<html><head><title>mrpt-performance results - 0.9.1-GCC-64bit vs 0.9.4-MSVC10-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-GCC-64bit vs. 0.9.4-MSVC10-64bit</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-MSVC10-64bit</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;">26.54 ms</div></td><td align="center"><div style="color:blue;">∇ -18.62%</div></td><td align="right">46.30 Hz / <div style="color:gray;">37.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.89%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.51 ms / <div style="color:gray;">32.17 ms</div></td><td align="center"><div style="color:blue;">∇ -36.24%</div></td><td align="right">48.75 Hz / <div style="color:gray;">31.08 Hz</div></td><td align="center"><div style="color:blue;">Δ 56.84%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">449.02 ns / <div style="color:gray;">62.83 ns</div></td><td align="center"><div style="color:red;">Δ 614.68%</div></td><td align="right">2.23 MHz / <div style="color:gray;">15.92 MHz</div></td><td align="center"><div style="color:red;">∇ -86.01%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">233.83 ns / <div style="color:gray;">41.42 ns</div></td><td align="center"><div style="color:red;">Δ 464.55%</div></td><td align="right">4.28 MHz / <div style="color:gray;">24.14 MHz</div></td><td align="center"><div style="color:red;">∇ -82.29%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">10.67 ns / <div style="color:gray;">18.89 ns</div></td><td align="center"><div style="color:blue;">∇ -43.53%</div></td><td align="right">93.76 MHz / <div style="color:gray;">52.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 77.10%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">10.06 ns / <div style="color:gray;">17.17 ns</div></td><td align="center"><div style="color:blue;">∇ -41.41%</div></td><td align="right">99.38 MHz / <div style="color:gray;">58.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 70.69%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">37.71 ns / <div style="color:gray;">88.79 ns</div></td><td align="center"><div style="color:blue;">∇ -57.53%</div></td><td align="right">26.52 MHz / <div style="color:gray;">11.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 135.46%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">40.98 ns / <div style="color:gray;">44.00 ns</div></td><td align="center"><div style="color:blue;">∇ -6.87%</div></td><td align="right">24.40 MHz / <div style="color:gray;">22.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.38%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.17 ns / <div style="color:gray;">72.08 ns</div></td><td align="center"><div style="color:red;">Δ 8.45%</div></td><td align="right">12.79 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -7.79%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">62.17 ns / <div style="color:gray;">63.27 ns</div></td><td align="center"><div style="color:blue;">∇ -1.73%</div></td><td align="right">16.08 MHz / <div style="color:gray;">15.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.77%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">63.86 ns / <div style="color:gray;">34.42 ns</div></td><td align="center"><div style="color:red;">Δ 85.55%</div></td><td align="right">15.66 MHz / <div style="color:gray;">29.05 MHz</div></td><td align="center"><div style="color:red;">∇ -46.11%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">61.98 ns / <div style="color:gray;">26.02 ns</div></td><td align="center"><div style="color:red;">Δ 138.17%</div></td><td align="right">16.13 MHz / <div style="color:gray;">38.43 MHz</div></td><td align="center"><div style="color:red;">∇ -58.01%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">47.00 ns / <div style="color:gray;">113.59 ns</div></td><td align="center"><div style="color:blue;">∇ -58.62%</div></td><td align="right">21.28 MHz / <div style="color:gray;">8.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 141.68%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.80 ns / <div style="color:gray;">82.72 ns</div></td><td align="center"><div style="color:blue;">∇ -51.88%</div></td><td align="right">25.13 MHz / <div style="color:gray;">12.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 107.83%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">22.62 ns / <div style="color:gray;">41.33 ns</div></td><td align="center"><div style="color:blue;">∇ -45.27%</div></td><td align="right">44.21 MHz / <div style="color:gray;">24.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 82.70%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.93 ns / <div style="color:gray;">31.13 ns</div></td><td align="center"><div style="color:blue;">∇ -39.19%</div></td><td align="right">52.83 MHz / <div style="color:gray;">32.