<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.2-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.2-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-GCC-64bit / <div style="color:gray;">0.9.2-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">20.90 ms / <div style="color:gray;">19.99 ms</div></td><td align="center"><div style="color:red;">Δ 4.55%</div></td><td align="right">47.85 Hz / <div style="color:gray;">50.03 Hz</div></td><td align="center"><div style="color:red;">∇ -4.35%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">19.29 ms</div></td><td align="center"><div style="color:blue;">∇ -2.74%</div></td><td align="right">53.30 Hz / <div style="color:gray;">51.84 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.82%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">42.85 ns</div></td><td align="center"><div style="color:blue;">∇ -2.75%</div></td><td align="right">24.00 MHz / <div style="color:gray;">23.34 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.83%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">37.80 ns</div></td><td align="center"><div style="color:blue;">∇ -14.31%</div></td><td align="right">30.87 MHz / <div style="color:gray;">26.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.70%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">7.25 ns</div></td><td align="center"><div style="color:red;">Δ 10.65%</div></td><td align="right">124.63 MHz / <div style="color:gray;">137.89 MHz</div></td><td align="center"><div style="color:red;">∇ -9.62%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">11.91 ns</div></td><td align="center"><div style="color:blue;">∇ -3.14%</div></td><td align="right">86.70 MHz / <div style="color:gray;">83.98 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.24%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">48.98 ns</div></td><td align="center"><div style="color:blue;">∇ -62.88%</div></td><td align="right">54.99 MHz / <div style="color:gray;">20.42 MHz</div></td><td align="center"><div style="color:blue;">Δ 169.37%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">34.95 ns</div></td><td align="center"><div style="color:blue;">∇ -27.86%</div></td><td align="right">39.66 MHz / <div style="color:gray;">28.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 38.62%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">78.58 ns</div></td><td align="center"><div style="color:blue;">∇ -8.24%</div></td><td align="right">13.87 MHz / <div style="color:gray;">12.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.98%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">70.31 ns</div></td><td align="center"><div style="color:blue;">∇ -1.55%</div></td><td align="right">14.45 MHz / <div style="color:gray;">14.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.57%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">61.33 ns</div></td><td align="center"><div style="color:blue;">∇ -1.38%</div></td><td align="right">16.53 MHz / <div style="color:gray;">16.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.40%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">65.17 ns</div></td><td align="center"><div style="color:blue;">∇ -7.91%</div></td><td align="right">16.66 MHz / <div style="color:gray;">15.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.59%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">44.66 ns</div></td><td align="center"><div style="color:blue;">∇ -4.39%</div></td><td align="right">23.42 MHz / <div style="color:gray;">22.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.59%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">39.43 ns</div></td><td align="center"><div style="color:blue;">∇ -2.94%</div></td><td align="right">26.13 MHz / <div style="color:gray;">25.36 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.03%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">18.24 ns</div></td><td align="center"><div style="color:blue;">∇ -1.82%</div></td><td align="right">55.85 MHz / <div style="color:gray;">54.84 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.85%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">17.94 ns</div></td><td align="center"><div style="color:red;">Δ 2.80%</div></td><td align="right">54.23 MHz / <div style="color:gray;">55.75 MHz</div></td><td align="center"><div style="color:red;">∇ -2.72%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">55.43 ns</div></td><td align="center"><div style="color:blue;">∇ -39.90%</div></td><td align="right">30.02 MHz / <div style="color:gray;">18.04 MHz</div></td><td align="center"><div style="color:blue;">Δ 66.38%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 10.63%</div></td><td align="right">51.24 MHz / <div style="color:gray;">56.69 MHz</div></td><td align="center"><div style="color:red;">∇ -9.61%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">16.70 ns</div></td><td align="center"><div style="color:blue;">∇ -2.53%</div></td><td align="right">61.45 MHz / <div style="color:gray;">59.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.60%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">169.28 ns</div></td><td align="center"><div style="color:red;">Δ 0.29%</div></td><td align="right">5.89 MHz / <div style="color:gray;">5.91 MHz</div></td><td align="center"><div style="color:red;">∇ -0.29%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">760.96 us</div></td><td align="center"><div style="color:blue;">∇ -99.90%</div></td><td align="right">1.25 MHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 95138.42%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">760.62 us</div></td><td align="center"><div style="color:blue;">∇ -99.90%</div></td><td align="right">1.27 MHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 96363.86%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">9.47 us</div></td><td align="center"><div style="color:blue;">∇ -3.89%</div></td><td align="right">109.83 KHz / <div style="color:gray;">105.