<html><head><title>mrpt-performance results - 0.9.2preSVN2157-GCC-64bit vs 0.9.3-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.3-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;">0.9.3-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;">20.90 ms</div></td><td align="center"><div style="color:blue;">∇ -1.49%</div></td><td align="right">48.58 Hz / <div style="color:gray;">47.85 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.52%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.64 ms / <div style="color:gray;">18.76 ms</div></td><td align="center"><div style="color:red;">Δ 9.99%</div></td><td align="right">48.45 Hz / <div style="color:gray;">53.30 Hz</div></td><td align="center"><div style="color:red;">∇ -9.08%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">42.90 ns / <div style="color:gray;">41.67 ns</div></td><td align="center"><div style="color:red;">Δ 2.95%</div></td><td align="right">23.31 MHz / <div style="color:gray;">24.00 MHz</div></td><td align="center"><div style="color:red;">∇ -2.87%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">37.61 ns / <div style="color:gray;">32.39 ns</div></td><td align="center"><div style="color:red;">Δ 16.12%</div></td><td align="right">26.59 MHz / <div style="color:gray;">30.87 MHz</div></td><td align="center"><div style="color:red;">∇ -13.88%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">7.25 ns / <div style="color:gray;">8.02 ns</div></td><td align="center"><div style="color:blue;">∇ -9.62%</div></td><td align="right">137.89 MHz / <div style="color:gray;">124.63 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.65%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.83 ns / <div style="color:gray;">11.53 ns</div></td><td align="center"><div style="color:red;">Δ 2.57%</div></td><td align="right">84.53 MHz / <div style="color:gray;">86.70 MHz</div></td><td align="center"><div style="color:red;">∇ -2.50%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">39.31 ns / <div style="color:gray;">18.18 ns</div></td><td align="center"><div style="color:red;">Δ 116.19%</div></td><td align="right">25.44 MHz / <div style="color:gray;">54.99 MHz</div></td><td align="center"><div style="color:red;">∇ -53.74%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">34.91 ns / <div style="color:gray;">25.21 ns</div></td><td align="center"><div style="color:red;">Δ 38.44%</div></td><td align="right">28.65 MHz / <div style="color:gray;">39.66 MHz</div></td><td align="center"><div style="color:red;">∇ -27.77%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">76.08 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 5.52%</div></td><td align="right">13.14 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -5.23%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">61.61 ns / <div style="color:gray;">69.22 ns</div></td><td align="center"><div style="color:blue;">∇ -11.00%</div></td><td align="right">16.23 MHz / <div style="color:gray;">14.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.36%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.26 ns / <div style="color:gray;">60.48 ns</div></td><td align="center"><div style="color:blue;">∇ -0.36%</div></td><td align="right">16.59 MHz / <div style="color:gray;">16.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.37%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.26 ns / <div style="color:gray;">60.01 ns</div></td><td align="center"><div style="color:red;">Δ 3.75%</div></td><td align="right">16.06 MHz / <div style="color:gray;">16.66 MHz</div></td><td align="center"><div style="color:red;">∇ -3.62%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">40.99 ns / <div style="color:gray;">42.70 ns</div></td><td align="center"><div style="color:blue;">∇ -4.00%</div></td><td align="right">24.40 MHz / <div style="color:gray;">23.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.17%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.39 ns / <div style="color:gray;">38.27 ns</div></td><td align="center"><div style="color:red;">Δ 2.93%</div></td><td align="right">25.39 MHz / <div style="color:gray;">26.13 MHz</div></td><td align="center"><div style="color:red;">∇ -2.84%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">18.30 ns / <div style="color:gray;">17.90 ns</div></td><td align="center"><div style="color:red;">Δ 2.23%</div></td><td align="right">54.63 MHz / <div style="color:gray;">55.85 MHz</div></td><td align="center"><div style="color:red;">∇ -2.19%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">17.94 ns / <div style="color:gray;">18.44 ns</div></td><td align="center"><div style="color:blue;">∇ -2.70%</div></td><td align="right">55.74 MHz / <div style="color:gray;">54.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.78%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">55.46 ns / <div style="color:gray;">33.31 ns</div></td><td align="center"><div style="color:red;">Δ 66.47%</div></td><td align="right">18.03 MHz / <div style="color:gray;">30.02 MHz</div></td><td align="center"><div style="color:red;">∇ -39.93%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">17.66 ns / <div style="color:gray;">19.52 ns</div></td><td align="center"><div style="color:blue;">∇ -9.51%</div></td><td align="right">56.63 MHz / <div style="color:gray;">51.24 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.51%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.78 ns / <div style="color:gray;">16.27 ns</div></td><td align="center"><div style="color:red;">Δ 3.14%</div></td><td align="right">59.58 MHz / <div style="color:gray;">61.45 MHz</div></td><td align="center"><div style="color:red;">∇ -3.04%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.37 ns / <div style="color:gray;">169.77 ns</div></td><td align="center"><div style="color:blue;">∇ -0.24%</div></td><td align="right">5.90 MHz / <div style="color:gray;">5.