<html><head><title>mrpt-performance results - 0.9.1-MSVC9-32bit vs 0.9.4-MSVC10-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.1-MSVC9-32bit vs. 0.9.4-MSVC10-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.1-MSVC9-32bit / <div style="color:gray;">0.9.4-MSVC10-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.78 ms / <div style="color:gray;">26.54 ms</div></td><td align="center"><div style="color:red;">Δ 19.75%</div></td><td align="right">31.46 Hz / <div style="color:gray;">37.68 Hz</div></td><td align="center"><div style="color:red;">∇ -16.49%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.70 ms / <div style="color:gray;">32.17 ms</div></td><td align="center"><div style="color:red;">Δ 66.93%</div></td><td align="right">18.62 Hz / <div style="color:gray;">31.08 Hz</div></td><td align="center"><div style="color:red;">∇ -40.09%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">925.38 ns / <div style="color:gray;">62.83 ns</div></td><td align="center"><div style="color:red;">Δ 1372.88%</div></td><td align="right">1.08 MHz / <div style="color:gray;">15.92 MHz</div></td><td align="center"><div style="color:red;">∇ -93.21%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">617.00 ns / <div style="color:gray;">41.42 ns</div></td><td align="center"><div style="color:red;">Δ 1389.67%</div></td><td align="right">1.62 MHz / <div style="color:gray;">24.14 MHz</div></td><td align="center"><div style="color:red;">∇ -93.29%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">35.98 ns / <div style="color:gray;">18.89 ns</div></td><td align="center"><div style="color:red;">Δ 90.46%</div></td><td align="right">27.80 MHz / <div style="color:gray;">52.94 MHz</div></td><td align="center"><div style="color:red;">∇ -47.50%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">14.62 ns / <div style="color:gray;">17.17 ns</div></td><td align="center"><div style="color:blue;">∇ -14.90%</div></td><td align="right">68.42 MHz / <div style="color:gray;">58.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.51%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">75.43 ns / <div style="color:gray;">88.79 ns</div></td><td align="center"><div style="color:blue;">∇ -15.05%</div></td><td align="right">13.26 MHz / <div style="color:gray;">11.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.72%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">56.48 ns / <div style="color:gray;">44.00 ns</div></td><td align="center"><div style="color:red;">Δ 28.37%</div></td><td align="right">17.70 MHz / <div style="color:gray;">22.73 MHz</div></td><td align="center"><div style="color:red;">∇ -22.10%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">121.60 ns / <div style="color:gray;">72.08 ns</div></td><td align="center"><div style="color:red;">Δ 68.69%</div></td><td align="right">8.22 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -40.72%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">66.63 ns / <div style="color:gray;">63.27 ns</div></td><td align="center"><div style="color:red;">Δ 5.31%</div></td><td align="right">15.01 MHz / <div style="color:gray;">15.81 MHz</div></td><td align="center"><div style="color:red;">∇ -5.04%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">93.73 ns / <div style="color:gray;">34.42 ns</div></td><td align="center"><div style="color:red;">Δ 172.33%</div></td><td align="right">10.67 MHz / <div style="color:gray;">29.05 MHz</div></td><td align="center"><div style="color:red;">∇ -63.28%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.24 ns / <div style="color:gray;">26.02 ns</div></td><td align="center"><div style="color:red;">Δ 139.17%</div></td><td align="right">16.07 MHz / <div style="color:gray;">38.43 MHz</div></td><td align="center"><div style="color:red;">∇ -58.19%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">100.74 ns / <div style="color:gray;">113.59 ns</div></td><td align="center"><div style="color:blue;">∇ -11.32%</div></td><td align="right">9.93 MHz / <div style="color:gray;">8.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.76%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">57.92 ns / <div style="color:gray;">82.72 ns</div></td><td align="center"><div style="color:blue;">∇ -29.97%</div></td><td align="right">17.26 MHz / <div style="color:gray;">12.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 42.80%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">61.33 ns / <div style="color:gray;">41.33 ns</div></td><td align="center"><div style="color:red;">Δ 48.40%</div></td><td align="right">16.31 MHz / <div style="color:gray;">24.20 MHz</div></td><td align="center"><div style="color:red;">∇ -32.62%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">27.34 ns / <div style="color:gray;">31.13 ns</div></td><td align="center"><div style="color:blue;">∇ -12.17%</div></td><td align="right">36.57 MHz / <div style="color:gray;">32.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.85%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">580.67 ns / <div style="color:gray;">113.89 ns</div></td><td align="center"><div style="color:red;">Δ 409.86%</div></td><td align="right">1.72 MHz / <div style="color:gray;">8.78 MHz</div></td><td align="center"><div style="color:red;">∇ -80.39%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">28.18 ns / <div style="color:gray;">33.95 ns</div></td><td align="center"><div style="color:blue;">∇ -16.98%</div></td><td align="right">35.48 MHz / <div style="color:gray;">29.