<html><head><title>mrpt-performance results - 0.9.2preSVN2157-GCC-64bit vs 0.9.4-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.2preSVN2157-GCC-64bit vs. 0.9.4-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;">0.9.4-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;">20.74 ms</div></td><td align="center"><div style="color:blue;">∇ -0.76%</div></td><td align="right">48.58 Hz / <div style="color:gray;">48.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.77%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">20.64 ms / <div style="color:gray;">17.09 ms</div></td><td align="center"><div style="color:red;">Δ 20.76%</div></td><td align="right">48.45 Hz / <div style="color:gray;">58.52 Hz</div></td><td align="center"><div style="color:red;">∇ -17.19%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">42.90 ns / <div style="color:gray;">29.76 ns</div></td><td align="center"><div style="color:red;">Δ 44.15%</div></td><td align="right">23.31 MHz / <div style="color:gray;">33.60 MHz</div></td><td align="center"><div style="color:red;">∇ -30.63%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">37.61 ns / <div style="color:gray;">21.90 ns</div></td><td align="center"><div style="color:red;">Δ 71.74%</div></td><td align="right">26.59 MHz / <div style="color:gray;">45.66 MHz</div></td><td align="center"><div style="color:red;">∇ -41.77%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">7.25 ns / <div style="color:gray;">7.23 ns</div></td><td align="center"><div style="color:red;">Δ 0.25%</div></td><td align="right">137.89 MHz / <div style="color:gray;">138.24 MHz</div></td><td align="center"><div style="color:red;">∇ -0.25%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.83 ns / <div style="color:gray;">11.67 ns</div></td><td align="center"><div style="color:red;">Δ 1.35%</div></td><td align="right">84.53 MHz / <div style="color:gray;">85.68 MHz</div></td><td align="center"><div style="color:red;">∇ -1.34%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">39.31 ns / <div style="color:gray;">13.29 ns</div></td><td align="center"><div style="color:red;">Δ 195.89%</div></td><td align="right">25.44 MHz / <div style="color:gray;">75.27 MHz</div></td><td align="center"><div style="color:red;">∇ -66.20%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">34.91 ns / <div style="color:gray;">24.48 ns</div></td><td align="center"><div style="color:red;">Δ 42.59%</div></td><td align="right">28.65 MHz / <div style="color:gray;">40.85 MHz</div></td><td align="center"><div style="color:red;">∇ -29.87%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">76.08 ns / <div style="color:gray;">71.64 ns</div></td><td align="center"><div style="color:red;">Δ 6.19%</div></td><td align="right">13.14 MHz / <div style="color:gray;">13.96 MHz</div></td><td align="center"><div style="color:red;">∇ -5.83%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">61.61 ns / <div style="color:gray;">69.41 ns</div></td><td align="center"><div style="color:blue;">∇ -11.23%</div></td><td align="right">16.23 MHz / <div style="color:gray;">14.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.65%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.26 ns / <div style="color:gray;">60.78 ns</div></td><td align="center"><div style="color:blue;">∇ -0.84%</div></td><td align="right">16.59 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.85%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">62.26 ns / <div style="color:gray;">60.80 ns</div></td><td align="center"><div style="color:red;">Δ 2.41%</div></td><td align="right">16.06 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -2.35%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">40.99 ns / <div style="color:gray;">40.47 ns</div></td><td align="center"><div style="color:red;">Δ 1.28%</div></td><td align="right">24.40 MHz / <div style="color:gray;">24.71 MHz</div></td><td align="center"><div style="color:red;">∇ -1.27%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">39.39 ns / <div style="color:gray;">37.55 ns</div></td><td align="center"><div style="color:red;">Δ 4.90%</div></td><td align="right">25.39 MHz / <div style="color:gray;">26.63 MHz</div></td><td align="center"><div style="color:red;">∇ -4.67%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">18.30 ns / <div style="color:gray;">17.39 ns</div></td><td align="center"><div style="color:red;">Δ 5.27%</div></td><td align="right">54.63 MHz / <div style="color:gray;">57.51 MHz</div></td><td align="center"><div style="color:red;">∇ -5.00%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">17.94 ns / <div style="color:gray;">17.48 ns</div></td><td align="center"><div style="color:red;">Δ 2.62%</div></td><td align="right">55.74 MHz / <div style="color:gray;">57.20 MHz</div></td><td align="center"><div style="color:red;">∇ -2.55%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">55.46 ns / <div style="color:gray;">32.97 ns</div></td><td align="center"><div style="color:red;">Δ 68.21%</div></td><td align="right">18.03 MHz / <div style="color:gray;">30.33 MHz</div></td><td align="center"><div style="color:red;">∇ -40.55%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">17.66 ns / <div style="color:gray;">19.11 ns</div></td><td align="center"><div style="color:blue;">∇ -7.57%</div></td><td align="right">56.63 MHz / <div style="color:gray;">52.34 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.19%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.78 ns / <div style="color:gray;">23.42 ns</div></td><td align="center"><div style="color:blue;">∇ -28.33%</div></td><td align="right">59.58 MHz / <div style="color:gray;">42.