<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.2-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.2-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;">0.9.2-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;">30.39 ms</div></td><td align="center"><div style="color:blue;">∇ -31.24%</div></td><td align="right">47.85 Hz / <div style="color:gray;">32.90 Hz</div></td><td align="center"><div style="color:blue;">Δ 45.44%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">52.58 ms</div></td><td align="center"><div style="color:blue;">∇ -64.32%</div></td><td align="right">53.30 Hz / <div style="color:gray;">19.02 Hz</div></td><td align="center"><div style="color:blue;">Δ 180.23%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">264.70 ns</div></td><td align="center"><div style="color:blue;">∇ -84.26%</div></td><td align="right">24.00 MHz / <div style="color:gray;">3.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 535.24%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">98.01 ns</div></td><td align="center"><div style="color:blue;">∇ -66.95%</div></td><td align="right">30.87 MHz / <div style="color:gray;">10.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 202.58%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">27.86 ns</div></td><td align="center"><div style="color:blue;">∇ -71.20%</div></td><td align="right">124.63 MHz / <div style="color:gray;">35.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 247.24%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">19.17 ns</div></td><td align="center"><div style="color:blue;">∇ -39.84%</div></td><td align="right">86.70 MHz / <div style="color:gray;">52.16 MHz</div></td><td align="center"><div style="color:blue;">Δ 66.23%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">51.66 ns</div></td><td align="center"><div style="color:blue;">∇ -64.80%</div></td><td align="right">54.99 MHz / <div style="color:gray;">19.36 MHz</div></td><td align="center"><div style="color:blue;">Δ 184.07%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">46.91 ns</div></td><td align="center"><div style="color:blue;">∇ -46.25%</div></td><td align="right">39.66 MHz / <div style="color:gray;">21.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 86.06%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">99.28 ns</div></td><td align="center"><div style="color:blue;">∇ -27.37%</div></td><td align="right">13.87 MHz / <div style="color:gray;">10.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 37.69%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">89.67 ns</div></td><td align="center"><div style="color:blue;">∇ -22.81%</div></td><td align="right">14.45 MHz / <div style="color:gray;">11.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.54%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">82.07 ns</div></td><td align="center"><div style="color:blue;">∇ -26.30%</div></td><td align="right">16.53 MHz / <div style="color:gray;">12.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.69%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">64.58 ns</div></td><td align="center"><div style="color:blue;">∇ -7.07%</div></td><td align="right">16.66 MHz / <div style="color:gray;">15.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.61%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">87.19 ns</div></td><td align="center"><div style="color:blue;">∇ -51.03%</div></td><td align="right">23.42 MHz / <div style="color:gray;">11.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 104.19%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">57.14 ns</div></td><td align="center"><div style="color:blue;">∇ -33.03%</div></td><td align="right">26.13 MHz / <div style="color:gray;">17.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 49.32%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">48.22 ns</div></td><td align="center"><div style="color:blue;">∇ -62.87%</div></td><td align="right">55.85 MHz / <div style="color:gray;">20.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 169.34%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">29.64 ns</div></td><td align="center"><div style="color:blue;">∇ -37.79%</div></td><td align="right">54.23 MHz / <div style="color:gray;">33.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 60.74%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">84.32 ns</div></td><td align="center"><div style="color:blue;">∇ -60.49%</div></td><td align="right">30.02 MHz / <div style="color:gray;">11.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 153.11%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">30.72 ns</div></td><td align="center"><div style="color:blue;">∇ -36.47%</div></td><td align="right">51.24 MHz / <div style="color:gray;">32.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 57.40%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">33.02 ns</div></td><td align="center"><div style="color:blue;">∇ -50.71%</div></td><td align="right">61.45 MHz / <div style="color:gray;">30.29 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.89%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">206.69 ns</div></td><td align="center"><div style="color:blue;">∇ -17.86%</div></td><td align="right">5.89 MHz / <div style="color:gray;">4.84 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.74%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">1.35 us</div></td><td align="center"><div style="color:blue;">∇ -40.90%</div></td><td align="right">1.25 MHz / <div style="color:gray;">739.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 69.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">1.40 us</div></td><td align="center"><div style="color:blue;">∇ -43.85%</div></td><td align="right">1.27 MHz / <div style="color:gray;">712.