<html><head><title>mrpt-performance results - 0.9.1-MSVC9-32bit vs 0.9.4-MSVC10-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-MSVC9-32bit vs. 0.9.4-MSVC10-32bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.1-MSVC9-32bit / <div style="color:gray;">0.9.4-MSVC10-32bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.78 ms / <div style="color:gray;">37.14 ms</div></td><td align="center"><div style="color:blue;">∇ -14.42%</div></td><td align="right">31.46 Hz / <div style="color:gray;">26.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.84%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.70 ms / <div style="color:gray;">36.34 ms</div></td><td align="center"><div style="color:red;">Δ 47.80%</div></td><td align="right">18.62 Hz / <div style="color:gray;">27.52 Hz</div></td><td align="center"><div style="color:red;">∇ -32.34%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">925.38 ns / <div style="color:gray;">197.08 ns</div></td><td align="center"><div style="color:red;">Δ 369.56%</div></td><td align="right">1.08 MHz / <div style="color:gray;">5.07 MHz</div></td><td align="center"><div style="color:red;">∇ -78.70%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">617.00 ns / <div style="color:gray;">33.62 ns</div></td><td align="center"><div style="color:red;">Δ 1735.00%</div></td><td align="right">1.62 MHz / <div style="color:gray;">29.74 MHz</div></td><td align="center"><div style="color:red;">∇ -94.55%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">35.98 ns / <div style="color:gray;">25.13 ns</div></td><td align="center"><div style="color:red;">Δ 43.13%</div></td><td align="right">27.80 MHz / <div style="color:gray;">39.79 MHz</div></td><td align="center"><div style="color:red;">∇ -30.13%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">14.62 ns / <div style="color:gray;">21.31 ns</div></td><td align="center"><div style="color:blue;">∇ -31.40%</div></td><td align="right">68.42 MHz / <div style="color:gray;">46.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.78%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">75.43 ns / <div style="color:gray;">89.96 ns</div></td><td align="center"><div style="color:blue;">∇ -16.16%</div></td><td align="right">13.26 MHz / <div style="color:gray;">11.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.27%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">56.48 ns / <div style="color:gray;">47.25 ns</div></td><td align="center"><div style="color:red;">Δ 19.55%</div></td><td align="right">17.70 MHz / <div style="color:gray;">21.17 MHz</div></td><td align="center"><div style="color:red;">∇ -16.35%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">121.60 ns / <div style="color:gray;">108.63 ns</div></td><td align="center"><div style="color:red;">Δ 11.94%</div></td><td align="right">8.22 MHz / <div style="color:gray;">9.21 MHz</div></td><td align="center"><div style="color:red;">∇ -10.67%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">66.63 ns / <div style="color:gray;">94.77 ns</div></td><td align="center"><div style="color:blue;">∇ -29.70%</div></td><td align="right">15.01 MHz / <div style="color:gray;">10.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 42.24%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">93.73 ns / <div style="color:gray;">80.61 ns</div></td><td align="center"><div style="color:red;">Δ 16.28%</div></td><td align="right">10.67 MHz / <div style="color:gray;">12.41 MHz</div></td><td align="center"><div style="color:red;">∇ -14.00%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.24 ns / <div style="color:gray;">67.32 ns</div></td><td align="center"><div style="color:blue;">∇ -7.55%</div></td><td align="right">16.07 MHz / <div style="color:gray;">14.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.17%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">100.74 ns / <div style="color:gray;">81.31 ns</div></td><td align="center"><div style="color:red;">Δ 23.90%</div></td><td align="right">9.93 MHz / <div style="color:gray;">12.30 MHz</div></td><td align="center"><div style="color:red;">∇ -19.29%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">57.92 ns / <div style="color:gray;">51.56 ns</div></td><td align="center"><div style="color:red;">Δ 12.33%</div></td><td align="right">17.26 MHz / <div style="color:gray;">19.39 MHz</div></td><td align="center"><div style="color:red;">∇ -10.98%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">61.33 ns / <div style="color:gray;">55.91 ns</div></td><td align="center"><div style="color:red;">Δ 9.69%</div></td><td align="right">16.31 MHz / <div style="color:gray;">17.89 MHz</div></td><td align="center"><div style="color:red;">∇ -8.84%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">27.34 ns / <div style="color:gray;">32.73 ns</div></td><td align="center"><div style="color:blue;">∇ -16.46%</div></td><td align="right">36.57 MHz / <div style="color:gray;">30.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.70%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">580.67 ns / <div style="color:gray;">124.02 ns</div></td><td align="center"><div style="color:red;">Δ 368.22%</div></td><td align="right">1.72 MHz / <div style="color:gray;">8.06 MHz</div></td><td align="center"><div style="color:red;">∇ -78.64%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">28.18 ns / <div style="color:gray;">30.61 ns</div></td><td align="center"><div style="color:blue;">∇ -7.92%</div></td><td align="right">35.48 MHz / <div style="color:gray;">32.