<html><head><title>mrpt-performance results - 0.9.2preSVN2157-GCC-64bit vs 0.9.2-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.2-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>0.9.2preSVN2157-GCC-64bit / <div style="color:gray;">0.9.2-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">20.59 ms / <div style="color:gray;">19.99 ms</div></td><td align="center"><div style="color:red;">Δ 2.98%</div></td><td align="right">48.58 Hz / <div style="color:gray;">50.03 Hz</div></td><td align="center"><div style="color:red;">∇ -2.90%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.64 ms / <div style="color:gray;">19.29 ms</div></td><td align="center"><div style="color:red;">Δ 6.98%</div></td><td align="right">48.45 Hz / <div style="color:gray;">51.84 Hz</div></td><td align="center"><div style="color:red;">∇ -6.52%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">42.90 ns / <div style="color:gray;">42.85 ns</div></td><td align="center"><div style="color:red;">Δ 0.12%</div></td><td align="right">23.31 MHz / <div style="color:gray;">23.34 MHz</div></td><td align="center"><div style="color:red;">∇ -0.12%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">37.61 ns / <div style="color:gray;">37.80 ns</div></td><td align="center"><div style="color:blue;">∇ -0.50%</div></td><td align="right">26.59 MHz / <div style="color:gray;">26.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.51%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">7.25 ns / <div style="color:gray;">7.25 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">137.89 MHz / <div style="color:gray;">137.89 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.83 ns / <div style="color:gray;">11.91 ns</div></td><td align="center"><div style="color:blue;">∇ -0.66%</div></td><td align="right">84.53 MHz / <div style="color:gray;">83.98 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.66%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">39.31 ns / <div style="color:gray;">48.98 ns</div></td><td align="center"><div style="color:blue;">∇ -19.74%</div></td><td align="right">25.44 MHz / <div style="color:gray;">20.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 24.60%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">34.91 ns / <div style="color:gray;">34.95 ns</div></td><td align="center"><div style="color:blue;">∇ -0.13%</div></td><td align="right">28.65 MHz / <div style="color:gray;">28.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.13%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">76.08 ns / <div style="color:gray;">78.58 ns</div></td><td align="center"><div style="color:blue;">∇ -3.18%</div></td><td align="right">13.14 MHz / <div style="color:gray;">12.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.28%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">61.61 ns / <div style="color:gray;">70.31 ns</div></td><td align="center"><div style="color:blue;">∇ -12.38%</div></td><td align="right">16.23 MHz / <div style="color:gray;">14.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.12%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.26 ns / <div style="color:gray;">61.33 ns</div></td><td align="center"><div style="color:blue;">∇ -1.74%</div></td><td align="right">16.59 MHz / <div style="color:gray;">16.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.77%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.26 ns / <div style="color:gray;">65.17 ns</div></td><td align="center"><div style="color:blue;">∇ -4.46%</div></td><td align="right">16.06 MHz / <div style="color:gray;">15.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.66%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">40.99 ns / <div style="color:gray;">44.66 ns</div></td><td align="center"><div style="color:blue;">∇ -8.22%</div></td><td align="right">24.40 MHz / <div style="color:gray;">22.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.95%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.39 ns / <div style="color:gray;">39.43 ns</div></td><td align="center"><div style="color:blue;">∇ -0.10%</div></td><td align="right">25.39 MHz / <div style="color:gray;">25.36 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.10%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">18.30 ns / <div style="color:gray;">18.24 ns</div></td><td align="center"><div style="color:red;">Δ 0.37%</div></td><td align="right">54.63 MHz / <div style="color:gray;">54.84 MHz</div></td><td align="center"><div style="color:red;">∇ -0.37%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">17.94 ns / <div style="color:gray;">17.94 ns</div></td><td align="center"><div style="color:red;">Δ 0.02%</div></td><td align="right">55.74 MHz / <div style="color:gray;">55.75 MHz</div></td><td align="center"><div style="color:red;">∇ -0.02%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">55.46 ns / <div style="color:gray;">55.43 ns</div></td><td align="center"><div style="color:red;">Δ 0.05%</div></td><td align="right">18.03 MHz / <div style="color:gray;">18.04 MHz</div></td><td align="center"><div style="color:red;">∇ -0.05%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">17.66 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 0.11%</div></td><td align="right">56.63 MHz / <div style="color:gray;">56.69 MHz</div></td><td align="center"><div style="color:red;">∇ -0.11%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.78 ns / <div style="color:gray;">16.70 ns</div></td><td align="center"><div style="color:red;">Δ 0.53%</div></td><td align="right">59.58 MHz / <div style="color:gray;">59.89 MHz</div></td><td align="center"><div style="color:red;">∇ -0.52%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.37 ns / <div style="color:gray;">169.28 ns</div></td><td align="center"><div style="color:red;">Δ 0.05%</div></td><td align="right">5.90 MHz / <div style="color:gray;">5.91 MHz</div></td><td align="center"><div style="color:red;">∇ -0.05%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.08 us / <div style="color:gray;">760.96 us</div></td><td align="center"><div style="color:red;">Δ 5.01%</div></td><td align="right">1.25 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:red;">∇ -4.77%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">803.31 us / <div style="color:gray;">760.62 us</div></td><td align="center"><div style="color:red;">Δ 5.61%</div></td><td align="right">1.24 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:red;">∇ -5.31%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.44 us / <div style="color:gray;">9.47 us</div></td><td align="center"><div style="color:blue;">∇ -0.34%</div></td><td align="right">105.91 KHz / <div style="color:gray;">105.