<html><head><title>mrpt-performance results - 0.9.1-GCC-64bit vs 0.9.2-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-GCC-64bit vs. 0.9.2-MSVC9-32bit</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>0.9.1-GCC-64bit / <div style="color:gray;">0.9.2-MSVC9-32bit</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">21.60 ms / <div style="color:gray;">30.39 ms</div></td><td align="center"><div style="color:blue;">∇ -28.94%</div></td><td align="right">46.30 Hz / <div style="color:gray;">32.90 Hz</div></td><td align="center"><div style="color:blue;">Δ 40.72%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.51 ms / <div style="color:gray;">52.58 ms</div></td><td align="center"><div style="color:blue;">∇ -60.99%</div></td><td align="right">48.75 Hz / <div style="color:gray;">19.02 Hz</div></td><td align="center"><div style="color:blue;">Δ 156.34%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">449.02 ns / <div style="color:gray;">264.70 ns</div></td><td align="center"><div style="color:red;">Δ 69.63%</div></td><td align="right">2.23 MHz / <div style="color:gray;">3.78 MHz</div></td><td align="center"><div style="color:red;">∇ -41.05%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">233.83 ns / <div style="color:gray;">98.01 ns</div></td><td align="center"><div style="color:red;">Δ 138.59%</div></td><td align="right">4.28 MHz / <div style="color:gray;">10.20 MHz</div></td><td align="center"><div style="color:red;">∇ -58.09%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">10.67 ns / <div style="color:gray;">27.86 ns</div></td><td align="center"><div style="color:blue;">∇ -61.72%</div></td><td align="right">93.76 MHz / <div style="color:gray;">35.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 161.22%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">10.06 ns / <div style="color:gray;">19.17 ns</div></td><td align="center"><div style="color:blue;">∇ -47.52%</div></td><td align="right">99.38 MHz / <div style="color:gray;">52.16 MHz</div></td><td align="center"><div style="color:blue;">Δ 90.54%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">37.71 ns / <div style="color:gray;">51.66 ns</div></td><td align="center"><div style="color:blue;">∇ -27.00%</div></td><td align="right">26.52 MHz / <div style="color:gray;">19.36 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.99%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">40.98 ns / <div style="color:gray;">46.91 ns</div></td><td align="center"><div style="color:blue;">∇ -12.65%</div></td><td align="right">24.40 MHz / <div style="color:gray;">21.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.49%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.17 ns / <div style="color:gray;">99.28 ns</div></td><td align="center"><div style="color:blue;">∇ -21.26%</div></td><td align="right">12.79 MHz / <div style="color:gray;">10.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.00%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">62.17 ns / <div style="color:gray;">89.67 ns</div></td><td align="center"><div style="color:blue;">∇ -30.67%</div></td><td align="right">16.08 MHz / <div style="color:gray;">11.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.24%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">63.86 ns / <div style="color:gray;">82.07 ns</div></td><td align="center"><div style="color:blue;">∇ -22.18%</div></td><td align="right">15.66 MHz / <div style="color:gray;">12.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 28.51%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">61.98 ns / <div style="color:gray;">64.58 ns</div></td><td align="center"><div style="color:blue;">∇ -4.02%</div></td><td align="right">16.13 MHz / <div style="color:gray;">15.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.19%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">47.00 ns / <div style="color:gray;">87.19 ns</div></td><td align="center"><div style="color:blue;">∇ -46.09%</div></td><td align="right">21.28 MHz / <div style="color:gray;">11.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 85.51%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.80 ns / <div style="color:gray;">57.14 ns</div></td><td align="center"><div style="color:blue;">∇ -30.35%</div></td><td align="right">25.13 MHz / <div style="color:gray;">17.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 43.58%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">22.62 ns / <div style="color:gray;">48.22 ns</div></td><td align="center"><div style="color:blue;">∇ -53.09%</div></td><td align="right">44.21 MHz / <div style="color:gray;">20.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 113.18%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.93 ns / <div style="color:gray;">29.64 ns</div></td><td align="center"><div style="color:blue;">∇ -36.14%</div></td><td align="right">52.83 MHz / <div style="color:gray;">33.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 56.58%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">391.26 ns / <div style="color:gray;">84.32 ns</div></td><td align="center"><div style="color:red;">Δ 364.03%</div></td><td align="right">2.56 MHz / <div style="color:gray;">11.86 MHz</div></td><td align="center"><div style="color:red;">∇ -78.45%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">18.05 ns / <div style="color:gray;">30.72 ns</div></td><td align="center"><div style="color:blue;">∇ -41.23%</div></td><td align="right">55.39 MHz / <div style="color:gray;">32.