<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.1-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.1-MSVC9-32bit</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-MSVC9-32bit</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;">31.78 ms</div></td><td align="center"><div style="color:blue;">∇ -34.25%</div></td><td align="right">47.85 Hz / <div style="color:gray;">31.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.09%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">53.70 ms</div></td><td align="center"><div style="color:blue;">∇ -65.06%</div></td><td align="right">53.30 Hz / <div style="color:gray;">18.62 Hz</div></td><td align="center"><div style="color:blue;">Δ 186.22%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">925.38 ns</div></td><td align="center"><div style="color:blue;">∇ -95.50%</div></td><td align="right">24.00 MHz / <div style="color:gray;">1.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 2120.74%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">617.00 ns</div></td><td align="center"><div style="color:blue;">∇ -94.75%</div></td><td align="right">30.87 MHz / <div style="color:gray;">1.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 1804.92%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">35.98 ns</div></td><td align="center"><div style="color:blue;">∇ -77.70%</div></td><td align="right">124.63 MHz / <div style="color:gray;">27.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 348.36%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">14.62 ns</div></td><td align="center"><div style="color:blue;">∇ -21.08%</div></td><td align="right">86.70 MHz / <div style="color:gray;">68.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.72%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">75.43 ns</div></td><td align="center"><div style="color:blue;">∇ -75.89%</div></td><td align="right">54.99 MHz / <div style="color:gray;">13.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 314.80%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">56.48 ns</div></td><td align="center"><div style="color:blue;">∇ -55.36%</div></td><td align="right">39.66 MHz / <div style="color:gray;">17.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 124.01%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">121.60 ns</div></td><td align="center"><div style="color:blue;">∇ -40.70%</div></td><td align="right">13.87 MHz / <div style="color:gray;">8.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 68.65%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">66.63 ns</div></td><td align="center"><div style="color:red;">Δ 3.90%</div></td><td align="right">14.45 MHz / <div style="color:gray;">15.01 MHz</div></td><td align="center"><div style="color:red;">∇ -3.75%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">93.73 ns</div></td><td align="center"><div style="color:blue;">∇ -35.47%</div></td><td align="right">16.53 MHz / <div style="color:gray;">10.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 54.97%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">62.24 ns</div></td><td align="center"><div style="color:blue;">∇ -3.58%</div></td><td align="right">16.66 MHz / <div style="color:gray;">16.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.71%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">100.74 ns</div></td><td align="center"><div style="color:blue;">∇ -57.61%</div></td><td align="right">23.42 MHz / <div style="color:gray;">9.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 135.92%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">57.92 ns</div></td><td align="center"><div style="color:blue;">∇ -33.93%</div></td><td align="right">26.13 MHz / <div style="color:gray;">17.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 51.35%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">61.33 ns</div></td><td align="center"><div style="color:blue;">∇ -70.81%</div></td><td align="right">55.85 MHz / <div style="color:gray;">16.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 242.55%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">27.34 ns</div></td><td align="center"><div style="color:blue;">∇ -32.56%</div></td><td align="right">54.23 MHz / <div style="color:gray;">36.57 MHz</div></td><td align="center"><div style="color:blue;">Δ 48.28%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">580.67 ns</div></td><td align="center"><div style="color:blue;">∇ -94.26%</div></td><td align="right">30.02 MHz / <div style="color:gray;">1.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 1643.12%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">28.18 ns</div></td><td align="center"><div style="color:blue;">∇ -30.75%</div></td><td align="right">51.24 MHz / <div style="color:gray;">35.48 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.40%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">506.67 ns</div></td><td align="center"><div style="color:blue;">∇ -96.79%</div></td><td align="right">61.45 MHz / <div style="color:gray;">1.97 MHz</div></td><td align="center"><div style="color:blue;">Δ 3013.35%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">214.86 ns</div></td><td align="center"><div style="color:blue;">∇ -20.98%</div></td><td align="right">5.89 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.55%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">1.56 us</div></td><td align="center"><div style="color:blue;">∇ -48.63%</div></td><td align="right">1.25 MHz / <div style="color:gray;">642.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 94.66%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">1.51 us</div></td><td align="center"><div style="color:blue;">∇ -47.66%</div></td><td align="right">1.27 MHz / <div style="color:gray;">663.