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.05%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">545.30 ns</div></td><td align="center"><div style="color:red;">Δ 2.24%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:red;">∇ -2.19%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">544.10 ns</div></td><td align="center"><div style="color:red;">Δ 2.65%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.84 MHz</div></td><td align="center"><div style="color:red;">∇ -2.58%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">8.11 us</div></td><td align="center"><div style="color:red;">Δ 3.80%</div></td><td align="right">118.81 KHz / <div style="color:gray;">123.33 KHz</div></td><td align="center"><div style="color:red;">∇ -3.67%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">20.92 ns</div></td><td align="center"><div style="color:blue;">∇ -14.74%</div></td><td align="right">56.07 MHz / <div style="color:gray;">47.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.29%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">20.15 ns</div></td><td align="center"><div style="color:blue;">∇ -3.35%</div></td><td align="right">51.35 MHz / <div style="color:gray;">49.63 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.46%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">54.04 ns</div></td><td align="center"><div style="color:red;">Δ 1.50%</div></td><td align="right">18.23 MHz / <div style="color:gray;">18.51 MHz</div></td><td align="center"><div style="color:red;">∇ -1.48%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">55.27 ns</div></td><td align="center"><div style="color:red;">Δ 1.20%</div></td><td align="right">17.88 MHz / <div style="color:gray;">18.09 MHz</div></td><td align="center"><div style="color:red;">∇ -1.19%</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;">1.70 ns</div></td><td align="center"><div style="color:blue;">∇ -11.78%</div></td><td align="right">667.56 MHz / <div style="color:gray;">588.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.35%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">2.77 ns</div></td><td align="center"><div style="color:red;">Δ 102.05%</div></td><td align="right">178.35 MHz / <div style="color:gray;">360.36 MHz</div></td><td align="center"><div style="color:red;">∇ -50.51%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">73.10 ns</div></td><td align="center"><div style="color:red;">Δ 298.50%</div></td><td align="right">3.43 MHz / <div style="color:gray;">13.68 MHz</div></td><td align="center"><div style="color:red;">∇ -74.91%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.80 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">42.02 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;">72.40 ns</div></td><td align="center"><div style="color:red;">Δ 304.01%</div></td><td align="right">3.42 MHz / <div style="color:gray;">13.81 MHz</div></td><td align="center"><div style="color:red;">∇ -75.25%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.40 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">42.74 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;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 214.48%</div></td><td align="right">2.88 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -68.20%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 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[double], 3x6 * 6x3</td><td align="right">340.40 ns / <div style="color:gray;">116.30 ns</div></td><td align="center"><div style="color:red;">Δ 192.69%</div></td><td align="right">2.94 MHz / <div style="color:gray;">8.60 MHz</div></td><td align="center"><div style="color:red;">∇ -65.83%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.12 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;">5.19 us</div></td><td align="center"><div style="color:blue;">∇ -53.34%</div></td><td align="right">413.19 KHz / <div style="color:gray;">192.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 114.34%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">3.55 us</div></td><td align="center"><div style="color:blue;">∇ -37.18%</div></td><td align="right">448.19 KHz / <div style="color:gray;">281.56 KHz</div></td><td align="center"><div style="color:blue;">Δ 59.18%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:blue;">∇ -55.38%</div></td><td align="right">432.69 KHz / <div style="color:gray;">193.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 124.14%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">3.61 us</div></td><td align="center"><div style="color:blue;">∇ -41.19%</div></td><td align="right">471.08 KHz / <div style="color:gray;">277.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 70.03%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">329.00 ns</div></td><td align="center"><div style="color:red;">Δ 137.08%</div></td><td align="right">1.28 MHz / <div style="color:gray;">3.04 MHz</div></td><td align="center"><div style="color:red;">∇ -57.82%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">21.