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 70.15%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">355.00 ns / <div style="color:gray;">33.02 ns</div></td><td align="center"><div style="color:red;">Δ 975.14%</div></td><td align="right">2.82 MHz / <div style="color:gray;">30.29 MHz</div></td><td align="center"><div style="color:red;">∇ -90.70%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">173.19 ns / <div style="color:gray;">206.69 ns</div></td><td align="center"><div style="color:blue;">∇ -16.20%</div></td><td align="right">5.77 MHz / <div style="color:gray;">4.84 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.34%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">814.76 us / <div style="color:gray;">1.35 us</div></td><td align="center"><div style="color:red;">Δ 60165.82%</div></td><td align="right">1.23 KHz / <div style="color:gray;">739.68 KHz</div></td><td align="center"><div style="color:red;">∇ -99.83%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">821.91 us / <div style="color:gray;">1.40 us</div></td><td align="center"><div style="color:red;">Δ 58430.04%</div></td><td align="right">1.22 KHz / <div style="color:gray;">712.12 KHz</div></td><td align="center"><div style="color:red;">∇ -99.83%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.57 us / <div style="color:gray;">23.15 us</div></td><td align="center"><div style="color:blue;">∇ -58.65%</div></td><td align="right">104.48 KHz / <div style="color:gray;">43.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 141.83%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">682.30 ns / <div style="color:gray;">1.62 us</div></td><td align="center"><div style="color:blue;">∇ -57.90%</div></td><td align="right">1.47 MHz / <div style="color:gray;">617.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 137.54%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">533.80 ns / <div style="color:gray;">1.63 us</div></td><td align="center"><div style="color:blue;">∇ -67.24%</div></td><td align="right">1.87 MHz / <div style="color:gray;">613.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 205.27%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.51 us / <div style="color:gray;">15.82 us</div></td><td align="center"><div style="color:blue;">∇ -46.18%</div></td><td align="right">117.45 KHz / <div style="color:gray;">63.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 85.79%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.59 ns / <div style="color:gray;">38.75 ns</div></td><td align="center"><div style="color:blue;">∇ -46.85%</div></td><td align="right">48.56 MHz / <div style="color:gray;">25.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 88.16%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">22.60 ns / <div style="color:gray;">38.69 ns</div></td><td align="center"><div style="color:blue;">∇ -41.58%</div></td><td align="right">44.24 MHz / <div style="color:gray;">25.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 71.17%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">63.92 ns / <div style="color:gray;">163.36 ns</div></td><td align="center"><div style="color:blue;">∇ -60.87%</div></td><td align="right">15.64 MHz / <div style="color:gray;">6.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 155.55%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">65.22 ns / <div style="color:gray;">213.06 ns</div></td><td align="center"><div style="color:blue;">∇ -69.39%</div></td><td align="right">15.33 MHz / <div style="color:gray;">4.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 226.69%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.35 ns / <div style="color:gray;">3.56 ns</div></td><td align="center"><div style="color:blue;">∇ -90.29%</div></td><td align="right">2.89 GHz / <div style="color:gray;">280.77 MHz</div></td><td align="center"><div style="color:blue;">Δ 929.39%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">1.19 ns / <div style="color:gray;">3.29 ns</div></td><td align="center"><div style="color:blue;">∇ -63.90%</div></td><td align="right">842.46 MHz / <div style="color:gray;">304.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 176.97%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.68 ns / <div style="color:gray;">2.77 ns</div></td><td align="center"><div style="color:blue;">∇ -39.29%</div></td><td align="right">594.53 MHz / <div style="color:gray;">360.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 64.71%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.86 ns / <div style="color:gray;">6.07 ns</div></td><td align="center"><div style="color:blue;">∇ -52.85%</div></td><td align="right">349.53 MHz / <div style="color:gray;">164.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 112.10%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">73.50 ns / <div style="color:gray;">168.66 ns</div></td><td align="center"><div style="color:blue;">∇ -56.42%</div></td><td align="right">13.61 MHz / <div style="color:gray;">5.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 129.47%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">24.10 ns / <div style="color:gray;">109.47 ns</div></td><td align="center"><div style="color:blue;">∇ -77.98%</div></td><td align="right">41.49 MHz / <div style="color:gray;">9.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 354.23%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">72.10 ns / <div style="color:gray;">159.15 ns</div></td><td align="center"><div style="color:blue;">∇ -54.70%</div></td><td align="right">13.87 MHz / <div style="color:gray;">6.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 120.74%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">23.50 ns / <div style="color:gray;">87.59 ns</div></td><td align="center"><div style="color:blue;">∇ -73.17%</div></td><td align="right">42.55 MHz / <div style="color:gray;">11.