<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.1-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-GCC-64bit / <div style="color:gray;">0.9.1-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">20.90 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:blue;">∇ -3.25%</div></td><td align="right">47.85 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.35%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:blue;">∇ -8.53%</div></td><td align="right">53.30 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.32%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -90.72%</div></td><td align="right">24.00 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 977.56%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -86.15%</div></td><td align="right">30.87 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 621.92%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:blue;">∇ -24.77%</div></td><td align="right">124.63 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.93%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 14.63%</div></td><td align="right">86.70 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -12.76%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:blue;">∇ -51.78%</div></td><td align="right">54.99 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:blue;">Δ 107.37%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:blue;">∇ -38.47%</div></td><td align="right">39.66 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 62.51%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:blue;">∇ -7.76%</div></td><td align="right">13.87 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.42%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 11.34%</div></td><td align="right">14.45 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -10.19%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:blue;">∇ -5.29%</div></td><td align="right">16.53 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.59%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:blue;">∇ -3.18%</div></td><td align="right">16.66 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.28%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:blue;">∇ -9.15%</div></td><td align="right">23.42 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.07%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:blue;">∇ -3.84%</div></td><td align="right">26.13 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.00%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:blue;">∇ -20.85%</div></td><td align="right">55.85 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.34%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:blue;">∇ -2.59%</div></td><td align="right">54.23 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.66%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -91.49%</div></td><td align="right">30.02 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 1074.53%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 8.10%</div></td><td align="right">51.24 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -7.49%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -95.42%</div></td><td align="right">61.45 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 2081.40%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:blue;">∇ -1.97%</div></td><td align="right">5.89 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.01%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -99.90%</div></td><td align="right">1.25 MHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 101872.15%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.90%</div></td><td align="right">1.27 MHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 104136.97%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:blue;">∇ -4.87%</div></td><td align="right">109.83 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.12%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:blue;">∇ -18.29%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.39%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:red;">Δ 4.63%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:red;">∇ -4.42%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:blue;">∇ -1.15%</div></td><td align="right">118.81 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.17%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:blue;">∇ -13.39%</div></td><td align="right">56.07 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 15.46%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:blue;">∇ -13.84%</div></td><td align="right">51.35 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.07%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:blue;">∇ -14.20%</div></td><td align="right">18.23 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.55%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:blue;">∇ -14.24%</div></td><td align="right">17.88 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.60%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">1.50 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:blue;">∇ -10.94%</div></td><td align="right">667.56 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.28%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:red;">Δ 95.98%</div></td><td align="right">178.35 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:red;">∇ -48.97%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 296.33%</div></td><td align="right">3.43 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -74.77%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">292.50 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 305.69%</div></td><td align="right">3.42 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -75.35%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.50 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">42.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">347.50 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 207.79%</div></td><td align="right">2.88 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -67.51%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">340.40 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 208.05%</div></td><td align="right">2.94 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -67.54%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">2.42 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -58.39%</div></td><td align="right">413.19 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 140.35%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:blue;">∇ -37.55%</div></td><td align="right">448.19 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 60.12%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -60.73%</div></td><td align="right">432.69 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 154.63%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -44.37%</div></td><td align="right">471.08 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 79.77%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 88.86%</div></td><td align="right">1.28 MHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -47.05%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.97 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 57.89%</div></td><td align="right">507.10 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -36.66%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 176.99%</div></td><td align="right">624.61 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -63.90%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:blue;">∇ -43.74%</div></td><td align="right">62.19 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 77.76%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:blue;">∇ -15.82%</div></td><td align="right">69.08 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.79%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -67.26%</div></td><td align="right">15.20 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 205.46%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -52.32%</div></td><td align="right">15.59 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 109.73%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:red;">Δ 2315.91%</div></td><td align="right">4.70 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:red;">∇ -95.86%</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[double] 3x3</td><td align="right">323.30 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 3038.83%</div></td><td align="right">3.09 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -96.81%</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[double] 6x6</td><td align="right">774.90 ns / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 4.84%</div></td><td align="right">1.29 MHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -4.62%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 169.47%</div></td><td align="right">1.69 MHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -62.89%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 30.34%</div></td><td align="right">117.63 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -23.28%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 63.31%</div></td><td align="right">129.53 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -38.77%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:blue;">∇ -0.52%</div></td><td align="right">31.03 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.53%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 11.55%</div></td><td align="right">32.57 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -10.36%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 211.76%</div></td><td align="right">1.89 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -67.92%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">7.69 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 22.69%</div></td><td align="right">43.52 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -18.49%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:red;">Δ 16.49%</div></td><td align="right">51.28 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:red;">∇ -14.15%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -3.53%</div></td><td align="right">121.95 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.66%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:blue;">∇ -9.16%</div></td><td align="right">11.72 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.08%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:red;">Δ 7.37%</div></td><td align="right">17.61 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:red;">∇ -6.87%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:blue;">∇ -1.80%</div></td><td align="right">25.44 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.83%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:blue;">∇ -35.13%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 54.16%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:blue;">∇ -2.96%</div></td><td align="right">13.74 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.05%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -68.98%</div></td><td align="right">374.53 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 222.36%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:blue;">∇ -4.94%</div></td><td align="right">5.68 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.20%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -84.69%</div></td><td align="right">48.23 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 553.08%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:blue;">∇ -2.43%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.49%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -90.50%</div></td><td align="right">28.90 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 952.83%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:blue;">∇ -2.46%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.52%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -93.71%</div></td><td align="right">19.87 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 1490.17%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:blue;">∇ -2.95%</div></td><td align="right">2.07 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.04%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color: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">2.61 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 0.93%</div></td><td align="right">383.63 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -0.92%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:blue;">∇ -6.45%</div></td><td align="right">143.02 