<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.3-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.3-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;">0.9.3-MSVC9-32bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">20.90 ms / <div style="color:gray;">31.56 ms</div></td><td align="center"><div style="color:blue;">∇ -33.78%</div></td><td align="right">47.85 Hz / <div style="color:gray;">31.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 51.00%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">53.95 ms</div></td><td align="center"><div style="color:blue;">∇ -65.22%</div></td><td align="right">53.30 Hz / <div style="color:gray;">18.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 187.50%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">194.14 ns</div></td><td align="center"><div style="color:blue;">∇ -78.54%</div></td><td align="right">24.00 MHz / <div style="color:gray;">5.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 365.90%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">34.65 ns</div></td><td align="center"><div style="color:blue;">∇ -6.53%</div></td><td align="right">30.87 MHz / <div style="color:gray;">28.86 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.98%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">28.67 ns</div></td><td align="center"><div style="color:blue;">∇ -72.01%</div></td><td align="right">124.63 MHz / <div style="color:gray;">34.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 257.26%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">18.49 ns</div></td><td align="center"><div style="color:blue;">∇ -37.63%</div></td><td align="right">86.70 MHz / <div style="color:gray;">54.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 60.32%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">93.89 ns</div></td><td align="center"><div style="color:blue;">∇ -80.63%</div></td><td align="right">54.99 MHz / <div style="color:gray;">10.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 416.33%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">44.39 ns</div></td><td align="center"><div style="color:blue;">∇ -43.20%</div></td><td align="right">39.66 MHz / <div style="color:gray;">22.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 76.05%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">103.92 ns</div></td><td align="center"><div style="color:blue;">∇ -30.62%</div></td><td align="right">13.87 MHz / <div style="color:gray;">9.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 44.13%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">91.82 ns</div></td><td align="center"><div style="color:blue;">∇ -24.61%</div></td><td align="right">14.45 MHz / <div style="color:gray;">10.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.64%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">140.37 ns</div></td><td align="center"><div style="color:blue;">∇ -56.91%</div></td><td align="right">16.53 MHz / <div style="color:gray;">7.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 132.07%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">66.26 ns</div></td><td align="center"><div style="color:blue;">∇ -9.43%</div></td><td align="right">16.66 MHz / <div style="color:gray;">15.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.41%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">93.35 ns</div></td><td align="center"><div style="color:blue;">∇ -54.26%</div></td><td align="right">23.42 MHz / <div style="color:gray;">10.71 MHz</div></td><td align="center"><div style="color:blue;">Δ 118.63%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">60.52 ns</div></td><td align="center"><div style="color:blue;">∇ -36.77%</div></td><td align="right">26.13 MHz / <div style="color:gray;">16.52 MHz</div></td><td align="center"><div style="color:blue;">Δ 58.15%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">116.72 ns</div></td><td align="center"><div style="color:blue;">∇ -84.66%</div></td><td align="right">55.85 MHz / <div style="color:gray;">8.57 MHz</div></td><td align="center"><div style="color:blue;">Δ 551.89%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">31.02 ns</div></td><td align="center"><div style="color:blue;">∇ -40.56%</div></td><td align="right">54.23 MHz / <div style="color:gray;">32.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 68.24%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">126.78 ns</div></td><td align="center"><div style="color:blue;">∇ -73.73%</div></td><td align="right">30.02 MHz / <div style="color:gray;">7.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 280.59%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">30.88 ns</div></td><td align="center"><div style="color:blue;">∇ -36.80%</div></td><td align="right">51.24 MHz / <div style="color:gray;">32.38 MHz</div></td><td align="center"><div style="color:blue;">Δ 58.23%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">33.42 ns</div></td><td align="center"><div style="color:blue;">∇ -51.30%</div></td><td align="right">61.45 MHz / <div style="color:gray;">29.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 105.33%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">211.33 ns</div></td><td align="center"><div style="color:blue;">∇ -19.66%</div></td><td align="right">5.89 MHz / <div style="color:gray;">4.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 24.48%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">19.45 us</div></td><td align="center"><div style="color:blue;">∇ -95.89%</div></td><td align="right">1.25 MHz / <div style="color:gray;">51.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 2334.61%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">2.93 us</div></td><td align="center"><div style="color:blue;">∇ -73.11%</div></td><td align="right">1.27 MHz / <div style="color:gray;">341.