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 272.74%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">112.90 ns / <div style="color:gray;">272.34 ns</div></td><td align="center"><div style="color:blue;">∇ -58.54%</div></td><td align="right">8.86 MHz / <div style="color:gray;">3.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 141.22%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.00 ns / <div style="color:gray;">190.04 ns</div></td><td align="center"><div style="color:blue;">∇ -76.32%</div></td><td align="right">22.22 MHz / <div style="color:gray;">5.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 322.31%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">245.84 ns</div></td><td align="center"><div style="color:blue;">∇ -55.05%</div></td><td align="right">9.05 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 122.48%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.10 ns / <div style="color:gray;">138.91 ns</div></td><td align="center"><div style="color:blue;">∇ -67.53%</div></td><td align="right">22.17 MHz / <div style="color:gray;">7.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 208.00%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.82 us / <div style="color:gray;">16.67 us</div></td><td align="center"><div style="color:blue;">∇ -65.10%</div></td><td align="right">171.91 KHz / <div style="color:gray;">60.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 186.54%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.57 us / <div style="color:gray;">12.92 us</div></td><td align="center"><div style="color:blue;">∇ -72.35%</div></td><td align="right">279.91 KHz / <div style="color:gray;">77.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 261.61%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.88 us / <div style="color:gray;">13.30 us</div></td><td align="center"><div style="color:blue;">∇ -55.77%</div></td><td align="right">169.93 KHz / <div style="color:gray;">75.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 126.09%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.82 us / <div style="color:gray;">9.66 us</div></td><td align="center"><div style="color:blue;">∇ -60.49%</div></td><td align="right">262.04 KHz / <div style="color:gray;">103.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 153.12%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">449.00 ns / <div style="color:gray;">1.46 us</div></td><td align="center"><div style="color:blue;">∇ -69.21%</div></td><td align="right">2.23 MHz / <div style="color:gray;">685.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 224.80%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">33.00 ns / <div style="color:gray;">59.78 ns</div></td><td align="center"><div style="color:blue;">∇ -44.80%</div></td><td align="right">30.30 MHz / <div style="color:gray;">16.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 81.16%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">413.00 ns / <div style="color:gray;">1.47 us</div></td><td align="center"><div style="color:blue;">∇ -71.85%</div></td><td align="right">2.42 MHz / <div style="color:gray;">681.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 255.20%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">22.00 ns / <div style="color:gray;">30.80 ns</div></td><td align="center"><div style="color:blue;">∇ -28.57%</div></td><td align="right">45.45 MHz / <div style="color:gray;">32.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.99%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">1.31 us / <div style="color:gray;">4.39 us</div></td><td align="center"><div style="color:blue;">∇ -70.06%</div></td><td align="right">761.04 KHz / <div style="color:gray;">227.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 234.00%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">468.00 ns / <div style="color:gray;">1.39 us</div></td><td align="center"><div style="color:blue;">∇ -66.35%</div></td><td align="right">2.14 MHz / <div style="color:gray;">718.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 197.20%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.25 us / <div style="color:gray;">5.05 us</div></td><td align="center"><div style="color:blue;">∇ -75.24%</div></td><td align="right">800.64 KHz / <div style="color:gray;">198.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 303.96%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">944.32 ns</div></td><td align="center"><div style="color:blue;">∇ -38.79%</div></td><td align="right">1.73 MHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 63.38%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">28.01 us / <div style="color:gray;">80.56 us</div></td><td align="center"><div style="color:blue;">∇ -65.24%</div></td><td align="right">35.71 KHz / <div style="color:gray;">12.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 187.66%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">12.67 us / <div style="color:gray;">39.77 us</div></td><td align="center"><div style="color:blue;">∇ -68.14%</div></td><td align="right">78.91 KHz / <div style="color:gray;">25.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 213.88%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">28.58 us / <div style="color:gray;">106.06 us</div></td><td align="center"><div style="color:blue;">∇ -73.05%</div></td><td align="right">34.98 KHz / <div style="color:gray;">9.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 271.04%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.20 us / <div style="color:gray;">18.99 us</div></td><td align="center"><div style="color:blue;">∇ -9.46%</div></td><td align="right">58.15 KHz / <div style="color:gray;">52.