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.60%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">506.67 ns / <div style="color:gray;">28.12 ns</div></td><td align="center"><div style="color:red;">Δ 1701.71%</div></td><td align="right">1.97 MHz / <div style="color:gray;">35.56 MHz</div></td><td align="center"><div style="color:red;">∇ -94.45%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">214.86 ns / <div style="color:gray;">216.84 ns</div></td><td align="center"><div style="color:blue;">∇ -0.91%</div></td><td align="right">4.65 MHz / <div style="color:gray;">4.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.92%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.56 us / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:red;">Δ 25.42%</div></td><td align="right">642.96 KHz / <div style="color:gray;">806.40 KHz</div></td><td align="center"><div style="color:red;">∇ -20.27%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.51 us / <div style="color:gray;">1.20 us</div></td><td align="center"><div style="color:red;">Δ 25.87%</div></td><td align="right">663.83 KHz / <div style="color:gray;">835.55 KHz</div></td><td align="center"><div style="color:red;">∇ -20.55%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">23.29 us / <div style="color:gray;">20.15 us</div></td><td align="center"><div style="color:red;">Δ 15.57%</div></td><td align="right">42.94 KHz / <div style="color:gray;">49.63 KHz</div></td><td align="center"><div style="color:red;">∇ -13.47%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">1.64 us / <div style="color:gray;">817.60 ns</div></td><td align="center"><div style="color:red;">Δ 100.58%</div></td><td align="right">609.77 KHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:red;">∇ -50.15%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">1.66 us / <div style="color:gray;">823.40 ns</div></td><td align="center"><div style="color:red;">Δ 102.13%</div></td><td align="right">600.84 KHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:red;">∇ -50.53%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">16.05 us / <div style="color:gray;">19.09 us</div></td><td align="center"><div style="color:blue;">∇ -15.94%</div></td><td align="right">62.32 KHz / <div style="color:gray;">52.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.97%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">39.66 ns / <div style="color:gray;">49.67 ns</div></td><td align="center"><div style="color:blue;">∇ -20.16%</div></td><td align="right">25.22 MHz / <div style="color:gray;">20.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 25.25%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">42.75 ns / <div style="color:gray;">50.90 ns</div></td><td align="center"><div style="color:blue;">∇ -16.03%</div></td><td align="right">23.39 MHz / <div style="color:gray;">19.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.09%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">152.29 ns / <div style="color:gray;">180.98 ns</div></td><td align="center"><div style="color:blue;">∇ -15.86%</div></td><td align="right">6.57 MHz / <div style="color:gray;">5.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.84%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">150.45 ns / <div style="color:gray;">177.90 ns</div></td><td align="center"><div style="color:blue;">∇ -15.43%</div></td><td align="right">6.65 MHz / <div style="color:gray;">5.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.24%</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;">6.63 ns</div></td><td align="center"><div style="color:blue;">∇ -53.91%</div></td><td align="right">327.19 MHz / <div style="color:gray;">150.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 116.95%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">6.65 ns / <div style="color:gray;">8.86 ns</div></td><td align="center"><div style="color:blue;">∇ -24.97%</div></td><td align="right">150.48 MHz / <div style="color:gray;">112.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 33.27%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">167.81 ns / <div style="color:gray;">680.28 ns</div></td><td align="center"><div style="color:blue;">∇ -75.33%</div></td><td align="right">5.96 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 305.39%</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;">458.35 ns</div></td><td align="center"><div style="color:blue;">∇ -65.34%</div></td><td align="right">6.29 MHz / <div style="color:gray;">2.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 188.48%</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;">680.46 ns</div></td><td align="center"><div style="color:blue;">∇ -59.96%</div></td><td align="right">3.67 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 149.73%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">193.12 ns / <div style="color:gray;">35.28 ns</div></td><td align="center"><div style="color:red;">Δ 447.37%</div></td><td align="right">5.18 MHz / <div style="color:gray;">28.34 MHz</div></td><td align="center"><div style="color:red;">∇ -81.73%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">238.91 ns / <div style="color:gray;">514.01 ns</div></td><td align="center"><div style="color:blue;">∇ -53.52%</div></td><td align="right">4.19 MHz / <div style="color:gray;">1.