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 20.46%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">506.67 ns / <div style="color:gray;">26.44 ns</div></td><td align="center"><div style="color:red;">Δ 1816.01%</div></td><td align="right">1.97 MHz / <div style="color:gray;">37.82 MHz</div></td><td align="center"><div style="color:red;">∇ -94.78%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">214.86 ns / <div style="color:gray;">97.31 ns</div></td><td align="center"><div style="color:red;">Δ 120.80%</div></td><td align="right">4.65 MHz / <div style="color:gray;">10.28 MHz</div></td><td align="center"><div style="color:red;">∇ -54.71%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.56 us / <div style="color:gray;">948.85 ns</div></td><td align="center"><div style="color:red;">Δ 63.92%</div></td><td align="right">642.96 KHz / <div style="color:gray;">1.05 MHz</div></td><td align="center"><div style="color:red;">∇ -38.99%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.51 us / <div style="color:gray;">938.66 ns</div></td><td align="center"><div style="color:red;">Δ 60.48%</div></td><td align="right">663.83 KHz / <div style="color:gray;">1.07 MHz</div></td><td align="center"><div style="color:red;">∇ -37.69%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">23.29 us / <div style="color:gray;">21.21 us</div></td><td align="center"><div style="color:red;">Δ 9.80%</div></td><td align="right">42.94 KHz / <div style="color:gray;">47.15 KHz</div></td><td align="center"><div style="color:red;">∇ -8.93%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">1.64 us / <div style="color:gray;">532.44 ns</div></td><td align="center"><div style="color:red;">Δ 208.01%</div></td><td align="right">609.77 KHz / <div style="color:gray;">1.88 MHz</div></td><td align="center"><div style="color:red;">∇ -67.53%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">1.66 us / <div style="color:gray;">528.23 ns</div></td><td align="center"><div style="color:red;">Δ 215.08%</div></td><td align="right">600.84 KHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:red;">∇ -68.26%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">16.05 us / <div style="color:gray;">11.19 us</div></td><td align="center"><div style="color:red;">Δ 43.37%</div></td><td align="right">62.32 KHz / <div style="color:gray;">89.35 KHz</div></td><td align="center"><div style="color:red;">∇ -30.25%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">39.66 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -12.26%</div></td><td align="right">25.22 MHz / <div style="color:gray;">22.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.98%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">42.75 ns / <div style="color:gray;">45.86 ns</div></td><td align="center"><div style="color:blue;">∇ -6.78%</div></td><td align="right">23.39 MHz / <div style="color:gray;">21.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.28%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">152.29 ns / <div style="color:gray;">177.43 ns</div></td><td align="center"><div style="color:blue;">∇ -14.17%</div></td><td align="right">6.57 MHz / <div style="color:gray;">5.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.51%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">150.45 ns / <div style="color:gray;">169.52 ns</div></td><td align="center"><div style="color:blue;">∇ -11.25%</div></td><td align="right">6.65 MHz / <div style="color:gray;">5.90 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.67%</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;">6.37 ns</div></td><td align="center"><div style="color:blue;">∇ -52.00%</div></td><td align="right">327.19 MHz / <div style="color:gray;">157.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 108.33%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">6.65 ns / <div style="color:gray;">7.86 ns</div></td><td align="center"><div style="color:blue;">∇ -15.48%</div></td><td align="right">150.48 MHz / <div style="color:gray;">127.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.31%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">167.81 ns / <div style="color:gray;">485.93 ns</div></td><td align="center"><div style="color:blue;">∇ -65.47%</div></td><td align="right">5.96 MHz / <div style="color:gray;">2.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 189.58%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">108.61 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:red;">Δ 239702.06%</div></td><td align="right">9.21 MHz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:red;">∇ -99.96%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">158.88 ns / <div style="color:gray;">528.41 ns</div></td><td align="center"><div style="color:blue;">∇ -69.93%</div></td><td align="right">6.29 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 232.58%</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;">547.16 ns</div></td><td align="center"><div style="color:blue;">∇ -50.20%</div></td><td align="right">3.67 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 100.81%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">193.12 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:red;">Δ 8100.07%</div></td><td align="right">5.18 MHz / <div style="color:gray;">424.60 MHz</div></td><td align="center"><div style="color:red;">∇ -98.78%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">238.91 ns / <div style="color:gray;">391.50 ns</div></td><td align="center"><div style="color:blue;">∇ -38.97%</div></td><td align="right">4.19 MHz / <div style="color:gray;">2.