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 78.09%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">23.15 us</div></td><td align="center"><div style="color:blue;">∇ -60.66%</div></td><td align="right">109.83 KHz / <div style="color:gray;">43.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 154.21%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">1.62 us</div></td><td align="center"><div style="color:blue;">∇ -65.60%</div></td><td align="right">1.79 MHz / <div style="color:gray;">617.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 190.72%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">1.63 us</div></td><td align="center"><div style="color:blue;">∇ -65.73%</div></td><td align="right">1.79 MHz / <div style="color:gray;">613.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 191.77%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">15.82 us</div></td><td align="center"><div style="color:blue;">∇ -46.80%</div></td><td align="right">118.81 KHz / <div style="color:gray;">63.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 87.95%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">38.75 ns</div></td><td align="center"><div style="color:blue;">∇ -53.97%</div></td><td align="right">56.07 MHz / <div style="color:gray;">25.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 117.25%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">38.69 ns</div></td><td align="center"><div style="color:blue;">∇ -49.67%</div></td><td align="right">51.35 MHz / <div style="color:gray;">25.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 98.67%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">163.36 ns</div></td><td align="center"><div style="color:blue;">∇ -66.43%</div></td><td align="right">18.23 MHz / <div style="color:gray;">6.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 197.84%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">213.06 ns</div></td><td align="center"><div style="color:blue;">∇ -73.75%</div></td><td align="right">17.88 MHz / <div style="color:gray;">4.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 280.92%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">3.56 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">280.77 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;">3.29 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">304.17 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;">2.77 ns</div></td><td align="center"><div style="color:blue;">∇ -45.93%</div></td><td align="right">667.56 MHz / <div style="color:gray;">360.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 84.94%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">6.07 ns</div></td><td align="center"><div style="color:blue;">∇ -7.60%</div></td><td align="right">178.35 MHz / <div style="color:gray;">164.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.22%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">168.66 ns</div></td><td align="center"><div style="color:red;">Δ 72.71%</div></td><td align="right">3.43 MHz / <div style="color:gray;">5.93 MHz</div></td><td align="center"><div style="color:red;">∇ -42.10%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">109.47 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">9.14 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;">159.15 ns</div></td><td align="center"><div style="color:red;">Δ 83.79%</div></td><td align="right">3.42 MHz / <div style="color:gray;">6.28 MHz</div></td><td align="center"><div style="color:red;">∇ -45.59%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">87.59 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">11.42 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;">272.34 ns</div></td><td align="center"><div style="color:red;">Δ 27.60%</div></td><td align="right">2.88 MHz / <div style="color:gray;">3.67 MHz</div></td><td align="center"><div style="color:red;">∇ -21.63%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">190.04 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">5.26 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;">245.84 ns</div></td><td align="center"><div style="color:red;">Δ 38.46%</div></td><td align="right">2.94 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:red;">∇ -27.78%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">138.91 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">7.20 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;">16.67 us</div></td><td align="center"><div style="color:blue;">∇ -85.48%</div></td><td align="right">413.19 KHz / <div style="color:gray;">60.00 KHz</div></td><td align="center"><div style="color:blue;">Δ 588.70%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">12.92 us</div></td><td align="center"><div style="color:blue;">∇ -82.73%</div></td><td align="right">448.19 KHz / <div style="color:gray;">77.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 479.01%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">13.30 us</div></td><td align="center"><div style="color:blue;">∇ -82.63%</div></td><td align="right">432.69 KHz / <div style="color:gray;">75.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 475.69%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">9.66 us</div></td><td align="center"><div style="color:blue;">∇ -78.02%</div></td><td align="right">471.08 KHz / <div style="color:gray;">103.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 355.03%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">1.47 us</div></td><td align="center"><div style="color:blue;">∇ -46.83%</div></td><td align="right">1.28 MHz / <div style="color:gray;">681.