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 115.15%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">139.05 ns / <div style="color:gray;">3.40 ns</div></td><td align="center"><div style="color:red;">Δ 3993.37%</div></td><td align="right">7.19 MHz / <div style="color:gray;">294.39 MHz</div></td><td align="center"><div style="color:red;">∇ -97.56%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">16.80 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:red;">Δ 224.42%</div></td><td align="right">59.51 KHz / <div style="color:gray;">193.06 KHz</div></td><td align="center"><div style="color:red;">∇ -69.18%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">13.06 us / <div style="color:gray;">4.56 us</div></td><td align="center"><div style="color:red;">Δ 186.60%</div></td><td align="right">76.57 KHz / <div style="color:gray;">219.44 KHz</div></td><td align="center"><div style="color:red;">∇ -65.11%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">13.55 us / <div style="color:gray;">3.79 us</div></td><td align="center"><div style="color:red;">Δ 257.40%</div></td><td align="right">73.81 KHz / <div style="color:gray;">263.78 KHz</div></td><td align="center"><div style="color:red;">∇ -72.02%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">9.96 us / <div style="color:gray;">2.92 us</div></td><td align="center"><div style="color:red;">Δ 240.70%</div></td><td align="right">100.40 KHz / <div style="color:gray;">342.06 KHz</div></td><td align="center"><div style="color:red;">∇ -70.65%</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;">1.50 us</div></td><td align="center"><div style="color:red;">Δ 1.93%</div></td><td align="right">652.84 KHz / <div style="color:gray;">665.44 KHz</div></td><td align="center"><div style="color:red;">∇ -1.89%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">31.25 ns / <div style="color:gray;">9.51 ns</div></td><td align="center"><div style="color:red;">Δ 228.57%</div></td><td align="right">32.00 MHz / <div style="color:gray;">105.14 MHz</div></td><td align="center"><div style="color:red;">∇ -69.57%</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;">3.90 us</div></td><td align="center"><div style="color:red;">Δ 30.25%</div></td><td align="right">196.68 KHz / <div style="color:gray;">256.17 KHz</div></td><td align="center"><div style="color:red;">∇ -23.22%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">926.67 ns / <div style="color:gray;">3.54 us</div></td><td align="center"><div style="color:blue;">∇ -73.82%</div></td><td align="right">1.08 MHz / <div style="color:gray;">282.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 282.01%</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;">34.19 us</div></td><td align="center"><div style="color:red;">Δ 217.61%</div></td><td align="right">9.21 KHz / <div style="color:gray;">29.25 KHz</div></td><td align="center"><div style="color:red;">∇ -68.52%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">19.22 us / <div style="color:gray;">29.35 us</div></td><td align="center"><div style="color:blue;">∇ -34.51%</div></td><td align="right">52.02 KHz / <div style="color:gray;">34.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.70%</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;">134.24 us</div></td><td align="center"><div style="color:red;">Δ 509.57%</div></td><td align="right">1.22 KHz / <div style="color:gray;">7.45 KHz</div></td><td align="center"><div style="color:red;">∇ -83.59%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">136.18 us / <div style="color:gray;">126.45 us</div></td><td align="center"><div style="color:red;">Δ 7.69%</div></td><td align="right">7.34 KHz / <div style="color:gray;">7.91 KHz</div></td><td align="center"><div style="color:red;">∇ -7.14%</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;">601.74 ns</div></td><td align="center"><div style="color:blue;">∇ -98.41%</div></td><td align="right">104.64 MHz / <div style="color:gray;">1.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 6196.63%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 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;">872.81 ns</div></td><td align="center"><div style="color:blue;">∇ -98.18%</div></td><td align="right">62.90 MHz / <div style="color:gray;">1.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 5390.27%</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;">2.32 us</div></td><td align="center"><div style="color:red;">Δ 2.35%</div></td><td align="right">420.40 KHz / <div style="color:gray;">430.29 KHz</div></td><td align="center"><div style="color:red;">∇ -2.30%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">422.89 ns / <div style="color:gray;">2.17 us</div></td><td align="center"><div style="color:blue;">∇ -80.52%</div></td><td align="right">2.36 MHz / <div style="color:gray;">460.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 413.39%</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;">23.14 us</div></td><td align="center"><div style="color:blue;">∇ -21.40%</div></td><td align="right">54.99 KHz / <div style="color:gray;">43.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 27.22%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">21.38 us</div></td><td align="center"><div style="color:blue;">∇ -69.49%</div></td><td align="right">153.30 KHz / <div style="color:gray;">46.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 227.72%</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;">92.83 us</div></td><td align="center"><div style="color:red;">Δ 23.71%</div></td><td align="right">8.71 KHz / <div style="color:gray;">10.77 KHz</div></td><td align="center"><div style="color:red;">∇ -19.17%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">36.00 us / <div style="color:gray;">90.97 us</div></td><td align="center"><div style="color:blue;">∇ -60.42%</div></td><td align="right">27.78 KHz / <div style="color:gray;">10.