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 271.86%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">34.64 us</div></td><td align="center"><div style="color:blue;">∇ -73.71%</div></td><td align="right">109.83 KHz / <div style="color:gray;">28.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 280.41%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">860.26 ns</div></td><td align="center"><div style="color:blue;">∇ -35.19%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.16 MHz</div></td><td align="center"><div style="color:blue;">Δ 54.31%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">880.23 ns</div></td><td align="center"><div style="color:blue;">∇ -36.55%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 57.61%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">21.76 us</div></td><td align="center"><div style="color:blue;">∇ -61.33%</div></td><td align="right">118.81 KHz / <div style="color:gray;">45.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 158.58%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">44.99 ns</div></td><td align="center"><div style="color:blue;">∇ -60.36%</div></td><td align="right">56.07 MHz / <div style="color:gray;">22.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 152.26%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">45.16 ns</div></td><td align="center"><div style="color:blue;">∇ -56.88%</div></td><td align="right">51.35 MHz / <div style="color:gray;">22.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 131.90%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">160.84 ns</div></td><td align="center"><div style="color:blue;">∇ -65.90%</div></td><td align="right">18.23 MHz / <div style="color:gray;">6.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 193.26%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">160.97 ns</div></td><td align="center"><div style="color:blue;">∇ -65.25%</div></td><td align="right">17.88 MHz / <div style="color:gray;">6.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 187.79%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</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: unit, fix[double,3,3]</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: unit, fix[float,6,6]</td><td align="right">1.50 ns / <div style="color:gray;">6.73 ns</div></td><td align="center"><div style="color:blue;">∇ -77.76%</div></td><td align="right">667.56 MHz / <div style="color:gray;">148.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 349.56%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">7.86 ns</div></td><td align="center"><div style="color:blue;">∇ -28.65%</div></td><td align="right">178.35 MHz / <div style="color:gray;">127.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.15%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">550.79 ns</div></td><td align="center"><div style="color:blue;">∇ -47.11%</div></td><td align="right">3.43 MHz / <div style="color:gray;">1.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 89.08%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</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;">432.98 ns</div></td><td align="center"><div style="color:blue;">∇ -32.45%</div></td><td align="right">3.42 MHz / <div style="color:gray;">2.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 48.03%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 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: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">347.50 ns / <div style="color:gray;">660.53 ns</div></td><td align="center"><div style="color:blue;">∇ -47.39%</div></td><td align="right">2.88 MHz / <div style="color:gray;">1.51 MHz</div></td><td align="center"><div style="color:blue;">Δ 90.08%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">38.91 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">25.70 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;">474.65 ns</div></td><td align="center"><div style="color:blue;">∇ -28.28%</div></td><td align="right">2.94 MHz / <div style="color:gray;">2.11 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.44%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">8.74 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">114.40 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;">4.68 us</div></td><td align="center"><div style="color:blue;">∇ -48.31%</div></td><td align="right">413.19 KHz / <div style="color:gray;">213.59 KHz</div></td><td align="center"><div style="color:blue;">Δ 93.45%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">4.42 us</div></td><td align="center"><div style="color:blue;">∇ -49.53%</div></td><td align="right">448.19 KHz / <div style="color:gray;">226.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 98.14%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">3.24 us</div></td><td align="center"><div style="color:blue;">∇ -28.60%</div></td><td align="right">432.69 KHz / <div style="color:gray;">308.92 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.07%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">2.37 us</div></td><td align="center"><div style="color:blue;">∇ -10.26%</div></td><td align="right">471.08 KHz / <div style="color:gray;">422.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.43%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">1.49 us</div></td><td align="center"><div style="color:blue;">∇ -47.56%</div></td><td align="right">1.28 MHz / <div style="color:gray;">672.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 90.69%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">32.16 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">31.10 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;">3.50 us</div></td><td align="center"><div style="color:blue;">∇ -43.58%</div></td><td align="right">507.10 KHz / <div style="color:gray;">286.