<html><head><title>mrpt-performance results - 0.9.1-GCC-64bit vs 0.9.3-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-GCC-64bit vs. 0.9.3-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.1-GCC-64bit / <div style="color:gray;">0.9.3-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">21.60 ms / <div style="color:gray;">20.90 ms</div></td><td align="center"><div style="color:red;">Δ 3.35%</div></td><td align="right">46.30 Hz / <div style="color:gray;">47.85 Hz</div></td><td align="center"><div style="color:red;">∇ -3.25%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.51 ms / <div style="color:gray;">18.76 ms</div></td><td align="center"><div style="color:red;">Δ 9.32%</div></td><td align="right">48.75 Hz / <div style="color:gray;">53.30 Hz</div></td><td align="center"><div style="color:red;">∇ -8.53%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">449.02 ns / <div style="color:gray;">41.67 ns</div></td><td align="center"><div style="color:red;">Δ 977.56%</div></td><td align="right">2.23 MHz / <div style="color:gray;">24.00 MHz</div></td><td align="center"><div style="color:red;">∇ -90.72%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">233.83 ns / <div style="color:gray;">32.39 ns</div></td><td align="center"><div style="color:red;">Δ 621.92%</div></td><td align="right">4.28 MHz / <div style="color:gray;">30.87 MHz</div></td><td align="center"><div style="color:red;">∇ -86.15%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">10.67 ns / <div style="color:gray;">8.02 ns</div></td><td align="center"><div style="color:red;">Δ 32.93%</div></td><td align="right">93.76 MHz / <div style="color:gray;">124.63 MHz</div></td><td align="center"><div style="color:red;">∇ -24.77%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">10.06 ns / <div style="color:gray;">11.53 ns</div></td><td align="center"><div style="color:blue;">∇ -12.76%</div></td><td align="right">99.38 MHz / <div style="color:gray;">86.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.63%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">37.71 ns / <div style="color:gray;">18.18 ns</div></td><td align="center"><div style="color:red;">Δ 107.37%</div></td><td align="right">26.52 MHz / <div style="color:gray;">54.99 MHz</div></td><td align="center"><div style="color:red;">∇ -51.78%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">40.98 ns / <div style="color:gray;">25.21 ns</div></td><td align="center"><div style="color:red;">Δ 62.51%</div></td><td align="right">24.40 MHz / <div style="color:gray;">39.66 MHz</div></td><td align="center"><div style="color:red;">∇ -38.47%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.17 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 8.42%</div></td><td align="right">12.79 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -7.76%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">62.17 ns / <div style="color:gray;">69.22 ns</div></td><td align="center"><div style="color:blue;">∇ -10.19%</div></td><td align="right">16.08 MHz / <div style="color:gray;">14.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.34%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">63.86 ns / <div style="color:gray;">60.48 ns</div></td><td align="center"><div style="color:red;">Δ 5.59%</div></td><td align="right">15.66 MHz / <div style="color:gray;">16.53 MHz</div></td><td align="center"><div style="color:red;">∇ -5.29%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">61.98 ns / <div style="color:gray;">60.01 ns</div></td><td align="center"><div style="color:red;">Δ 3.28%</div></td><td align="right">16.13 MHz / <div style="color:gray;">16.66 MHz</div></td><td align="center"><div style="color:red;">∇ -3.18%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">47.00 ns / <div style="color:gray;">42.70 ns</div></td><td align="center"><div style="color:red;">Δ 10.07%</div></td><td align="right">21.28 MHz / <div style="color:gray;">23.42 MHz</div></td><td align="center"><div style="color:red;">∇ -9.15%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.80 ns / <div style="color:gray;">38.27 ns</div></td><td align="center"><div style="color:red;">Δ 4.00%</div></td><td align="right">25.13 MHz / <div style="color:gray;">26.13 MHz</div></td><td align="center"><div style="color:red;">∇ -3.84%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">22.62 ns / <div style="color:gray;">17.90 ns</div></td><td align="center"><div style="color:red;">Δ 26.34%</div></td><td align="right">44.21 MHz / <div style="color:gray;">55.85 MHz</div></td><td align="center"><div style="color:red;">∇ -20.85%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.93 ns / <div style="color:gray;">18.44 ns</div></td><td align="center"><div style="color:red;">Δ 2.66%</div></td><td align="right">52.83 MHz / <div style="color:gray;">54.23 MHz</div></td><td align="center"><div style="color:red;">∇ -2.59%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">391.26 ns / <div style="color:gray;">33.31 ns</div></td><td align="center"><div style="color:red;">Δ 1074.53%</div></td><td align="right">2.56 MHz / <div style="color:gray;">30.02 MHz</div></td><td align="center"><div style="color:red;">∇ -91.49%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">18.05 ns / <div style="color:gray;">19.52 ns</div></td><td align="center"><div style="color:blue;">∇ -7.49%</div></td><td align="right">55.39 MHz / <div style="color:gray;">51.24 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.10%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">355.00 ns / <div style="color:gray;">16.27 ns</div></td><td align="center"><div style="color:red;">Δ 2081.40%</div></td><td align="right">2.82 MHz / <div style="color:gray;">61.45 MHz</div></td><td align="center"><div style="color:red;">∇ -95.42%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">173.19 ns / <div style="color:gray;">169.77 ns</div></td><td align="center"><div style="color:red;">Δ 2.01%</div></td><td align="right">5.77 MHz / <div style="color:gray;">5.89 MHz</div></td><td align="center"><div style="color:red;">∇ -1.97%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">814.76 us / <div style="color:gray;">799.00 ns</div></td><td align="center"><div style="color:red;">Δ 101872.15%</div></td><td align="right">1.23 KHz / <div style="color:gray;">1.25 MHz</div></td><td align="center"><div style="color:red;">∇ -99.90%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">821.91 us / <div style="color:gray;">788.50 ns</div></td><td align="center"><div style="color:red;">Δ 104136.97%</div></td><td align="right">1.22 KHz / <div style="color:gray;">1.27 MHz</div></td><td align="center"><div style="color:red;">∇ -99.90%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.57 us / <div style="color:gray;">9.11 us</div></td><td align="center"><div style="color:red;">Δ 5.12%</div></td><td align="right">104.48 KHz / <div style="color:gray;">109.83 KHz</div></td><td align="center"><div style="color:red;">∇ -4.87%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">682.30 ns / <div style="color:gray;">557.50 ns</div></td><td align="center"><div style="color:red;">Δ 22.39%</div></td><td align="right">1.47 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -18.29%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">533.80 ns / <div style="color:gray;">558.50 ns</div></td><td align="center"><div style="color:blue;">∇ -4.42%</div></td><td align="right">1.87 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.63%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.51 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:red;">Δ 1.17%</div></td><td align="right">117.45 KHz / <div style="color:gray;">118.81 KHz</div></td><td align="center"><div style="color:red;">∇ -1.15%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.59 ns / <div style="color:gray;">17.83 ns</div></td><td align="center"><div style="color:red;">Δ 15.46%</div></td><td align="right">48.56 MHz / <div style="color:gray;">56.07 MHz</div></td><td align="center"><div style="color:red;">∇ -13.39%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">22.60 ns / <div style="color:gray;">19.48 ns</div></td><td align="center"><div style="color:red;">Δ 16.07%</div></td><td align="right">44.24 MHz / <div style="color:gray;">51.35 MHz</div></td><td align="center"><div style="color:red;">∇ -13.84%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">63.92 ns / <div style="color:gray;">54.85 ns</div></td><td align="center"><div style="color:red;">Δ 16.55%</div></td><td align="right">15.64 MHz / <div style="color:gray;">18.23 MHz</div></td><td align="center"><div style="color:red;">∇ -14.20%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">65.22 ns / <div style="color:gray;">55.93 ns</div></td><td align="center"><div style="color:red;">Δ 16.60%</div></td><td align="right">15.33 MHz / <div style="color:gray;">17.88 MHz</div></td><td align="center"><div style="color:red;">∇ -14.24%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.35 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">2.89 GHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">1.19 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">842.46 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.68 ns / <div style="color:gray;">1.50 ns</div></td><td align="center"><div style="color:red;">Δ 12.28%</div></td><td align="right">594.53 MHz / <div style="color:gray;">667.56 MHz</div></td><td align="center"><div style="color:red;">∇ -10.94%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.86 ns / <div style="color:gray;">5.61 ns</div></td><td align="center"><div style="color:blue;">∇ -48.97%</div></td><td align="right">349.53 MHz / <div style="color:gray;">178.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 95.98%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">73.50 ns / <div style="color:gray;">291.30 ns</div></td><td align="center"><div style="color:blue;">∇ -74.77%</div></td><td align="right">13.61 MHz / <div style="color:gray;">3.43 MHz</div></td><td align="center"><div style="color:blue;">Δ 296.33%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">24.10 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">41.49 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">72.10 ns / <div style="color:gray;">292.50 ns</div></td><td align="center"><div style="color:blue;">∇ -75.35%</div></td><td align="right">13.87 MHz / <div style="color:gray;">3.