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.53%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.37 ns / <div style="color:gray;">172.72 ns</div></td><td align="center"><div style="color:blue;">∇ -1.94%</div></td><td align="right">5.90 MHz / <div style="color:gray;">5.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.98%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.08 us / <div style="color:gray;">671.00 ns</div></td><td align="center"><div style="color:red;">Δ 118987.70%</div></td><td align="right">1.25 KHz / <div style="color:gray;">1.49 MHz</div></td><td align="center"><div style="color:red;">∇ -99.92%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">803.31 us / <div style="color:gray;">652.00 ns</div></td><td align="center"><div style="color:red;">Δ 123106.60%</div></td><td align="right">1.24 KHz / <div style="color:gray;">1.53 MHz</div></td><td align="center"><div style="color:red;">∇ -99.92%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.44 us / <div style="color:gray;">8.74 us</div></td><td align="center"><div style="color:red;">Δ 8.02%</div></td><td align="right">105.91 KHz / <div style="color:gray;">114.40 KHz</div></td><td align="center"><div style="color:red;">∇ -7.42%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">648.90 ns / <div style="color:gray;">454.10 ns</div></td><td align="center"><div style="color:red;">Δ 42.90%</div></td><td align="right">1.54 MHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:red;">∇ -30.02%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">631.00 ns / <div style="color:gray;">452.90 ns</div></td><td align="center"><div style="color:red;">Δ 39.32%</div></td><td align="right">1.58 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -28.23%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.18 us / <div style="color:gray;">7.98 us</div></td><td align="center"><div style="color:red;">Δ 2.53%</div></td><td align="right">122.30 KHz / <div style="color:gray;">125.39 KHz</div></td><td align="center"><div style="color:red;">∇ -2.46%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">24.43 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 38.51%</div></td><td align="right">40.94 MHz / <div style="color:gray;">56.71 MHz</div></td><td align="center"><div style="color:red;">∇ -27.81%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">23.18 ns / <div style="color:gray;">19.86 ns</div></td><td align="center"><div style="color:red;">Δ 16.70%</div></td><td align="right">43.14 MHz / <div style="color:gray;">50.34 MHz</div></td><td align="center"><div style="color:red;">∇ -14.31%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">59.50 ns / <div style="color:gray;">57.06 ns</div></td><td align="center"><div style="color:red;">Δ 4.29%</div></td><td align="right">16.81 MHz / <div style="color:gray;">17.53 MHz</div></td><td align="center"><div style="color:red;">∇ -4.12%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">62.26 ns / <div style="color:gray;">60.00 ns</div></td><td align="center"><div style="color:red;">Δ 3.78%</div></td><td align="right">16.06 MHz / <div style="color:gray;">16.67 MHz</div></td><td align="center"><div style="color:red;">∇ -3.64%</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;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">587.20 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">2.77 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">361.01 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">85.80 ns / <div style="color:gray;">242.70 ns</div></td><td align="center"><div style="color:blue;">∇ -64.65%</div></td><td align="right">11.66 MHz / <div style="color:gray;">4.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 182.87%</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;">231.60 ns</div></td><td align="center"><div style="color:blue;">∇ -67.23%</div></td><td align="right">13.18 MHz / <div style="color:gray;">4.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 205.14%</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;">296.50 ns</div></td><td align="center"><div style="color:blue;">∇ -60.17%</div></td><td align="right">8.47 MHz / <div style="color:gray;">3.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 151.06%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">44.70 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:red;">Δ 44600.00%</div></td><td align="right">22.37 MHz / <div style="color:gray;">10.00 GHz</div></td><td align="center"><div style="color:red;">∇ -99.78%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">110.50 ns / <div style="color:gray;">259.20 ns</div></td><td align="center"><div style="color:blue;">∇ -57.37%</div></td><td align="right">9.05 MHz / <div style="color:gray;">3.