<html><head><title>mrpt-performance results - 0.9.1-MSVC9-32bit vs 0.9.3-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-MSVC9-32bit vs. 0.9.3-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.1-MSVC9-32bit / <div style="color:gray;">0.9.3-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.78 ms / <div style="color:gray;">20.90 ms</div></td><td align="center"><div style="color:red;">Δ 52.09%</div></td><td align="right">31.46 Hz / <div style="color:gray;">47.85 Hz</div></td><td align="center"><div style="color:red;">∇ -34.25%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.70 ms / <div style="color:gray;">18.76 ms</div></td><td align="center"><div style="color:red;">Δ 186.22%</div></td><td align="right">18.62 Hz / <div style="color:gray;">53.30 Hz</div></td><td align="center"><div style="color:red;">∇ -65.06%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">925.38 ns / <div style="color:gray;">41.67 ns</div></td><td align="center"><div style="color:red;">Δ 2120.74%</div></td><td align="right">1.08 MHz / <div style="color:gray;">24.00 MHz</div></td><td align="center"><div style="color:red;">∇ -95.50%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">617.00 ns / <div style="color:gray;">32.39 ns</div></td><td align="center"><div style="color:red;">Δ 1804.92%</div></td><td align="right">1.62 MHz / <div style="color:gray;">30.87 MHz</div></td><td align="center"><div style="color:red;">∇ -94.75%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">35.98 ns / <div style="color:gray;">8.02 ns</div></td><td align="center"><div style="color:red;">Δ 348.36%</div></td><td align="right">27.80 MHz / <div style="color:gray;">124.63 MHz</div></td><td align="center"><div style="color:red;">∇ -77.70%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">14.62 ns / <div style="color:gray;">11.53 ns</div></td><td align="center"><div style="color:red;">Δ 26.72%</div></td><td align="right">68.42 MHz / <div style="color:gray;">86.70 MHz</div></td><td align="center"><div style="color:red;">∇ -21.08%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">75.43 ns / <div style="color:gray;">18.18 ns</div></td><td align="center"><div style="color:red;">Δ 314.80%</div></td><td align="right">13.26 MHz / <div style="color:gray;">54.99 MHz</div></td><td align="center"><div style="color:red;">∇ -75.89%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">56.48 ns / <div style="color:gray;">25.21 ns</div></td><td align="center"><div style="color:red;">Δ 124.01%</div></td><td align="right">17.70 MHz / <div style="color:gray;">39.66 MHz</div></td><td align="center"><div style="color:red;">∇ -55.36%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">121.60 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 68.65%</div></td><td align="right">8.22 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -40.70%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">66.63 ns / <div style="color:gray;">69.22 ns</div></td><td align="center"><div style="color:blue;">∇ -3.75%</div></td><td align="right">15.01 MHz / <div style="color:gray;">14.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.90%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">93.73 ns / <div style="color:gray;">60.48 ns</div></td><td align="center"><div style="color:red;">Δ 54.97%</div></td><td align="right">10.67 MHz / <div style="color:gray;">16.53 MHz</div></td><td align="center"><div style="color:red;">∇ -35.47%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.24 ns / <div style="color:gray;">60.01 ns</div></td><td align="center"><div style="color:red;">Δ 3.71%</div></td><td align="right">16.07 MHz / <div style="color:gray;">16.66 MHz</div></td><td align="center"><div style="color:red;">∇ -3.58%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">100.74 ns / <div style="color:gray;">42.70 ns</div></td><td align="center"><div style="color:red;">Δ 135.92%</div></td><td align="right">9.93 MHz / <div style="color:gray;">23.42 MHz</div></td><td align="center"><div style="color:red;">∇ -57.61%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">57.92 ns / <div style="color:gray;">38.27 ns</div></td><td align="center"><div style="color:red;">Δ 51.35%</div></td><td align="right">17.26 MHz / <div style="color:gray;">26.13 MHz</div></td><td align="center"><div style="color:red;">∇ -33.93%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">61.33 ns / <div style="color:gray;">17.90 ns</div></td><td align="center"><div style="color:red;">Δ 242.55%</div></td><td align="right">16.31 MHz / <div style="color:gray;">55.85 MHz</div></td><td align="center"><div style="color:red;">∇ -70.81%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">27.34 ns / <div style="color:gray;">18.44 ns</div></td><td align="center"><div style="color:red;">Δ 48.28%</div></td><td align="right">36.57 MHz / <div style="color:gray;">54.23 MHz</div></td><td align="center"><div style="color:red;">∇ -32.56%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">580.67 ns / <div style="color:gray;">33.31 ns</div></td><td align="center"><div style="color:red;">Δ 1643.12%</div></td><td align="right">1.72 MHz / <div style="color:gray;">30.02 MHz</div></td><td align="center"><div style="color:red;">∇ -94.26%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">28.18 ns / <div style="color:gray;">19.52 ns</div></td><td align="center"><div style="color:red;">Δ 44.40%</div></td><td align="right">35.48 MHz / <div style="color:gray;">51.24 MHz</div></td><td align="center"><div style="color:red;">∇ -30.75%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">506.67 ns / <div style="color:gray;">16.27 ns</div></td><td align="center"><div style="color:red;">Δ 3013.35%</div></td><td align="right">1.97 MHz / <div style="color:gray;">61.45 MHz</div></td><td align="center"><div style="color:red;">∇ -96.79%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">214.86 ns / <div