<html><head><title>mrpt-performance results - 0.9.3-MSVC-32bit vs 0.9.2-MSVC-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC-32bit vs. 0.9.2-MSVC-32bit</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-MSVC-32bit</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;">30.39 ms</div></td><td align="center"><div style="color:red;">Δ 3.83%</div></td><td align="right">31.69 Hz / <div style="color:gray;">32.90 Hz</div></td><td align="center"><div style="color:red;">∇ -3.69%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">52.58 ms</div></td><td align="center"><div style="color:red;">Δ 2.59%</div></td><td align="right">18.54 Hz / <div style="color:gray;">19.02 Hz</div></td><td align="center"><div style="color:red;">∇ -2.53%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">264.70 ns</div></td><td align="center"><div style="color:blue;">∇ -26.66%</div></td><td align="right">5.15 MHz / <div style="color:gray;">3.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.35%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">98.01 ns</div></td><td align="center"><div style="color:blue;">∇ -64.64%</div></td><td align="right">28.86 MHz / <div style="color:gray;">10.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 182.83%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">27.86 ns</div></td><td align="center"><div style="color:red;">Δ 2.89%</div></td><td align="right">34.88 MHz / <div style="color:gray;">35.89 MHz</div></td><td align="center"><div style="color:red;">∇ -2.81%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">19.17 ns</div></td><td align="center"><div style="color:blue;">∇ -3.55%</div></td><td align="right">54.08 MHz / <div style="color:gray;">52.16 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.68%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">51.66 ns</div></td><td align="center"><div style="color:red;">Δ 81.76%</div></td><td align="right">10.65 MHz / <div style="color:gray;">19.36 MHz</div></td><td align="center"><div style="color:red;">∇ -44.98%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">46.91 ns</div></td><td align="center"><div style="color:blue;">∇ -5.38%</div></td><td align="right">22.53 MHz / <div style="color:gray;">21.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.68%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">99.28 ns</div></td><td align="center"><div style="color:red;">Δ 4.68%</div></td><td align="right">9.62 MHz / <div style="color:gray;">10.07 MHz</div></td><td align="center"><div style="color:red;">∇ -4.47%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">89.67 ns</div></td><td align="center"><div style="color:red;">Δ 2.39%</div></td><td align="right">10.89 MHz / <div style="color:gray;">11.15 MHz</div></td><td align="center"><div style="color:red;">∇ -2.34%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">82.07 ns</div></td><td align="center"><div style="color:red;">Δ 71.03%</div></td><td align="right">7.12 MHz / <div style="color:gray;">12.18 MHz</div></td><td align="center"><div style="color:red;">∇ -41.53%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">64.58 ns</div></td><td align="center"><div style="color:red;">Δ 2.60%</div></td><td align="right">15.09 MHz / <div style="color:gray;">15.49 MHz</div></td><td align="center"><div style="color:red;">∇ -2.54%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">87.19 ns</div></td><td align="center"><div style="color:red;">Δ 7.07%</div></td><td align="right">10.71 MHz / <div style="color:gray;">11.47 MHz</div></td><td align="center"><div style="color:red;">∇ -6.60%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">57.14 ns</div></td><td align="center"><div style="color:red;">Δ 5.91%</div></td><td align="right">16.52 MHz / <div style="color:gray;">17.50 MHz</div></td><td align="center"><div style="color:red;">∇ -5.58%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">48.22 ns</div></td><td align="center"><div style="color:red;">Δ 142.04%</div></td><td align="right">8.57 MHz / <div style="color:gray;">20.74 MHz</div></td><td align="center"><div style="color:red;">∇ -58.68%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">29.64 ns</div></td><td align="center"><div style="color:red;">Δ 4.66%</div></td><td align="right">32.23 MHz / <div style="color:gray;">33.74 MHz</div></td><td align="center"><div style="color:red;">∇ -4.46%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">84.32 ns</div></td><td align="center"><div style="color:red;">Δ 50.36%</div></td><td align="right">7.89 MHz / <div style="color:gray;">11.86 MHz</div></td><td align="center"><div style="color:red;">∇ -33.49%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">30.72 ns</div></td><td align="center"><div style="color:red;">Δ 0.52%</div></td><td align="right">32.38 MHz / <div style="color:gray;">32.55 MHz</div></td><td align="center"><div style="color:red;">∇ -0.52%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">33.02 ns</div></td><td align="center"><div style="color:red;">Δ 1.20%</div></td><td align="right">29.93 MHz / <div style="color:gray;">30.29 MHz</div></td><td align="center"><div style="color:red;">∇ -1.19%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">206.69 ns</div></td><td align="center"><div style="color:red;">Δ 2.25%</div></td><td align="right">4.73 MHz / <div style="color:gray;">4.84 MHz</div></td><td align="center"><div style="color:red;">∇ -2.