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 88.07%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">30.80 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">32.47 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;">5.05 us</div></td><td align="center"><div style="color:blue;">∇ -60.92%</div></td><td align="right">507.10 KHz / <div style="color:gray;">198.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 155.85%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">944.32 ns</div></td><td align="center"><div style="color:red;">Δ 69.54%</div></td><td align="right">624.61 KHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:red;">∇ -41.02%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">106.06 us</div></td><td align="center"><div style="color:blue;">∇ -84.84%</div></td><td align="right">62.19 KHz / <div style="color:gray;">9.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 559.57%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">18.99 us</div></td><td align="center"><div style="color:blue;">∇ -23.79%</div></td><td align="right">69.08 KHz / <div style="color:gray;">52.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.21%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">805.07 us</div></td><td align="center"><div style="color:blue;">∇ -91.83%</div></td><td align="right">15.20 KHz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 1123.79%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">129.27 us</div></td><td align="center"><div style="color:blue;">∇ -50.39%</div></td><td align="right">15.59 KHz / <div style="color:gray;">7.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 101.57%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">8.47 ns</div></td><td align="center"><div style="color:red;">Δ 2410.20%</div></td><td align="right">4.70 MHz / <div style="color:gray;">118.07 MHz</div></td><td align="center"><div style="color:red;">∇ -96.02%</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 1933.69%</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;">2.27 us</div></td><td align="center"><div style="color:blue;">∇ -65.85%</div></td><td align="right">1.29 MHz / <div style="color:gray;">440.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 192.86%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">409.52 ns</div></td><td align="center"><div style="color:red;">Δ 44.63%</div></td><td align="right">1.69 MHz / <div style="color:gray;">2.44 MHz</div></td><td align="center"><div style="color:red;">∇ -30.86%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">17.63 us</div></td><td align="center"><div style="color:blue;">∇ -51.78%</div></td><td align="right">117.63 KHz / <div style="color:gray;">56.72 KHz</div></td><td align="center"><div style="color:blue;">Δ 107.37%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">6.19 us</div></td><td align="center"><div style="color:red;">Δ 24.78%</div></td><td align="right">129.53 KHz / <div style="color:gray;">161.63 KHz</div></td><td align="center"><div style="color:red;">∇ -19.86%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">112.43 us</div></td><td align="center"><div style="color:blue;">∇ -71.34%</div></td><td align="right">31.03 KHz / <div style="color:gray;">8.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 248.87%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">35.24 us</div></td><td align="center"><div style="color:blue;">∇ -12.86%</div></td><td align="right">32.57 KHz / <div style="color:gray;">28.38 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.76%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">172.11 ns</div></td><td align="center"><div style="color:red;">Δ 207.95%</div></td><td align="right">1.89 MHz / <div style="color:gray;">5.81 MHz</div></td><td align="center"><div style="color:red;">∇ -67.53%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">117.76 ns</div></td><td align="center"><div style="color:red;">Δ 10.40%</div></td><td align="right">7.69 MHz / <div style="color:gray;">8.49 MHz</div></td><td align="center"><div style="color:red;">∇ -9.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">24.40 us</div></td><td align="center"><div style="color:blue;">∇ -5.83%</div></td><td align="right">43.52 KHz / <div style="color:gray;">40.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.19%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">17.68 us</div></td><td align="center"><div style="color:red;">Δ 10.31%</div></td><td align="right">51.28 KHz / <div style="color:gray;">56.57 KHz</div></td><td align="center"><div style="color:red;">∇ -9.35%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:blue;">∇ -2.66%</div></td><td align="right">121.95 KHz / <div style="color:gray;">118.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.73%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">118.80 us</div></td><td align="center"><div style="color:blue;">∇ -28.20%</div></td><td align="right">11.72 KHz / <div style="color:gray;">8.42 KHz</div></td><td align="center"><div style="color:blue;">Δ 39.27%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">69.79 us</div></td><td align="center"><div style="color:blue;">∇ -18.62%</div></td><td align="right">17.61 KHz / <div style="color:gray;">14.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 22.88%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">52.54 us</div></td><td align="center"><div style="color:blue;">∇ -25.18%</div></td><td align="right">25.44 KHz / <div style="color:gray;">19.