<html><head><title>mrpt-performance results - 0.9.1-MSVC9-32bit vs 0.9.4-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-MSVC9-32bit vs. 0.9.4-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.1-MSVC9-32bit / <div style="color:gray;">0.9.4-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.78 ms / <div style="color:gray;">20.74 ms</div></td><td align="center"><div style="color:red;">Δ 53.22%</div></td><td align="right">31.46 Hz / <div style="color:gray;">48.21 Hz</div></td><td align="center"><div style="color:red;">∇ -34.73%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.70 ms / <div style="color:gray;">17.09 ms</div></td><td align="center"><div style="color:red;">Δ 214.25%</div></td><td align="right">18.62 Hz / <div style="color:gray;">58.52 Hz</div></td><td align="center"><div style="color:red;">∇ -68.18%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">925.38 ns / <div style="color:gray;">29.76 ns</div></td><td align="center"><div style="color:red;">Δ 3009.48%</div></td><td align="right">1.08 MHz / <div style="color:gray;">33.60 MHz</div></td><td align="center"><div style="color:red;">∇ -96.78%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">617.00 ns / <div style="color:gray;">21.90 ns</div></td><td align="center"><div style="color:red;">Δ 2717.37%</div></td><td align="right">1.62 MHz / <div style="color:gray;">45.66 MHz</div></td><td align="center"><div style="color:red;">∇ -96.45%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">35.98 ns / <div style="color:gray;">7.23 ns</div></td><td align="center"><div style="color:red;">Δ 397.32%</div></td><td align="right">27.80 MHz / <div style="color:gray;">138.24 MHz</div></td><td align="center"><div style="color:red;">∇ -79.89%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">14.62 ns / <div style="color:gray;">11.67 ns</div></td><td align="center"><div style="color:red;">Δ 25.22%</div></td><td align="right">68.42 MHz / <div style="color:gray;">85.68 MHz</div></td><td align="center"><div style="color:red;">∇ -20.14%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">75.43 ns / <div style="color:gray;">13.29 ns</div></td><td align="center"><div style="color:red;">Δ 467.72%</div></td><td align="right">13.26 MHz / <div style="color:gray;">75.27 MHz</div></td><td align="center"><div style="color:red;">∇ -82.39%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">56.48 ns / <div style="color:gray;">24.48 ns</div></td><td align="center"><div style="color:red;">Δ 130.73%</div></td><td align="right">17.70 MHz / <div style="color:gray;">40.85 MHz</div></td><td align="center"><div style="color:red;">∇ -56.66%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">121.60 ns / <div style="color:gray;">71.64 ns</div></td><td align="center"><div style="color:red;">Δ 69.73%</div></td><td align="right">8.22 MHz / <div style="color:gray;">13.96 MHz</div></td><td align="center"><div style="color:red;">∇ -41.08%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">66.63 ns / <div style="color:gray;">69.41 ns</div></td><td align="center"><div style="color:blue;">∇ -4.01%</div></td><td align="right">15.01 MHz / <div style="color:gray;">14.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.17%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">93.73 ns / <div style="color:gray;">60.78 ns</div></td><td align="center"><div style="color:red;">Δ 54.23%</div></td><td align="right">10.67 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -35.16%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.24 ns / <div style="color:gray;">60.80 ns</div></td><td align="center"><div style="color:red;">Δ 2.37%</div></td><td align="right">16.07 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -2.31%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">100.74 ns / <div style="color:gray;">40.47 ns</div></td><td align="center"><div style="color:red;">Δ 148.92%</div></td><td align="right">9.93 MHz / <div style="color:gray;">24.71 MHz</div></td><td align="center"><div style="color:red;">∇ -59.83%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">57.92 ns / <div style="color:gray;">37.55 ns</div></td><td align="center"><div style="color:red;">Δ 54.26%</div></td><td align="right">17.26 MHz / <div style="color:gray;">26.63 MHz</div></td><td align="center"><div style="color:red;">∇ -35.17%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">61.33 ns / <div style="color:gray;">17.39 ns</div></td><td align="center"><div style="color:red;">Δ 252.71%</div></td><td align="right">16.31 MHz / <div style="color:gray;">57.51 MHz</div></td><td align="center"><div style="color:red;">∇ -71.65%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">27.34 ns / <div style="color:gray;">17.48 ns</div></td><td align="center"><div style="color:red;">Δ 56.39%</div></td><td align="right">36.57 MHz / <div style="color:gray;">57.20 MHz</div></td><td align="center"><div style="color:red;">∇ -36.06%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">580.67 ns / <div style="color:gray;">32.97 ns</div></td><td align="center"><div style="color:red;">Δ 1661.31%</div></td><td align="right">1.72 MHz / <div style="color:gray;">30.33 MHz</div></td><td align="center"><div style="color:red;">∇ -94.32%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">28.18 ns / <div style="color:gray;">19.11 ns</div></td><td align="center"><div style="color:red;">Δ 47.50%</div></td><td align="right">35.48 MHz / <div style="color:gray;">52.34 MHz</div></td><td align="center"><div style="color:red;">∇ -32.