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">1.35 us</div></td><td align="center"><div style="color:red;">Δ 1338.86%</div></td><td align="right">51.41 KHz / <div style="color:gray;">739.68 KHz</div></td><td align="center"><div style="color:red;">∇ -93.05%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">1.40 us</div></td><td align="center"><div style="color:red;">Δ 108.81%</div></td><td align="right">341.05 KHz / <div style="color:gray;">712.12 KHz</div></td><td align="center"><div style="color:red;">∇ -52.11%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">23.15 us</div></td><td align="center"><div style="color:red;">Δ 49.64%</div></td><td align="right">28.87 KHz / <div style="color:gray;">43.20 KHz</div></td><td align="center"><div style="color:red;">∇ -33.17%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">1.62 us</div></td><td align="center"><div style="color:blue;">∇ -46.92%</div></td><td align="right">1.16 MHz / <div style="color:gray;">617.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 88.40%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">1.63 us</div></td><td align="center"><div style="color:blue;">∇ -45.98%</div></td><td align="right">1.14 MHz / <div style="color:gray;">613.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 85.12%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">15.82 us</div></td><td align="center"><div style="color:red;">Δ 37.58%</div></td><td align="right">45.95 KHz / <div style="color:gray;">63.21 KHz</div></td><td align="center"><div style="color:red;">∇ -27.31%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">38.75 ns</div></td><td align="center"><div style="color:red;">Δ 16.11%</div></td><td align="right">22.23 MHz / <div style="color:gray;">25.81 MHz</div></td><td align="center"><div style="color:red;">∇ -13.88%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">38.69 ns</div></td><td align="center"><div style="color:red;">Δ 16.72%</div></td><td align="right">22.14 MHz / <div style="color:gray;">25.85 MHz</div></td><td align="center"><div style="color:red;">∇ -14.33%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">163.36 ns</div></td><td align="center"><div style="color:blue;">∇ -1.54%</div></td><td align="right">6.22 MHz / <div style="color:gray;">6.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.56%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">213.06 ns</div></td><td align="center"><div style="color:blue;">∇ -24.45%</div></td><td align="right">6.21 MHz / <div style="color:gray;">4.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.36%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">3.56 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">280.77 MHz</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;">3.29 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">304.17 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;">2.77 ns</div></td><td align="center"><div style="color:red;">Δ 143.08%</div></td><td align="right">148.49 MHz / <div style="color:gray;">360.95 MHz</div></td><td align="center"><div style="color:red;">∇ -58.86%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">6.07 ns</div></td><td align="center"><div style="color:red;">Δ 29.50%</div></td><td align="right">127.26 MHz / <div style="color:gray;">164.80 MHz</div></td><td align="center"><div style="color:red;">∇ -22.78%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">168.66 ns</div></td><td align="center"><div style="color:red;">Δ 226.56%</div></td><td align="right">1.82 MHz / <div style="color:gray;">5.93 MHz</div></td><td align="center"><div style="color:red;">∇ -69.38%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">109.47 ns</div></td><td align="center"><div style="color:blue;">∇ -99.96%</div></td><td align="right">22.08 GHz / <div style="color:gray;">9.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 241600.00%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">159.15 ns</div></td><td align="center"><div style="color:red;">Δ 172.05%</div></td><td align="right">2.31 MHz / <div style="color:gray;">6.28 MHz</div></td><td align="center"><div style="color:red;">∇ -63.24%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">87.59 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">inf THz / <div style="color:gray;">11.42 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;">272.34 ns</div></td><td align="center"><div style="color:red;">Δ 142.54%</div></td><td align="right">1.51 MHz / <div style="color:gray;">3.67 MHz</div></td><td align="center"><div style="color:red;">∇ -58.77%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">190.04 ns</div></td><td align="center"><div style="color:blue;">∇ -79.53%</div></td><td align="right">25.70 MHz / <div style="color:gray;">5.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 388.47%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">245.84 ns</div></td><td align="center"><div style="color:red;">Δ 93.07%</div></td><td align="right">2.11 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:red;">∇ -48.21%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 ns / <div style="color:gray;">138.91 ns</div></td><td align="center"><div style="color:blue;">∇ -93.71%</div></td><td align="right">114.40 MHz / <div style="color:gray;">7.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 1489.12%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">16.67 us</div></td><td align="center"><div style="color:blue;">∇ -71.91%</div></td><td align="right">213.59 KHz / <div style="color:gray;">60.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 256.01%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">12.92 us</div></td><td align="center"><div style="color:blue;">∇ -65.78%</div></td><td align="right">226.20 KHz / <div style="color:gray;">77.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 192.22%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">13.30 us</div></td><td align="center"><div style="color:blue;">∇ -75.67%</div></td><td align="right">308.92 KHz / <div style="color:gray;">75.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 311.01%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">9.66 us</div></td><td align="center"><div style="color:blue;">∇ -75.51%</div></td><td align="right">422.77 KHz / <div style="color:gray;">103.