<html><head><title>mrpt-performance results - 0.9.2-GCC-64bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.2-GCC-64bit vs. 0.9.1-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.2-GCC-64bit / <div style="color:gray;">0.9.1-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">19.99 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:blue;">∇ -7.45%</div></td><td align="right">50.03 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.05%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">19.29 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:blue;">∇ -5.95%</div></td><td align="right">51.84 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.33%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">42.85 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -90.46%</div></td><td align="right">23.34 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 947.89%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">37.80 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -83.83%</div></td><td align="right">26.46 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 518.60%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">7.25 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:blue;">∇ -32.01%</div></td><td align="right">137.89 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:blue;">Δ 47.08%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.91 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 18.35%</div></td><td align="right">83.98 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -15.50%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">48.98 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:red;">Δ 29.90%</div></td><td align="right">20.42 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:red;">∇ -23.02%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">34.95 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:blue;">∇ -14.70%</div></td><td align="right">28.61 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.24%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">78.58 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:red;">Δ 0.52%</div></td><td align="right">12.73 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:red;">∇ -0.52%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">70.31 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 13.10%</div></td><td align="right">14.22 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -11.58%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">61.33 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:blue;">∇ -3.97%</div></td><td align="right">16.31 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.13%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">65.17 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:red;">Δ 5.14%</div></td><td align="right">15.35 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:red;">∇ -4.89%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">44.66 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:blue;">∇ -4.98%</div></td><td align="right">22.39 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.24%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.43 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:blue;">∇ -0.93%</div></td><td align="right">25.36 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.94%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">18.24 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:blue;">∇ -19.38%</div></td><td align="right">54.84 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 24.04%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">17.94 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:blue;">∇ -5.24%</div></td><td align="right">55.75 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.53%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">55.43 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -85.83%</div></td><td align="right">18.04 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 605.91%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">17.64 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:blue;">∇ -2.29%</div></td><td align="right">56.69 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.35%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.70 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -95.30%</div></td><td align="right">59.89 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 2026.14%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.28 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:blue;">∇ -2.26%</div></td><td align="right">5.91 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.31%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">760.96 us / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -6.60%</div></td><td align="right">1.31 KHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.07%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">760.62 us / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -7.46%</div></td><td align="right">1.31 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.06%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.47 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:blue;">∇ -1.01%</div></td><td align="right">105.55 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.02%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">545.30 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:blue;">∇ -20.08%</div></td><td align="right">1.83 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 25.12%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">544.10 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:red;">Δ 1.93%</div></td><td align="right">1.84 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:red;">∇ -1.89%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.11 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:blue;">∇ -4.78%</div></td><td align="right">123.33 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.01%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">20.92 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:red;">Δ 1.58%</div></td><td align="right">47.81 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:red;">∇ -1.56%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">20.15 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:blue;">∇ -10.86%</div></td><td align="right">49.63 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.18%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.04 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:blue;">∇ -15.47%</div></td><td align="right">18.51 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.30%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.27 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:blue;">∇ -15.26%</div></td><td align="right">18.09 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.00%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.35 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">2.89 GHz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">1.19 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">842.46 MHz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.70 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:red;">Δ 0.95%</div></td><td align="right">588.93 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:red;">∇ -0.94%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.77 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:blue;">∇ -3.01%</div></td><td align="right">360.36 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.10%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">73.10 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:blue;">∇ -0.54%</div></td><td align="right">13.68 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.55%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">23.80 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:blue;">∇ -1.24%</div></td><td align="right">42.02 MHz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.26%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">72.40 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 0.42%</div></td><td align="right">13.81 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -0.41%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">23.40 ns / <div style="color:gray;">23.50 ns</div></td><td align="center"><div style="color:blue;">∇ -0.43%</div></td><td align="right">42.74 MHz / <div style="color:gray;">42.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.43%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:blue;">∇ -2.13%</div></td><td align="right">9.05 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.17%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">45.10 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:red;">Δ 0.22%</div></td><td align="right">22.17 MHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:red;">∇ -0.22%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">116.30 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 5.25%</div></td><td align="right">8.60 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -4.99%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.20 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:red;">Δ 0.22%</div></td><td align="right">22.12 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:red;">∇ -0.22%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.19 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -10.82%</div></td><td align="right">192.77 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.14%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.55 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:blue;">∇ -0.59%</div></td><td align="right">281.56 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.59%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.18 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -11.98%</div></td><td align="right">193.05 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.60%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">3.61 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -5.42%</div></td><td align="right">277.05 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.73%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">333.00 ns / <div style="color:gray;">449.00 ns</div></td><td align="center"><div style="color:blue;">∇ -25.84%</div></td><td align="right">3.00 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.83%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">21.00 ns / <div style="color:gray;">33.00 ns</div></td><td align="center"><div style="color:blue;">∇ -36.36%</div></td><td align="right">47.62 MHz / <div style="color:gray;">30.30 MHz</div></td><td align="center"><div style="color:blue;">Δ 57.14%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">329.00 ns / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:blue;">∇ -20.34%</div></td><td align="right">3.04 MHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 25.53%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">21.00 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:blue;">∇ -4.55%</div></td><td align="right">47.62 MHz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.76%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">1.22 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:blue;">∇ -7.38%</div></td><td align="right">821.69 KHz / <div style="color:gray;">761.