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 77.24%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">2.72 us</div></td><td align="center"><div style="color:blue;">∇ -41.05%</div></td><td align="right">624.61 KHz / <div style="color:gray;">368.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 69.62%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">31.87 us</div></td><td align="center"><div style="color:blue;">∇ -49.55%</div></td><td align="right">62.19 KHz / <div style="color:gray;">31.37 KHz</div></td><td align="center"><div style="color:blue;">Δ 98.22%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">28.91 us</div></td><td align="center"><div style="color:blue;">∇ -49.93%</div></td><td align="right">69.08 KHz / <div style="color:gray;">34.58 KHz</div></td><td align="center"><div style="color:blue;">Δ 99.74%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">124.22 us</div></td><td align="center"><div style="color:blue;">∇ -47.04%</div></td><td align="right">15.20 KHz / <div style="color:gray;">8.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 88.82%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">122.24 us</div></td><td align="center"><div style="color:blue;">∇ -47.54%</div></td><td align="right">15.59 KHz / <div style="color:gray;">8.18 KHz</div></td><td align="center"><div style="color:blue;">Δ 90.62%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">647.62 ns</div></td><td align="center"><div style="color:blue;">∇ -67.17%</div></td><td align="right">4.70 MHz / <div style="color:gray;">1.54 MHz</div></td><td align="center"><div style="color:blue;">Δ 204.62%</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;">969.59 ns</div></td><td align="center"><div style="color:blue;">∇ -66.66%</div></td><td align="right">3.09 MHz / <div style="color:gray;">1.03 MHz</div></td><td align="center"><div style="color:blue;">Δ 199.90%</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;">2.45 us</div></td><td align="center"><div style="color:blue;">∇ -68.43%</div></td><td align="right">1.29 MHz / <div style="color:gray;">407.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 216.72%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">1.89 us</div></td><td align="center"><div style="color:blue;">∇ -68.61%</div></td><td align="right">1.69 MHz / <div style="color:gray;">529.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 218.56%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">22.48 us</div></td><td align="center"><div style="color:blue;">∇ -62.17%</div></td><td align="right">117.63 KHz / <div style="color:gray;">44.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 164.37%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">21.45 us</div></td><td align="center"><div style="color:blue;">∇ -64.00%</div></td><td align="right">129.53 KHz / <div style="color:gray;">46.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 177.79%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">80.28 us</div></td><td align="center"><div style="color:blue;">∇ -59.86%</div></td><td align="right">31.03 KHz / <div style="color:gray;">12.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 149.11%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">79.04 us</div></td><td align="center"><div style="color:blue;">∇ -61.15%</div></td><td align="right">32.57 KHz / <div style="color:gray;">12.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 157.40%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">1.09 us</div></td><td align="center"><div style="color:blue;">∇ -51.44%</div></td><td align="right">1.89 MHz / <div style="color:gray;">916.16 KHz</div></td><td align="center"><div style="color:blue;">Δ 105.95%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">317.04 ns</div></td><td align="center"><div style="color:blue;">∇ -59.00%</div></td><td align="right">7.69 MHz / <div style="color:gray;">3.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 143.88%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">75.74 us</div></td><td align="center"><div style="color:blue;">∇ -69.66%</div></td><td align="right">43.52 KHz / <div style="color:gray;">13.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 229.57%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">55.31 us</div></td><td align="center"><div style="color:blue;">∇ -64.74%</div></td><td align="right">51.28 KHz / <div style="color:gray;">18.08 KHz</div></td><td align="center"><div style="color:blue;">Δ 183.64%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">16.89 us</div></td><td align="center"><div style="color:blue;">∇ -51.46%</div></td><td align="right">121.95 KHz / <div style="color:gray;">59.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 106.02%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">247.29 us</div></td><td align="center"><div style="color:blue;">∇ -65.51%</div></td><td align="right">11.72 KHz / <div style="color:gray;">4.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 189.91%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">180.76 us</div></td><td align="center"><div style="color:blue;">∇ -68.58%</div></td><td align="right">17.61 KHz / <div style="color:gray;">5.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 218.23%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">91.89 us</div></td><td align="center"><div style="color:blue;">∇ -57.22%</div></td><td align="right">25.44 KHz / <div style="color:gray;">10.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 133.76%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">765.78 us</div></td><td align="center"><div style="color:blue;">∇ -65.16%</div></td><td align="right">3.75 KHz / <div style="color:gray;">1.