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">506.67 ns / <div style="color:gray;">23.42 ns</div></td><td align="center"><div style="color:red;">Δ 2063.39%</div></td><td align="right">1.97 MHz / <div style="color:gray;">42.70 MHz</div></td><td align="center"><div style="color:red;">∇ -95.38%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">214.86 ns / <div style="color:gray;">172.72 ns</div></td><td align="center"><div style="color:red;">Δ 24.40%</div></td><td align="right">4.65 MHz / <div style="color:gray;">5.79 MHz</div></td><td align="center"><div style="color:red;">∇ -19.61%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.56 us / <div style="color:gray;">671.00 ns</div></td><td align="center"><div style="color:red;">Δ 131.79%</div></td><td align="right">642.96 KHz / <div style="color:gray;">1.49 MHz</div></td><td align="center"><div style="color:red;">∇ -56.86%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.51 us / <div style="color:gray;">652.00 ns</div></td><td align="center"><div style="color:red;">Δ 131.04%</div></td><td align="right">663.83 KHz / <div style="color:gray;">1.53 MHz</div></td><td align="center"><div style="color:red;">∇ -56.72%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">23.29 us / <div style="color:gray;">8.74 us</div></td><td align="center"><div style="color:red;">Δ 166.42%</div></td><td align="right">42.94 KHz / <div style="color:gray;">114.40 KHz</div></td><td align="center"><div style="color:red;">∇ -62.47%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">1.64 us / <div style="color:gray;">454.10 ns</div></td><td align="center"><div style="color:red;">Δ 261.15%</div></td><td align="right">609.77 KHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:red;">∇ -72.31%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">1.66 us / <div style="color:gray;">452.90 ns</div></td><td align="center"><div style="color:red;">Δ 267.48%</div></td><td align="right">600.84 KHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -72.79%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">16.05 us / <div style="color:gray;">7.98 us</div></td><td align="center"><div style="color:red;">Δ 101.19%</div></td><td align="right">62.32 KHz / <div style="color:gray;">125.39 KHz</div></td><td align="center"><div style="color:red;">∇ -50.30%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">39.66 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 124.87%</div></td><td align="right">25.22 MHz / <div style="color:gray;">56.71 MHz</div></td><td align="center"><div style="color:red;">∇ -55.53%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">42.75 ns / <div style="color:gray;">19.86 ns</div></td><td align="center"><div style="color:red;">Δ 115.20%</div></td><td align="right">23.39 MHz / <div style="color:gray;">50.34 MHz</div></td><td align="center"><div style="color:red;">∇ -53.53%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">152.29 ns / <div style="color:gray;">57.06 ns</div></td><td align="center"><div style="color:red;">Δ 166.91%</div></td><td align="right">6.57 MHz / <div style="color:gray;">17.53 MHz</div></td><td align="center"><div style="color:red;">∇ -62.53%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">150.45 ns / <div style="color:gray;">60.00 ns</div></td><td align="center"><div style="color:red;">Δ 150.76%</div></td><td align="right">6.65 MHz / <div style="color:gray;">16.67 MHz</div></td><td align="center"><div style="color:red;">∇ -60.12%</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;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">327.19 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: unit, fix[double,6,6]</td><td align="right">6.65 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">150.48 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">167.81 ns / <div style="color:gray;">242.70 ns</div></td><td align="center"><div style="color:blue;">∇ -30.86%</div></td><td align="right">5.96 MHz / <div style="color:gray;">4.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.63%</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;">231.60 ns</div></td><td align="center"><div style="color:blue;">∇ -31.40%</div></td><td align="right">6.29 MHz / <div style="color:gray;">4.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.77%</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;">296.50 ns</div></td><td align="center"><div style="color:blue;">∇ -8.10%</div></td><td align="right">3.67 MHz / <div style="color:gray;">3.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.82%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">193.12 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:red;">Δ 193023.81%</div></td><td align="right">5.18 MHz / <div style="color:gray;">10.00 GHz</div></td><td align="center"><div style="color:red;">∇ -99.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">238.91 ns / <div style="color:gray;">259.20 ns</div></td><td align="center"><div style="color:blue;">∇ -7.83%</div></td><td align="right">4.19 MHz / <div style="color:gray;">3.