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 134.57%</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;">2.09 us</div></td><td align="center"><div style="color:red;">Δ 159.68%</div></td><td align="right">183.95 KHz / <div style="color:gray;">477.69 KHz</div></td><td align="center"><div style="color:red;">∇ -61.49%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">3.78 us / <div style="color:gray;">1.79 us</div></td><td align="center"><div style="color:red;">Δ 111.06%</div></td><td align="right">264.87 KHz / <div style="color:gray;">559.03 KHz</div></td><td align="center"><div style="color:red;">∇ -52.62%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">5.54 us / <div style="color:gray;">2.43 us</div></td><td align="center"><div style="color:red;">Δ 128.23%</div></td><td align="right">180.38 KHz / <div style="color:gray;">411.68 KHz</div></td><td align="center"><div style="color:red;">∇ -56.19%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">4.07 us / <div style="color:gray;">2.16 us</div></td><td align="center"><div style="color:red;">Δ 88.32%</div></td><td align="right">245.43 KHz / <div style="color:gray;">462.21 KHz</div></td><td align="center"><div style="color:red;">∇ -46.90%</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;">767.00 ns</div></td><td align="center"><div style="color:blue;">∇ -16.04%</div></td><td align="right">1.55 MHz / <div style="color:gray;">1.30 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.10%</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;">1.78 us</div></td><td align="center"><div style="color:blue;">∇ -29.16%</div></td><td align="right">793.02 KHz / <div style="color:gray;">561.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 41.16%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">575.00 ns / <div style="color:gray;">1.73 us</div></td><td align="center"><div style="color:blue;">∇ -66.72%</div></td><td align="right">1.74 MHz / <div style="color:gray;">578.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 200.52%</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;">16.27 us</div></td><td align="center"><div style="color:red;">Δ 58.33%</div></td><td align="right">38.83 KHz / <div style="color:gray;">61.47 KHz</div></td><td align="center"><div style="color:red;">∇ -36.84%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">17.04 us / <div style="color:gray;">13.44 us</div></td><td align="center"><div style="color:red;">Δ 26.78%</div></td><td align="right">58.69 KHz / <div style="color:gray;">74.41 KHz</div></td><td align="center"><div style="color:red;">∇ -21.12%</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;">68.00 us</div></td><td align="center"><div style="color:red;">Δ 204.68%</div></td><td align="right">4.83 KHz / <div style="color:gray;">14.70 KHz</div></td><td align="center"><div style="color:red;">∇ -67.18%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">133.80 us / <div style="color:gray;">63.01 us</div></td><td align="center"><div style="color:red;">Δ 112.37%</div></td><td align="right">7.47 KHz / <div style="color:gray;">15.87 KHz</div></td><td align="center"><div style="color:red;">∇ -52.91%</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;">209.40 ns</div></td><td align="center"><div style="color:blue;">∇ -96.94%</div></td><td align="right">156.25 MHz / <div style="color:gray;">4.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 3171.87%</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;">331.30 ns</div></td><td align="center"><div style="color:blue;">∇ -96.89%</div></td><td align="right">97.09 MHz / <div style="color:gray;">3.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 3116.50%</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;">943.70 ns</div></td><td align="center"><div style="color:blue;">∇ -22.61%</div></td><td align="right">1.37 MHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.22%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">212.10 ns / <div style="color:gray;">575.90 ns</div></td><td align="center"><div style="color:blue;">∇ -63.17%</div></td><td align="right">4.71 MHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 171.52%</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;">8.10 us</div></td><td align="center"><div style="color:blue;">∇ -18.99%</div></td><td align="right">152.33 KHz / <div style="color:gray;">123.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 23.45%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">5.04 us / <div style="color:gray;">7.48 us</div></td><td align="center"><div style="color:blue;">∇ -32.65%</div></td><td align="right">198.38 KHz / <div style="color:gray;">133.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 48.47%</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;">30.87 us</div></td><td align="center"><div style="color:red;">Δ 27.66%</div></td><td align="right">25.37 KHz / <div style="color:gray;">32.39 KHz</div></td><td align="center"><div style="color:red;">∇ -21.67%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">29.04 us / <div style="color:gray;">29.01 us</div></td><td align="center"><div style="color:red;">Δ 0.09%</div></td><td align="right">34.44 KHz / <div style="color:gray;">34.47 KHz</div></td><td align="center"><div style="color:red;">∇ -0.09%</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;">120.00 ns</div></td><td align="center"><div style="color:red;">Δ 33.33%</div></td><td align="right">6.25 MHz / <div style="color:gray;">8.33 MHz</div></td><td align="center"><div style="color:red;">∇ -25.