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.24%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.08 us / <div style="color:gray;">799.00 ns</div></td><td align="center"><div style="color:red;">Δ 99909.82%</div></td><td align="right">1.25 KHz / <div style="color:gray;">1.25 MHz</div></td><td align="center"><div style="color:red;">∇ -99.90%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">803.31 us / <div style="color:gray;">788.50 ns</div></td><td align="center"><div style="color:red;">Δ 101777.87%</div></td><td align="right">1.24 KHz / <div style="color:gray;">1.27 MHz</div></td><td align="center"><div style="color:red;">∇ -99.90%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.44 us / <div style="color:gray;">9.11 us</div></td><td align="center"><div style="color:red;">Δ 3.70%</div></td><td align="right">105.91 KHz / <div style="color:gray;">109.83 KHz</div></td><td align="center"><div style="color:red;">∇ -3.57%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">648.90 ns / <div style="color:gray;">557.50 ns</div></td><td align="center"><div style="color:red;">Δ 16.39%</div></td><td align="right">1.54 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -14.09%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">631.00 ns / <div style="color:gray;">558.50 ns</div></td><td align="center"><div style="color:red;">Δ 12.98%</div></td><td align="right">1.58 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -11.49%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.18 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:blue;">∇ -2.85%</div></td><td align="right">122.30 KHz / <div style="color:gray;">118.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.93%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">24.43 ns / <div style="color:gray;">17.83 ns</div></td><td align="center"><div style="color:red;">Δ 36.97%</div></td><td align="right">40.94 MHz / <div style="color:gray;">56.07 MHz</div></td><td align="center"><div style="color:red;">∇ -26.99%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">23.18 ns / <div style="color:gray;">19.48 ns</div></td><td align="center"><div style="color:red;">Δ 19.03%</div></td><td align="right">43.14 MHz / <div style="color:gray;">51.35 MHz</div></td><td align="center"><div style="color:red;">∇ -15.99%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">59.50 ns / <div style="color:gray;">54.85 ns</div></td><td align="center"><div style="color:red;">Δ 8.49%</div></td><td align="right">16.81 MHz / <div style="color:gray;">18.23 MHz</div></td><td align="center"><div style="color:red;">∇ -7.83%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">62.26 ns / <div style="color:gray;">55.93 ns</div></td><td align="center"><div style="color:red;">Δ 11.32%</div></td><td align="right">16.06 MHz / <div style="color:gray;">17.88 MHz</div></td><td align="center"><div style="color:red;">∇ -10.17%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.35 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">2.88 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: unit, fix[double,3,3]</td><td align="right">1.19 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">841.75 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.70 ns / <div style="color:gray;">1.50 ns</div></td><td align="center"><div style="color:red;">Δ 13.68%</div></td><td align="right">587.20 MHz / <div style="color:gray;">667.56 MHz</div></td><td align="center"><div style="color:red;">∇ -12.04%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.77 ns / <div style="color:gray;">5.61 ns</div></td><td align="center"><div style="color:blue;">∇ -50.60%</div></td><td align="right">361.01 MHz / <div style="color:gray;">178.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.42%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">85.80 ns / <div style="color:gray;">291.30 ns</div></td><td align="center"><div style="color:blue;">∇ -70.55%</div></td><td align="right">11.66 MHz / <div style="color:gray;">3.43 MHz</div></td><td align="center"><div style="color:blue;">Δ 239.51%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">23.80 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">42.02 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">75.90 ns / <div style="color:gray;">292.50 ns</div></td><td align="center"><div style="color:blue;">∇ -74.05%</div></td><td align="right">13.18 MHz / <div style="color:gray;">3.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 285.38%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">23.50 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">42.55 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">118.10 ns / <div style="color:gray;">347.50 ns</div></td><td align="center"><div style="color:blue;">∇ -66.01%</div></td><td align="right">8.47 MHz / <div style="color:gray;">2.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 194.24%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">44.70 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">22.37 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">340.40 ns</div></td><td align="center"><div style="color:blue;">∇ -67.54%</div></td><td align="right">9.05 MHz / <div style="color:gray;">2.