<html><head><title>mrpt-performance results - 0.9.1-GCC-64bit vs 0.9.3-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-GCC-64bit vs. 0.9.3-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;">0.9.3-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;">31.56 ms</div></td><td align="center"><div style="color:blue;">∇ -31.55%</div></td><td align="right">46.30 Hz / <div style="color:gray;">31.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.10%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.51 ms / <div style="color:gray;">53.95 ms</div></td><td align="center"><div style="color:blue;">∇ -61.98%</div></td><td align="right">48.75 Hz / <div style="color:gray;">18.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 162.99%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">449.02 ns / <div style="color:gray;">194.14 ns</div></td><td align="center"><div style="color:red;">Δ 131.29%</div></td><td align="right">2.23 MHz / <div style="color:gray;">5.15 MHz</div></td><td align="center"><div style="color:red;">∇ -56.76%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">233.83 ns / <div style="color:gray;">34.65 ns</div></td><td align="center"><div style="color:red;">Δ 574.79%</div></td><td align="right">4.28 MHz / <div style="color:gray;">28.86 MHz</div></td><td align="center"><div style="color:red;">∇ -85.18%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">10.67 ns / <div style="color:gray;">28.67 ns</div></td><td align="center"><div style="color:blue;">∇ -62.79%</div></td><td align="right">93.76 MHz / <div style="color:gray;">34.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 168.77%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">10.06 ns / <div style="color:gray;">18.49 ns</div></td><td align="center"><div style="color:blue;">∇ -45.59%</div></td><td align="right">99.38 MHz / <div style="color:gray;">54.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 83.78%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">37.71 ns / <div style="color:gray;">93.89 ns</div></td><td align="center"><div style="color:blue;">∇ -59.84%</div></td><td align="right">26.52 MHz / <div style="color:gray;">10.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 148.99%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">40.98 ns / <div style="color:gray;">44.39 ns</div></td><td align="center"><div style="color:blue;">∇ -7.69%</div></td><td align="right">24.40 MHz / <div style="color:gray;">22.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.33%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.17 ns / <div style="color:gray;">103.92 ns</div></td><td align="center"><div style="color:blue;">∇ -24.78%</div></td><td align="right">12.79 MHz / <div style="color:gray;">9.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.95%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">62.17 ns / <div style="color:gray;">91.82 ns</div></td><td align="center"><div style="color:blue;">∇ -32.29%</div></td><td align="right">16.08 MHz / <div style="color:gray;">10.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 47.69%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">63.86 ns / <div style="color:gray;">140.37 ns</div></td><td align="center"><div style="color:blue;">∇ -54.50%</div></td><td align="right">15.66 MHz / <div style="color:gray;">7.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 119.79%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">61.98 ns / <div style="color:gray;">66.26 ns</div></td><td align="center"><div style="color:blue;">∇ -6.46%</div></td><td align="right">16.13 MHz / <div style="color:gray;">15.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.91%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">47.00 ns / <div style="color:gray;">93.35 ns</div></td><td align="center"><div style="color:blue;">∇ -49.65%</div></td><td align="right">21.28 MHz / <div style="color:gray;">10.71 MHz</div></td><td align="center"><div style="color:blue;">Δ 98.63%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.80 ns / <div style="color:gray;">60.52 ns</div></td><td align="center"><div style="color:blue;">∇ -34.24%</div></td><td align="right">25.13 MHz / <div style="color:gray;">16.52 MHz</div></td><td align="center"><div style="color:blue;">Δ 52.07%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">22.62 ns / <div style="color:gray;">116.72 ns</div></td><td align="center"><div style="color:blue;">∇ -80.62%</div></td><td align="right">44.21 MHz / <div style="color:gray;">8.57 MHz</div></td><td align="center"><div style="color:blue;">Δ 415.98%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.93 ns / <div style="color:gray;">31.02 ns</div></td><td align="center"><div style="color:blue;">∇ -38.98%</div></td><td align="right">52.83 MHz / <div style="color:gray;">32.