style="color:gray;">169.77 ns</div></td><td align="center"><div style="color:red;">Δ 26.55%</div></td><td align="right">4.65 MHz / <div style="color:gray;">5.89 MHz</div></td><td align="center"><div style="color:red;">∇ -20.98%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.56 us / <div style="color:gray;">799.00 ns</div></td><td align="center"><div style="color:red;">Δ 94.66%</div></td><td align="right">642.96 KHz / <div style="color:gray;">1.25 MHz</div></td><td align="center"><div style="color:red;">∇ -48.63%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.51 us / <div style="color:gray;">788.50 ns</div></td><td align="center"><div style="color:red;">Δ 91.05%</div></td><td align="right">663.83 KHz / <div style="color:gray;">1.27 MHz</div></td><td align="center"><div style="color:red;">∇ -47.66%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">23.29 us / <div style="color:gray;">9.11 us</div></td><td align="center"><div style="color:red;">Δ 155.77%</div></td><td align="right">42.94 KHz / <div style="color:gray;">109.83 KHz</div></td><td align="center"><div style="color:red;">∇ -60.90%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">1.64 us / <div style="color:gray;">557.50 ns</div></td><td align="center"><div style="color:red;">Δ 194.16%</div></td><td align="right">609.77 KHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -66.01%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">1.66 us / <div style="color:gray;">558.50 ns</div></td><td align="center"><div style="color:red;">Δ 198.00%</div></td><td align="right">600.84 KHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -66.44%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">16.05 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:red;">Δ 90.65%</div></td><td align="right">62.32 KHz / <div style="color:gray;">118.81 KHz</div></td><td align="center"><div style="color:red;">∇ -47.55%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">39.66 ns / <div style="color:gray;">17.83 ns</div></td><td align="center"><div style="color:red;">Δ 122.36%</div></td><td align="right">25.22 MHz / <div style="color:gray;">56.07 MHz</div></td><td align="center"><div style="color:red;">∇ -55.03%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">42.75 ns / <div style="color:gray;">19.48 ns</div></td><td align="center"><div style="color:red;">Δ 119.49%</div></td><td align="right">23.39 MHz / <div style="color:gray;">51.35 MHz</div></td><td align="center"><div style="color:red;">∇ -54.44%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">152.29 ns / <div style="color:gray;">54.85 ns</div></td><td align="center"><div style="color:red;">Δ 177.66%</div></td><td align="right">6.57 MHz / <div style="color:gray;">18.23 MHz</div></td><td align="center"><div style="color:red;">∇ -63.99%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">150.45 ns / <div style="color:gray;">55.93 ns</div></td><td align="center"><div style="color:red;">Δ 168.99%</div></td><td align="right">6.65 MHz / <div style="color:gray;">17.88 MHz</div></td><td align="center"><div style="color:red;">∇ -62.82%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">3.30 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">303.37 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,3,3]</td><td align="right">3.48 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">287.56 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">3.06 ns / <div style="color:gray;">1.50 ns</div></td><td align="center"><div style="color:red;">Δ 104.02%</div></td><td align="right">327.19 MHz / <div style="color:gray;">667.56 MHz</div></td><td align="center"><div style="color:red;">∇ -50.99%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">6.65 ns / <div style="color:gray;">5.61 ns</div></td><td align="center"><div style="color:red;">Δ 18.52%</div></td><td align="right">150.48 MHz / <div style="color:gray;">178.35 MHz</div></td><td align="center"><div style="color:red;">∇ -15.62%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">167.81 ns / <div style="color:gray;">291.30 ns</div></td><td align="center"><div style="color:blue;">∇ -42.39%</div></td><td align="right">5.96 MHz / <div style="color:gray;">3.43 MHz</div></td><td align="center"><div style="color:blue;">Δ 73.59%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">108.61 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">9.21 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">158.88 ns / <div style="color:gray;">292.50 ns</div></td><td align="center"><div style="color:blue;">∇ -45.68%</div></td><td align="right">6.29 MHz / <div style="color:gray;">3.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 84.10%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">90.86 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">11.01 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">272.47 ns / <div style="color:gray;">347.50 ns</div></td><td align="center"><div style="color:blue;">∇ -21.59%</div></td><td align="right">3.67 MHz / <div style="color:gray;">2.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.53%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">193.12 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">5.18 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">238.91 ns / <div style="color:gray;">340.40 ns</div></td><td align="center"><div style="color:blue;">∇ -29.81%</div></td><td align="right">4.19 MHz / <div style="color:gray;">2.