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">18.38 us / <div style="color:gray;">20.70 us</div></td><td align="center"><div style="color:blue;">∇ -11.21%</div></td><td align="right">54.41 KHz / <div style="color:gray;">48.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.62%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">17.08 us / <div style="color:gray;">16.54 us</div></td><td align="center"><div style="color:red;">Δ 3.26%</div></td><td align="right">58.55 KHz / <div style="color:gray;">60.46 KHz</div></td><td align="center"><div style="color:red;">∇ -3.16%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.30 us / <div style="color:gray;">12.20 us</div></td><td align="center"><div style="color:blue;">∇ -31.97%</div></td><td align="right">120.48 KHz / <div style="color:gray;">81.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.99%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">84.40 us / <div style="color:gray;">87.70 us</div></td><td align="center"><div style="color:blue;">∇ -3.76%</div></td><td align="right">11.85 KHz / <div style="color:gray;">11.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.91%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">53.00 us / <div style="color:gray;">51.70 us</div></td><td align="center"><div style="color:red;">Δ 2.51%</div></td><td align="right">18.87 KHz / <div style="color:gray;">19.34 KHz</div></td><td align="center"><div style="color:red;">∇ -2.45%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.49 us / <div style="color:gray;">38.27 us</div></td><td align="center"><div style="color:red;">Δ 3.19%</div></td><td align="right">25.32 KHz / <div style="color:gray;">26.13 KHz</div></td><td align="center"><div style="color:red;">∇ -3.09%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">411.70 us / <div style="color:gray;">255.50 us</div></td><td align="center"><div style="color:red;">Δ 61.14%</div></td><td align="right">2.43 KHz / <div style="color:gray;">3.91 KHz</div></td><td align="center"><div style="color:red;">∇ -37.94%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.09 us / <div style="color:gray;">70.94 us</div></td><td align="center"><div style="color:red;">Δ 4.44%</div></td><td align="right">13.50 KHz / <div style="color:gray;">14.10 KHz</div></td><td align="center"><div style="color:red;">∇ -4.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">10.38 ms / <div style="color:gray;">2.75 ms</div></td><td align="center"><div style="color:red;">Δ 277.48%</div></td><td align="right">96.33 Hz / <div style="color:gray;">363.64 Hz</div></td><td align="center"><div style="color:red;">∇ -73.51%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">248.74 us / <div style="color:gray;">169.22 us</div></td><td align="center"><div style="color:red;">Δ 46.99%</div></td><td align="right">4.02 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -31.97%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">370.64 ms / <div style="color:gray;">22.06 ms</div></td><td align="center"><div style="color:red;">Δ 1580.16%</div></td><td align="right">2.70 Hz / <div style="color:gray;">45.33 Hz</div></td><td align="center"><div style="color:red;">∇ -94.05%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">353.56 us / <div style="color:gray;">339.61 us</div></td><td align="center"><div style="color:red;">Δ 4.11%</div></td><td align="right">2.83 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -3.95%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">365.56 ms / <div style="color:gray;">36.67 ms</div></td><td align="center"><div style="color:red;">Δ 896.99%</div></td><td align="right">2.74 Hz / <div style="color:gray;">27.27 Hz</div></td><td align="center"><div style="color:red;">∇ -89.97%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">425.27 us / <div style="color:gray;">402.38 us</div></td><td align="center"><div style="color:red;">Δ 5.69%</div></td><td align="right">2.35 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -5.38%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">796.04 ms / <div style="color:gray;">53.86 ms</div></td><td align="center"><div style="color:red;">Δ 1377.91%</div></td><td align="right">1.26 Hz / <div style="color:gray;">18.57 Hz</div></td><td align="center"><div style="color:red;">∇ -93.23%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">490.79 us / <div style="color:gray;">476.81 us</div></td><td align="center"><div style="color:red;">Δ 2.93%</div></td><td align="right">2.04 KHz / <div style="color:gray;">2.10 KHz</div></td><td align="center"><div style="color:red;">∇ -2.85%</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;">2.71 ns</div></td><td align="center"><div style="color:blue;">∇ -4.75%</div></td><td align="right">387.76 MHz / <div style="color:gray;">369.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.99%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">7.44 ns / <div style="color:gray;">6.04 ns</div></td><td align="center"><div style="color:red;">Δ 23.28%</div></td><td align="right">134.32 MHz / <div style="color:gray;">165.59 MHz</div></td><td align="center"><div style="color:red;">∇ -18.89%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.55 ns / <div style="color:gray;">0.61 ns</div></td><td align="center"><div style="color:blue;">∇ -10.31%</div></td><td align="right">1.82 GHz / <div style="color:gray;">1.63 GHz</div></td><td align="center"><div style="color:blue;">Δ 11.49%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">101.23 us / <div style="color:gray;">99.83 us</div></td><td align="center"><div style="color:red;">Δ 1.40%</div></td><td align="right">9.88 KHz / <div style="color:gray;">10.02 KHz</div></td><td align="center"><div style="color:red;">∇ -1.38%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">291.30 us / <div style="color:gray;">293.13 us</div></td><td align="center"><div style="color:blue;">∇ -0.62%</div></td><td align="right">3.43 KHz / <div style="color:gray;">3.