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 187.02%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">116.55 us</div></td><td align="center"><div style="color:blue;">∇ -37.57%</div></td><td align="right">13.74 KHz / <div style="color:gray;">8.58 KHz</div></td><td align="center"><div style="color:blue;">Δ 60.18%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">4.08 ms</div></td><td align="center"><div style="color:blue;">∇ -34.53%</div></td><td align="right">374.53 Hz / <div style="color:gray;">245.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.74%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">207.46 us</div></td><td align="center"><div style="color:blue;">∇ -15.07%</div></td><td align="right">5.68 KHz / <div style="color:gray;">4.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.75%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">24.43 ms</div></td><td align="center"><div style="color:blue;">∇ -15.15%</div></td><td align="right">48.23 Hz / <div style="color:gray;">40.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.86%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">403.40 us</div></td><td align="center"><div style="color:blue;">∇ -12.98%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.91%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">40.20 ms</div></td><td align="center"><div style="color:blue;">∇ -13.93%</div></td><td align="right">28.90 Hz / <div style="color:gray;">24.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.18%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">479.83 us</div></td><td align="center"><div style="color:blue;">∇ -13.33%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.08 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.37%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">59.95 ms</div></td><td align="center"><div style="color:blue;">∇ -16.06%</div></td><td align="right">19.87 Hz / <div style="color:gray;">16.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.14%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">560.09 us</div></td><td align="center"><div style="color:blue;">∇ -13.77%</div></td><td align="right">2.07 KHz / <div style="color:gray;">1.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.98%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">5.69 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">175.73 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;">8.06 ns</div></td><td align="center"><div style="color:blue;">∇ -67.66%</div></td><td align="right">383.63 MHz / <div style="color:gray;">124.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 209.21%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:blue;">∇ -88.72%</div></td><td align="right">143.02 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 786.43%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">1.25 ns</div></td><td align="center"><div style="color:blue;">∇ -59.07%</div></td><td align="right">1.95 GHz / <div style="color:gray;">798.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 144.31%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">208.84 us</div></td><td align="center"><div style="color:blue;">∇ -50.88%</div></td><td align="right">9.75 KHz / <div style="color:gray;">4.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 103.58%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">346.08 us</div></td><td align="center"><div style="color:blue;">∇ -17.91%</div></td><td align="right">3.52 KHz / <div style="color:gray;">2.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 21.81%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">2.81 ms</div></td><td align="center"><div style="color:blue;">∇ -74.33%</div></td><td align="right">1.39 KHz / <div style="color:gray;">355.60 Hz</div></td><td align="center"><div style="color:blue;">Δ 289.49%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">18.33 us</div></td><td align="center"><div style="color:blue;">∇ -14.36%</div></td><td align="right">63.72 KHz / <div style="color:gray;">54.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.77%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">6.61 ms</div></td><td align="center"><div style="color:blue;">∇ -55.10%</div></td><td align="right">337.06 Hz / <div style="color:gray;">151.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 122.73%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">6.03 us</div></td><td align="center"><div style="color:blue;">∇ -27.73%</div></td><td align="right">229.36 KHz / <div style="color:gray;">165.76 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.37%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">536.01 us</div></td><td align="center"><div style="color:blue;">∇ -33.38%</div></td><td align="right">2.80 KHz / <div style="color:gray;">1.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 50.11%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">5.64 ms</div></td><td align="center"><div style="color:blue;">∇ -25.75%</div></td><td align="right">238.61 Hz / <div style="color:gray;">177.17 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.68%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">7.70 us</div></td><td align="center"><div style="color:blue;">∇ -38.70%</div></td><td align="right">211.86 KHz / <div style="color:gray;">129.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 63.12%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">528.60 us</div></td><td align="center"><div style="color:blue;">∇ -31.39%</div></td><td align="right">2.76 KHz / <div style="color:gray;">1.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.75%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">5.81 ms</div></td><td align="center"><div style="color:blue;">∇ -29.48%</div></td><td align="right">244.09 Hz / <div style="color:gray;">172.