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.45%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">205.67 us / <div style="color:gray;">594.37 us</div></td><td align="center"><div style="color:blue;">∇ -65.40%</div></td><td align="right">4.86 KHz / <div style="color:gray;">1.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 189.00%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">92.66 us / <div style="color:gray;">302.87 us</div></td><td align="center"><div style="color:blue;">∇ -69.40%</div></td><td align="right">10.79 KHz / <div style="color:gray;">3.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 226.85%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">200.95 us / <div style="color:gray;">805.07 us</div></td><td align="center"><div style="color:blue;">∇ -75.04%</div></td><td align="right">4.98 KHz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 300.64%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">134.50 us / <div style="color:gray;">129.27 us</div></td><td align="center"><div style="color:red;">Δ 4.05%</div></td><td align="right">7.43 KHz / <div style="color:gray;">7.74 KHz</div></td><td align="center"><div style="color:red;">∇ -3.89%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">7.97 ns</div></td><td align="center"><div style="color:blue;">∇ -19.71%</div></td><td align="right">156.25 MHz / <div style="color:gray;">125.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 24.55%</div></td></tr> <tr> <td>matrix: det, fix[float ] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">8.80 ns / <div style="color:gray;">8.47 ns</div></td><td align="center"><div style="color:red;">Δ 3.90%</div></td><td align="right">113.64 MHz / <div style="color:gray;">118.07 MHz</div></td><td align="center"><div style="color:red;">∇ -3.76%</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;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">20.83 ns</div></td><td align="center"><div style="color:blue;">∇ -50.56%</div></td><td align="right">97.09 MHz / <div style="color:gray;">48.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.27%</div></td></tr> <tr> <td>matrix: det, fix[float ] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[double] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">15.90 ns</div></td><td align="center"><div style="color:blue;">∇ -35.21%</div></td><td align="right">97.09 MHz / <div style="color:gray;">62.90 MHz</div></td><td align="center"><div style="color:blue;">Δ 54.34%</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;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 6x6</td><td align="right">931.50 ns / <div style="color:gray;">2.28 us</div></td><td align="center"><div style="color:blue;">∇ -59.13%</div></td><td align="right">1.07 MHz / <div style="color:gray;">438.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 144.66%</div></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">215.70 ns / <div style="color:gray;">455.22 ns</div></td><td align="center"><div style="color:blue;">∇ -52.62%</div></td><td align="right">4.64 MHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 111.04%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">739.10 ns / <div style="color:gray;">2.27 us</div></td><td align="center"><div style="color:blue;">∇ -67.43%</div></td><td align="right">1.35 MHz / <div style="color:gray;">440.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 207.05%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">219.80 ns / <div style="color:gray;">409.52 ns</div></td><td align="center"><div style="color:blue;">∇ -46.33%</div></td><td align="right">4.55 MHz / <div style="color:gray;">2.44 MHz</div></td><td align="center"><div style="color:blue;">Δ 86.32%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">5.64 us / <div style="color:gray;">18.23 us</div></td><td align="center"><div style="color:blue;">∇ -69.06%</div></td><td align="right">177.30 KHz / <div style="color:gray;">54.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 223.19%</div></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">4.05 us / <div style="color:gray;">9.64 us</div></td><td align="center"><div style="color:blue;">∇ -57.96%</div></td><td align="right">246.81 KHz / <div style="color:gray;">103.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 137.84%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">17.63 us</div></td><td align="center"><div style="color:blue;">∇ -63.00%</div></td><td align="right">153.32 KHz / <div style="color:gray;">56.72 KHz</div></td><td align="center"><div style="color:blue;">Δ 170.29%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.73 us / <div style="color:gray;">6.19 us</div></td><td align="center"><div style="color:blue;">∇ -23.59%</div></td><td align="right">211.54 KHz / <div style="color:gray;">161.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.88%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">30.83 us / <div style="color:gray;">109.51 us</div></td><td align="center"><div style="color:blue;">∇ -71.84%</div></td><td align="right">32.43 KHz / <div style="color:gray;">9.13 KHz</div></td><td align="center"><div style="color:blue;">Δ 255.18%</div></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">25.85 us / <div style="color:gray;">61.78 us</div></td><td align="center"><div style="color:blue;">∇ -58.15%</div></td><td align="right">38.68 KHz / <div style="color:gray;">16.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 138.96%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.40 us / <div style="color:gray;">112.43 us</div></td><td align="center"><div style="color:blue;">∇ -71.19%</div></td><td align="right">30.87 KHz / <div style="color:gray;">8.