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 33.65%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">466.09 us</div></td><td align="center"><div style="color:blue;">∇ -42.76%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 74.70%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">89.01 us</div></td><td align="center"><div style="color:blue;">∇ -18.25%</div></td><td align="right">13.74 KHz / <div style="color:gray;">11.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 22.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">9.32 ms</div></td><td align="center"><div style="color:blue;">∇ -71.36%</div></td><td align="right">374.53 Hz / <div style="color:gray;">107.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 249.21%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">201.22 us</div></td><td align="center"><div style="color:blue;">∇ -12.44%</div></td><td align="right">5.68 KHz / <div style="color:gray;">4.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.21%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">138.07 ms</div></td><td align="center"><div style="color:blue;">∇ -84.98%</div></td><td align="right">48.23 Hz / <div style="color:gray;">7.24 Hz</div></td><td align="center"><div style="color:blue;">Δ 565.94%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">401.45 us</div></td><td align="center"><div style="color:blue;">∇ -12.55%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.36%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">453.62 ms</div></td><td align="center"><div style="color:blue;">∇ -92.37%</div></td><td align="right">28.90 Hz / <div style="color:gray;">2.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 1210.91%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">474.18 us</div></td><td align="center"><div style="color:blue;">∇ -12.29%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.02%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">945.16 ms</div></td><td align="center"><div style="color:blue;">∇ -94.68%</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 1778.34%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">552.77 us</div></td><td align="center"><div style="color:blue;">∇ -12.63%</div></td><td align="right">2.07 KHz / <div style="color:gray;">1.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.46%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">5.57 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">179.64 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;">7.80 ns</div></td><td align="center"><div style="color:blue;">∇ -66.59%</div></td><td align="right">383.63 MHz / <div style="color:gray;">128.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 199.30%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">10.65 ns</div></td><td align="center"><div style="color:blue;">∇ -34.32%</div></td><td align="right">143.02 MHz / <div style="color:gray;">93.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 52.26%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:blue;">∇ -57.22%</div></td><td align="right">1.95 GHz / <div style="color:gray;">834.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 133.77%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">202.10 us</div></td><td align="center"><div style="color:blue;">∇ -49.24%</div></td><td align="right">9.75 KHz / <div style="color:gray;">4.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 97.00%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">338.79 us</div></td><td align="center"><div style="color:blue;">∇ -16.14%</div></td><td align="right">3.52 KHz / <div style="color:gray;">2.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.25%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">3.58 ms</div></td><td align="center"><div style="color:blue;">∇ -79.83%</div></td><td align="right">1.39 KHz / <div style="color:gray;">279.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 395.69%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">18.09 us</div></td><td align="center"><div style="color:blue;">∇ -13.24%</div></td><td align="right">63.72 KHz / <div style="color:gray;">55.28 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.26%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:blue;">∇ -46.01%</div></td><td align="right">337.06 Hz / <div style="color:gray;">181.98 Hz</div></td><td align="center"><div style="color:blue;">Δ 85.22%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">6.29 us</div></td><td align="center"><div style="color:blue;">∇ -30.64%</div></td><td align="right">229.36 KHz / <div style="color:gray;">159.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 44.18%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">520.70 us</div></td><td align="center"><div style="color:blue;">∇ -31.42%</div></td><td align="right">2.80 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.82%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">5.50 ms</div></td><td align="center"><div style="color:blue;">∇ -23.86%</div></td><td align="right">238.61 Hz / <div style="color:gray;">181.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.34%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">6.47 us</div></td><td align="center"><div style="color:blue;">∇ -27.02%</div></td><td align="right">211.86 KHz / <div style="color:gray;">154.62 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.02%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">526.59 us</div></td><td align="center"><div style="color:blue;">∇ -31.13%</div></td><td align="right">2.76 KHz / <div style="color:gray;">1.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.19%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">5.63 ms</div></td><td align="center"><div style="color:blue;">∇ -27.27%</div></td><td align="right">244.09 Hz / <div style="color:gray;">177.