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 91.05%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">23.29 us</div></td><td align="center"><div style="color:blue;">∇ -60.90%</div></td><td align="right">109.83 KHz / <div style="color:gray;">42.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 155.77%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">1.64 us</div></td><td align="center"><div style="color:blue;">∇ -66.01%</div></td><td align="right">1.79 MHz / <div style="color:gray;">609.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 194.16%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">1.66 us</div></td><td align="center"><div style="color:blue;">∇ -66.44%</div></td><td align="right">1.79 MHz / <div style="color:gray;">600.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 198.00%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">16.05 us</div></td><td align="center"><div style="color:blue;">∇ -47.55%</div></td><td align="right">118.81 KHz / <div style="color:gray;">62.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 90.65%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">39.66 ns</div></td><td align="center"><div style="color:blue;">∇ -55.03%</div></td><td align="right">56.07 MHz / <div style="color:gray;">25.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 122.36%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">42.75 ns</div></td><td align="center"><div style="color:blue;">∇ -54.44%</div></td><td align="right">51.35 MHz / <div style="color:gray;">23.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 119.49%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:blue;">∇ -63.99%</div></td><td align="right">18.23 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:blue;">Δ 177.66%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">150.45 ns</div></td><td align="center"><div style="color:blue;">∇ -62.82%</div></td><td align="right">17.88 MHz / <div style="color:gray;">6.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 168.99%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">3.30 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">303.37 MHz</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;">3.48 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">287.56 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;">3.06 ns</div></td><td align="center"><div style="color:blue;">∇ -50.99%</div></td><td align="right">667.56 MHz / <div style="color:gray;">327.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 104.02%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">6.65 ns</div></td><td align="center"><div style="color:blue;">∇ -15.62%</div></td><td align="right">178.35 MHz / <div style="color:gray;">150.48 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.52%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">167.81 ns</div></td><td align="center"><div style="color:red;">Δ 73.59%</div></td><td align="right">3.43 MHz / <div style="color:gray;">5.96 MHz</div></td><td align="center"><div style="color:red;">∇ -42.39%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">108.61 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">9.21 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;">158.88 ns</div></td><td align="center"><div style="color:red;">Δ 84.10%</div></td><td align="right">3.42 MHz / <div style="color:gray;">6.29 MHz</div></td><td align="center"><div style="color:red;">∇ -45.68%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">90.86 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">11.01 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;">272.47 ns</div></td><td align="center"><div style="color:red;">Δ 27.53%</div></td><td align="right">2.88 MHz / <div style="color:gray;">3.67 MHz</div></td><td align="center"><div style="color:red;">∇ -21.59%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">193.12 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">5.18 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;">238.91 ns</div></td><td align="center"><div style="color:red;">Δ 42.48%</div></td><td align="right">2.94 MHz / <div style="color:gray;">4.19 MHz</div></td><td align="center"><div style="color:red;">∇ -29.81%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">139.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">7.19 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;">16.80 us</div></td><td align="center"><div style="color:blue;">∇ -85.60%</div></td><td align="right">413.19 KHz / <div style="color:gray;">59.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 594.32%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">13.06 us</div></td><td align="center"><div style="color:blue;">∇ -82.92%</div></td><td align="right">448.19 KHz / <div style="color:gray;">76.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 485.36%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">13.55 us</div></td><td align="center"><div style="color:blue;">∇ -82.94%</div></td><td align="right">432.69 KHz / <div style="color:gray;">73.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 486.26%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:blue;">∇ -78.69%</div></td><td align="right">471.08 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 369.20%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">1.53 us</div></td><td align="center"><div style="color:blue;">∇ -49.08%</div></td><td align="right">1.28 MHz / <div style="color:gray;">652.