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 152.68%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">185.70 ns / <div style="color:gray;">892.24 ns</div></td><td align="center"><div style="color:blue;">∇ -79.19%</div></td><td align="right">5.39 MHz / <div style="color:gray;">1.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 380.48%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">113.23 ns / <div style="color:gray;">249.10 ns</div></td><td align="center"><div style="color:blue;">∇ -54.55%</div></td><td align="right">8.83 MHz / <div style="color:gray;">4.01 MHz</div></td><td align="center"><div style="color:blue;">Δ 120.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">24.43 us / <div style="color:gray;">41.12 us</div></td><td align="center"><div style="color:blue;">∇ -40.59%</div></td><td align="right">40.93 KHz / <div style="color:gray;">24.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 68.33%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.73 us / <div style="color:gray;">26.92 us</div></td><td align="center"><div style="color:blue;">∇ -34.12%</div></td><td align="right">56.40 KHz / <div style="color:gray;">37.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.80%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">10.78 us / <div style="color:gray;">15.31 us</div></td><td align="center"><div style="color:blue;">∇ -29.59%</div></td><td align="right">92.77 KHz / <div style="color:gray;">65.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 42.02%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">117.89 us / <div style="color:gray;">116.85 us</div></td><td align="center"><div style="color:red;">Δ 0.89%</div></td><td align="right">8.48 KHz / <div style="color:gray;">8.56 KHz</div></td><td align="center"><div style="color:red;">∇ -0.88%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">70.52 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:blue;">∇ -28.74%</div></td><td align="right">14.18 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.33%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">52.59 us / <div style="color:gray;">55.18 us</div></td><td align="center"><div style="color:blue;">∇ -4.69%</div></td><td align="right">19.02 KHz / <div style="color:gray;">18.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.93%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">491.10 us / <div style="color:gray;">498.07 us</div></td><td align="center"><div style="color:blue;">∇ -1.40%</div></td><td align="right">2.04 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.42%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">85.83 us / <div style="color:gray;">133.40 us</div></td><td align="center"><div style="color:blue;">∇ -35.66%</div></td><td align="right">11.65 KHz / <div style="color:gray;">7.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">9.44 ms / <div style="color:gray;">4.99 ms</div></td><td align="center"><div style="color:red;">Δ 89.18%</div></td><td align="right">105.88 Hz / <div style="color:gray;">200.30 Hz</div></td><td align="center"><div style="color:red;">∇ -47.14%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">204.52 us / <div style="color:gray;">243.96 us</div></td><td align="center"><div style="color:blue;">∇ -16.17%</div></td><td align="right">4.89 KHz / <div style="color:gray;">4.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.28%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">150.13 ms / <div style="color:gray;">30.03 ms</div></td><td align="center"><div style="color:red;">Δ 400.01%</div></td><td align="right">6.66 Hz / <div style="color:gray;">33.31 Hz</div></td><td align="center"><div style="color:red;">∇ -80.00%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">415.58 us / <div style="color:gray;">486.08 us</div></td><td align="center"><div style="color:blue;">∇ -14.50%</div></td><td align="right">2.41 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">461.43 ms / <div style="color:gray;">51.94 ms</div></td><td align="center"><div style="color:red;">Δ 788.31%</div></td><td align="right">2.17 Hz / <div style="color:gray;">19.25 Hz</div></td><td align="center"><div style="color:red;">∇ -88.74%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">484.92 us / <div style="color:gray;">583.78 us</div></td><td align="center"><div style="color:blue;">∇ -16.93%</div></td><td align="right">2.06 KHz / <div style="color:gray;">1.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 20.39%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">947.45 ms / <div style="color:gray;">76.91 ms</div></td><td align="center"><div style="color:red;">Δ 1131.96%</div></td><td align="right">1.06 Hz / <div style="color:gray;">13.00 Hz</div></td><td align="center"><div style="color:red;">∇ -91.88%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">586.44 us / <div style="color:gray;">649.31 us</div></td><td align="center"><div style="color:blue;">∇ -9.68%</div></td><td align="right">1.71 KHz / <div style="color:gray;">1.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.72%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.77 ns / <div style="color:gray;">6.44 ns</div></td><td align="center"><div style="color:blue;">∇ -10.38%</div></td><td align="right">173.23 MHz / <div style="color:gray;">155.25 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.58%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">7.96 ns / <div style="color:gray;">9.52 ns</div></td><td align="center"><div style="color:blue;">∇ -16.42%</div></td><td align="right">125.64 MHz / <div style="color:gray;">105.