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.50%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">2.04 us</div></td><td align="center"><div style="color:blue;">∇ -31.93%</div></td><td align="right">720.46 KHz / <div style="color:gray;">490.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.90%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">137.79 us</div></td><td align="center"><div style="color:blue;">∇ -26.08%</div></td><td align="right">9.82 KHz / <div style="color:gray;">7.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 35.27%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">14.88 ms</div></td><td align="center"><div style="color:blue;">∇ -20.87%</div></td><td align="right">84.92 Hz / <div style="color:gray;">67.19 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.38%</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;">8.57 ms</div></td><td align="center"><div style="color:blue;">∇ -34.39%</div></td><td align="right">177.84 Hz / <div style="color:gray;">116.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.41%</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;">191.63 ms</div></td><td align="center"><div style="color:blue;">∇ -31.85%</div></td><td align="right">7.66 Hz / <div style="color:gray;">5.22 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.74%</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;">8.64 ms</div></td><td align="center"><div style="color:blue;">∇ -34.11%</div></td><td align="right">175.73 Hz / <div style="color:gray;">115.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 51.78%</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;">194.89 ms</div></td><td align="center"><div style="color:blue;">∇ -32.16%</div></td><td align="right">7.56 Hz / <div style="color:gray;">5.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.40%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">7.21 ns</div></td><td align="center"><div style="color:red;">Δ 117.30%</div></td><td align="right">63.82 MHz / <div style="color:gray;">138.68 MHz</div></td><td align="center"><div style="color:red;">∇ -53.98%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">7.18 ns</div></td><td align="center"><div style="color:red;">Δ 117.97%</div></td><td align="right">63.88 MHz / <div style="color:gray;">139.23 MHz</div></td><td align="center"><div style="color:red;">∇ -54.12%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">51.37 ns</div></td><td align="center"><div style="color:red;">Δ 36.06%</div></td><td align="right">14.31 MHz / <div style="color:gray;">19.47 MHz</div></td><td align="center"><div style="color:red;">∇ -26.50%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">51.39 ns</div></td><td align="center"><div style="color:red;">Δ 35.94%</div></td><td align="right">14.32 MHz / <div style="color:gray;">19.46 MHz</div></td><td align="center"><div style="color:red;">∇ -26.44%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">28.61 ns</div></td><td align="center"><div style="color:blue;">∇ -57.31%</div></td><td align="right">81.87 MHz / <div style="color:gray;">34.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 134.26%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">2.55 us</div></td><td align="center"><div style="color:red;">Δ 5.71%</div></td><td align="right">370.49 KHz / <div style="color:gray;">391.65 KHz</div></td><td align="center"><div style="color:red;">∇ -5.40%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">8.36 us</div></td><td align="center"><div style="color:blue;">∇ -31.68%</div></td><td align="right">175.14 KHz / <div style="color:gray;">119.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 46.36%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">213.95 ns</div></td><td align="center"><div style="color:blue;">∇ -30.74%</div></td><td align="right">6.75 MHz / <div style="color:gray;">4.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.38%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">324.69 ns</div></td><td align="center"><div style="color:blue;">∇ -28.41%</div></td><td align="right">4.30 MHz / <div style="color:gray;">3.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.68%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">829.70 ns</div></td><td align="center"><div style="color:blue;">∇ -40.98%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 69.43%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">214.89 ns</div></td><td align="center"><div style="color:blue;">∇ -25.76%</div></td><td align="right">6.27 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.69%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">364.99 ns</div></td><td align="center"><div style="color:blue;">∇ -32.12%</div></td><td align="right">4.04 MHz / <div style="color:gray;">2.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 47.32%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">760.13 ns</div></td><td align="center"><div style="color:blue;">∇ -31.34%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 45.64%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">420.57 ns</div></td><td align="center"><div style="color:blue;">∇ -40.25%</div></td><td align="right">3.98 MHz / <div style="color:gray;">2.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 67.36%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.56 us</div></td><td align="center"><div style="color:blue;">∇ -15.19%</div></td><td align="right">331.46 KHz / <div style="color:gray;">281.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.91%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">33.55 us</div></td><td align="center"><div style="color:blue;">∇ -9.50%</div></td><td align="right">32.93 KHz / <div style="color:gray;">29.