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 63.89%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">391.26 ns / <div style="color:gray;">126.78 ns</div></td><td align="center"><div style="color:red;">Δ 208.61%</div></td><td align="right">2.56 MHz / <div style="color:gray;">7.89 MHz</div></td><td align="center"><div style="color:red;">∇ -67.60%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">18.05 ns / <div style="color:gray;">30.88 ns</div></td><td align="center"><div style="color:blue;">∇ -41.54%</div></td><td align="right">55.39 MHz / <div style="color:gray;">32.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 71.04%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">355.00 ns / <div style="color:gray;">33.42 ns</div></td><td align="center"><div style="color:red;">Δ 962.38%</div></td><td align="right">2.82 MHz / <div style="color:gray;">29.93 MHz</div></td><td align="center"><div style="color:red;">∇ -90.59%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">173.19 ns / <div style="color:gray;">211.33 ns</div></td><td align="center"><div style="color:blue;">∇ -18.05%</div></td><td align="right">5.77 MHz / <div style="color:gray;">4.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.02%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">814.76 us / <div style="color:gray;">19.45 us</div></td><td align="center"><div style="color:red;">Δ 4088.44%</div></td><td align="right">1.23 KHz / <div style="color:gray;">51.41 KHz</div></td><td align="center"><div style="color:red;">∇ -97.61%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">821.91 us / <div style="color:gray;">2.93 us</div></td><td align="center"><div style="color:red;">Δ 27930.95%</div></td><td align="right">1.22 KHz / <div style="color:gray;">341.05 KHz</div></td><td align="center"><div style="color:red;">∇ -99.64%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.57 us / <div style="color:gray;">34.64 us</div></td><td align="center"><div style="color:blue;">∇ -72.37%</div></td><td align="right">104.48 KHz / <div style="color:gray;">28.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 261.89%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">682.30 ns / <div style="color:gray;">860.26 ns</div></td><td align="center"><div style="color:blue;">∇ -20.69%</div></td><td align="right">1.47 MHz / <div style="color:gray;">1.16 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.08%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">533.80 ns / <div style="color:gray;">880.23 ns</div></td><td align="center"><div style="color:blue;">∇ -39.36%</div></td><td align="right">1.87 MHz / <div style="color:gray;">1.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 64.90%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.51 us / <div style="color:gray;">21.76 us</div></td><td align="center"><div style="color:blue;">∇ -60.88%</div></td><td align="right">117.45 KHz / <div style="color:gray;">45.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 155.61%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.59 ns / <div style="color:gray;">44.99 ns</div></td><td align="center"><div style="color:blue;">∇ -54.23%</div></td><td align="right">48.56 MHz / <div style="color:gray;">22.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 118.48%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">22.60 ns / <div style="color:gray;">45.16 ns</div></td><td align="center"><div style="color:blue;">∇ -49.95%</div></td><td align="right">44.24 MHz / <div style="color:gray;">22.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 99.80%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">63.92 ns / <div style="color:gray;">160.84 ns</div></td><td align="center"><div style="color:blue;">∇ -60.26%</div></td><td align="right">15.64 MHz / <div style="color:gray;">6.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 151.61%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">65.22 ns / <div style="color:gray;">160.97 ns</div></td><td align="center"><div style="color:blue;">∇ -59.48%</div></td><td align="right">15.33 MHz / <div style="color:gray;">6.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 146.82%</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;">6.73 ns</div></td><td align="center"><div style="color:blue;">∇ -75.02%</div></td><td align="right">594.53 MHz / <div style="color:gray;">148.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 300.38%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.86 ns / <div style="color:gray;">7.86 ns</div></td><td align="center"><div style="color:blue;">∇ -63.59%</div></td><td align="right">349.53 MHz / <div style="color:gray;">127.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 174.66%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">73.50 ns / <div style="color:gray;">550.79 ns</div></td><td align="center"><div style="color:blue;">∇ -86.66%</div></td><td align="right">13.61 MHz / <div style="color:gray;">1.