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.34%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">648.90 ns / <div style="color:gray;">545.30 ns</div></td><td align="center"><div style="color:red;">Δ 19.00%</div></td><td align="right">1.54 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:red;">∇ -15.97%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">631.00 ns / <div style="color:gray;">544.10 ns</div></td><td align="center"><div style="color:red;">Δ 15.97%</div></td><td align="right">1.58 MHz / <div style="color:gray;">1.84 MHz</div></td><td align="center"><div style="color:red;">∇ -13.77%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.18 us / <div style="color:gray;">8.11 us</div></td><td align="center"><div style="color:red;">Δ 0.85%</div></td><td align="right">122.30 KHz / <div style="color:gray;">123.33 KHz</div></td><td align="center"><div style="color:red;">∇ -0.84%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">24.43 ns / <div style="color:gray;">20.92 ns</div></td><td align="center"><div style="color:red;">Δ 16.78%</div></td><td align="right">40.94 MHz / <div style="color:gray;">47.81 MHz</div></td><td align="center"><div style="color:red;">∇ -14.37%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">23.18 ns / <div style="color:gray;">20.15 ns</div></td><td align="center"><div style="color:red;">Δ 15.05%</div></td><td align="right">43.14 MHz / <div style="color:gray;">49.63 MHz</div></td><td align="center"><div style="color:red;">∇ -13.08%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">59.50 ns / <div style="color:gray;">54.04 ns</div></td><td align="center"><div style="color:red;">Δ 10.12%</div></td><td align="right">16.81 MHz / <div style="color:gray;">18.51 MHz</div></td><td align="center"><div style="color:red;">∇ -9.19%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">62.26 ns / <div style="color:gray;">55.27 ns</div></td><td align="center"><div style="color:red;">Δ 12.66%</div></td><td align="right">16.06 MHz / <div style="color:gray;">18.09 MHz</div></td><td align="center"><div style="color:red;">∇ -11.24%</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:red;">Δ 0.29%</div></td><td align="right">2.88 GHz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:red;">∇ -0.29%</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:red;">Δ 0.08%</div></td><td align="right">841.75 MHz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:red;">∇ -0.08%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.70 ns / <div style="color:gray;">1.70 ns</div></td><td align="center"><div style="color:red;">Δ 0.29%</div></td><td align="right">587.20 MHz / <div style="color:gray;">588.93 MHz</div></td><td align="center"><div style="color:red;">∇ -0.29%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.77 ns / <div style="color:gray;">2.77 ns</div></td><td align="center"><div style="color:blue;">∇ -0.18%</div></td><td align="right">361.01 MHz / <div style="color:gray;">360.36 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.18%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">85.80 ns / <div style="color:gray;">73.10 ns</div></td><td align="center"><div style="color:red;">Δ 17.37%</div></td><td align="right">11.66 MHz / <div style="color:gray;">13.68 MHz</div></td><td align="center"><div style="color:red;">∇ -14.80%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">23.80 ns / <div style="color:gray;">23.80 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">42.02 MHz / <div style="color:gray;">42.02 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">75.90 ns / <div style="color:gray;">72.40 ns</div></td><td align="center"><div style="color:red;">Δ 4.83%</div></td><td align="right">13.18 MHz / <div style="color:gray;">13.81 MHz</div></td><td align="center"><div style="color:red;">∇ -4.61%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">23.50 ns / <div style="color:gray;">23.40 ns</div></td><td align="center"><div style="color:red;">Δ 0.43%</div></td><td align="right">42.55 MHz / <div style="color:gray;">42.74 MHz</div></td><td align="center"><div style="color:red;">∇ -0.43%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">118.10 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 6.88%</div></td><td align="right">8.47 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -6.44%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">44.70 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -0.89%</div></td><td align="right">22.37 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.89%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">116.30 ns</div></td><td align="center"><div style="color:blue;">∇ -4.99%</div></td><td align="right">9.05 MHz / <div style="color:gray;">8.60 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.25%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.20 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">22.12 MHz / <div style="color:gray;">22.12 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.44 us / <div style="color:gray;">5.19 us</div></td><td align="center"><div style="color:red;">Δ 4.80%</div></td><td align="right">183.95 KHz / <div style="color:gray;">192.77 KHz</div></td><td align="center"><div style="color:red;">∇ -4.58%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.78 us / <div style="color:gray;">3.55 us</div></td><td align="center"><div style="color:red;">Δ 6.30%</div></td><td align="right">264.87 KHz / <div style="color:gray;">281.56 KHz</div></td><td align="center"><div style="color:red;">∇ -5.93%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.54 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:red;">Δ 7.03%</div></td><td align="right">180.38 KHz / <div style="color:gray;">193.05 KHz</div></td><td align="center"><div style="color:red;">∇ -6.57%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">4.07 us / <div style="color:gray;">3.61 us</div></td><td align="center"><div style="color:red;">Δ 12.88%</div></td><td align="right">245.43 KHz / <div style="color:gray;">277.05 KHz</div></td><td align="center"><div style="color:red;">∇ -11.41%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">631.00 ns / <div style="color:gray;">333.00 ns</div></td><td align="center"><div style="color:red;">Δ 89.49%</div></td><td align="right">1.58 MHz / <div style="color:gray;">3.00 MHz</div></td><td align="center"><div style="color:red;">∇ -47.23%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">35.00 ns / <div style="color:gray;">21.00 ns</div></td><td align="center"><div style="color:red;">Δ 66.67%</div></td><td align="right">28.57 MHz / <div style="color:gray;">47.62 MHz</div></td><td align="center"><div style="color:red;">∇ -40.00%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">644.00 ns / <div style="color:gray;">329.00 ns</div></td><td align="center"><div style="color:red;">Δ 95.74%</div></td><td align="right">1.55 MHz / <div style="color:gray;">3.04 MHz</div></td><td align="center"><div style="color:red;">∇ -48.91%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">39.00 ns / <div style="color:gray;">21.00 ns</div></td><td align="center"><div style="color:red;">Δ 85.71%</div></td><td align="right">25.64 MHz / <div style="color:gray;">47.62 MHz</div></td><td align="center"><div style="color:red;">∇ -46.15%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">2.37 us / <div style="color:gray;">1.22 us</div></td><td align="center"><div style="color:red;">Δ 94.82%</div></td><td align="right">421.76 KHz / <div style="color:gray;">821.69 KHz</div></td><td align="center"><div style="color:red;">∇ -48.67%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">812.00 ns / <div style="color:gray;">468.00 ns</div></td><td align="center"><div style="color:red;">Δ 73.50%</div></td><td align="right">1.23 MHz / <div style="color:gray;">2.14 MHz</div></td><td align="center"><div style="color:red;">∇ -42.36%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.26 us / <div style="color:gray;">1.20 us</div></td><td align="center"><div style="color:red;">Δ 5.00%</div></td><td align="right">793.02 KHz / <div style="color:gray;">832.64 KHz</div></td><td align="center"><div style="color:red;">∇ -4.76%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">575.00 ns / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:blue;">∇ -0.52%</div></td><td align="right">1.74 MHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.52%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">25.94 us / <div style="color:gray;">25.24 us</div></td><td align="center"><div style="color:red;">Δ 2.77%</div></td><td align="right">38.55 KHz / <div style="color:gray;">39.62 KHz</div></td><td align="center"><div style="color:red;">∇ -2.69%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">14.15 us / <div style="color:gray;">12.60 us</div></td><td align="center"><div style="color:red;">Δ 12.25%</div></td><td align="right">70.70 KHz / <div style="color:gray;">79.36 KHz</div></td><td align="center"><div style="color:red;">∇ -10.92%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">25.76 us / <div style="color:gray;">25.64 us</div></td><td align="center"><div style="color:red;">Δ 0.46%</div></td><td align="right">38.83 KHz / <div style="color:gray;">39.01 KHz</div></td><td align="center"><div style="color:red;">∇ -0.46%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.04 us / <div style="color:gray;">17.36 us</div></td><td align="center"><div style="color:blue;">∇ -1.87%</div></td><td align="right">58.69 KHz / <div style="color:gray;">57.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.90%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">205.11 us / <div style="color:gray;">190.86 us</div></td><td align="center"><div style="color:red;">Δ 7.46%</div></td><td align="right">4.88 KHz / <div style="color:gray;">5.24 KHz</div></td><td align="center"><div style="color:red;">∇ -6.95%</div></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">93.29 us / <div style="color:gray;">88.89 us</div></td><td align="center"><div style="color:red;">Δ 4.95%</div></td><td align="right">10.72 KHz / <div style="color:gray;">11.25 KHz</div></td><td align="center"><div style="color:red;">∇ -4.72%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">207.20 us / <div style="color:gray;">189.04 us</div></td><td align="center"><div style="color:red;">Δ 9.61%</div></td><td align="right">4.83 KHz / <div style="color:gray;">5.29 KHz</div></td><td align="center"><div style="color:red;">∇ -8.76%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">133.80 us / <div style="color:gray;">121.47 us</div></td><td align="center"><div style="color:red;">Δ 10.16%</div></td><td align="right">7.47 KHz / <div style="color:gray;">8.23 KHz</div></td><td align="center"><div style="color:red;">∇ -9.22%</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;">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[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">653.50 ns / <div style="color:gray;">692.40 ns</div></td><td align="center"><div style="color:blue;">∇ -5.62%</div></td><td align="right">1.53 MHz / <div style="color:gray;">1.44 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.95%</div></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">210.00 ns / <div style="color:gray;">207.