<html><head><title>mrpt-performance results - 0.9.1-GCC-64bit vs 0.9.4-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-GCC-64bit vs. 0.9.4-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;">0.9.4-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;">20.74 ms</div></td><td align="center"><div style="color:red;">Δ 4.12%</div></td><td align="right">46.30 Hz / <div style="color:gray;">48.21 Hz</div></td><td align="center"><div style="color:red;">∇ -3.96%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.51 ms / <div style="color:gray;">17.09 ms</div></td><td align="center"><div style="color:red;">Δ 20.03%</div></td><td align="right">48.75 Hz / <div style="color:gray;">58.52 Hz</div></td><td align="center"><div style="color:red;">∇ -16.69%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">449.02 ns / <div style="color:gray;">29.76 ns</div></td><td align="center"><div style="color:red;">Δ 1408.80%</div></td><td align="right">2.23 MHz / <div style="color:gray;">33.60 MHz</div></td><td align="center"><div style="color:red;">∇ -93.37%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">233.83 ns / <div style="color:gray;">21.90 ns</div></td><td align="center"><div style="color:red;">Δ 967.72%</div></td><td align="right">4.28 MHz / <div style="color:gray;">45.66 MHz</div></td><td align="center"><div style="color:red;">∇ -90.63%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">10.67 ns / <div style="color:gray;">7.23 ns</div></td><td align="center"><div style="color:red;">Δ 47.44%</div></td><td align="right">93.76 MHz / <div style="color:gray;">138.24 MHz</div></td><td align="center"><div style="color:red;">∇ -32.18%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">10.06 ns / <div style="color:gray;">11.67 ns</div></td><td align="center"><div style="color:blue;">∇ -13.79%</div></td><td align="right">99.38 MHz / <div style="color:gray;">85.68 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.00%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">37.71 ns / <div style="color:gray;">13.29 ns</div></td><td align="center"><div style="color:red;">Δ 183.82%</div></td><td align="right">26.52 MHz / <div style="color:gray;">75.27 MHz</div></td><td align="center"><div style="color:red;">∇ -64.77%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">40.98 ns / <div style="color:gray;">24.48 ns</div></td><td align="center"><div style="color:red;">Δ 67.39%</div></td><td align="right">24.40 MHz / <div style="color:gray;">40.85 MHz</div></td><td align="center"><div style="color:red;">∇ -40.26%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.17 ns / <div style="color:gray;">71.64 ns</div></td><td align="center"><div style="color:red;">Δ 9.11%</div></td><td align="right">12.79 MHz / <div style="color:gray;">13.96 MHz</div></td><td align="center"><div style="color:red;">∇ -8.35%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">62.17 ns / <div style="color:gray;">69.41 ns</div></td><td align="center"><div style="color:blue;">∇ -10.43%</div></td><td align="right">16.08 MHz / <div style="color:gray;">14.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.64%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">63.86 ns / <div style="color:gray;">60.78 ns</div></td><td align="center"><div style="color:red;">Δ 5.08%</div></td><td align="right">15.66 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -4.84%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">61.98 ns / <div style="color:gray;">60.80 ns</div></td><td align="center"><div style="color:red;">Δ 1.94%</div></td><td align="right">16.13 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -1.90%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">47.00 ns / <div style="color:gray;">40.47 ns</div></td><td align="center"><div style="color:red;">Δ 16.14%</div></td><td align="right">21.28 MHz / <div style="color:gray;">24.71 MHz</div></td><td align="center"><div style="color:red;">∇ -13.89%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.80 ns / <div style="color:gray;">37.55 ns</div></td><td align="center"><div style="color:red;">Δ 5.99%</div></td><td align="right">25.13 MHz / <div style="color:gray;">26.63 MHz</div></td><td align="center"><div style="color:red;">∇ -5.65%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">22.62 ns / <div style="color:gray;">17.39 ns</div></td><td align="center"><div style="color:red;">Δ 30.09%</div></td><td align="right">44.21 MHz / <div style="color:gray;">57.51 MHz</div></td><td align="center"><div style="color:red;">∇ -23.13%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.93 ns / <div style="color:gray;">17.48 ns</div></td><td align="center"><div style="color:red;">Δ 8.27%</div></td><td align="right">52.83 MHz / <div style="color:gray;">57.20 MHz</div></td><td