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 64.46%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">391.26 ns / <div style="color:gray;">113.89 ns</div></td><td align="center"><div style="color:red;">Δ 243.54%</div></td><td align="right">2.56 MHz / <div style="color:gray;">8.78 MHz</div></td><td align="center"><div style="color:red;">∇ -70.89%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">18.05 ns / <div style="color:gray;">33.95 ns</div></td><td align="center"><div style="color:blue;">∇ -46.82%</div></td><td align="right">55.39 MHz / <div style="color:gray;">29.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 88.03%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">355.00 ns / <div style="color:gray;">26.44 ns</div></td><td align="center"><div style="color:red;">Δ 1242.47%</div></td><td align="right">2.82 MHz / <div style="color:gray;">37.82 MHz</div></td><td align="center"><div style="color:red;">∇ -92.55%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">173.19 ns / <div style="color:gray;">97.31 ns</div></td><td align="center"><div style="color:red;">Δ 77.98%</div></td><td align="right">5.77 MHz / <div style="color:gray;">10.28 MHz</div></td><td align="center"><div style="color:red;">∇ -43.81%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">814.76 us / <div style="color:gray;">948.85 ns</div></td><td align="center"><div style="color:red;">Δ 85767.62%</div></td><td align="right">1.23 KHz / <div style="color:gray;">1.05 MHz</div></td><td align="center"><div style="color:red;">∇ -99.88%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">821.91 us / <div style="color:gray;">938.66 ns</div></td><td align="center"><div style="color:red;">Δ 87461.67%</div></td><td align="right">1.22 KHz / <div style="color:gray;">1.07 MHz</div></td><td align="center"><div style="color:red;">∇ -99.89%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.57 us / <div style="color:gray;">21.21 us</div></td><td align="center"><div style="color:blue;">∇ -54.87%</div></td><td align="right">104.48 KHz / <div style="color:gray;">47.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 121.60%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">682.30 ns / <div style="color:gray;">532.44 ns</div></td><td align="center"><div style="color:red;">Δ 28.14%</div></td><td align="right">1.47 MHz / <div style="color:gray;">1.88 MHz</div></td><td align="center"><div style="color:red;">∇ -21.96%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">533.80 ns / <div style="color:gray;">528.23 ns</div></td><td align="center"><div style="color:red;">Δ 1.05%</div></td><td align="right">1.87 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:red;">∇ -1.04%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.51 us / <div style="color:gray;">11.19 us</div></td><td align="center"><div style="color:blue;">∇ -23.92%</div></td><td align="right">117.45 KHz / <div style="color:gray;">89.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.45%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.59 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -54.44%</div></td><td align="right">48.56 MHz / <div style="color:gray;">22.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 119.49%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">22.60 ns / <div style="color:gray;">45.86 ns</div></td><td align="center"><div style="color:blue;">∇ -50.71%</div></td><td align="right">44.24 MHz / <div style="color:gray;">21.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.87%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">63.92 ns / <div style="color:gray;">177.43 ns</div></td><td align="center"><div style="color:blue;">∇ -63.97%</div></td><td align="right">15.64 MHz / <div style="color:gray;">5.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 177.57%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">65.22 ns / <div style="color:gray;">169.52 ns</div></td><td align="center"><div style="color:blue;">∇ -61.53%</div></td><td align="right">15.33 MHz / <div style="color:gray;">5.90 MHz</div></td><td align="center"><div style="color:blue;">Δ 159.93%</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;">6.37 ns</div></td><td align="center"><div style="color:blue;">∇ -73.58%</div></td><td align="right">594.53 MHz / <div style="color:gray;">157.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 278.54%</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;">∇ -63.61%</div></td><td align="right">349.53 MHz / <div style="color:gray;">127.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 174.80%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">73.50 ns / <div style="color:gray;">485.93 ns</div></td><td align="center"><div style="color:blue;">∇ -84.87%</div></td><td align="right">13.61 MHz / <div style="color:gray;">2.