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.50%</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;">28.40 ms</div></td><td align="center"><div style="color:red;">Δ 20.22%</div></td><td align="right">29.29 Hz / <div style="color:gray;">35.21 Hz</div></td><td align="center"><div style="color:red;">∇ -16.82%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">43.71 ms</div></td><td align="center"><div style="color:red;">Δ 13.99%</div></td><td align="right">20.07 Hz / <div style="color:gray;">22.88 Hz</div></td><td align="center"><div style="color:red;">∇ -12.27%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">70.17 ms</div></td><td align="center"><div style="color:red;">Δ 15.02%</div></td><td align="right">12.39 Hz / <div style="color:gray;">14.25 Hz</div></td><td align="center"><div style="color:red;">∇ -13.06%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">24.11 ms</div></td><td align="center"><div style="color:red;">Δ 21.79%</div></td><td align="right">34.05 Hz / <div style="color:gray;">41.48 Hz</div></td><td align="center"><div style="color:red;">∇ -17.89%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">37.02 ms</div></td><td align="center"><div style="color:red;">Δ 14.64%</div></td><td align="right">23.56 Hz / <div style="color:gray;">27.01 Hz</div></td><td align="center"><div style="color:red;">∇ -12.77%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">59.51 ms</div></td><td align="center"><div style="color:red;">Δ 9.91%</div></td><td align="right">15.29 Hz / <div style="color:gray;">16.80 Hz</div></td><td align="center"><div style="color:red;">∇ -9.02%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:blue;">∇ -11.87%</div></td><td align="right">214.40 Hz / <div style="color:gray;">188.95 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.47%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">8.36 ms</div></td><td align="center"><div style="color:blue;">∇ -28.40%</div></td><td align="right">167.10 Hz / <div style="color:gray;">119.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 39.67%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">13.88 ms</div></td><td align="center"><div style="color:blue;">∇ -24.89%</div></td><td align="right">95.93 Hz / <div style="color:gray;">72.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.13%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">18.63 us</div></td><td align="center"><div style="color:blue;">∇ -39.09%</div></td><td align="right">88.11 KHz / <div style="color:gray;">53.67 KHz</div></td><td align="center"><div style="color:blue;">Δ 64.17%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">17.89 us</div></td><td align="center"><div style="color:blue;">∇ -44.31%</div></td><td align="right">100.40 KHz / <div style="color:gray;">55.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 79.57%</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;">5.05 us</div></td><td align="center"><div style="color:red;">Δ 9.21%</div></td><td align="right">181.16 KHz / <div style="color:gray;">197.84 KHz</div></td><td align="center"><div style="color:red;">∇ -8.43%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">33.27 ms</div></td><td align="center"><div style="color:blue;">∇ -3.05%</div></td><td align="right">31.01 Hz / <div style="color:gray;">30.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.14%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">31.21 ms</div></td><td align="center"><div style="color:blue;">∇ -17.97%</div></td><td align="right">39.06 Hz / <div style="color:gray;">32.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.91%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">675.81 ms</div></td><td align="center"><div style="color:blue;">∇ -6.65%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.12%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">217.19 ms</div></td><td align="center"><div style="color:blue;">∇ -24.45%</div></td><td align="right">6.09 Hz / <div style="color:gray;">4.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 32.36%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">316.97 ms</div></td><td align="center"><div style="color:blue;">∇ -34.49%</div></td><td align="right">4.82 Hz / <div style="color:gray;">3.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.65%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">7.82 ms</div></td><td align="center"><div style="color:blue;">∇ -2.79%</div></td><td align="right">131.57 Hz / <div style="color:gray;">127.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.87%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">103.38 ms</div></td><td align="center"><div style="color:blue;">∇ -41.38%</div></td><td align="right">16.50 Hz / <div style="color:gray;">9.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 70.58%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">56.24 ms</div></td><td align="center"><div style="color:blue;">∇ -21.78%</div></td><td align="right">22.73 Hz / <div style="color:gray;">17.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.85%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">47.55 ms</div></td><td align="center"><div style="color:blue;">∇ -23.69%</div></td><td align="right">27.56 Hz / <div style="color:gray;">21.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.04%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.34 sec</div></td><td align="center"><div style="color:blue;">∇ -10.62%</div></td><td align="right">834.47 mHz / <div style="color:gray;">745.82 mHz</div></td><td align="center"><div style="color:blue;">Δ 11.89%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">606.64 ms</div></td><td align="center"><div style="color:blue;">∇ -37.39%</div></td><td align="right">2.63 Hz / <div style="color:gray;">1.