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">47.62 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;">1.20 us</div></td><td align="center"><div style="color:red;">Δ 64.20%</div></td><td align="right">507.10 KHz / <div style="color:gray;">832.64 KHz</div></td><td align="center"><div style="color:red;">∇ -39.10%</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;">25.64 us</div></td><td align="center"><div style="color:blue;">∇ -37.28%</div></td><td align="right">62.19 KHz / <div style="color:gray;">39.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 59.43%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">17.36 us</div></td><td align="center"><div style="color:blue;">∇ -16.62%</div></td><td align="right">69.08 KHz / <div style="color:gray;">57.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.94%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">189.04 us</div></td><td align="center"><div style="color:blue;">∇ -65.20%</div></td><td align="right">15.20 KHz / <div style="color:gray;">5.29 KHz</div></td><td align="center"><div style="color:blue;">Δ 187.36%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">121.47 us</div></td><td align="center"><div style="color:blue;">∇ -47.20%</div></td><td align="right">15.59 KHz / <div style="color:gray;">8.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 89.41%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">6.40 ns</div></td><td align="center"><div style="color:red;">Δ 3221.88%</div></td><td align="right">4.70 MHz / <div style="color:gray;">156.25 MHz</div></td><td align="center"><div style="color:red;">∇ -96.99%</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;">696.30 ns</div></td><td align="center"><div style="color:red;">Δ 11.29%</div></td><td align="right">1.29 MHz / <div style="color:gray;">1.44 MHz</div></td><td align="center"><div style="color:red;">∇ -10.14%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">212.30 ns</div></td><td align="center"><div style="color:red;">Δ 178.99%</div></td><td align="right">1.69 MHz / <div style="color:gray;">4.71 MHz</div></td><td align="center"><div style="color:red;">∇ -64.16%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">6.40 us</div></td><td align="center"><div style="color:red;">Δ 32.76%</div></td><td align="right">117.63 KHz / <div style="color:gray;">156.16 KHz</div></td><td align="center"><div style="color:red;">∇ -24.67%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 63.49%</div></td><td align="right">129.53 KHz / <div style="color:gray;">211.77 KHz</div></td><td align="center"><div style="color:red;">∇ -38.83%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">32.49 us</div></td><td align="center"><div style="color:blue;">∇ -0.83%</div></td><td align="right">31.03 KHz / <div style="color:gray;">30.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.83%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">27.34 us</div></td><td align="center"><div style="color:red;">Δ 12.33%</div></td><td align="right">32.57 KHz / <div style="color:gray;">36.58 KHz</div></td><td align="center"><div style="color:red;">∇ -10.97%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 307.69%</div></td><td align="right">1.89 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -75.47%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">140.00 ns</div></td><td align="center"><div style="color:blue;">∇ -7.14%</div></td><td align="right">7.69 MHz / <div style="color:gray;">7.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.69%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">18.52 us</div></td><td align="center"><div style="color:red;">Δ 24.08%</div></td><td align="right">43.52 KHz / <div style="color:gray;">54.00 KHz</div></td><td align="center"><div style="color:red;">∇ -19.41%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">16.55 us</div></td><td align="center"><div style="color:red;">Δ 17.82%</div></td><td align="right">51.28 KHz / <div style="color:gray;">60.42 KHz</div></td><td align="center"><div style="color:red;">∇ -15.13%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">121.95 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">82.90 us</div></td><td align="center"><div style="color:red;">Δ 2.90%</div></td><td align="right">11.72 KHz / <div style="color:gray;">12.06 KHz</div></td><td align="center"><div style="color:red;">∇ -2.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">52.70 us</div></td><td align="center"><div style="color:red;">Δ 7.78%</div></td><td align="right">17.61 KHz / <div style="color:gray;">18.98 KHz</div></td><td align="center"><div style="color:red;">∇ -7.22%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">38.59 us</div></td><td align="center"><div style="color:red;">Δ 1.87%</div></td><td align="right">25.44 KHz / <div style="color:gray;">25.91 KHz</div></td><td align="center"><div style="color:red;">∇ -1.83%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">409.80 us</div></td><td align="center"><div style="color:blue;">∇ -34.90%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.60%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">70.75 us</div></td><td align="center"><div style="color:red;">Δ 2.84%</div></td><td align="right">13.74 KHz / <div style="color:gray;">14.13 KHz</div></td><td align="center"><div style="color:red;">∇ -2.76%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">8.58 ms</div></td><td align="center"><div style="color:blue;">∇ -68.87%</div></td><td align="right">374.53 Hz / <div style="color:gray;">116.