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 247.04%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.53 us / <div style="color:gray;">35.24 us</div></td><td align="center"><div style="color:blue;">∇ -21.88%</div></td><td align="right">36.33 KHz / <div style="color:gray;">28.38 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.01%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">170.00 ns / <div style="color:gray;">172.11 ns</div></td><td align="center"><div style="color:blue;">∇ -1.22%</div></td><td align="right">5.88 MHz / <div style="color:gray;">5.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.24%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">117.76 ns</div></td><td align="center"><div style="color:red;">Δ 10.40%</div></td><td align="right">7.69 MHz / <div style="color:gray;">8.49 MHz</div></td><td align="center"><div style="color:red;">∇ -9.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.73 us / <div style="color:gray;">24.40 us</div></td><td align="center"><div style="color:blue;">∇ -23.25%</div></td><td align="right">53.39 KHz / <div style="color:gray;">40.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.29%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.74 us / <div style="color:gray;">17.68 us</div></td><td align="center"><div style="color:blue;">∇ -5.30%</div></td><td align="right">59.74 KHz / <div style="color:gray;">56.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.60%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.50 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:red;">Δ 0.90%</div></td><td align="right">117.65 KHz / <div style="color:gray;">118.71 KHz</div></td><td align="center"><div style="color:red;">∇ -0.89%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">93.90 us / <div style="color:gray;">118.80 us</div></td><td align="center"><div style="color:blue;">∇ -20.96%</div></td><td align="right">10.65 KHz / <div style="color:gray;">8.42 KHz</div></td><td align="center"><div style="color:blue;">Δ 26.52%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.90 us / <div style="color:gray;">69.79 us</div></td><td align="center"><div style="color:blue;">∇ -24.21%</div></td><td align="right">18.90 KHz / <div style="color:gray;">14.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.93%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">40.03 us / <div style="color:gray;">52.54 us</div></td><td align="center"><div style="color:blue;">∇ -23.81%</div></td><td align="right">24.98 KHz / <div style="color:gray;">19.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.30 us / <div style="color:gray;">466.09 us</div></td><td align="center"><div style="color:blue;">∇ -11.76%</div></td><td align="right">2.43 KHz / <div style="color:gray;">2.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.32%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.98 us / <div style="color:gray;">89.01 us</div></td><td align="center"><div style="color:blue;">∇ -15.76%</div></td><td align="right">13.34 KHz / <div style="color:gray;">11.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.71%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.61 ms / <div style="color:gray;">9.32 ms</div></td><td align="center"><div style="color:blue;">∇ -7.69%</div></td><td align="right">116.18 Hz / <div style="color:gray;">107.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.33%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">185.35 us / <div style="color:gray;">201.22 us</div></td><td align="center"><div style="color:blue;">∇ -7.89%</div></td><td align="right">5.40 KHz / <div style="color:gray;">4.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.56%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">135.40 ms / <div style="color:gray;">138.07 ms</div></td><td align="center"><div style="color:blue;">∇ -1.93%</div></td><td align="right">7.39 Hz / <div style="color:gray;">7.24 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.97%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.80 us / <div style="color:gray;">401.45 us</div></td><td align="center"><div style="color:blue;">∇ -10.38%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.58%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">364.32 ms / <div style="color:gray;">453.62 ms</div></td><td align="center"><div style="color:blue;">∇ -19.69%</div></td><td align="right">2.74 Hz / <div style="color:gray;">2.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 24.51%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">426.39 us / <div style="color:gray;">474.18 us</div></td><td align="center"><div style="color:blue;">∇ -10.08%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.21%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">800.16 ms / <div style="color:gray;">945.16 ms</div></td><td align="center"><div style="color:blue;">∇ -15.34%</div></td><td align="right">1.25 Hz / <div style="color:gray;">1.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.12%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">497.60 us / <div style="color:gray;">552.77 us</div></td><td align="center"><div style="color:blue;">∇ -9.98%</div></td><td align="right">2.01 KHz / <div style="color:gray;">1.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.09%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">5.57 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">179.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">2.58 ns / <div style="color:gray;">7.80 ns</div></td><td align="center"><div style="color:blue;">∇ -66.90%</div></td><td align="right">387.19 MHz / <div style="color:gray;">128.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 202.08%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.47 ns / <div style="color:gray;">10.65 ns</div></td><td align="center"><div style="color:blue;">∇ -29.80%</div></td><td align="right">133.80 MHz / <div style="color:gray;">93.