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 208.05%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">45.20 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">22.12 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.44 us / <div style="color:gray;">2.42 us</div></td><td align="center"><div style="color:red;">Δ 124.62%</div></td><td align="right">183.95 KHz / <div style="color:gray;">413.19 KHz</div></td><td align="center"><div style="color:red;">∇ -55.48%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.78 us / <div style="color:gray;">2.23 us</div></td><td align="center"><div style="color:red;">Δ 69.21%</div></td><td align="right">264.87 KHz / <div style="color:gray;">448.19 KHz</div></td><td align="center"><div style="color:red;">∇ -40.90%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.54 us / <div style="color:gray;">2.31 us</div></td><td align="center"><div style="color:red;">Δ 139.89%</div></td><td align="right">180.38 KHz / <div style="color:gray;">432.69 KHz</div></td><td align="center"><div style="color:red;">∇ -58.31%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">4.07 us / <div style="color:gray;">2.12 us</div></td><td align="center"><div style="color:red;">Δ 91.94%</div></td><td align="right">245.43 KHz / <div style="color:gray;">471.08 KHz</div></td><td align="center"><div style="color:red;">∇ -47.90%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td><td align="right">631.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.58 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 3x3</td><td align="right">35.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">28.57 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">644.00 ns / <div style="color:gray;">780.00 ns</div></td><td align="center"><div style="color:blue;">∇ -17.44%</div></td><td align="right">1.55 MHz / <div style="color:gray;">1.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.12%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">39.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">25.64 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td><td align="right">2.37 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">421.76 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 6x6</td><td align="right">812.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.23 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.26 us / <div style="color:gray;">1.97 us</div></td><td align="center"><div style="color:blue;">∇ -36.05%</div></td><td align="right">793.02 KHz / <div style="color:gray;">507.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 56.38%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">575.00 ns / <div style="color:gray;">1.60 us</div></td><td align="center"><div style="color:blue;">∇ -64.08%</div></td><td align="right">1.74 MHz / <div style="color:gray;">624.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 178.43%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td><td align="right">25.94 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">38.55 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 20x20</td><td align="right">14.15 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">70.70 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">25.76 us / <div style="color:gray;">16.08 us</div></td><td align="center"><div style="color:red;">Δ 60.17%</div></td><td align="right">38.83 KHz / <div style="color:gray;">62.19 KHz</div></td><td align="center"><div style="color:red;">∇ -37.57%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.04 us / <div style="color:gray;">14.48 us</div></td><td align="center"><div style="color:red;">Δ 17.70%</div></td><td align="right">58.69 KHz / <div style="color:gray;">69.08 KHz</div></td><td align="center"><div style="color:red;">∇ -15.04%</div></td></tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td><td align="right">205.11 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.88 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, fix[float ] 40x40</td><td align="right">93.29 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">10.72 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">207.20 us / <div style="color:gray;">65.78 us</div></td><td align="center"><div style="color:red;">Δ 214.96%</div></td><td align="right">4.83 KHz / <div style="color:gray;">15.20 KHz</div></td><td align="center"><div style="color:red;">∇ -68.25%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">133.80 us / <div style="color:gray;">64.13 us</div></td><td align="center"><div style="color:red;">Δ 108.64%</div></td><td align="right">7.47 KHz / <div style="color:gray;">15.59 KHz</div></td><td align="center"><div style="color:red;">∇ -52.07%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">156.25 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.#J THz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">6.40 ns / <div style="color:gray;">212.60 ns</div></td><td align="center"><div style="color:blue;">∇ -96.99%</div></td><td align="right">156.25 MHz / <div style="color:gray;">4.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 3221.88%</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;">X</div></td><td align="center"></td><td align="right">97.09 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.#J THz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 3x3</td><td align="right">10.30 ns / <div style="color:gray;">323.30 ns</div></td><td align="center"><div style="color:blue;">∇ -96.81%</div></td><td align="right">97.09 MHz / <div style="color:gray;">3.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 3038.83%</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;">X</div></td><td align="center"></td><td align="right">1.53 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 6x6</td><td align="right">210.00 ns / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.76 MHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">730.30 ns / <div style="color:gray;">774.90 ns</div></td><td align="center"><div style="color:blue;">∇ -5.76%</div></td><td align="right">1.37 MHz / <div style="color:gray;">1.