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 63.87%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">139.05 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:red;">Δ 5803.90%</div></td><td align="right">7.19 MHz / <div style="color:gray;">424.60 MHz</div></td><td align="center"><div style="color:red;">∇ -98.31%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">16.80 us / <div style="color:gray;">2.74 us</div></td><td align="center"><div style="color:red;">Δ 512.52%</div></td><td align="right">59.51 KHz / <div style="color:gray;">364.51 KHz</div></td><td align="center"><div style="color:red;">∇ -83.67%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">13.06 us / <div style="color:gray;">2.08 us</div></td><td align="center"><div style="color:red;">Δ 526.76%</div></td><td align="right">76.57 KHz / <div style="color:gray;">479.89 KHz</div></td><td align="center"><div style="color:red;">∇ -84.04%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">13.55 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:red;">Δ 290.96%</div></td><td align="right">73.81 KHz / <div style="color:gray;">288.55 KHz</div></td><td align="center"><div style="color:red;">∇ -74.42%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">9.96 us / <div style="color:gray;">2.38 us</div></td><td align="center"><div style="color:red;">Δ 317.89%</div></td><td align="right">100.40 KHz / <div style="color:gray;">419.56 KHz</div></td><td align="center"><div style="color:red;">∇ -76.07%</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;">1.09 us</div></td><td align="center"><div style="color:red;">Δ 41.09%</div></td><td align="right">652.84 KHz / <div style="color:gray;">921.12 KHz</div></td><td align="center"><div style="color:red;">∇ -29.13%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">31.25 ns / <div style="color:gray;">22.19 ns</div></td><td align="center"><div style="color:red;">Δ 40.82%</div></td><td align="right">32.00 MHz / <div style="color:gray;">45.06 MHz</div></td><td align="center"><div style="color:red;">∇ -28.99%</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;">2.78 us</div></td><td align="center"><div style="color:red;">Δ 82.87%</div></td><td align="right">196.68 KHz / <div style="color:gray;">359.66 KHz</div></td><td align="center"><div style="color:red;">∇ -45.31%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">926.67 ns / <div style="color:gray;">2.22 us</div></td><td align="center"><div style="color:blue;">∇ -58.28%</div></td><td align="right">1.08 MHz / <div style="color:gray;">450.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 139.69%</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;">30.71 us</div></td><td align="center"><div style="color:red;">Δ 253.59%</div></td><td align="right">9.21 KHz / <div style="color:gray;">32.56 KHz</div></td><td align="center"><div style="color:red;">∇ -71.72%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">19.22 us / <div style="color:gray;">24.08 us</div></td><td align="center"><div style="color:blue;">∇ -20.16%</div></td><td align="right">52.02 KHz / <div style="color:gray;">41.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 25.26%</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;">117.18 us</div></td><td align="center"><div style="color:red;">Δ 598.33%</div></td><td align="right">1.22 KHz / <div style="color:gray;">8.53 KHz</div></td><td align="center"><div style="color:red;">∇ -85.68%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">136.18 us / <div style="color:gray;">112.80 us</div></td><td align="center"><div style="color:red;">Δ 20.72%</div></td><td align="right">7.34 KHz / <div style="color:gray;">8.86 KHz</div></td><td align="center"><div style="color:red;">∇ -17.16%</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;">765.51 ns</div></td><td align="center"><div style="color:blue;">∇ -98.75%</div></td><td align="right">104.64 MHz / <div style="color:gray;">1.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 7910.36%</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;">822.31 ns</div></td><td align="center"><div style="color:blue;">∇ -98.07%</div></td><td align="right">62.90 MHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 5072.61%</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;">1.78 us</div></td><td align="center"><div style="color:red;">Δ 33.32%</div></td><td align="right">420.40 KHz / <div style="color:gray;">560.47 KHz</div></td><td align="center"><div style="color:red;">∇ -24.99%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">422.89 ns / <div style="color:gray;">1.51 us</div></td><td align="center"><div style="color:blue;">∇ -72.03%</div></td><td align="right">2.36 MHz / <div style="color:gray;">661.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 257.55%</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;">18.54 us</div></td><td align="center"><div style="color:blue;">∇ -1.90%</div></td><td align="right">54.99 KHz / <div style="color:gray;">53.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.94%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">6.52 us / <div style="color:gray;">19.01 us</div></td><td align="center"><div style="color:blue;">∇ -65.68%</div></td><td align="right">153.30 KHz / <div style="color:gray;">52.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 191.40%</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;">72.40 us</div></td><td align="center"><div style="color:red;">Δ 58.63%</div></td><td align="right">8.71 KHz / <div style="color:gray;">13.81 KHz</div></td><td align="center"><div style="color:red;">∇ -36.96%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">36.00 us / <div style="color:gray;">67.43 us</div></td><td align="center"><div style="color:blue;">∇ -46.61%</div></td><td align="right">27.78 KHz / <div style="color:gray;">14.