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 305.69%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">23.50 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">42.55 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">112.90 ns / <div style="color:gray;">347.50 ns</div></td><td align="center"><div style="color:blue;">∇ -67.51%</div></td><td align="right">8.86 MHz / <div style="color:gray;">2.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 207.79%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.00 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">22.22 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">340.40 ns</div></td><td align="center"><div style="color:blue;">∇ -67.54%</div></td><td align="right">9.05 MHz / <div style="color:gray;">2.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 208.05%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.10 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">22.17 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.82 us / <div style="color:gray;">2.42 us</div></td><td align="center"><div style="color:red;">Δ 140.35%</div></td><td align="right">171.91 KHz / <div style="color:gray;">413.19 KHz</div></td><td align="center"><div style="color:red;">∇ -58.39%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.57 us / <div style="color:gray;">2.23 us</div></td><td align="center"><div style="color:red;">Δ 60.12%</div></td><td align="right">279.91 KHz / <div style="color:gray;">448.19 KHz</div></td><td align="center"><div style="color:red;">∇ -37.55%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.88 us / <div style="color:gray;">2.31 us</div></td><td align="center"><div style="color:red;">Δ 154.63%</div></td><td align="right">169.93 KHz / <div style="color:gray;">432.69 KHz</div></td><td align="center"><div style="color:red;">∇ -60.73%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.82 us / <div style="color:gray;">2.12 us</div></td><td align="center"><div style="color:red;">Δ 79.77%</div></td><td align="right">262.04 KHz / <div style="color:gray;">471.08 KHz</div></td><td align="center"><div style="color:red;">∇ -44.37%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">449.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.23 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">33.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">30.30 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">413.00 ns / <div style="color:gray;">780.00 ns</div></td><td align="center"><div style="color:blue;">∇ -47.05%</div></td><td align="right">2.42 MHz / <div style="color:gray;">1.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 88.86%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">22.00 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">45.45 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">1.31 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">761.04 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">468.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.14 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.25 us / <div style="color:gray;">1.97 us</div></td><td align="center"><div style="color:blue;">∇ -36.66%</div></td><td align="right">800.64 KHz / <div style="color:gray;">507.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 57.89%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">1.60 us</div></td><td align="center"><div style="color:blue;">∇ -63.90%</div></td><td align="right">1.73 MHz / <div style="color:gray;">624.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 176.99%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">28.01 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">35.71 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">12.67 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">78.91 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">28.58 us / <div style="color:gray;">16.08 us</div></td><td align="center"><div style="color:red;">Δ 77.76%</div></td><td align="right">34.98 KHz / <div style="color:gray;">62.19 KHz</div></td><td align="center"><div style="color:red;">∇ -43.74%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.20 us / <div style="color:gray;">14.48 us</div></td><td align="center"><div style="color:red;">Δ 18.79%</div></td><td align="right">58.15 KHz / <div style="color:gray;">69.08 KHz</div></td><td align="center"><div style="color:red;">∇ -15.82%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">205.67 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.86 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">92.66 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">10.79 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">200.95 us / <div style="color:gray;">65.78 us</div></td><td align="center"><div style="color:red;">Δ 205.46%</div></td><td align="right">4.98 KHz / <div style="color:gray;">15.20 KHz</div></td><td align="center"><div style="color:red;">∇ -67.26%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">134.50 us / <div style="color:gray;">64.13 us</div></td><td align="center"><div style="color:red;">Δ 109.73%</div></td><td align="right">7.43 KHz / <div style="color:gray;">15.59 KHz</div></td><td align="center"><div style="color:red;">∇ -52.32%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">156.25 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.