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 41.81%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">2.13 us</div></td><td align="center"><div style="color:blue;">∇ -34.91%</div></td><td align="right">720.46 KHz / <div style="color:gray;">468.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.62%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">145.70 us</div></td><td align="center"><div style="color:blue;">∇ -30.09%</div></td><td align="right">9.82 KHz / <div style="color:gray;">6.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 43.03%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">15.49 ms</div></td><td align="center"><div style="color:blue;">∇ -23.97%</div></td><td align="right">84.92 Hz / <div style="color:gray;">64.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.53%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.62 ms / <div style="color:gray;">8.93 ms</div></td><td align="center"><div style="color:blue;">∇ -37.06%</div></td><td align="right">177.84 Hz / <div style="color:gray;">111.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 58.89%</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;">200.06 ms</div></td><td align="center"><div style="color:blue;">∇ -34.73%</div></td><td align="right">7.66 Hz / <div style="color:gray;">5.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 53.20%</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;">8.97 ms</div></td><td align="center"><div style="color:blue;">∇ -36.59%</div></td><td align="right">175.73 Hz / <div style="color:gray;">111.43 Hz</div></td><td align="center"><div style="color:blue;">Δ 57.70%</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;">201.21 ms</div></td><td align="center"><div style="color:blue;">∇ -34.29%</div></td><td align="right">7.56 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.17%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">7.76 ns</div></td><td align="center"><div style="color:red;">Δ 102.02%</div></td><td align="right">63.82 MHz / <div style="color:gray;">128.93 MHz</div></td><td align="center"><div style="color:red;">∇ -50.50%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">7.61 ns</div></td><td align="center"><div style="color:red;">Δ 105.73%</div></td><td align="right">63.88 MHz / <div style="color:gray;">131.41 MHz</div></td><td align="center"><div style="color:red;">∇ -51.39%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">51.84 ns</div></td><td align="center"><div style="color:red;">Δ 34.84%</div></td><td align="right">14.31 MHz / <div style="color:gray;">19.29 MHz</div></td><td align="center"><div style="color:red;">∇ -25.84%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">52.02 ns</div></td><td align="center"><div style="color:red;">Δ 34.28%</div></td><td align="right">14.32 MHz / <div style="color:gray;">19.22 MHz</div></td><td align="center"><div style="color:red;">∇ -25.53%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">27.43 ns</div></td><td align="center"><div style="color:blue;">∇ -55.47%</div></td><td align="right">81.87 MHz / <div style="color:gray;">36.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 124.57%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">4.97 us</div></td><td align="center"><div style="color:blue;">∇ -45.64%</div></td><td align="right">370.49 KHz / <div style="color:gray;">201.38 KHz</div></td><td align="center"><div style="color:blue;">Δ 83.97%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">10.68 us</div></td><td align="center"><div style="color:blue;">∇ -46.52%</div></td><td align="right">175.14 KHz / <div style="color:gray;">93.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 87.00%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">153.63 ns</div></td><td align="center"><div style="color:blue;">∇ -3.54%</div></td><td align="right">6.75 MHz / <div style="color:gray;">6.51 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.67%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">250.07 ns</div></td><td align="center"><div style="color:blue;">∇ -7.04%</div></td><td align="right">4.30 MHz / <div style="color:gray;">4.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">664.62 ns</div></td><td align="center"><div style="color:blue;">∇ -26.32%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.50 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.72%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">153.22 ns</div></td><td align="center"><div style="color:red;">Δ 4.12%</div></td><td align="right">6.27 MHz / <div style="color:gray;">6.53 MHz</div></td><td align="center"><div style="color:red;">∇ -3.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">253.40 ns</div></td><td align="center"><div style="color:blue;">∇ -2.23%</div></td><td align="right">4.04 MHz / <div style="color:gray;">3.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.28%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">622.96 ns</div></td><td align="center"><div style="color:blue;">∇ -16.22%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.36%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">342.58 ns</div></td><td align="center"><div style="color:blue;">∇ -26.65%</div></td><td align="right">3.98 MHz / <div style="color:gray;">2.92 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.32%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.62 us</div></td><td align="center"><div style="color:blue;">∇ -16.57%</div></td><td align="right">331.46 KHz / <div style="color:gray;">276.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.86%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">35.68 us</div></td><td align="center"><div style="color:blue;">∇ -14.90%</div></td><td align="right">32.93 KHz / <div style="color:gray;">28.