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 42.44%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:blue;">∇ -54.43%</div></td><td align="right">1.83 GHz / <div style="color:gray;">834.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 119.43%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">104.80 us / <div style="color:gray;">202.10 us</div></td><td align="center"><div style="color:blue;">∇ -48.15%</div></td><td align="right">9.54 KHz / <div style="color:gray;">4.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 92.85%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">295.32 us / <div style="color:gray;">338.79 us</div></td><td align="center"><div style="color:blue;">∇ -12.83%</div></td><td align="right">3.39 KHz / <div style="color:gray;">2.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.72%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.83 ms / <div style="color:gray;">3.58 ms</div></td><td align="center"><div style="color:blue;">∇ -48.98%</div></td><td align="right">547.65 Hz / <div style="color:gray;">279.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 96.00%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.65 us / <div style="color:gray;">18.09 us</div></td><td align="center"><div style="color:blue;">∇ -7.95%</div></td><td align="right">60.06 KHz / <div style="color:gray;">55.28 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.64%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.11 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:blue;">∇ -43.35%</div></td><td align="right">321.23 Hz / <div style="color:gray;">181.98 Hz</div></td><td align="center"><div style="color:blue;">Δ 76.52%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">6.29 us</div></td><td align="center"><div style="color:blue;">∇ -31.92%</div></td><td align="right">233.64 KHz / <div style="color:gray;">159.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.88%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">354.96 us / <div style="color:gray;">520.70 us</div></td><td align="center"><div style="color:blue;">∇ -31.83%</div></td><td align="right">2.82 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.69%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:blue;">∇ -24.82%</div></td><td align="right">241.67 Hz / <div style="color:gray;">181.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.02%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">6.47 us</div></td><td align="center"><div style="color:blue;">∇ -33.82%</div></td><td align="right">233.64 KHz / <div style="color:gray;">154.62 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.11%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">361.24 us / <div style="color:gray;">526.59 us</div></td><td align="center"><div style="color:blue;">∇ -31.40%</div></td><td align="right">2.77 KHz / <div style="color:gray;">1.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.77%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">5.63 ms</div></td><td align="center"><div style="color:blue;">∇ -27.44%</div></td><td align="right">244.66 Hz / <div style="color:gray;">177.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.82%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.37 us / <div style="color:gray;">2.04 us</div></td><td align="center"><div style="color:blue;">∇ -32.91%</div></td><td align="right">730.99 KHz / <div style="color:gray;">490.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 49.05%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">98.96 us / <div style="color:gray;">137.79 us</div></td><td align="center"><div style="color:blue;">∇ -28.18%</div></td><td align="right">10.10 KHz / <div style="color:gray;">7.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 39.24%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.96 ms / <div style="color:gray;">14.88 ms</div></td><td align="center"><div style="color:blue;">∇ -19.66%</div></td><td align="right">83.64 Hz / <div style="color:gray;">67.19 Hz</div></td><td align="center"><div style="color:blue;">Δ 24.47%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.60 ms / <div style="color:gray;">8.57 ms</div></td><td align="center"><div style="color:blue;">∇ -34.63%</div></td><td align="right">178.50 Hz / <div style="color:gray;">116.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.97%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">129.56 ms / <div style="color:gray;">191.63 ms</div></td><td align="center"><div style="color:blue;">∇ -32.39%</div></td><td align="right">7.72 Hz / <div style="color:gray;">5.22 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.91%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.65 ms / <div style="color:gray;">8.64 ms</div></td><td align="center"><div style="color:blue;">∇ -34.53%</div></td><td align="right">176.84 Hz / <div style="color:gray;">115.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.74%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">132.43 ms / <div style="color:gray;">194.89 ms</div></td><td align="center"><div style="color:blue;">∇ -32.05%</div></td><td align="right">7.55 Hz / <div style="color:gray;">5.