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 221.20%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">171.20 us</div></td><td align="center"><div style="color:red;">Δ 2.91%</div></td><td align="right">5.68 KHz / <div style="color:gray;">5.84 KHz</div></td><td align="center"><div style="color:red;">∇ -2.83%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">133.58 ms</div></td><td align="center"><div style="color:blue;">∇ -84.48%</div></td><td align="right">48.23 Hz / <div style="color:gray;">7.49 Hz</div></td><td align="center"><div style="color:blue;">Δ 544.32%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">341.85 us</div></td><td align="center"><div style="color:red;">Δ 2.69%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.93 KHz</div></td><td align="center"><div style="color:red;">∇ -2.62%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">354.49 ms</div></td><td align="center"><div style="color:blue;">∇ -90.24%</div></td><td align="right">28.90 Hz / <div style="color:gray;">2.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 924.43%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">401.50 us</div></td><td align="center"><div style="color:red;">Δ 3.58%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -3.46%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">773.25 ms</div></td><td align="center"><div style="color:blue;">∇ -93.49%</div></td><td align="right">19.87 Hz / <div style="color:gray;">1.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 1436.69%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">469.25 us</div></td><td align="center"><div style="color:red;">Δ 2.92%</div></td><td align="right">2.07 KHz / <div style="color:gray;">2.13 KHz</div></td><td align="center"><div style="color:red;">∇ -2.83%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">10.00 THz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">2.61 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 1.14%</div></td><td align="right">383.63 MHz / <div style="color:gray;">388.02 MHz</div></td><td align="center"><div style="color:red;">∇ -1.13%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">7.84 ns</div></td><td align="center"><div style="color:blue;">∇ -10.79%</div></td><td align="right">143.02 MHz / <div style="color:gray;">127.58 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.10%</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;">∇ -6.95%</div></td><td align="right">1.95 GHz / <div style="color:gray;">1.82 GHz</div></td><td align="center"><div style="color:blue;">Δ 7.47%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">102.06 us</div></td><td align="center"><div style="color:red;">Δ 0.52%</div></td><td align="right">9.75 KHz / <div style="color:gray;">9.80 KHz</div></td><td align="center"><div style="color:red;">∇ -0.52%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">289.47 us</div></td><td align="center"><div style="color:blue;">∇ -1.85%</div></td><td align="right">3.52 KHz / <div style="color:gray;">3.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.89%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:blue;">∇ -63.28%</div></td><td align="right">1.39 KHz / <div style="color:gray;">508.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 172.30%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">15.74 us</div></td><td align="center"><div style="color:blue;">∇ -0.27%</div></td><td align="right">63.72 KHz / <div style="color:gray;">63.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.27%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">3.04 ms</div></td><td align="center"><div style="color:blue;">∇ -2.30%</div></td><td align="right">337.06 Hz / <div style="color:gray;">329.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.36%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">4.32 us</div></td><td align="center"><div style="color:red;">Δ 0.93%</div></td><td align="right">229.36 KHz / <div style="color:gray;">231.48 KHz</div></td><td align="center"><div style="color:red;">∇ -0.92%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">352.12 us</div></td><td align="center"><div style="color:red;">Δ 1.41%</div></td><td align="right">2.80 KHz / <div style="color:gray;">2.84 KHz</div></td><td align="center"><div style="color:red;">∇ -1.39%</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 1.22%</div></td><td align="right">238.61 Hz / <div style="color:gray;">241.51 Hz</div></td><td align="center"><div style="color:red;">∇ -1.20%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">4.68 us</div></td><td align="center"><div style="color:red;">Δ 0.85%</div></td><td align="right">211.86 KHz / <div style="color:gray;">213.68 KHz</div></td><td align="center"><div style="color:red;">∇ -0.85%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">359.52 us</div></td><td align="center"><div style="color:red;">Δ 0.88%</div></td><td align="right">2.76 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -0.87%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">4.03 ms</div></td><td align="center"><div style="color:red;">Δ 1.72%</div></td><td align="right">244.09 Hz / <div style="color:gray;">248.28 Hz</div></td><td align="center"><div style="color:red;">∇ -1.69%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">1.41 us</div></td><td align="center"><div style="color:blue;">∇ -1.21%</div></td><td align="right">720.46 KHz / <div style="color:gray;">711.