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.51%</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 2188188.34%</div></td><td align="right">10.09 GHz / <div style="color:gray;">220.79 THz</div></td><td align="center"><div style="color:red;">∇ -100.00%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">34.14 ms / <div style="color:gray;">28.08 ms</div></td><td align="center"><div style="color:red;">Δ 21.57%</div></td><td align="right">29.29 Hz / <div style="color:gray;">35.61 Hz</div></td><td align="center"><div style="color:red;">∇ -17.74%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">42.80 ms</div></td><td align="center"><div style="color:red;">Δ 16.43%</div></td><td align="right">20.07 Hz / <div style="color:gray;">23.37 Hz</div></td><td align="center"><div style="color:red;">∇ -14.11%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">69.14 ms</div></td><td align="center"><div style="color:red;">Δ 16.75%</div></td><td align="right">12.39 Hz / <div style="color:gray;">14.46 Hz</div></td><td align="center"><div style="color:red;">∇ -14.34%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">23.76 ms</div></td><td align="center"><div style="color:red;">Δ 23.59%</div></td><td align="right">34.05 Hz / <div style="color:gray;">42.09 Hz</div></td><td align="center"><div style="color:red;">∇ -19.09%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">37.25 ms</div></td><td align="center"><div style="color:red;">Δ 13.95%</div></td><td align="right">23.56 Hz / <div style="color:gray;">26.85 Hz</div></td><td align="center"><div style="color:red;">∇ -12.24%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">59.86 ms</div></td><td align="center"><div style="color:red;">Δ 9.27%</div></td><td align="right">15.29 Hz / <div style="color:gray;">16.71 Hz</div></td><td align="center"><div style="color:red;">∇ -8.49%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">7.21 ms</div></td><td align="center"><div style="color:blue;">∇ -35.28%</div></td><td align="right">214.40 Hz / <div style="color:gray;">138.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.52%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">8.67 ms</div></td><td align="center"><div style="color:blue;">∇ -30.99%</div></td><td align="right">167.10 Hz / <div style="color:gray;">115.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.91%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">14.94 ms</div></td><td align="center"><div style="color:blue;">∇ -30.23%</div></td><td align="right">95.93 Hz / <div style="color:gray;">66.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 43.32%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">25.26 us</div></td><td align="center"><div style="color:blue;">∇ -55.07%</div></td><td align="right">88.11 KHz / <div style="color:gray;">39.59 KHz</div></td><td align="center"><div style="color:blue;">Δ 122.54%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">24.29 us</div></td><td align="center"><div style="color:blue;">∇ -58.99%</div></td><td align="right">100.40 KHz / <div style="color:gray;">41.17 KHz</div></td><td align="center"><div style="color:blue;">Δ 143.87%</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;">13.82 us</div></td><td align="center"><div style="color:blue;">∇ -60.05%</div></td><td align="right">181.16 KHz / <div style="color:gray;">72.37 KHz</div></td><td align="center"><div style="color:blue;">Δ 150.33%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">53.60 ms</div></td><td align="center"><div style="color:blue;">∇ -39.83%</div></td><td align="right">31.01 Hz / <div style="color:gray;">18.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 66.19%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">32.67 ms</div></td><td align="center"><div style="color:blue;">∇ -21.63%</div></td><td align="right">39.06 Hz / <div style="color:gray;">30.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.59%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">724.51 ms</div></td><td align="center"><div style="color:blue;">∇ -12.92%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.38 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.84%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">217.33 ms</div></td><td align="center"><div style="color:blue;">∇ -24.50%</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 32.45%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">320.21 ms</div></td><td align="center"><div style="color:blue;">∇ -35.16%</div></td><td align="right">4.82 Hz / <div style="color:gray;">3.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.21%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">9.58 ms</div></td><td align="center"><div style="color:blue;">∇ -20.67%</div></td><td align="right">131.57 Hz / <div style="color:gray;">104.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.06%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">111.16 ms</div></td><td align="center"><div style="color:blue;">∇ -45.48%</div></td><td align="right">16.50 Hz / <div style="color:gray;">9.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 83.41%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">64.75 ms</div></td><td align="center"><div style="color:blue;">∇ -32.06%</div></td><td align="right">22.73 Hz / <div style="color:gray;">15.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.19%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">50.46 ms</div></td><td align="center"><div style="color:blue;">∇ -28.09%</div></td><td align="right">27.56 Hz / <div style="color:gray;">19.82 Hz</div></td><td align="center"><div style="color:blue;">Δ 39.06%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.37 sec</div></td><td align="center"><div style="color:blue;">∇ -12.22%</div></td><td align="right">834.47 mHz / <div style="color:gray;">732.49 mHz</div></td><td align="center"><div style="color:blue;">Δ 13.92%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">602.11 ms</div></td><td align="center"><div style="color:blue;">∇ -36.92%</div></td><td align="right">2.63 Hz / <div style="color:gray;">1.