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 42.48%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">139.05 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">7.19 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">16.80 us / <div style="color:gray;">2.42 us</div></td><td align="center"><div style="color:red;">Δ 594.32%</div></td><td align="right">59.51 KHz / <div style="color:gray;">413.19 KHz</div></td><td align="center"><div style="color:red;">∇ -85.60%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">13.06 us / <div style="color:gray;">2.23 us</div></td><td align="center"><div style="color:red;">Δ 485.36%</div></td><td align="right">76.57 KHz / <div style="color:gray;">448.19 KHz</div></td><td align="center"><div style="color:red;">∇ -82.92%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">13.55 us / <div style="color:gray;">2.31 us</div></td><td align="center"><div style="color:red;">Δ 486.26%</div></td><td align="right">73.81 KHz / <div style="color:gray;">432.69 KHz</div></td><td align="center"><div style="color:red;">∇ -82.94%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">9.96 us / <div style="color:gray;">2.12 us</div></td><td align="center"><div style="color:red;">Δ 369.20%</div></td><td align="right">100.40 KHz / <div style="color:gray;">471.08 KHz</div></td><td align="center"><div style="color:red;">∇ -78.69%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">1.50 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">665.84 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">59.79 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">16.73 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.53 us / <div style="color:gray;">780.00 ns</div></td><td align="center"><div style="color:red;">Δ 96.38%</div></td><td align="right">652.84 KHz / <div style="color:gray;">1.28 MHz</div></td><td align="center"><div style="color:red;">∇ -49.08%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">31.25 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">32.00 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">5.07 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">197.26 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">1.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">749.46 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">5.08 us / <div style="color:gray;">1.97 us</div></td><td align="center"><div style="color:red;">Δ 157.83%</div></td><td align="right">196.68 KHz / <div style="color:gray;">507.10 KHz</div></td><td align="center"><div style="color:red;">∇ -61.22%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">926.67 ns / <div style="color:gray;">1.60 us</div></td><td align="center"><div style="color:blue;">∇ -42.12%</div></td><td align="right">1.08 MHz / <div style="color:gray;">624.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 72.77%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">81.86 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">12.22 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">40.71 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">24.56 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">108.60 us / <div style="color:gray;">16.08 us</div></td><td align="center"><div style="color:red;">Δ 575.35%</div></td><td align="right">9.21 KHz / <div style="color:gray;">62.19 KHz</div></td><td align="center"><div style="color:red;">∇ -85.19%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">19.22 us / <div style="color:gray;">14.48 us</div></td><td align="center"><div style="color:red;">Δ 32.78%</div></td><td align="right">52.02 KHz / <div style="color:gray;">69.08 KHz</div></td><td align="center"><div style="color:red;">∇ -24.69%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">609.15 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.64 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">307.68 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.25 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">818.27 us / <div style="color:gray;">65.78 us</div></td><td align="center"><div style="color:red;">Δ 1143.85%</div></td><td align="right">1.22 KHz / <div style="color:gray;">15.20 KHz</div></td><td align="center"><div style="color:red;">∇ -91.96%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">136.18 us / <div style="color:gray;">64.13 us</div></td><td align="center"><div style="color:red;">Δ 112.35%</div></td><td align="right">7.34 KHz / <div style="color:gray;">15.59 KHz</div></td><td align="center"><div style="color:red;">∇ -52.91%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">9.15 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">109.30 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">9.56 ns / <div style="color:gray;">212.60 ns</div></td><td align="center"><div style="color:blue;">∇ -95.50%</div></td><td align="right">104.64 MHz / <div style="color:gray;">4.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 2124.65%</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">19.70 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">50.76 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">15.90 ns / <div style="color:gray;">323.30 ns</div></td><td align="center"><div style="color:blue;">∇ -95.08%</div></td><td align="right">62.90 MHz / <div style="color:gray;">3.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 1933.67%</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">2.32 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">431.38 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">434.76 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.30 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">2.38 us / <div style="color:gray;">774.90 ns</div></td><td align="center"><div style="color:red;">Δ 206.97%</div></td><td align="right">420.40 KHz / <div style="color:gray;">1.29 MHz</div></td><td align="center"><div style="color:red;">∇ -67.42%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">422.89 ns / <div style="color:gray;">592.30 ns</div></td><td align="center"><div style="color:blue;">∇ -28.60%</div></td><td align="right">2.36 MHz / <div style="color:gray;">1.