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.89%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:blue;">∇ -6.14%</div></td><td align="right">1.95 GHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:blue;">Δ 6.54%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:blue;">∇ -2.11%</div></td><td align="right">9.75 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.15%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:blue;">∇ -3.80%</div></td><td align="right">3.52 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.95%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:blue;">∇ -60.46%</div></td><td align="right">1.39 KHz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 152.91%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:blue;">∇ -5.75%</div></td><td align="right">63.72 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.10%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:blue;">∇ -4.69%</div></td><td align="right">337.06 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.93%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 1.87%</div></td><td align="right">229.36 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -1.83%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 0.60%</div></td><td align="right">2.80 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -0.59%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 1.28%</div></td><td align="right">238.61 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -1.26%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 10.28%</div></td><td align="right">211.86 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -9.32%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 0.40%</div></td><td align="right">2.76 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -0.40%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 0.23%</div></td><td align="right">244.09 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -0.23%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 1.46%</div></td><td align="right">720.46 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -1.44%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 2.93%</div></td><td align="right">9.82 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -2.85%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:blue;">∇ -1.51%</div></td><td align="right">84.92 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.53%</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;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 0.37%</div></td><td align="right">177.84 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -0.37%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">130.59 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 0.79%</div></td><td align="right">7.66 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -0.79%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.69 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 0.63%</div></td><td align="right">175.73 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -0.63%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">132.22 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:blue;">∇ -0.15%</div></td><td align="right">7.56 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.15%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -0.19%</div></td><td align="right">63.82 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.19%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -0.25%</div></td><td align="right">63.88 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.25%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -0.72%</div></td><td align="right">14.31 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.72%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -0.74%</div></td><td align="right">14.32 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.74%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:red;">Δ 10.38%</div></td><td align="right">81.87 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:red;">∇ -9.41%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:red;">Δ 102.96%</div></td><td align="right">370.49 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:red;">∇ -50.73%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 87.84%</div></td><td align="right">175.14 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:red;">∇ -46.76%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -8.98%</div></td><td align="right">6.75 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 9.87%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:blue;">∇ -5.34%</div></td><td align="right">4.30 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.65%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:blue;">∇ -4.86%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.11%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -8.22%</div></td><td align="right">6.27 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:blue;">∇ -4.50%</div></td><td align="right">4.04 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.71%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:blue;">∇ -0.40%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.40%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:blue;">∇ -12.92%</div></td><td align="right">3.98 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.84%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:blue;">∇ -1.76%</div></td><td align="right">331.46 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.80%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:red;">Δ 0.35%</div></td><td align="right">32.93 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:red;">∇ -0.35%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -3.18%</div></td><td align="right">10.09 GHz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 3.29%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">34.14 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:red;">Δ 7.47%</div></td><td align="right">29.29 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:red;">∇ -6.95%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:red;">Δ 9.04%</div></td><td align="right">20.07 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:red;">∇ -8.29%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:red;">Δ 10.06%</div></td><td align="right">12.39 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:red;">∇ -9.14%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:red;">Δ 8.15%</div></td><td align="right">34.05 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:red;">∇ -7.53%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:red;">Δ 5.30%</div></td><td align="right">23.56 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:red;">∇ -5.03%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:red;">Δ 1.50%</div></td><td align="right">15.29 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:red;">∇ -1.48%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:red;">Δ 3.22%</div></td><td align="right">214.40 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:red;">∇ -3.12%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:blue;">∇ -18.58%</div></td><td align="right">167.10 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.82%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:blue;">∇ -7.08%</div></td><td align="right">95.93 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.63%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 79.59%</div></td><td align="right">88.11 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -44.32%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 108.37%</div></td><td align="right">100.40 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -52.01%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">5.52 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 157.94%</div></td><td align="right">181.16 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -61.23%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:red;">Δ 13.91%</div></td><td align="right">31.01 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:red;">∇ -12.22%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:blue;">∇ -6.35%</div></td><td align="right">39.06 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.79%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:blue;">∇ -1.71%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.74%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:blue;">∇ -3.85%</div></td><td align="right">6.09 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.00%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:red;">Δ 3.19%</div></td><td align="right">4.82 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:red;">∇ -3.10%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 45.54%</div></td><td align="right">131.57 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -31.29%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:blue;">∇ -0.34%</div></td><td align="right">16.50 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.34%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:red;">Δ 1.69%</div></td><td align="right">22.73 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:red;">∇ -1.66%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:blue;">∇ -9.08%</div></td><td align="right">27.56 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.99%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:blue;">∇ -6.13%</div></td><td align="right">834.47 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:blue;">Δ 6.53%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:blue;">∇ -1.64%</div></td><td align="right">2.63 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.67%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:blue;">∇ -0.54%</div></td><td align="right">62.36 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.54%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:blue;">∇ -0.74%</div></td><td align="right">92.14 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.74%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">8.33 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">9.33 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.90 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.99 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.86 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.51 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.59 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.60 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">632.00 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">790.83 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.16 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.18 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">509.85 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">445.23 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">511.72 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">512.69 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.91 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.93 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.51 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.49 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.12 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.09 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.27 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.25 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">407.06 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">406.51 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">588.45 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">587.97 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">149.62 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">148.06 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">218.07 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">218.58 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.23 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">13.28 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">903.43 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.41 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">53.94 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">102.51 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.96 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">8.91 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.91 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">9.42 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.904487 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
