<html><head><title>mrpt-performance results - 0.9.3-MSVC-32bit vs 0.9.2-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC-32bit vs. 0.9.2-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-MSVC-32bit / <div style="color:gray;">0.9.2-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.56 ms / <div style="color:gray;">19.99 ms</div></td><td align="center"><div style="color:red;">Δ 57.87%</div></td><td align="right">31.69 Hz / <div style="color:gray;">50.03 Hz</div></td><td align="center"><div style="color:red;">∇ -36.66%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">19.29 ms</div></td><td align="center"><div style="color:red;">Δ 179.63%</div></td><td align="right">18.54 Hz / <div style="color:gray;">51.84 Hz</div></td><td align="center"><div style="color:red;">∇ -64.24%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">42.85 ns</div></td><td align="center"><div style="color:red;">Δ 353.07%</div></td><td align="right">5.15 MHz / <div style="color:gray;">23.34 MHz</div></td><td align="center"><div style="color:red;">∇ -77.93%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">37.80 ns</div></td><td align="center"><div style="color:blue;">∇ -8.33%</div></td><td align="right">28.86 MHz / <div style="color:gray;">26.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 9.08%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">7.25 ns</div></td><td align="center"><div style="color:red;">Δ 295.29%</div></td><td align="right">34.88 MHz / <div style="color:gray;">137.89 MHz</div></td><td align="center"><div style="color:red;">∇ -74.70%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">11.91 ns</div></td><td align="center"><div style="color:red;">Δ 55.29%</div></td><td align="right">54.08 MHz / <div style="color:gray;">83.98 MHz</div></td><td align="center"><div style="color:red;">∇ -35.60%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">48.98 ns</div></td><td align="center"><div style="color:red;">Δ 91.68%</div></td><td align="right">10.65 MHz / <div style="color:gray;">20.42 MHz</div></td><td align="center"><div style="color:red;">∇ -47.83%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">34.95 ns</div></td><td align="center"><div style="color:red;">Δ 27.00%</div></td><td align="right">22.53 MHz / <div style="color:gray;">28.61 MHz</div></td><td align="center"><div style="color:red;">∇ -21.26%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">78.58 ns</div></td><td align="center"><div style="color:red;">Δ 32.26%</div></td><td align="right">9.62 MHz / <div style="color:gray;">12.73 MHz</div></td><td align="center"><div style="color:red;">∇ -24.39%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">70.31 ns</div></td><td align="center"><div style="color:red;">Δ 30.59%</div></td><td align="right">10.89 MHz / <div style="color:gray;">14.22 MHz</div></td><td align="center"><div style="color:red;">∇ -23.42%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">61.33 ns</div></td><td align="center"><div style="color:red;">Δ 128.87%</div></td><td align="right">7.12 MHz / <div style="color:gray;">16.31 MHz</div></td><td align="center"><div style="color:red;">∇ -56.31%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">65.17 ns</div></td><td align="center"><div style="color:red;">Δ 1.68%</div></td><td align="right">15.09 MHz / <div style="color:gray;">15.35 MHz</div></td><td align="center"><div style="color:red;">∇ -1.65%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">44.66 ns</div></td><td align="center"><div style="color:red;">Δ 109.03%</div></td><td align="right">10.71 MHz / <div style="color:gray;">22.39 MHz</div></td><td align="center"><div style="color:red;">∇ -52.16%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">39.43 ns</div></td><td align="center"><div style="color:red;">Δ 53.49%</div></td><td align="right">16.52 MHz / <div style="color:gray;">25.36 MHz</div></td><td align="center"><div style="color:red;">∇ -34.85%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">18.24 ns</div></td><td align="center"><div style="color:red;">Δ 540.03%</div></td><td align="right">8.57 MHz / <div style="color:gray;">54.84 MHz</div></td><td align="center"><div style="color:red;">∇ -84.38%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">17.94 ns</div></td><td align="center"><div style="color:red;">Δ 72.95%</div></td><td align="right">32.23 MHz / <div style="color:gray;">55.75 MHz</div></td><td align="center"><div style="color:red;">∇ -42.18%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">55.43 ns</div></td><td align="center"><div style="color:red;">Δ 128.74%</div></td><td align="right">7.89 MHz / <div style="color:gray;">18.04 MHz</div></td><td align="center"><div style="color:red;">∇ -56.28%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 75.06%</div></td><td align="right">32.38 MHz / <div style="color:gray;">56.69 MHz</div></td><td align="center"><div style="color:red;">∇ -42.88%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">16.70 ns</div></td><td align="center"><div style="color:red;">Δ 100.13%</div></td><td align="right">29.93 MHz / <div style="color:gray;">59.89 MHz</div></td><td align="center"><div style="color:red;">∇ -50.03%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">169.28 ns</div></td><td align="center"><div style="color:red;">Δ 24.84%</div></td><td align="right">4.73 MHz / <div style="color:gray;">5.91 MHz</div></td><td align="center"><div style="color:red;">∇ -19.90%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">760.96 us</div></td><td align="center"><div style="color:blue;">∇ -97.44%</div></td><td align="right">51.41 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 3811.86%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">760.62 us</div></td><td align="center"><div style="color:blue;">∇ -99.61%</div></td><td align="right">341.05 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 