<html><head><title>mrpt-performance results - 0.9.2-MSVC9-32bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.2-MSVC9-32bit 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-MSVC9-32bit / <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">30.39 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:red;">Δ 40.72%</div></td><td align="right">32.90 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:red;">∇ -28.94%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">52.58 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:red;">Δ 156.34%</div></td><td align="right">19.02 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:red;">∇ -60.99%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">264.70 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -41.05%</div></td><td align="right">3.78 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 69.63%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">98.01 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -58.09%</div></td><td align="right">10.20 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 138.59%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">27.86 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:red;">Δ 161.22%</div></td><td align="right">35.89 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:red;">∇ -61.72%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">19.17 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 90.54%</div></td><td align="right">52.16 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -47.52%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">51.66 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:red;">Δ 36.99%</div></td><td align="right">19.36 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:red;">∇ -27.00%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">46.91 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:red;">Δ 14.49%</div></td><td align="right">21.32 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:red;">∇ -12.65%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">99.28 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:red;">Δ 27.00%</div></td><td align="right">10.07 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:red;">∇ -21.26%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">89.67 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 44.24%</div></td><td align="right">11.15 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -30.67%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">82.07 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:red;">Δ 28.51%</div></td><td align="right">12.18 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:red;">∇ -22.18%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">64.58 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:red;">Δ 4.19%</div></td><td align="right">15.49 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:red;">∇ -4.02%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">87.19 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:red;">Δ 85.51%</div></td><td align="right">11.47 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:red;">∇ -46.09%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">57.14 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:red;">Δ 43.58%</div></td><td align="right">17.50 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:red;">∇ -30.35%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">48.22 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:red;">Δ 113.18%</div></td><td align="right">20.74 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:red;">∇ -53.09%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">29.64 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:red;">Δ 56.58%</div></td><td align="right">33.74 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:red;">∇ -36.14%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">84.32 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -78.45%</div></td><td align="right">11.86 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 364.03%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.72 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 70.15%</div></td><td align="right">32.55 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -41.23%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.02 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -90.70%</div></td><td align="right">30.29 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 975.14%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">206.69 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:red;">Δ 19.34%</div></td><td align="right">4.84 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:red;">∇ -16.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.35 us / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -99.83%</div></td><td align="right">739.68 KHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 60165.82%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.40 us / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.83%</div></td><td align="right">712.12 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 58430.04%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">23.15 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:red;">Δ 141.83%</div></td><td align="right">43.20 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:red;">∇ -58.65%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">1.62 us / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:red;">Δ 137.54%</div></td><td align="right">617.00 KHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:red;">∇ -57.90%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">1.63 us / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:red;">Δ 205.27%</div></td><td align="right">613.67 KHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:red;">∇ -67.24%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">15.82 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:red;">Δ 85.79%</div></td><td align="right">63.21 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:red;">∇ -46.18%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">38.75 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:red;">Δ 88.16%</div></td><td align="right">25.81 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:red;">∇ -46.85%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">38.69 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:red;">Δ 71.17%</div></td><td align="right">25.85 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:red;">∇ -41.58%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">163.36 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:red;">Δ 155.55%</div></td><td align="right">6.12 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:red;">∇ -60.87%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">213.06 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:red;">Δ 226.69%</div></td><td align="right">4.69 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:red;">∇ -69.39%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">3.56 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:red;">Δ 929.39%</div></td><td align="right">280.77 MHz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:red;">∇ -90.29%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">3.29 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:red;">Δ 176.97%</div></td><td align="right">304.17 MHz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:red;">∇ -63.90%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">2.77 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:red;">Δ 64.71%</div></td><td align="right">360.95 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:red;">∇ -39.29%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">6.07 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:red;">Δ 112.10%</div></td><td align="right">164.80 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:red;">∇ -52.85%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">168.66 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 129.47%</div></td><td align="right">5.93 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -56.42%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">109.47 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:red;">Δ 354.23%</div></td><td align="right">9.14 MHz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:red;">∇ -77.98%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">159.15 