align="center"><div style="color:red;">∇ -7.64%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">391.26 ns / <div style="color:gray;">32.97 ns</div></td><td align="center"><div style="color:red;">Δ 1086.78%</div></td><td align="right">2.56 MHz / <div style="color:gray;">30.33 MHz</div></td><td align="center"><div style="color:red;">∇ -91.57%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">18.05 ns / <div style="color:gray;">19.11 ns</div></td><td align="center"><div style="color:blue;">∇ -5.51%</div></td><td align="right">55.39 MHz / <div style="color:gray;">52.34 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.83%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">355.00 ns / <div style="color:gray;">23.42 ns</div></td><td align="center"><div style="color:red;">Δ 1415.80%</div></td><td align="right">2.82 MHz / <div style="color:gray;">42.70 MHz</div></td><td align="center"><div style="color:red;">∇ -93.40%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">173.19 ns / <div style="color:gray;">172.72 ns</div></td><td align="center"><div style="color:red;">Δ 0.28%</div></td><td align="right">5.77 MHz / <div style="color:gray;">5.79 MHz</div></td><td align="center"><div style="color:red;">∇ -0.28%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">814.76 us / <div style="color:gray;">671.00 ns</div></td><td align="center"><div style="color:red;">Δ 121324.37%</div></td><td align="right">1.23 KHz / <div style="color:gray;">1.49 MHz</div></td><td align="center"><div style="color:red;">∇ -99.92%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">821.91 us / <div style="color:gray;">652.00 ns</div></td><td align="center"><div style="color:red;">Δ 125959.59%</div></td><td align="right">1.22 KHz / <div style="color:gray;">1.53 MHz</div></td><td align="center"><div style="color:red;">∇ -99.92%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.57 us / <div style="color:gray;">8.74 us</div></td><td align="center"><div style="color:red;">Δ 9.50%</div></td><td align="right">104.48 KHz / <div style="color:gray;">114.40 KHz</div></td><td align="center"><div style="color:red;">∇ -8.67%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">682.30 ns / <div style="color:gray;">454.10 ns</div></td><td align="center"><div style="color:red;">Δ 50.25%</div></td><td align="right">1.47 MHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:red;">∇ -33.45%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">533.80 ns / <div style="color:gray;">452.90 ns</div></td><td align="center"><div style="color:red;">Δ 17.86%</div></td><td align="right">1.87 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -15.16%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.51 us / <div style="color:gray;">7.98 us</div></td><td align="center"><div style="color:red;">Δ 6.76%</div></td><td align="right">117.45 KHz / <div style="color:gray;">125.39 KHz</div></td><td align="center"><div style="color:red;">∇ -6.33%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.59 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 16.77%</div></td><td align="right">48.56 MHz / <div style="color:gray;">56.71 MHz</div></td><td align="center"><div style="color:red;">∇ -14.36%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">22.60 ns / <div style="color:gray;">19.86 ns</div></td><td align="center"><div style="color:red;">Δ 13.80%</div></td><td align="right">44.24 MHz / <div style="color:gray;">50.34 MHz</div></td><td align="center"><div style="color:red;">∇ -12.13%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">63.92 ns / <div style="color:gray;">57.06 ns</div></td><td align="center"><div style="color:red;">Δ 12.04%</div></td><td align="right">15.64 MHz / <div style="color:gray;">17.53 MHz</div></td><td align="center"><div style="color:red;">∇ -10.75%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">65.22 ns / <div style="color:gray;">60.00 ns</div></td><td align="center"><div style="color:red;">Δ 8.70%</div></td><td align="right">15.33 MHz / <div style="color:gray;">16.67 MHz</div></td><td align="center"><div style="color:red;">∇ -8.00%</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;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">594.53 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[double,6,6]</td><td align="right">2.86 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">349.53 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 ], 3x3 * 3x3</td><td align="right">73.50 ns / <div style="color:gray;">242.70 ns</div></td><td align="center"><div style="color:blue;">∇ -69.72%</div></td><td align="right">13.61 MHz / <div style="color:gray;">4.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 230.20%</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;">231.60 ns</div></td><td align="center"><div style="color:blue;">∇ -68.87%</div></td><td align="right">13.87 MHz / <div style="color:gray;">4.