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.45%</div></td><td align="right">4.76 MHz / <div style="color:gray;">4.83 MHz</div></td><td align="center"><div style="color:red;">∇ -1.43%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">730.30 ns / <div style="color:gray;">696.30 ns</div></td><td align="center"><div style="color:red;">Δ 4.88%</div></td><td align="right">1.37 MHz / <div style="color:gray;">1.44 MHz</div></td><td align="center"><div style="color:red;">∇ -4.66%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">212.10 ns / <div style="color:gray;">212.30 ns</div></td><td align="center"><div style="color:blue;">∇ -0.09%</div></td><td align="right">4.71 MHz / <div style="color:gray;">4.71 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.09%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">5.70 us / <div style="color:gray;">5.39 us</div></td><td align="center"><div style="color:red;">Δ 5.80%</div></td><td align="right">175.40 KHz / <div style="color:gray;">185.56 KHz</div></td><td align="center"><div style="color:red;">∇ -5.48%</div></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">4.20 us / <div style="color:gray;">3.90 us</div></td><td align="center"><div style="color:red;">Δ 7.75%</div></td><td align="right">237.92 KHz / <div style="color:gray;">256.35 KHz</div></td><td align="center"><div style="color:red;">∇ -7.19%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">6.56 us / <div style="color:gray;">6.40 us</div></td><td align="center"><div style="color:red;">Δ 2.51%</div></td><td align="right">152.33 KHz / <div style="color:gray;">156.16 KHz</div></td><td align="center"><div style="color:red;">∇ -2.45%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">5.04 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 6.75%</div></td><td align="right">198.38 KHz / <div style="color:gray;">211.77 KHz</div></td><td align="center"><div style="color:red;">∇ -6.32%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">32.38 us / <div style="color:gray;">30.35 us</div></td><td align="center"><div style="color:red;">Δ 6.68%</div></td><td align="right">30.89 KHz / <div style="color:gray;">32.95 KHz</div></td><td align="center"><div style="color:red;">∇ -6.26%</div></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">27.92 us / <div style="color:gray;">26.47 us</div></td><td align="center"><div style="color:red;">Δ 5.45%</div></td><td align="right">35.82 KHz / <div style="color:gray;">37.78 KHz</div></td><td align="center"><div style="color:red;">∇ -5.17%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">39.41 us / <div style="color:gray;">32.49 us</div></td><td align="center"><div style="color:red;">Δ 21.28%</div></td><td align="right">25.37 KHz / <div style="color:gray;">30.77 KHz</div></td><td align="center"><div style="color:red;">∇ -17.55%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">29.04 us / <div style="color:gray;">27.34 us</div></td><td align="center"><div style="color:red;">Δ 6.22%</div></td><td align="right">34.44 KHz / <div style="color:gray;">36.58 KHz</div></td><td align="center"><div style="color:red;">∇ -5.85%</div></td></tr> <tr> <td>matrix: chol, dyn[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, fix[double] 4x4</td><td align="right">160.00 ns / <div style="color:gray;">140.00 ns</div></td><td align="center"><div style="color:red;">Δ 14.29%</div></td><td align="right">6.25 MHz / <div style="color:gray;">7.14 MHz</div></td><td align="center"><div style="color:red;">∇ -12.50%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.38 us / <div style="color:gray;">18.52 us</div></td><td align="center"><div style="color:blue;">∇ -0.76%</div></td><td align="right">54.41 KHz / <div style="color:gray;">54.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.76%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.08 us / <div style="color:gray;">16.55 us</div></td><td align="center"><div style="color:red;">Δ 3.20%</div></td><td align="right">58.55 KHz / <div style="color:gray;">60.42 KHz</div></td><td align="center"><div style="color:red;">∇ -3.10%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.30 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:red;">Δ 1.22%</div></td><td align="right">120.48 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ -1.20%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">84.40 us / <div style="color:gray;">82.90 us</div></td><td align="center"><div style="color:red;">Δ 1.81%</div></td><td align="right">11.85 KHz / <div style="color:gray;">12.06 KHz</div></td><td align="center"><div style="color:red;">∇ -1.78%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">53.00 us / <div style="color:gray;">52.70 us</div></td><td align="center"><div style="color:red;">Δ 0.57%</div></td><td align="right">18.87 KHz / <div style="color:gray;">18.98 KHz</div></td><td align="center"><div style="color:red;">∇ -0.57%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.49 us / <div style="color:gray;">38.59 us</div></td><td align="center"><div style="color:red;">Δ 2.33%</div></td><td align="right">25.32 KHz / <div style="color:gray;">25.91 KHz</div></td><td align="center"><div style="color:red;">∇ -2.28%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.70 us / <div style="color:gray;">409.80 us</div></td><td align="center"><div style="color:red;">Δ 0.46%</div></td><td align="right">2.43 KHz / <div style="color:gray;">2.44 KHz</div></td><td align="center"><div style="color:red;">∇ -0.46%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.09 us / <div style="color:gray;">70.75 us</div></td><td align="center"><div style="color:red;">Δ 4.72%</div></td><td align="right">13.50 KHz / <div style="color:gray;">14.13 KHz</div></td><td align="center"><div style="color:red;">∇ -4.51%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">10.38 ms / <div style="color:gray;">8.58 ms</div></td><td align="center"><div style="color:red;">Δ 21.04%</div></td><td align="right">96.33 Hz / <div style="color:gray;">116.60 Hz</div></td><td align="center"><div style="color:red;">∇ -17.39%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">248.74 us / <div style="color:gray;">171.20 us</div></td><td align="center"><div style="color:red;">Δ 45.29%</div></td><td align="right">4.02 KHz / <div style="color:gray;">5.84 KHz</div></td><td align="center"><div style="color:red;">∇ -31.17%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">370.64 ms / <div