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.11%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">212.10 ns / <div style="color:gray;">592.30 ns</div></td><td align="center"><div style="color:blue;">∇ -64.19%</div></td><td align="right">4.71 MHz / <div style="color:gray;">1.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 179.26%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 20x20</td><td align="right">5.70 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">175.40 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 20x20</td><td align="right">4.20 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">237.92 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">6.56 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -22.78%</div></td><td align="right">152.33 KHz / <div style="color:gray;">117.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 29.50%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">5.04 us / <div style="color:gray;">7.72 us</div></td><td align="center"><div style="color:blue;">∇ -34.71%</div></td><td align="right">198.38 KHz / <div style="color:gray;">129.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.15%</div></td></tr> <tr> <td>matrix: det, dyn[float ] 40x40</td><td align="right">32.38 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">30.89 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, fix[float ] 40x40</td><td align="right">27.92 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">35.82 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">39.41 us / <div style="color:gray;">32.23 us</div></td><td align="center"><div style="color:red;">Δ 22.30%</div></td><td align="right">25.37 KHz / <div style="color:gray;">31.03 KHz</div></td><td align="center"><div style="color:red;">∇ -18.23%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">29.04 us / <div style="color:gray;">30.71 us</div></td><td align="center"><div style="color:blue;">∇ -5.44%</div></td><td align="right">34.44 KHz / <div style="color:gray;">32.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.75%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">140.00 ns / <div style="color:gray;">530.00 ns</div></td><td align="center"><div style="color:blue;">∇ -73.58%</div></td><td align="right">7.14 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 278.57%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">160.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 23.08%</div></td><td align="right">6.25 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -18.75%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.38 us / <div style="color:gray;">22.98 us</div></td><td align="center"><div style="color:blue;">∇ -20.02%</div></td><td align="right">54.41 KHz / <div style="color:gray;">43.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 25.03%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.08 us / <div style="color:gray;">19.50 us</div></td><td align="center"><div style="color:blue;">∇ -12.41%</div></td><td align="right">58.55 KHz / <div style="color:gray;">51.28 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.17%</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;">85.30 us</div></td><td align="center"><div style="color:blue;">∇ -1.06%</div></td><td align="right">11.85 KHz / <div style="color:gray;">11.72 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.07%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">53.00 us / <div style="color:gray;">56.80 us</div></td><td align="center"><div style="color:blue;">∇ -6.69%</div></td><td align="right">18.87 KHz / <div style="color:gray;">17.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.17%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.49 us / <div style="color:gray;">39.31 us</div></td><td align="center"><div style="color:red;">Δ 0.46%</div></td><td align="right">25.32 KHz / <div style="color:gray;">25.44 KHz</div></td><td align="center"><div style="color:red;">∇ -0.46%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.70 us / <div style="color:gray;">266.80 us</div></td><td align="center"><div style="color:red;">Δ 54.31%</div></td><td align="right">2.43 KHz / <div style="color:gray;">3.75 KHz</div></td><td align="center"><div style="color:red;">∇ -35.20%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.09 us / <div style="color:gray;">72.76 us</div></td><td align="center"><div style="color:red;">Δ 1.83%</div></td><td align="right">13.50 KHz / <div style="color:gray;">13.74 KHz</div></td><td align="center"><div style="color:red;">∇ -1.80%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">10.38 ms / <div style="color:gray;">2.67 ms</div></td><td align="center"><div style="color:red;">Δ 288.79%</div></td><td align="right">96.33 Hz / <div style="color:gray;">374.53 Hz</div></td><td align="center"><div style="color:red;">∇ -74.28%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">248.74 us / <div style="color:gray;">176.19 us</div></td><td align="center"><div style="color:red;">Δ 41.18%</div></td><td align="right">4.02 KHz / <div style="color:gray;">5.68 KHz</div></td><td align="center"><div style="color:red;">∇ -29.17%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">370.64 ms / <div style="color:gray;">20.73 ms</div></td><td align="center"><div style="color:red;">Δ 1687.74%</div></td><td align="right">2.70 Hz / <div style="color:gray;">48.23 Hz</div></td><td align="center"><div style="color:red;">∇ -94.41%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">353.56 us / <div style="color:gray;">351.05 us</div></td><td align="center"><div style="color:red;">Δ 0.71%</div></td><td align="right">2.83 KHz / <div style="color:gray;">2.85 KHz</div></td><td align="center"><div style="color:red;">∇ -0.71%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">365.56 ms / <div