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 561.13%</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 53111.09%</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;">528.41 ns</div></td><td align="center"><div style="color:blue;">∇ -86.36%</div></td><td align="right">13.87 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 632.89%</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;">547.16 ns</div></td><td align="center"><div style="color:blue;">∇ -79.37%</div></td><td align="right">8.86 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 384.65%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.00 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:red;">Δ 1810.71%</div></td><td align="right">22.22 MHz / <div style="color:gray;">424.60 MHz</div></td><td align="center"><div style="color:red;">∇ -94.77%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">391.50 ns</div></td><td align="center"><div style="color:blue;">∇ -71.78%</div></td><td align="right">9.05 MHz / <div style="color:gray;">2.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 254.30%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.10 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:red;">Δ 1814.95%</div></td><td align="right">22.17 MHz / <div style="color:gray;">424.60 MHz</div></td><td align="center"><div style="color:red;">∇ -94.78%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.82 us / <div style="color:gray;">2.74 us</div></td><td align="center"><div style="color:red;">Δ 112.03%</div></td><td align="right">171.91 KHz / <div style="color:gray;">364.51 KHz</div></td><td align="center"><div style="color:red;">∇ -52.84%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.57 us / <div style="color:gray;">2.08 us</div></td><td align="center"><div style="color:red;">Δ 71.45%</div></td><td align="right">279.91 KHz / <div style="color:gray;">479.89 KHz</div></td><td align="center"><div style="color:red;">∇ -41.67%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.88 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:red;">Δ 69.80%</div></td><td align="right">169.93 KHz / <div style="color:gray;">288.55 KHz</div></td><td align="center"><div style="color:red;">∇ -41.11%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.82 us / <div style="color:gray;">2.38 us</div></td><td align="center"><div style="color:red;">Δ 60.11%</div></td><td align="right">262.04 KHz / <div style="color:gray;">419.56 KHz</div></td><td align="center"><div style="color:red;">∇ -37.54%</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;">1.09 us</div></td><td align="center"><div style="color:blue;">∇ -61.96%</div></td><td align="right">2.42 MHz / <div style="color:gray;">921.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 162.87%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">22.00 ns / <div style="color:gray;">22.19 ns</div></td><td align="center"><div style="color:blue;">∇ -0.87%</div></td><td align="right">45.45 MHz / <div style="color:gray;">45.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.88%</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;">2.78 us</div></td><td align="center"><div style="color:blue;">∇ -55.08%</div></td><td align="right">800.64 KHz / <div style="color:gray;">359.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 122.61%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">2.22 us</div></td><td align="center"><div style="color:blue;">∇ -73.98%</div></td><td align="right">1.73 MHz / <div style="color:gray;">450.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 284.27%</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;">30.71 us</div></td><td align="center"><div style="color:blue;">∇ -6.93%</div></td><td align="right">34.98 KHz / <div style="color:gray;">32.56 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.45%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.20 us / <div style="color:gray;">24.08 us</div></td><td align="center"><div style="color:blue;">∇ -28.58%</div></td><td align="right">58.15 KHz / <div style="color:gray;">41.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.01%</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;">117.18 us</div></td><td align="center"><div style="color:red;">Δ 71.49%</div></td><td align="right">4.98 KHz / <div style="color:gray;">8.53 KHz</div></td><td align="center"><div style="color:red;">∇ -41.69%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">134.50 us / <div style="color:gray;">112.80 us</div></td><td align="center"><div style="color:red;">Δ 19.24%</div></td><td align="right">7.43 KHz / <div style="color:gray;">8.86 KHz</div></td><td align="center"><div style="color:red;">∇ -16.13%</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;">765.51 ns</div></td><td align="center"><div style="color:blue;">∇ -98.85%</div></td><td align="right">113.64 MHz / <div style="color:gray;">1.