style="color:gray;">133.58 ms</div></td><td align="center"><div style="color:red;">Δ 177.46%</div></td><td align="right">2.70 Hz / <div style="color:gray;">7.49 Hz</div></td><td align="center"><div style="color:red;">∇ -63.96%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">353.56 us / <div style="color:gray;">341.85 us</div></td><td align="center"><div style="color:red;">Δ 3.43%</div></td><td align="right">2.83 KHz / <div style="color:gray;">2.93 KHz</div></td><td align="center"><div style="color:red;">∇ -3.31%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">365.56 ms / <div style="color:gray;">354.49 ms</div></td><td align="center"><div style="color:red;">Δ 3.12%</div></td><td align="right">2.74 Hz / <div style="color:gray;">2.82 Hz</div></td><td align="center"><div style="color:red;">∇ -3.03%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">425.27 us / <div style="color:gray;">401.50 us</div></td><td align="center"><div style="color:red;">Δ 5.92%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -5.59%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">796.04 ms / <div style="color:gray;">773.25 ms</div></td><td align="center"><div style="color:red;">Δ 2.95%</div></td><td align="right">1.26 Hz / <div style="color:gray;">1.29 Hz</div></td><td align="center"><div style="color:red;">∇ -2.86%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">490.79 us / <div style="color:gray;">469.25 us</div></td><td align="center"><div style="color:red;">Δ 4.59%</div></td><td align="right">2.04 KHz / <div style="color:gray;">2.13 KHz</div></td><td align="center"><div style="color:red;">∇ -4.39%</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:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">10.00 THz</div></td><td align="center"><div style="color:blue;">Δ 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:red;">Δ 0.07%</div></td><td align="right">387.76 MHz / <div style="color:gray;">388.02 MHz</div></td><td align="center"><div style="color:red;">∇ -0.07%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.44 ns / <div style="color:gray;">7.84 ns</div></td><td align="center"><div style="color:blue;">∇ -5.01%</div></td><td align="right">134.32 MHz / <div style="color:gray;">127.58 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.28%</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 0.04%</div></td><td align="right">1.82 GHz / <div style="color:gray;">1.82 GHz</div></td><td align="center"><div style="color:red;">∇ -0.04%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">101.23 us / <div style="color:gray;">102.06 us</div></td><td align="center"><div style="color:blue;">∇ -0.81%</div></td><td align="right">9.88 KHz / <div style="color:gray;">9.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.82%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">291.30 us / <div style="color:gray;">289.47 us</div></td><td align="center"><div style="color:red;">Δ 0.63%</div></td><td align="right">3.43 KHz / <div style="color:gray;">3.45 KHz</div></td><td align="center"><div style="color:red;">∇ -0.63%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.89 ms / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:blue;">∇ -3.97%</div></td><td align="right">529.66 Hz / <div style="color:gray;">508.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.13%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.46 us / <div style="color:gray;">15.74 us</div></td><td align="center"><div style="color:red;">Δ 4.59%</div></td><td align="right">60.76 KHz / <div style="color:gray;">63.55 KHz</div></td><td align="center"><div style="color:red;">∇ -4.39%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.10 ms / <div style="color:gray;">3.04 ms</div></td><td align="center"><div style="color:red;">Δ 2.11%</div></td><td align="right">322.50 Hz / <div style="color:gray;">329.30 Hz</div></td><td align="center"><div style="color:red;">∇ -2.06%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.32 us</div></td><td align="center"><div style="color:blue;">∇ -0.93%</div></td><td align="right">233.64 KHz / <div style="color:gray;">231.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.93%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">355.52 us / <div style="color:gray;">352.12 us</div></td><td align="center"><div style="color:red;">Δ 0.97%</div></td><td align="right">2.81 KHz / <div style="color:gray;">2.84 KHz</div></td><td align="center"><div style="color:red;">∇ -0.96%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.16 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 0.53%</div></td><td align="right">240.24 Hz / <div style="color:gray;">241.51 Hz</div></td><td align="center"><div style="color:red;">∇ -0.53%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.76 us / <div style="color:gray;">4.68 us</div></td><td align="center"><div style="color:red;">Δ 1.71%</div></td><td align="right">210.08 KHz / <div style="color:gray;">213.68 KHz</div></td><td align="center"><div style="color:red;">∇ -1.68%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">363.20 us / <div style="color:gray;">359.52 us</div></td><td align="center"><div style="color:red;">Δ 1.02%</div></td><td align="right">2.75 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -1.01%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">4.03 ms</div></td><td align="center"><div style="color:red;">Δ 1.63%</div></td><td align="right">244.29 Hz / <div style="color:gray;">248.28 Hz</div></td><td align="center"><div style="color:red;">∇ -1.61%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.38 us / <div style="color:gray;">1.41 us</div></td><td align="center"><div style="color:blue;">∇ -1.64%</div></td><td align="right">723.59 KHz / <div style="color:gray;">711.