style="color:gray;">34.60 ms</div></td><td align="center"><div style="color:red;">Δ 956.42%</div></td><td align="right">2.74 Hz / <div style="color:gray;">28.90 Hz</div></td><td align="center"><div style="color:red;">∇ -90.53%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">425.27 us / <div style="color:gray;">415.89 us</div></td><td align="center"><div style="color:red;">Δ 2.26%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -2.21%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">796.04 ms / <div style="color:gray;">50.32 ms</div></td><td align="center"><div style="color:red;">Δ 1481.98%</div></td><td align="right">1.26 Hz / <div style="color:gray;">19.87 Hz</div></td><td align="center"><div style="color:red;">∇ -93.68%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">490.79 us / <div style="color:gray;">482.94 us</div></td><td align="center"><div style="color:red;">Δ 1.63%</div></td><td align="right">2.04 KHz / <div style="color:gray;">2.07 KHz</div></td><td align="center"><div style="color:red;">∇ -1.60%</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;">∇ -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>gridmap2D: setCell</td><td align="right">2.58 ns / <div style="color:gray;">2.61 ns</div></td><td align="center"><div style="color:blue;">∇ -1.07%</div></td><td align="right">387.76 MHz / <div style="color:gray;">383.63 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.08%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.44 ns / <div style="color:gray;">6.99 ns</div></td><td align="center"><div style="color:red;">Δ 6.48%</div></td><td align="right">134.32 MHz / <div style="color:gray;">143.02 MHz</div></td><td align="center"><div style="color:red;">∇ -6.08%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">0.51 ns</div></td><td align="center"><div style="color:red;">Δ 7.51%</div></td><td align="right">1.82 GHz / <div style="color:gray;">1.95 GHz</div></td><td align="center"><div style="color:red;">∇ -6.99%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">101.23 us / <div style="color:gray;">102.59 us</div></td><td align="center"><div style="color:blue;">∇ -1.33%</div></td><td align="right">9.88 KHz / <div style="color:gray;">9.75 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.34%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">291.30 us / <div style="color:gray;">284.11 us</div></td><td align="center"><div style="color:red;">Δ 2.53%</div></td><td align="right">3.43 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:red;">∇ -2.47%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.89 ms / <div style="color:gray;">722.00 us</div></td><td align="center"><div style="color:red;">Δ 161.50%</div></td><td align="right">529.66 Hz / <div style="color:gray;">1.39 KHz</div></td><td align="center"><div style="color:red;">∇ -61.76%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.46 us / <div style="color:gray;">15.69 us</div></td><td align="center"><div style="color:red;">Δ 4.87%</div></td><td align="right">60.76 KHz / <div style="color:gray;">63.72 KHz</div></td><td align="center"><div style="color:red;">∇ -4.64%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.10 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:red;">Δ 4.51%</div></td><td align="right">322.50 Hz / <div style="color:gray;">337.06 Hz</div></td><td align="center"><div style="color:red;">∇ -4.32%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.36 us</div></td><td align="center"><div style="color:blue;">∇ -1.83%</div></td><td align="right">233.64 KHz / <div style="color:gray;">229.36 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.87%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">355.52 us / <div style="color:gray;">357.08 us</div></td><td align="center"><div style="color:blue;">∇ -0.44%</div></td><td align="right">2.81 KHz / <div style="color:gray;">2.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.44%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.16 ms / <div style="color:gray;">4.19 ms</div></td><td align="center"><div style="color:blue;">∇ -0.68%</div></td><td align="right">240.24 Hz / <div style="color:gray;">238.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.68%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.76 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 0.85%</div></td><td align="right">210.08 KHz / <div style="color:gray;">211.86 KHz</div></td><td align="center"><div style="color:red;">∇ -0.84%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">363.20 us / <div style="color:gray;">362.68 us</div></td><td align="center"><div style="color:red;">Δ 0.14%</div></td><td align="right">2.75 KHz / <div style="color:gray;">2.76 KHz</div></td><td align="center"><div style="color:red;">∇ -0.14%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">4.10 ms</div></td><td align="center"><div style="color:blue;">∇ -0.08%</div></td><td align="right">244.29 Hz / <div style="color:gray;">244.09 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.08%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.38 us / <div style="color:gray;">1.39 us</div></td><td align="center"><div style="color:blue;">∇ -0.43%</div></td><td align="right">723.59 KHz / <div style="color:gray;">720.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.43%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">100.93 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:blue;">∇ -0.92%</div></td><td align="right">9.91 KHz / <div style="color:gray;">9.