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 649.37%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">24.10 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:red;">Δ 53111.33%</div></td><td align="right">41.49 MHz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:red;">∇ -99.81%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">72.10 ns / <div style="color:gray;">432.98 ns</div></td><td align="center"><div style="color:blue;">∇ -83.35%</div></td><td align="right">13.87 MHz / <div style="color:gray;">2.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 500.53%</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;">660.53 ns</div></td><td align="center"><div style="color:blue;">∇ -82.91%</div></td><td align="right">8.86 MHz / <div style="color:gray;">1.51 MHz</div></td><td align="center"><div style="color:blue;">Δ 485.05%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.00 ns / <div style="color:gray;">38.91 ns</div></td><td align="center"><div style="color:red;">Δ 15.67%</div></td><td align="right">22.22 MHz / <div style="color:gray;">25.70 MHz</div></td><td align="center"><div style="color:red;">∇ -13.54%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">474.65 ns</div></td><td align="center"><div style="color:blue;">∇ -76.72%</div></td><td align="right">9.05 MHz / <div style="color:gray;">2.11 MHz</div></td><td align="center"><div style="color:blue;">Δ 329.55%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.10 ns / <div style="color:gray;">8.74 ns</div></td><td align="center"><div style="color:red;">Δ 415.95%</div></td><td align="right">22.17 MHz / <div style="color:gray;">114.40 MHz</div></td><td align="center"><div style="color:red;">∇ -80.62%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.82 us / <div style="color:gray;">4.68 us</div></td><td align="center"><div style="color:red;">Δ 24.24%</div></td><td align="right">171.91 KHz / <div style="color:gray;">213.59 KHz</div></td><td align="center"><div style="color:red;">∇ -19.51%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.57 us / <div style="color:gray;">4.42 us</div></td><td align="center"><div style="color:blue;">∇ -19.19%</div></td><td align="right">279.91 KHz / <div style="color:gray;">226.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 23.74%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.88 us / <div style="color:gray;">3.24 us</div></td><td align="center"><div style="color:red;">Δ 81.79%</div></td><td align="right">169.93 KHz / <div style="color:gray;">308.92 KHz</div></td><td align="center"><div style="color:red;">∇ -44.99%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.82 us / <div style="color:gray;">2.37 us</div></td><td align="center"><div style="color:red;">Δ 61.34%</div></td><td align="right">262.04 KHz / <div style="color:gray;">422.77 KHz</div></td><td align="center"><div style="color:red;">∇ -38.02%</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;">1.49 us</div></td><td align="center"><div style="color:blue;">∇ -72.23%</div></td><td align="right">2.42 MHz / <div style="color:gray;">672.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 260.14%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">22.00 ns / <div style="color:gray;">32.16 ns</div></td><td align="center"><div style="color:blue;">∇ -31.58%</div></td><td align="right">45.45 MHz / <div style="color:gray;">31.10 MHz</div></td><td align="center"><div style="color:blue;">Δ 46.17%</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;">3.50 us</div></td><td align="center"><div style="color:blue;">∇ -64.26%</div></td><td align="right">800.64 KHz / <div style="color:gray;">286.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 179.83%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">2.72 us</div></td><td align="center"><div style="color:blue;">∇ -78.72%</div></td><td align="right">1.73 MHz / <div style="color:gray;">368.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 369.84%</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;">31.87 us</div></td><td align="center"><div style="color:blue;">∇ -10.32%</div></td><td align="right">34.98 KHz / <div style="color:gray;">31.37 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.51%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.20 us / <div style="color:gray;">28.91 us</div></td><td align="center"><div style="color:blue;">∇ -40.53%</div></td><td align="right">58.15 KHz / <div style="color:gray;">34.58 KHz</div></td><td align="center"><div style="color:blue;">Δ 68.15%</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;">124.22 us</div></td><td align="center"><div style="color:red;">Δ 61.77%</div></td><td align="right">4.98 KHz / <div style="color:gray;">8.05 KHz</div></td><td align="center"><div style="color:red;">∇ -38.18%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">134.50 us / <div style="color:gray;">122.24 us</div></td><td align="center"><div style="color:red;">Δ 10.03%</div></td><td align="right">7.43 KHz / <div style="color:gray;">8.18 KHz</div></td><td align="center"><div style="color:red;">∇ -9.11%</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;">647.62 ns</div></td><td align="center"><div style="color:blue;">∇ -98.64%</div></td><td align="right">113.64 MHz / <div style="color:gray;">1.54 MHz</div></td><td align="center"><div style="color:blue;">Δ 7259.29%</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;">969.59 ns</div></td><td align="center"><div style="color:blue;">∇ -98.94%</div></td><td align="right">97.09 MHz / <div style="color:gray;">1.03 MHz</div></td><td align="center"><div style="color:blue;">Δ 9313.51%</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;">2.45 us</div></td><td align="center"><div style="color:blue;">∇ -69.88%</div></td><td align="right">1.35 MHz / <div style="color:gray;">407.