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 8599.02%</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;">822.31 ns</div></td><td align="center"><div style="color:blue;">∇ -98.75%</div></td><td align="right">97.09 MHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 7883.58%</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;">1.78 us</div></td><td align="center"><div style="color:blue;">∇ -58.58%</div></td><td align="right">1.35 MHz / <div style="color:gray;">560.47 KHz</div></td><td align="center"><div style="color:blue;">Δ 141.40%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">219.80 ns / <div style="color:gray;">1.51 us</div></td><td align="center"><div style="color:blue;">∇ -85.46%</div></td><td align="right">4.55 MHz / <div style="color:gray;">661.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 587.92%</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;">18.54 us</div></td><td align="center"><div style="color:blue;">∇ -64.82%</div></td><td align="right">153.32 KHz / <div style="color:gray;">53.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 184.22%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.73 us / <div style="color:gray;">19.01 us</div></td><td align="center"><div style="color:blue;">∇ -75.13%</div></td><td align="right">211.54 KHz / <div style="color:gray;">52.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 302.10%</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;">72.40 us</div></td><td align="center"><div style="color:blue;">∇ -55.25%</div></td><td align="right">30.87 KHz / <div style="color:gray;">13.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 123.48%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.53 us / <div style="color:gray;">67.43 us</div></td><td align="center"><div style="color:blue;">∇ -59.18%</div></td><td align="right">36.33 KHz / <div style="color:gray;">14.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 144.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">170.00 ns / <div style="color:gray;">606.90 ns</div></td><td align="center"><div style="color:blue;">∇ -71.99%</div></td><td align="right">5.88 MHz / <div style="color:gray;">1.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 257.00%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">190.22 ns</div></td><td align="center"><div style="color:blue;">∇ -31.66%</div></td><td align="right">7.69 MHz / <div style="color:gray;">5.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 46.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.73 us / <div style="color:gray;">31.59 us</div></td><td align="center"><div style="color:blue;">∇ -40.70%</div></td><td align="right">53.39 KHz / <div style="color:gray;">31.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 68.64%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.74 us / <div style="color:gray;">20.87 us</div></td><td align="center"><div style="color:blue;">∇ -19.77%</div></td><td align="right">59.74 KHz / <div style="color:gray;">47.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.65%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.50 us / <div style="color:gray;">7.11 us</div></td><td align="center"><div style="color:red;">Δ 19.54%</div></td><td align="right">117.65 KHz / <div style="color:gray;">140.63 KHz</div></td><td align="center"><div style="color:red;">∇ -16.34%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">93.90 us / <div style="color:gray;">94.75 us</div></td><td align="center"><div style="color:blue;">∇ -0.90%</div></td><td align="right">10.65 KHz / <div style="color:gray;">10.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.90%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.90 us / <div style="color:gray;">75.59 us</div></td><td align="center"><div style="color:blue;">∇ -30.02%</div></td><td align="right">18.90 KHz / <div style="color:gray;">13.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 42.89%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">40.03 us / <div style="color:gray;">43.20 us</div></td><td align="center"><div style="color:blue;">∇ -7.35%</div></td><td align="right">24.98 KHz / <div style="color:gray;">23.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.93%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.30 us / <div style="color:gray;">453.46 us</div></td><td align="center"><div style="color:blue;">∇ -9.30%</div></td><td align="right">2.43 KHz / <div style="color:gray;">2.