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 308.37%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">1.47 us</div></td><td align="center"><div style="color:red;">Δ 1.39%</div></td><td align="right">672.33 KHz / <div style="color:gray;">681.67 KHz</div></td><td align="center"><div style="color:red;">∇ -1.37%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">30.80 ns</div></td><td align="center"><div style="color:red;">Δ 4.41%</div></td><td align="right">31.10 MHz / <div style="color:gray;">32.47 MHz</div></td><td align="center"><div style="color:red;">∇ -4.23%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">5.05 us</div></td><td align="center"><div style="color:blue;">∇ -30.73%</div></td><td align="right">286.11 KHz / <div style="color:gray;">198.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 44.36%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">944.32 ns</div></td><td align="center"><div style="color:red;">Δ 187.58%</div></td><td align="right">368.24 KHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:red;">∇ -65.23%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">106.06 us</div></td><td align="center"><div style="color:blue;">∇ -69.95%</div></td><td align="right">31.37 KHz / <div style="color:gray;">9.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 232.74%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">18.99 us</div></td><td align="center"><div style="color:red;">Δ 52.23%</div></td><td align="right">34.58 KHz / <div style="color:gray;">52.65 KHz</div></td><td align="center"><div style="color:red;">∇ -34.31%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">805.07 us</div></td><td align="center"><div style="color:blue;">∇ -84.57%</div></td><td align="right">8.05 KHz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 548.12%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">129.27 us</div></td><td align="center"><div style="color:blue;">∇ -5.43%</div></td><td align="right">8.18 KHz / <div style="color:gray;">7.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.75%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">8.47 ns</div></td><td align="center"><div style="color:red;">Δ 7546.52%</div></td><td align="right">1.54 MHz / <div style="color:gray;">118.07 MHz</div></td><td align="center"><div style="color:red;">∇ -98.69%</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;">15.90 ns</div></td><td align="center"><div style="color:red;">Δ 5999.15%</div></td><td align="right">1.03 MHz / <div style="color:gray;">62.90 MHz</div></td><td align="center"><div style="color:red;">∇ -98.36%</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;">2.27 us</div></td><td align="center"><div style="color:red;">Δ 8.14%</div></td><td align="right">407.46 KHz / <div style="color:gray;">440.64 KHz</div></td><td align="center"><div style="color:red;">∇ -7.53%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">409.52 ns</div></td><td align="center"><div style="color:red;">Δ 360.74%</div></td><td align="right">529.99 KHz / <div style="color:gray;">2.44 MHz</div></td><td align="center"><div style="color:red;">∇ -78.30%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">17.63 us</div></td><td align="center"><div style="color:red;">Δ 27.49%</div></td><td align="right">44.49 KHz / <div style="color:gray;">56.72 KHz</div></td><td align="center"><div style="color:red;">∇ -21.56%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">6.19 us</div></td><td align="center"><div style="color:red;">Δ 246.62%</div></td><td align="right">46.63 KHz / <div style="color:gray;">161.63 KHz</div></td><td align="center"><div style="color:red;">∇ -71.15%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">112.43 us</div></td><td align="center"><div style="color:blue;">∇ -28.60%</div></td><td align="right">12.46 KHz / <div style="color:gray;">8.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.05%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">35.24 us</div></td><td align="center"><div style="color:red;">Δ 124.30%</div></td><td align="right">12.65 KHz / <div style="color:gray;">28.38 KHz</div></td><td align="center"><div style="color:red;">∇ -55.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">172.11 ns</div></td><td align="center"><div style="color:red;">Δ 534.21%</div></td><td align="right">916.16 KHz / <div style="color:gray;">5.81 MHz</div></td><td align="center"><div style="color:red;">∇ -84.23%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">117.76 ns</div></td><td align="center"><div style="color:red;">Δ 169.23%</div></td><td align="right">3.15 MHz / <div style="color:gray;">8.49 MHz</div></td><td align="center"><div style="color:red;">∇ -62.86%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">24.40 us</div></td><td align="center"><div style="color:red;">Δ 210.36%</div></td><td align="right">13.20 KHz / <div style="color:gray;">40.98 KHz</div></td><td align="center"><div style="color:red;">∇ -67.78%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">17.68 us</div></td><td align="center"><div style="color:red;">Δ 212.89%</div></td><td align="right">18.08 KHz / <div style="color:gray;">56.57 KHz</div></td><td align="center"><div style="color:red;">∇ -68.04%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:red;">Δ 100.54%</div></td><td align="right">59.19 KHz / <div style="color:gray;">118.71 KHz</div></td><td align="center"><div style="color:red;">∇ -50.13%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">118.80 us</div></td><td align="center"><div style="color:red;">Δ 108.16%</div></td><td align="right">4.04 KHz / <div style="color:gray;">8.42 KHz</div></td><td align="center"><div style="color:red;">∇ -51.