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.66%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">100.93 us / <div style="color:gray;">97.21 us</div></td><td align="center"><div style="color:red;">Δ 3.83%</div></td><td align="right">9.91 KHz / <div style="color:gray;">10.29 KHz</div></td><td align="center"><div style="color:red;">∇ -3.69%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.91 ms / <div style="color:gray;">11.62 ms</div></td><td align="center"><div style="color:red;">Δ 2.50%</div></td><td align="right">83.95 Hz / <div style="color:gray;">86.05 Hz</div></td><td align="center"><div style="color:red;">∇ -2.44%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.62 ms / <div style="color:gray;">5.59 ms</div></td><td align="center"><div style="color:red;">Δ 0.43%</div></td><td align="right">178.01 Hz / <div style="color:gray;">178.77 Hz</div></td><td align="center"><div style="color:red;">∇ -0.43%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">130.76 ms / <div style="color:gray;">129.28 ms</div></td><td align="center"><div style="color:red;">Δ 1.14%</div></td><td align="right">7.65 Hz / <div style="color:gray;">7.73 Hz</div></td><td align="center"><div style="color:red;">∇ -1.13%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.67 ms / <div style="color:gray;">5.66 ms</div></td><td align="center"><div style="color:red;">Δ 0.10%</div></td><td align="right">176.35 Hz / <div style="color:gray;">176.53 Hz</div></td><td align="center"><div style="color:red;">∇ -0.10%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">132.64 ms / <div style="color:gray;">131.22 ms</div></td><td align="center"><div style="color:red;">Δ 1.08%</div></td><td align="right">7.54 Hz / <div style="color:gray;">7.62 Hz</div></td><td align="center"><div style="color:red;">∇ -1.07%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">14.57 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:red;">Δ 0.47%</div></td><td align="right">68.63 MHz / <div style="color:gray;">68.95 MHz</div></td><td align="center"><div style="color:red;">∇ -0.47%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">14.62 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:red;">Δ 0.80%</div></td><td align="right">68.41 MHz / <div style="color:gray;">68.96 MHz</div></td><td align="center"><div style="color:red;">∇ -0.80%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">68.70 ns / <div style="color:gray;">68.97 ns</div></td><td align="center"><div style="color:blue;">∇ -0.39%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.40%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">68.68 ns / <div style="color:gray;">68.98 ns</div></td><td align="center"><div style="color:blue;">∇ -0.43%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.43%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">10.45 ns / <div style="color:gray;">10.45 ns</div></td><td align="center"><div style="color:red;">Δ 0.05%</div></td><td align="right">95.67 MHz / <div style="color:gray;">95.72 MHz</div></td><td align="center"><div style="color:red;">∇ -0.05%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.31 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:red;">Δ 0.05%</div></td><td align="right">764.77 KHz / <div style="color:gray;">765.12 KHz</div></td><td align="center"><div style="color:red;">∇ -0.05%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">2.79 us / <div style="color:gray;">2.73 us</div></td><td align="center"><div style="color:red;">Δ 2.08%</div></td><td align="right">358.92 KHz / <div style="color:gray;">366.37 KHz</div></td><td align="center"><div style="color:red;">∇ -2.03%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">158.26 ns / <div style="color:gray;">158.91 ns</div></td><td align="center"><div style="color:blue;">∇ -0.41%</div></td><td align="right">6.32 MHz / <div style="color:gray;">6.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.41%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">236.42 ns / <div style="color:gray;">237.40 ns</div></td><td align="center"><div style="color:blue;">∇ -0.41%</div></td><td align="right">4.23 MHz / <div style="color:gray;">4.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.41%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.37 ns / <div style="color:gray;">490.03 ns</div></td><td align="center"><div style="color:blue;">∇ -0.14%</div></td><td align="right">2.04 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.14%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">164.61 ns / <div style="color:gray;">164.67 ns</div></td><td align="center"><div style="color:blue;">∇ -0.03%</div></td><td align="right">6.07 MHz / <div style="color:gray;">6.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.03%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">248.12 ns / <div style="color:gray;">249.81 ns</div></td><td align="center"><div style="color:blue;">∇ -0.68%</div></td><td align="right">4.03 MHz / <div style="color:gray;">4.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.68%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">514.83 ns / <div style="color:gray;">514.70 ns</div></td><td align="center"><div style="color:red;">Δ 0.02%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -0.02%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">317.50 ns / <div style="color:gray;">296.20 ns</div></td><td align="center"><div style="color:red;">Δ 7.19%</div></td><td align="right">3.15 MHz / <div style="color:gray;">3.38 MHz</div></td><td align="center"><div style="color:red;">∇ -6.71%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.06 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 0.73%</div></td><td align="right">326.54 KHz / <div style="color:gray;">328.91 KHz</div></td><td align="center"><div style="color:red;">∇ -0.72%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.27 us / <div style="color:gray;">30.22 us</div></td><td align="center"><div style="color:red;">Δ 0.15%</div></td><td align="right">33.04 KHz / <div style="color:gray;">33.09 KHz</div></td><td align="center"><div style="color:red;">∇ -0.15%</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:red;">Δ 0.01%</div></td><td align="right">10.09 GHz / <div style="color:gray;">10.09 GHz</div></td><td align="center"><div style="color:red;">∇ -0.01%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">27.27 ms / <div style="color:gray;">35.06 ms</div></td><td align="center"><div style="color:blue;">∇ -22.22%</div></td><td align="right">36.67 Hz / <div style="color:gray;">28.