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.49%</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;">2.09 us</div></td><td align="center"><div style="color:red;">Δ 702.71%</div></td><td align="right">59.51 KHz / <div style="color:gray;">477.69 KHz</div></td><td align="center"><div style="color:red;">∇ -87.54%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">13.06 us / <div style="color:gray;">1.79 us</div></td><td align="center"><div style="color:red;">Δ 630.12%</div></td><td align="right">76.57 KHz / <div style="color:gray;">559.03 KHz</div></td><td align="center"><div style="color:red;">∇ -86.30%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">13.55 us / <div style="color:gray;">2.43 us</div></td><td align="center"><div style="color:red;">Δ 457.78%</div></td><td align="right">73.81 KHz / <div style="color:gray;">411.68 KHz</div></td><td align="center"><div style="color:red;">∇ -82.07%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">9.96 us / <div style="color:gray;">2.16 us</div></td><td align="center"><div style="color:red;">Δ 360.38%</div></td><td align="right">100.40 KHz / <div style="color:gray;">462.21 KHz</div></td><td align="center"><div style="color:red;">∇ -78.28%</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;">767.00 ns</div></td><td align="center"><div style="color:red;">Δ 99.71%</div></td><td align="right">652.84 KHz / <div style="color:gray;">1.30 MHz</div></td><td align="center"><div style="color:red;">∇ -49.93%</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;">1.78 us</div></td><td align="center"><div style="color:red;">Δ 185.64%</div></td><td align="right">196.68 KHz / <div style="color:gray;">561.80 KHz</div></td><td align="center"><div style="color:red;">∇ -64.99%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">926.67 ns / <div style="color:gray;">1.73 us</div></td><td align="center"><div style="color:blue;">∇ -46.37%</div></td><td align="right">1.08 MHz / <div style="color:gray;">578.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 86.47%</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;">16.27 us</div></td><td align="center"><div style="color:red;">Δ 567.59%</div></td><td align="right">9.21 KHz / <div style="color:gray;">61.47 KHz</div></td><td align="center"><div style="color:red;">∇ -85.02%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">19.22 us / <div style="color:gray;">13.44 us</div></td><td align="center"><div style="color:red;">Δ 43.03%</div></td><td align="right">52.02 KHz / <div style="color:gray;">74.41 KHz</div></td><td align="center"><div style="color:red;">∇ -30.08%</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;">68.00 us</div></td><td align="center"><div style="color:red;">Δ 1103.25%</div></td><td align="right">1.22 KHz / <div style="color:gray;">14.70 KHz</div></td><td align="center"><div style="color:red;">∇ -91.69%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">136.18 us / <div style="color:gray;">63.01 us</div></td><td align="center"><div style="color:red;">Δ 116.14%</div></td><td align="right">7.34 KHz / <div style="color:gray;">15.87 KHz</div></td><td align="center"><div style="color:red;">∇ -53.73%</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;">209.40 ns</div></td><td align="center"><div style="color:blue;">∇ -95.44%</div></td><td align="right">104.64 MHz / <div style="color:gray;">4.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 2091.17%</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;">331.30 ns</div></td><td align="center"><div style="color:blue;">∇ -95.20%</div></td><td align="right">62.90 MHz / <div style="color:gray;">3.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 1983.99%</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;">943.70 ns</div></td><td align="center"><div style="color:red;">Δ 152.06%</div></td><td align="right">420.40 KHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:red;">∇ -60.33%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">422.89 ns / <div style="color:gray;">575.90 ns</div></td><td align="center"><div style="color:blue;">∇ -26.57%</div></td><td align="right">2.36 MHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.18%</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;">8.10 us</div></td><td align="center"><div style="color:red;">Δ 124.41%</div></td><td align="right">54.99 KHz / <div style="color:gray;">123.40 KHz</div></td><td align="center"><div style="color:red;">∇ -55.44%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">7.48 us</div></td><td align="center"><div style="color:blue;">∇ -12.84%</div></td><td align="right">153.30 KHz / <div style="color:gray;">133.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.74%</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;">30.87 us</div></td><td align="center"><div style="color:red;">Δ 272.00%</div></td><td align="right">8.71 KHz / <div style="color:gray;">32.39 KHz</div></td><td align="center"><div style="color:red;">∇ -73.12%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">36.00 us / <div style="color:gray;">29.01 us</div></td><td align="center"><div style="color:red;">Δ 24.10%</div></td><td align="right">27.78 KHz / <div style="color:gray;">34.47 KHz</div></td><td align="center"><div style="color:red;">∇ -19.42%</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;">120.00 ns</div></td><td align="center"><div style="color:blue;">∇ -5.64%</div></td><td align="right">8.83 MHz / <div style="color:gray;">8.