#J THz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">8.80 ns / <div style="color:gray;">212.60 ns</div></td><td align="center"><div style="color:blue;">∇ -95.86%</div></td><td align="right">113.64 MHz / <div style="color:gray;">4.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 2315.91%</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;">X</div></td><td align="center"></td><td align="right">97.09 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.#J THz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">323.30 ns</div></td><td align="center"><div style="color:blue;">∇ -96.81%</div></td><td align="right">97.09 MHz / <div style="color:gray;">3.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 3038.83%</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;">X</div></td><td align="center"></td><td align="right">1.07 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">215.70 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.64 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">739.10 ns / <div style="color:gray;">774.90 ns</div></td><td align="center"><div style="color:blue;">∇ -4.62%</div></td><td align="right">1.35 MHz / <div style="color:gray;">1.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.84%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">219.80 ns / <div style="color:gray;">592.30 ns</div></td><td align="center"><div style="color:blue;">∇ -62.89%</div></td><td align="right">4.55 MHz / <div style="color:gray;">1.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 169.47%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">5.64 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">177.30 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">4.05 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">246.81 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -23.28%</div></td><td align="right">153.32 KHz / <div style="color:gray;">117.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.34%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.73 us / <div style="color:gray;">7.72 us</div></td><td align="center"><div style="color:blue;">∇ -38.77%</div></td><td align="right">211.54 KHz / <div style="color:gray;">129.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 63.31%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">30.83 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">32.43 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">25.85 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">38.68 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.40 us / <div style="color:gray;">32.23 us</div></td><td align="center"><div style="color:red;">Δ 0.53%</div></td><td align="right">30.87 KHz / <div style="color:gray;">31.03 KHz</div></td><td align="center"><div style="color:red;">∇ -0.52%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.53 us / <div style="color:gray;">30.71 us</div></td><td align="center"><div style="color:blue;">∇ -10.36%</div></td><td align="right">36.33 KHz / <div style="color:gray;">32.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.55%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">170.00 ns / <div style="color:gray;">530.00 ns</div></td><td align="center"><div style="color:blue;">∇ -67.92%</div></td><td align="right">5.88 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 211.76%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">7.69 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.73 us / <div style="color:gray;">22.98 us</div></td><td align="center"><div style="color:blue;">∇ -18.49%</div></td><td align="right">53.39 KHz / <div style="color:gray;">43.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 22.69%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.74 us / <div style="color:gray;">19.50 us</div></td><td align="center"><div style="color:blue;">∇ -14.15%</div></td><td align="right">59.74 KHz / <div style="color:gray;">51.28 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.49%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.50 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:red;">Δ 3.66%</div></td><td align="right">117.65 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ -3.53%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">93.90 us / <div style="color:gray;">85.30 us</div></td><td align="center"><div style="color:red;">Δ 10.08%</div></td><td align="right">10.65 KHz / <div style="color:gray;">11.72 KHz</div></td><td align="center"><div style="color:red;">∇ -9.16%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.90 us / <div style="color:gray;">56.80 us</div></td><td align="center"><div style="color:blue;">∇ -6.87%</div></td><td align="right">18.90 KHz / <div style="color:gray;">17.