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.57%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.27 ms / <div style="color:gray;">48.96 ms</div></td><td align="center"><div style="color:blue;">∇ -11.62%</div></td><td align="right">23.11 Hz / <div style="color:gray;">20.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.15%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">74.67 ms / <div style="color:gray;">74.65 ms</div></td><td align="center"><div style="color:red;">Δ 0.03%</div></td><td align="right">13.39 Hz / <div style="color:gray;">13.40 Hz</div></td><td align="center"><div style="color:red;">∇ -0.03%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">26.31 ms / <div style="color:gray;">29.96 ms</div></td><td align="center"><div style="color:blue;">∇ -12.20%</div></td><td align="right">38.01 Hz / <div style="color:gray;">33.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.90%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.92 ms / <div style="color:gray;">42.79 ms</div></td><td align="center"><div style="color:blue;">∇ -4.37%</div></td><td align="right">24.44 Hz / <div style="color:gray;">23.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.57%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">62.56 ms / <div style="color:gray;">64.15 ms</div></td><td align="center"><div style="color:blue;">∇ -2.48%</div></td><td align="right">15.99 Hz / <div style="color:gray;">15.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.54%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.48 ms / <div style="color:gray;">3.90 ms</div></td><td align="center"><div style="color:red;">Δ 14.93%</div></td><td align="right">223.01 Hz / <div style="color:gray;">256.30 Hz</div></td><td align="center"><div style="color:red;">∇ -12.99%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.46 ms / <div style="color:gray;">6.21 ms</div></td><td align="center"><div style="color:red;">Δ 20.08%</div></td><td align="right">134.07 Hz / <div style="color:gray;">160.99 Hz</div></td><td align="center"><div style="color:red;">∇ -16.72%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">12.41 ms / <div style="color:gray;">10.55 ms</div></td><td align="center"><div style="color:red;">Δ 17.59%</div></td><td align="right">80.57 Hz / <div style="color:gray;">94.74 Hz</div></td><td align="center"><div style="color:red;">∇ -14.96%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">5.15 us / <div style="color:gray;">5.06 us</div></td><td align="center"><div style="color:red;">Δ 1.78%</div></td><td align="right">194.17 KHz / <div style="color:gray;">197.63 KHz</div></td><td align="center"><div style="color:red;">∇ -1.75%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.35 us / <div style="color:gray;">4.30 us</div></td><td align="center"><div style="color:red;">Δ 1.16%</div></td><td align="right">229.89 KHz / <div style="color:gray;">232.56 KHz</div></td><td align="center"><div style="color:red;">∇ -1.15%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">2.12 us / <div style="color:gray;">2.10 us</div></td><td align="center"><div style="color:red;">Δ 0.95%</div></td><td align="right">471.70 KHz / <div style="color:gray;">476.19 KHz</div></td><td align="center"><div style="color:red;">∇ -0.94%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">33.18 ms / <div style="color:gray;">24.28 ms</div></td><td align="center"><div style="color:red;">Δ 36.68%</div></td><td align="right">30.14 Hz / <div style="color:gray;">41.19 Hz</div></td><td align="center"><div style="color:red;">∇ -26.84%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">29.64 ms / <div style="color:gray;">24.43 ms</div></td><td align="center"><div style="color:red;">Δ 21.33%</div></td><td align="right">33.74 Hz / <div style="color:gray;">40.94 Hz</div></td><td align="center"><div style="color:red;">∇ -17.58%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">637.68 ms / <div style="color:gray;">610.42 ms</div></td><td align="center"><div style="color:red;">Δ 4.46%</div></td><td align="right">1.57 Hz / <div style="color:gray;">1.64 Hz</div></td><td align="center"><div style="color:red;">∇ -4.27%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">173.14 ms / <div style="color:gray;">167.77 ms</div></td><td align="center"><div style="color:red;">Δ 3.20%</div></td><td align="right">5.78 Hz / <div style="color:gray;">5.96 Hz</div></td><td align="center"><div style="color:red;">∇ -3.10%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">202.84 ms / <div style="color:gray;">197.61 ms</div></td><td align="center"><div style="color:red;">Δ 2.64%</div></td><td align="right">4.93 Hz / <div style="color:gray;">5.06 Hz</div></td><td align="center"><div style="color:red;">∇ -2.58%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.10 ms / <div style="color:gray;">5.24 ms</div></td><td align="center"><div style="color:blue;">∇ -2.68%</div></td><td align="right">195.94 Hz / <div style="color:gray;">190.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.76%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">61.22 ms / <div style="color:gray;">59.98 ms</div></td><td align="center"><div style="color:red;">Δ 2.06%</div></td><td align="right">16.33 Hz / <div style="color:gray;">16.67 Hz</div></td><td align="center"><div style="color:red;">∇ -2.02%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.90 ms / <div style="color:gray;">40.88 ms</div></td><td align="center"><div style="color:red;">Δ 7.39%</div></td><td align="right">22.78 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:red;">∇ -6.88%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">38.32 ms / <div style="color:gray;">35.50 ms</div></td><td align="center"><div style="color:red;">Δ 7.96%</div></td><td align="right">26.09 Hz / <div style="color:gray;">28.17 Hz</div></td><td align="center"><div style="color:red;">∇ -7.38%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.21 sec</div></td><td align="center"><div style="color:red;">Δ 5.77%</div></td><td align="right">782.87 mHz / <div style="color:gray;">828.07 mHz</div></td><td align="center"><div style="color:red;">∇ -5.46%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">387.99 ms / <div style="color:gray;">379.92 ms</div></td><td align="center"><div style="color:red;">Δ 2.13%</div></td><td align="right">2.58 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -2.08%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">15.73 ms / <div style="color:gray;">16.06 ms</div></td><td align="center"><div style="color:blue;">∇ -2.07%</div></td><td align="right">63.57 Hz / <div style="color:gray;">62.26 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.12%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.56 ms / <div style="color:gray;">10.73 ms</div></td><td align="center"><div style="color:blue;">∇ -1.60%</div></td><td align="right">94.70 Hz / <div style="color:gray;">93.