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 58.52%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">23.55 ms</div></td><td align="center"><div style="color:blue;">∇ -31.91%</div></td><td align="right">62.36 Hz / <div style="color:gray;">42.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.86%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">15.71 ms</div></td><td align="center"><div style="color:blue;">∇ -30.90%</div></td><td align="right">92.14 Hz / <div style="color:gray;">63.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.71%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">300.22 us</div></td><td align="center"><div style="color:blue;">∇ -60.03%</div></td><td align="right">8.33 KHz / <div style="color:gray;">3.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 150.20%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">300.93 us</div></td><td align="center"><div style="color:blue;">∇ -64.38%</div></td><td align="right">9.33 KHz / <div style="color:gray;">3.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 180.77%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">245.20 us</div></td><td align="center"><div style="color:blue;">∇ -65.73%</div></td><td align="right">11.90 KHz / <div style="color:gray;">4.08 KHz</div></td><td align="center"><div style="color:blue;">Δ 191.80%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">252.81 us</div></td><td align="center"><div style="color:blue;">∇ -67.02%</div></td><td align="right">11.99 KHz / <div style="color:gray;">3.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 203.23%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">537.61 us</div></td><td align="center"><div style="color:blue;">∇ -68.26%</div></td><td align="right">5.86 KHz / <div style="color:gray;">1.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 215.10%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">456.45 us</div></td><td align="center"><div style="color:blue;">∇ -60.21%</div></td><td align="right">5.51 KHz / <div style="color:gray;">2.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 151.33%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">401.18 us</div></td><td align="center"><div style="color:blue;">∇ -55.38%</div></td><td align="right">5.59 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 124.10%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">394.03 us</div></td><td align="center"><div style="color:blue;">∇ -54.68%</div></td><td align="right">5.60 KHz / <div style="color:gray;">2.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 120.64%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">3.65 ms</div></td><td align="center"><div style="color:blue;">∇ -56.68%</div></td><td align="right">632.00 Hz / <div style="color:gray;">273.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 130.84%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">3.70 ms</div></td><td align="center"><div style="color:blue;">∇ -65.78%</div></td><td align="right">790.83 Hz / <div style="color:gray;">270.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 192.24%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">2.51 ms</div></td><td align="center"><div style="color:blue;">∇ -65.55%</div></td><td align="right">1.16 KHz / <div style="color:gray;">399.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 190.28%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">2.55 ms</div></td><td align="center"><div style="color:blue;">∇ -66.80%</div></td><td align="right">1.18 KHz / <div style="color:gray;">392.34 Hz</div></td><td align="center"><div style="color:blue;">Δ 201.24%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">4.81 ms</div></td><td align="center"><div style="color:blue;">∇ -59.21%</div></td><td align="right">509.85 Hz / <div style="color:gray;">207.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 145.15%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">4.86 ms</div></td><td align="center"><div style="color:blue;">∇ -53.77%</div></td><td align="right">445.23 Hz / <div style="color:gray;">205.85 Hz</div></td><td align="center"><div style="color:blue;">Δ 116.29%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.03 ms</div></td><td align="center"><div style="color:blue;">∇ -51.49%</div></td><td align="right">511.72 Hz / <div style="color:gray;">248.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 106.13%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.00 ms</div></td><td align="center"><div style="color:blue;">∇ -51.22%</div></td><td align="right">512.69 Hz / <div style="color:gray;">250.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 105.02%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">338.14 us</div></td><td align="center"><div style="color:blue;">∇ -49.94%</div></td><td align="right">5.91 KHz / <div style="color:gray;">2.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 99.78%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">332.03 us</div></td><td align="center"><div style="color:blue;">∇ -49.17%</div></td><td align="right">5.93 KHz / <div style="color:gray;">3.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 96.73%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">302.41 us</div></td><td align="center"><div style="color:blue;">∇ -49.18%</div></td><td align="right">6.51 KHz / <div style="color:gray;">3.31 KHz</div></td><td align="center"><div style="color:blue;">Δ 96.76%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">309.65 us</div></td><td align="center"><div style="color:blue;">∇ -50.21%</div></td><td align="right">6.49 KHz / <div style="color:gray;">3.