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.63%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">1.89 ms / <div style="color:gray;">630.00 us</div></td><td align="center"><div style="color:red;">Δ 199.68%</div></td><td align="right">529.66 Hz / <div style="color:gray;">1.59 KHz</div></td><td align="center"><div style="color:red;">∇ -66.63%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">16.46 us / <div style="color:gray;">17.81 us</div></td><td align="center"><div style="color:blue;">∇ -7.60%</div></td><td align="right">60.76 KHz / <div style="color:gray;">56.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.22%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.10 ms / <div style="color:gray;">1.01 ms</div></td><td align="center"><div style="color:red;">Δ 207.23%</div></td><td align="right">322.50 Hz / <div style="color:gray;">990.80 Hz</div></td><td align="center"><div style="color:red;">∇ -67.45%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.28 us / <div style="color:gray;">4.52 us</div></td><td align="center"><div style="color:blue;">∇ -5.31%</div></td><td align="right">233.64 KHz / <div style="color:gray;">221.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.61%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">355.52 us / <div style="color:gray;">364.44 us</div></td><td align="center"><div style="color:blue;">∇ -2.45%</div></td><td align="right">2.81 KHz / <div style="color:gray;">2.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.51%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.16 ms / <div style="color:gray;">4.38 ms</div></td><td align="center"><div style="color:blue;">∇ -5.01%</div></td><td align="right">240.24 Hz / <div style="color:gray;">228.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.27%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.76 us / <div style="color:gray;">5.16 us</div></td><td align="center"><div style="color:blue;">∇ -7.75%</div></td><td align="right">210.08 KHz / <div style="color:gray;">193.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.40%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">363.20 us / <div style="color:gray;">372.44 us</div></td><td align="center"><div style="color:blue;">∇ -2.48%</div></td><td align="right">2.75 KHz / <div style="color:gray;">2.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.54%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.09 ms / <div style="color:gray;">4.20 ms</div></td><td align="center"><div style="color:blue;">∇ -2.55%</div></td><td align="right">244.29 Hz / <div style="color:gray;">238.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.61%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.38 us / <div style="color:gray;">1.42 us</div></td><td align="center"><div style="color:blue;">∇ -2.74%</div></td><td align="right">723.59 KHz / <div style="color:gray;">703.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.82%</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;">∇ -0.91%</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;">12.17 ms</div></td><td align="center"><div style="color:blue;">∇ -2.14%</div></td><td align="right">83.95 Hz / <div style="color:gray;">82.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.19%</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;">5.64 ms</div></td><td align="center"><div style="color:blue;">∇ -0.43%</div></td><td align="right">178.01 Hz / <div style="color:gray;">177.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 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;">132.76 ms</div></td><td align="center"><div style="color:blue;">∇ -1.51%</div></td><td align="right">7.65 Hz / <div style="color:gray;">7.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.53%</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;">5.71 ms</div></td><td align="center"><div style="color:blue;">∇ -0.74%</div></td><td align="right">176.35 Hz / <div style="color:gray;">175.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.75%</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;">134.74 ms</div></td><td align="center"><div style="color:blue;">∇ -1.56%</div></td><td align="right">7.54 Hz / <div style="color:gray;">7.