| Time cost | Setup | ||
---|---|---|---|---|
 |  | 1 | 2 | 3 |
Average relative error | Δ t trans | 1.159 ms | 1.165 ms | 1.305 ms |
 | Δ t G | 0.216 ms | 0.462 ms | 0.856 ms |
 | Δ t C | 0.402 ms | 0.446 ms | 0.382 ms |
 | Δ t | 1.777 ms | 2.073 ms | 2.543 ms |
 |  | (5.88%) | (6.55%) | (6.05%) |
Maximum relative error | Δ t trans | 2.351 ms | 2.254 ms | 2.670 ms |
 | Δ t G | 0.716 ms | 1.464 ms | 3.259 ms |
 | Δ t C | 0.779 ms | 0.857 ms | 0.818 ms |
 | Δ t | 3.228 ms | 4.149 ms | 6.081 ms |
 |  | (10.63%) | (11.24%) | (11.45%) |