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.06%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">18.34 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">54.54 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">9.85 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">101.56 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">18.19 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:red;">Δ 113.92%</div></td><td align="right">54.99 KHz / <div style="color:gray;">117.63 KHz</div></td><td align="center"><div style="color:red;">∇ -53.25%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">7.72 us</div></td><td align="center"><div style="color:blue;">∇ -15.51%</div></td><td align="right">153.30 KHz / <div style="color:gray;">129.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.35%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">111.92 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">8.93 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">63.43 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">15.77 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">114.84 us / <div style="color:gray;">32.23 us</div></td><td align="center"><div style="color:red;">Δ 256.37%</div></td><td align="right">8.71 KHz / <div style="color:gray;">31.03 KHz</div></td><td align="center"><div style="color:red;">∇ -71.94%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">36.00 us / <div style="color:gray;">30.71 us</div></td><td align="center"><div style="color:red;">Δ 17.25%</div></td><td align="right">27.78 KHz / <div style="color:gray;">32.57 KHz</div></td><td align="center"><div style="color:red;">∇ -14.71%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">185.70 ns / <div style="color:gray;">530.00 ns</div></td><td align="center"><div style="color:blue;">∇ -64.96%</div></td><td align="right">5.39 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 185.41%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">113.23 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:blue;">∇ -12.90%</div></td><td align="right">8.83 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">24.43 us / <div style="color:gray;">22.98 us</div></td><td align="center"><div style="color:red;">Δ 6.31%</div></td><td align="right">40.93 KHz / <div style="color:gray;">43.52 KHz</div></td><td align="center"><div style="color:red;">∇ -5.94%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.73 us / <div style="color:gray;">19.50 us</div></td><td align="center"><div style="color:blue;">∇ -9.07%</div></td><td align="right">56.40 KHz / <div style="color:gray;">51.28 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.97%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">10.78 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:red;">Δ 31.46%</div></td><td align="right">92.77 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ -23.93%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">117.89 us / <div style="color:gray;">85.30 us</div></td><td align="center"><div style="color:red;">Δ 38.21%</div></td><td align="right">8.48 KHz / <div style="color:gray;">11.72 KHz</div></td><td align="center"><div style="color:red;">∇ -27.65%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">70.52 us / <div style="color:gray;">56.80 us</div></td><td align="center"><div style="color:red;">Δ 24.15%</div></td><td align="right">14.18 KHz / <div style="color:gray;">17.61 KHz</div></td><td align="center"><div style="color:red;">∇ -19.45%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">52.59 us / <div style="color:gray;">39.31 us</div></td><td align="center"><div style="color:red;">Δ 33.78%</div></td><td align="right">19.02 KHz / <div style="color:gray;">25.44 KHz</div></td><td align="center"><div style="color:red;">∇ -25.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">491.10 us / <div style="color:gray;">266.80 us</div></td><td align="center"><div style="color:red;">Δ 84.07%</div></td><td align="right">2.04 KHz / <div style="color:gray;">3.75 KHz</div></td><td align="center"><div style="color:red;">∇ -45.67%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">85.83 us / <div style="color:gray;">72.76 us</div></td><td align="center"><div style="color:red;">Δ 17.96%</div></td><td align="right">11.65 KHz / <div style="color:gray;">13.74 KHz</div></td><td align="center"><div style="color:red;">∇ -15.23%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">9.44 ms / <div style="color:gray;">2.67 ms</div></td><td align="center"><div style="color:red;">Δ 253.74%</div></td><td align="right">105.88 Hz / <div style="color:gray;">374.53 Hz</div></td><td align="center"><div style="color:red;">∇ -71.73%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">204.52 us / <div style="color:gray;">176.19 us</div></td><td align="center"><div style="color:red;">Δ 16.08%</div></td><td align="right">4.89 KHz / <div style="color:gray;">5.68 KHz</div></td><td align="center"><div style="color:red;">∇ -13.85%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">150.13 ms / <div style="color:gray;">20.73 ms</div></td><td align="center"><div style="color:red;">Δ 624.13%</div></td><td align="right">6.66 Hz / <div style="color:gray;">48.23 Hz</div></td><td align="center"><div style="color:red;">∇ -86.19%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">415.58 us / <div style="color:gray;">351.05 us</div></td><td align="center"><div style="color:red;">Δ 18.38%</div></td><td align="right">2.41 KHz / <div style="color:gray;">2.85 KHz</div></td><td align="center"><div style="color:red;">∇ -15.