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.65%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">10.80 ns / <div style="color:gray;">9.85 ns</div></td><td align="center"><div style="color:red;">Δ 9.69%</div></td><td align="right">92.58 MHz / <div style="color:gray;">101.55 MHz</div></td><td align="center"><div style="color:red;">∇ -8.83%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.21 ns / <div style="color:gray;">1.47 ns</div></td><td align="center"><div style="color:blue;">∇ -17.81%</div></td><td align="right">826.59 MHz / <div style="color:gray;">679.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.66%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">204.23 us / <div style="color:gray;">225.20 us</div></td><td align="center"><div style="color:blue;">∇ -9.31%</div></td><td align="right">4.90 KHz / <div style="color:gray;">4.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.26%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">344.40 us / <div style="color:gray;">365.80 us</div></td><td align="center"><div style="color:blue;">∇ -5.85%</div></td><td align="right">2.90 KHz / <div style="color:gray;">2.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.21%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.62 ms / <div style="color:gray;">2.56 ms</div></td><td align="center"><div style="color:red;">Δ 2.10%</div></td><td align="right">381.93 Hz / <div style="color:gray;">389.96 Hz</div></td><td align="center"><div style="color:red;">∇ -2.06%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.59 us / <div style="color:gray;">21.14 us</div></td><td align="center"><div style="color:blue;">∇ -12.07%</div></td><td align="right">53.79 KHz / <div style="color:gray;">47.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.73%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">5.62 ms / <div style="color:gray;">3.27 ms</div></td><td align="center"><div style="color:red;">Δ 71.75%</div></td><td align="right">178.02 Hz / <div style="color:gray;">305.75 Hz</div></td><td align="center"><div style="color:red;">∇ -41.78%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.21 us / <div style="color:gray;">6.03 us</div></td><td align="center"><div style="color:red;">Δ 3.00%</div></td><td align="right">160.93 KHz / <div style="color:gray;">165.76 KHz</div></td><td align="center"><div style="color:red;">∇ -2.92%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">511.81 us / <div style="color:gray;">579.42 us</div></td><td align="center"><div style="color:blue;">∇ -11.67%</div></td><td align="right">1.95 KHz / <div style="color:gray;">1.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.21%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.59 ms / <div style="color:gray;">6.14 ms</div></td><td align="center"><div style="color:blue;">∇ -8.94%</div></td><td align="right">178.86 Hz / <div style="color:gray;">162.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.82%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.23 us / <div style="color:gray;">6.68 us</div></td><td align="center"><div style="color:red;">Δ 8.13%</div></td><td align="right">138.34 KHz / <div style="color:gray;">149.59 KHz</div></td><td align="center"><div style="color:red;">∇ -7.52%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">523.10 us / <div style="color:gray;">519.96 us</div></td><td align="center"><div style="color:red;">Δ 0.60%</div></td><td align="right">1.91 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:red;">∇ -0.60%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.77 ms / <div style="color:gray;">6.64 ms</div></td><td align="center"><div style="color:blue;">∇ -13.01%</div></td><td align="right">173.21 Hz / <div style="color:gray;">150.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.95%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.05 us / <div style="color:gray;">1.95 us</div></td><td align="center"><div style="color:red;">Δ 5.03%</div></td><td align="right">487.07 KHz / <div style="color:gray;">511.57 KHz</div></td><td align="center"><div style="color:red;">∇ -4.79%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">140.79 us / <div style="color:gray;">167.14 us</div></td><td align="center"><div style="color:blue;">∇ -15.77%</div></td><td align="right">7.10 KHz / <div style="color:gray;">5.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.72%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.17 ms / <div style="color:gray;">17.45 ms</div></td><td align="center"><div style="color:blue;">∇ -13.07%</div></td><td align="right">65.91 Hz / <div style="color:gray;">57.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.03%</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;">9.11 ms</div></td><td align="center"><div style="color:blue;">∇ -4.58%</div></td><td align="right">115.01 Hz / <div style="color:gray;">109.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.80%</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;">210.71 ms</div></td><td align="center"><div style="color:blue;">∇ -6.77%</div></td><td align="right">5.09 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.26%</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;">8.38 ms</div></td><td align="center"><div style="color:red;">Δ 4.17%</div></td><td align="right">114.60 Hz / <div style="color:gray;">119.37 Hz</div></td><td align="center"><div style="color:red;">∇ -4.00%</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;">198.71 ms</div></td><td align="center"><div style="color:blue;">∇ -0.12%</div></td><td align="right">5.04 Hz / <div style="color:gray;">5.