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.17%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.70 ns / <div style="color:gray;">7.21 ns</div></td><td align="center"><div style="color:red;">Δ 117.72%</div></td><td align="right">63.70 MHz / <div style="color:gray;">138.68 MHz</div></td><td align="center"><div style="color:red;">∇ -54.07%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.69 ns / <div style="color:gray;">7.18 ns</div></td><td align="center"><div style="color:red;">Δ 118.51%</div></td><td align="right">63.72 MHz / <div style="color:gray;">139.23 MHz</div></td><td align="center"><div style="color:red;">∇ -54.24%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">70.40 ns / <div style="color:gray;">51.37 ns</div></td><td align="center"><div style="color:red;">Δ 37.04%</div></td><td align="right">14.20 MHz / <div style="color:gray;">19.47 MHz</div></td><td align="center"><div style="color:red;">∇ -27.03%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">70.38 ns / <div style="color:gray;">51.39 ns</div></td><td align="center"><div style="color:red;">Δ 36.95%</div></td><td align="right">14.21 MHz / <div style="color:gray;">19.46 MHz</div></td><td align="center"><div style="color:red;">∇ -26.98%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">11.07 ns / <div style="color:gray;">28.61 ns</div></td><td align="center"><div style="color:blue;">∇ -61.33%</div></td><td align="right">90.37 MHz / <div style="color:gray;">34.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 158.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.33 us / <div style="color:gray;">2.55 us</div></td><td align="center"><div style="color:blue;">∇ -47.92%</div></td><td align="right">751.96 KHz / <div style="color:gray;">391.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 92.00%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.04 us / <div style="color:gray;">8.36 us</div></td><td align="center"><div style="color:blue;">∇ -63.63%</div></td><td align="right">328.99 KHz / <div style="color:gray;">119.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 174.93%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">162.81 ns / <div style="color:gray;">213.95 ns</div></td><td align="center"><div style="color:blue;">∇ -23.90%</div></td><td align="right">6.14 MHz / <div style="color:gray;">4.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 31.41%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">245.58 ns / <div style="color:gray;">324.69 ns</div></td><td align="center"><div style="color:blue;">∇ -24.36%</div></td><td align="right">4.07 MHz / <div style="color:gray;">3.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.21%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.74 ns / <div style="color:gray;">829.70 ns</div></td><td align="center"><div style="color:blue;">∇ -37.96%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 61.19%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">173.84 ns / <div style="color:gray;">214.89 ns</div></td><td align="center"><div style="color:blue;">∇ -19.10%</div></td><td align="right">5.75 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 23.62%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">259.42 ns / <div style="color:gray;">364.99 ns</div></td><td align="center"><div style="color:blue;">∇ -28.92%</div></td><td align="right">3.85 MHz / <div style="color:gray;">2.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.70%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">523.99 ns / <div style="color:gray;">760.13 ns</div></td><td align="center"><div style="color:blue;">∇ -31.06%</div></td><td align="right">1.91 MHz / <div style="color:gray;">1.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.06%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">288.60 ns / <div style="color:gray;">420.57 ns</div></td><td align="center"><div style="color:blue;">∇ -31.38%</div></td><td align="right">3.47 MHz / <div style="color:gray;">2.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.73%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.07 us / <div style="color:gray;">3.56 us</div></td><td align="center"><div style="color:blue;">∇ -13.66%</div></td><td align="right">325.61 KHz / <div style="color:gray;">281.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.82%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.26 us / <div style="color:gray;">33.55 us</div></td><td align="center"><div style="color:blue;">∇ -9.82%</div></td><td align="right">33.05 KHz / <div style="color:gray;">29.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.89%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">9.77 GHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">31.77 ms / <div style="color:gray;">28.40 ms</div></td><td align="center"><div style="color:red;">Δ 11.86%</div></td><td align="right">31.48 Hz / <div style="color:gray;">35.21 Hz</div></td><td align="center"><div style="color:red;">∇ -10.60%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">45.70 ms / <div style="color:gray;">43.71 ms</div></td><td align="center"><div style="color:red;">Δ 4.54%</div></td><td align="right">21.88 Hz / <div style="color:gray;">22.88 Hz</div></td><td align="center"><div style="color:red;">∇ -4.34%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">73.33 ms / <div style="color:gray;">70.17 ms</div></td><td align="center"><div style="color:red;">Δ 4.50%</div></td><td align="right">13.64 Hz / <div style="color:gray;">14.25 Hz</div></td><td align="center"><div style="color:red;">∇ -4.31%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.15 ms / <div style="color:gray;">24.11 ms</div></td><td align="center"><div style="color:red;">Δ 12.62%</div></td><td align="right">36.83 Hz / <div style="color:gray;">41.48 Hz</div></td><td align="center"><div style="color:red;">∇ -11.21%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.31 ms / <div style="color:gray;">37.02 ms</div></td><td align="center"><div style="color:red;">Δ 8.87%</div></td><td align="right">24.81 Hz / <div style="color:gray;">27.01 Hz</div></td><td align="center"><div style="color:red;">∇ -8.15%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.44 ms / <div style="color:gray;">59.51 ms</div></td><td align="center"><div style="color:red;">Δ 8.29%</div></td><td align="right">15.52 Hz / <div style="color:gray;">16.80 Hz</div></td><td align="center"><div style="color:red;">∇ -7.65%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.52 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:blue;">∇ -14.62%</div></td><td align="right">221.30 Hz / <div style="color:gray;">188.95 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.12%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.35 ms / <div style="color:gray;">8.36 ms</div></td><td align="center"><div style="color:blue;">∇ -12.06%</div></td><td align="right">136.05 Hz / <div style="color:gray;">119.