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 232.06%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">219.80 ns / <div style="color:gray;">1.89 us</div></td><td align="center"><div style="color:blue;">∇ -88.35%</div></td><td align="right">4.55 MHz / <div style="color:gray;">529.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 758.43%</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;">22.48 us</div></td><td align="center"><div style="color:blue;">∇ -70.98%</div></td><td align="right">153.32 KHz / <div style="color:gray;">44.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 244.59%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.73 us / <div style="color:gray;">21.45 us</div></td><td align="center"><div style="color:blue;">∇ -77.96%</div></td><td align="right">211.54 KHz / <div style="color:gray;">46.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 353.66%</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;">80.28 us</div></td><td align="center"><div style="color:blue;">∇ -59.65%</div></td><td align="right">30.87 KHz / <div style="color:gray;">12.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 147.80%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.53 us / <div style="color:gray;">79.04 us</div></td><td align="center"><div style="color:blue;">∇ -65.17%</div></td><td align="right">36.33 KHz / <div style="color:gray;">12.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 187.14%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">170.00 ns / <div style="color:gray;">1.09 us</div></td><td align="center"><div style="color:blue;">∇ -84.43%</div></td><td align="right">5.88 MHz / <div style="color:gray;">916.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 542.07%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">317.04 ns</div></td><td align="center"><div style="color:blue;">∇ -59.00%</div></td><td align="right">7.69 MHz / <div style="color:gray;">3.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 143.88%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.73 us / <div style="color:gray;">75.74 us</div></td><td align="center"><div style="color:blue;">∇ -75.27%</div></td><td align="right">53.39 KHz / <div style="color:gray;">13.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 304.36%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.74 us / <div style="color:gray;">55.31 us</div></td><td align="center"><div style="color:blue;">∇ -69.73%</div></td><td align="right">59.74 KHz / <div style="color:gray;">18.08 KHz</div></td><td align="center"><div style="color:blue;">Δ 230.40%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.50 us / <div style="color:gray;">16.89 us</div></td><td align="center"><div style="color:blue;">∇ -49.69%</div></td><td align="right">117.65 KHz / <div style="color:gray;">59.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 98.75%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">93.90 us / <div style="color:gray;">247.29 us</div></td><td align="center"><div style="color:blue;">∇ -62.03%</div></td><td align="right">10.65 KHz / <div style="color:gray;">4.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 163.35%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.90 us / <div style="color:gray;">180.76 us</div></td><td align="center"><div style="color:blue;">∇ -70.73%</div></td><td align="right">18.90 KHz / <div style="color:gray;">5.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 241.70%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">40.03 us / <div style="color:gray;">91.89 us</div></td><td align="center"><div style="color:blue;">∇ -56.44%</div></td><td align="right">24.98 KHz / <div style="color:gray;">10.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 129.56%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.30 us / <div style="color:gray;">765.78 us</div></td><td align="center"><div style="color:blue;">∇ -46.29%</div></td><td align="right">2.43 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 86.19%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.98 us / <div style="color:gray;">116.55 us</div></td><td align="center"><div style="color:blue;">∇ -35.67%</div></td><td align="right">13.34 KHz / <div style="color:gray;">8.58 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.44%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.61 ms / <div style="color:gray;">4.08 ms</div></td><td align="center"><div style="color:red;">Δ 111.05%</div></td><td align="right">116.18 Hz / <div style="color:gray;">245.20 Hz</div></td><td align="center"><div style="color:red;">∇ -52.62%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">185.35 us / <div style="color:gray;">207.46 us</div></td><td align="center"><div style="color:blue;">∇ -10.66%</div></td><td align="right">5.40 KHz / <div style="color:gray;">4.