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.22%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">97.21 us</div></td><td align="center"><div style="color:red;">Δ 4.79%</div></td><td align="right">9.82 KHz / <div style="color:gray;">10.29 KHz</div></td><td align="center"><div style="color:red;">∇ -4.57%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">11.62 ms</div></td><td align="center"><div style="color:red;">Δ 1.33%</div></td><td align="right">84.92 Hz / <div style="color:gray;">86.05 Hz</div></td><td align="center"><div style="color:red;">∇ -1.31%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.62 ms / <div style="color:gray;">5.59 ms</div></td><td align="center"><div style="color:red;">Δ 0.52%</div></td><td align="right">177.84 Hz / <div style="color:gray;">178.77 Hz</div></td><td align="center"><div style="color:red;">∇ -0.52%</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;">129.28 ms</div></td><td align="center"><div style="color:red;">Δ 1.01%</div></td><td align="right">7.66 Hz / <div style="color:gray;">7.73 Hz</div></td><td align="center"><div style="color:red;">∇ -1.00%</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;">5.66 ms</div></td><td align="center"><div style="color:red;">Δ 0.46%</div></td><td align="right">175.73 Hz / <div style="color:gray;">176.53 Hz</div></td><td align="center"><div style="color:red;">∇ -0.46%</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;">131.22 ms</div></td><td align="center"><div style="color:red;">Δ 0.77%</div></td><td align="right">7.56 Hz / <div style="color:gray;">7.62 Hz</div></td><td align="center"><div style="color:red;">∇ -0.76%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:red;">Δ 8.04%</div></td><td align="right">63.82 MHz / <div style="color:gray;">68.95 MHz</div></td><td align="center"><div style="color:red;">∇ -7.44%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">14.50 ns</div></td><td align="center"><div style="color:red;">Δ 7.95%</div></td><td align="right">63.88 MHz / <div style="color:gray;">68.96 MHz</div></td><td align="center"><div style="color:red;">∇ -7.37%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">68.97 ns</div></td><td align="center"><div style="color:red;">Δ 1.34%</div></td><td align="right">14.31 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:red;">∇ -1.32%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">68.98 ns</div></td><td align="center"><div style="color:red;">Δ 1.27%</div></td><td align="right">14.32 MHz / <div style="color:gray;">14.50 MHz</div></td><td align="center"><div style="color:red;">∇ -1.26%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">10.45 ns</div></td><td align="center"><div style="color:red;">Δ 16.92%</div></td><td align="right">81.87 MHz / <div style="color:gray;">95.72 MHz</div></td><td align="center"><div style="color:red;">∇ -14.47%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:red;">Δ 106.51%</div></td><td align="right">370.49 KHz / <div style="color:gray;">765.12 KHz</div></td><td align="center"><div style="color:red;">∇ -51.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">2.73 us</div></td><td align="center"><div style="color:red;">Δ 109.19%</div></td><td align="right">175.14 KHz / <div style="color:gray;">366.37 KHz</div></td><td align="center"><div style="color:red;">∇ -52.20%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">158.91 ns</div></td><td align="center"><div style="color:blue;">∇ -6.75%</div></td><td align="right">6.75 MHz / <div style="color:gray;">6.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.24%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">237.40 ns</div></td><td align="center"><div style="color:blue;">∇ -2.08%</div></td><td align="right">4.30 MHz / <div style="color:gray;">4.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.13%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">490.03 ns</div></td><td align="center"><div style="color:blue;">∇ -0.07%</div></td><td align="right">2.04 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">164.67 ns</div></td><td align="center"><div style="color:blue;">∇ -3.12%</div></td><td align="right">6.27 MHz / <div style="color:gray;">6.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.22%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">249.81 ns</div></td><td align="center"><div style="color:blue;">∇ -0.83%</div></td><td align="right">4.04 MHz / <div style="color:gray;">4.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.83%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">514.70 ns</div></td><td align="center"><div style="color:red;">Δ 1.40%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -1.38%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">296.20 ns</div></td><td align="center"><div style="color:blue;">∇ -15.16%</div></td><td align="right">3.98 MHz / <div style="color:gray;">3.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.87%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:blue;">∇ -0.77%</div></td><td align="right">331.46 KHz / <div style="color:gray;">328.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.77%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">30.22 us</div></td><td align="center"><div style="color:red;">Δ 0.47%</div></td><td align="right">32.93 KHz / <div style="color:gray;">33.09 KHz</div></td><td align="center"><div style="color:red;">∇ -0.47%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">10.09 GHz / <div style="color:gray;">10.09 GHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">34.14 ms / <div style="color:gray;">35.06 ms</div></td><td align="center"><div style="color:blue;">∇ -2.62%</div></td><td align="right">29.29 Hz / <div style="color:gray;">28.