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 96.38%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">31.25 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">32.00 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;">5.08 us</div></td><td align="center"><div style="color:blue;">∇ -61.22%</div></td><td align="right">507.10 KHz / <div style="color:gray;">196.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 157.83%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">926.67 ns</div></td><td align="center"><div style="color:red;">Δ 72.77%</div></td><td align="right">624.61 KHz / <div style="color:gray;">1.08 MHz</div></td><td align="center"><div style="color:red;">∇ -42.12%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">108.60 us</div></td><td align="center"><div style="color:blue;">∇ -85.19%</div></td><td align="right">62.19 KHz / <div style="color:gray;">9.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 575.35%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">19.22 us</div></td><td align="center"><div style="color:blue;">∇ -24.69%</div></td><td align="right">69.08 KHz / <div style="color:gray;">52.02 KHz</div></td><td align="center"><div style="color:blue;">Δ 32.78%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">818.27 us</div></td><td align="center"><div style="color:blue;">∇ -91.96%</div></td><td align="right">15.20 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 1143.85%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">136.18 us</div></td><td align="center"><div style="color:blue;">∇ -52.91%</div></td><td align="right">15.59 KHz / <div style="color:gray;">7.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 112.35%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">9.56 ns</div></td><td align="center"><div style="color:red;">Δ 2124.65%</div></td><td align="right">4.70 MHz / <div style="color:gray;">104.64 MHz</div></td><td align="center"><div style="color:red;">∇ -95.50%</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;">15.90 ns</div></td><td align="center"><div style="color:red;">Δ 1933.67%</div></td><td align="right">3.09 MHz / <div style="color:gray;">62.90 MHz</div></td><td align="center"><div style="color:red;">∇ -95.08%</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;">2.38 us</div></td><td align="center"><div style="color:blue;">∇ -67.42%</div></td><td align="right">1.29 MHz / <div style="color:gray;">420.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 206.97%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">422.89 ns</div></td><td align="center"><div style="color:red;">Δ 40.06%</div></td><td align="right">1.69 MHz / <div style="color:gray;">2.36 MHz</div></td><td align="center"><div style="color:red;">∇ -28.60%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">18.19 us</div></td><td align="center"><div style="color:blue;">∇ -53.25%</div></td><td align="right">117.63 KHz / <div style="color:gray;">54.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 113.92%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 18.35%</div></td><td align="right">129.53 KHz / <div style="color:gray;">153.30 KHz</div></td><td align="center"><div style="color:red;">∇ -15.51%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">114.84 us</div></td><td align="center"><div style="color:blue;">∇ -71.94%</div></td><td align="right">31.03 KHz / <div style="color:gray;">8.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 256.37%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">36.00 us</div></td><td align="center"><div style="color:blue;">∇ -14.71%</div></td><td align="right">32.57 KHz / <div style="color:gray;">27.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">185.70 ns</div></td><td align="center"><div style="color:red;">Δ 185.41%</div></td><td align="right">1.89 MHz / <div style="color:gray;">5.39 MHz</div></td><td align="center"><div style="color:red;">∇ -64.96%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">113.23 ns</div></td><td align="center"><div style="color:red;">Δ 14.81%</div></td><td align="right">7.69 MHz / <div style="color:gray;">8.83 MHz</div></td><td align="center"><div style="color:red;">∇ -12.90%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">24.43 us</div></td><td align="center"><div style="color:blue;">∇ -5.94%</div></td><td align="right">43.52 KHz / <div style="color:gray;">40.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.31%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">17.73 us</div></td><td align="center"><div style="color:red;">Δ 9.97%</div></td><td align="right">51.28 KHz / <div style="color:gray;">56.40 KHz</div></td><td align="center"><div style="color:red;">∇ -9.07%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">10.78 us</div></td><td align="center"><div style="color:blue;">∇ -23.93%</div></td><td align="right">121.95 KHz / <div style="color:gray;">92.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.46%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">117.89 us</div></td><td align="center"><div style="color:blue;">∇ -27.65%</div></td><td align="right">11.72 KHz / <div style="color:gray;">8.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.21%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">70.52 us</div></td><td align="center"><div style="color:blue;">∇ -19.45%</div></td><td align="right">17.61 KHz / <div style="color:gray;">14.18 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.15%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">52.59 us</div></td><td align="center"><div style="color:blue;">∇ -25.25%</div></td><td align="right">25.44 KHz / <div style="color:gray;">19.02 KHz</div></td><td align="center"><div style="color:blue;">Δ 33.78%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">491.10 us</div></td><td align="center"><div style="color:blue;">∇ -45.67%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 84.07%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">85.83 us</div></td><td align="center"><div style="color:blue;">∇ -15.23%</div></td><td align="right">13.74 KHz / <div style="color:gray;">11.