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 120.74%</div></td><td align="right">6.28 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -54.70%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">87.59 ns / <div style="color:gray;">23.50 ns</div></td><td align="center"><div style="color:red;">Δ 272.74%</div></td><td align="right">11.42 MHz / <div style="color:gray;">42.55 MHz</div></td><td align="center"><div style="color:red;">∇ -73.17%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">272.34 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 141.22%</div></td><td align="right">3.67 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -58.54%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">190.04 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:red;">Δ 322.31%</div></td><td align="right">5.26 MHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:red;">∇ -76.32%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">245.84 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 122.48%</div></td><td align="right">4.07 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -55.05%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">138.91 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:red;">Δ 208.00%</div></td><td align="right">7.20 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:red;">∇ -67.53%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">16.67 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:red;">Δ 186.54%</div></td><td align="right">60.00 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:red;">∇ -65.10%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">12.92 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:red;">Δ 261.61%</div></td><td align="right">77.41 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:red;">∇ -72.35%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">13.30 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:red;">Δ 126.09%</div></td><td align="right">75.16 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:red;">∇ -55.77%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">9.66 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:red;">Δ 153.12%</div></td><td align="right">103.53 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:red;">∇ -60.49%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">1.46 us / <div style="color:gray;">449.00 ns</div></td><td align="center"><div style="color:red;">Δ 224.80%</div></td><td align="right">685.70 KHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:red;">∇ -69.21%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">59.78 ns / <div style="color:gray;">33.00 ns</div></td><td align="center"><div style="color:red;">Δ 81.16%</div></td><td align="right">16.73 MHz / <div style="color:gray;">30.30 MHz</div></td><td align="center"><div style="color:red;">∇ -44.80%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.47 us / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 255.20%</div></td><td align="right">681.67 KHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -71.85%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">30.80 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:red;">Δ 39.99%</div></td><td align="right">32.47 MHz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:red;">∇ -28.57%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">4.39 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:red;">Δ 234.00%</div></td><td align="right">227.86 KHz / <div style="color:gray;">761.04 KHz</div></td><td align="center"><div style="color:red;">∇ -70.06%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">1.39 us / <div style="color:gray;">468.00 ns</div></td><td align="center"><div style="color:red;">Δ 197.20%</div></td><td align="right">718.96 KHz / <div style="color:gray;">2.14 MHz</div></td><td align="center"><div style="color:red;">∇ -66.35%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">5.05 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 303.96%</div></td><td align="right">198.20 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -75.24%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">944.32 ns / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 63.38%</div></td><td align="right">1.06 MHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -38.79%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">80.56 us / <div style="color:gray;">28.01 us</div></td><td align="center"><div style="color:red;">Δ 187.66%</div></td><td align="right">12.41 KHz / <div style="color:gray;">35.71 KHz</div></td><td align="center"><div style="color:red;">∇ -65.24%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">39.77 us / <div style="color:gray;">12.67 us</div></td><td align="center"><div style="color:red;">Δ 213.88%</div></td><td align="right">25.14 KHz / <div style="color:gray;">78.91 KHz</div></td><td align="center"><div style="color:red;">∇ -68.14%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">106.06 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:red;">Δ 271.04%</div></td><td align="right">9.43 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:red;">∇ -73.05%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">18.99 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:red;">Δ 10.45%</div></td><td align="right">52.65 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:red;">∇ -9.46%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">594.37 us / <div style="color:gray;">205.67 us</div></td><td align="center"><div style="color:red;">Δ 189.00%</div></td><td align="right">1.68 KHz / <div style="color:gray;">4.86 KHz</div></td><td align="center"><div style="color:red;">∇ -65.40%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">302.87 us / <div style="color:gray;">92.66 us</div></td><td align="center"><div style="color:red;">Δ 226.85%</div></td><td align="right">3.30 KHz / <div style="color:gray;">10.79 KHz</div></td><td align="center"><div style="color:red;">∇ -69.40%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">805.07 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:red;">Δ 300.64%</div></td><td align="right">1.24 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:red;">∇ -75.04%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">129.27 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -3.89%</div></td><td align="right">7.74 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.05%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">7.97 ns / <div style="color:gray;">6.40 ns</div></td><td align="center"><div style="color:red;">Δ 24.55%</div></td><td align="right">125.45 MHz / <div style="color:gray;">156.25 MHz</div></td><td align="center"><div style="color:red;">∇ -19.71%</div></td></tr> <tr> <td>matrix: det, fix[float ] 2x2</td><td align="right">0.05 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">22.08 GHz / <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">8.47 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:blue;">∇ -3.76%</div></td><td align="right">118.07 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.90%</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">20.83 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 102.27%</div></td><td align="right">48.00 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -50.56%</div></td></tr> <tr> <td>matrix: det, fix[float ] 3x3</td><td align="right">0.05 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">22.08 GHz / <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">15.90 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 54.34%</div></td><td align="right">62.90 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -35.21%</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">2.28 us / <div style="color:gray;">931.50 ns</div></td><td align="center"><div style="color:red;">Δ 144.66%</div></td><td align="right">438.79 KHz / <div style="color:gray;">1.07 MHz</div></td><td align="center"><div style="color:red;">∇ -59.13%</div></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">455.22 ns / <div style="color:gray;">215.70 ns</div></td><td align="center"><div style="color:red;">Δ 111.04%</div></td><td align="right">2.20 MHz / <div style="color:gray;">4.64 MHz</div></td><td align="center"><div style="color:red;">∇ -52.62%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">2.27 us / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 207.05%</div></td><td align="right">440.64 KHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -67.43%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">409.52 