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.93%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">135.40 ms / <div style="color:gray;">24.43 ms</div></td><td align="center"><div style="color:red;">Δ 454.13%</div></td><td align="right">7.39 Hz / <div style="color:gray;">40.93 Hz</div></td><td align="center"><div style="color:red;">∇ -81.95%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.80 us / <div style="color:gray;">403.40 us</div></td><td align="center"><div style="color:blue;">∇ -10.81%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.12%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">364.32 ms / <div style="color:gray;">40.20 ms</div></td><td align="center"><div style="color:red;">Δ 806.22%</div></td><td align="right">2.74 Hz / <div style="color:gray;">24.87 Hz</div></td><td align="center"><div style="color:red;">∇ -88.97%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">426.39 us / <div style="color:gray;">479.83 us</div></td><td align="center"><div style="color:blue;">∇ -11.14%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.08 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">800.16 ms / <div style="color:gray;">59.95 ms</div></td><td align="center"><div style="color:red;">Δ 1234.76%</div></td><td align="right">1.25 Hz / <div style="color:gray;">16.68 Hz</div></td><td align="center"><div style="color:red;">∇ -92.51%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">497.60 us / <div style="color:gray;">560.09 us</div></td><td align="center"><div style="color:blue;">∇ -11.16%</div></td><td align="right">2.01 KHz / <div style="color:gray;">1.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.56%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">5.69 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">175.73 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;">8.06 ns</div></td><td align="center"><div style="color:blue;">∇ -67.96%</div></td><td align="right">387.19 MHz / <div style="color:gray;">124.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 212.08%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.47 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:blue;">∇ -87.94%</div></td><td align="right">133.80 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 729.27%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">1.25 ns</div></td><td align="center"><div style="color:blue;">∇ -56.39%</div></td><td align="right">1.83 GHz / <div style="color:gray;">798.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 129.32%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">104.80 us / <div style="color:gray;">208.84 us</div></td><td align="center"><div style="color:blue;">∇ -49.82%</div></td><td align="right">9.54 KHz / <div style="color:gray;">4.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 99.29%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">295.32 us / <div style="color:gray;">346.08 us</div></td><td align="center"><div style="color:blue;">∇ -14.67%</div></td><td align="right">3.39 KHz / <div style="color:gray;">2.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.19%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.83 ms / <div style="color:gray;">2.81 ms</div></td><td align="center"><div style="color:blue;">∇ -35.07%</div></td><td align="right">547.65 Hz / <div style="color:gray;">355.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.00%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.65 us / <div style="color:gray;">18.33 us</div></td><td align="center"><div style="color:blue;">∇ -9.14%</div></td><td align="right">60.06 KHz / <div style="color:gray;">54.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.06%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.11 ms / <div style="color:gray;">6.61 ms</div></td><td align="center"><div style="color:blue;">∇ -52.89%</div></td><td align="right">321.23 Hz / <div style="color:gray;">151.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 112.27%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">6.03 us</div></td><td align="center"><div style="color:blue;">∇ -29.05%</div></td><td align="right">233.64 KHz / <div style="color:gray;">165.76 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.95%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">354.96 us / <div style="color:gray;">536.01 us</div></td><td align="center"><div style="color:blue;">∇ -33.78%</div></td><td align="right">2.82 KHz / <div style="color:gray;">1.