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 87.29%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">185.70 ns / <div style="color:gray;">606.90 ns</div></td><td align="center"><div style="color:blue;">∇ -69.40%</div></td><td align="right">5.39 MHz / <div style="color:gray;">1.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 226.83%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">113.23 ns / <div style="color:gray;">190.22 ns</div></td><td align="center"><div style="color:blue;">∇ -40.48%</div></td><td align="right">8.83 MHz / <div style="color:gray;">5.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 68.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">24.43 us / <div style="color:gray;">31.59 us</div></td><td align="center"><div style="color:blue;">∇ -22.65%</div></td><td align="right">40.93 KHz / <div style="color:gray;">31.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 29.29%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.73 us / <div style="color:gray;">20.87 us</div></td><td align="center"><div style="color:blue;">∇ -15.02%</div></td><td align="right">56.40 KHz / <div style="color:gray;">47.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.67%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">10.78 us / <div style="color:gray;">7.11 us</div></td><td align="center"><div style="color:red;">Δ 51.59%</div></td><td align="right">92.77 KHz / <div style="color:gray;">140.63 KHz</div></td><td align="center"><div style="color:red;">∇ -34.03%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">117.89 us / <div style="color:gray;">94.75 us</div></td><td align="center"><div style="color:red;">Δ 24.43%</div></td><td align="right">8.48 KHz / <div style="color:gray;">10.55 KHz</div></td><td align="center"><div style="color:red;">∇ -19.63%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">70.52 us / <div style="color:gray;">75.59 us</div></td><td align="center"><div style="color:blue;">∇ -6.71%</div></td><td align="right">14.18 KHz / <div style="color:gray;">13.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.19%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">52.59 us / <div style="color:gray;">43.20 us</div></td><td align="center"><div style="color:red;">Δ 21.72%</div></td><td align="right">19.02 KHz / <div style="color:gray;">23.15 KHz</div></td><td align="center"><div style="color:red;">∇ -17.85%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">491.10 us / <div style="color:gray;">453.46 us</div></td><td align="center"><div style="color:red;">Δ 8.30%</div></td><td align="right">2.04 KHz / <div style="color:gray;">2.21 KHz</div></td><td align="center"><div style="color:red;">∇ -7.66%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">85.83 us / <div style="color:gray;">74.00 us</div></td><td align="center"><div style="color:red;">Δ 15.98%</div></td><td align="right">11.65 KHz / <div style="color:gray;">13.51 KHz</div></td><td align="center"><div style="color:red;">∇ -13.78%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">9.44 ms / <div style="color:gray;">3.54 ms</div></td><td align="center"><div style="color:red;">Δ 166.53%</div></td><td align="right">105.88 Hz / <div style="color:gray;">282.19 Hz</div></td><td align="center"><div style="color:red;">∇ -62.48%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">204.52 us / <div style="color:gray;">178.69 us</div></td><td align="center"><div style="color:red;">Δ 14.46%</div></td><td align="right">4.89 KHz / <div style="color:gray;">5.60 KHz</div></td><td align="center"><div style="color:red;">∇ -12.63%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">150.13 ms / <div style="color:gray;">22.29 ms</div></td><td align="center"><div style="color:red;">Δ 573.66%</div></td><td align="right">6.66 Hz / <div style="color:gray;">44.87 Hz</div></td><td align="center"><div style="color:red;">∇ -85.16%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">415.58 us / <div style="color:gray;">359.36 us</div></td><td align="center"><div style="color:red;">Δ 15.64%</div></td><td align="right">2.41 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -13.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">461.43 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 1171.64%</div></td><td align="right">2.17 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -92.14%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">484.92 us / <div style="color:gray;">411.86 us</div></td><td align="center"><div style="color:red;">Δ 17.74%</div></td><td align="right">2.06 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -15.07%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">947.45 ms / <div style="color:gray;">54.34 ms</div></td><td align="center"><div style="color:red;">Δ 1643.47%</div></td><td align="right">1.06 Hz / <div style="color:gray;">18.40 Hz</div></td><td align="center"><div style="color:red;">∇ -94.26%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">586.44 us / <div style="color:gray;">488.10 us</div></td><td align="center"><div style="color:red;">Δ 20.15%</div></td><td align="right">1.71 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:red;">∇ -16.77%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.77 ns / <div style="color:gray;">4.13 ns</div></td><td align="center"><div style="color:red;">Δ 39.74%</div></td><td align="right">173.23 MHz / <div style="color:gray;">242.07 MHz</div></td><td align="center"><div style="color:red;">∇ -28.44%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">7.96 ns / <div style="color:gray;">5.65 