25840.64%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">9.47 us</div></td><td align="center"><div style="color:red;">Δ 265.59%</div></td><td align="right">28.87 KHz / <div style="color:gray;">105.55 KHz</div></td><td align="center"><div style="color:red;">∇ -72.65%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">545.30 ns</div></td><td align="center"><div style="color:red;">Δ 57.76%</div></td><td align="right">1.16 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:red;">∇ -36.61%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">544.10 ns</div></td><td align="center"><div style="color:red;">Δ 61.78%</div></td><td align="right">1.14 MHz / <div style="color:gray;">1.84 MHz</div></td><td align="center"><div style="color:red;">∇ -38.19%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">8.11 us</div></td><td align="center"><div style="color:red;">Δ 168.42%</div></td><td align="right">45.95 KHz / <div style="color:gray;">123.33 KHz</div></td><td align="center"><div style="color:red;">∇ -62.75%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">20.92 ns</div></td><td align="center"><div style="color:red;">Δ 115.07%</div></td><td align="right">22.23 MHz / <div style="color:gray;">47.81 MHz</div></td><td align="center"><div style="color:red;">∇ -53.50%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">20.15 ns</div></td><td align="center"><div style="color:red;">Δ 124.14%</div></td><td align="right">22.14 MHz / <div style="color:gray;">49.63 MHz</div></td><td align="center"><div style="color:red;">∇ -55.39%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">54.04 ns</div></td><td align="center"><div style="color:red;">Δ 197.66%</div></td><td align="right">6.22 MHz / <div style="color:gray;">18.51 MHz</div></td><td align="center"><div style="color:red;">∇ -66.40%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">55.27 ns</div></td><td align="center"><div style="color:red;">Δ 191.25%</div></td><td align="right">6.21 MHz / <div style="color:gray;">18.09 MHz</div></td><td align="center"><div style="color:red;">∇ -65.67%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:blue;">Δ inf%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:blue;">Δ inf%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">6.73 ns / <div style="color:gray;">1.70 ns</div></td><td align="center"><div style="color:red;">Δ 296.60%</div></td><td align="right">148.49 MHz / <div style="color:gray;">588.93 MHz</div></td><td align="center"><div style="color:red;">∇ -74.79%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">2.77 ns</div></td><td align="center"><div style="color:red;">Δ 183.17%</div></td><td align="right">127.26 MHz / <div style="color:gray;">360.36 MHz</div></td><td align="center"><div style="color:red;">∇ -64.69%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">73.10 ns</div></td><td align="center"><div style="color:red;">Δ 653.47%</div></td><td align="right">1.82 MHz / <div style="color:gray;">13.68 MHz</div></td><td align="center"><div style="color:red;">∇ -86.73%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">23.80 ns</div></td><td align="center"><div style="color:blue;">∇ -99.81%</div></td><td align="right">22.08 GHz / <div style="color:gray;">42.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 52448.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">72.40 ns</div></td><td align="center"><div style="color:red;">Δ 498.04%</div></td><td align="right">2.31 MHz / <div style="color:gray;">13.81 MHz</div></td><td align="center"><div style="color:red;">∇ -83.28%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.40 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">42.74 MHz</div></td><td align="center"><div style="color:blue;">Δ inf%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">660.53 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 497.76%</div></td><td align="right">1.51 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -83.27%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -13.74%</div></td><td align="right">25.70 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 15.92%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">116.30 ns</div></td><td align="center"><div style="color:red;">Δ 308.13%</div></td><td align="right">2.11 MHz / <div style="color:gray;">8.60 MHz</div></td><td align="center"><div style="color:red;">∇ -75.50%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -80.66%</div></td><td align="right">114.40 MHz / <div style="color:gray;">22.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 417.09%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">5.19 us</div></td><td align="center"><div style="color:blue;">∇ -9.75%</div></td><td align="right">213.59 KHz / <div style="color:gray;">192.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.80%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">3.55 us</div></td><td align="center"><div style="color:red;">Δ 24.47%</div></td><td align="right">226.20 KHz / <div style="color:gray;">281.56 KHz</div></td><td align="center"><div style="color:red;">∇ -19.66%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:blue;">∇ -37.51%</div></td><td align="right">308.92 KHz / <div style="color:gray;">193.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 60.02%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">3.61 us</div></td><td align="center"><div style="color:blue;">∇ -34.47%</div></td><td align="right">422.77 KHz / <div style="color:gray;">277.