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 221.22%</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;">296.50 ns</div></td><td align="center"><div style="color:blue;">∇ -61.92%</div></td><td align="right">8.86 MHz / <div style="color:gray;">3.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 162.62%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:red;">Δ 44900.00%</div></td><td align="right">22.22 MHz / <div style="color:gray;">10.00 GHz</div></td><td align="center"><div style="color:red;">∇ -99.78%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">259.20 ns</div></td><td align="center"><div style="color:blue;">∇ -57.37%</div></td><td align="right">9.05 MHz / <div style="color:gray;">3.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 134.57%</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;">2.09 us</div></td><td align="center"><div style="color:red;">Δ 177.87%</div></td><td align="right">171.91 KHz / <div style="color:gray;">477.69 KHz</div></td><td align="center"><div style="color:red;">∇ -64.01%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.57 us / <div style="color:gray;">1.79 us</div></td><td align="center"><div style="color:red;">Δ 99.72%</div></td><td align="right">279.91 KHz / <div style="color:gray;">559.03 KHz</div></td><td align="center"><div style="color:red;">∇ -49.93%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.88 us / <div style="color:gray;">2.43 us</div></td><td align="center"><div style="color:red;">Δ 142.26%</div></td><td align="right">169.93 KHz / <div style="color:gray;">411.68 KHz</div></td><td align="center"><div style="color:red;">∇ -58.72%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.82 us / <div style="color:gray;">2.16 us</div></td><td align="center"><div style="color:red;">Δ 76.39%</div></td><td align="right">262.04 KHz / <div style="color:gray;">462.21 KHz</div></td><td align="center"><div style="color:red;">∇ -43.31%</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;">767.00 ns</div></td><td align="center"><div style="color:blue;">∇ -46.15%</div></td><td align="right">2.42 MHz / <div style="color:gray;">1.30 MHz</div></td><td align="center"><div style="color:blue;">Δ 85.71%</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;">1.78 us</div></td><td align="center"><div style="color:blue;">∇ -29.83%</div></td><td align="right">800.64 KHz / <div style="color:gray;">561.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 42.51%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">1.73 us</div></td><td align="center"><div style="color:blue;">∇ -66.55%</div></td><td align="right">1.73 MHz / <div style="color:gray;">578.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 198.96%</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;">16.27 us</div></td><td align="center"><div style="color:red;">Δ 75.72%</div></td><td align="right">34.98 KHz / <div style="color:gray;">61.47 KHz</div></td><td align="center"><div style="color:red;">∇ -43.09%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.20 us / <div style="color:gray;">13.44 us</div></td><td align="center"><div style="color:red;">Δ 27.96%</div></td><td align="right">58.15 KHz / <div style="color:gray;">74.41 KHz</div></td><td align="center"><div style="color:red;">∇ -21.85%</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;">68.00 us</div></td><td align="center"><div style="color:red;">Δ 195.49%</div></td><td align="right">4.98 KHz / <div style="color:gray;">14.70 KHz</div></td><td align="center"><div style="color:red;">∇ -66.16%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">134.50 us / <div style="color:gray;">63.01 us</div></td><td align="center"><div style="color:red;">Δ 113.48%</div></td><td align="right">7.43 KHz / <div style="color:gray;">15.87 KHz</div></td><td align="center"><div style="color:red;">∇ -53.16%</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;">209.40 ns</div></td><td align="center"><div style="color:blue;">∇ -95.80%</div></td><td align="right">113.64 MHz / <div style="color:gray;">4.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 2279.55%</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;">331.30 ns</div></td><td align="center"><div style="color:blue;">∇ -96.89%</div></td><td align="right">97.09 MHz / <div style="color:gray;">3.