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.12%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.29 ns / <div style="color:gray;">7.57 ns</div></td><td align="center"><div style="color:blue;">∇ -3.65%</div></td><td align="right">137.11 MHz / <div style="color:gray;">132.11 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.79%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.33 ns / <div style="color:gray;">7.60 ns</div></td><td align="center"><div style="color:blue;">∇ -3.62%</div></td><td align="right">136.49 MHz / <div style="color:gray;">131.54 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.76%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.27 ns / <div style="color:gray;">58.48 ns</div></td><td align="center"><div style="color:blue;">∇ -12.32%</div></td><td align="right">19.50 MHz / <div style="color:gray;">17.10 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.05%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">51.74 ns / <div style="color:gray;">57.62 ns</div></td><td align="center"><div style="color:blue;">∇ -10.22%</div></td><td align="right">19.33 MHz / <div style="color:gray;">17.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.38%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">29.39 ns / <div style="color:gray;">29.43 ns</div></td><td align="center"><div style="color:blue;">∇ -0.14%</div></td><td align="right">34.03 MHz / <div style="color:gray;">33.98 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.14%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.64 us / <div style="color:gray;">2.95 us</div></td><td align="center"><div style="color:blue;">∇ -10.38%</div></td><td align="right">378.48 KHz / <div style="color:gray;">339.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">8.53 us / <div style="color:gray;">3.53 us</div></td><td align="center"><div style="color:red;">Δ 141.45%</div></td><td align="right">117.18 KHz / <div style="color:gray;">282.92 KHz</div></td><td align="center"><div style="color:red;">∇ -58.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">215.16 ns / <div style="color:gray;">145.71 ns</div></td><td align="center"><div style="color:red;">Δ 47.66%</div></td><td align="right">4.65 MHz / <div style="color:gray;">6.86 MHz</div></td><td align="center"><div style="color:red;">∇ -32.28%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">359.98 ns / <div style="color:gray;">227.37 ns</div></td><td align="center"><div style="color:red;">Δ 58.33%</div></td><td align="right">2.78 MHz / <div style="color:gray;">4.40 MHz</div></td><td align="center"><div style="color:red;">∇ -36.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">732.12 ns / <div style="color:gray;">514.56 ns</div></td><td align="center"><div style="color:red;">Δ 42.28%</div></td><td align="right">1.37 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -29.72%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">213.59 ns / <div style="color:gray;">170.42 ns</div></td><td align="center"><div style="color:red;">Δ 25.33%</div></td><td align="right">4.68 MHz / <div style="color:gray;">5.87 MHz</div></td><td align="center"><div style="color:red;">∇ -20.21%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">339.30 ns / <div style="color:gray;">283.60 ns</div></td><td align="center"><div style="color:red;">Δ 19.64%</div></td><td align="right">2.95 MHz / <div style="color:gray;">3.53 MHz</div></td><td align="center"><div style="color:red;">∇ -16.41%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">760.92 ns / <div style="color:gray;">661.22 ns</div></td><td align="center"><div style="color:red;">Δ 15.08%</div></td><td align="right">1.31 MHz / <div style="color:gray;">1.51 MHz</div></td><td align="center"><div style="color:red;">∇ -13.10%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">411.34 ns / <div style="color:gray;">304.45 ns</div></td><td align="center"><div style="color:red;">Δ 35.11%</div></td><td align="right">2.43 MHz / <div style="color:gray;">3.28 MHz</div></td><td align="center"><div style="color:red;">∇ -25.99%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.59 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:red;">Δ 3.49%</div></td><td align="right">278.70 KHz / <div style="color:gray;">288.42 KHz</div></td><td align="center"><div style="color:red;">∇ -3.37%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">34.34 us / <div style="color:gray;">37.99 us</div></td><td align="center"><div style="color:blue;">∇ -9.61%</div></td><td align="right">29.12 KHz / <div style="color:gray;">26.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.63%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">220.79 THz</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;">33.06 ms</div></td><td align="center"><div style="color:blue;">∇ -15.54%</div></td><td align="right">35.81 Hz / <div style="color:gray;">30.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.39%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.53 ms / <div style="color:gray;">50.64 ms</div></td><td align="center"><div style="color:blue;">∇ -14.03%</div></td><td align="right">22.97 Hz / <div style="color:gray;">19.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.32%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">70.76 ms / <div style="color:gray;">82.66 ms</div></td><td align="center"><div style="color:blue;">∇ -14.40%</div></td><td align="right">14.13 Hz / <div style="color:gray;">12.