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.98%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">24.43 us / <div style="color:gray;">20.70 us</div></td><td align="center"><div style="color:red;">Δ 18.02%</div></td><td align="right">40.93 KHz / <div style="color:gray;">48.31 KHz</div></td><td align="center"><div style="color:red;">∇ -15.27%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.73 us / <div style="color:gray;">16.54 us</div></td><td align="center"><div style="color:red;">Δ 7.20%</div></td><td align="right">56.40 KHz / <div style="color:gray;">60.46 KHz</div></td><td align="center"><div style="color:red;">∇ -6.72%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">10.78 us / <div style="color:gray;">12.20 us</div></td><td align="center"><div style="color:blue;">∇ -11.64%</div></td><td align="right">92.77 KHz / <div style="color:gray;">81.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.18%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">117.89 us / <div style="color:gray;">87.70 us</div></td><td align="center"><div style="color:red;">Δ 34.43%</div></td><td align="right">8.48 KHz / <div style="color:gray;">11.40 KHz</div></td><td align="center"><div style="color:red;">∇ -25.61%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">70.52 us / <div style="color:gray;">51.70 us</div></td><td align="center"><div style="color:red;">Δ 36.40%</div></td><td align="right">14.18 KHz / <div style="color:gray;">19.34 KHz</div></td><td align="center"><div style="color:red;">∇ -26.69%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">52.59 us / <div style="color:gray;">38.27 us</div></td><td align="center"><div style="color:red;">Δ 37.41%</div></td><td align="right">19.02 KHz / <div style="color:gray;">26.13 KHz</div></td><td align="center"><div style="color:red;">∇ -27.23%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">491.10 us / <div style="color:gray;">255.50 us</div></td><td align="center"><div style="color:red;">Δ 92.21%</div></td><td align="right">2.04 KHz / <div style="color:gray;">3.91 KHz</div></td><td align="center"><div style="color:red;">∇ -47.97%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">85.83 us / <div style="color:gray;">70.94 us</div></td><td align="center"><div style="color:red;">Δ 20.99%</div></td><td align="right">11.65 KHz / <div style="color:gray;">14.10 KHz</div></td><td align="center"><div style="color:red;">∇ -17.35%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">9.44 ms / <div style="color:gray;">2.75 ms</div></td><td align="center"><div style="color:red;">Δ 243.45%</div></td><td align="right">105.88 Hz / <div style="color:gray;">363.64 Hz</div></td><td align="center"><div style="color:red;">∇ -70.88%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">204.52 us / <div style="color:gray;">169.22 us</div></td><td align="center"><div style="color:red;">Δ 20.86%</div></td><td align="right">4.89 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -17.26%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">150.13 ms / <div style="color:gray;">22.06 ms</div></td><td align="center"><div style="color:red;">Δ 580.56%</div></td><td align="right">6.66 Hz / <div style="color:gray;">45.33 Hz</div></td><td align="center"><div style="color:red;">∇ -85.31%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">415.58 us / <div style="color:gray;">339.61 us</div></td><td align="center"><div style="color:red;">Δ 22.37%</div></td><td align="right">2.41 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -18.28%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">461.43 ms / <div style="color:gray;">36.67 ms</div></td><td align="center"><div style="color:red;">Δ 1158.46%</div></td><td align="right">2.17 Hz / <div style="color:gray;">27.27 Hz</div></td><td align="center"><div style="color:red;">∇ -92.05%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">484.92 us / <div style="color:gray;">402.38 us</div></td><td align="center"><div style="color:red;">Δ 20.51%</div></td><td align="right">2.06 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -17.02%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">947.45 ms / <div style="color:gray;">53.86 ms</div></td><td align="center"><div style="color:red;">Δ 1659.01%</div></td><td align="right">1.06 Hz / <div style="color:gray;">18.57 Hz</div></td><td align="center"><div style="color:red;">∇ -94.31%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">586.44 us / <div style="color:gray;">476.81 us</div></td><td align="center"><div style="color:red;">Δ 22.99%</div></td><td align="right">1.71 KHz / <div style="color:gray;">2.10 KHz</div></td><td align="center"><div style="color:red;">∇ -18.69%</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;">2.71 ns</div></td><td align="center"><div style="color:red;">Δ 193.96%</div></td><td align="right">125.64 MHz / <div style="color:gray;">369.33 MHz</div></td><td align="center"><div style="color:red;">∇ -65.98%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">10.80 ns / <div style="color:gray;">6.04 ns</div></td><td align="center"><div style="color:red;">Δ 78.86%</div></td><td align="right">92.58 MHz / <div style="color:gray;">165.59 MHz</div></td><td align="center"><div style="color:red;">∇ -44.09%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.21 ns / <div style="color:gray;">0.61 ns</div></td><td align="center"><div style="color:red;">Δ 96.97%</div></td><td align="right">826.59 MHz / <div style="color:gray;">1.63 GHz</div></td><td align="center"><div style="color:red;">∇ -49.23%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">204.23 