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.25%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.98 us / <div style="color:gray;">74.00 us</div></td><td align="center"><div style="color:red;">Δ 1.32%</div></td><td align="right">13.34 KHz / <div style="color:gray;">13.51 KHz</div></td><td align="center"><div style="color:red;">∇ -1.31%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.61 ms / <div style="color:gray;">3.54 ms</div></td><td align="center"><div style="color:red;">Δ 142.89%</div></td><td align="right">116.18 Hz / <div style="color:gray;">282.19 Hz</div></td><td align="center"><div style="color:red;">∇ -58.83%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">185.35 us / <div style="color:gray;">178.69 us</div></td><td align="center"><div style="color:red;">Δ 3.73%</div></td><td align="right">5.40 KHz / <div style="color:gray;">5.60 KHz</div></td><td align="center"><div style="color:red;">∇ -3.59%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">135.40 ms / <div style="color:gray;">22.29 ms</div></td><td align="center"><div style="color:red;">Δ 507.56%</div></td><td align="right">7.39 Hz / <div style="color:gray;">44.87 Hz</div></td><td align="center"><div style="color:red;">∇ -83.54%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.80 us / <div style="color:gray;">359.36 us</div></td><td align="center"><div style="color:red;">Δ 0.12%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -0.12%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">364.32 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 904.00%</div></td><td align="right">2.74 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -90.04%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">426.39 us / <div style="color:gray;">411.86 us</div></td><td align="center"><div style="color:red;">Δ 3.53%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -3.41%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">800.16 ms / <div style="color:gray;">54.34 ms</div></td><td align="center"><div style="color:red;">Δ 1372.44%</div></td><td align="right">1.25 Hz / <div style="color:gray;">18.40 Hz</div></td><td align="center"><div style="color:red;">∇ -93.21%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">497.60 us / <div style="color:gray;">488.10 us</div></td><td align="center"><div style="color:red;">Δ 1.95%</div></td><td align="right">2.01 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:red;">∇ -1.91%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">4.13 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">242.07 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;">5.65 ns</div></td><td align="center"><div style="color:blue;">∇ -54.25%</div></td><td align="right">387.19 MHz / <div style="color:gray;">177.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 118.57%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.47 ns / <div style="color:gray;">6.93 ns</div></td><td align="center"><div style="color:red;">Δ 7.88%</div></td><td align="right">133.80 MHz / <div style="color:gray;">144.35 MHz</div></td><td align="center"><div style="color:red;">∇ -7.31%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:blue;">∇ -54.50%</div></td><td align="right">1.83 GHz / <div style="color:gray;">833.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 119.80%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">104.80 us / <div style="color:gray;">102.16 us</div></td><td align="center"><div style="color:red;">Δ 2.58%</div></td><td align="right">9.54 KHz / <div style="color:gray;">9.79 KHz</div></td><td align="center"><div style="color:red;">∇ -2.52%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">295.32 us / <div style="color:gray;">276.88 us</div></td><td align="center"><div style="color:red;">Δ 6.66%</div></td><td align="right">3.39 KHz / <div style="color:gray;">3.61 KHz</div></td><td align="center"><div style="color:red;">∇ -6.25%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.83 ms / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:blue;">∇ -53.06%</div></td><td align="right">547.65 Hz / <div style="color:gray;">257.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 113.04%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.65 us / <div style="color:gray;">13.92 us</div></td><td align="center"><div style="color:red;">Δ 19.61%</div></td><td align="right">60.06 KHz / <div style="color:gray;">71.84 KHz</div></td><td align="center"><div style="color:red;">∇ -16.40%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.11 ms / <div style="color:gray;">1.87 ms</div></td><td align="center"><div style="color:red;">Δ 66.31%</div></td><td align="right">321.23 Hz / <div style="color:gray;">534.24 Hz</div></td><td align="center"><div style="color:red;">∇ -39.87%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">5.09 us</div></td><td align="center"><div style="color:blue;">∇ -15.93%</div></td><td align="right">233.64 KHz / <div style="color:gray;">196.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.94%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">354.96 us / <div style="color:gray;">486.39 us</div></td><td align="center"><div style="color:blue;">∇ -27.02%</div></td><td align="right">2.82 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.03%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">5.10 ms</div></td><td align="center"><div style="color:blue;">∇ -18.82%</div></td><td align="right">241.67 Hz / <div style="color:gray;">196.