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">9.44 ms</div></td><td align="center"><div style="color:blue;">∇ -71.73%</div></td><td align="right">374.53 Hz / <div style="color:gray;">105.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 253.74%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">204.52 us</div></td><td align="center"><div style="color:blue;">∇ -13.85%</div></td><td align="right">5.68 KHz / <div style="color:gray;">4.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.08%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">150.13 ms</div></td><td align="center"><div style="color:blue;">∇ -86.19%</div></td><td align="right">48.23 Hz / <div style="color:gray;">6.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 624.13%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">415.58 us</div></td><td align="center"><div style="color:blue;">∇ -15.53%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.38%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">461.43 ms</div></td><td align="center"><div style="color:blue;">∇ -92.50%</div></td><td align="right">28.90 Hz / <div style="color:gray;">2.17 Hz</div></td><td align="center"><div style="color:blue;">Δ 1233.48%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">484.92 us</div></td><td align="center"><div style="color:blue;">∇ -14.24%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.60%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">947.45 ms</div></td><td align="center"><div style="color:blue;">∇ -94.69%</div></td><td align="right">19.87 Hz / <div style="color:gray;">1.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 1782.88%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">586.44 us</div></td><td align="center"><div style="color:blue;">∇ -17.65%</div></td><td align="right">2.07 KHz / <div style="color:gray;">1.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 21.43%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">5.77 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">173.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">2.61 ns / <div style="color:gray;">7.96 ns</div></td><td align="center"><div style="color:blue;">∇ -67.25%</div></td><td align="right">383.63 MHz / <div style="color:gray;">125.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 205.34%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">10.80 ns</div></td><td align="center"><div style="color:blue;">∇ -35.27%</div></td><td align="right">143.02 MHz / <div style="color:gray;">92.58 MHz</div></td><td align="center"><div style="color:blue;">Δ 54.49%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">1.21 ns</div></td><td align="center"><div style="color:blue;">∇ -57.65%</div></td><td align="right">1.95 GHz / <div style="color:gray;">826.59 MHz</div></td><td align="center"><div style="color:blue;">Δ 136.10%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">204.23 us</div></td><td align="center"><div style="color:blue;">∇ -49.77%</div></td><td align="right">9.75 KHz / <div style="color:gray;">4.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 99.08%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">344.40 us</div></td><td align="center"><div style="color:blue;">∇ -17.51%</div></td><td align="right">3.52 KHz / <div style="color:gray;">2.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 21.22%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">2.62 ms</div></td><td align="center"><div style="color:blue;">∇ -72.42%</div></td><td align="right">1.39 KHz / <div style="color:gray;">381.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 262.65%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">18.59 us</div></td><td align="center"><div style="color:blue;">∇ -15.58%</div></td><td align="right">63.72 KHz / <div style="color:gray;">53.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.45%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">5.62 ms</div></td><td align="center"><div style="color:blue;">∇ -47.18%</div></td><td align="right">337.06 Hz / <div style="color:gray;">178.02 Hz</div></td><td align="center"><div style="color:blue;">Δ 89.34%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">6.21 us</div></td><td align="center"><div style="color:blue;">∇ -29.84%</div></td><td align="right">229.36 KHz / <div style="color:gray;">160.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 42.52%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">511.81 us</div></td><td align="center"><div style="color:blue;">∇ -30.23%</div></td><td align="right">2.80 KHz / <div style="color:gray;">1.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 43.33%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">5.59 ms</div></td><td align="center"><div style="color:blue;">∇ -25.04%</div></td><td align="right">238.61 Hz / <div style="color:gray;">178.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.41%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">7.23 us</div></td><td align="center"><div style="color:blue;">∇ -34.70%</div></td><td align="right">211.86 KHz / <div style="color:gray;">138.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.15%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">523.10 us</div></td><td align="center"><div style="color:blue;">∇ -30.67%</div></td><td align="right">2.76 KHz / <div style="color:gray;">1.