us / <div style="color:gray;">99.83 us</div></td><td align="center"><div style="color:red;">Δ 104.58%</div></td><td align="right">4.90 KHz / <div style="color:gray;">10.02 KHz</div></td><td align="center"><div style="color:red;">∇ -51.12%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">344.40 us / <div style="color:gray;">293.13 us</div></td><td align="center"><div style="color:red;">Δ 17.49%</div></td><td align="right">2.90 KHz / <div style="color:gray;">3.41 KHz</div></td><td align="center"><div style="color:red;">∇ -14.89%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.62 ms / <div style="color:gray;">630.00 us</div></td><td align="center"><div style="color:red;">Δ 315.61%</div></td><td align="right">381.93 Hz / <div style="color:gray;">1.59 KHz</div></td><td align="center"><div style="color:red;">∇ -75.94%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.59 us / <div style="color:gray;">17.81 us</div></td><td align="center"><div style="color:red;">Δ 4.37%</div></td><td align="right">53.79 KHz / <div style="color:gray;">56.14 KHz</div></td><td align="center"><div style="color:red;">∇ -4.19%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">5.62 ms / <div style="color:gray;">1.01 ms</div></td><td align="center"><div style="color:red;">Δ 456.57%</div></td><td align="right">178.02 Hz / <div style="color:gray;">990.80 Hz</div></td><td align="center"><div style="color:red;">∇ -82.03%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.21 us / <div style="color:gray;">4.52 us</div></td><td align="center"><div style="color:red;">Δ 37.48%</div></td><td align="right">160.93 KHz / <div style="color:gray;">221.24 KHz</div></td><td align="center"><div style="color:red;">∇ -27.26%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">511.81 us / <div style="color:gray;">364.44 us</div></td><td align="center"><div style="color:red;">Δ 40.44%</div></td><td align="right">1.95 KHz / <div style="color:gray;">2.74 KHz</div></td><td align="center"><div style="color:red;">∇ -28.79%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.59 ms / <div style="color:gray;">4.38 ms</div></td><td align="center"><div style="color:red;">Δ 27.59%</div></td><td align="right">178.86 Hz / <div style="color:gray;">228.21 Hz</div></td><td align="center"><div style="color:red;">∇ -21.62%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.23 us / <div style="color:gray;">5.16 us</div></td><td align="center"><div style="color:red;">Δ 40.09%</div></td><td align="right">138.34 KHz / <div style="color:gray;">193.80 KHz</div></td><td align="center"><div style="color:red;">∇ -28.62%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">523.10 us / <div style="color:gray;">372.44 us</div></td><td align="center"><div style="color:red;">Δ 40.45%</div></td><td align="right">1.91 KHz / <div style="color:gray;">2.68 KHz</div></td><td align="center"><div style="color:red;">∇ -28.80%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.77 ms / <div style="color:gray;">4.20 ms</div></td><td align="center"><div style="color:red;">Δ 37.44%</div></td><td align="right">173.21 Hz / <div style="color:gray;">238.06 Hz</div></td><td align="center"><div style="color:red;">∇ -27.24%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.05 us / <div style="color:gray;">1.42 us</div></td><td align="center"><div style="color:red;">Δ 44.48%</div></td><td align="right">487.07 KHz / <div style="color:gray;">703.73 KHz</div></td><td align="center"><div style="color:red;">∇ -30.79%</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 38.22%</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;">12.17 ms</div></td><td align="center"><div style="color:red;">Δ 24.65%</div></td><td align="right">65.91 Hz / <div style="color:gray;">82.15 Hz</div></td><td align="center"><div style="color:red;">∇ -19.77%</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;">5.64 ms</div></td><td align="center"><div style="color:red;">Δ 54.12%</div></td><td align="right">115.01 Hz / <div style="color:gray;">177.25 Hz</div></td><td align="center"><div style="color:red;">∇ -35.11%</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;">132.76 ms</div></td><td align="center"><div style="color:red;">Δ 47.97%</div></td><td align="right">5.09 Hz / <div style="color:gray;">7.53 Hz</div></td><td align="center"><div style="color:red;">∇ -32.42%</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;">5.71 ms</div></td><td align="center"><div style="color:red;">Δ 52.75%</div></td><td align="right">114.60 Hz / <div style="color:gray;">175.04 Hz</div></td><td align="center"><div style="color:red;">∇ -34.53%</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;">134.74 ms</div></td><td align="center"><div style="color:red;">Δ 47.31%</div></td><td align="right">5.04 Hz / <div style="color:gray;">7.42 Hz</div></td><td align="center"><div style="color:red;">∇ -32.12%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.29 ns / <div style="color:gray;">14.55 ns</div></td><td align="center"><div style="color:blue;">∇ -49.86%</div></td><td align="right">137.11 MHz / <div style="color:gray;">68.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 99.43%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.33 ns / <div style="color:gray;">14.56 ns</div></td><td align="center"><div style="color:blue;">∇ -49.68%</div></td><td align="right">136.49 MHz / <div style="color:gray;">68.