ns / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 86.32%</div></td><td align="right">2.44 MHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -46.33%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">18.23 us / <div style="color:gray;">5.64 us</div></td><td align="center"><div style="color:red;">Δ 223.19%</div></td><td align="right">54.86 KHz / <div style="color:gray;">177.30 KHz</div></td><td align="center"><div style="color:red;">∇ -69.06%</div></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">9.64 us / <div style="color:gray;">4.05 us</div></td><td align="center"><div style="color:red;">Δ 137.84%</div></td><td align="right">103.77 KHz / <div style="color:gray;">246.81 KHz</div></td><td align="center"><div style="color:red;">∇ -57.96%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">17.63 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 170.29%</div></td><td align="right">56.72 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -63.00%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">6.19 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 30.88%</div></td><td align="right">161.63 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -23.59%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">109.51 us / <div style="color:gray;">30.83 us</div></td><td align="center"><div style="color:red;">Δ 255.18%</div></td><td align="right">9.13 KHz / <div style="color:gray;">32.43 KHz</div></td><td align="center"><div style="color:red;">∇ -71.84%</div></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">61.78 us / <div style="color:gray;">25.85 us</div></td><td align="center"><div style="color:red;">Δ 138.96%</div></td><td align="right">16.19 KHz / <div style="color:gray;">38.68 KHz</div></td><td align="center"><div style="color:red;">∇ -58.15%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">112.43 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:red;">Δ 247.04%</div></td><td align="right">8.89 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:red;">∇ -71.19%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">35.24 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 28.01%</div></td><td align="right">28.38 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -21.88%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">172.11 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.24%</div></td><td align="right">5.81 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -1.22%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">117.76 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:blue;">∇ -9.42%</div></td><td align="right">8.49 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.40%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">24.40 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 30.29%</div></td><td align="right">40.98 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -23.25%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.68 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:red;">Δ 5.60%</div></td><td align="right">56.57 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:red;">∇ -5.30%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.42 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -0.89%</div></td><td align="right">118.71 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.90%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">118.80 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:red;">Δ 26.52%</div></td><td align="right">8.42 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:red;">∇ -20.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">69.79 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:red;">Δ 31.93%</div></td><td align="right">14.33 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:red;">∇ -24.21%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">52.54 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:red;">Δ 31.25%</div></td><td align="right">19.03 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:red;">∇ -23.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">466.09 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:red;">Δ 13.32%</div></td><td align="right">2.15 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -11.76%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">89.01 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:red;">Δ 18.71%</div></td><td align="right">11.24 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:red;">∇ -15.76%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">9.32 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:red;">Δ 8.33%</div></td><td align="right">107.25 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:red;">∇ -7.69%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">201.22 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:red;">Δ 8.56%</div></td><td align="right">4.97 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:red;">∇ -7.89%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">138.07 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:red;">Δ 1.97%</div></td><td align="right">7.24 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:red;">∇ -1.93%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">401.45 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:red;">Δ 11.58%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -10.38%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">453.62 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:red;">Δ 24.51%</div></td><td align="right">2.20 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:red;">∇ -19.69%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">474.18 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:red;">Δ 11.21%</div></td><td align="right">2.11 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:red;">∇ -10.08%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">945.16 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:red;">Δ 18.12%</div></td><td align="right">1.06 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:red;">∇ -15.34%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">552.77 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:red;">Δ 11.09%</div></td><td align="right">1.81 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:red;">∇ -9.98%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.57 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">179.64 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">7.80 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 202.08%</div></td><td align="right">128.17 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -66.90%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">10.65 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:red;">Δ 42.44%</div></td><td align="right">93.93 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:red;">∇ -29.80%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.20 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 119.43%</div></td><td align="right">834.82 MHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -54.43%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">202.10 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:red;">Δ 92.85%</div></td><td align="right">4.95 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:red;">∇ -48.15%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">338.79 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:red;">Δ 14.72%</div></td><td align="right">2.95 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:red;">∇ -12.83%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">3.58 ms / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:red;">Δ 96.00%</div></td><td align="right">279.42 Hz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:red;">∇ -48.98%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.09 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:red;">Δ 8.64%</div></td><td align="right">55.28 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:red;">∇ -7.95%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">5.50 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:red;">Δ 76.52%</div></td><td align="right">181.98 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:red;">∇ -43.35%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.29 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 46.88%</div></td><td align="right">159.07 