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">69.79 us</div></td><td align="center"><div style="color:red;">Δ 158.99%</div></td><td align="right">5.53 KHz / <div style="color:gray;">14.33 KHz</div></td><td align="center"><div style="color:red;">∇ -61.39%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">52.54 us</div></td><td align="center"><div style="color:red;">Δ 74.91%</div></td><td align="right">10.88 KHz / <div style="color:gray;">19.03 KHz</div></td><td align="center"><div style="color:red;">∇ -42.83%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">466.09 us</div></td><td align="center"><div style="color:red;">Δ 64.30%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.15 KHz</div></td><td align="center"><div style="color:red;">∇ -39.14%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">89.01 us</div></td><td align="center"><div style="color:red;">Δ 30.94%</div></td><td align="right">8.58 KHz / <div style="color:gray;">11.24 KHz</div></td><td align="center"><div style="color:red;">∇ -23.63%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">9.32 ms</div></td><td align="center"><div style="color:blue;">∇ -56.26%</div></td><td align="right">245.20 Hz / <div style="color:gray;">107.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 128.62%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">201.22 us</div></td><td align="center"><div style="color:red;">Δ 3.10%</div></td><td align="right">4.82 KHz / <div style="color:gray;">4.97 KHz</div></td><td align="center"><div style="color:red;">∇ -3.01%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">138.07 ms</div></td><td align="center"><div style="color:blue;">∇ -82.30%</div></td><td align="right">40.93 Hz / <div style="color:gray;">7.24 Hz</div></td><td align="center"><div style="color:blue;">Δ 465.05%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">401.45 us</div></td><td align="center"><div style="color:red;">Δ 0.49%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -0.48%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">453.62 ms</div></td><td align="center"><div style="color:blue;">∇ -91.14%</div></td><td align="right">24.87 Hz / <div style="color:gray;">2.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 1028.36%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">474.18 us</div></td><td align="center"><div style="color:red;">Δ 1.19%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:red;">∇ -1.18%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">945.16 ms</div></td><td align="center"><div style="color:blue;">∇ -93.66%</div></td><td align="right">16.68 Hz / <div style="color:gray;">1.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 1476.65%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">552.77 us</div></td><td align="center"><div style="color:red;">Δ 1.32%</div></td><td align="right">1.79 KHz / <div style="color:gray;">1.81 KHz</div></td><td align="center"><div style="color:red;">∇ -1.31%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.69 ns / <div style="color:gray;">5.57 ns</div></td><td align="center"><div style="color:red;">Δ 2.22%</div></td><td align="right">175.73 MHz / <div style="color:gray;">179.64 MHz</div></td><td align="center"><div style="color:red;">∇ -2.17%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">8.06 ns / <div style="color:gray;">7.80 ns</div></td><td align="center"><div style="color:red;">Δ 3.31%</div></td><td align="right">124.07 MHz / <div style="color:gray;">128.17 MHz</div></td><td align="center"><div style="color:red;">∇ -3.20%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">10.65 ns</div></td><td align="center"><div style="color:red;">Δ 482.18%</div></td><td align="right">16.13 MHz / <div style="color:gray;">93.93 MHz</div></td><td align="center"><div style="color:red;">∇ -82.82%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:red;">Δ 4.51%</div></td><td align="right">798.82 MHz / <div style="color:gray;">834.82 MHz</div></td><td align="center"><div style="color:red;">∇ -4.31%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">202.10 us</div></td><td align="center"><div style="color:red;">Δ 3.34%</div></td><td align="right">4.79 KHz / <div style="color:gray;">4.95 KHz</div></td><td align="center"><div style="color:red;">∇ -3.23%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">338.79 us</div></td><td align="center"><div style="color:red;">Δ 2.15%</div></td><td align="right">2.89 KHz / <div style="color:gray;">2.95 KHz</div></td><td align="center"><div style="color:red;">∇ -2.11%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">3.58 ms</div></td><td align="center"><div style="color:blue;">∇ -21.42%</div></td><td align="right">355.60 Hz / <div style="color:gray;">279.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.27%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">18.09 us</div></td><td align="center"><div style="color:red;">Δ 1.31%</div></td><td align="right">54.57 KHz / <div style="color:gray;">55.28 KHz</div></td><td align="center"><div style="color:red;">∇ -1.29%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:red;">Δ 20.25%</div></td><td align="right">151.33 Hz / <div style="color:gray;">181.98 Hz</div></td><td align="center"><div style="color:red;">∇ -16.84%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">6.29 us</div></td><td align="center"><div style="color:blue;">∇ -4.03%</div></td><td align="right">165.76 KHz / <div style="color:gray;">159.