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 100.82%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">668.72 us</div></td><td align="center"><div style="color:blue;">∇ -29.42%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 41.69%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">672.92 us</div></td><td align="center"><div style="color:blue;">∇ -28.73%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.32%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">668.41 us</div></td><td align="center"><div style="color:blue;">∇ -33.97%</div></td><td align="right">2.27 KHz / <div style="color:gray;">1.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.45%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">676.59 us</div></td><td align="center"><div style="color:blue;">∇ -34.22%</div></td><td align="right">2.25 KHz / <div style="color:gray;">1.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.02%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.60 ms</div></td><td align="center"><div style="color:blue;">∇ -31.82%</div></td><td align="right">407.06 Hz / <div style="color:gray;">277.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.66%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.62 ms</div></td><td align="center"><div style="color:blue;">∇ -32.01%</div></td><td align="right">406.51 Hz / <div style="color:gray;">276.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.08%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.04 ms</div></td><td align="center"><div style="color:blue;">∇ -44.09%</div></td><td align="right">588.45 Hz / <div style="color:gray;">328.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 78.86%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.02 ms</div></td><td align="center"><div style="color:blue;">∇ -43.71%</div></td><td align="right">587.97 Hz / <div style="color:gray;">330.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 77.66%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">7.09 ms</div></td><td align="center"><div style="color:blue;">∇ -5.75%</div></td><td align="right">149.62 Hz / <div style="color:gray;">141.02 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.10%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">7.08 ms</div></td><td align="center"><div style="color:blue;">∇ -4.61%</div></td><td align="right">148.06 Hz / <div style="color:gray;">141.24 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.83%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">6.70 ms</div></td><td align="center"><div style="color:blue;">∇ -31.51%</div></td><td align="right">218.07 Hz / <div style="color:gray;">149.36 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.01%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">6.88 ms</div></td><td align="center"><div style="color:blue;">∇ -33.51%</div></td><td align="right">218.58 Hz / <div style="color:gray;">145.34 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.39%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">279.15 us</div></td><td align="center"><div style="color:blue;">∇ -68.10%</div></td><td align="right">11.23 KHz / <div style="color:gray;">3.58 KHz</div></td><td align="center"><div style="color:blue;">Δ 213.49%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">417.83 us</div></td><td align="center"><div style="color:blue;">∇ -81.97%</div></td><td align="right">13.28 KHz / <div style="color:gray;">2.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 454.69%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">3.14 ms</div></td><td align="center"><div style="color:blue;">∇ -64.75%</div></td><td align="right">903.43 Hz / <div style="color:gray;">318.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 183.69%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">3.68 ms</div></td><td align="center"><div style="color:blue;">∇ -80.69%</div></td><td align="right">1.41 KHz / <div style="color:gray;">271.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 418.00%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">37.09 ms</div></td><td align="center"><div style="color:blue;">∇ -50.02%</div></td><td align="right">53.94 Hz / <div style="color:gray;">26.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 100.08%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">42.65 ms</div></td><td align="center"><div style="color:blue;">∇ -77.12%</div></td><td align="right">102.51 Hz / <div style="color:gray;">23.45 Hz</div></td><td align="center"><div style="color:blue;">Δ 337.15%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">433.73 ms</div></td><td align="center"><div style="color:blue;">∇ -41.77%</div></td><td align="right">3.96 Hz / <div style="color:gray;">2.31 Hz</div></td><td align="center"><div style="color:blue;">Δ 71.73%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">470.84 ms</div></td><td align="center"><div style="color:blue;">∇ -76.16%</div></td><td align="right">8.91 Hz / <div style="color:gray;">2.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 319.51%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">428.18 ms</div></td><td align="center"><div style="color:blue;">∇ -40.21%</div></td><td align="right">3.91 Hz / <div style="color:gray;">2.34 Hz</div></td><td align="center"><div style="color:blue;">Δ 67.25%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">465.28 ms</div></td><td align="center"><div style="color:blue;">∇ -77.18%</div></td><td align="right">9.42 Hz / <div style="color:gray;">2.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 338.28%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.744478 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