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.72%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">11.22 ms / <div style="color:gray;">13.88 ms</div></td><td align="center"><div style="color:blue;">∇ -19.16%</div></td><td align="right">89.13 Hz / <div style="color:gray;">72.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.70%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">6.32 us / <div style="color:gray;">18.63 us</div></td><td align="center"><div style="color:blue;">∇ -66.08%</div></td><td align="right">158.23 KHz / <div style="color:gray;">53.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 194.82%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.78 us / <div style="color:gray;">17.89 us</div></td><td align="center"><div style="color:blue;">∇ -73.27%</div></td><td align="right">209.21 KHz / <div style="color:gray;">55.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 274.17%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">2.14 us / <div style="color:gray;">5.05 us</div></td><td align="center"><div style="color:blue;">∇ -57.66%</div></td><td align="right">467.29 KHz / <div style="color:gray;">197.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 136.19%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">28.31 ms / <div style="color:gray;">33.27 ms</div></td><td align="center"><div style="color:blue;">∇ -14.89%</div></td><td align="right">35.32 Hz / <div style="color:gray;">30.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.50%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">27.34 ms / <div style="color:gray;">31.21 ms</div></td><td align="center"><div style="color:blue;">∇ -12.41%</div></td><td align="right">36.57 Hz / <div style="color:gray;">32.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">641.91 ms / <div style="color:gray;">675.81 ms</div></td><td align="center"><div style="color:blue;">∇ -5.02%</div></td><td align="right">1.56 Hz / <div style="color:gray;">1.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">170.65 ms / <div style="color:gray;">217.19 ms</div></td><td align="center"><div style="color:blue;">∇ -21.43%</div></td><td align="right">5.86 Hz / <div style="color:gray;">4.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.27%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">201.21 ms / <div style="color:gray;">316.97 ms</div></td><td align="center"><div style="color:blue;">∇ -36.52%</div></td><td align="right">4.97 Hz / <div style="color:gray;">3.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 57.53%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.22 ms / <div style="color:gray;">7.82 ms</div></td><td align="center"><div style="color:blue;">∇ -33.21%</div></td><td align="right">191.49 Hz / <div style="color:gray;">127.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 49.71%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.81 ms / <div style="color:gray;">103.38 ms</div></td><td align="center"><div style="color:blue;">∇ -41.18%</div></td><td align="right">16.44 Hz / <div style="color:gray;">9.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 70.00%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.26 ms / <div style="color:gray;">56.24 ms</div></td><td align="center"><div style="color:blue;">∇ -23.08%</div></td><td align="right">23.12 Hz / <div style="color:gray;">17.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.00%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">39.91 ms / <div style="color:gray;">47.55 ms</div></td><td align="center"><div style="color:blue;">∇ -16.06%</div></td><td align="right">25.06 Hz / <div style="color:gray;">21.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.14%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.34 sec</div></td><td align="center"><div style="color:blue;">∇ -4.79%</div></td><td align="right">783.36 mHz / <div style="color:gray;">745.82 mHz</div></td><td align="center"><div style="color:blue;">Δ 5.03%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">386.18 ms / <div style="color:gray;">606.64 ms</div></td><td align="center"><div style="color:blue;">∇ -36.34%</div></td><td align="right">2.59 Hz / <div style="color:gray;">1.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 57.09%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.12 ms / <div style="color:gray;">22.36 ms</div></td><td align="center"><div style="color:blue;">∇ -27.91%</div></td><td align="right">62.03 Hz / <div style="color:gray;">44.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 38.71%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.93 ms / <div style="color:gray;">15.00 ms</div></td><td align="center"><div style="color:blue;">∇ -27.08%</div></td><td align="right">91.46 Hz / <div style="color:gray;">66.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.14%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:40.090555 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