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 98.71%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.27 ns / <div style="color:gray;">66.87 ns</div></td><td align="center"><div style="color:blue;">∇ -23.32%</div></td><td align="right">19.50 MHz / <div style="color:gray;">14.96 MHz</div></td><td align="center"><div style="color:blue;">Δ 30.41%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">51.74 ns / <div style="color:gray;">66.81 ns</div></td><td align="center"><div style="color:blue;">∇ -22.56%</div></td><td align="right">19.33 MHz / <div style="color:gray;">14.97 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.12%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">29.39 ns / <div style="color:gray;">10.63 ns</div></td><td align="center"><div style="color:red;">Δ 176.55%</div></td><td align="right">34.03 MHz / <div style="color:gray;">94.11 MHz</div></td><td align="center"><div style="color:red;">∇ -63.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.64 us / <div style="color:gray;">903.36 ns</div></td><td align="center"><div style="color:red;">Δ 192.48%</div></td><td align="right">378.48 KHz / <div style="color:gray;">1.11 MHz</div></td><td align="center"><div style="color:red;">∇ -65.81%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">8.53 us / <div style="color:gray;">1.61 us</div></td><td align="center"><div style="color:red;">Δ 429.98%</div></td><td align="right">117.18 KHz / <div style="color:gray;">621.01 KHz</div></td><td align="center"><div style="color:red;">∇ -81.13%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">215.16 ns / <div style="color:gray;">144.65 ns</div></td><td align="center"><div style="color:red;">Δ 48.74%</div></td><td align="right">4.65 MHz / <div style="color:gray;">6.91 MHz</div></td><td align="center"><div style="color:red;">∇ -32.77%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">359.98 ns / <div style="color:gray;">219.48 ns</div></td><td align="center"><div style="color:red;">Δ 64.02%</div></td><td align="right">2.78 MHz / <div style="color:gray;">4.56 MHz</div></td><td align="center"><div style="color:red;">∇ -39.03%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">732.12 ns / <div style="color:gray;">472.80 ns</div></td><td align="center"><div style="color:red;">Δ 54.85%</div></td><td align="right">1.37 MHz / <div style="color:gray;">2.12 MHz</div></td><td align="center"><div style="color:red;">∇ -35.42%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">213.59 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 40.25%</div></td><td align="right">4.68 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -28.70%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">339.30 ns / <div style="color:gray;">235.04 ns</div></td><td align="center"><div style="color:red;">Δ 44.36%</div></td><td align="right">2.95 MHz / <div style="color:gray;">4.25 MHz</div></td><td align="center"><div style="color:red;">∇ -30.73%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">760.92 ns / <div style="color:gray;">491.60 ns</div></td><td align="center"><div style="color:red;">Δ 54.78%</div></td><td align="right">1.31 MHz / <div style="color:gray;">2.03 MHz</div></td><td align="center"><div style="color:red;">∇ -35.39%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">411.34 ns / <div style="color:gray;">243.60 ns</div></td><td align="center"><div style="color:red;">Δ 68.86%</div></td><td align="right">2.43 MHz / <div style="color:gray;">4.11 MHz</div></td><td align="center"><div style="color:red;">∇ -40.78%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.59 us / <div style="color:gray;">2.99 us</div></td><td align="center"><div style="color:red;">Δ 20.20%</div></td><td align="right">278.70 KHz / <div style="color:gray;">334.99 KHz</div></td><td align="center"><div style="color:red;">∇ -16.80%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">34.34 us / <div style="color:gray;">29.51 us</div></td><td align="center"><div style="color:red;">Δ 16.34%</div></td><td align="right">29.12 KHz / <div style="color:gray;">33.88 KHz</div></td><td align="center"><div style="color:red;">∇ -14.04%</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;">10.08 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;">33.63 ms</div></td><td align="center"><div style="color:blue;">∇ -16.96%</div></td><td align="right">35.81 Hz / <div style="color:gray;">29.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.42%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.53 ms / <div style="color:gray;">49.85 ms</div></td><td align="center"><div style="color:blue;">∇ -12.67%</div></td><td align="right">22.97 Hz / <div style="color:gray;">20.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.51%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">70.76 ms / <div style="color:gray;">69.59 ms</div></td><td align="center"><div style="color:red;">Δ 1.68%</div></td><td align="right">14.13 Hz / <div style="color:gray;">14.37 Hz</div></td><td align="center"><div style="color:red;">∇ -1.65%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.43 ms / <div style="color:gray;">30.64 ms</div></td><td align="center"><div style="color:blue;">∇ -23.53%</div></td><td align="right">42.67 Hz / <div style="color:gray;">32.