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.01%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">5.64 ms</div></td><td align="center"><div style="color:blue;">∇ -26.69%</div></td><td align="right">241.67 Hz / <div style="color:gray;">177.17 Hz</div></td><td align="center"><div style="color:blue;">Δ 36.41%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">7.70 us</div></td><td align="center"><div style="color:blue;">∇ -44.41%</div></td><td align="right">233.64 KHz / <div style="color:gray;">129.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 79.89%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">361.24 us / <div style="color:gray;">528.60 us</div></td><td align="center"><div style="color:blue;">∇ -31.66%</div></td><td align="right">2.77 KHz / <div style="color:gray;">1.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.33%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">5.81 ms</div></td><td align="center"><div style="color:blue;">∇ -29.65%</div></td><td align="right">244.66 Hz / <div style="color:gray;">172.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 42.14%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.37 us / <div style="color:gray;">2.13 us</div></td><td align="center"><div style="color:blue;">∇ -35.84%</div></td><td align="right">730.99 KHz / <div style="color:gray;">468.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.87%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">98.96 us / <div style="color:gray;">145.70 us</div></td><td align="center"><div style="color:blue;">∇ -32.08%</div></td><td align="right">10.10 KHz / <div style="color:gray;">6.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 47.22%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.96 ms / <div style="color:gray;">15.49 ms</div></td><td align="center"><div style="color:blue;">∇ -22.80%</div></td><td align="right">83.64 Hz / <div style="color:gray;">64.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 29.54%</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;">8.93 ms</div></td><td align="center"><div style="color:blue;">∇ -37.29%</div></td><td align="right">178.50 Hz / <div style="color:gray;">111.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 59.48%</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;">200.06 ms</div></td><td align="center"><div style="color:blue;">∇ -35.24%</div></td><td align="right">7.72 Hz / <div style="color:gray;">5.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.41%</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;">8.97 ms</div></td><td align="center"><div style="color:blue;">∇ -36.99%</div></td><td align="right">176.84 Hz / <div style="color:gray;">111.43 Hz</div></td><td align="center"><div style="color:blue;">Δ 58.69%</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;">201.21 ms</div></td><td align="center"><div style="color:blue;">∇ -34.18%</div></td><td align="right">7.55 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 51.94%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.70 ns / <div style="color:gray;">7.76 ns</div></td><td align="center"><div style="color:red;">Δ 102.41%</div></td><td align="right">63.70 MHz / <div style="color:gray;">128.93 MHz</div></td><td align="center"><div style="color:red;">∇ -50.60%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.69 ns / <div style="color:gray;">7.61 ns</div></td><td align="center"><div style="color:red;">Δ 106.24%</div></td><td align="right">63.72 MHz / <div style="color:gray;">131.41 MHz</div></td><td align="center"><div style="color:red;">∇ -51.51%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">70.40 ns / <div style="color:gray;">51.84 ns</div></td><td align="center"><div style="color:red;">Δ 35.81%</div></td><td align="right">14.20 MHz / <div style="color:gray;">19.29 MHz</div></td><td align="center"><div style="color:red;">∇ -26.37%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">70.38 ns / <div style="color:gray;">52.02 ns</div></td><td align="center"><div style="color:red;">Δ 35.28%</div></td><td align="right">14.21 MHz / <div style="color:gray;">19.22 MHz</div></td><td align="center"><div style="color:red;">∇ -26.08%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">11.07 ns / <div style="color:gray;">27.43 ns</div></td><td align="center"><div style="color:blue;">∇ -59.66%</div></td><td align="right">90.37 MHz / <div style="color:gray;">36.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 147.88%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.33 us / <div style="color:gray;">4.97 us</div></td><td align="center"><div style="color:blue;">∇ -73.22%</div></td><td align="right">751.96 KHz / <div style="color:gray;">201.38 KHz</div></td><td align="center"><div style="color:blue;">Δ 273.40%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.04 us / <div style="color:gray;">10.68 us</div></td><td align="center"><div style="color:blue;">∇ -71.53%</div></td><td align="right">328.99 KHz / <div style="color:gray;">93.