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 3116.50%</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;">943.70 ns</div></td><td align="center"><div style="color:blue;">∇ -21.68%</div></td><td align="right">1.35 MHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.68%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">219.80 ns / <div style="color:gray;">575.90 ns</div></td><td align="center"><div style="color:blue;">∇ -61.83%</div></td><td align="right">4.55 MHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 162.01%</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;">8.10 us</div></td><td align="center"><div style="color:blue;">∇ -19.51%</div></td><td align="right">153.32 KHz / <div style="color:gray;">123.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.25%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.73 us / <div style="color:gray;">7.48 us</div></td><td align="center"><div style="color:blue;">∇ -36.84%</div></td><td align="right">211.54 KHz / <div style="color:gray;">133.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 58.32%</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;">30.87 us</div></td><td align="center"><div style="color:red;">Δ 4.93%</div></td><td align="right">30.87 KHz / <div style="color:gray;">32.39 KHz</div></td><td align="center"><div style="color:red;">∇ -4.70%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.53 us / <div style="color:gray;">29.01 us</div></td><td align="center"><div style="color:blue;">∇ -5.12%</div></td><td align="right">36.33 KHz / <div style="color:gray;">34.47 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.39%</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;">120.00 ns</div></td><td align="center"><div style="color:red;">Δ 8.33%</div></td><td align="right">7.69 MHz / <div style="color:gray;">8.33 MHz</div></td><td align="center"><div style="color:red;">∇ -7.69%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.73 us / <div style="color:gray;">20.70 us</div></td><td align="center"><div style="color:blue;">∇ -9.52%</div></td><td align="right">53.39 KHz / <div style="color:gray;">48.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.52%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.74 us / <div style="color:gray;">16.54 us</div></td><td align="center"><div style="color:red;">Δ 1.21%</div></td><td align="right">59.74 KHz / <div style="color:gray;">60.46 KHz</div></td><td align="center"><div style="color:red;">∇ -1.19%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.50 us / <div style="color:gray;">12.20 us</div></td><td align="center"><div style="color:blue;">∇ -30.33%</div></td><td align="right">117.65 KHz / <div style="color:gray;">81.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 43.53%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">93.90 us / <div style="color:gray;">87.70 us</div></td><td align="center"><div style="color:red;">Δ 7.07%</div></td><td align="right">10.65 KHz / <div style="color:gray;">11.40 KHz</div></td><td align="center"><div style="color:red;">∇ -6.60%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.90 us / <div style="color:gray;">51.70 us</div></td><td align="center"><div style="color:red;">Δ 2.32%</div></td><td align="right">18.90 KHz / <div style="color:gray;">19.34 KHz</div></td><td align="center"><div style="color:red;">∇ -2.27%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">40.03 us / <div style="color:gray;">38.27 us</div></td><td align="center"><div style="color:red;">Δ 4.60%</div></td><td align="right">24.98 KHz / <div style="color:gray;">26.13 KHz</div></td><td align="center"><div style="color:red;">∇ -4.40%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.30 us / <div style="color:gray;">255.50 us</div></td><td align="center"><div style="color:red;">Δ 60.98%</div></td><td align="right">2.43 KHz / <div style="color:gray;">3.91 KHz</div></td><td align="center"><div style="color:red;">∇ -37.88%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.98 us / <div style="color:gray;">70.94 us</div></td><td align="center"><div style="color:red;">Δ 5.69%</div></td><td align="right">13.34 KHz / <div style="color:gray;">14.10 KHz</div></td><td align="center"><div style="color:red;">∇ -5.39%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.61 ms / <div style="color:gray;">2.75 ms</div></td><td align="center"><div style="color:red;">Δ 212.99%</div></td><td align="right">116.18 Hz / <div style="color:gray;">363.64 Hz</div></td><td align="center"><div style="color:red;">∇ -68.05%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">185.35 us / <div style="color:gray;">169.22 us</div></td><td align="center"><div style="color:red;">Δ 9.53%</div></td><td align="right">5.40 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -8.70%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">135.40 ms / <div style="color:gray;">22.06 ms</div></td><td align="center"><div style="color:red;">Δ 513.78%</div></td><td align="right">7.39 Hz / <div style="color:gray;">45.33 Hz</div></td><td align="center"><div style="color:red;">∇ -83.71%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.80 us / <div style="color:gray;">339.61 us</div></td><td align="center"><div style="color:red;">Δ 5.95%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -5.61%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">364.32 ms / <div style="color:gray;">36.67 ms</div></td><td align="center"><div style="color:red;">Δ 893.59%</div></td><td align="right">2.74 Hz / <div style="color:gray;">27.27 Hz</div></td><td align="center"><div style="color:red;">∇ -89.94%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">426.39 us / <div style="color:gray;">402.38 us</div></td><td align="center"><div style="color:red;">Δ 5.97%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -5.63%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">800.16 ms / <div style="color:gray;">53.86 ms</div></td><td align="center"><div style="color:red;">Δ 1385.56%</div></td><td align="right">1.25 Hz / <div style="color:gray;">18.57 Hz</div></td><td align="center"><div style="color:red;">∇ -93.27%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">497.60 us / <div style="color:gray;">476.81 us</div></td><td align="center"><div style="color:red;">Δ 4.36%</div></td><td align="right">2.01 KHz / <div style="color:gray;">2.10 KHz</div></td><td align="center"><div style="color:red;">∇ -4.18%</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;">2.71 ns</div></td><td align="center"><div style="color:blue;">∇ -4.61%</div></td><td align="right">387.19 MHz / <div style="color:gray;">369.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.84%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.47 ns / <div style="color:gray;">6.04 ns</div></td><td align="center"><div style="color:red;">Δ 23.76%</div></td><td align="right">133.80 MHz / <div style="color:gray;">165.59 MHz</div></td><td align="center"><div style="color:red;">∇ -19.20%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">0.61 ns</div></td><td align="center"><div style="color:blue;">∇ -11.12%</div></td><td align="right">1.83 GHz / <div style="color:gray;">1.63 GHz</div></td><td align="center"><div style="color:blue;">Δ 12.51%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">104.80 us / <div style="color:gray;">99.83 us</div></td><td align="center"><div style="color:red;">Δ 4.97%</div></td><td align="right">9.54 KHz / <div style="color:gray;">10.02 KHz</div></td><td align="center"><div style="color:red;">∇ -4.74%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">295.32 us / <div style="color:gray;">293.13 us</div></td><td align="center"><div style="color:red;">Δ 0.75%</div></td><td align="right">3.39 KHz / <div style="color:gray;">3.41 KHz</div></td><td align="center"><div style="color:red;">∇ -0.74%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.83 ms / <div style="color:gray;">630.00 us</div></td><td align="center"><div style="color:red;">Δ 189.84%</div></td><td align="right">547.65 Hz / <div style="color:gray;">1.59 KHz</div></td><td align="center"><div style="color:red;">∇ -65.50%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.65 us / <div style="color:gray;">17.81 us</div></td><td align="center"><div style="color:blue;">∇ -6.52%</div></td><td align="right">60.06 KHz / <div style="color:gray;">56.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.97%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.11 ms / <div style="color:gray;">1.01 ms</div></td><td align="center"><div style="color:red;">Δ 208.44%</div></td><td align="right">321.23 Hz / <div style="color:gray;">990.80 Hz</div></td><td align="center"><div style="color:red;">∇ -67.58%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.52 us</div></td><td align="center"><div style="color:blue;">∇ -5.31%</div></td><td align="right">233.64 KHz / <div style="color:gray;">221.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.61%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">354.96 us / <div style="color:gray;">364.44 us</div></td><td align="center"><div style="color:blue;">∇ -2.60%</div></td><td align="right">2.82 KHz / <div style="color:gray;">2.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.67%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">4.38 ms</div></td><td align="center"><div style="color:blue;">∇ -5.57%</div></td><td align="right">241.67 Hz / <div style="color:gray;">228.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.90%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">5.16 us</div></td><td align="center"><div style="color:blue;">∇ -17.05%</div></td><td align="right">233.64 KHz / <div style="color:gray;">193.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 20.56%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">361.24 us / <div style="color:gray;">372.44 us</div></td><td align="center"><div style="color:blue;">∇ -3.01%</div></td><td align="right">2.77 KHz / <div style="color:gray;">2.