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.76%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">36.52 ms / <div style="color:gray;">43.91 ms</div></td><td align="center"><div style="color:blue;">∇ -16.83%</div></td><td align="right">27.39 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.24%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.82 ms / <div style="color:gray;">62.52 ms</div></td><td align="center"><div style="color:blue;">∇ -4.33%</div></td><td align="right">16.72 Hz / <div style="color:gray;">15.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.53%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">6.68 ms / <div style="color:gray;">3.81 ms</div></td><td align="center"><div style="color:red;">Δ 75.48%</div></td><td align="right">149.74 Hz / <div style="color:gray;">262.76 Hz</div></td><td align="center"><div style="color:red;">∇ -43.01%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.62 ms / <div style="color:gray;">5.96 ms</div></td><td align="center"><div style="color:red;">Δ 44.54%</div></td><td align="right">116.03 Hz / <div style="color:gray;">167.70 Hz</div></td><td align="center"><div style="color:red;">∇ -30.81%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.49 ms / <div style="color:gray;">10.46 ms</div></td><td align="center"><div style="color:red;">Δ 38.54%</div></td><td align="right">69.01 Hz / <div style="color:gray;">95.61 Hz</div></td><td align="center"><div style="color:red;">∇ -27.82%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">21.12 us / <div style="color:gray;">12.69 us</div></td><td align="center"><div style="color:red;">Δ 66.46%</div></td><td align="right">47.34 KHz / <div style="color:gray;">78.80 KHz</div></td><td align="center"><div style="color:red;">∇ -39.93%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">19.36 us / <div style="color:gray;">9.85 us</div></td><td align="center"><div style="color:red;">Δ 96.57%</div></td><td align="right">51.65 KHz / <div style="color:gray;">101.52 KHz</div></td><td align="center"><div style="color:red;">∇ -49.13%</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;">5.24 us</div></td><td align="center"><div style="color:red;">Δ 19.02%</div></td><td align="right">160.34 KHz / <div style="color:gray;">190.84 KHz</div></td><td align="center"><div style="color:red;">∇ -15.98%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">40.83 ms / <div style="color:gray;">21.14 ms</div></td><td align="center"><div style="color:red;">Δ 93.13%</div></td><td align="right">24.49 Hz / <div style="color:gray;">47.31 Hz</div></td><td align="center"><div style="color:red;">∇ -48.22%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">33.62 ms / <div style="color:gray;">21.45 ms</div></td><td align="center"><div style="color:red;">Δ 56.69%</div></td><td align="right">29.75 Hz / <div style="color:gray;">46.61 Hz</div></td><td align="center"><div style="color:red;">∇ -36.18%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">705.28 ms / <div style="color:gray;">591.25 ms</div></td><td align="center"><div style="color:red;">Δ 19.29%</div></td><td align="right">1.42 Hz / <div style="color:gray;">1.69 Hz</div></td><td align="center"><div style="color:red;">∇ -16.17%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">214.22 ms / <div style="color:gray;">162.82 ms</div></td><td align="center"><div style="color:red;">Δ 31.57%</div></td><td align="right">4.67 Hz / <div style="color:gray;">6.14 Hz</div></td><td align="center"><div style="color:red;">∇ -23.99%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">326.57 ms / <div style="color:gray;">197.33 ms</div></td><td align="center"><div style="color:red;">Δ 65.49%</div></td><td align="right">3.06 Hz / <div style="color:gray;">5.07 Hz</div></td><td align="center"><div style="color:red;">∇ -39.58%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.69 ms / <div style="color:gray;">6.89 ms</div></td><td align="center"><div style="color:red;">Δ 11.59%</div></td><td align="right">130.08 Hz / <div style="color:gray;">145.15 Hz</div></td><td align="center"><div style="color:red;">∇ -10.38%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">105.90 ms / <div style="color:gray;">63.90 ms</div></td><td align="center"><div style="color:red;">Δ 65.74%</div></td><td align="right">9.44 Hz / <div style="color:gray;">15.65 Hz</div></td><td align="center"><div style="color:red;">∇ -39.66%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">57.67 ms / <div style="color:gray;">38.54 ms</div></td><td align="center"><div style="color:red;">Δ 49.66%</div></td><td align="right">17.34 Hz / <div style="color:gray;">25.95 Hz</div></td><td align="center"><div style="color:red;">∇ -33.18%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.27 ms / <div style="color:gray;">33.59 ms</div></td><td align="center"><div style="color:red;">Δ 49.65%</div></td><td align="right">19.89 Hz / <div style="color:gray;">29.77 Hz</div></td><td align="center"><div style="color:red;">∇ -33.18%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.38 sec / <div style="color:gray;">1.16 sec</div></td><td align="center"><div style="color:red;">Δ 19.16%</div></td><td align="right">724.62 mHz / <div style="color:gray;">863.45 mHz</div></td><td align="center"><div style="color:red;">∇ -16.08%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">618.66 ms / <div style="color:gray;">375.89 ms</div></td><td align="center"><div style="color:red;">Δ 64.59%</div></td><td align="right">1.62 Hz / <div style="color:gray;">2.66 