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.63%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">104.46 us / <div style="color:gray;">117.65 us</div></td><td align="center"><div style="color:blue;">∇ -11.21%</div></td><td align="right">9.57 KHz / <div style="color:gray;">8.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.63%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">85.19 us / <div style="color:gray;">85.19 us</div></td><td align="center"><div style="color:red;">Δ 0.00%</div></td><td align="right">11.74 KHz / <div style="color:gray;">11.74 KHz</div></td><td align="center"><div style="color:red;">∇ -0.00%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">134.65 us / <div style="color:gray;">172.53 us</div></td><td align="center"><div style="color:blue;">∇ -21.96%</div></td><td align="right">7.43 KHz / <div style="color:gray;">5.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.13%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">119.89 us / <div style="color:gray;">168.61 us</div></td><td align="center"><div style="color:blue;">∇ -28.89%</div></td><td align="right">8.34 KHz / <div style="color:gray;">5.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.63%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.39 ms / <div style="color:gray;">1.73 ms</div></td><td align="center"><div style="color:blue;">∇ -19.77%</div></td><td align="right">721.96 Hz / <div style="color:gray;">579.22 Hz</div></td><td align="center"><div style="color:blue;">Δ 24.64%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">854.04 us / <div style="color:gray;">884.69 us</div></td><td align="center"><div style="color:blue;">∇ -3.46%</div></td><td align="right">1.17 KHz / <div style="color:gray;">1.13 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.59%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.61 ms / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:blue;">∇ -18.52%</div></td><td align="right">621.80 Hz / <div style="color:gray;">506.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.73%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.20 ms / <div style="color:gray;">1.86 ms</div></td><td align="center"><div style="color:blue;">∇ -35.38%</div></td><td align="right">832.81 Hz / <div style="color:gray;">538.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.76%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">132.91 us / <div style="color:gray;">177.23 us</div></td><td align="center"><div style="color:blue;">∇ -25.01%</div></td><td align="right">7.52 KHz / <div style="color:gray;">5.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 33.35%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">109.11 us / <div style="color:gray;">157.86 us</div></td><td align="center"><div style="color:blue;">∇ -30.88%</div></td><td align="right">9.17 KHz / <div style="color:gray;">6.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 44.68%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">349.74 us / <div style="color:gray;">507.00 us</div></td><td align="center"><div style="color:blue;">∇ -31.02%</div></td><td align="right">2.86 KHz / <div style="color:gray;">1.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 44.96%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">321.54 us / <div style="color:gray;">473.36 us</div></td><td align="center"><div style="color:blue;">∇ -32.07%</div></td><td align="right">3.11 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 47.22%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">1.89 ms / <div style="color:gray;">2.47 ms</div></td><td align="center"><div style="color:blue;">∇ -23.53%</div></td><td align="right">529.10 Hz / <div style="color:gray;">404.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.77%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.10 ms / <div style="color:gray;">1.75 ms</div></td><td align="center"><div style="color:blue;">∇ -37.33%</div></td><td align="right">910.25 Hz / <div style="color:gray;">570.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 59.56%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">4.65 ms / <div style="color:gray;">5.53 ms</div></td><td align="center"><div style="color:blue;">∇ -15.91%</div></td><td align="right">215.20 Hz / <div style="color:gray;">180.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.92%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.05 ms / <div style="color:gray;">4.85 ms</div></td><td align="center"><div style="color:blue;">∇ -16.47%</div></td><td align="right">246.81 Hz / <div style="color:gray;">206.16 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.72%</div></td></tr> <tr> <td>graph(3d,map): dijkstra 1e2 nodes</td><td align="right">94.48 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">10.58 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,map): dijkstra 1e3 nodes</td><td align="right">1.16 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">860.07 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,map): dijkstra 1e4 nodes</td><td align="right">19.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">52.28 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:39.048495 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>