ns</div></td><td align="center"><div style="color:red;">Δ 41.00%</div></td><td align="right">125.64 MHz / <div style="color:gray;">177.14 MHz</div></td><td align="center"><div style="color:red;">∇ -29.08%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">10.80 ns / <div style="color:gray;">6.93 ns</div></td><td align="center"><div style="color:red;">Δ 55.92%</div></td><td align="right">92.58 MHz / <div style="color:gray;">144.35 MHz</div></td><td align="center"><div style="color:red;">∇ -35.86%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.21 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:red;">Δ 0.82%</div></td><td align="right">826.59 MHz / <div style="color:gray;">833.40 MHz</div></td><td align="center"><div style="color:red;">∇ -0.82%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">204.23 us / <div style="color:gray;">102.16 us</div></td><td align="center"><div style="color:red;">Δ 99.92%</div></td><td align="right">4.90 KHz / <div style="color:gray;">9.79 KHz</div></td><td align="center"><div style="color:red;">∇ -49.98%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">344.40 us / <div style="color:gray;">276.88 us</div></td><td align="center"><div style="color:red;">Δ 24.39%</div></td><td align="right">2.90 KHz / <div style="color:gray;">3.61 KHz</div></td><td align="center"><div style="color:red;">∇ -19.61%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.62 ms / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:blue;">∇ -32.69%</div></td><td align="right">381.93 Hz / <div style="color:gray;">257.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 48.57%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.59 us / <div style="color:gray;">13.92 us</div></td><td align="center"><div style="color:red;">Δ 33.54%</div></td><td align="right">53.79 KHz / <div style="color:gray;">71.84 KHz</div></td><td align="center"><div style="color:red;">∇ -25.12%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">5.62 ms / <div style="color:gray;">1.87 ms</div></td><td align="center"><div style="color:red;">Δ 200.10%</div></td><td align="right">178.02 Hz / <div style="color:gray;">534.24 Hz</div></td><td align="center"><div style="color:red;">∇ -66.68%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.21 us / <div style="color:gray;">5.09 us</div></td><td align="center"><div style="color:red;">Δ 22.07%</div></td><td align="right">160.93 KHz / <div style="color:gray;">196.43 KHz</div></td><td align="center"><div style="color:red;">∇ -18.08%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">511.81 us / <div style="color:gray;">486.39 us</div></td><td align="center"><div style="color:red;">Δ 5.23%</div></td><td align="right">1.95 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:red;">∇ -4.97%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.59 ms / <div style="color:gray;">5.10 ms</div></td><td align="center"><div style="color:red;">Δ 9.69%</div></td><td align="right">178.86 Hz / <div style="color:gray;">196.20 Hz</div></td><td align="center"><div style="color:red;">∇ -8.83%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.23 us / <div style="color:gray;">5.56 us</div></td><td align="center"><div style="color:red;">Δ 29.97%</div></td><td align="right">138.34 KHz / <div style="color:gray;">179.80 KHz</div></td><td align="center"><div style="color:red;">∇ -23.06%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">523.10 us / <div style="color:gray;">467.24 us</div></td><td align="center"><div style="color:red;">Δ 11.95%</div></td><td align="right">1.91 KHz / <div style="color:gray;">2.14 KHz</div></td><td align="center"><div style="color:red;">∇ -10.68%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.77 ms / <div style="color:gray;">5.18 ms</div></td><td align="center"><div style="color:red;">Δ 11.41%</div></td><td align="right">173.21 Hz / <div style="color:gray;">192.98 Hz</div></td><td align="center"><div style="color:red;">∇ -10.24%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.05 us / <div style="color:gray;">1.59 us</div></td><td align="center"><div style="color:red;">Δ 28.78%</div></td><td align="right">487.07 KHz / <div style="color:gray;">627.25 KHz</div></td><td align="center"><div style="color:red;">∇ -22.35%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">140.79 us / <div style="color:gray;">126.68 us</div></td><td align="center"><div style="color:red;">Δ 11.14%</div></td><td align="right">7.10 KHz / <div style="color:gray;">7.89 KHz</div></td><td align="center"><div style="color:red;">∇ -10.02%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.17 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:red;">Δ 9.45%</div></td><td align="right">65.91 Hz / <div style="color:gray;">72.14 Hz</div></td><td align="center"><div style="color:red;">∇ -8.64%</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;">6.54 ms</div></td><td align="center"><div style="color:red;">Δ 32.87%</div></td><td align="right">115.01 Hz / <div style="color:gray;">152.81 Hz</div></td><td align="center"><div style="color:red;">∇ -24.74%</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;">174.77 ms</div></td><td align="center"><div style="color:red;">Δ 12.40%</div></td><td align="right">5.09 Hz / <div style="color:gray;">5.72 Hz</div></td><td align="center"><div style="color:red;">∇ -11.03%</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;">6.88 ms</div></td><td align="center"><div style="color:red;">Δ 26.78%</div></td><td align="right">114.60 Hz / <div style="color:gray;">145.28 Hz</div></td><td align="center"><div style="color:red;">∇ -21.12%</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;">181.38 ms</div></td><td align="center"><div style="color:red;">Δ 9.43%</div></td><td align="right">5.04 Hz / <div style="color:gray;">5.51 Hz</div></td><td align="center"><div style="color:red;">∇ -8.62%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.29 ns / <div style="color:gray;">9.54 ns</div></td><td align="center"><div style="color:blue;">∇ -23.51%</div></td><td align="right">137.11 MHz / <div style="color:gray;">104.