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.59%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">329.00 ns</div></td><td align="center"><div style="color:red;">Δ 352.09%</div></td><td align="right">672.33 KHz / <div style="color:gray;">3.04 MHz</div></td><td align="center"><div style="color:red;">∇ -77.88%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">21.00 ns</div></td><td align="center"><div style="color:red;">Δ 53.13%</div></td><td align="right">31.10 MHz / <div style="color:gray;">47.62 MHz</div></td><td align="center"><div style="color:red;">∇ -34.69%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">1.20 us</div></td><td align="center"><div style="color:red;">Δ 191.02%</div></td><td align="right">286.11 KHz / <div style="color:gray;">832.64 KHz</div></td><td align="center"><div style="color:red;">∇ -65.64%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 369.84%</div></td><td align="right">368.24 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -78.72%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">25.64 us</div></td><td align="center"><div style="color:red;">Δ 24.33%</div></td><td align="right">31.37 KHz / <div style="color:gray;">39.01 KHz</div></td><td align="center"><div style="color:red;">∇ -19.57%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">17.36 us</div></td><td align="center"><div style="color:red;">Δ 66.54%</div></td><td align="right">34.58 KHz / <div style="color:gray;">57.60 KHz</div></td><td align="center"><div style="color:red;">∇ -39.95%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">189.04 us</div></td><td align="center"><div style="color:blue;">∇ -34.29%</div></td><td align="right">8.05 KHz / <div style="color:gray;">5.29 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.18%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">121.47 us</div></td><td align="center"><div style="color:red;">Δ 0.64%</div></td><td align="right">8.18 KHz / <div style="color:gray;">8.23 KHz</div></td><td align="center"><div style="color:red;">∇ -0.64%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">6.40 ns</div></td><td align="center"><div style="color:red;">Δ 10019.02%</div></td><td align="right">1.54 MHz / <div style="color:gray;">156.25 MHz</div></td><td align="center"><div style="color:red;">∇ -99.01%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -nan%</div></td><td align="right">inf THz / <div style="color:gray;">inf THz</div></td><td align="center"><div style="color:red;">∇ -nan%</div></td></tr> <tr> <td>matrix: det, dyn[double] 3x3</td><td align="right">969.59 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 9313.51%</div></td><td align="right">1.03 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -98.94%</div></td></tr> <tr> <td>matrix: det, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -nan%</div></td><td align="right">inf THz / <div style="color:gray;">inf THz</div></td><td align="center"><div style="color:red;">∇ -nan%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">2.45 us / <div style="color:gray;">696.30 ns</div></td><td align="center"><div style="color:red;">Δ 252.47%</div></td><td align="right">407.46 KHz / <div style="color:gray;">1.44 MHz</div></td><td align="center"><div style="color:red;">∇ -71.63%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">212.30 ns</div></td><td align="center"><div style="color:red;">Δ 788.76%</div></td><td align="right">529.99 KHz / <div style="color:gray;">4.71 MHz</div></td><td align="center"><div style="color:red;">∇ -88.75%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">6.40 us</div></td><td align="center"><div style="color:red;">Δ 250.98%</div></td><td align="right">44.49 KHz / <div style="color:gray;">156.16 KHz</div></td><td align="center"><div style="color:red;">∇ -71.51%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 354.16%</div></td><td align="right">46.63 KHz / <div style="color:gray;">211.77 KHz</div></td><td align="center"><div style="color:red;">∇ -77.98%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">32.49 us</div></td><td align="center"><div style="color:red;">Δ 147.05%</div></td><td align="right">12.46 KHz / <div style="color:gray;">30.77 KHz</div></td><td align="center"><div style="color:red;">∇ -59.52%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">27.34 us</div></td><td align="center"><div style="color:red;">Δ 189.13%</div></td><td align="right">12.65 KHz / <div style="color:gray;">36.58 KHz</div></td><td align="center"><div style="color:red;">∇ -65.41%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 739.63%</div></td><td align="right">916.16 KHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -88.09%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">140.00 ns</div></td><td align="center"><div style="color:red;">Δ 126.46%</div></td><td align="right">3.15 MHz / <div style="color:gray;">7.14 MHz</div></td><td align="center"><div style="color:red;">∇ -55.84%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">18.52 us</div></td><td align="center"><div style="color:red;">Δ 308.94%</div></td><td align="right">13.20 KHz / <div style="color:gray;">54.00 KHz</div></td><td align="center"><div style="color:red;">∇ -75.55%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">16.55 us</div></td><td align="center"><div style="color:red;">Δ 234.20%</div></td><td align="right">18.08 KHz / <div style="color:gray;">60.42 KHz</div></td><td align="center"><div style="color:red;">∇ -70.08%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:red;">Δ 106.02%</div></td><td align="right">59.19 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ -51.46%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">82.90 us</div></td><td align="center"><div style="color:red;">Δ 198.30%</div></td><td align="right">4.04 KHz / <div style="color:gray;">12.06 KHz</div></td><td align="center"><div style="color:red;">∇ -66.48%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">52.70 us</div></td><td align="center"><div style="color:red;">Δ 242.99%</div></td><td align="right">5.53 KHz / <div style="color:gray;">18.98 KHz</div></td><td align="center"><div style="color:red;">∇ -70.84%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">38.59 us</div></td><td align="center"><div style="color:red;">Δ 138.12%</div></td><td align="right">10.88 KHz / <div style="color:gray;">25.91 KHz</div></td><td align="center"><div style="color:red;">∇ -58.