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.69%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">48.96 ms</div></td><td align="center"><div style="color:red;">Δ 1.77%</div></td><td align="right">20.07 Hz / <div style="color:gray;">20.42 Hz</div></td><td align="center"><div style="color:red;">∇ -1.74%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">74.65 ms</div></td><td align="center"><div style="color:red;">Δ 8.12%</div></td><td align="right">12.39 Hz / <div style="color:gray;">13.40 Hz</div></td><td align="center"><div style="color:red;">∇ -7.51%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">29.96 ms</div></td><td align="center"><div style="color:blue;">∇ -2.00%</div></td><td align="right">34.05 Hz / <div style="color:gray;">33.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.04%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">42.79 ms</div></td><td align="center"><div style="color:blue;">∇ -0.80%</div></td><td align="right">23.56 Hz / <div style="color:gray;">23.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.80%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">64.15 ms</div></td><td align="center"><div style="color:red;">Δ 1.96%</div></td><td align="right">15.29 Hz / <div style="color:gray;">15.59 Hz</div></td><td align="center"><div style="color:red;">∇ -1.92%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">3.90 ms</div></td><td align="center"><div style="color:red;">Δ 19.54%</div></td><td align="right">214.40 Hz / <div style="color:gray;">256.30 Hz</div></td><td align="center"><div style="color:red;">∇ -16.35%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">6.21 ms</div></td><td align="center"><div style="color:blue;">∇ -3.66%</div></td><td align="right">167.10 Hz / <div style="color:gray;">160.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.79%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">10.55 ms</div></td><td align="center"><div style="color:blue;">∇ -1.24%</div></td><td align="right">95.93 Hz / <div style="color:gray;">94.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.25%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">5.06 us</div></td><td align="center"><div style="color:red;">Δ 124.31%</div></td><td align="right">88.11 KHz / <div style="color:gray;">197.63 KHz</div></td><td align="center"><div style="color:red;">∇ -55.42%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">4.30 us</div></td><td align="center"><div style="color:red;">Δ 131.63%</div></td><td align="right">100.40 KHz / <div style="color:gray;">232.56 KHz</div></td><td align="center"><div style="color:red;">∇ -56.83%</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;">2.10 us</div></td><td align="center"><div style="color:red;">Δ 162.86%</div></td><td align="right">181.16 KHz / <div style="color:gray;">476.19 KHz</div></td><td align="center"><div style="color:red;">∇ -61.96%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">24.28 ms</div></td><td align="center"><div style="color:red;">Δ 32.86%</div></td><td align="right">31.01 Hz / <div style="color:gray;">41.19 Hz</div></td><td align="center"><div style="color:red;">∇ -24.73%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">24.43 ms</div></td><td align="center"><div style="color:red;">Δ 4.82%</div></td><td align="right">39.06 Hz / <div style="color:gray;">40.94 Hz</div></td><td align="center"><div style="color:red;">∇ -4.60%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">610.42 ms</div></td><td align="center"><div style="color:red;">Δ 3.36%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.64 Hz</div></td><td align="center"><div style="color:red;">∇ -3.25%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">167.77 ms</div></td><td align="center"><div style="color:blue;">∇ -2.20%</div></td><td align="right">6.09 Hz / <div style="color:gray;">5.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.25%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">197.61 ms</div></td><td align="center"><div style="color:red;">Δ 5.07%</div></td><td align="right">4.82 Hz / <div style="color:gray;">5.06 Hz</div></td><td align="center"><div style="color:red;">∇ -4.83%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">5.24 ms</div></td><td align="center"><div style="color:red;">Δ 44.92%</div></td><td align="right">131.57 Hz / <div style="color:gray;">190.68 Hz</div></td><td align="center"><div style="color:red;">∇ -31.00%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">59.98 ms</div></td><td align="center"><div style="color:red;">Δ 1.04%</div></td><td align="right">16.50 Hz / <div style="color:gray;">16.67 Hz</div></td><td align="center"><div style="color:red;">∇ -1.03%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">40.88 ms</div></td><td align="center"><div style="color:red;">Δ 7.61%</div></td><td align="right">22.73 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:red;">∇ -7.07%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">35.50 ms</div></td><td align="center"><div style="color:red;">Δ 2.22%</div></td><td align="right">27.56 Hz / <div style="color:gray;">28.17 Hz</div></td><td align="center"><div style="color:red;">∇ -2.18%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.21 sec</div></td><td align="center"><div style="color:blue;">∇ -0.77%</div></td><td align="right">834.47 mHz / <div style="color:gray;">828.07 mHz</div></td><td align="center"><div style="color:blue;">Δ 0.77%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">379.92 ms</div></td><td align="center"><div style="color:blue;">∇ -0.02%</div></td><td