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.10%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">4.20 ms</div></td><td align="center"><div style="color:blue;">∇ -2.70%</div></td><td align="right">244.66 Hz / <div style="color:gray;">238.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.77%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.37 us / <div style="color:gray;">1.42 us</div></td><td align="center"><div style="color:blue;">∇ -3.73%</div></td><td align="right">730.99 KHz / <div style="color:gray;">703.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.87%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">98.96 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:blue;">∇ -2.84%</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 2.92%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.96 ms / <div style="color:gray;">12.17 ms</div></td><td align="center"><div style="color:blue;">∇ -1.78%</div></td><td align="right">83.64 Hz / <div style="color:gray;">82.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.81%</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;">5.64 ms</div></td><td align="center"><div style="color:blue;">∇ -0.70%</div></td><td align="right">178.50 Hz / <div style="color:gray;">177.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.70%</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;">132.76 ms</div></td><td align="center"><div style="color:blue;">∇ -2.41%</div></td><td align="right">7.72 Hz / <div style="color:gray;">7.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.47%</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;">5.71 ms</div></td><td align="center"><div style="color:blue;">∇ -1.01%</div></td><td align="right">176.84 Hz / <div style="color:gray;">175.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.02%</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;">134.74 ms</div></td><td align="center"><div style="color:blue;">∇ -1.71%</div></td><td align="right">7.55 Hz / <div style="color:gray;">7.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.74%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.70 ns / <div style="color:gray;">14.55 ns</div></td><td align="center"><div style="color:red;">Δ 7.93%</div></td><td align="right">63.70 MHz / <div style="color:gray;">68.75 MHz</div></td><td align="center"><div style="color:red;">∇ -7.35%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.69 ns / <div style="color:gray;">14.56 ns</div></td><td align="center"><div style="color:red;">Δ 7.80%</div></td><td align="right">63.72 MHz / <div style="color:gray;">68.69 MHz</div></td><td align="center"><div style="color:red;">∇ -7.24%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">70.40 ns / <div style="color:gray;">66.87 ns</div></td><td align="center"><div style="color:red;">Δ 5.28%</div></td><td align="right">14.20 MHz / <div style="color:gray;">14.96 MHz</div></td><td align="center"><div style="color:red;">∇ -5.02%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">70.38 ns / <div style="color:gray;">66.81 ns</div></td><td align="center"><div style="color:red;">Δ 5.34%</div></td><td align="right">14.21 MHz / <div style="color:gray;">14.97 MHz</div></td><td align="center"><div style="color:red;">∇ -5.07%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">11.07 ns / <div style="color:gray;">10.63 ns</div></td><td align="center"><div style="color:red;">Δ 4.14%</div></td><td align="right">90.37 MHz / <div style="color:gray;">94.11 MHz</div></td><td align="center"><div style="color:red;">∇ -3.97%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.33 us / <div style="color:gray;">903.36 ns</div></td><td align="center"><div style="color:red;">Δ 47.21%</div></td><td align="right">751.96 KHz / <div style="color:gray;">1.11 MHz</div></td><td align="center"><div style="color:red;">∇ -32.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.04 us / <div style="color:gray;">1.61 us</div></td><td align="center"><div style="color:red;">Δ 88.76%</div></td><td align="right">328.99 KHz / <div style="color:gray;">621.01 KHz</div></td><td align="center"><div style="color:red;">∇ -47.02%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">162.81 ns / <div style="color:gray;">144.65 ns</div></td><td align="center"><div style="color:red;">Δ 12.55%</div></td><td align="right">6.14 MHz / <div style="color:gray;">6.91 MHz</div></td><td align="center"><div style="color:red;">∇ -11.15%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">245.58 ns / <div style="color:gray;">219.48 ns</div></td><td align="center"><div style="color:red;">Δ 11.89%</div></td><td align="right">4.07 MHz / <div style="color:gray;">4.56 