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">409.80 us</div></td><td align="center"><div style="color:red;">Δ 86.87%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.44 KHz</div></td><td align="center"><div style="color:red;">∇ -46.49%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">70.75 us</div></td><td align="center"><div style="color:red;">Δ 64.73%</div></td><td align="right">8.58 KHz / <div style="color:gray;">14.13 KHz</div></td><td align="center"><div style="color:red;">∇ -39.30%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">8.58 ms</div></td><td align="center"><div style="color:blue;">∇ -52.45%</div></td><td align="right">245.20 Hz / <div style="color:gray;">116.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 110.28%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">171.20 us</div></td><td align="center"><div style="color:red;">Δ 21.18%</div></td><td align="right">4.82 KHz / <div style="color:gray;">5.84 KHz</div></td><td align="center"><div style="color:red;">∇ -17.48%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">133.58 ms</div></td><td align="center"><div style="color:blue;">∇ -81.71%</div></td><td align="right">40.93 Hz / <div style="color:gray;">7.49 Hz</div></td><td align="center"><div style="color:blue;">Δ 446.70%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">341.85 us</div></td><td align="center"><div style="color:red;">Δ 18.00%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.93 KHz</div></td><td align="center"><div style="color:red;">∇ -15.26%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">354.49 ms</div></td><td align="center"><div style="color:blue;">∇ -88.66%</div></td><td align="right">24.87 Hz / <div style="color:gray;">2.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 781.77%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">401.50 us</div></td><td align="center"><div style="color:red;">Δ 19.51%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -16.32%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">773.25 ms</div></td><td align="center"><div style="color:blue;">∇ -92.25%</div></td><td align="right">16.68 Hz / <div style="color:gray;">1.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 1189.87%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">469.25 us</div></td><td align="center"><div style="color:red;">Δ 19.36%</div></td><td align="right">1.79 KHz / <div style="color:gray;">2.13 KHz</div></td><td align="center"><div style="color:red;">∇ -16.22%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.69 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 5690410.47%</div></td><td align="right">175.73 MHz / <div style="color:gray;">10.00 THz</div></td><td align="center"><div style="color:red;">∇ -100.00%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">8.06 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 212.74%</div></td><td align="right">124.07 MHz / <div style="color:gray;">388.02 MHz</div></td><td align="center"><div style="color:red;">∇ -68.03%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">7.84 ns</div></td><td align="center"><div style="color:red;">Δ 690.76%</div></td><td align="right">16.13 MHz / <div style="color:gray;">127.58 MHz</div></td><td align="center"><div style="color:red;">∇ -87.35%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 127.32%</div></td><td align="right">798.82 MHz / <div style="color:gray;">1.82 GHz</div></td><td align="center"><div style="color:red;">∇ -56.01%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">102.06 us</div></td><td align="center"><div style="color:red;">Δ 104.64%</div></td><td align="right">4.79 KHz / <div style="color:gray;">9.80 KHz</div></td><td align="center"><div style="color:red;">∇ -51.13%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">289.47 us</div></td><td align="center"><div style="color:red;">Δ 19.56%</div></td><td align="right">2.89 KHz / <div style="color:gray;">3.45 KHz</div></td><td align="center"><div style="color:red;">∇ -16.36%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:red;">Δ 43.04%</div></td><td align="right">355.60 Hz / <div style="color:gray;">508.65 Hz</div></td><td align="center"><div style="color:red;">∇ -30.09%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">15.74 us</div></td><td align="center"><div style="color:red;">Δ 16.46%</div></td><td align="right">54.57 KHz / <div style="color:gray;">63.55 KHz</div></td><td align="center"><div style="color:red;">∇ -14.13%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">3.04 ms</div></td><td align="center"><div style="color:red;">Δ 117.60%</div></td><td align="right">151.33 Hz / <div style="color:gray;">329.30 Hz</div></td><td align="center"><div style="color:red;">∇ -54.04%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">4.32 us</div></td><td align="center"><div style="color:red;">Δ 39.65%</div></td><td align="right">165.76 KHz / <div style="color:gray;">231.48 KHz</div></td><td align="center"><div style="color:red;">∇ -28.39%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">352.12 us</div></td><td align="center"><div style="color:red;">Δ 52.22%</div></td><td align="right">1.87 KHz / <div style="color:gray;">2.84 KHz</div></td><td align="center"><div style="color:red;">∇ -34.31%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 36.32%</div></td><td align="right">177.17 Hz / <div style="color:gray;">241.51 Hz</div></td><td align="center"><div style="color:red;">∇ -26.64%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">4.68 us</div></td><td align="center"><div style="color:red;">Δ 64.52%</div></td><td align="right">129.88 KHz / <div style="color:gray;">213.68 KHz</div></td><td align="center"><div style="color:red;">∇ -39.22%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">359.52 