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -31.92%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">520.70 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 46.69%</div></td><td align="right">1.92 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -31.83%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.50 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 33.02%</div></td><td align="right">181.67 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -24.82%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">6.47 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 51.11%</div></td><td align="right">154.62 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -33.82%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">526.59 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 45.77%</div></td><td align="right">1.90 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -31.40%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.63 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 37.82%</div></td><td align="right">177.52 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -27.44%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.04 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 49.05%</div></td><td align="right">490.44 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -32.91%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">137.79 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 39.24%</div></td><td align="right">7.26 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -28.18%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">14.88 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:red;">Δ 24.47%</div></td><td align="right">67.19 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:red;">∇ -19.66%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">8.57 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 52.97%</div></td><td align="right">116.69 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -34.63%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">191.63 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 47.91%</div></td><td align="right">5.22 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -32.39%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.64 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 52.74%</div></td><td align="right">115.78 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -34.53%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">194.89 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:red;">Δ 47.17%</div></td><td align="right">5.13 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:red;">∇ -32.05%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.21 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -54.07%</div></td><td align="right">138.68 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 117.72%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.18 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -54.24%</div></td><td align="right">139.23 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 118.51%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.37 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -27.03%</div></td><td align="right">19.47 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 37.04%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">51.39 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -26.98%</div></td><td align="right">19.46 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.95%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">28.61 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:red;">Δ 158.58%</div></td><td align="right">34.95 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:red;">∇ -61.33%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.55 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:red;">Δ 92.00%</div></td><td align="right">391.65 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:red;">∇ -47.92%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">8.36 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 174.93%</div></td><td align="right">119.66 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:red;">∇ -63.63%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">213.95 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:red;">Δ 31.41%</div></td><td align="right">4.67 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:red;">∇ -23.90%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">324.69 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:red;">Δ 32.21%</div></td><td align="right">3.08 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:red;">∇ -24.36%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">829.70 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:red;">Δ 61.19%</div></td><td align="right">1.21 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -37.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">214.89 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:red;">Δ 23.62%</div></td><td align="right">4.65 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:red;">∇ -19.10%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">364.99 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:red;">Δ 40.70%</div></td><td align="right">2.74 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:red;">∇ -28.92%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">760.13 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:red;">Δ 45.06%</div></td><td align="right">1.32 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:red;">∇ -31.06%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">420.57 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:red;">Δ 45.73%</div></td><td align="right">2.38 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:red;">∇ -31.38%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.56 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:red;">Δ 15.82%</div></td><td align="right">281.12 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:red;">∇ -13.66%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">33.55 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:red;">Δ 10.89%</div></td><td align="right">29.80 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:red;">∇ -9.82%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.40 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:blue;">∇ -10.60%</div></td><td align="right">35.21 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.86%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.71 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:blue;">∇ -4.34%</div></td><td align="right">22.88 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.54%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">70.17 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:blue;">∇ -4.31%</div></td><td align="right">14.25 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.50%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">24.11 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:blue;">∇ -11.21%</div></td><td align="right">41.48 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.62%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.02 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:blue;">∇ -8.15%</div></td><td align="right">27.01 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.87%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.51 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:blue;">∇ -7.65%</div></td><td align="right">16.80 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.29%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">5.29 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:red;">Δ 17.12%</div></td><td align="right">188.95 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:red;">∇ -14.62%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.36 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:red;">Δ 13.72%</div></td><td align="right">119.64 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:red;">∇ -12.06%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">13.88 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:red;">Δ 23.70%</div></td><td align="right">72.06 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:red;">∇ -19.16%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">18.63 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 194.82%</div></td><td align="right">53.67 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -66.08%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">17.89 