MHz</div></td><td align="center"><div style="color:red;">∇ -10.63%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.74 ns / <div style="color:gray;">472.80 ns</div></td><td align="center"><div style="color:red;">Δ 8.87%</div></td><td align="right">1.94 MHz / <div style="color:gray;">2.12 MHz</div></td><td align="center"><div style="color:red;">∇ -8.15%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">173.84 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 14.15%</div></td><td align="right">5.75 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -12.39%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">259.42 ns / <div style="color:gray;">235.04 ns</div></td><td align="center"><div style="color:red;">Δ 10.37%</div></td><td align="right">3.85 MHz / <div style="color:gray;">4.25 MHz</div></td><td align="center"><div style="color:red;">∇ -9.40%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">523.99 ns / <div style="color:gray;">491.60 ns</div></td><td align="center"><div style="color:red;">Δ 6.59%</div></td><td align="right">1.91 MHz / <div style="color:gray;">2.03 MHz</div></td><td align="center"><div style="color:red;">∇ -6.18%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">288.60 ns / <div style="color:gray;">243.60 ns</div></td><td align="center"><div style="color:red;">Δ 18.47%</div></td><td align="right">3.47 MHz / <div style="color:gray;">4.11 MHz</div></td><td align="center"><div style="color:red;">∇ -15.59%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.07 us / <div style="color:gray;">2.99 us</div></td><td align="center"><div style="color:red;">Δ 2.88%</div></td><td align="right">325.61 KHz / <div style="color:gray;">334.99 KHz</div></td><td align="center"><div style="color:red;">∇ -2.80%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.26 us / <div style="color:gray;">29.51 us</div></td><td align="center"><div style="color:red;">Δ 2.52%</div></td><td align="right">33.05 KHz / <div style="color:gray;">33.88 KHz</div></td><td align="center"><div style="color:red;">∇ -2.45%</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 3.21%</div></td><td align="right">9.77 GHz / <div style="color:gray;">10.08 GHz</div></td><td align="center"><div style="color:red;">∇ -3.11%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">31.77 ms / <div style="color:gray;">33.63 ms</div></td><td align="center"><div style="color:blue;">∇ -5.53%</div></td><td align="right">31.48 Hz / <div style="color:gray;">29.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.85%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">45.70 ms / <div style="color:gray;">49.85 ms</div></td><td align="center"><div style="color:blue;">∇ -8.33%</div></td><td align="right">21.88 Hz / <div style="color:gray;">20.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.08%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">73.33 ms / <div style="color:gray;">69.59 ms</div></td><td align="center"><div style="color:red;">Δ 5.38%</div></td><td align="right">13.64 Hz / <div style="color:gray;">14.37 Hz</div></td><td align="center"><div style="color:red;">∇ -5.11%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.15 ms / <div style="color:gray;">30.64 ms</div></td><td align="center"><div style="color:blue;">∇ -11.39%</div></td><td align="right">36.83 Hz / <div style="color:gray;">32.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.85%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.31 ms / <div style="color:gray;">43.91 ms</div></td><td align="center"><div style="color:blue;">∇ -8.19%</div></td><td align="right">24.81 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.92%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.44 ms / <div style="color:gray;">62.52 ms</div></td><td align="center"><div style="color:red;">Δ 3.06%</div></td><td align="right">15.52 Hz / <div style="color:gray;">15.99 Hz</div></td><td align="center"><div style="color:red;">∇ -2.97%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.52 ms / <div style="color:gray;">3.81 ms</div></td><td align="center"><div style="color:red;">Δ 18.73%</div></td><td align="right">221.30 Hz / <div style="color:gray;">262.76 Hz</div></td><td align="center"><div style="color:red;">∇ -15.78%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.35 ms / <div style="color:gray;">5.96 ms</div></td><td align="center"><div style="color:red;">Δ 23.27%</div></td><td align="right">136.05 Hz / <div style="color:gray;">167.70 Hz</div></td><td align="center"><div style="color:red;">∇ -18.88%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">11.22 ms / <div style="color:gray;">10.46 ms</div></td><td align="center"><div style="color:red;">Δ 7.26%</div></td><td align="right">89.13 Hz / <div style="color:gray;">95.61 Hz</div></td><td align="center"><div style="color:red;">∇ -6.77%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">6.32 us / <div style="color:gray;">12.69 us</div></td><td align="center"><div style="color:blue;">∇ -50.20%</div></td><td align="right">158.23 KHz / <div style="color:gray;">78.