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.58%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">14.57 ns / <div style="color:gray;">14.55 ns</div></td><td align="center"><div style="color:red;">Δ 0.18%</div></td><td align="right">68.63 MHz / <div style="color:gray;">68.75 MHz</div></td><td align="center"><div style="color:red;">∇ -0.17%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">14.62 ns / <div style="color:gray;">14.56 ns</div></td><td align="center"><div style="color:red;">Δ 0.41%</div></td><td align="right">68.41 MHz / <div style="color:gray;">68.69 MHz</div></td><td align="center"><div style="color:red;">∇ -0.41%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">68.70 ns / <div style="color:gray;">66.87 ns</div></td><td align="center"><div style="color:red;">Δ 2.74%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.96 MHz</div></td><td align="center"><div style="color:red;">∇ -2.67%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">68.68 ns / <div style="color:gray;">66.81 ns</div></td><td align="center"><div style="color:red;">Δ 2.81%</div></td><td align="right">14.56 MHz / <div style="color:gray;">14.97 MHz</div></td><td align="center"><div style="color:red;">∇ -2.73%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">10.45 ns / <div style="color:gray;">10.63 ns</div></td><td align="center"><div style="color:blue;">∇ -1.63%</div></td><td align="right">95.67 MHz / <div style="color:gray;">94.11 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.66%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.31 us / <div style="color:gray;">903.36 ns</div></td><td align="center"><div style="color:red;">Δ 44.75%</div></td><td align="right">764.77 KHz / <div style="color:gray;">1.11 MHz</div></td><td align="center"><div style="color:red;">∇ -30.91%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">2.79 us / <div style="color:gray;">1.61 us</div></td><td align="center"><div style="color:red;">Δ 73.02%</div></td><td align="right">358.92 KHz / <div style="color:gray;">621.01 KHz</div></td><td align="center"><div style="color:red;">∇ -42.20%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">158.26 ns / <div style="color:gray;">144.65 ns</div></td><td align="center"><div style="color:red;">Δ 9.41%</div></td><td align="right">6.32 MHz / <div style="color:gray;">6.91 MHz</div></td><td align="center"><div style="color:red;">∇ -8.60%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">236.42 ns / <div style="color:gray;">219.48 ns</div></td><td align="center"><div style="color:red;">Δ 7.72%</div></td><td align="right">4.23 MHz / <div style="color:gray;">4.56 MHz</div></td><td align="center"><div style="color:red;">∇ -7.17%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.37 ns / <div style="color:gray;">472.80 ns</div></td><td align="center"><div style="color:red;">Δ 3.51%</div></td><td align="right">2.04 MHz / <div style="color:gray;">2.12 MHz</div></td><td align="center"><div style="color:red;">∇ -3.39%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">164.61 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 8.09%</div></td><td align="right">6.07 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -7.48%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">248.12 ns / <div style="color:gray;">235.04 ns</div></td><td align="center"><div style="color:red;">Δ 5.57%</div></td><td align="right">4.03 MHz / <div style="color:gray;">4.25 MHz</div></td><td align="center"><div style="color:red;">∇ -5.27%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">514.83 ns / <div style="color:gray;">491.60 ns</div></td><td align="center"><div style="color:red;">Δ 4.73%</div></td><td align="right">1.94 MHz / <div style="color:gray;">2.03 MHz</div></td><td align="center"><div style="color:red;">∇ -4.51%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">317.50 ns / <div style="color:gray;">243.60 ns</div></td><td align="center"><div style="color:red;">Δ 30.34%</div></td><td align="right">3.15 MHz / <div style="color:gray;">4.11 MHz</div></td><td align="center"><div style="color:red;">∇ -23.28%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.06 us / <div style="color:gray;">2.99 us</div></td><td align="center"><div style="color:red;">Δ 2.59%</div></td><td align="right">326.54 KHz / <div style="color:gray;">334.99 KHz</div></td><td align="center"><div style="color:red;">∇ -2.52%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.27 us / <div style="color:gray;">29.51 us</div></td><td align="center"><div style="color:red;">Δ 2.55%</div></td><td align="right">33.04 KHz / <div style="color:gray;">33.88 KHz</div></td><td align="center"><div style="color:red;">∇ -2.49%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -0.07%</div></td><td align="right">10.09 GHz / <div style="color:gray;">10.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 0.07%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">27.27 ms / <div style="color:gray;">33.63 ms</div></td><td align="center"><div style="color:blue;">∇ -18.91%</div></td><td align="right">36.67 Hz / <div style="color:gray;">29.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.32%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">43.27 ms / <div style="color:gray;">49.85 ms</div></td><td align="center"><div style="color:blue;">∇ -13.19%</div></td><td align="right">23.11 Hz / <div style="color:gray;">20.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.20%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">74.67 ms / <div style="color:gray;">69.59 ms</div></td><td align="center"><div style="color:red;">Δ 7.30%</div></td><td align="right">13.39 Hz / <div style="color:gray;">14.37 Hz</div></td><td align="center"><div style="color:red;">∇ -6.81%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">26.31 ms / <div style="color:gray;">30.64 ms</div></td><td align="center"><div style="color:blue;">∇ -14.15%</div></td><td align="right">38.01 Hz / <div style="color:gray;">32.