us</div></td><td align="center"><div style="color:red;">Δ 47.03%</div></td><td align="right">1.89 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -31.99%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">4.03 ms</div></td><td align="center"><div style="color:red;">Δ 44.24%</div></td><td align="right">172.12 Hz / <div style="color:gray;">248.28 Hz</div></td><td align="center"><div style="color:red;">∇ -30.67%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.41 us</div></td><td align="center"><div style="color:red;">Δ 51.77%</div></td><td align="right">468.98 KHz / <div style="color:gray;">711.74 KHz</div></td><td align="center"><div style="color:red;">∇ -34.11%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">97.21 us</div></td><td align="center"><div style="color:red;">Δ 49.88%</div></td><td align="right">6.86 KHz / <div style="color:gray;">10.29 KHz</div></td><td align="center"><div style="color:red;">∇ -33.28%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">11.62 ms</div></td><td align="center"><div style="color:red;">Δ 33.27%</div></td><td align="right">64.56 Hz / <div style="color:gray;">86.05 Hz</div></td><td align="center"><div style="color:red;">∇ -24.97%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">8.93 ms / <div style="color:gray;">5.59 ms</div></td><td align="center"><div style="color:red;">Δ 59.72%</div></td><td align="right">111.93 Hz / <div style="color:gray;">178.77 Hz</div></td><td align="center"><div style="color:red;">∇ -37.39%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">200.06 ms / <div style="color:gray;">129.28 ms</div></td><td align="center"><div style="color:red;">Δ 54.74%</div></td><td align="right">5.00 Hz / <div style="color:gray;">7.73 Hz</div></td><td align="center"><div style="color:red;">∇ -35.38%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.97 ms / <div style="color:gray;">5.66 ms</div></td><td align="center"><div style="color:red;">Δ 58.42%</div></td><td align="right">111.43 Hz / <div style="color:gray;">176.53 Hz</div></td><td align="center"><div style="color:red;">∇ -36.88%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">201.21 ms / <div style="color:gray;">131.22 ms</div></td><td align="center"><div style="color:red;">Δ 53.34%</div></td><td align="right">4.97 Hz / <div style="color:gray;">7.62 Hz</div></td><td align="center"><div style="color:red;">∇ -34.78%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:blue;">∇ -46.52%</div></td><td align="right">128.93 MHz / <div style="color:gray;">68.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 86.99%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:blue;">∇ -47.52%</div></td><td align="right">131.41 MHz / <div style="color:gray;">68.96 MHz</div></td><td align="center"><div style="color:blue;">Δ 90.57%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">68.97 ns</div></td><td align="center"><div style="color:blue;">∇ -24.85%</div></td><td align="right">19.29 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 33.06%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">68.98 ns</div></td><td align="center"><div style="color:blue;">∇ -24.58%</div></td><td align="right">19.22 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.60%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">10.45 ns</div></td><td align="center"><div style="color:red;">Δ 162.56%</div></td><td align="right">36.46 MHz / <div style="color:gray;">95.72 MHz</div></td><td align="center"><div style="color:red;">∇ -61.91%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:red;">Δ 279.93%</div></td><td align="right">201.38 KHz / <div style="color:gray;">765.12 KHz</div></td><td align="center"><div style="color:red;">∇ -73.68%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">2.73 us</div></td><td align="center"><div style="color:red;">Δ 291.18%</div></td><td align="right">93.66 KHz / <div style="color:gray;">366.37 KHz</div></td><td align="center"><div style="color:red;">∇ -74.44%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">158.91 ns</div></td><td align="center"><div style="color:blue;">∇ -3.32%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.44%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">237.40 ns</div></td><td align="center"><div style="color:red;">Δ 5.34%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.21 MHz</div></td><td align="center"><div style="color:red;">∇ -5.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">490.03 ns</div></td><td align="center"><div style="color:red;">Δ 35.63%</div></td><td align="right">1.50 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:red;">∇ -26.27%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">164.67 ns</div></td><td align="center"><div style="color:blue;">∇ -6.95%</div></td><td align="right">6.53 MHz / <div style="color:gray;">6.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.47%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">249.81 ns</div></td><td align="center"><div style="color:red;">Δ 1.44%</div></td><td align="right">3.95 MHz / <div style="color:gray;">4.00 MHz</div></td><td align="center"><div style="color:red;">∇ -1.42%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">514.70 ns</div></td><td align="center"><div style="color:red;">Δ 21.03%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -17.38%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">296.20 ns</div></td><td align="center"><div style="color:red;">Δ 15.66%</div></td><td align="right">2.92 MHz / <div style="color:gray;">3.38 MHz</div></td><td align="center"><div style="color:red;">∇ -13.54%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 18.94%</div></td><td align="right">276.54 KHz / <div style="color:gray;">328.91 KHz</div></td><td align="center"><div style="color:red;">∇ -15.93%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">30.22 us</div></td><td align="center"><div style="color:red;">Δ 18.06%</div></td><td align="right">28.03 KHz / <div style="color:gray;">33.09 KHz</div></td><td align="center"><div style="color:red;">∇ -15.30%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">220.79 THz / <div style="color:gray;">10.09 GHz</div></td><td align="center"><div style="color:blue;">Δ 2188188.34%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">35.06 ms</div></td><td align="center"><div style="color:blue;">∇ -19.90%</div></td><td align="right">35.61 Hz / <div style="color:gray;">28.