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 44.23%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">5.77 ms</div></td><td align="center"><div style="color:blue;">∇ -29.04%</div></td><td align="right">244.09 Hz / <div style="color:gray;">173.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 40.92%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">2.05 us</div></td><td align="center"><div style="color:blue;">∇ -32.39%</div></td><td align="right">720.46 KHz / <div style="color:gray;">487.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 47.92%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">140.79 us</div></td><td align="center"><div style="color:blue;">∇ -27.65%</div></td><td align="right">9.82 KHz / <div style="color:gray;">7.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.21%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">15.17 ms</div></td><td align="center"><div style="color:blue;">∇ -22.39%</div></td><td align="right">84.92 Hz / <div style="color:gray;">65.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.85%</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;">8.69 ms</div></td><td align="center"><div style="color:blue;">∇ -35.33%</div></td><td align="right">177.84 Hz / <div style="color:gray;">115.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.63%</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;">196.44 ms</div></td><td align="center"><div style="color:blue;">∇ -33.53%</div></td><td align="right">7.66 Hz / <div style="color:gray;">5.09 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.43%</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;">8.73 ms</div></td><td align="center"><div style="color:blue;">∇ -34.79%</div></td><td align="right">175.73 Hz / <div style="color:gray;">114.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 53.34%</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;">198.48 ms</div></td><td align="center"><div style="color:blue;">∇ -33.38%</div></td><td align="right">7.56 Hz / <div style="color:gray;">5.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.11%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">7.29 ns</div></td><td align="center"><div style="color:red;">Δ 114.83%</div></td><td align="right">63.82 MHz / <div style="color:gray;">137.11 MHz</div></td><td align="center"><div style="color:red;">∇ -53.45%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">7.33 ns</div></td><td align="center"><div style="color:red;">Δ 113.68%</div></td><td align="right">63.88 MHz / <div style="color:gray;">136.49 MHz</div></td><td align="center"><div style="color:red;">∇ -53.20%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">51.27 ns</div></td><td align="center"><div style="color:red;">Δ 36.31%</div></td><td align="right">14.31 MHz / <div style="color:gray;">19.50 MHz</div></td><td align="center"><div style="color:red;">∇ -26.64%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">51.74 ns</div></td><td align="center"><div style="color:red;">Δ 35.02%</div></td><td align="right">14.32 MHz / <div style="color:gray;">19.33 MHz</div></td><td align="center"><div style="color:red;">∇ -25.94%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">29.39 ns</div></td><td align="center"><div style="color:blue;">∇ -58.44%</div></td><td align="right">81.87 MHz / <div style="color:gray;">34.03 MHz</div></td><td align="center"><div style="color:blue;">Δ 140.59%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">2.64 us</div></td><td align="center"><div style="color:red;">Δ 2.16%</div></td><td align="right">370.49 KHz / <div style="color:gray;">378.48 KHz</div></td><td align="center"><div style="color:red;">∇ -2.11%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">8.53 us</div></td><td align="center"><div style="color:blue;">∇ -33.10%</div></td><td align="right">175.14 KHz / <div style="color:gray;">117.18 KHz</div></td><td align="center"><div style="color:blue;">Δ 49.47%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">215.16 ns</div></td><td align="center"><div style="color:blue;">∇ -31.13%</div></td><td align="right">6.75 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.20%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">359.98 ns</div></td><td align="center"><div style="color:blue;">∇ -35.43%</div></td><td align="right">4.30 MHz / <div style="color:gray;">2.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 54.86%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">732.12 ns</div></td><td align="center"><div style="color:blue;">∇ -33.11%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 49.50%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">213.59 ns</div></td><td align="center"><div style="color:blue;">∇ -25.31%</div></td><td align="right">6.27 MHz / <div style="color:gray;">4.68 MHz</div></td><td align="center"><div style="color:blue;">Δ 33.88%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">339.30 ns</div></td><td align="center"><div style="color:blue;">∇ -26.98%</div></td><td align="right">4.04 MHz / <div style="color:gray;">2.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.95%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">760.92 ns</div></td><td align="center"><div style="color:blue;">∇ -31.41%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.79%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">411.34 ns</div></td><td align="center"><div style="color:blue;">∇ -38.91%</div></td><td align="right">3.98 MHz / <div style="color:gray;">2.43 MHz</div></td><td align="center"><div style="color:blue;">Δ 63.68%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.59 us</div></td><td align="center"><div style="color:blue;">∇ -15.92%</div></td><td align="right">331.46 KHz / <div style="color:gray;">278.