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.18%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">5.56 us</div></td><td align="center"><div style="color:blue;">∇ -23.05%</div></td><td align="right">233.64 KHz / <div style="color:gray;">179.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 29.95%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">361.24 us / <div style="color:gray;">467.24 us</div></td><td align="center"><div style="color:blue;">∇ -22.69%</div></td><td align="right">2.77 KHz / <div style="color:gray;">2.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 29.34%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">5.18 ms</div></td><td align="center"><div style="color:blue;">∇ -21.12%</div></td><td align="right">244.66 Hz / <div style="color:gray;">192.98 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.78%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.37 us / <div style="color:gray;">1.59 us</div></td><td align="center"><div style="color:blue;">∇ -14.19%</div></td><td align="right">730.99 KHz / <div style="color:gray;">627.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.54%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">98.96 us / <div style="color:gray;">126.68 us</div></td><td align="center"><div style="color:blue;">∇ -21.88%</div></td><td align="right">10.10 KHz / <div style="color:gray;">7.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.00%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.96 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:blue;">∇ -13.75%</div></td><td align="right">83.64 Hz / <div style="color:gray;">72.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.94%</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;">6.54 ms</div></td><td align="center"><div style="color:blue;">∇ -14.39%</div></td><td align="right">178.50 Hz / <div style="color:gray;">152.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.81%</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;">174.77 ms</div></td><td align="center"><div style="color:blue;">∇ -25.87%</div></td><td align="right">7.72 Hz / <div style="color:gray;">5.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.89%</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;">6.88 ms</div></td><td align="center"><div style="color:blue;">∇ -17.84%</div></td><td align="right">176.84 Hz / <div style="color:gray;">145.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.72%</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;">181.38 ms</div></td><td align="center"><div style="color:blue;">∇ -26.99%</div></td><td align="right">7.55 Hz / <div style="color:gray;">5.51 Hz</div></td><td align="center"><div style="color:blue;">Δ 36.96%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.70 ns / <div style="color:gray;">9.54 ns</div></td><td align="center"><div style="color:red;">Δ 64.64%</div></td><td align="right">63.70 MHz / <div style="color:gray;">104.87 MHz</div></td><td align="center"><div style="color:red;">∇ -39.26%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.69 ns / <div style="color:gray;">9.69 ns</div></td><td align="center"><div style="color:red;">Δ 61.98%</div></td><td align="right">63.72 MHz / <div style="color:gray;">103.21 MHz</div></td><td align="center"><div style="color:red;">∇ -38.26%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">70.40 ns / <div style="color:gray;">52.06 ns</div></td><td align="center"><div style="color:red;">Δ 35.22%</div></td><td align="right">14.20 MHz / <div style="color:gray;">19.21 MHz</div></td><td align="center"><div style="color:red;">∇ -26.05%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">70.38 ns / <div style="color:gray;">50.73 ns</div></td><td align="center"><div style="color:red;">Δ 38.72%</div></td><td align="right">14.21 MHz / <div style="color:gray;">19.71 MHz</div></td><td align="center"><div style="color:red;">∇ -27.91%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">11.07 ns / <div style="color:gray;">24.47 ns</div></td><td align="center"><div style="color:blue;">∇ -54.78%</div></td><td align="right">90.37 MHz / <div style="color:gray;">40.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 121.12%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.33 us / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:red;">Δ 7.08%</div></td><td align="right">751.96 KHz / <div style="color:gray;">805.20 KHz</div></td><td align="center"><div style="color:red;">∇ -6.61%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.04 us / <div style="color:gray;">3.19 us</div></td><td align="center"><div style="color:blue;">∇ -4.65%</div></td><td align="right">328.99 KHz / <div style="color:gray;">313.