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.92%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.91 ms / <div style="color:gray;">11.78 ms</div></td><td align="center"><div style="color:red;">Δ 1.16%</div></td><td align="right">83.95 Hz / <div style="color:gray;">84.92 Hz</div></td><td align="center"><div style="color:red;">∇ -1.15%</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;">5.62 ms</div></td><td align="center"><div style="color:blue;">∇ -0.09%</div></td><td align="right">178.01 Hz / <div style="color:gray;">177.84 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.09%</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;">130.59 ms</div></td><td align="center"><div style="color:red;">Δ 0.13%</div></td><td align="right">7.65 Hz / <div style="color:gray;">7.66 Hz</div></td><td align="center"><div style="color:red;">∇ -0.13%</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;">5.69 ms</div></td><td align="center"><div style="color:blue;">∇ -0.36%</div></td><td align="right">176.35 Hz / <div style="color:gray;">175.73 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.36%</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;">132.22 ms</div></td><td align="center"><div style="color:red;">Δ 0.31%</div></td><td align="right">7.54 Hz / <div style="color:gray;">7.56 Hz</div></td><td align="center"><div style="color:red;">∇ -0.31%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">14.57 ns / <div style="color:gray;">15.67 ns</div></td><td align="center"><div style="color:blue;">∇ -7.01%</div></td><td align="right">68.63 MHz / <div style="color:gray;">63.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.53%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">14.62 ns / <div style="color:gray;">15.66 ns</div></td><td align="center"><div style="color:blue;">∇ -6.62%</div></td><td align="right">68.41 MHz / <div style="color:gray;">63.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.09%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">68.70 ns / <div style="color:gray;">69.89 ns</div></td><td align="center"><div style="color:blue;">∇ -1.71%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.74%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">68.68 ns / <div style="color:gray;">69.86 ns</div></td><td align="center"><div style="color:blue;">∇ -1.68%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.71%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">10.45 ns / <div style="color:gray;">12.21 ns</div></td><td align="center"><div style="color:blue;">∇ -14.42%</div></td><td align="right">95.67 MHz / <div style="color:gray;">81.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.85%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.31 us / <div style="color:gray;">2.70 us</div></td><td align="center"><div style="color:blue;">∇ -51.56%</div></td><td align="right">764.77 KHz / <div style="color:gray;">370.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 106.42%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">2.79 us / <div style="color:gray;">5.71 us</div></td><td align="center"><div style="color:blue;">∇ -51.20%</div></td><td align="right">358.92 KHz / <div style="color:gray;">175.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 104.94%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">158.26 ns / <div style="color:gray;">148.19 ns</div></td><td align="center"><div style="color:red;">Δ 6.80%</div></td><td align="right">6.32 MHz / <div style="color:gray;">6.75 MHz</div></td><td align="center"><div style="color:red;">∇ -6.37%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">236.42 ns / <div style="color:gray;">232.46 ns</div></td><td align="center"><div style="color:red;">Δ 1.70%</div></td><td align="right">4.23 MHz / <div style="color:gray;">4.30 MHz</div></td><td align="center"><div style="color:red;">∇ -1.68%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.37 ns / <div style="color:gray;">489.71 ns</div></td><td align="center"><div style="color:blue;">∇ -0.07%</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 0.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">164.61 ns / <div style="color:gray;">159.54 ns</div></td><td align="center"><div style="color:red;">Δ 3.18%</div></td><td align="right">6.07 MHz / <div style="color:gray;">6.27 MHz</div></td><td align="center"><div style="color:red;">∇ -3.08%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">248.12 ns / <div style="color:gray;">247.75 ns</div></td><td align="center"><div style="color:red;">Δ 0.15%</div></td><td align="right">4.03 MHz / <div style="color:gray;">4.04 MHz</div></td><td align="center"><div style="color:red;">∇ -0.15%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">514.83 ns / <div style="color:gray;">521.91 ns</div></td><td align="center"><div style="color:blue;">∇ -1.36%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.92 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.38%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">317.50 ns / <div style="color:gray;">251.30 ns</div></td><td align="center"><div style="color:red;">Δ 26.34%</div></td><td align="right">3.15 MHz / <div style="color:gray;">3.98 MHz</div></td><td align="center"><div style="color:red;">∇ -20.85%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.06 us / <div style="color:gray;">3.02 us</div></td><td align="center"><div style="color:red;">Δ 1.50%</div></td><td align="right">326.54 KHz / <div style="color:gray;">331.46 KHz</div></td><td align="center"><div style="color:red;">∇ -1.48%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.27 us / <div style="color:gray;">30.36 us</div></td><td align="center"><div style="color:blue;">∇ -0.31%</div></td><td align="right">33.04 KHz / <div style="color:gray;">32.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.32%</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;">34.14 ms</div></td><td align="center"><div style="color:blue;">∇ -20.13%</div></td><td align="right">36.67 Hz / <div style="color:gray;">29.