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.37%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">40.03 us / <div style="color:gray;">39.31 us</div></td><td align="center"><div style="color:red;">Δ 1.83%</div></td><td align="right">24.98 KHz / <div style="color:gray;">25.44 KHz</div></td><td align="center"><div style="color:red;">∇ -1.80%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.30 us / <div style="color:gray;">266.80 us</div></td><td align="center"><div style="color:red;">Δ 54.16%</div></td><td align="right">2.43 KHz / <div style="color:gray;">3.75 KHz</div></td><td align="center"><div style="color:red;">∇ -35.13%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.98 us / <div style="color:gray;">72.76 us</div></td><td align="center"><div style="color:red;">Δ 3.05%</div></td><td align="right">13.34 KHz / <div style="color:gray;">13.74 KHz</div></td><td align="center"><div style="color:red;">∇ -2.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.61 ms / <div style="color:gray;">2.67 ms</div></td><td align="center"><div style="color:red;">Δ 222.36%</div></td><td align="right">116.18 Hz / <div style="color:gray;">374.53 Hz</div></td><td align="center"><div style="color:red;">∇ -68.98%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">185.35 us / <div style="color:gray;">176.19 us</div></td><td align="center"><div style="color:red;">Δ 5.20%</div></td><td align="right">5.40 KHz / <div style="color:gray;">5.68 KHz</div></td><td align="center"><div style="color:red;">∇ -4.94%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">135.40 ms / <div style="color:gray;">20.73 ms</div></td><td align="center"><div style="color:red;">Δ 553.08%</div></td><td align="right">7.39 Hz / <div style="color:gray;">48.23 Hz</div></td><td align="center"><div style="color:red;">∇ -84.69%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.80 us / <div style="color:gray;">351.05 us</div></td><td align="center"><div style="color:red;">Δ 2.49%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.85 KHz</div></td><td align="center"><div style="color:red;">∇ -2.43%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">364.32 ms / <div style="color:gray;">34.60 ms</div></td><td align="center"><div style="color:red;">Δ 952.83%</div></td><td align="right">2.74 Hz / <div style="color:gray;">28.90 Hz</div></td><td align="center"><div style="color:red;">∇ -90.50%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">426.39 us / <div style="color:gray;">415.89 us</div></td><td align="center"><div style="color:red;">Δ 2.52%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -2.46%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">800.16 ms / <div style="color:gray;">50.32 ms</div></td><td align="center"><div style="color:red;">Δ 1490.17%</div></td><td align="right">1.25 Hz / <div style="color:gray;">19.87 Hz</div></td><td align="center"><div style="color:red;">∇ -93.71%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">497.60 us / <div style="color:gray;">482.94 us</div></td><td align="center"><div style="color:red;">Δ 3.04%</div></td><td align="right">2.01 KHz / <div style="color:gray;">2.07 KHz</div></td><td align="center"><div style="color:red;">∇ -2.95%</div></td></tr> <tr> <td>gridmap2D: getCell</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>gridmap2D: setCell</td><td align="right">2.58 ns / <div style="color:gray;">2.61 ns</div></td><td align="center"><div style="color:blue;">∇ -0.92%</div></td><td align="right">387.19 MHz / <div style="color:gray;">383.63 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.93%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.47 ns / <div style="color:gray;">6.99 ns</div></td><td align="center"><div style="color:red;">Δ 6.89%</div></td><td align="right">133.80 MHz / <div style="color:gray;">143.02 MHz</div></td><td align="center"><div style="color:red;">∇ -6.45%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">0.51 ns</div></td><td align="center"><div style="color:red;">Δ 6.54%</div></td><td align="right">1.83 GHz / <div style="color:gray;">1.95 GHz</div></td><td align="center"><div style="color:red;">∇ -6.14%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">104.80 us / <div style="color:gray;">102.59 us</div></td><td align="center"><div style="color:red;">Δ 2.15%</div></td><td align="right">9.54 KHz / <div style="color:gray;">9.75 KHz</div></td><td align="center"><div style="color:red;">∇ -2.11%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">295.32 us / <div style="color:gray;">284.11 us</div></td><td align="center"><div style="color:red;">Δ 3.95%</div></td><td align="right">3.39 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:red;">∇ -3.80%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.83 ms / <div style="color:gray;">722.00 us</div></td><td align="center"><div style="color:red;">Δ 152.91%</div></td><td align="right">547.65 Hz / <div style="color:gray;">1.39 KHz</div></td><td align="center"><div style="color:red;">∇ -60.46%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.65 us / <div style="color:gray;">15.69 us</div></td><td align="center"><div style="color:red;">Δ 6.10%</div></td><td align="right">60.06 KHz / <div style="color:gray;">63.72 KHz</div></td><td align="center"><div style="color:red;">∇ -5.75%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.11 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:red;">Δ 4.93%</div></td><td align="right">321.23 Hz / <div style="color:gray;">337.06 Hz</div></td><td align="center"><div style="color:red;">∇ -4.69%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.36 us</div></td><td align="center"><div style="color:blue;">∇ -1.83%</div></td><td align="right">233.64 KHz / <div style="color:gray;">229.36 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.87%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">354.96 us / <div style="color:gray;">357.08 us</div></td><td align="center"><div style="color:blue;">∇ -0.59%</div></td><td align="right">2.82 KHz / <div style="color:gray;">2.