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 24.84%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">48.96 ms</div></td><td align="center"><div style="color:blue;">∇ -12.59%</div></td><td align="right">23.37 Hz / <div style="color:gray;">20.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.41%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">74.65 ms</div></td><td align="center"><div style="color:blue;">∇ -7.39%</div></td><td align="right">14.46 Hz / <div style="color:gray;">13.40 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.98%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">29.96 ms</div></td><td align="center"><div style="color:blue;">∇ -20.71%</div></td><td align="right">42.09 Hz / <div style="color:gray;">33.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.12%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">42.79 ms</div></td><td align="center"><div style="color:blue;">∇ -12.94%</div></td><td align="right">26.85 Hz / <div style="color:gray;">23.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.87%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">64.15 ms</div></td><td align="center"><div style="color:blue;">∇ -6.69%</div></td><td align="right">16.71 Hz / <div style="color:gray;">15.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.17%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">3.90 ms</div></td><td align="center"><div style="color:red;">Δ 84.72%</div></td><td align="right">138.75 Hz / <div style="color:gray;">256.30 Hz</div></td><td align="center"><div style="color:red;">∇ -45.86%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">6.21 ms</div></td><td align="center"><div style="color:red;">Δ 39.61%</div></td><td align="right">115.32 Hz / <div style="color:gray;">160.99 Hz</div></td><td align="center"><div style="color:red;">∇ -28.37%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">10.55 ms</div></td><td align="center"><div style="color:red;">Δ 41.55%</div></td><td align="right">66.93 Hz / <div style="color:gray;">94.74 Hz</div></td><td align="center"><div style="color:red;">∇ -29.35%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">5.06 us</div></td><td align="center"><div style="color:red;">Δ 399.19%</div></td><td align="right">39.59 KHz / <div style="color:gray;">197.63 KHz</div></td><td align="center"><div style="color:red;">∇ -79.97%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">4.30 us</div></td><td align="center"><div style="color:red;">Δ 464.87%</div></td><td align="right">41.17 KHz / <div style="color:gray;">232.56 KHz</div></td><td align="center"><div style="color:red;">∇ -82.30%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">13.82 us / <div style="color:gray;">2.10 us</div></td><td align="center"><div style="color:red;">Δ 558.02%</div></td><td align="right">72.37 KHz / <div style="color:gray;">476.19 KHz</div></td><td align="center"><div style="color:red;">∇ -84.80%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">24.28 ms</div></td><td align="center"><div style="color:red;">Δ 120.80%</div></td><td align="right">18.66 Hz / <div style="color:gray;">41.19 Hz</div></td><td align="center"><div style="color:red;">∇ -54.71%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">24.43 ms</div></td><td align="center"><div style="color:red;">Δ 33.74%</div></td><td align="right">30.61 Hz / <div style="color:gray;">40.94 Hz</div></td><td align="center"><div style="color:red;">∇ -25.23%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">610.42 ms</div></td><td align="center"><div style="color:red;">Δ 18.69%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.64 Hz</div></td><td align="center"><div style="color:red;">∇ -15.75%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">167.77 ms</div></td><td align="center"><div style="color:red;">Δ 29.54%</div></td><td align="right">4.60 Hz / <div style="color:gray;">5.96 Hz</div></td><td align="center"><div style="color:red;">∇ -22.80%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">197.61 ms</div></td><td align="center"><div style="color:red;">Δ 62.04%</div></td><td align="right">3.12 Hz / <div style="color:gray;">5.06 Hz</div></td><td align="center"><div style="color:red;">∇ -38.29%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">5.24 ms</div></td><td align="center"><div style="color:red;">Δ 82.69%</div></td><td align="right">104.37 Hz / <div style="color:gray;">190.68 Hz</div></td><td align="center"><div style="color:red;">∇ -45.26%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">59.98 ms</div></td><td align="center"><div style="color:red;">Δ 85.32%</div></td><td align="right">9.00 Hz / <div style="color:gray;">16.67 Hz</div></td><td align="center"><div style="color:red;">∇ -46.04%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">40.88 ms</div></td><td align="center"><div style="color:red;">Δ 58.39%</div></td><td align="right">15.44 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:red;">∇ -36.87%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">35.50 ms</div></td><td align="center"><div style="color:red;">Δ 42.15%</div></td><td align="right">19.82 Hz / <div style="color:gray;">28.17 Hz</div></td><td align="center"><div style="color:red;">∇ -29.65%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.21 sec</div></td><td align="center"><div style="color:red;">Δ 13.05%</div></td><td align="right">732.49 