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.48%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">40.92 ms / <div style="color:gray;">43.91 ms</div></td><td align="center"><div style="color:blue;">∇ -6.81%</div></td><td align="right">24.44 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.30%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">62.56 ms / <div style="color:gray;">62.52 ms</div></td><td align="center"><div style="color:red;">Δ 0.05%</div></td><td align="right">15.99 Hz / <div style="color:gray;">15.99 Hz</div></td><td align="center"><div style="color:red;">∇ -0.05%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.48 ms / <div style="color:gray;">3.81 ms</div></td><td align="center"><div style="color:red;">Δ 17.82%</div></td><td align="right">223.01 Hz / <div style="color:gray;">262.76 Hz</div></td><td align="center"><div style="color:red;">∇ -15.13%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">7.46 ms / <div style="color:gray;">5.96 ms</div></td><td align="center"><div style="color:red;">Δ 25.09%</div></td><td align="right">134.07 Hz / <div style="color:gray;">167.70 Hz</div></td><td align="center"><div style="color:red;">∇ -20.06%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">12.41 ms / <div style="color:gray;">10.46 ms</div></td><td align="center"><div style="color:red;">Δ 18.67%</div></td><td align="right">80.57 Hz / <div style="color:gray;">95.61 Hz</div></td><td align="center"><div style="color:red;">∇ -15.73%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">5.15 us / <div style="color:gray;">12.69 us</div></td><td align="center"><div style="color:blue;">∇ -59.42%</div></td><td align="right">194.17 KHz / <div style="color:gray;">78.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 146.41%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">4.35 us / <div style="color:gray;">9.85 us</div></td><td align="center"><div style="color:blue;">∇ -55.84%</div></td><td align="right">229.89 KHz / <div style="color:gray;">101.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 126.44%</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;">5.24 us</div></td><td align="center"><div style="color:blue;">∇ -59.54%</div></td><td align="right">471.70 KHz / <div style="color:gray;">190.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 147.17%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">33.18 ms / <div style="color:gray;">21.14 ms</div></td><td align="center"><div style="color:red;">Δ 56.96%</div></td><td align="right">30.14 Hz / <div style="color:gray;">47.31 Hz</div></td><td align="center"><div style="color:red;">∇ -36.29%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">29.64 ms / <div style="color:gray;">21.45 ms</div></td><td align="center"><div style="color:red;">Δ 38.14%</div></td><td align="right">33.74 Hz / <div style="color:gray;">46.61 Hz</div></td><td align="center"><div style="color:red;">∇ -27.61%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">637.68 ms / <div style="color:gray;">591.25 ms</div></td><td align="center"><div style="color:red;">Δ 7.85%</div></td><td align="right">1.57 Hz / <div style="color:gray;">1.69 Hz</div></td><td align="center"><div style="color:red;">∇ -7.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">173.14 ms / <div style="color:gray;">162.82 ms</div></td><td align="center"><div style="color:red;">Δ 6.34%</div></td><td align="right">5.78 Hz / <div style="color:gray;">6.14 Hz</div></td><td align="center"><div style="color:red;">∇ -5.96%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">202.84 ms / <div style="color:gray;">197.33 ms</div></td><td align="center"><div style="color:red;">Δ 2.79%</div></td><td align="right">4.93 Hz / <div style="color:gray;">5.07 Hz</div></td><td align="center"><div style="color:red;">∇ -2.72%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">5.10 ms / <div style="color:gray;">6.89 ms</div></td><td align="center"><div style="color:blue;">∇ -25.92%</div></td><td align="right">195.94 Hz / <div style="color:gray;">145.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.99%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">61.22 ms / <div style="color:gray;">63.90 ms</div></td><td align="center"><div style="color:blue;">∇ -4.19%</div></td><td align="right">16.33 Hz / <div style="color:gray;">15.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.37%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.90 ms / <div style="color:gray;">38.54 ms</div></td><td align="center"><div style="color:red;">Δ 13.91%</div></td><td align="right">22.78 Hz / <div style="color:gray;">25.95 Hz</div></td><td align="center"><div style="color:red;">∇ -12.21%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">38.32 ms / <div style="color:gray;">33.59 ms</div></td><td align="center"><div style="color:red;">Δ 14.09%</div></td><td align="right">26.09 Hz / <div style="color:gray;">29.77 Hz</div></td><td align="center"><div style="color:red;">∇ -12.35%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.16 sec</div></td><td align="center"><div style="color:red;">Δ 10.29%</div></td><td align="right">782.87 mHz / <div style="color:gray;">863.45 mHz</div></td><td align="center"><div style="color:red;">∇ -9.33%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">387.99 ms / <div style="color:gray;">375.89 ms</div></td><td align="center"><div style="color:red;">Δ 