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.82%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.43 ms / <div style="color:gray;">27.36 ms</div></td><td align="center"><div style="color:blue;">∇ -14.34%</div></td><td align="right">42.67 Hz / <div style="color:gray;">36.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.74%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">36.52 ms / <div style="color:gray;">43.25 ms</div></td><td align="center"><div style="color:blue;">∇ -15.58%</div></td><td align="right">27.39 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.45%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.82 ms / <div style="color:gray;">66.55 ms</div></td><td align="center"><div style="color:blue;">∇ -10.12%</div></td><td align="right">16.72 Hz / <div style="color:gray;">15.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.27%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">6.68 ms / <div style="color:gray;">5.57 ms</div></td><td align="center"><div style="color:red;">Δ 19.87%</div></td><td align="right">149.74 Hz / <div style="color:gray;">179.49 Hz</div></td><td align="center"><div style="color:red;">∇ -16.58%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.62 ms / <div style="color:gray;">8.84 ms</div></td><td align="center"><div style="color:blue;">∇ -2.52%</div></td><td align="right">116.03 Hz / <div style="color:gray;">113.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.59%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.49 ms / <div style="color:gray;">14.37 ms</div></td><td align="center"><div style="color:red;">Δ 0.82%</div></td><td align="right">69.01 Hz / <div style="color:gray;">69.58 Hz</div></td><td align="center"><div style="color:red;">∇ -0.81%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">21.12 us / <div style="color:gray;">21.97 us</div></td><td align="center"><div style="color:blue;">∇ -3.83%</div></td><td align="right">47.34 KHz / <div style="color:gray;">45.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.99%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">19.36 us / <div style="color:gray;">22.01 us</div></td><td align="center"><div style="color:blue;">∇ -12.02%</div></td><td align="right">51.65 KHz / <div style="color:gray;">45.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.66%</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;">12.71 us</div></td><td align="center"><div style="color:blue;">∇ -50.93%</div></td><td align="right">160.34 KHz / <div style="color:gray;">78.69 KHz</div></td><td align="center"><div style="color:blue;">Δ 103.77%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">40.83 ms / <div style="color:gray;">38.32 ms</div></td><td align="center"><div style="color:red;">Δ 6.55%</div></td><td align="right">24.49 Hz / <div style="color:gray;">26.10 Hz</div></td><td align="center"><div style="color:red;">∇ -6.15%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">33.62 ms / <div style="color:gray;">37.22 ms</div></td><td align="center"><div style="color:blue;">∇ -9.67%</div></td><td align="right">29.75 Hz / <div style="color:gray;">26.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.71%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">705.28 ms / <div style="color:gray;">739.68 ms</div></td><td align="center"><div style="color:blue;">∇ -4.65%</div></td><td align="right">1.42 Hz / <div style="color:gray;">1.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.88%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">214.22 ms / <div style="color:gray;">232.95 ms</div></td><td align="center"><div style="color:blue;">∇ -8.04%</div></td><td align="right">4.67 Hz / <div style="color:gray;">4.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.75%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">326.57 ms / <div style="color:gray;">309.97 ms</div></td><td align="center"><div style="color:red;">Δ 5.36%</div></td><td align="right">3.06 Hz / <div style="color:gray;">3.23 Hz</div></td><td align="center"><div style="color:red;">∇ -5.08%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.69 ms / <div style="color:gray;">6.88 ms</div></td><td align="center"><div style="color:red;">Δ 11.67%</div></td><td align="right">130.08 Hz / <div style="color:gray;">145.25 Hz</div></td><td align="center"><div style="color:red;">∇ -10.45%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">105.90 ms / <div style="color:gray;">88.28 ms</div></td><td align="center"><div style="color:red;">Δ 19.96%</div></td><td align="right">9.44 Hz / <div style="color:gray;">11.33 Hz</div></td><td align="center"><div style="color:red;">∇ -16.64%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">57.67 ms / <div style="color:gray;">59.68 ms</div></td><td align="center"><div style="color:blue;">∇ -3.37%</div></td><td align="right">17.34 Hz / <div style="color:gray;">16.76 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.48%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.27 ms / <div style="color:gray;">58.57 ms</div></td><td align="center"><div style="color:blue;">∇ -14.17%</div></td><td align="right">19.89 Hz / <div style="color:gray;">17.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.51%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.38 sec / <div style="color:gray;">1.50 sec</div></td><td align="center"><div style="color:blue;">∇ -7.81%</div></td><td align="right">724.62 mHz / <div style="color:gray;">668.02 mHz</div></td><td align="center"><div style="color:blue;">Δ 8.47%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">618.66 ms / <div style="color:gray;">621.62 ms</div></td><td align="center"><div style="color:blue;">∇ -0.48%</div></td><td align="right">1.62 Hz / <div style="color:gray;">1.