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">461.43 ms / <div style="color:gray;">34.60 ms</div></td><td align="center"><div style="color:red;">Δ 1233.48%</div></td><td align="right">2.17 Hz / <div style="color:gray;">28.90 Hz</div></td><td align="center"><div style="color:red;">∇ -92.50%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">484.92 us / <div style="color:gray;">415.89 us</div></td><td align="center"><div style="color:red;">Δ 16.60%</div></td><td align="right">2.06 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -14.24%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">947.45 ms / <div style="color:gray;">50.32 ms</div></td><td align="center"><div style="color:red;">Δ 1782.88%</div></td><td align="right">1.06 Hz / <div style="color:gray;">19.87 Hz</div></td><td align="center"><div style="color:red;">∇ -94.69%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">586.44 us / <div style="color:gray;">482.94 us</div></td><td align="center"><div style="color:red;">Δ 21.43%</div></td><td align="right">1.71 KHz / <div style="color:gray;">2.07 KHz</div></td><td align="center"><div style="color:red;">∇ -17.65%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.77 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">173.23 MHz / <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">7.96 ns / <div style="color:gray;">2.61 ns</div></td><td align="center"><div style="color:red;">Δ 205.34%</div></td><td align="right">125.64 MHz / <div style="color:gray;">383.63 MHz</div></td><td align="center"><div style="color:red;">∇ -67.25%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">10.80 ns / <div style="color:gray;">6.99 ns</div></td><td align="center"><div style="color:red;">Δ 54.49%</div></td><td align="right">92.58 MHz / <div style="color:gray;">143.02 MHz</div></td><td align="center"><div style="color:red;">∇ -35.27%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.21 ns / <div style="color:gray;">0.51 ns</div></td><td align="center"><div style="color:red;">Δ 136.10%</div></td><td align="right">826.59 MHz / <div style="color:gray;">1.95 GHz</div></td><td align="center"><div style="color:red;">∇ -57.65%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">204.23 us / <div style="color:gray;">102.59 us</div></td><td align="center"><div style="color:red;">Δ 99.08%</div></td><td align="right">4.90 KHz / <div style="color:gray;">9.75 KHz</div></td><td align="center"><div style="color:red;">∇ -49.77%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">344.40 us / <div style="color:gray;">284.11 us</div></td><td align="center"><div style="color:red;">Δ 21.22%</div></td><td align="right">2.90 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:red;">∇ -17.51%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.62 ms / <div style="color:gray;">722.00 us</div></td><td align="center"><div style="color:red;">Δ 262.65%</div></td><td align="right">381.93 Hz / <div style="color:gray;">1.39 KHz</div></td><td align="center"><div style="color:red;">∇ -72.42%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.59 us / <div style="color:gray;">15.69 us</div></td><td align="center"><div style="color:red;">Δ 18.45%</div></td><td align="right">53.79 KHz / <div style="color:gray;">63.72 KHz</div></td><td align="center"><div style="color:red;">∇ -15.58%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">5.62 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:red;">Δ 89.34%</div></td><td align="right">178.02 Hz / <div style="color:gray;">337.06 Hz</div></td><td align="center"><div style="color:red;">∇ -47.18%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.21 us / <div style="color:gray;">4.36 us</div></td><td align="center"><div style="color:red;">Δ 42.52%</div></td><td align="right">160.93 KHz / <div style="color:gray;">229.36 KHz</div></td><td align="center"><div style="color:red;">∇ -29.84%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">511.81 us / <div style="color:gray;">357.08 us</div></td><td align="center"><div style="color:red;">Δ 43.33%</div></td><td align="right">1.95 KHz / <div style="color:gray;">2.80 KHz</div></td><td align="center"><div style="color:red;">∇ -30.23%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.59 ms / <div style="color:gray;">4.19 ms</div></td><td align="center"><div style="color:red;">Δ 33.41%</div></td><td align="right">178.86 Hz / <div style="color:gray;">238.61 Hz</div></td><td align="center"><div style="color:red;">∇ -25.04%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.23 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 53.15%</div></td><td align="right">138.34 KHz / <div style="color:gray;">211.86 KHz</div></td><td align="center"><div style="color:red;">∇ -34.70%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">523.10 us / <div style="color:gray;">362.68 us</div></td><td align="center"><div style="color:red;">Δ 44.23%</div></td><td align="right">1.91 KHz / <div style="color:gray;">2.76 KHz</div></td><td align="center"><div style="color:red;">∇ -30.67%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.77 ms / <div style="color:gray;">4.10 ms</div></td><td align="center"><div style="color:red;">Δ 40.92%</div></td><td align="right">173.21 Hz / <div style="color:gray;">244.09 Hz</div></td><td align="center"><div style="color:red;">∇ -29.04%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.05 us / <div style="color:gray;">1.39 us</div></td><td align="center"><div style="color:red;">Δ 47.92%</div></td><td align="right">487.07 KHz / <div style="color:gray;">720.46 KHz</div></td><td align="center"><div style="color:red;">∇ -32.39%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">140.79 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:red;">Δ 38.21%</div></td><td align="right">7.10 KHz / <div style="color:gray;">9.82 KHz</div></td><td align="center"><div style="color:red;">∇ -27.65%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.17 ms / <div style="color:gray;">11.78 ms</div></td><td align="center"><div style="color:red;">Δ 28.85%</div></td><td align="right">65.91 Hz / <div style="color:gray;">84.92 Hz</div></td><td align="center"><div style="color:red;">∇ -22.39%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">8.69 ms / <div style="color:gray;">5.62 ms</div></td><td align="center"><div style="color:red;">Δ 54.63%</div></td><td align="right">115.01 Hz / <div