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.60%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">4.19 ms</div></td><td align="center"><div style="color:blue;">∇ -1.26%</div></td><td align="right">241.67 Hz / <div style="color:gray;">238.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.28%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:blue;">∇ -9.32%</div></td><td align="right">233.64 KHz / <div style="color:gray;">211.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.28%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">361.24 us / <div style="color:gray;">362.68 us</div></td><td align="center"><div style="color:blue;">∇ -0.40%</div></td><td align="right">2.77 KHz / <div style="color:gray;">2.76 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.40%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">4.10 ms</div></td><td align="center"><div style="color:blue;">∇ -0.23%</div></td><td align="right">244.66 Hz / <div style="color:gray;">244.09 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.23%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.37 us / <div style="color:gray;">1.39 us</div></td><td align="center"><div style="color:blue;">∇ -1.44%</div></td><td align="right">730.99 KHz / <div style="color:gray;">720.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.46%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">98.96 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:blue;">∇ -2.85%</div></td><td align="right">10.10 KHz / <div style="color:gray;">9.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.93%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.96 ms / <div style="color:gray;">11.78 ms</div></td><td align="center"><div style="color:red;">Δ 1.53%</div></td><td align="right">83.64 Hz / <div style="color:gray;">84.92 Hz</div></td><td align="center"><div style="color:red;">∇ -1.51%</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;">5.62 ms</div></td><td align="center"><div style="color:blue;">∇ -0.37%</div></td><td align="right">178.50 Hz / <div style="color:gray;">177.84 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.37%</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;">130.59 ms</div></td><td align="center"><div style="color:blue;">∇ -0.79%</div></td><td align="right">7.72 Hz / <div style="color:gray;">7.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.79%</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;">5.69 ms</div></td><td align="center"><div style="color:blue;">∇ -0.63%</div></td><td align="right">176.84 Hz / <div style="color:gray;">175.73 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.63%</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;">132.22 ms</div></td><td align="center"><div style="color:red;">Δ 0.15%</div></td><td align="right">7.55 Hz / <div style="color:gray;">7.56 Hz</div></td><td align="center"><div style="color:red;">∇ -0.15%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.70 ns / <div style="color:gray;">15.67 ns</div></td><td align="center"><div style="color:red;">Δ 0.19%</div></td><td align="right">63.70 MHz / <div style="color:gray;">63.82 MHz</div></td><td align="center"><div style="color:red;">∇ -0.19%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.69 ns / <div style="color:gray;">15.66 ns</div></td><td align="center"><div style="color:red;">Δ 0.25%</div></td><td align="right">63.72 MHz / <div style="color:gray;">63.88 MHz</div></td><td align="center"><div style="color:red;">∇ -0.25%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">70.40 ns / <div style="color:gray;">69.89 ns</div></td><td align="center"><div style="color:red;">Δ 0.72%</div></td><td align="right">14.20 MHz / <div style="color:gray;">14.31 MHz</div></td><td align="center"><div style="color:red;">∇ -0.72%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">70.38 ns / <div style="color:gray;">69.86 ns</div></td><td align="center"><div style="color:red;">Δ 0.74%</div></td><td align="right">14.21 MHz / <div style="color:gray;">14.32 MHz</div></td><td align="center"><div style="color:red;">∇ -0.74%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">11.07 ns / <div style="color:gray;">12.21 ns</div></td><td align="center"><div style="color:blue;">∇ -9.41%</div></td><td align="right">90.37 MHz / <div style="color:gray;">81.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.38%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.33 us / <div style="color:gray;">2.70 us</div></td><td align="center"><div style="color:blue;">∇ -50.73%</div></td><td align="right">751.96 KHz / <div style="color:gray;">370.