mHz / <div style="color:gray;">828.07 mHz</div></td><td align="center"><div style="color:red;">∇ -11.54%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">379.92 ms</div></td><td align="center"><div style="color:red;">Δ 58.49%</div></td><td align="right">1.66 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -36.90%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">16.06 ms</div></td><td align="center"><div style="color:red;">Δ 46.61%</div></td><td align="right">42.46 Hz / <div style="color:gray;">62.26 Hz</div></td><td align="center"><div style="color:red;">∇ -31.79%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">10.73 ms</div></td><td align="center"><div style="color:red;">Δ 46.35%</div></td><td align="right">63.67 Hz / <div style="color:gray;">93.18 Hz</div></td><td align="center"><div style="color:red;">∇ -31.67%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">117.65 us</div></td><td align="center"><div style="color:red;">Δ 155.18%</div></td><td align="right">3.33 KHz / <div style="color:gray;">8.50 KHz</div></td><td align="center"><div style="color:red;">∇ -60.81%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">105.12 us</div></td><td align="center"><div style="color:red;">Δ 186.26%</div></td><td align="right">3.32 KHz / <div style="color:gray;">9.51 KHz</div></td><td align="center"><div style="color:red;">∇ -65.07%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">85.19 us</div></td><td align="center"><div style="color:red;">Δ 187.85%</div></td><td align="right">4.08 KHz / <div style="color:gray;">11.74 KHz</div></td><td align="center"><div style="color:red;">∇ -65.26%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">84.46 us</div></td><td align="center"><div style="color:red;">Δ 199.31%</div></td><td align="right">3.96 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:red;">∇ -66.59%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">172.53 us</div></td><td align="center"><div style="color:red;">Δ 211.61%</div></td><td align="right">1.86 KHz / <div style="color:gray;">5.80 KHz</div></td><td align="center"><div style="color:red;">∇ -67.91%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">187.97 us</div></td><td align="center"><div style="color:red;">Δ 142.83%</div></td><td align="right">2.19 KHz / <div style="color:gray;">5.32 KHz</div></td><td align="center"><div style="color:red;">∇ -58.82%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">168.61 us</div></td><td align="center"><div style="color:red;">Δ 137.94%</div></td><td align="right">2.49 KHz / <div style="color:gray;">5.93 KHz</div></td><td align="center"><div style="color:red;">∇ -57.97%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">167.39 us</div></td><td align="center"><div style="color:red;">Δ 135.40%</div></td><td align="right">2.54 KHz / <div style="color:gray;">5.97 KHz</div></td><td align="center"><div style="color:red;">∇ -57.52%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">1.73 ms</div></td><td align="center"><div style="color:red;">Δ 111.57%</div></td><td align="right">273.78 Hz / <div style="color:gray;">579.22 Hz</div></td><td align="center"><div style="color:red;">∇ -52.73%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">1.45 ms</div></td><td align="center"><div style="color:red;">Δ 155.20%</div></td><td align="right">270.61 Hz / <div style="color:gray;">690.59 Hz</div></td><td align="center"><div style="color:red;">∇ -60.82%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">884.69 us</div></td><td align="center"><div style="color:red;">Δ 183.28%</div></td><td align="right">399.01 Hz / <div style="color:gray;">1.13 KHz</div></td><td align="center"><div style="color:red;">∇ -64.70%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">862.22 us</div></td><td align="center"><div style="color:red;">Δ 195.61%</div></td><td align="right">392.34 Hz / <div style="color:gray;">1.16 KHz</div></td><td align="center"><div style="color:red;">∇ -66.17%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:red;">Δ 143.61%</div></td><td align="right">207.97 Hz / <div style="color:gray;">506.65 Hz</div></td><td align="center"><div style="color:red;">∇ -58.95%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">2.31 ms</div></td><td align="center"><div style="color:red;">Δ 110.71%</div></td><td align="right">205.85 Hz / <div style="color:gray;">433.74 Hz</div></td><td align="center"><div style="color:red;">∇ -52.54%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">1.86 ms</div></td><td align="center"><div style="color:red;">Δ 116.76%</div></td><td align="right">248.25 Hz / <div style="color:gray;">538.12 Hz</div></td><td align="center"><div style="color:red;">∇ -53.87%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">1.86 ms</div></td><td align="center"><div style="color:red;">Δ 115.28%</div></td><td align="right">250.07 Hz / <div style="color:gray;">538.35 Hz</div></td><td align="center"><div style="color:red;">∇ -53.55%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">177.23 us</div></td><td align="center"><div style="color:red;">Δ 90.79%</div></td><td align="right">2.96 KHz / <div style="color:gray;">5.64 KHz</div></td><td align="center"><div style="color:red;">∇ -47.59%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">178.36 us</div></td><td align="center"><div style="color:red;">Δ 86.16%</div></td><td align="right">3.01 KHz / <div style="color:gray;">5.61 KHz</div></td><td align="center"><div style="color:red;">∇ -46.28%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">157.86 us</div></td><td align="center"><div style="color:red;">Δ 91.57%</div></td><td align="right">3.31 KHz / <div style="color:gray;">6.33 KHz</div></td><td align="center"><div style="color:red;">∇ -47.80%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">159.54 us</div></td><td align="center"><div style="color:red;">Δ 94.09%</div></td><td align="right">3.23 