3.22%</div></td><td align="right">2.58 Hz / <div style="color:gray;">2.66 Hz</div></td><td align="center"><div style="color:red;">∇ -3.12%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">15.73 ms / <div style="color:gray;">15.89 ms</div></td><td align="center"><div style="color:blue;">∇ -0.99%</div></td><td align="right">63.57 Hz / <div style="color:gray;">62.95 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.00%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.56 ms / <div style="color:gray;">10.48 ms</div></td><td align="center"><div style="color:red;">Δ 0.76%</div></td><td align="right">94.70 Hz / <div style="color:gray;">95.42 Hz</div></td><td align="center"><div style="color:red;">∇ -0.76%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">104.46 us / <div style="color:gray;">158.24 us</div></td><td align="center"><div style="color:blue;">∇ -33.99%</div></td><td align="right">9.57 KHz / <div style="color:gray;">6.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.49%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">85.19 us / <div style="color:gray;">84.43 us</div></td><td align="center"><div style="color:red;">Δ 0.90%</div></td><td align="right">11.74 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:red;">∇ -0.90%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">134.65 us / <div style="color:gray;">207.17 us</div></td><td align="center"><div style="color:blue;">∇ -35.00%</div></td><td align="right">7.43 KHz / <div style="color:gray;">4.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.86%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">119.89 us / <div style="color:gray;">246.74 us</div></td><td align="center"><div style="color:blue;">∇ -51.41%</div></td><td align="right">8.34 KHz / <div style="color:gray;">4.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 105.81%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.39 ms / <div style="color:gray;">2.08 ms</div></td><td align="center"><div style="color:blue;">∇ -33.51%</div></td><td align="right">721.96 Hz / <div style="color:gray;">480.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.39%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">854.04 us / <div style="color:gray;">870.19 us</div></td><td align="center"><div style="color:blue;">∇ -1.86%</div></td><td align="right">1.17 KHz / <div style="color:gray;">1.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.89%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.61 ms / <div style="color:gray;">2.34 ms</div></td><td align="center"><div style="color:blue;">∇ -31.31%</div></td><td align="right">621.80 Hz / <div style="color:gray;">427.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 45.57%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.20 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:blue;">∇ -43.52%</div></td><td align="right">832.81 Hz / <div style="color:gray;">470.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 77.06%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">132.91 us / <div style="color:gray;">220.82 us</div></td><td align="center"><div style="color:blue;">∇ -39.81%</div></td><td align="right">7.52 KHz / <div style="color:gray;">4.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 66.14%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">109.11 us / <div style="color:gray;">183.18 us</div></td><td align="center"><div style="color:blue;">∇ -40.44%</div></td><td align="right">9.17 KHz / <div style="color:gray;">5.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 67.89%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">349.74 us / <div style="color:gray;">532.35 us</div></td><td align="center"><div style="color:blue;">∇ -34.30%</div></td><td align="right">2.86 KHz / <div style="color:gray;">1.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.21%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">321.54 us / <div style="color:gray;">487.59 us</div></td><td align="center"><div style="color:blue;">∇ -34.06%</div></td><td align="right">3.11 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.64%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">1.89 ms / <div style="color:gray;">2.78 ms</div></td><td align="center"><div style="color:blue;">∇ -32.04%</div></td><td align="right">529.10 Hz / <div style="color:gray;">359.55 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.16%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.10 ms / <div style="color:gray;">2.09 ms</div></td><td align="center"><div style="color:blue;">∇ -47.53%</div></td><td align="right">910.25 Hz / <div style="color:gray;">477.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 90.58%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">4.65 ms / <div style="color:gray;">7.36 ms</div></td><td align="center"><div style="color:blue;">∇ -36.89%</div></td><td align="right">215.20 Hz / <div style="color:gray;">135.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 58.46%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.05 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:blue;">∇ -23.34%</div></td><td align="right">246.81 Hz / <div style="color:gray;">189.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.45%</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 2011/06/03,22:26:38.983492 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