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.93%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">34.34 us</div></td><td align="center"><div style="color:blue;">∇ -11.57%</div></td><td align="right">32.93 KHz / <div style="color:gray;">29.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.08%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 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">10.09 GHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">34.14 ms / <div style="color:gray;">27.92 ms</div></td><td align="center"><div style="color:red;">Δ 22.26%</div></td><td align="right">29.29 Hz / <div style="color:gray;">35.81 Hz</div></td><td align="center"><div style="color:red;">∇ -18.21%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">43.53 ms</div></td><td align="center"><div style="color:red;">Δ 14.47%</div></td><td align="right">20.07 Hz / <div style="color:gray;">22.97 Hz</div></td><td align="center"><div style="color:red;">∇ -12.64%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">70.76 ms</div></td><td align="center"><div style="color:red;">Δ 14.07%</div></td><td align="right">12.39 Hz / <div style="color:gray;">14.13 Hz</div></td><td align="center"><div style="color:red;">∇ -12.33%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">23.43 ms</div></td><td align="center"><div style="color:red;">Δ 25.31%</div></td><td align="right">34.05 Hz / <div style="color:gray;">42.67 Hz</div></td><td align="center"><div style="color:red;">∇ -20.20%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">36.52 ms</div></td><td align="center"><div style="color:red;">Δ 16.24%</div></td><td align="right">23.56 Hz / <div style="color:gray;">27.39 Hz</div></td><td align="center"><div style="color:red;">∇ -13.97%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">59.82 ms</div></td><td align="center"><div style="color:red;">Δ 9.35%</div></td><td align="right">15.29 Hz / <div style="color:gray;">16.72 Hz</div></td><td align="center"><div style="color:red;">∇ -8.55%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">6.68 ms</div></td><td align="center"><div style="color:blue;">∇ -30.16%</div></td><td align="right">214.40 Hz / <div style="color:gray;">149.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 43.19%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">8.62 ms</div></td><td align="center"><div style="color:blue;">∇ -30.56%</div></td><td align="right">167.10 Hz / <div style="color:gray;">116.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.02%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">14.49 ms</div></td><td align="center"><div style="color:blue;">∇ -28.06%</div></td><td align="right">95.93 Hz / <div style="color:gray;">69.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 39.00%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">21.12 us</div></td><td align="center"><div style="color:blue;">∇ -46.27%</div></td><td align="right">88.11 KHz / <div style="color:gray;">47.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 86.11%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">19.36 us</div></td><td align="center"><div style="color:blue;">∇ -48.56%</div></td><td align="right">100.40 KHz / <div style="color:gray;">51.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 94.40%</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;">6.24 us</div></td><td align="center"><div style="color:blue;">∇ -11.49%</div></td><td align="right">181.16 KHz / <div style="color:gray;">160.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.98%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">40.83 ms</div></td><td align="center"><div style="color:blue;">∇ -21.00%</div></td><td align="right">31.01 Hz / <div style="color:gray;">24.49 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.58%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">33.62 ms</div></td><td align="center"><div style="color:blue;">∇ -23.83%</div></td><td align="right">39.06 Hz / <div style="color:gray;">29.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.29%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">705.28 ms</div></td><td align="center"><div style="color:blue;">∇ -10.55%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.79%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">214.22 ms</div></td><td align="center"><div style="color:blue;">∇ -23.40%</div></td><td align="right">6.09 Hz / <div style="color:gray;">4.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 30.55%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">326.57 ms</div></td><td align="center"><div style="color:blue;">∇ -36.42%</div></td><td align="right">4.82 Hz / <div style="color:gray;">3.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 57.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">7.69 ms</div></td><td align="center"><div style="color:blue;">∇ -1.14%</div></td><td align="right">131.57 Hz / <div style="color:gray;">130.08 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.15%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">105.90 ms</div></td><td align="center"><div style="color:blue;">∇ -42.77%</div></td><td align="right">16.50 Hz / <div style="color:gray;">9.