align="right">2.63 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.02%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">16.06 ms</div></td><td align="center"><div style="color:blue;">∇ -0.17%</div></td><td align="right">62.36 Hz / <div style="color:gray;">62.26 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.17%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">10.73 ms</div></td><td align="center"><div style="color:red;">Δ 1.13%</div></td><td align="right">92.14 Hz / <div style="color:gray;">93.18 Hz</div></td><td align="center"><div style="color:red;">∇ -1.12%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">117.65 us</div></td><td align="center"><div style="color:red;">Δ 1.99%</div></td><td align="right">8.33 KHz / <div style="color:gray;">8.50 KHz</div></td><td align="center"><div style="color:red;">∇ -1.95%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">105.13 us</div></td><td align="center"><div style="color:red;">Δ 1.96%</div></td><td align="right">9.33 KHz / <div style="color:gray;">9.51 KHz</div></td><td align="center"><div style="color:red;">∇ -1.92%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">85.19 us</div></td><td align="center"><div style="color:blue;">∇ -1.35%</div></td><td align="right">11.90 KHz / <div style="color:gray;">11.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.37%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">84.46 us</div></td><td align="center"><div style="color:blue;">∇ -1.29%</div></td><td align="right">11.99 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.31%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">172.53 us</div></td><td align="center"><div style="color:blue;">∇ -1.11%</div></td><td align="right">5.86 KHz / <div style="color:gray;">5.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.12%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">187.97 us</div></td><td align="center"><div style="color:blue;">∇ -3.38%</div></td><td align="right">5.51 KHz / <div style="color:gray;">5.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.50%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">168.61 us</div></td><td align="center"><div style="color:red;">Δ 6.17%</div></td><td align="right">5.59 KHz / <div style="color:gray;">5.93 KHz</div></td><td align="center"><div style="color:red;">∇ -5.82%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">167.39 us</div></td><td align="center"><div style="color:red;">Δ 6.69%</div></td><td align="right">5.60 KHz / <div style="color:gray;">5.97 KHz</div></td><td align="center"><div style="color:red;">∇ -6.27%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">1.73 ms</div></td><td align="center"><div style="color:blue;">∇ -8.35%</div></td><td align="right">632.00 Hz / <div style="color:gray;">579.22 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.11%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">1.45 ms</div></td><td align="center"><div style="color:blue;">∇ -12.67%</div></td><td align="right">790.83 Hz / <div style="color:gray;">690.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.51%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">884.69 us</div></td><td align="center"><div style="color:blue;">∇ -2.41%</div></td><td align="right">1.16 KHz / <div style="color:gray;">1.13 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.47%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">862.22 us</div></td><td align="center"><div style="color:blue;">∇ -1.87%</div></td><td align="right">1.18 KHz / <div style="color:gray;">1.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.90%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">1.97 ms</div></td><td align="center"><div style="color:blue;">∇ -0.63%</div></td><td align="right">509.85 Hz / <div style="color:gray;">506.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.63%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">2.31 ms</div></td><td align="center"><div style="color:blue;">∇ -2.58%</div></td><td align="right">445.23 Hz / <div style="color:gray;">433.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.65%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">1.86 ms</div></td><td align="center"><div style="color:red;">Δ 5.16%</div></td><td align="right">511.72 Hz / <div style="color:gray;">538.12 Hz</div></td><td align="center"><div style="color:red;">∇ -4.91%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">1.86 ms</div></td><td align="center"><div style="color:red;">Δ 5.00%</div></td><td align="right">512.69 Hz / <div style="color:gray;">538.35 Hz</div></td><td align="center"><div style="color:red;">∇ -4.77%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">177.23 us</div></td><td align="center"><div style="color:blue;">∇ -4.50%</div></td><td align="right">5.91 KHz / <div style="color:gray;">5.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.71%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">178.36 us</div></td><td align="center"><div style="color:blue;">∇ -5.37%</div></td><td align="right">5.93 KHz / <div style="color:gray;">5.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.68%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">157.86 us</div></td><td align="center"><div style="color:blue;">∇ -2.64%</div></td><td align="right">6.51 KHz / <div style="color:gray;">6.