Hz</div></td><td align="center"><div style="color:red;">∇ -39.24%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">22.11 ms / <div style="color:gray;">15.89 ms</div></td><td align="center"><div style="color:red;">Δ 39.19%</div></td><td align="right">45.22 Hz / <div style="color:gray;">62.95 Hz</div></td><td align="center"><div style="color:red;">∇ -28.15%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">14.58 ms / <div style="color:gray;">10.48 ms</div></td><td align="center"><div style="color:red;">Δ 39.16%</div></td><td align="right">68.57 Hz / <div style="color:gray;">95.42 Hz</div></td><td align="center"><div style="color:red;">∇ -28.14%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">354.58 us / <div style="color:gray;">158.24 us</div></td><td align="center"><div style="color:red;">Δ 124.08%</div></td><td align="right">2.82 KHz / <div style="color:gray;">6.32 KHz</div></td><td align="center"><div style="color:red;">∇ -55.37%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">284.04 us / <div style="color:gray;">84.43 us</div></td><td align="center"><div style="color:red;">Δ 236.43%</div></td><td align="right">3.52 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:red;">∇ -70.28%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">549.28 us / <div style="color:gray;">207.17 us</div></td><td align="center"><div style="color:red;">Δ 165.14%</div></td><td align="right">1.82 KHz / <div style="color:gray;">4.83 KHz</div></td><td align="center"><div style="color:red;">∇ -62.28%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">452.79 us / <div style="color:gray;">246.74 us</div></td><td align="center"><div style="color:red;">Δ 83.51%</div></td><td align="right">2.21 KHz / <div style="color:gray;">4.05 KHz</div></td><td align="center"><div style="color:red;">∇ -45.51%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.86 ms / <div style="color:gray;">2.08 ms</div></td><td align="center"><div style="color:red;">Δ 85.26%</div></td><td align="right">259.12 Hz / <div style="color:gray;">480.05 Hz</div></td><td align="center"><div style="color:red;">∇ -46.02%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.88 ms / <div style="color:gray;">870.19 us</div></td><td align="center"><div style="color:red;">Δ 230.46%</div></td><td align="right">347.75 Hz / <div style="color:gray;">1.15 KHz</div></td><td align="center"><div style="color:red;">∇ -69.74%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">5.74 ms / <div style="color:gray;">2.34 ms</div></td><td align="center"><div style="color:red;">Δ 145.09%</div></td><td align="right">174.28 Hz / <div style="color:gray;">427.14 Hz</div></td><td align="center"><div style="color:red;">∇ -59.20%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.44 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:red;">Δ 108.74%</div></td><td align="right">225.33 Hz / <div style="color:gray;">470.35 Hz</div></td><td align="center"><div style="color:red;">∇ -52.09%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">1.35 ms / <div style="color:gray;">220.82 us</div></td><td align="center"><div style="color:red;">Δ 509.46%</div></td><td align="right">743.07 Hz / <div style="color:gray;">4.53 KHz</div></td><td align="center"><div style="color:red;">∇ -83.59%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">1.09 ms / <div style="color:gray;">183.18 us</div></td><td align="center"><div style="color:red;">Δ 494.70%</div></td><td align="right">917.96 Hz / <div style="color:gray;">5.46 KHz</div></td><td align="center"><div style="color:red;">∇ -83.18%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">1.74 ms / <div style="color:gray;">532.35 us</div></td><td align="center"><div style="color:red;">Δ 227.45%</div></td><td align="right">573.66 Hz / <div style="color:gray;">1.88 KHz</div></td><td align="center"><div style="color:red;">∇ -69.46%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">1.46 ms / <div style="color:gray;">487.59 us</div></td><td align="center"><div style="color:red;">Δ 200.15%</div></td><td align="right">683.28 Hz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:red;">∇ -66.68%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">13.92 ms / <div style="color:gray;">2.78 ms</div></td><td align="center"><div style="color:red;">Δ 400.32%</div></td><td align="right">71.86 Hz / <div style="color:gray;">359.55 Hz</div></td><td align="center"><div style="color:red;">∇ -80.01%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">11.12 ms / <div style="color:gray;">2.09 ms</div></td><td align="center"><div style="color:red;">Δ 431.15%</div></td><td align="right">89.92 Hz / <div style="color:gray;">477.61 Hz</div></td><td align="center"><div style="color:red;">∇ -81.17%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">17.58 ms / <div style="color:gray;">7.36 ms</div></td><td align="center"><div style="color:red;">Δ 138.72%</div></td><td align="right">56.89 Hz / <div style="color:gray;">135.81 Hz</div></td><td align="center"><div style="color:red;">∇ -58.11%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">14.12 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:red;">Δ 167.21%</div></td><td align="right">70.81 Hz / <div style="color:gray;">189.20 Hz</div></td><td align="center"><div style="color:red;">∇ -62.58%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.736535 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