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 251.26%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">162.81 ns / <div style="color:gray;">153.63 ns</div></td><td align="center"><div style="color:red;">Δ 5.98%</div></td><td align="right">6.14 MHz / <div style="color:gray;">6.51 MHz</div></td><td align="center"><div style="color:red;">∇ -5.64%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">245.58 ns / <div style="color:gray;">250.07 ns</div></td><td align="center"><div style="color:blue;">∇ -1.79%</div></td><td align="right">4.07 MHz / <div style="color:gray;">4.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.83%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.74 ns / <div style="color:gray;">664.62 ns</div></td><td align="center"><div style="color:blue;">∇ -22.55%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.12%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">173.84 ns / <div style="color:gray;">153.22 ns</div></td><td align="center"><div style="color:red;">Δ 13.45%</div></td><td align="right">5.75 MHz / <div style="color:gray;">6.53 MHz</div></td><td align="center"><div style="color:red;">∇ -11.86%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">259.42 ns / <div style="color:gray;">253.40 ns</div></td><td align="center"><div style="color:red;">Δ 2.38%</div></td><td align="right">3.85 MHz / <div style="color:gray;">3.95 MHz</div></td><td align="center"><div style="color:red;">∇ -2.32%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">523.99 ns / <div style="color:gray;">622.96 ns</div></td><td align="center"><div style="color:blue;">∇ -15.89%</div></td><td align="right">1.91 MHz / <div style="color:gray;">1.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.89%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">288.60 ns / <div style="color:gray;">342.58 ns</div></td><td align="center"><div style="color:blue;">∇ -15.76%</div></td><td align="right">3.47 MHz / <div style="color:gray;">2.92 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.70%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.07 us / <div style="color:gray;">3.62 us</div></td><td align="center"><div style="color:blue;">∇ -15.07%</div></td><td align="right">325.61 KHz / <div style="color:gray;">276.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.74%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.26 us / <div style="color:gray;">35.68 us</div></td><td align="center"><div style="color:blue;">∇ -15.20%</div></td><td align="right">33.05 KHz / <div style="color:gray;">28.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.93%</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 2260167.15%</div></td><td align="right">9.77 GHz / <div style="color:gray;">220.79 THz</div></td><td align="center"><div style="color:red;">∇ -100.00%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">31.77 ms / <div style="color:gray;">28.08 ms</div></td><td align="center"><div style="color:red;">Δ 13.12%</div></td><td align="right">31.48 Hz / <div style="color:gray;">35.61 Hz</div></td><td align="center"><div style="color:red;">∇ -11.60%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">45.70 ms / <div style="color:gray;">42.80 ms</div></td><td align="center"><div style="color:red;">Δ 6.78%</div></td><td align="right">21.88 Hz / <div style="color:gray;">23.37 Hz</div></td><td align="center"><div style="color:red;">∇ -6.35%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">73.33 ms / <div style="color:gray;">69.14 ms</div></td><td align="center"><div style="color:red;">Δ 6.07%</div></td><td align="right">13.64 Hz / <div style="color:gray;">14.46 Hz</div></td><td align="center"><div style="color:red;">∇ -5.73%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.15 ms / <div style="color:gray;">23.76 ms</div></td><td align="center"><div style="color:red;">Δ 14.28%</div></td><td align="right">36.83 Hz / <div style="color:gray;">42.09 Hz</div></td><td align="center"><div style="color:red;">∇ -12.50%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.31 ms / <div style="color:gray;">37.25 ms</div></td><td align="center"><div style="color:red;">Δ 8.22%</div></td><td align="right">24.81 Hz / <div style="color:gray;">26.85 Hz</div></td><td align="center"><div style="color:red;">∇ -7.59%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.44 ms / <div style="color:gray;">59.86 ms</div></td><td align="center"><div style="color:red;">Δ 7.66%</div></td><td align="right">15.52 Hz / <div style="color:gray;">16.71 Hz</div></td><td align="center"><div style="color:red;">∇ -7.11%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.52 ms / <div style="color:gray;">7.21 ms</div></td><td align="center"><div style="color:blue;">∇ -37.30%</div></td><td align="right">221.30 Hz / <div style="color:gray;">138.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 59.49%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.35 ms / <div style="color:gray;">8.67 ms</div></td><td align="center"><div style="color:blue;">∇ -15.24%</div></td><td align="right">136.05 Hz / <div style="color:gray;">115.