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.20%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">520.70 us</div></td><td align="center"><div style="color:red;">Δ 2.94%</div></td><td align="right">1.87 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:red;">∇ -2.86%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:red;">Δ 2.54%</div></td><td align="right">177.17 Hz / <div style="color:gray;">181.67 Hz</div></td><td align="center"><div style="color:red;">∇ -2.48%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">6.47 us</div></td><td align="center"><div style="color:red;">Δ 19.05%</div></td><td align="right">129.88 KHz / <div style="color:gray;">154.62 KHz</div></td><td align="center"><div style="color:red;">∇ -16.00%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">526.59 us</div></td><td align="center"><div style="color:red;">Δ 0.38%</div></td><td align="right">1.89 KHz / <div style="color:gray;">1.90 KHz</div></td><td align="center"><div style="color:red;">∇ -0.38%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">5.63 ms</div></td><td align="center"><div style="color:red;">Δ 3.13%</div></td><td align="right">172.12 Hz / <div style="color:gray;">177.52 Hz</div></td><td align="center"><div style="color:red;">∇ -3.04%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">2.04 us</div></td><td align="center"><div style="color:red;">Δ 4.58%</div></td><td align="right">468.98 KHz / <div style="color:gray;">490.44 KHz</div></td><td align="center"><div style="color:red;">∇ -4.38%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">137.79 us</div></td><td align="center"><div style="color:red;">Δ 5.74%</div></td><td align="right">6.86 KHz / <div style="color:gray;">7.26 KHz</div></td><td align="center"><div style="color:red;">∇ -5.42%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">14.88 ms</div></td><td align="center"><div style="color:red;">Δ 4.07%</div></td><td align="right">64.56 Hz / <div style="color:gray;">67.19 Hz</div></td><td align="center"><div style="color:red;">∇ -3.91%</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;">8.57 ms</div></td><td align="center"><div style="color:red;">Δ 4.25%</div></td><td align="right">111.93 Hz / <div style="color:gray;">116.69 Hz</div></td><td align="center"><div style="color:red;">∇ -4.08%</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;">191.63 ms</div></td><td align="center"><div style="color:red;">Δ 4.40%</div></td><td align="right">5.00 Hz / <div style="color:gray;">5.22 Hz</div></td><td align="center"><div style="color:red;">∇ -4.21%</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;">8.64 ms</div></td><td align="center"><div style="color:red;">Δ 3.90%</div></td><td align="right">111.43 Hz / <div style="color:gray;">115.78 Hz</div></td><td align="center"><div style="color:red;">∇ -3.75%</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;">194.89 ms</div></td><td align="center"><div style="color:red;">Δ 3.24%</div></td><td align="right">4.97 Hz / <div style="color:gray;">5.13 Hz</div></td><td align="center"><div style="color:red;">∇ -3.14%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">7.21 ns</div></td><td align="center"><div style="color:red;">Δ 7.57%</div></td><td align="right">128.93 MHz / <div style="color:gray;">138.68 MHz</div></td><td align="center"><div style="color:red;">∇ -7.03%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">7.18 ns</div></td><td align="center"><div style="color:red;">Δ 5.95%</div></td><td align="right">131.41 MHz / <div style="color:gray;">139.23 MHz</div></td><td align="center"><div style="color:red;">∇ -5.62%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">51.37 ns</div></td><td align="center"><div style="color:red;">Δ 0.90%</div></td><td align="right">19.29 MHz / <div style="color:gray;">19.47 MHz</div></td><td align="center"><div style="color:red;">∇ -0.90%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">51.39 ns</div></td><td align="center"><div style="color:red;">Δ 1.23%</div></td><td align="right">19.22 MHz / <div style="color:gray;">19.46 MHz</div></td><td align="center"><div style="color:red;">∇ -1.22%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">28.61 ns</div></td><td align="center"><div style="color:blue;">∇ -4.14%</div></td><td align="right">36.46 MHz / <div style="color:gray;">34.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.31%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">2.55 us</div></td><td align="center"><div style="color:red;">Δ 94.48%</div></td><td align="right">201.38 KHz / <div style="color:gray;">391.65 KHz</div></td><td align="center"><div style="color:red;">∇ -48.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">8.36 us</div></td><td align="center"><div style="color:red;">Δ 27.76%</div></td><td align="right">93.66 KHz / <div style="color:gray;">119.66 KHz</div></td><td align="center"><div style="color:red;">∇ -21.73%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">213.95 ns</div></td><td align="center"><div style="color:blue;">∇ -28.19%</div></td><td align="right">6.51 MHz / <div style="color:gray;">4.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.26%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">324.69 ns</div></td><td align="center"><div style="color:blue;">∇ -22.98%</div></td><td align="right">4.00 MHz / <div style="color:gray;">3.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">829.70 ns</div></td><td align="center"><div style="color:blue;">∇ -19.90%</div></td><td align="right">1.50 MHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 24.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">214.89 ns</div></td><td align="center"><div style="color:blue;">∇ -28.70%</div></td><td align="right">6.53 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.25%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">364.99 ns</div></td><td align="center"><div style="color:blue;">∇ -30.57%</div></td><td align="right">3.95 MHz / <div style="color:gray;">2.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.04%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">760.13 ns</div></td><td align="center"><div style="color:blue;">∇ -18.04%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.02%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">420.57 ns</div></td><td align="center"><div style="color:blue;">∇ -18.54%</div></td><td align="right">2.92 MHz / <div style="color:gray;">2.