality=75%) | 40.31 ms / 42.79 ms | ∇ -5.79% | 24.81 Hz / 23.37 Hz | Δ 6.15% |
images: Save as JPEG (1024x768, quality=75%) | 64.44 ms / 64.15 ms | Δ 0.45% | 15.52 Hz / 15.59 Hz | ∇ -0.45% |
images: Gauss filter (640x480) | 4.52 ms / 3.90 ms | Δ 15.82% | 221.30 Hz / 256.30 Hz | ∇ -13.66% |
images: Gauss filter (800x600) | 7.35 ms / 6.21 ms | Δ 18.33% | 136.05 Hz / 160.99 Hz | ∇ -15.49% |
images: Gauss filter (1024x768) | 11.22 ms / 10.55 ms | Δ 6.29% | 89.13 Hz / 94.74 Hz | ∇ -5.92% |
scan_matching: 6D LS Rigid Trans. [CPose3D] | 6.32 us / 5.06 us | Δ 24.90% | 158.23 KHz / 197.63 KHz | ∇ -19.94% |
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] | 4.78 us / 4.30 us | Δ 11.16% | 209.21 KHz / 232.56 KHz | ∇ -10.04% |
scan_matching: 6D LS Rigid Trans. [vector of points] | 2.14 us / 2.10 us | Δ 1.90% | 467.29 KHz / 476.19 KHz | ∇ -1.87% |
feature_extraction [640x480]: Harris | 28.31 ms / 24.28 ms | Δ 16.63% | 35.32 Hz / 41.19 Hz | ∇ -14.26% |
feature_extraction [640x480]: KLT | 27.34 ms / 24.43 ms | Δ 11.93% | 36.57 Hz / 40.94 Hz | ∇ -10.66% |
feature_extraction [640x480]: SIFT | 641.91 ms / 610.42 ms | Δ 5.16% | 1.56 Hz / 1.64 Hz | ∇ -4.91% |
feature_extraction [640x480]: SIFT desc. | 170.65 ms / 167.77 ms | Δ 1.72% | 5.86 Hz / 5.96 Hz | ∇ -1.69% |
feature_extraction [640x480]: SURF | 201.21 ms / 197.61 ms | Δ 1.82% | 4.97 Hz / 5.06 Hz | ∇ -1.79% |
feature_extraction [640x480]: FAST | 5.22 ms / 5.24 ms | ∇ -0.43% | 191.49 Hz / 190.68 Hz | Δ 0.43% |
feature_extraction [640x480]: Spin desc. | 60.81 ms / 59.98 ms | Δ 1.38% | 16.44 Hz / 16.67 Hz | ∇ -1.36% |
feature_matching [640x480]: Harris + CC | 43.26 ms / 40.88 ms | Δ 5.83% | 23.12 Hz / 24.46 Hz | ∇ -5.51% |
feature_matching [640x480]: Harris + SAD | 39.91 ms / 35.50 ms | Δ 12.44% | 25.06 Hz / 28.17 Hz | ∇ -11.06% |
feature_matching [640x480]: SIFT | 1.28 sec / 1.21 sec | Δ 5.71% | 783.36 mHz / 828.07 mHz | ∇ -5.40% |
feature_matching [640x480]: SURF | 386.18 ms / 379.92 ms | Δ 1.65% | 2.59 Hz / 2.63 Hz | ∇ -1.62% |
feature_matching [640x480]: FAST + CC | 16.12 ms / 16.06 ms | Δ 0.37% | 62.03 Hz / 62.26 Hz | ∇ -0.37% |
feature_matching [640x480]: FAST + SAD | 10.93 ms / 10.73 ms | Δ 1.88% | 91.46 Hz / 93.18 Hz | ∇ -1.85% |