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 100.79%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.78 us / <div style="color:gray;">9.85 us</div></td><td align="center"><div style="color:blue;">∇ -51.47%</div></td><td align="right">209.21 KHz / <div style="color:gray;">101.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 106.07%</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;">5.24 us</div></td><td align="center"><div style="color:blue;">∇ -59.16%</div></td><td align="right">467.29 KHz / <div style="color:gray;">190.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 144.86%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">28.31 ms / <div style="color:gray;">21.14 ms</div></td><td align="center"><div style="color:red;">Δ 33.94%</div></td><td align="right">35.32 Hz / <div style="color:gray;">47.31 Hz</div></td><td align="center"><div style="color:red;">∇ -25.34%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">27.34 ms / <div style="color:gray;">21.45 ms</div></td><td align="center"><div style="color:red;">Δ 27.45%</div></td><td align="right">36.57 Hz / <div style="color:gray;">46.61 Hz</div></td><td align="center"><div style="color:red;">∇ -21.54%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">641.91 ms / <div style="color:gray;">591.25 ms</div></td><td align="center"><div style="color:red;">Δ 8.57%</div></td><td align="right">1.56 Hz / <div style="color:gray;">1.69 Hz</div></td><td align="center"><div style="color:red;">∇ -7.89%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">170.65 ms / <div style="color:gray;">162.82 ms</div></td><td align="center"><div style="color:red;">Δ 4.81%</div></td><td align="right">5.86 Hz / <div style="color:gray;">6.14 Hz</div></td><td align="center"><div style="color:red;">∇ -4.59%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">201.21 ms / <div style="color:gray;">197.33 ms</div></td><td align="center"><div style="color:red;">Δ 1.97%</div></td><td align="right">4.97 Hz / <div style="color:gray;">5.07 Hz</div></td><td align="center"><div style="color:red;">∇ -1.93%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.22 ms / <div style="color:gray;">6.89 ms</div></td><td align="center"><div style="color:blue;">∇ -24.20%</div></td><td align="right">191.49 Hz / <div style="color:gray;">145.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.93%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.81 ms / <div style="color:gray;">63.90 ms</div></td><td align="center"><div style="color:blue;">∇ -4.83%</div></td><td align="right">16.44 Hz / <div style="color:gray;">15.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.08%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.26 ms / <div style="color:gray;">38.54 ms</div></td><td align="center"><div style="color:red;">Δ 12.26%</div></td><td align="right">23.12 Hz / <div style="color:gray;">25.95 Hz</div></td><td align="center"><div style="color:red;">∇ -10.92%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">39.91 ms / <div style="color:gray;">33.59 ms</div></td><td align="center"><div style="color:red;">Δ 18.82%</div></td><td align="right">25.06 Hz / <div style="color:gray;">29.77 Hz</div></td><td align="center"><div style="color:red;">∇ -15.84%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.16 sec</div></td><td align="center"><div style="color:red;">Δ 10.22%</div></td><td align="right">783.36 mHz / <div style="color:gray;">863.45 mHz</div></td><td align="center"><div style="color:red;">∇ -9.28%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">386.18 ms / <div style="color:gray;">375.89 ms</div></td><td align="center"><div style="color:red;">Δ 2.74%</div></td><td align="right">2.59 Hz / <div style="color:gray;">2.66 Hz</div></td><td align="center"><div style="color:red;">∇ -2.66%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.12 ms / <div style="color:gray;">15.89 ms</div></td><td align="center"><div style="color:red;">Δ 1.48%</div></td><td align="right">62.03 Hz / <div style="color:gray;">62.95 Hz</div></td><td align="center"><div style="color:red;">∇ -1.46%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.93 ms / <div style="color:gray;">10.48 ms</div></td><td align="center"><div style="color:red;">Δ 4.33%</div></td><td align="right">91.46 Hz / <div style="color:gray;">95.42 Hz</div></td><td align="center"><div style="color:red;">∇ -4.15%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.979548 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