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 59.71%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">22.36 ms</div></td><td align="center"><div style="color:blue;">∇ -28.29%</div></td><td align="right">62.36 Hz / <div style="color:gray;">44.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 39.46%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">15.00 ms</div></td><td align="center"><div style="color:blue;">∇ -27.62%</div></td><td align="right">92.14 Hz / <div style="color:gray;">66.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 38.16%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">313.03 us</div></td><td align="center"><div style="color:blue;">∇ -61.67%</div></td><td align="right">8.33 KHz / <div style="color:gray;">3.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 160.88%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">307.43 us</div></td><td align="center"><div style="color:blue;">∇ -65.14%</div></td><td align="right">9.33 KHz / <div style="color:gray;">3.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 186.84%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">222.64 us</div></td><td align="center"><div style="color:blue;">∇ -62.26%</div></td><td align="right">11.90 KHz / <div style="color:gray;">4.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 164.95%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">222.87 us</div></td><td align="center"><div style="color:blue;">∇ -62.59%</div></td><td align="right">11.99 KHz / <div style="color:gray;">4.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 167.32%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">516.93 us</div></td><td align="center"><div style="color:blue;">∇ -66.99%</div></td><td align="right">5.86 KHz / <div style="color:gray;">1.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 202.98%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">517.18 us</div></td><td align="center"><div style="color:blue;">∇ -64.88%</div></td><td align="right">5.51 KHz / <div style="color:gray;">1.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 184.77%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">405.97 us</div></td><td align="center"><div style="color:blue;">∇ -55.90%</div></td><td align="right">5.59 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 126.78%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">403.48 us</div></td><td align="center"><div style="color:blue;">∇ -55.74%</div></td><td align="right">5.60 KHz / <div style="color:gray;">2.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 125.93%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">3.36 ms</div></td><td align="center"><div style="color:blue;">∇ -52.96%</div></td><td align="right">632.00 Hz / <div style="color:gray;">297.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 112.59%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">3.35 ms</div></td><td align="center"><div style="color:blue;">∇ -62.22%</div></td><td align="right">790.83 Hz / <div style="color:gray;">298.76 Hz</div></td><td align="center"><div style="color:blue;">Δ 164.70%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">2.22 ms</div></td><td align="center"><div style="color:blue;">∇ -61.10%</div></td><td align="right">1.16 KHz / <div style="color:gray;">450.51 Hz</div></td><td align="center"><div style="color:blue;">Δ 157.09%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">2.22 ms</div></td><td align="center"><div style="color:blue;">∇ -61.91%</div></td><td align="right">1.18 KHz / <div style="color:gray;">450.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 162.51%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">5.45 ms</div></td><td align="center"><div style="color:blue;">∇ -64.03%</div></td><td align="right">509.85 Hz / <div style="color:gray;">183.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 178.04%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">5.44 ms</div></td><td align="center"><div style="color:blue;">∇ -58.69%</div></td><td align="right">445.23 Hz / <div style="color:gray;">183.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 142.09%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.07 ms</div></td><td align="center"><div style="color:blue;">∇ -51.98%</div></td><td align="right">511.72 Hz / <div style="color:gray;">245.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 108.24%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.06 ms</div></td><td align="center"><div style="color:blue;">∇ -51.92%</div></td><td align="right">512.69 Hz / <div style="color:gray;">246.50 Hz</div></td><td align="center"><div style="color:blue;">Δ 107.99%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">447.20 us</div></td><td align="center"><div style="color:blue;">∇ -62.15%</div></td><td align="right">5.91 KHz / <div style="color:gray;">2.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 164.20%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">442.12 us</div></td><td align="center"><div style="color:blue;">∇ -61.83%</div></td><td align="right">5.93 KHz / <div style="color:gray;">2.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 161.96%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">346.69 us</div></td><td align="center"><div style="color:blue;">∇ -55.67%</div></td><td align="right">6.51 KHz / <div style="color:gray;">2.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 125.57%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">347.20 us</div></td><td align="center"><div style="color:blue;">∇ -55.59%</div></td><td align="right">6.49 KHz / <div style="color:gray;">2.