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.97%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">468.00 ns / <div style="color:gray;">468.00 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">2.14 MHz / <div style="color:gray;">2.14 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.20 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:blue;">∇ -3.84%</div></td><td align="right">832.64 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.00%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">578.00 ns / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">1.73 MHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">25.24 us / <div style="color:gray;">28.01 us</div></td><td align="center"><div style="color:blue;">∇ -9.88%</div></td><td align="right">39.62 KHz / <div style="color:gray;">35.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.97%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">12.60 us / <div style="color:gray;">12.67 us</div></td><td align="center"><div style="color:blue;">∇ -0.56%</div></td><td align="right">79.36 KHz / <div style="color:gray;">78.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.56%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">25.64 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:blue;">∇ -10.31%</div></td><td align="right">39.01 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.50%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.36 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:red;">Δ 0.97%</div></td><td align="right">57.60 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:red;">∇ -0.96%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">190.86 us / <div style="color:gray;">205.67 us</div></td><td align="center"><div style="color:blue;">∇ -7.20%</div></td><td align="right">5.24 KHz / <div style="color:gray;">4.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.76%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">88.89 us / <div style="color:gray;">92.66 us</div></td><td align="center"><div style="color:blue;">∇ -4.07%</div></td><td align="right">11.25 KHz / <div style="color:gray;">10.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.25%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">189.04 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -5.93%</div></td><td align="right">5.29 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.30%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">121.47 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -9.69%</div></td><td align="right">8.23 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.73%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">6.40 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">156.25 MHz / <div style="color:gray;">156.25 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: det, fix[float ] 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[double] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:blue;">∇ -27.27%</div></td><td align="right">156.25 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 37.50%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">97.09 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: det, fix[float ] 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[double] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">97.09 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</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">692.40 ns / <div style="color:gray;">931.50 ns</div></td><td align="center"><div style="color:blue;">∇ -25.67%</div></td><td align="right">1.44 MHz / <div style="color:gray;">1.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.53%</div></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">207.00 ns / <div style="color:gray;">215.70 ns</div></td><td align="center"><div style="color:blue;">∇ -4.03%</div></td><td align="right">4.83 MHz / <div style="color:gray;">4.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.20%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">696.30 ns / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:blue;">∇ -5.79%</div></td><td align="right">1.44 MHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.15%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">212.30 ns / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:blue;">∇ -3.41%</div></td><td align="right">4.71 MHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.53%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">5.39 us / <div style="color:gray;">5.64 us</div></td><td align="center"><div style="color:blue;">∇ -4.45%</div></td><td align="right">185.56 KHz / <div style="color:gray;">177.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.66%</div></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">3.90 us / <div style="color:gray;">4.05 us</div></td><td align="center"><div style="color:blue;">∇ -3.72%</div></td><td align="right">256.35 KHz / <div style="color:gray;">246.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.87%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">6.40 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:blue;">∇ -1.82%</div></td><td align="right">156.16 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.86%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">4.72 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:blue;">∇ -0.11%</div></td><td align="right">211.77 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.11%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">30.35 us / <div style="color:gray;">30.83 us</div></td><td align="center"><div style="color:blue;">∇ -1.57%</div></td><td align="right">32.95 KHz / <div style="color:gray;">32.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.59%</div></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">26.47 us / <div style="color:gray;">25.85 us</div></td><td align="center"><div style="color:red;">Δ 2.39%</div></td><td align="right">37.78 KHz / <div style="color:gray;">38.68 KHz</div></td><td align="center"><div style="color:red;">∇ -2.33%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.49 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:red;">Δ 0.31%</div></td><td align="right">30.77 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:red;">∇ -0.30%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">27.34 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:blue;">∇ -0.69%</div></td><td align="right">36.58 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.69%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:blue;">∇ -23.53%</div></td><td align="right">7.69 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 30.77%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">140.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 7.69%</div></td><td align="right">7.14 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -7.14%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.52 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:blue;">∇ -1.12%</div></td><td align="right">54.00 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.13%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.55 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:blue;">∇ -1.14%</div></td><td align="right">60.42 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.15%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -3.53%</div></td><td align="right">121.95 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.66%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">82.90 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:blue;">∇ -11.71%</div></td><td align="right">12.06 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.27%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">52.70 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:blue;">∇ -0.38%</div></td><td align="right">18.98 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.38%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">38.59 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:blue;">∇ -3.60%</div></td><td align="right">25.91 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.73%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">409.80 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:blue;">∇ -0.36%</div></td><td align="right">2.44 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.37%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">70.75 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:blue;">∇ -5.64%</div></td><td align="right">14.13 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.98%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">8.58 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -0.36%</div></td><td align="right">116.60 