style="color:gray;">177.84 Hz</div></td><td align="center"><div style="color:red;">∇ -35.33%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">196.44 ms / <div style="color:gray;">130.59 ms</div></td><td align="center"><div style="color:red;">Δ 50.43%</div></td><td align="right">5.09 Hz / <div style="color:gray;">7.66 Hz</div></td><td align="center"><div style="color:red;">∇ -33.53%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.73 ms / <div style="color:gray;">5.69 ms</div></td><td align="center"><div style="color:red;">Δ 53.34%</div></td><td align="right">114.60 Hz / <div style="color:gray;">175.73 Hz</div></td><td align="center"><div style="color:red;">∇ -34.79%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">198.48 ms / <div style="color:gray;">132.22 ms</div></td><td align="center"><div style="color:red;">Δ 50.11%</div></td><td align="right">5.04 Hz / <div style="color:gray;">7.56 Hz</div></td><td align="center"><div style="color:red;">∇ -33.38%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.29 ns / <div style="color:gray;">15.67 ns</div></td><td align="center"><div style="color:blue;">∇ -53.45%</div></td><td align="right">137.11 MHz / <div style="color:gray;">63.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 114.83%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.33 ns / <div style="color:gray;">15.66 ns</div></td><td align="center"><div style="color:blue;">∇ -53.20%</div></td><td align="right">136.49 MHz / <div style="color:gray;">63.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 113.68%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.27 ns / <div style="color:gray;">69.89 ns</div></td><td align="center"><div style="color:blue;">∇ -26.64%</div></td><td align="right">19.50 MHz / <div style="color:gray;">14.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.31%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">51.74 ns / <div style="color:gray;">69.86 ns</div></td><td align="center"><div style="color:blue;">∇ -25.94%</div></td><td align="right">19.33 MHz / <div style="color:gray;">14.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.02%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">29.39 ns / <div style="color:gray;">12.21 ns</div></td><td align="center"><div style="color:red;">Δ 140.59%</div></td><td align="right">34.03 MHz / <div style="color:gray;">81.87 MHz</div></td><td align="center"><div style="color:red;">∇ -58.44%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.64 us / <div style="color:gray;">2.70 us</div></td><td align="center"><div style="color:blue;">∇ -2.11%</div></td><td align="right">378.48 KHz / <div style="color:gray;">370.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.16%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">8.53 us / <div style="color:gray;">5.71 us</div></td><td align="center"><div style="color:red;">Δ 49.47%</div></td><td align="right">117.18 KHz / <div style="color:gray;">175.14 KHz</div></td><td align="center"><div style="color:red;">∇ -33.10%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">215.16 ns / <div style="color:gray;">148.19 ns</div></td><td align="center"><div style="color:red;">Δ 45.20%</div></td><td align="right">4.65 MHz / <div style="color:gray;">6.75 MHz</div></td><td align="center"><div style="color:red;">∇ -31.13%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">359.98 ns / <div style="color:gray;">232.46 ns</div></td><td align="center"><div style="color:red;">Δ 54.86%</div></td><td align="right">2.78 MHz / <div style="color:gray;">4.30 MHz</div></td><td align="center"><div style="color:red;">∇ -35.43%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">732.12 ns / <div style="color:gray;">489.71 ns</div></td><td align="center"><div style="color:red;">Δ 49.50%</div></td><td align="right">1.37 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:red;">∇ -33.11%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">213.59 ns / <div style="color:gray;">159.54 ns</div></td><td align="center"><div style="color:red;">Δ 33.88%</div></td><td align="right">4.68 MHz / <div style="color:gray;">6.27 MHz</div></td><td align="center"><div style="color:red;">∇ -25.31%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">339.30 ns / <div style="color:gray;">247.75 ns</div></td><td align="center"><div style="color:red;">Δ 36.95%</div></td><td align="right">2.95 MHz / <div style="color:gray;">4.04 MHz</div></td><td align="center"><div style="color:red;">∇ -26.98%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">760.92 ns / <div style="color:gray;">521.91 ns</div></td><td align="center"><div style="color:red;">Δ 45.79%</div></td><td align="right">1.31 MHz / <div style="color:gray;">1.92 MHz</div></td><td align="center"><div style="color:red;">∇ -31.41%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">411.34 ns / <div style="color:gray;">251.30 ns</div></td><td align="center"><div style="color:red;">Δ 63.68%</div></td><td align="right">2.43 MHz / <div style="color:gray;">3.98 MHz</div></td><td align="center"><div style="color:red;">∇ -38.91%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.59 us / <div style="color:gray;">3.02 us</div></td><td align="center"><div style="color:red;">Δ 18.93%</div></td><td align="right">278.70 KHz / <div style="color:gray;">331.46 KHz</div></td><td align="center"><div style="color:red;">∇ -15.92%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">34.34 us / <div style="color:gray;">30.36 us</div></td><td align="center"><div style="color:red;">Δ 13.08%</div></td><td align="right">29.12 KHz / <div style="color:gray;">32.93 KHz</div></td><td align="center"><div style="color:red;">∇ -11.57%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">10.09 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">27.92 ms / <div style="color:gray;">34.14 ms</div></td><td align="center"><div style="color:blue;">∇ -18.21%</div></td><td align="right">35.81 Hz / <div style="color:gray;">29.