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 102.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.04 us / <div style="color:gray;">5.71 us</div></td><td align="center"><div style="color:blue;">∇ -46.76%</div></td><td align="right">328.99 KHz / <div style="color:gray;">175.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 87.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">162.81 ns / <div style="color:gray;">148.19 ns</div></td><td align="center"><div style="color:red;">Δ 9.87%</div></td><td align="right">6.14 MHz / <div style="color:gray;">6.75 MHz</div></td><td align="center"><div style="color:red;">∇ -8.98%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">245.58 ns / <div style="color:gray;">232.46 ns</div></td><td align="center"><div style="color:red;">Δ 5.65%</div></td><td align="right">4.07 MHz / <div style="color:gray;">4.30 MHz</div></td><td align="center"><div style="color:red;">∇ -5.34%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.74 ns / <div style="color:gray;">489.71 ns</div></td><td align="center"><div style="color:red;">Δ 5.11%</div></td><td align="right">1.94 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:red;">∇ -4.86%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">173.84 ns / <div style="color:gray;">159.54 ns</div></td><td align="center"><div style="color:red;">Δ 8.96%</div></td><td align="right">5.75 MHz / <div style="color:gray;">6.27 MHz</div></td><td align="center"><div style="color:red;">∇ -8.22%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">259.42 ns / <div style="color:gray;">247.75 ns</div></td><td align="center"><div style="color:red;">Δ 4.71%</div></td><td align="right">3.85 MHz / <div style="color:gray;">4.04 MHz</div></td><td align="center"><div style="color:red;">∇ -4.50%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">523.99 ns / <div style="color:gray;">521.91 ns</div></td><td align="center"><div style="color:red;">Δ 0.40%</div></td><td align="right">1.91 MHz / <div style="color:gray;">1.92 MHz</div></td><td align="center"><div style="color:red;">∇ -0.40%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">288.60 ns / <div style="color:gray;">251.30 ns</div></td><td align="center"><div style="color:red;">Δ 14.84%</div></td><td align="right">3.47 MHz / <div style="color:gray;">3.98 MHz</div></td><td align="center"><div style="color:red;">∇ -12.92%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.07 us / <div style="color:gray;">3.02 us</div></td><td align="center"><div style="color:red;">Δ 1.80%</div></td><td align="right">325.61 KHz / <div style="color:gray;">331.46 KHz</div></td><td align="center"><div style="color:red;">∇ -1.76%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.26 us / <div style="color:gray;">30.36 us</div></td><td align="center"><div style="color:blue;">∇ -0.35%</div></td><td align="right">33.05 KHz / <div style="color:gray;">32.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.35%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:red;">Δ 3.29%</div></td><td align="right">9.77 GHz / <div style="color:gray;">10.09 GHz</div></td><td align="center"><div style="color:red;">∇ -3.18%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">31.77 ms / <div style="color:gray;">34.14 ms</div></td><td align="center"><div style="color:blue;">∇ -6.95%</div></td><td align="right">31.48 Hz / <div style="color:gray;">29.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.47%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">45.70 ms / <div style="color:gray;">49.83 ms</div></td><td align="center"><div style="color:blue;">∇ -8.29%</div></td><td align="right">21.88 Hz / <div style="color:gray;">20.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.04%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">73.33 ms / <div style="color:gray;">80.71 ms</div></td><td align="center"><div style="color:blue;">∇ -9.14%</div></td><td align="right">13.64 Hz / <div style="color:gray;">12.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.06%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.15 ms / <div style="color:gray;">29.36 ms</div></td><td align="center"><div style="color:blue;">∇ -7.53%</div></td><td align="right">36.83 Hz / <div style="color:gray;">34.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.15%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.31 ms / <div style="color:gray;">42.45 ms</div></td><td align="center"><div style="color:blue;">∇ -5.03%</div></td><td align="right">24.81 Hz / <div style="color:gray;">23.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.30%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.44 ms / <div style="color:gray;">65.41 ms</div></td><td align="center"><div style="color:blue;">∇ -1.48%</div></td><td align="right">15.52 Hz / <div style="color:gray;">15.