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.71%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">159.54 us</div></td><td align="center"><div style="color:blue;">∇ -3.35%</div></td><td align="right">6.49 KHz / <div style="color:gray;">6.27 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.47%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">507.00 us</div></td><td align="center"><div style="color:blue;">∇ -6.91%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.43%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">509.46 us</div></td><td align="center"><div style="color:blue;">∇ -5.87%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.23%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">473.36 us</div></td><td align="center"><div style="color:blue;">∇ -6.77%</div></td><td align="right">2.27 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.26%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">474.07 us</div></td><td align="center"><div style="color:blue;">∇ -6.12%</div></td><td align="right">2.25 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.52%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">2.47 ms</div></td><td align="center"><div style="color:blue;">∇ -0.60%</div></td><td align="right">407.06 Hz / <div style="color:gray;">404.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.61%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">2.48 ms</div></td><td align="center"><div style="color:blue;">∇ -0.91%</div></td><td align="right">406.51 Hz / <div style="color:gray;">402.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.91%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">1.75 ms</div></td><td align="center"><div style="color:blue;">∇ -3.05%</div></td><td align="right">588.45 Hz / <div style="color:gray;">570.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.15%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">1.77 ms</div></td><td align="center"><div style="color:blue;">∇ -3.77%</div></td><td align="right">587.97 Hz / <div style="color:gray;">565.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.92%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">5.53 ms</div></td><td align="center"><div style="color:red;">Δ 20.95%</div></td><td align="right">149.62 Hz / <div style="color:gray;">180.97 Hz</div></td><td align="center"><div style="color:red;">∇ -17.32%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">5.56 ms</div></td><td align="center"><div style="color:red;">Δ 21.37%</div></td><td align="right">148.06 Hz / <div style="color:gray;">179.70 Hz</div></td><td align="center"><div style="color:red;">∇ -17.61%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">4.85 ms</div></td><td align="center"><div style="color:blue;">∇ -5.46%</div></td><td align="right">218.07 Hz / <div style="color:gray;">206.16 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.78%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">4.85 ms</div></td><td align="center"><div style="color:blue;">∇ -5.70%</div></td><td align="right">218.58 Hz / <div style="color:gray;">206.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.05%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">96.04 us</div></td><td align="center"><div style="color:blue;">∇ -7.29%</div></td><td align="right">11.23 KHz / <div style="color:gray;">10.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.86%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">80.39 us</div></td><td align="center"><div style="color:blue;">∇ -6.29%</div></td><td align="right">13.28 KHz / <div style="color:gray;">12.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.71%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">1.13 ms</div></td><td align="center"><div style="color:blue;">∇ -2.03%</div></td><td align="right">903.43 Hz / <div style="color:gray;">885.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.08%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">804.04 us</div></td><td align="center"><div style="color:blue;">∇ -11.55%</div></td><td align="right">1.41 KHz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.05%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">19.14 ms</div></td><td align="center"><div style="color:blue;">∇ -3.12%</div></td><td align="right">53.94 Hz / <div style="color:gray;">52.26 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.22%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">9.65 ms</div></td><td align="center"><div style="color:red;">Δ 1.09%</div></td><td align="right">102.51 Hz / <div style="color:gray;">103.63 Hz</div></td><td align="center"><div style="color:red;">∇ -1.08%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">290.37 ms</div></td><td align="center"><div style="color:blue;">∇ -13.02%</div></td><td align="right">3.96 Hz / <div style="color:gray;">3.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.97%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">117.73 ms</div></td><td align="center"><div style="color:blue;">∇ -4.67%</div></td><td align="right">8.91 Hz / <div style="color:gray;">8.49 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.90%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">268.93 ms</div></td><td align="center"><div style="color:blue;">∇ -4.80%</div></td><td align="right">3.91 Hz / <div style="color:gray;">3.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.04%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">103.05 ms</div></td><td align="center"><div style="color:red;">Δ 3.02%</div></td><td align="right">9.42 Hz / <div style="color:gray;">9.70 Hz</div></td><td align="center"><div style="color:red;">∇ -2.93%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.845484 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