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.48%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">22.11 ms / <div style="color:gray;">21.69 ms</div></td><td align="center"><div style="color:red;">Δ 1.94%</div></td><td align="right">45.22 Hz / <div style="color:gray;">46.10 Hz</div></td><td align="center"><div style="color:red;">∇ -1.90%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">14.58 ms / <div style="color:gray;">12.64 ms</div></td><td align="center"><div style="color:red;">Δ 15.40%</div></td><td align="right">68.57 Hz / <div style="color:gray;">79.13 Hz</div></td><td align="center"><div style="color:red;">∇ -13.35%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">354.58 us / <div style="color:gray;">301.62 us</div></td><td align="center"><div style="color:red;">Δ 17.56%</div></td><td align="right">2.82 KHz / <div style="color:gray;">3.32 KHz</div></td><td align="center"><div style="color:red;">∇ -14.94%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">284.04 us / <div style="color:gray;">274.69 us</div></td><td align="center"><div style="color:red;">Δ 3.40%</div></td><td align="right">3.52 KHz / <div style="color:gray;">3.64 KHz</div></td><td align="center"><div style="color:red;">∇ -3.29%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">549.28 us / <div style="color:gray;">415.87 us</div></td><td align="center"><div style="color:red;">Δ 32.08%</div></td><td align="right">1.82 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -24.29%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">452.79 us / <div style="color:gray;">377.54 us</div></td><td align="center"><div style="color:red;">Δ 19.93%</div></td><td align="right">2.21 KHz / <div style="color:gray;">2.65 KHz</div></td><td align="center"><div style="color:red;">∇ -16.62%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.86 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:blue;">∇ -6.77%</div></td><td align="right">259.12 Hz / <div style="color:gray;">241.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.26%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.88 ms / <div style="color:gray;">2.94 ms</div></td><td align="center"><div style="color:blue;">∇ -2.30%</div></td><td align="right">347.75 Hz / <div style="color:gray;">339.77 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.35%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">5.74 ms / <div style="color:gray;">4.77 ms</div></td><td align="center"><div style="color:red;">Δ 20.25%</div></td><td align="right">174.28 Hz / <div style="color:gray;">209.57 Hz</div></td><td align="center"><div style="color:red;">∇ -16.84%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.44 ms / <div style="color:gray;">4.05 ms</div></td><td align="center"><div style="color:red;">Δ 9.46%</div></td><td align="right">225.33 Hz / <div style="color:gray;">246.64 Hz</div></td><td align="center"><div style="color:red;">∇ -8.64%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">1.35 ms / <div style="color:gray;">381.69 us</div></td><td align="center"><div style="color:red;">Δ 252.58%</div></td><td align="right">743.07 Hz / <div style="color:gray;">2.62 KHz</div></td><td align="center"><div style="color:red;">∇ -71.64%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">1.09 ms / <div style="color:gray;">339.57 us</div></td><td align="center"><div style="color:red;">Δ 220.81%</div></td><td align="right">917.96 Hz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -68.83%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">1.74 ms / <div style="color:gray;">688.91 us</div></td><td align="center"><div style="color:red;">Δ 153.04%</div></td><td align="right">573.66 Hz / <div style="color:gray;">1.45 KHz</div></td><td align="center"><div style="color:red;">∇ -60.48%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">1.46 ms / <div style="color:gray;">683.24 us</div></td><td align="center"><div style="color:red;">Δ 114.20%</div></td><td align="right">683.28 Hz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:red;">∇ -53.32%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">13.92 ms / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:red;">Δ 258.16%</div></td><td align="right">71.86 Hz / <div style="color:gray;">257.39 Hz</div></td><td align="center"><div style="color:red;">∇ -72.08%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">11.12 ms / <div style="color:gray;">3.59 ms</div></td><td align="center"><div style="color:red;">Δ 210.17%</div></td><td align="right">89.92 Hz / <div style="color:gray;">278.91 Hz</div></td><td align="center"><div style="color:red;">∇ -67.76%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">17.58 ms / <div style="color:gray;">7.80 ms</div></td><td align="center"><div style="color:red;">Δ 125.27%</div></td><td align="right">56.89 Hz / <div style="color:gray;">128.15 Hz</div></td><td align="center"><div style="color:red;">∇ -55.61%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">14.12 ms / <div style="color:gray;">7.49 ms</div></td><td align="center"><div style="color:red;">Δ 88.47%</div></td><td align="right">70.81 Hz / <div style="color:gray;">133.45 Hz</div></td><td align="center"><div style="color:red;">∇ -46.94%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.707533 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