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 25.20%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.27 ms / <div style="color:gray;">49.83 ms</div></td><td align="center"><div style="color:blue;">∇ -13.16%</div></td><td align="right">23.11 Hz / <div style="color:gray;">20.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.15%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">74.67 ms / <div style="color:gray;">80.71 ms</div></td><td align="center"><div style="color:blue;">∇ -7.48%</div></td><td align="right">13.39 Hz / <div style="color:gray;">12.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.09%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">26.31 ms / <div style="color:gray;">29.36 ms</div></td><td align="center"><div style="color:blue;">∇ -10.41%</div></td><td align="right">38.01 Hz / <div style="color:gray;">34.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.62%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.92 ms / <div style="color:gray;">42.45 ms</div></td><td align="center"><div style="color:blue;">∇ -3.60%</div></td><td align="right">24.44 Hz / <div style="color:gray;">23.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.74%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">62.56 ms / <div style="color:gray;">65.41 ms</div></td><td align="center"><div style="color:blue;">∇ -4.36%</div></td><td align="right">15.99 Hz / <div style="color:gray;">15.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.55%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.48 ms / <div style="color:gray;">4.66 ms</div></td><td align="center"><div style="color:blue;">∇ -3.86%</div></td><td align="right">223.01 Hz / <div style="color:gray;">214.40 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.02%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.46 ms / <div style="color:gray;">5.98 ms</div></td><td align="center"><div style="color:red;">Δ 24.64%</div></td><td align="right">134.07 Hz / <div style="color:gray;">167.10 Hz</div></td><td align="center"><div style="color:red;">∇ -19.77%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">12.41 ms / <div style="color:gray;">10.42 ms</div></td><td align="center"><div style="color:red;">Δ 19.07%</div></td><td align="right">80.57 Hz / <div style="color:gray;">95.93 Hz</div></td><td align="center"><div style="color:red;">∇ -16.01%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">5.15 us / <div style="color:gray;">11.35 us</div></td><td align="center"><div style="color:blue;">∇ -54.63%</div></td><td align="right">194.17 KHz / <div style="color:gray;">88.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 120.39%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.35 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:blue;">∇ -56.33%</div></td><td align="right">229.89 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 128.97%</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;">5.52 us</div></td><td align="center"><div style="color:blue;">∇ -61.59%</div></td><td align="right">471.70 KHz / <div style="color:gray;">181.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 160.38%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">33.18 ms / <div style="color:gray;">32.25 ms</div></td><td align="center"><div style="color:red;">Δ 2.88%</div></td><td align="right">30.14 Hz / <div style="color:gray;">31.01 Hz</div></td><td align="center"><div style="color:red;">∇ -2.80%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">29.64 ms / <div style="color:gray;">25.60 ms</div></td><td align="center"><div style="color:red;">Δ 15.75%</div></td><td align="right">33.74 Hz / <div style="color:gray;">39.06 Hz</div></td><td align="center"><div style="color:red;">∇ -13.60%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">637.68 ms / <div style="color:gray;">630.91 ms</div></td><td align="center"><div style="color:red;">Δ 1.07%</div></td><td align="right">1.57 Hz / <div style="color:gray;">1.59 Hz</div></td><td align="center"><div style="color:red;">∇ -1.06%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">173.14 ms / <div style="color:gray;">164.09 ms</div></td><td align="center"><div style="color:red;">Δ 5.52%</div></td><td align="right">5.78 Hz / <div style="color:gray;">6.09 Hz</div></td><td align="center"><div style="color:red;">∇ -5.23%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">202.84 ms / <div style="color:gray;">207.64 ms</div></td><td align="center"><div style="color:blue;">∇ -2.31%</div></td><td align="right">4.93 Hz / <div style="color:gray;">4.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.37%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.10 ms / <div style="color:gray;">7.60 ms</div></td><td align="center"><div style="color:blue;">∇ -32.85%</div></td><td align="right">195.94 Hz / <div style="color:gray;">131.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 48.92%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">61.22 ms / <div style="color:gray;">60.60 ms</div></td><td align="center"><div style="color:red;">Δ 1.01%</div></td><td align="right">16.33 Hz / <div style="color:gray;">16.50 Hz</div></td><td align="center"><div style="color:red;">∇ -1.00%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.90 ms / <div style="color:gray;">43.99 ms</div></td><td align="center"><div style="color:blue;">∇ -0.21%</div></td><td align="right">22.78 Hz / <div style="color:gray;">22.73 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.21%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">38.32 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 5.61%</div></td><td align="right">26.09 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -5.32%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.20 