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.26%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.53 ms / <div style="color:gray;">49.83 ms</div></td><td align="center"><div style="color:blue;">∇ -12.64%</div></td><td align="right">22.97 Hz / <div style="color:gray;">20.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.47%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">70.76 ms / <div style="color:gray;">80.71 ms</div></td><td align="center"><div style="color:blue;">∇ -12.33%</div></td><td align="right">14.13 Hz / <div style="color:gray;">12.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.07%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.43 ms / <div style="color:gray;">29.36 ms</div></td><td align="center"><div style="color:blue;">∇ -20.20%</div></td><td align="right">42.67 Hz / <div style="color:gray;">34.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 25.31%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">36.52 ms / <div style="color:gray;">42.45 ms</div></td><td align="center"><div style="color:blue;">∇ -13.97%</div></td><td align="right">27.39 Hz / <div style="color:gray;">23.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.24%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.82 ms / <div style="color:gray;">65.41 ms</div></td><td align="center"><div style="color:blue;">∇ -8.55%</div></td><td align="right">16.72 Hz / <div style="color:gray;">15.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.35%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">6.68 ms / <div style="color:gray;">4.66 ms</div></td><td align="center"><div style="color:red;">Δ 43.19%</div></td><td align="right">149.74 Hz / <div style="color:gray;">214.40 Hz</div></td><td align="center"><div style="color:red;">∇ -30.16%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.62 ms / <div style="color:gray;">5.98 ms</div></td><td align="center"><div style="color:red;">Δ 44.02%</div></td><td align="right">116.03 Hz / <div style="color:gray;">167.10 Hz</div></td><td align="center"><div style="color:red;">∇ -30.56%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.49 ms / <div style="color:gray;">10.42 ms</div></td><td align="center"><div style="color:red;">Δ 39.00%</div></td><td align="right">69.01 Hz / <div style="color:gray;">95.93 Hz</div></td><td align="center"><div style="color:red;">∇ -28.06%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">21.12 us / <div style="color:gray;">11.35 us</div></td><td align="center"><div style="color:red;">Δ 86.11%</div></td><td align="right">47.34 KHz / <div style="color:gray;">88.11 KHz</div></td><td align="center"><div style="color:red;">∇ -46.27%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">19.36 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:red;">Δ 94.40%</div></td><td align="right">51.65 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:red;">∇ -48.56%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">6.24 us / <div style="color:gray;">5.52 us</div></td><td align="center"><div style="color:red;">Δ 12.98%</div></td><td align="right">160.34 KHz / <div style="color:gray;">181.16 KHz</div></td><td align="center"><div style="color:red;">∇ -11.49%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">40.83 ms / <div style="color:gray;">32.25 ms</div></td><td align="center"><div style="color:red;">Δ 26.58%</div></td><td align="right">24.49 Hz / <div style="color:gray;">31.01 Hz</div></td><td align="center"><div style="color:red;">∇ -21.00%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">33.62 ms / <div style="color:gray;">25.60 ms</div></td><td align="center"><div style="color:red;">Δ 31.29%</div></td><td align="right">29.75 Hz / <div style="color:gray;">39.06 Hz</div></td><td align="center"><div style="color:red;">∇ -23.83%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">705.28 ms / <div style="color:gray;">630.91 ms</div></td><td align="center"><div style="color:red;">Δ 11.79%</div></td><td align="right">1.42 Hz / <div style="color:gray;">1.59 Hz</div></td><td align="center"><div style="color:red;">∇ -10.55%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">214.22 ms / <div style="color:gray;">164.09 ms</div></td><td align="center"><div style="color:red;">Δ 30.55%</div></td><td align="right">4.67 Hz / <div style="color:gray;">6.09 Hz</div></td><td align="center"><div style="color:red;">∇ -23.40%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">326.57 ms / <div style="color:gray;">207.64 ms</div></td><td align="center"><div style="color:red;">Δ 57.28%</div></td><td align="right">3.06 Hz / <div style="color:gray;">4.82 Hz</div></td><td align="center"><div style="color:red;">∇ -36.42%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.69 ms / <div style="color:gray;">7.60 ms</div></td><td align="center"><div style="color:red;">Δ 1.15%</div></td><td align="right">130.08 Hz / <div style="color:gray;">131.57 Hz</div></td><td align="center"><div style="color:red;">∇ -1.14%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">105.90 ms / <div style="color:gray;">60.60 ms</div></td><td align="center"><div style="color:red;">Δ 74.75%</div></td><td align="right">9.44 Hz / <div style="color:gray;">16.50 Hz</div></td><td align="center"><div style="color:red;">∇ -42.77%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">57.67 ms / <div style="color:gray;">43.99 ms</div></td><td align="center"><div style="color:red;">Δ 31.11%</div></td><td align="right">17.34 Hz / <div style="color:gray;">22.73 Hz</div></td><td align="center"><div style="color:red;">∇ -23.73%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.27 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 38.54%</div></td><td align="right">19.89 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -27.82%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.38 sec / <div