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.88%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">162.81 ns / <div style="color:gray;">130.03 ns</div></td><td align="center"><div style="color:red;">Δ 25.21%</div></td><td align="right">6.14 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -20.14%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">245.58 ns / <div style="color:gray;">198.35 ns</div></td><td align="center"><div style="color:red;">Δ 23.81%</div></td><td align="right">4.07 MHz / <div style="color:gray;">5.04 MHz</div></td><td align="center"><div style="color:red;">∇ -19.23%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.74 ns / <div style="color:gray;">451.66 ns</div></td><td align="center"><div style="color:red;">Δ 13.96%</div></td><td align="right">1.94 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -12.25%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">173.84 ns / <div style="color:gray;">136.92 ns</div></td><td align="center"><div style="color:red;">Δ 26.96%</div></td><td align="right">5.75 MHz / <div style="color:gray;">7.30 MHz</div></td><td align="center"><div style="color:red;">∇ -21.23%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">259.42 ns / <div style="color:gray;">213.52 ns</div></td><td align="center"><div style="color:red;">Δ 21.50%</div></td><td align="right">3.85 MHz / <div style="color:gray;">4.68 MHz</div></td><td align="center"><div style="color:red;">∇ -17.70%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">523.99 ns / <div style="color:gray;">478.55 ns</div></td><td align="center"><div style="color:red;">Δ 9.49%</div></td><td align="right">1.91 MHz / <div style="color:gray;">2.09 MHz</div></td><td align="center"><div style="color:red;">∇ -8.67%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">288.60 ns / <div style="color:gray;">244.07 ns</div></td><td align="center"><div style="color:red;">Δ 18.24%</div></td><td align="right">3.47 MHz / <div style="color:gray;">4.10 MHz</div></td><td align="center"><div style="color:red;">∇ -15.43%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.07 us / <div style="color:gray;">3.12 us</div></td><td align="center"><div style="color:blue;">∇ -1.69%</div></td><td align="right">325.61 KHz / <div style="color:gray;">320.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.72%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.26 us / <div style="color:gray;">30.82 us</div></td><td align="center"><div style="color:blue;">∇ -1.84%</div></td><td align="right">33.05 KHz / <div style="color:gray;">32.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.87%</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 2260156.92%</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;">29.87 ms</div></td><td align="center"><div style="color:red;">Δ 6.35%</div></td><td align="right">31.48 Hz / <div style="color:gray;">33.48 Hz</div></td><td align="center"><div style="color:red;">∇ -5.97%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">45.70 ms / <div style="color:gray;">42.98 ms</div></td><td align="center"><div style="color:red;">Δ 6.31%</div></td><td align="right">21.88 Hz / <div style="color:gray;">23.26 Hz</div></td><td align="center"><div style="color:red;">∇ -5.94%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">73.33 ms / <div style="color:gray;">69.03 ms</div></td><td align="center"><div style="color:red;">Δ 6.24%</div></td><td align="right">13.64 Hz / <div style="color:gray;">14.49 Hz</div></td><td align="center"><div style="color:red;">∇ -5.87%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.15 ms / <div style="color:gray;">22.86 ms</div></td><td align="center"><div style="color:red;">Δ 18.80%</div></td><td align="right">36.83 Hz / <div style="color:gray;">43.75 Hz</div></td><td align="center"><div style="color:red;">∇ -15.82%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.31 ms / <div style="color:gray;">35.20 ms</div></td><td align="center"><div style="color:red;">Δ 14.50%</div></td><td align="right">24.81 Hz / <div style="color:gray;">28.41 Hz</div></td><td align="center"><div style="color:red;">∇ -12.67%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.44 ms / <div style="color:gray;">57.29 ms</div></td><td align="center"><div style="color:red;">Δ 12.47%</div></td><td align="right">15.52 Hz / <div style="color:gray;">17.45 Hz</div></td><td align="center"><div style="color:red;">∇ -11.09%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.52 ms / <div style="color:gray;">4.45 ms</div></td><td align="center"><div style="color:red;">Δ 1.54%</div></td><td align="right">221.30 Hz / <div style="color:gray;">224.70 Hz</div></td><td align="center"><div style="color:red;">∇ -1.52%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.35 ms / <div style="color:gray;">8.06 ms</div></td><td align="center"><div style="color:blue;">∇ -8.75%</div></td><td align="right">136.05 Hz / <div style="color:gray;">124.