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.77%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.56 us</div></td><td align="center"><div style="color:red;">Δ 1.66%</div></td><td align="right">276.54 KHz / <div style="color:gray;">281.12 KHz</div></td><td align="center"><div style="color:red;">∇ -1.63%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">33.55 us</div></td><td align="center"><div style="color:red;">Δ 6.35%</div></td><td align="right">28.03 KHz / <div style="color:gray;">29.80 KHz</div></td><td align="center"><div style="color:red;">∇ -5.97%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ inf%</div></td><td align="right">220.79 THz / <div style="color:gray;">inf THz</div></td><td align="center"><div style="color:red;">∇ -nan%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">28.40 ms</div></td><td align="center"><div style="color:blue;">∇ -1.11%</div></td><td align="right">35.61 Hz / <div style="color:gray;">35.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.12%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">43.71 ms</div></td><td align="center"><div style="color:blue;">∇ -2.10%</div></td><td align="right">23.37 Hz / <div style="color:gray;">22.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.14%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">70.17 ms</div></td><td align="center"><div style="color:blue;">∇ -1.48%</div></td><td align="right">14.46 Hz / <div style="color:gray;">14.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.50%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">24.11 ms</div></td><td align="center"><div style="color:blue;">∇ -1.46%</div></td><td align="right">42.09 Hz / <div style="color:gray;">41.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.48%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">37.02 ms</div></td><td align="center"><div style="color:red;">Δ 0.61%</div></td><td align="right">26.85 Hz / <div style="color:gray;">27.01 Hz</div></td><td align="center"><div style="color:red;">∇ -0.60%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">59.51 ms</div></td><td align="center"><div style="color:red;">Δ 0.59%</div></td><td align="right">16.71 Hz / <div style="color:gray;">16.80 Hz</div></td><td align="center"><div style="color:red;">∇ -0.58%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:red;">Δ 36.18%</div></td><td align="right">138.75 Hz / <div style="color:gray;">188.95 Hz</div></td><td align="center"><div style="color:red;">∇ -26.57%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">8.36 ms</div></td><td align="center"><div style="color:red;">Δ 3.75%</div></td><td align="right">115.32 Hz / <div style="color:gray;">119.64 Hz</div></td><td align="center"><div style="color:red;">∇ -3.61%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">13.88 ms</div></td><td align="center"><div style="color:red;">Δ 7.65%</div></td><td align="right">66.93 Hz / <div style="color:gray;">72.06 Hz</div></td><td align="center"><div style="color:red;">∇ -7.11%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">18.63 us</div></td><td align="center"><div style="color:red;">Δ 35.56%</div></td><td align="right">39.59 KHz / <div style="color:gray;">53.67 KHz</div></td><td align="center"><div style="color:red;">∇ -26.23%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">17.89 us</div></td><td align="center"><div style="color:red;">Δ 35.81%</div></td><td align="right">41.17 KHz / <div style="color:gray;">55.91 KHz</div></td><td align="center"><div style="color:red;">∇ -26.37%</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;">5.05 us</div></td><td align="center"><div style="color:red;">Δ 173.39%</div></td><td align="right">72.37 KHz / <div style="color:gray;">197.84 KHz</div></td><td align="center"><div style="color:red;">∇ -63.42%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">33.27 ms</div></td><td align="center"><div style="color:red;">Δ 61.12%</div></td><td align="right">18.66 Hz / <div style="color:gray;">30.06 Hz</div></td><td align="center"><div style="color:red;">∇ -37.94%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">31.21 ms</div></td><td align="center"><div style="color:red;">Δ 4.66%</div></td><td align="right">30.61 Hz / <div style="color:gray;">32.04 Hz</div></td><td align="center"><div style="color:red;">∇ -4.45%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">675.81 ms</div></td><td align="center"><div style="color:red;">Δ 7.21%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.48 Hz</div></td><td align="center"><div style="color:red;">∇ -6.72%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">217.19 ms</div></td><td align="center"><div style="color:red;">Δ 0.07%</div></td><td align="right">4.60 Hz / <div style="color:gray;">4.60 Hz</div></td><td align="center"><div style="color:red;">∇ -0.07%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">316.97 ms</div></td><td align="center"><div style="color:red;">Δ 1.02%</div></td><td align="right">3.12 Hz / <div style="color:gray;">3.15 Hz</div></td><td align="center"><div style="color:red;">∇ -1.01%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">7.82 ms</div></td><td align="center"><div style="color:red;">Δ 22.55%</div></td><td align="right">104.37 Hz / <div style="color:gray;">127.91 Hz</div></td><td align="center"><div style="color:red;">∇ -18.40%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">103.38 ms</div></td><td align="center"><div style="color:red;">Δ 7.52%</div></td><td align="right">9.00 Hz / <div style="color:gray;">9.67 Hz</div></td><td align="center"><div style="color:red;">∇ -7.00%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">56.24 ms</div></td><td align="center"><div style="color:red;">Δ 15.13%</div></td><td align="right">15.44 Hz / <div style="color:gray;">17.78 Hz</div></td><td align="center"><div style="color:red;">∇ -13.14%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">47.55 ms</div></td><td align="center"><div style="color:red;">Δ 6.12%</div></td><td align="right">19.82 Hz / <div style="color:gray;">21.03 Hz</div></td><td align="center"><div style="color:red;">∇ -5.76%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.34 sec</div></td><td align="center"><div style="color:red;">Δ 1.82%</div></td><td align="right">732.49 mHz / <div style="color:gray;">745.82 mHz</div></td><td align="center"><div style="color:red;">∇ -1.79%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">606.64 ms</div></td><td align="center"><div style="color:blue;">∇ -0.75%</div></td><td align="right">1.66 Hz / <div style="color:gray;">1.