style="color:gray;">1.20 sec</div></td><td align="center"><div style="color:red;">Δ 15.16%</div></td><td align="right">724.62 mHz / <div style="color:gray;">834.47 mHz</div></td><td align="center"><div style="color:red;">∇ -13.16%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">618.66 ms / <div style="color:gray;">379.83 ms</div></td><td align="center"><div style="color:red;">Δ 62.88%</div></td><td align="right">1.62 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -38.60%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">22.11 ms / <div style="color:gray;">16.04 ms</div></td><td align="center"><div style="color:red;">Δ 37.90%</div></td><td align="right">45.22 Hz / <div style="color:gray;">62.36 Hz</div></td><td align="center"><div style="color:red;">∇ -27.48%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">14.58 ms / <div style="color:gray;">10.85 ms</div></td><td align="center"><div style="color:red;">Δ 34.38%</div></td><td align="right">68.57 Hz / <div style="color:gray;">92.14 Hz</div></td><td align="center"><div style="color:red;">∇ -25.58%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">354.58 us / <div style="color:gray;">119.99 us</div></td><td align="center"><div style="color:red;">Δ 195.51%</div></td><td align="right">2.82 KHz / <div style="color:gray;">8.33 KHz</div></td><td align="center"><div style="color:red;">∇ -66.16%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">284.04 us / <div style="color:gray;">84.03 us</div></td><td align="center"><div style="color:red;">Δ 238.01%</div></td><td align="right">3.52 KHz / <div style="color:gray;">11.90 KHz</div></td><td align="center"><div style="color:red;">∇ -70.42%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">549.28 us / <div style="color:gray;">170.61 us</div></td><td align="center"><div style="color:red;">Δ 221.95%</div></td><td align="right">1.82 KHz / <div style="color:gray;">5.86 KHz</div></td><td align="center"><div style="color:red;">∇ -68.94%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">452.79 us / <div style="color:gray;">179.02 us</div></td><td align="center"><div style="color:red;">Δ 152.93%</div></td><td align="right">2.21 KHz / <div style="color:gray;">5.59 KHz</div></td><td align="center"><div style="color:red;">∇ -60.46%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.86 ms / <div style="color:gray;">1.58 ms</div></td><td align="center"><div style="color:red;">Δ 143.90%</div></td><td align="right">259.12 Hz / <div style="color:gray;">632.00 Hz</div></td><td align="center"><div style="color:red;">∇ -59.00%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.88 ms / <div style="color:gray;">863.38 us</div></td><td align="center"><div style="color:red;">Δ 233.06%</div></td><td align="right">347.75 Hz / <div style="color:gray;">1.16 KHz</div></td><td align="center"><div style="color:red;">∇ -69.98%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">5.74 ms / <div style="color:gray;">1.96 ms</div></td><td align="center"><div style="color:red;">Δ 192.54%</div></td><td align="right">174.28 Hz / <div style="color:gray;">509.85 Hz</div></td><td align="center"><div style="color:red;">∇ -65.82%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.44 ms / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:red;">Δ 127.10%</div></td><td align="right">225.33 Hz / <div style="color:gray;">511.72 Hz</div></td><td align="center"><div style="color:red;">∇ -55.97%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">1.35 ms / <div style="color:gray;">169.26 us</div></td><td align="center"><div style="color:red;">Δ 695.08%</div></td><td align="right">743.07 Hz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -87.42%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">1.09 ms / <div style="color:gray;">153.69 us</div></td><td align="center"><div style="color:red;">Δ 608.79%</div></td><td align="right">917.96 Hz / <div style="color:gray;">6.51 KHz</div></td><td align="center"><div style="color:red;">∇ -85.89%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">1.74 ms / <div style="color:gray;">471.95 us</div></td><td align="center"><div style="color:red;">Δ 269.36%</div></td><td align="right">573.66 Hz / <div style="color:gray;">2.12 KHz</div></td><td align="center"><div style="color:red;">∇ -72.93%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">1.46 ms / <div style="color:gray;">441.33 us</div></td><td align="center"><div style="color:red;">Δ 231.62%</div></td><td align="right">683.28 Hz / <div style="color:gray;">2.27 KHz</div></td><td align="center"><div style="color:red;">∇ -69.84%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">13.92 ms / <div style="color:gray;">2.46 ms</div></td><td align="center"><div style="color:red;">Δ 466.42%</div></td><td align="right">71.86 Hz / <div style="color:gray;">407.06 Hz</div></td><td align="center"><div style="color:red;">∇ -82.35%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">11.12 ms / <div style="color:gray;">1.70 ms</div></td><td align="center"><div style="color:red;">Δ 554.40%</div></td><td align="right">89.92 Hz / <div style="color:gray;">588.45 Hz</div></td><td align="center"><div style="color:red;">∇ -84.72%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">17.58 ms / <div style="color:gray;">6.68 ms</div></td><td align="center"><div style="color:red;">Δ 163.01%</div></td><td align="right">56.89 Hz / <div style="color:gray;">149.62 Hz</div></td><td align="center"><div style="color:red;">∇ -61.98%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">14.12 ms / <div style="color:gray;">4.59 ms</div></td><td align="center"><div style="color:red;">Δ 207.98%</div></td><td align="right">70.81 Hz / <div style="color:gray;">218.07 Hz</div></td><td align="center"><div style="color:red;">∇ -67.53%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.795538 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