sec</div></td><td align="center"><div style="color:red;">Δ 6.59%</div></td><td align="right">782.87 mHz / <div style="color:gray;">834.47 mHz</div></td><td align="center"><div style="color:red;">∇ -6.18%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">387.99 ms / <div style="color:gray;">379.83 ms</div></td><td align="center"><div style="color:red;">Δ 2.15%</div></td><td align="right">2.58 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -2.10%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">15.73 ms / <div style="color:gray;">16.04 ms</div></td><td align="center"><div style="color:blue;">∇ -1.90%</div></td><td align="right">63.57 Hz / <div style="color:gray;">62.36 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.94%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.56 ms / <div style="color:gray;">10.85 ms</div></td><td align="center"><div style="color:blue;">∇ -2.70%</div></td><td align="right">94.70 Hz / <div style="color:gray;">92.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.78%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">104.46 us / <div style="color:gray;">119.99 us</div></td><td align="center"><div style="color:blue;">∇ -12.94%</div></td><td align="right">9.57 KHz / <div style="color:gray;">8.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.87%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">85.19 us / <div style="color:gray;">84.03 us</div></td><td align="center"><div style="color:red;">Δ 1.38%</div></td><td align="right">11.74 KHz / <div style="color:gray;">11.90 KHz</div></td><td align="center"><div style="color:red;">∇ -1.36%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">134.65 us / <div style="color:gray;">170.61 us</div></td><td align="center"><div style="color:blue;">∇ -21.08%</div></td><td align="right">7.43 KHz / <div style="color:gray;">5.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 26.71%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">119.89 us / <div style="color:gray;">179.02 us</div></td><td align="center"><div style="color:blue;">∇ -33.03%</div></td><td align="right">8.34 KHz / <div style="color:gray;">5.59 KHz</div></td><td align="center"><div style="color:blue;">Δ 49.32%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.39 ms / <div style="color:gray;">1.58 ms</div></td><td align="center"><div style="color:blue;">∇ -12.46%</div></td><td align="right">721.96 Hz / <div style="color:gray;">632.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.23%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">854.04 us / <div style="color:gray;">863.38 us</div></td><td align="center"><div style="color:blue;">∇ -1.08%</div></td><td align="right">1.17 KHz / <div style="color:gray;">1.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.09%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.61 ms / <div style="color:gray;">1.96 ms</div></td><td align="center"><div style="color:blue;">∇ -18.00%</div></td><td align="right">621.80 Hz / <div style="color:gray;">509.85 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.96%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.20 ms / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:blue;">∇ -38.55%</div></td><td align="right">832.81 Hz / <div style="color:gray;">511.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 62.75%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">132.91 us / <div style="color:gray;">169.26 us</div></td><td align="center"><div style="color:blue;">∇ -21.48%</div></td><td align="right">7.52 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 27.35%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">109.11 us / <div style="color:gray;">153.69 us</div></td><td align="center"><div style="color:blue;">∇ -29.01%</div></td><td align="right">9.17 KHz / <div style="color:gray;">6.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.86%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">349.74 us / <div style="color:gray;">471.95 us</div></td><td align="center"><div style="color:blue;">∇ -25.89%</div></td><td align="right">2.86 KHz / <div style="color:gray;">2.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 34.94%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">321.54 us / <div style="color:gray;">441.33 us</div></td><td align="center"><div style="color:blue;">∇ -27.14%</div></td><td align="right">3.11 KHz / <div style="color:gray;">2.27 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.26%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">1.89 ms / <div style="color:gray;">2.46 ms</div></td><td align="center"><div style="color:blue;">∇ -23.07%</div></td><td align="right">529.10 Hz / <div style="color:gray;">407.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 29.98%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.10 ms / <div style="color:gray;">1.70 ms</div></td><td align="center"><div style="color:blue;">∇ -35.35%</div></td><td align="right">910.25 Hz / <div style="color:gray;">588.45 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.69%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">4.65 ms / <div style="color:gray;">6.68 ms</div></td><td align="center"><div style="color:blue;">∇ -30.47%</div></td><td align="right">215.20 Hz / <div style="color:gray;">149.62 Hz</div></td><td align="center"><div style="color:blue;">Δ 43.83%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.05 ms / <div style="color:gray;">4.59 ms</div></td><td align="center"><div style="color:blue;">∇ -11.64%</div></td><td align="right">246.81 Hz / <div style="color:gray;">218.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.18%</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 2011/06/03,22:26:39.014493 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