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.59%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">11.22 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:blue;">∇ -19.04%</div></td><td align="right">89.13 Hz / <div style="color:gray;">72.16 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.52%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">6.32 us / <div style="color:gray;">17.29 us</div></td><td align="center"><div style="color:blue;">∇ -63.44%</div></td><td align="right">158.23 KHz / <div style="color:gray;">57.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 173.54%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.78 us / <div style="color:gray;">16.49 us</div></td><td align="center"><div style="color:blue;">∇ -71.01%</div></td><td align="right">209.21 KHz / <div style="color:gray;">60.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 244.90%</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;">9.72 us</div></td><td align="center"><div style="color:blue;">∇ -77.98%</div></td><td align="right">467.29 KHz / <div style="color:gray;">102.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 354.18%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">28.31 ms / <div style="color:gray;">31.46 ms</div></td><td align="center"><div style="color:blue;">∇ -10.00%</div></td><td align="right">35.32 Hz / <div style="color:gray;">31.79 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.11%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">27.34 ms / <div style="color:gray;">30.94 ms</div></td><td align="center"><div style="color:blue;">∇ -11.64%</div></td><td align="right">36.57 Hz / <div style="color:gray;">32.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.18%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">641.91 ms / <div style="color:gray;">653.53 ms</div></td><td align="center"><div style="color:blue;">∇ -1.78%</div></td><td align="right">1.56 Hz / <div style="color:gray;">1.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.81%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">170.65 ms / <div style="color:gray;">210.38 ms</div></td><td align="center"><div style="color:blue;">∇ -18.88%</div></td><td align="right">5.86 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">201.21 ms / <div style="color:gray;">243.66 ms</div></td><td align="center"><div style="color:blue;">∇ -17.42%</div></td><td align="right">4.97 Hz / <div style="color:gray;">4.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.10%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.22 ms / <div style="color:gray;">6.32 ms</div></td><td align="center"><div style="color:blue;">∇ -17.39%</div></td><td align="right">191.49 Hz / <div style="color:gray;">158.19 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.05%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.81 ms / <div style="color:gray;">45.12 ms</div></td><td align="center"><div style="color:red;">Δ 34.78%</div></td><td align="right">16.44 Hz / <div style="color:gray;">22.16 Hz</div></td><td align="center"><div style="color:red;">∇ -25.80%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.26 ms / <div style="color:gray;">46.60 ms</div></td><td align="center"><div style="color:blue;">∇ -7.16%</div></td><td align="right">23.12 Hz / <div style="color:gray;">21.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.71%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">39.91 ms / <div style="color:gray;">40.89 ms</div></td><td align="center"><div style="color:blue;">∇ -2.39%</div></td><td align="right">25.06 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.45%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:blue;">∇ -0.59%</div></td><td align="right">783.36 mHz / <div style="color:gray;">778.73 mHz</div></td><td align="center"><div style="color:blue;">Δ 0.59%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">386.18 ms / <div style="color:gray;">502.54 ms</div></td><td align="center"><div style="color:blue;">∇ -23.16%</div></td><td align="right">2.59 Hz / <div style="color:gray;">1.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.13%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.12 ms / <div style="color:gray;">19.71 ms</div></td><td align="center"><div style="color:blue;">∇ -18.20%</div></td><td align="right">62.03 Hz / <div style="color:gray;">50.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.25%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.93 ms / <div style="color:gray;">13.01 ms</div></td><td align="center"><div style="color:blue;">∇ -15.96%</div></td><td align="right">91.46 Hz / <div style="color:gray;">76.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.99%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.928546 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