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.75%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">22.36 ms</div></td><td align="center"><div style="color:red;">Δ 5.31%</div></td><td align="right">42.46 Hz / <div style="color:gray;">44.72 Hz</div></td><td align="center"><div style="color:red;">∇ -5.04%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">15.00 ms</div></td><td align="center"><div style="color:red;">Δ 4.74%</div></td><td align="right">63.67 Hz / <div style="color:gray;">66.69 Hz</div></td><td align="center"><div style="color:red;">∇ -4.53%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">313.03 us</div></td><td align="center"><div style="color:blue;">∇ -4.09%</div></td><td align="right">3.33 KHz / <div style="color:gray;">3.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.27%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">307.43 us</div></td><td align="center"><div style="color:blue;">∇ -2.12%</div></td><td align="right">3.32 KHz / <div style="color:gray;">3.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.16%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">222.64 us</div></td><td align="center"><div style="color:red;">Δ 10.13%</div></td><td align="right">4.08 KHz / <div style="color:gray;">4.49 KHz</div></td><td align="center"><div style="color:red;">∇ -9.20%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">222.87 us</div></td><td align="center"><div style="color:red;">Δ 13.43%</div></td><td align="right">3.96 KHz / <div style="color:gray;">4.49 KHz</div></td><td align="center"><div style="color:red;">∇ -11.84%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">516.93 us</div></td><td align="center"><div style="color:red;">Δ 4.00%</div></td><td align="right">1.86 KHz / <div style="color:gray;">1.93 KHz</div></td><td align="center"><div style="color:red;">∇ -3.85%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">517.18 us</div></td><td align="center"><div style="color:blue;">∇ -11.74%</div></td><td align="right">2.19 KHz / <div style="color:gray;">1.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.31%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">405.97 us</div></td><td align="center"><div style="color:blue;">∇ -1.18%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.19%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">403.48 us</div></td><td align="center"><div style="color:blue;">∇ -2.34%</div></td><td align="right">2.54 KHz / <div style="color:gray;">2.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.40%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">3.36 ms</div></td><td align="center"><div style="color:red;">Δ 8.59%</div></td><td align="right">273.78 Hz / <div style="color:gray;">297.28 Hz</div></td><td align="center"><div style="color:red;">∇ -7.91%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">3.35 ms</div></td><td align="center"><div style="color:red;">Δ 10.41%</div></td><td align="right">270.61 Hz / <div style="color:gray;">298.76 Hz</div></td><td align="center"><div style="color:red;">∇ -9.42%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">2.22 ms</div></td><td align="center"><div style="color:red;">Δ 12.91%</div></td><td align="right">399.01 Hz / <div style="color:gray;">450.51 Hz</div></td><td align="center"><div style="color:red;">∇ -11.43%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">2.22 ms</div></td><td align="center"><div style="color:red;">Δ 14.75%</div></td><td align="right">392.34 Hz / <div style="color:gray;">450.21 Hz</div></td><td align="center"><div style="color:red;">∇ -12.86%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">5.45 ms</div></td><td align="center"><div style="color:blue;">∇ -11.83%</div></td><td align="right">207.97 Hz / <div style="color:gray;">183.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.42%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">5.44 ms</div></td><td align="center"><div style="color:blue;">∇ -10.66%</div></td><td align="right">205.85 Hz / <div style="color:gray;">183.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.93%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">4.07 ms</div></td><td align="center"><div style="color:blue;">∇ -1.01%</div></td><td align="right">248.25 Hz / <div style="color:gray;">245.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.02%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">4.06 ms</div></td><td align="center"><div style="color:blue;">∇ -1.42%</div></td><td align="right">250.07 Hz / <div style="color:gray;">246.50 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.45%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">447.20 us</div></td><td align="center"><div style="color:blue;">∇ -24.39%</div></td><td align="right">2.96 KHz / <div style="color:gray;">2.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 32.25%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">442.12 us</div></td><td align="center"><div style="color:blue;">∇ -24.90%</div></td><td align="right">3.01 KHz / <div style="color:gray;">2.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 33.16%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">346.69 us</div></td><td align="center"><div style="color:blue;">∇ -12.77%</div></td><td align="right">3.31 KHz / <div style="color:gray;">2.