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 274.17%</div></td><td align="right">55.91 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -73.27%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">5.05 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 136.19%</div></td><td align="right">197.84 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -57.66%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">33.27 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:red;">Δ 17.50%</div></td><td align="right">30.06 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:red;">∇ -14.89%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">31.21 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:red;">Δ 14.16%</div></td><td align="right">32.04 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:red;">∇ -12.41%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">675.81 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:red;">Δ 5.28%</div></td><td align="right">1.48 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:red;">∇ -5.02%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.19 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:red;">Δ 27.27%</div></td><td align="right">4.60 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:red;">∇ -21.43%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">316.97 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:red;">Δ 57.53%</div></td><td align="right">3.15 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:red;">∇ -36.52%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.82 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 49.71%</div></td><td align="right">127.91 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -33.21%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">103.38 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:red;">Δ 70.00%</div></td><td align="right">9.67 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:red;">∇ -41.18%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">56.24 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:red;">Δ 30.00%</div></td><td align="right">17.78 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:red;">∇ -23.08%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">47.55 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:red;">Δ 19.14%</div></td><td align="right">21.03 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:red;">∇ -16.06%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.34 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:red;">Δ 5.03%</div></td><td align="right">745.82 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:red;">∇ -4.79%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">606.64 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:red;">Δ 57.09%</div></td><td align="right">1.65 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:red;">∇ -36.34%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">22.36 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:red;">Δ 38.71%</div></td><td align="right">44.72 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:red;">∇ -27.91%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.00 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:red;">Δ 37.14%</div></td><td align="right">66.69 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:red;">∇ -27.08%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">313.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.19 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">307.43 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>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">222.64 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.49 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">222.87 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.49 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">516.93 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.93 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">517.18 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.93 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">405.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.46 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">403.48 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.48 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.36 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">297.28 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">3.35 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">298.76 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.22 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">450.51 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.22 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">450.21 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">5.45 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">183.37 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">5.44 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">183.91 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">4.07 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">245.74 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">4.06 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">246.50 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">447.20 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.24 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">442.12 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.26 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">346.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.88 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">347.20 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.88 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">944.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.06 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">978.08 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.02 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">793.19 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.26 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">793.52 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.26 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">4.62 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">216.43 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">4.62 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">216.67 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.48 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">287.28 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">3.47 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">287.84 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">10.55 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">94.75 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">9.75 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">102.54 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">7.93 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">126.08 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">7.94 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">125.93 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">262.18 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.81 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">363.67 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.75 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">2.97 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">336.14 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">3.29 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">303.75 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">34.21 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">29.23 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">38.12 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">26.23 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">389.54 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.57 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">428.64 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.33 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">382.11 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.62 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">417.45 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.40 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.355513 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