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.98%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">11.22 ms / <div style="color:gray;">14.94 ms</div></td><td align="center"><div style="color:blue;">∇ -24.91%</div></td><td align="right">89.13 Hz / <div style="color:gray;">66.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.17%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">6.32 us / <div style="color:gray;">25.26 us</div></td><td align="center"><div style="color:blue;">∇ -74.98%</div></td><td align="right">158.23 KHz / <div style="color:gray;">39.59 KHz</div></td><td align="center"><div style="color:blue;">Δ 299.67%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.78 us / <div style="color:gray;">24.29 us</div></td><td align="center"><div style="color:blue;">∇ -80.32%</div></td><td align="right">209.21 KHz / <div style="color:gray;">41.17 KHz</div></td><td align="center"><div style="color:blue;">Δ 408.15%</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;">13.82 us</div></td><td align="center"><div style="color:blue;">∇ -84.51%</div></td><td align="right">467.29 KHz / <div style="color:gray;">72.37 KHz</div></td><td align="center"><div style="color:blue;">Δ 545.72%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">28.31 ms / <div style="color:gray;">53.60 ms</div></td><td align="center"><div style="color:blue;">∇ -47.18%</div></td><td align="right">35.32 Hz / <div style="color:gray;">18.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 89.31%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">27.34 ms / <div style="color:gray;">32.67 ms</div></td><td align="center"><div style="color:blue;">∇ -16.31%</div></td><td align="right">36.57 Hz / <div style="color:gray;">30.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.48%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">641.91 ms / <div style="color:gray;">724.51 ms</div></td><td align="center"><div style="color:blue;">∇ -11.40%</div></td><td align="right">1.56 Hz / <div style="color:gray;">1.38 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.87%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">170.65 ms / <div style="color:gray;">217.33 ms</div></td><td align="center"><div style="color:blue;">∇ -21.48%</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 27.35%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">201.21 ms / <div style="color:gray;">320.21 ms</div></td><td align="center"><div style="color:blue;">∇ -37.16%</div></td><td align="right">4.97 Hz / <div style="color:gray;">3.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 59.14%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.22 ms / <div style="color:gray;">9.58 ms</div></td><td align="center"><div style="color:blue;">∇ -45.50%</div></td><td align="right">191.49 Hz / <div style="color:gray;">104.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 83.47%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.81 ms / <div style="color:gray;">111.16 ms</div></td><td align="center"><div style="color:blue;">∇ -45.29%</div></td><td align="right">16.44 Hz / <div style="color:gray;">9.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 82.79%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.26 ms / <div style="color:gray;">64.75 ms</div></td><td align="center"><div style="color:blue;">∇ -33.19%</div></td><td align="right">23.12 Hz / <div style="color:gray;">15.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 49.67%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">39.91 ms / <div style="color:gray;">50.46 ms</div></td><td align="center"><div style="color:blue;">∇ -20.90%</div></td><td align="right">25.06 Hz / <div style="color:gray;">19.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.42%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.37 sec</div></td><td align="center"><div style="color:blue;">∇ -6.49%</div></td><td align="right">783.36 mHz / <div style="color:gray;">732.49 mHz</div></td><td align="center"><div style="color:blue;">Δ 6.95%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">386.18 ms / <div style="color:gray;">602.11 ms</div></td><td align="center"><div style="color:blue;">∇ -35.86%</div></td><td align="right">2.59 Hz / <div style="color:gray;">1.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 55.92%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.12 ms / <div style="color:gray;">23.55 ms</div></td><td align="center"><div style="color:blue;">∇ -31.54%</div></td><td align="right">62.03 Hz / <div style="color:gray;">42.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.08%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.93 ms / <div style="color:gray;">15.71 ms</div></td><td align="center"><div style="color:blue;">∇ -30.38%</div></td><td align="right">91.46 Hz / <div style="color:gray;">63.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 43.65%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:40.008550 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