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.50%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.52 ms / <div style="color:gray;">4.66 ms</div></td><td align="center"><div style="color:blue;">∇ -3.12%</div></td><td align="right">221.30 Hz / <div style="color:gray;">214.40 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.22%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.35 ms / <div style="color:gray;">5.98 ms</div></td><td align="center"><div style="color:red;">Δ 22.82%</div></td><td align="right">136.05 Hz / <div style="color:gray;">167.10 Hz</div></td><td align="center"><div style="color:red;">∇ -18.58%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">11.22 ms / <div style="color:gray;">10.42 ms</div></td><td align="center"><div style="color:red;">Δ 7.63%</div></td><td align="right">89.13 Hz / <div style="color:gray;">95.93 Hz</div></td><td align="center"><div style="color:red;">∇ -7.08%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">6.32 us / <div style="color:gray;">11.35 us</div></td><td align="center"><div style="color:blue;">∇ -44.32%</div></td><td align="right">158.23 KHz / <div style="color:gray;">88.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 79.59%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.78 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:blue;">∇ -52.01%</div></td><td align="right">209.21 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 108.37%</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;">5.52 us</div></td><td align="center"><div style="color:blue;">∇ -61.23%</div></td><td align="right">467.29 KHz / <div style="color:gray;">181.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 157.94%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">28.31 ms / <div style="color:gray;">32.25 ms</div></td><td align="center"><div style="color:blue;">∇ -12.22%</div></td><td align="right">35.32 Hz / <div style="color:gray;">31.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.91%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">27.34 ms / <div style="color:gray;">25.60 ms</div></td><td align="center"><div style="color:red;">Δ 6.79%</div></td><td align="right">36.57 Hz / <div style="color:gray;">39.06 Hz</div></td><td align="center"><div style="color:red;">∇ -6.35%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">641.91 ms / <div style="color:gray;">630.91 ms</div></td><td align="center"><div style="color:red;">Δ 1.74%</div></td><td align="right">1.56 Hz / <div style="color:gray;">1.59 Hz</div></td><td align="center"><div style="color:red;">∇ -1.71%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">170.65 ms / <div style="color:gray;">164.09 ms</div></td><td align="center"><div style="color:red;">Δ 4.00%</div></td><td align="right">5.86 Hz / <div style="color:gray;">6.09 Hz</div></td><td align="center"><div style="color:red;">∇ -3.85%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">201.21 ms / <div style="color:gray;">207.64 ms</div></td><td align="center"><div style="color:blue;">∇ -3.10%</div></td><td align="right">4.97 Hz / <div style="color:gray;">4.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.19%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.22 ms / <div style="color:gray;">7.60 ms</div></td><td align="center"><div style="color:blue;">∇ -31.29%</div></td><td align="right">191.49 Hz / <div style="color:gray;">131.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 45.54%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.81 ms / <div style="color:gray;">60.60 ms</div></td><td align="center"><div style="color:red;">Δ 0.34%</div></td><td align="right">16.44 Hz / <div style="color:gray;">16.50 Hz</div></td><td align="center"><div style="color:red;">∇ -0.34%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.26 ms / <div style="color:gray;">43.99 ms</div></td><td align="center"><div style="color:blue;">∇ -1.66%</div></td><td align="right">23.12 Hz / <div style="color:gray;">22.73 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.69%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">39.91 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 9.99%</div></td><td align="right">25.06 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -9.08%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.20 sec</div></td><td align="center"><div style="color:red;">Δ 6.53%</div></td><td align="right">783.36 mHz / <div style="color:gray;">834.47 mHz</div></td><td align="center"><div style="color:red;">∇ -6.13%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">386.18 ms / <div style="color:gray;">379.83 ms</div></td><td align="center"><div style="color:red;">Δ 1.67%</div></td><td align="right">2.59 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -1.64%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.12 ms / <div style="color:gray;">16.04 ms</div></td><td align="center"><div style="color:red;">Δ 0.54%</div></td><td align="right">62.03 Hz / <div style="color:gray;">62.36 Hz</div></td><td align="center"><div style="color:red;">∇ -0.54%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.93 ms / <div style="color:gray;">10.85 ms</div></td><td align="center"><div style="color:red;">Δ 0.74%</div></td><td align="right">91.46 Hz / <div style="color:gray;">92.14 Hz</div></td><td align="center"><div style="color:red;">∇ -0.74%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:40.034552 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