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 30.74%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.33 ns / <div style="color:gray;">9.69 ns</div></td><td align="center"><div style="color:blue;">∇ -24.38%</div></td><td align="right">136.49 MHz / <div style="color:gray;">103.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.25%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.27 ns / <div style="color:gray;">52.06 ns</div></td><td align="center"><div style="color:blue;">∇ -1.51%</div></td><td align="right">19.50 MHz / <div style="color:gray;">19.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.54%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">51.74 ns / <div style="color:gray;">50.73 ns</div></td><td align="center"><div style="color:red;">Δ 1.98%</div></td><td align="right">19.33 MHz / <div style="color:gray;">19.71 MHz</div></td><td align="center"><div style="color:red;">∇ -1.94%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">29.39 ns / <div style="color:gray;">24.47 ns</div></td><td align="center"><div style="color:red;">Δ 20.10%</div></td><td align="right">34.03 MHz / <div style="color:gray;">40.87 MHz</div></td><td align="center"><div style="color:red;">∇ -16.73%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.64 us / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:red;">Δ 112.74%</div></td><td align="right">378.48 KHz / <div style="color:gray;">805.20 KHz</div></td><td align="center"><div style="color:red;">∇ -53.00%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">8.53 us / <div style="color:gray;">3.19 us</div></td><td align="center"><div style="color:red;">Δ 167.71%</div></td><td align="right">117.18 KHz / <div style="color:gray;">313.70 KHz</div></td><td align="center"><div style="color:red;">∇ -62.65%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">215.16 ns / <div style="color:gray;">130.03 ns</div></td><td align="center"><div style="color:red;">Δ 65.48%</div></td><td align="right">4.65 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -39.57%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">359.98 ns / <div style="color:gray;">198.35 ns</div></td><td align="center"><div style="color:red;">Δ 81.49%</div></td><td align="right">2.78 MHz / <div style="color:gray;">5.04 MHz</div></td><td align="center"><div style="color:red;">∇ -44.90%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">732.12 ns / <div style="color:gray;">451.66 ns</div></td><td align="center"><div style="color:red;">Δ 62.09%</div></td><td align="right">1.37 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -38.31%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">213.59 ns / <div style="color:gray;">136.92 ns</div></td><td align="center"><div style="color:red;">Δ 55.99%</div></td><td align="right">4.68 MHz / <div style="color:gray;">7.30 MHz</div></td><td align="center"><div style="color:red;">∇ -35.89%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">339.30 ns / <div style="color:gray;">213.52 ns</div></td><td align="center"><div style="color:red;">Δ 58.91%</div></td><td align="right">2.95 MHz / <div style="color:gray;">4.68 MHz</div></td><td align="center"><div style="color:red;">∇ -37.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">760.92 ns / <div style="color:gray;">478.55 ns</div></td><td align="center"><div style="color:red;">Δ 59.00%</div></td><td align="right">1.31 MHz / <div style="color:gray;">2.09 MHz</div></td><td align="center"><div style="color:red;">∇ -37.11%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">411.34 ns / <div style="color:gray;">244.07 ns</div></td><td align="center"><div style="color:red;">Δ 68.53%</div></td><td align="right">2.43 MHz / <div style="color:gray;">4.10 MHz</div></td><td align="center"><div style="color:red;">∇ -40.66%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.59 us / <div style="color:gray;">3.12 us</div></td><td align="center"><div style="color:red;">Δ 14.86%</div></td><td align="right">278.70 KHz / <div style="color:gray;">320.11 KHz</div></td><td align="center"><div style="color:red;">∇ -12.94%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">34.34 us / <div style="color:gray;">30.82 us</div></td><td align="center"><div style="color:red;">Δ 11.40%</div></td><td align="right">29.12 KHz / <div style="color:gray;">32.44 KHz</div></td><td align="center"><div style="color:red;">∇ -10.23%</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;">29.87 ms</div></td><td align="center"><div style="color:blue;">∇ -6.51%</div></td><td align="right">35.81 Hz / <div style="color:gray;">33.