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.64%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">347.20 us</div></td><td align="center"><div style="color:blue;">∇ -10.81%</div></td><td align="right">3.23 KHz / <div style="color:gray;">2.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.13%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">944.03 us</div></td><td align="center"><div style="color:blue;">∇ -29.16%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 41.17%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">978.08 us</div></td><td align="center"><div style="color:blue;">∇ -31.20%</div></td><td align="right">1.49 KHz / <div style="color:gray;">1.02 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.35%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">793.19 us</div></td><td align="center"><div style="color:blue;">∇ -15.73%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.67%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">793.52 us</div></td><td align="center"><div style="color:blue;">∇ -14.74%</div></td><td align="right">1.48 KHz / <div style="color:gray;">1.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.28%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">4.62 ms</div></td><td align="center"><div style="color:blue;">∇ -22.02%</div></td><td align="right">277.54 Hz / <div style="color:gray;">216.43 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.24%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">4.62 ms</div></td><td align="center"><div style="color:blue;">∇ -21.61%</div></td><td align="right">276.39 Hz / <div style="color:gray;">216.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.56%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">3.48 ms</div></td><td align="center"><div style="color:blue;">∇ -12.68%</div></td><td align="right">328.99 Hz / <div style="color:gray;">287.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.52%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">3.47 ms</div></td><td align="center"><div style="color:blue;">∇ -13.03%</div></td><td align="right">330.96 Hz / <div style="color:gray;">287.84 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.98%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">10.55 ms</div></td><td align="center"><div style="color:blue;">∇ -32.81%</div></td><td align="right">141.02 Hz / <div style="color:gray;">94.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 48.83%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">9.75 ms</div></td><td align="center"><div style="color:blue;">∇ -27.40%</div></td><td align="right">141.24 Hz / <div style="color:gray;">102.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.73%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">7.93 ms</div></td><td align="center"><div style="color:blue;">∇ -15.59%</div></td><td align="right">149.36 Hz / <div style="color:gray;">126.08 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.46%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">7.94 ms</div></td><td align="center"><div style="color:blue;">∇ -13.35%</div></td><td align="right">145.34 Hz / <div style="color:gray;">125.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.41%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">262.18 us</div></td><td align="center"><div style="color:red;">Δ 6.47%</div></td><td align="right">3.58 KHz / <div style="color:gray;">3.81 KHz</div></td><td align="center"><div style="color:red;">∇ -6.08%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">363.67 us</div></td><td align="center"><div style="color:red;">Δ 14.89%</div></td><td align="right">2.39 KHz / <div style="color:gray;">2.75 KHz</div></td><td align="center"><div style="color:red;">∇ -12.96%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:red;">Δ 5.55%</div></td><td align="right">318.46 Hz / <div style="color:gray;">336.14 Hz</div></td><td align="center"><div style="color:red;">∇ -5.26%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">3.29 ms</div></td><td align="center"><div style="color:red;">Δ 11.90%</div></td><td align="right">271.44 Hz / <div style="color:gray;">303.75 Hz</div></td><td align="center"><div style="color:red;">∇ -10.64%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">34.21 ms</div></td><td align="center"><div style="color:red;">Δ 8.42%</div></td><td align="right">26.96 Hz / <div style="color:gray;">29.23 Hz</div></td><td align="center"><div style="color:red;">∇ -7.77%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">38.12 ms</div></td><td align="center"><div style="color:red;">Δ 11.86%</div></td><td align="right">23.45 Hz / <div style="color:gray;">26.23 Hz</div></td><td align="center"><div style="color:red;">∇ -10.60%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">389.54 ms</div></td><td align="center"><div style="color:red;">Δ 11.34%</div></td><td align="right">2.31 Hz / <div style="color:gray;">2.57 Hz</div></td><td align="center"><div style="color:red;">∇ -10.19%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">428.64 ms</div></td><td align="center"><div style="color:red;">Δ 9.84%</div></td><td align="right">2.12 Hz / <div style="color:gray;">2.33 Hz</div></td><td align="center"><div style="color:red;">∇ -8.96%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">382.11 ms</div></td><td align="center"><div style="color:red;">Δ 12.06%</div></td><td align="right">2.34 Hz / <div style="color:gray;">2.62 Hz</div></td><td align="center"><div style="color:red;">∇ -10.76%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">417.45 ms</div></td><td align="center"><div style="color:red;">Δ 11.46%</div></td><td align="right">2.15 Hz / <div style="color:gray;">2.40 Hz</div></td><td align="center"><div style="color:red;">∇ -10.28%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2010/12/18,14:13:40.091803 with MRPT 0.9.3 by 'mrpt-performance'.</small> </body></html>