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 74.75%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">57.67 ms</div></td><td align="center"><div style="color:blue;">∇ -23.73%</div></td><td align="right">22.73 Hz / <div style="color:gray;">17.34 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.11%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">50.27 ms</div></td><td align="center"><div style="color:blue;">∇ -27.82%</div></td><td align="right">27.56 Hz / <div style="color:gray;">19.89 Hz</div></td><td align="center"><div style="color:blue;">Δ 38.54%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.38 sec</div></td><td align="center"><div style="color:blue;">∇ -13.16%</div></td><td align="right">834.47 mHz / <div style="color:gray;">724.62 mHz</div></td><td align="center"><div style="color:blue;">Δ 15.16%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">618.66 ms</div></td><td align="center"><div style="color:blue;">∇ -38.60%</div></td><td align="right">2.63 Hz / <div style="color:gray;">1.62 Hz</div></td><td align="center"><div style="color:blue;">Δ 62.88%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">22.11 ms</div></td><td align="center"><div style="color:blue;">∇ -27.48%</div></td><td align="right">62.36 Hz / <div style="color:gray;">45.22 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.90%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">14.58 ms</div></td><td align="center"><div style="color:blue;">∇ -25.58%</div></td><td align="right">92.14 Hz / <div style="color:gray;">68.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.38%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">354.58 us</div></td><td align="center"><div style="color:blue;">∇ -66.16%</div></td><td align="right">8.33 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 195.51%</div></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;">284.04 us</div></td><td align="center"><div style="color:blue;">∇ -70.42%</div></td><td align="right">11.90 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 238.01%</div></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;">549.28 us</div></td><td align="center"><div style="color:blue;">∇ -68.94%</div></td><td align="right">5.86 KHz / <div style="color:gray;">1.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 221.95%</div></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;">452.79 us</div></td><td align="center"><div style="color:blue;">∇ -60.46%</div></td><td align="right">5.59 KHz / <div style="color:gray;">2.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 152.93%</div></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;">3.86 ms</div></td><td align="center"><div style="color:blue;">∇ -59.00%</div></td><td align="right">632.00 Hz / <div style="color:gray;">259.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 143.90%</div></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;">2.88 ms</div></td><td align="center"><div style="color:blue;">∇ -69.98%</div></td><td align="right">1.16 KHz / <div style="color:gray;">347.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 233.06%</div></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;">5.74 ms</div></td><td align="center"><div style="color:blue;">∇ -65.82%</div></td><td align="right">509.85 Hz / <div style="color:gray;">174.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 192.54%</div></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;">4.44 ms</div></td><td align="center"><div style="color:blue;">∇ -55.97%</div></td><td align="right">511.72 Hz / <div style="color:gray;">225.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 127.10%</div></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;">1.35 ms</div></td><td align="center"><div style="color:blue;">∇ -87.42%</div></td><td align="right">5.91 KHz / <div style="color:gray;">743.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 695.08%</div></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;">1.09 ms</div></td><td align="center"><div style="color:blue;">∇ -85.89%</div></td><td align="right">6.51 KHz / <div style="color:gray;">917.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 608.79%</div></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;">1.74 ms</div></td><td align="center"><div style="color:blue;">∇ -72.93%</div></td><td align="right">2.12 KHz / <div style="color:gray;">573.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 269.36%</div></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;">1.46 ms</div></td><td align="center"><div style="color:blue;">∇ -69.84%</div></td><td align="right">2.27 KHz / <div style="color:gray;">683.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 231.62%</div></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;">13.92 ms</div></td><td align="center"><div style="color:blue;">∇ -82.35%</div></td><td align="right">407.06 Hz / <div style="color:gray;">71.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 466.42%</div></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;">11.12 ms</div></td><td align="center"><div style="color:blue;">∇ -84.72%</div></td><td align="right">588.45 Hz / <div style="color:gray;">89.92 Hz</div></td><td align="center"><div style="color:blue;">Δ 554.40%</div></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;">17.58 ms</div></td><td align="center"><div style="color:blue;">∇ -61.98%</div></td><td align="right">149.62 Hz / <div style="color:gray;">56.89 Hz</div></td><td align="center"><div style="color:blue;">Δ 163.01%</div></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;">14.12 ms</div></td><td align="center"><div style="color:blue;">∇ -67.53%</div></td><td align="right">218.07 Hz / <div style="color:gray;">70.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 207.98%</div></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 2011/06/03,22:26:38.876485 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