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.97%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.53 ms / <div style="color:gray;">42.98 ms</div></td><td align="center"><div style="color:red;">Δ 1.27%</div></td><td align="right">22.97 Hz / <div style="color:gray;">23.26 Hz</div></td><td align="center"><div style="color:red;">∇ -1.26%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">70.76 ms / <div style="color:gray;">69.03 ms</div></td><td align="center"><div style="color:red;">Δ 2.51%</div></td><td align="right">14.13 Hz / <div style="color:gray;">14.49 Hz</div></td><td align="center"><div style="color:red;">∇ -2.45%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.43 ms / <div style="color:gray;">22.86 ms</div></td><td align="center"><div style="color:red;">Δ 2.53%</div></td><td align="right">42.67 Hz / <div style="color:gray;">43.75 Hz</div></td><td align="center"><div style="color:red;">∇ -2.46%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">36.52 ms / <div style="color:gray;">35.20 ms</div></td><td align="center"><div style="color:red;">Δ 3.72%</div></td><td align="right">27.39 Hz / <div style="color:gray;">28.41 Hz</div></td><td align="center"><div style="color:red;">∇ -3.59%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.82 ms / <div style="color:gray;">57.29 ms</div></td><td align="center"><div style="color:red;">Δ 4.40%</div></td><td align="right">16.72 Hz / <div style="color:gray;">17.45 Hz</div></td><td align="center"><div style="color:red;">∇ -4.22%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">6.68 ms / <div style="color:gray;">4.45 ms</div></td><td align="center"><div style="color:red;">Δ 50.07%</div></td><td align="right">149.74 Hz / <div style="color:gray;">224.70 Hz</div></td><td align="center"><div style="color:red;">∇ -33.36%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.62 ms / <div style="color:gray;">8.06 ms</div></td><td align="center"><div style="color:red;">Δ 7.00%</div></td><td align="right">116.03 Hz / <div style="color:gray;">124.15 Hz</div></td><td align="center"><div style="color:red;">∇ -6.54%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.49 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:red;">Δ 4.56%</div></td><td align="right">69.01 Hz / <div style="color:gray;">72.16 Hz</div></td><td align="center"><div style="color:red;">∇ -4.37%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">21.12 us / <div style="color:gray;">17.29 us</div></td><td align="center"><div style="color:red;">Δ 22.19%</div></td><td align="right">47.34 KHz / <div style="color:gray;">57.84 KHz</div></td><td align="center"><div style="color:red;">∇ -18.16%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">19.36 us / <div style="color:gray;">16.49 us</div></td><td align="center"><div style="color:red;">Δ 17.45%</div></td><td align="right">51.65 KHz / <div style="color:gray;">60.66 KHz</div></td><td align="center"><div style="color:red;">∇ -14.85%</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;">9.72 us</div></td><td align="center"><div style="color:blue;">∇ -35.83%</div></td><td align="right">160.34 KHz / <div style="color:gray;">102.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.84%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">40.83 ms / <div style="color:gray;">31.46 ms</div></td><td align="center"><div style="color:red;">Δ 29.77%</div></td><td align="right">24.49 Hz / <div style="color:gray;">31.79 Hz</div></td><td align="center"><div style="color:red;">∇ -22.94%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">33.62 ms / <div style="color:gray;">30.94 ms</div></td><td align="center"><div style="color:red;">Δ 8.63%</div></td><td align="right">29.75 Hz / <div style="color:gray;">32.32 Hz</div></td><td align="center"><div style="color:red;">∇ -7.95%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">705.28 ms / <div style="color:gray;">653.53 ms</div></td><td align="center"><div style="color:red;">Δ 7.92%</div></td><td align="right">1.42 Hz / <div style="color:gray;">1.53 Hz</div></td><td align="center"><div style="color:red;">∇ -7.34%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">214.22 ms / <div style="color:gray;">210.38 ms</div></td><td align="center"><div style="color:red;">Δ 1.82%</div></td><td align="right">4.67 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:red;">∇ -1.79%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">326.57 ms / <div style="color:gray;">243.66 ms</div></td><td align="center"><div style="color:red;">Δ 34.03%</div></td><td align="right">3.06 Hz / <div style="color:gray;">4.10 Hz</div></td><td align="center"><div style="color:red;">∇ -25.39%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.69 ms / <div style="color:gray;">6.32 ms</div></td><td align="center"><div style="color:red;">Δ 21.62%</div></td><td align="right">130.08 Hz / <div style="color:gray;">158.19 Hz</div></td><td align="center"><div style="color:red;">∇ -17.77%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">105.90 ms / <div style="color:gray;">45.12 ms</div></td><td align="center"><div style="color:red;">Δ 134.72%</div></td><td align="right">9.44 Hz / <div style="color:gray;">22.16 Hz</div></td><td align="center"><div style="color:red;">∇ -57.40%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">57.67 ms / <div style="color:gray;">46.60 ms</div></td><td align="center"><div style="color:red;">Δ 23.77%</div></td><td align="right">17.34 Hz / <div style="color:gray;">21.46 Hz</div></td><td align="center"><div style="color:red;">∇ -19.21%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.27 ms / <div style="color:gray;">40.89 ms</div></td><td align="center"><div style="color:red;">Δ 22.94%</div></td><td align="right">19.89 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:red;">∇ -18.66%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.38 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:red;">Δ 7.47%</div></td><td align="right">724.62 mHz / <div style="color:gray;">778.73 mHz</div></td><td align="center"><div style="color:red;">∇ -6.95%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">618.66 ms / <div style="color:gray;">502.54 ms</div></td><td