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 125.17%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">944.03 us</div></td><td align="center"><div style="color:blue;">∇ -50.01%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 100.03%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">978.08 us</div></td><td align="center"><div style="color:blue;">∇ -50.97%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.02 KHz</div></td><td align="center"><div style="color:blue;">Δ 103.95%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">793.19 us</div></td><td align="center"><div style="color:blue;">∇ -44.36%</div></td><td align="right">2.27 KHz / <div style="color:gray;">1.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 79.73%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">793.52 us</div></td><td align="center"><div style="color:blue;">∇ -43.91%</div></td><td align="right">2.25 KHz / <div style="color:gray;">1.26 KHz</div></td><td align="center"><div style="color:blue;">Δ 78.30%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">4.62 ms</div></td><td align="center"><div style="color:blue;">∇ -46.83%</div></td><td align="right">407.06 Hz / <div style="color:gray;">216.43 Hz</div></td><td align="center"><div style="color:blue;">Δ 88.08%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">4.62 ms</div></td><td align="center"><div style="color:blue;">∇ -46.70%</div></td><td align="right">406.51 Hz / <div style="color:gray;">216.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 87.62%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.48 ms</div></td><td align="center"><div style="color:blue;">∇ -51.18%</div></td><td align="right">588.45 Hz / <div style="color:gray;">287.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 104.83%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.47 ms</div></td><td align="center"><div style="color:blue;">∇ -51.04%</div></td><td align="right">587.97 Hz / <div style="color:gray;">287.84 Hz</div></td><td align="center"><div style="color:blue;">Δ 104.27%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">10.55 ms</div></td><td align="center"><div style="color:blue;">∇ -36.67%</div></td><td align="right">149.62 Hz / <div style="color:gray;">94.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 57.90%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">9.75 ms</div></td><td align="center"><div style="color:blue;">∇ -30.74%</div></td><td align="right">148.06 Hz / <div style="color:gray;">102.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.39%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">7.93 ms</div></td><td align="center"><div style="color:blue;">∇ -42.18%</div></td><td align="right">218.07 Hz / <div style="color:gray;">126.08 Hz</div></td><td align="center"><div style="color:blue;">Δ 72.96%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">7.94 ms</div></td><td align="center"><div style="color:blue;">∇ -42.39%</div></td><td align="right">218.58 Hz / <div style="color:gray;">125.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 73.57%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">262.18 us</div></td><td align="center"><div style="color:blue;">∇ -66.04%</div></td><td align="right">11.23 KHz / <div style="color:gray;">3.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 194.44%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">363.67 us</div></td><td align="center"><div style="color:blue;">∇ -79.29%</div></td><td align="right">13.28 KHz / <div style="color:gray;">2.75 KHz</div></td><td align="center"><div style="color:blue;">Δ 382.79%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:blue;">∇ -62.79%</div></td><td align="right">903.43 Hz / <div style="color:gray;">336.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 168.77%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">3.29 ms</div></td><td align="center"><div style="color:blue;">∇ -78.40%</div></td><td align="right">1.41 KHz / <div style="color:gray;">303.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 362.91%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">34.21 ms</div></td><td align="center"><div style="color:blue;">∇ -45.81%</div></td><td align="right">53.94 Hz / <div style="color:gray;">29.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 84.53%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">38.12 ms</div></td><td align="center"><div style="color:blue;">∇ -74.41%</div></td><td align="right">102.51 Hz / <div style="color:gray;">26.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 290.79%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">389.54 ms</div></td><td align="center"><div style="color:blue;">∇ -35.16%</div></td><td align="right">3.96 Hz / <div style="color:gray;">2.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.23%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">428.64 ms</div></td><td align="center"><div style="color:blue;">∇ -73.82%</div></td><td align="right">8.91 Hz / <div style="color:gray;">2.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 281.91%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">382.11 ms</div></td><td align="center"><div style="color:blue;">∇ -33.00%</div></td><td align="right">3.91 Hz / <div style="color:gray;">2.62 Hz</div></td><td align="center"><div style="color:blue;">Δ 49.25%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">417.45 ms</div></td><td align="center"><div style="color:blue;">∇ -74.57%</div></td><td align="right">9.42 Hz / <div style="color:gray;">2.40 Hz</div></td><td align="center"><div style="color:blue;">Δ 293.22%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.805481 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