KHz / <div style="color:gray;">6.27 KHz</div></td><td align="center"><div style="color:red;">∇ -48.48%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">507.00 us</div></td><td align="center"><div style="color:red;">Δ 31.90%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.97 KHz</div></td><td align="center"><div style="color:red;">∇ -24.18%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">509.46 us</div></td><td align="center"><div style="color:red;">Δ 32.08%</div></td><td align="right">1.49 KHz / <div style="color:gray;">1.96 KHz</div></td><td align="center"><div style="color:red;">∇ -24.29%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">473.36 us</div></td><td align="center"><div style="color:red;">Δ 41.21%</div></td><td align="right">1.50 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:red;">∇ -29.18%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">474.07 us</div></td><td align="center"><div style="color:red;">Δ 42.72%</div></td><td align="right">1.48 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:red;">∇ -29.93%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">2.47 ms</div></td><td align="center"><div style="color:red;">Δ 45.78%</div></td><td align="right">277.54 Hz / <div style="color:gray;">404.60 Hz</div></td><td align="center"><div style="color:red;">∇ -31.40%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">2.48 ms</div></td><td align="center"><div style="color:red;">Δ 45.75%</div></td><td align="right">276.39 Hz / <div style="color:gray;">402.82 Hz</div></td><td align="center"><div style="color:red;">∇ -31.39%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">1.75 ms</div></td><td align="center"><div style="color:red;">Δ 73.40%</div></td><td align="right">328.99 Hz / <div style="color:gray;">570.48 Hz</div></td><td align="center"><div style="color:red;">∇ -42.33%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">1.77 ms</div></td><td align="center"><div style="color:red;">Δ 70.96%</div></td><td align="right">330.96 Hz / <div style="color:gray;">565.81 Hz</div></td><td align="center"><div style="color:red;">∇ -41.51%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">5.53 ms</div></td><td align="center"><div style="color:red;">Δ 28.32%</div></td><td align="right">141.02 Hz / <div style="color:gray;">180.97 Hz</div></td><td align="center"><div style="color:red;">∇ -22.07%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">5.56 ms</div></td><td align="center"><div style="color:red;">Δ 27.23%</div></td><td align="right">141.24 Hz / <div style="color:gray;">179.70 Hz</div></td><td align="center"><div style="color:red;">∇ -21.40%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">4.85 ms</div></td><td align="center"><div style="color:red;">Δ 38.03%</div></td><td align="right">149.36 Hz / <div style="color:gray;">206.16 Hz</div></td><td align="center"><div style="color:red;">∇ -27.55%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">4.85 ms</div></td><td align="center"><div style="color:red;">Δ 41.81%</div></td><td align="right">145.34 Hz / <div style="color:gray;">206.11 Hz</div></td><td align="center"><div style="color:red;">∇ -29.48%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">96.04 us</div></td><td align="center"><div style="color:red;">Δ 190.64%</div></td><td align="right">3.58 KHz / <div style="color:gray;">10.41 KHz</div></td><td align="center"><div style="color:red;">∇ -65.59%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">80.39 us</div></td><td align="center"><div style="color:red;">Δ 419.78%</div></td><td align="right">2.39 KHz / <div style="color:gray;">12.44 KHz</div></td><td align="center"><div style="color:red;">∇ -80.76%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">1.13 ms</div></td><td align="center"><div style="color:red;">Δ 177.92%</div></td><td align="right">318.46 Hz / <div style="color:gray;">885.05 Hz</div></td><td align="center"><div style="color:red;">∇ -64.02%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">804.04 us</div></td><td align="center"><div style="color:red;">Δ 358.19%</div></td><td align="right">271.44 Hz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:red;">∇ -78.17%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">19.14 ms</div></td><td align="center"><div style="color:red;">Δ 93.84%</div></td><td align="right">26.96 Hz / <div style="color:gray;">52.26 Hz</div></td><td align="center"><div style="color:red;">∇ -48.41%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">9.65 ms</div></td><td align="center"><div style="color:red;">Δ 341.93%</div></td><td align="right">23.45 Hz / <div style="color:gray;">103.63 Hz</div></td><td align="center"><div style="color:red;">∇ -77.37%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">290.37 ms</div></td><td align="center"><div style="color:red;">Δ 49.37%</div></td><td align="right">2.31 Hz / <div style="color:gray;">3.44 Hz</div></td><td align="center"><div style="color:red;">∇ -33.05%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">117.73 ms</div></td><td align="center"><div style="color:red;">Δ 299.93%</div></td><td align="right">2.12 Hz / <div style="color:gray;">8.49 Hz</div></td><td align="center"><div style="color:red;">∇ -75.00%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">268.93 ms</div></td><td align="center"><div style="color:red;">Δ 59.21%</div></td><td align="right">2.34 Hz / <div style="color:gray;">3.72 Hz</div></td><td align="center"><div style="color:red;">∇ -37.19%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">103.05 ms</div></td><td align="center"><div style="color:red;">Δ 351.53%</div></td><td align="right">2.15 Hz / <div style="color:gray;">9.70 Hz</div></td><td align="center"><div style="color:red;">∇ -77.85%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2010/12/18,14:13:40.093925 with MRPT 0.9.3 by 'mrpt-performance'.</small> </body></html>