align="center"><div style="color:red;">Δ 23.11%</div></td><td align="right">1.62 Hz / <div style="color:gray;">1.99 Hz</div></td><td align="center"><div style="color:red;">∇ -18.77%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">22.11 ms / <div style="color:gray;">19.71 ms</div></td><td align="center"><div style="color:red;">Δ 12.19%</div></td><td align="right">45.22 Hz / <div style="color:gray;">50.74 Hz</div></td><td align="center"><div style="color:red;">∇ -10.87%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">14.58 ms / <div style="color:gray;">13.01 ms</div></td><td align="center"><div style="color:red;">Δ 12.10%</div></td><td align="right">68.57 Hz / <div style="color:gray;">76.86 Hz</div></td><td align="center"><div style="color:red;">∇ -10.79%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">354.58 us / <div style="color:gray;">236.53 us</div></td><td align="center"><div style="color:red;">Δ 49.91%</div></td><td align="right">2.82 KHz / <div style="color:gray;">4.23 KHz</div></td><td align="center"><div style="color:red;">∇ -33.29%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">284.04 us / <div style="color:gray;">218.81 us</div></td><td align="center"><div style="color:red;">Δ 29.81%</div></td><td align="right">3.52 KHz / <div style="color:gray;">4.57 KHz</div></td><td align="center"><div style="color:red;">∇ -22.96%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">549.28 us / <div style="color:gray;">329.87 us</div></td><td align="center"><div style="color:red;">Δ 66.52%</div></td><td align="right">1.82 KHz / <div style="color:gray;">3.03 KHz</div></td><td align="center"><div style="color:red;">∇ -39.95%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">452.79 us / <div style="color:gray;">280.10 us</div></td><td align="center"><div style="color:red;">Δ 61.66%</div></td><td align="right">2.21 KHz / <div style="color:gray;">3.57 KHz</div></td><td align="center"><div style="color:red;">∇ -38.14%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.86 ms / <div style="color:gray;">2.72 ms</div></td><td align="center"><div style="color:red;">Δ 41.63%</div></td><td align="right">259.12 Hz / <div style="color:gray;">367.00 Hz</div></td><td align="center"><div style="color:red;">∇ -29.40%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.88 ms / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:red;">Δ 47.33%</div></td><td align="right">347.75 Hz / <div style="color:gray;">512.34 Hz</div></td><td align="center"><div style="color:red;">∇ -32.12%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">5.74 ms / <div style="color:gray;">3.21 ms</div></td><td align="center"><div style="color:red;">Δ 78.84%</div></td><td align="right">174.28 Hz / <div style="color:gray;">311.68 Hz</div></td><td align="center"><div style="color:red;">∇ -44.08%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.44 ms / <div style="color:gray;">3.23 ms</div></td><td align="center"><div style="color:red;">Δ 37.55%</div></td><td align="right">225.33 Hz / <div style="color:gray;">309.95 Hz</div></td><td align="center"><div style="color:red;">∇ -27.30%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">1.35 ms / <div style="color:gray;">274.22 us</div></td><td align="center"><div style="color:red;">Δ 390.76%</div></td><td align="right">743.07 Hz / <div style="color:gray;">3.65 KHz</div></td><td align="center"><div style="color:red;">∇ -79.62%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">1.09 ms / <div style="color:gray;">263.97 us</div></td><td align="center"><div style="color:red;">Δ 312.68%</div></td><td align="right">917.96 Hz / <div style="color:gray;">3.79 KHz</div></td><td align="center"><div style="color:red;">∇ -75.77%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">1.74 ms / <div style="color:gray;">589.01 us</div></td><td align="center"><div style="color:red;">Δ 195.95%</div></td><td align="right">573.66 Hz / <div style="color:gray;">1.70 KHz</div></td><td align="center"><div style="color:red;">∇ -66.21%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">1.46 ms / <div style="color:gray;">562.97 us</div></td><td align="center"><div style="color:red;">Δ 159.97%</div></td><td align="right">683.28 Hz / <div style="color:gray;">1.78 KHz</div></td><td align="center"><div style="color:red;">∇ -61.53%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">13.92 ms / <div style="color:gray;">3.23 ms</div></td><td align="center"><div style="color:red;">Δ 330.21%</div></td><td align="right">71.86 Hz / <div style="color:gray;">309.17 Hz</div></td><td align="center"><div style="color:red;">∇ -76.76%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">11.12 ms / <div style="color:gray;">2.62 ms</div></td><td align="center"><div style="color:red;">Δ 324.43%</div></td><td align="right">89.92 Hz / <div style="color:gray;">381.66 Hz</div></td><td align="center"><div style="color:red;">∇ -76.44%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">17.58 ms / <div style="color:gray;">6.11 ms</div></td><td align="center"><div style="color:red;">Δ 187.53%</div></td><td align="right">56.89 Hz / <div style="color:gray;">163.57 Hz</div></td><td align="center"><div style="color:red;">∇ -65.22%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">14.12 ms / <div style="color:gray;">5.21 ms</div></td><td align="center"><div style="color:red;">Δ 171.17%</div></td><td align="right">70.81 Hz / <div style="color:gray;">192.01 Hz</div></td><td align="center"><div style="color:red;">∇ -63.12%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.675531 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