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.36%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">171.20 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:blue;">∇ -7.63%</div></td><td align="right">5.84 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.27%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">133.58 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -1.34%</div></td><td align="right">7.49 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.36%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">341.85 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:blue;">∇ -4.99%</div></td><td align="right">2.93 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">354.49 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -2.70%</div></td><td align="right">2.82 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.77%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">401.50 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:blue;">∇ -5.84%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.20%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">773.25 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -3.36%</div></td><td align="right">1.29 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.48%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">469.25 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:blue;">∇ -5.70%</div></td><td align="right">2.13 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.04%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 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">10.00 THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">2.58 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:blue;">∇ -0.21%</div></td><td align="right">388.02 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.21%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.84 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:red;">Δ 4.87%</div></td><td align="right">127.58 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:red;">∇ -4.64%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 0.88%</div></td><td align="right">1.82 GHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -0.87%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.06 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:blue;">∇ -2.62%</div></td><td align="right">9.80 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.69%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">289.47 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:blue;">∇ -1.98%</div></td><td align="right">3.45 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.02%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.97 ms / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:red;">Δ 7.67%</div></td><td align="right">508.65 Hz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:red;">∇ -7.12%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.74 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:blue;">∇ -5.49%</div></td><td align="right">63.55 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.81%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.04 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:blue;">∇ -2.45%</div></td><td align="right">329.30 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.51%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.32 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 0.93%</div></td><td align="right">231.48 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -0.93%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">352.12 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:blue;">∇ -0.80%</div></td><td align="right">2.84 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.81%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.14 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 0.06%</div></td><td align="right">241.51 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -0.06%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.68 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 9.35%</div></td><td align="right">213.68 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -8.55%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">359.52 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:blue;">∇ -0.48%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.48%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.03 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:blue;">∇ -1.46%</div></td><td align="right">248.28 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.48%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.41 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 2.70%</div></td><td align="right">711.74 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -2.63%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">97.21 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:blue;">∇ -1.77%</div></td><td align="right">10.29 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.81%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.62 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:blue;">∇ -2.80%</div></td><td align="right">86.05 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.88%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.59 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:blue;">∇ -0.15%</div></td><td align="right">178.77 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.15%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">129.28 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:blue;">∇ -0.21%</div></td><td align="right">7.73 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.21%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.66 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 0.17%</div></td><td align="right">176.53 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -0.17%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">131.22 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:blue;">∇ -0.91%</div></td><td align="right">7.62 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.92%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">14.50 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -7.62%</div></td><td align="right">68.95 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.25%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">14.50 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -7.60%</div></td><td align="right">68.96 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.22%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">68.97 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -2.03%</div></td><td align="right">14.50 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.07%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">68.98 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -1.98%</div></td><td align="right">14.50 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.02%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">10.45 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:blue;">∇ -5.59%</div></td><td align="right">95.72 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.92%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.31 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:blue;">∇ -1.72%</div></td><td align="right">765.12 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.75%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">2.73 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:blue;">∇ -10.20%</div></td><td align="right">366.37 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.36%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">158.91 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -2.39%</div></td><td align="right">6.29 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.45%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">237.40 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:blue;">∇ -3.33%</div></td><td align="right">4.21 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.45%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">490.03 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:blue;">∇ -4.80%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.04%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">164.67 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -5.27%</div></td><td align="right">6.07 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.57%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">249.81 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:blue;">∇ -3.70%</div></td><td align="right">4.00 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.85%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">514.70 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:blue;">∇ -1.77%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.80%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">296.20 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:red;">Δ 2.63%</div></td><td align="right">3.38 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:red;">∇ -2.57%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.04 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:blue;">∇ -1.01%</div></td><td align="right">328.91 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.02%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.22 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:blue;">∇ -0.12%</div></td><td align="right">33.09 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.12%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -3.18%</div></td><td align="right">10.09 GHz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 3.29%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">35.06 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:red;">Δ 10.36%</div></td><td align="right">28.52 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:red;">∇ -9.39%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">48.96 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:red;">Δ 7.14%</div></td><td align="right">20.42 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:red;">∇ -6.67%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">74.65 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:red;">Δ 1.79%</div></td><td align="right">13.40 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:red;">∇ -1.76%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.96 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:red;">Δ 10.35%</div></td><td align="right">33.37 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:red;">∇ -9.38%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.79 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:red;">Δ 6.15%</div></td><td align="right">23.37 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:red;">∇ -5.79%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">64.15 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:blue;">∇ -0.45%</div></td><td align="right">15.59 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.45%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">3.90 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:blue;">∇ -13.66%</div></td><td align="right">256.30 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.82%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">6.21 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:blue;">∇ -15.49%</div></td><td align="right">160.99 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.33%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.55 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:blue;">∇ -5.92%</div></td><td align="right">94.74 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.29%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">5.06 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:blue;">∇ -19.94%</div></td><td align="right">197.63 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.90%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.30 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:blue;">∇ -10.04%</div></td><td align="right">232.56 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.16%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">2.10 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:blue;">∇ -1.87%</div></td><td align="right">476.19 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.90%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">24.28 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:blue;">∇ -14.26%</div></td><td align="right">41.19 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.63%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">24.43 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:blue;">∇ -10.66%</div></td><td align="right">40.94 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.93%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">610.42 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:blue;">∇ -4.91%</div></td><td align="right">1.64 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">167.77 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:blue;">∇ -1.69%</div></td><td align="right">5.96 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.72%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">197.61 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:blue;">∇ -1.79%</div></td><td align="right">5.06 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.82%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.24 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 0.43%</div></td><td align="right">190.68 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -0.43%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">59.98 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:blue;">∇ -1.36%</div></td><td align="right">16.67 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.38%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">40.88 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:blue;">∇ -5.51%</div></td><td align="right">24.46 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.83%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">35.50 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:blue;">∇ -11.06%</div></td><td align="right">28.17 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.44%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.21 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:blue;">∇ -5.40%</div></td><td align="right">828.07 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:blue;">Δ 5.71%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.92 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:blue;">∇ -1.62%</div></td><td align="right">2.63 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.65%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.06 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:blue;">∇ -0.37%</div></td><td align="right">62.26 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.37%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.73 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:blue;">∇ -1.85%</div></td><td align="right">93.18 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.88%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">117.65 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">8.50 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">105.13 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">9.51 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">85.19 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.74 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">84.46 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.84 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">172.53 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.80 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">187.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.32 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">168.61 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.93 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">167.39 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.97 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.73 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">579.22 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.45 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">690.59 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">884.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.13 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">862.22 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.16 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.97 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">506.65 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.31 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">433.74 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.86 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">538.12 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.86 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">538.35 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">177.23 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.64 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">178.36 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.61 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">157.86 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.33 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">159.54 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.27 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">507.00 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.97 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">509.46 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.96 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">473.36 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.11 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">474.07 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.11 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.47 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">404.60 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.48 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">402.82 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.75 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">570.48 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.77 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">565.81 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">5.53 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">180.97 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">5.56 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">179.70 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.85 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">206.16 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.85 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">206.11 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">96.04 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">10.41 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">80.39 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">12.44 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">885.05 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">804.04 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.24 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">19.14 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">52.26 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.65 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">103.63 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">290.37 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.44 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">117.73 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">8.49 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">268.93 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.72 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">103.05 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">9.70 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.644529 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
