<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.4-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.4-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-GCC-64bit / <div style="color:gray;">0.9.4-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">20.90 ms / <div style="color:gray;">20.74 ms</div></td><td align="center"><div style="color:red;">Δ 0.74%</div></td><td align="right">47.85 Hz / <div style="color:gray;">48.21 Hz</div></td><td align="center"><div style="color:red;">∇ -0.74%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">17.09 ms</div></td><td align="center"><div style="color:red;">Δ 9.79%</div></td><td align="right">53.30 Hz / <div style="color:gray;">58.52 Hz</div></td><td align="center"><div style="color:red;">∇ -8.92%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">29.76 ns</div></td><td align="center"><div style="color:red;">Δ 40.02%</div></td><td align="right">24.00 MHz / <div style="color:gray;">33.60 MHz</div></td><td align="center"><div style="color:red;">∇ -28.58%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">21.90 ns</div></td><td align="center"><div style="color:red;">Δ 47.90%</div></td><td align="right">30.87 MHz / <div style="color:gray;">45.66 MHz</div></td><td align="center"><div style="color:red;">∇ -32.39%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">7.23 ns</div></td><td align="center"><div style="color:red;">Δ 10.92%</div></td><td align="right">124.63 MHz / <div style="color:gray;">138.24 MHz</div></td><td align="center"><div style="color:red;">∇ -9.85%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">11.67 ns</div></td><td align="center"><div style="color:blue;">∇ -1.18%</div></td><td align="right">86.70 MHz / <div style="color:gray;">85.68 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.20%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">13.29 ns</div></td><td align="center"><div style="color:red;">Δ 36.87%</div></td><td align="right">54.99 MHz / <div style="color:gray;">75.27 MHz</div></td><td align="center"><div style="color:red;">∇ -26.94%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">24.48 ns</div></td><td align="center"><div style="color:red;">Δ 3.00%</div></td><td align="right">39.66 MHz / <div style="color:gray;">40.85 MHz</div></td><td align="center"><div style="color:red;">∇ -2.91%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">71.64 ns</div></td><td align="center"><div style="color:red;">Δ 0.64%</div></td><td align="right">13.87 MHz / <div style="color:gray;">13.96 MHz</div></td><td align="center"><div style="color:red;">∇ -0.64%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">69.41 ns</div></td><td align="center"><div style="color:blue;">∇ -0.27%</div></td><td align="right">14.45 MHz / <div style="color:gray;">14.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.27%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">60.78 ns</div></td><td align="center"><div style="color:blue;">∇ -0.48%</div></td><td align="right">16.53 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.48%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">60.80 ns</div></td><td align="center"><div style="color:blue;">∇ -1.30%</div></td><td align="right">16.66 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.31%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">40.47 ns</div></td><td align="center"><div style="color:red;">Δ 5.51%</div></td><td align="right">23.42 MHz / <div style="color:gray;">24.71 MHz</div></td><td align="center"><div style="color:red;">∇ -5.22%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">37.55 ns</div></td><td align="center"><div style="color:red;">Δ 1.92%</div></td><td align="right">26.13 MHz / <div style="color:gray;">26.63 MHz</div></td><td align="center"><div style="color:red;">∇ -1.88%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">17.39 ns</div></td><td align="center"><div style="color:red;">Δ 2.97%</div></td><td align="right">55.85 MHz / <div style="color:gray;">57.51 MHz</div></td><td align="center"><div style="color:red;">∇ -2.88%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">17.48 ns</div></td><td align="center"><div style="color:red;">Δ 5.47%</div></td><td align="right">54.23 MHz / <div style="color:gray;">57.20 MHz</div></td><td align="center"><div style="color:red;">∇ -5.18%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">32.97 ns</div></td><td align="center"><div style="color:red;">Δ 1.04%</div></td><td align="right">30.02 MHz / <div style="color:gray;">30.33 MHz</div></td><td align="center"><div style="color:red;">∇ -1.03%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">19.11 ns</div></td><td align="center"><div style="color:red;">Δ 2.15%</div></td><td align="right">51.24 MHz / <div style="color:gray;">52.34 MHz</div></td><td align="center"><div style="color:red;">∇ -2.10%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">23.42 ns</div></td><td align="center"><div style="color:blue;">∇ -30.51%</div></td><td align="right">61.45 MHz / <div style="color:gray;">42.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 43.91%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">172.72 ns</div></td><td align="center"><div style="color:blue;">∇ -1.70%</div></td><td align="right">5.89 MHz / <div style="color:gray;">5.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.73%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">671.00 ns</div></td><td align="center"><div style="color:red;">Δ 19.08%</div></td><td align="right">1.25 MHz / <div style="color:gray;">1.49 MHz</div></td><td align="center"><div style="color:red;">∇ -16.02%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">652.00 ns</div></td><td align="center"><div style="color:red;">Δ 20.94%</div></td><td align="right">1.27 MHz / <div style="color:gray;">1.53 MHz</div></td><td align="center"><div style="color:red;">∇ -17.31%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">8.74 us</div></td><td align="center"><div style="color:red;">Δ 4.16%</div></td><td align="right">109.83 KHz / <div style="color:gray;">114.40 KHz</div></td><td align="center"><div style="color:red;">∇ -4.00%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">454.10 ns</div></td><td align="center"><div style="color:red;">Δ 22.77%</div></td><td align="right">1.79 MHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:red;">∇ -18.55%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">452.90 ns</div></td><td align="center"><div style="color:red;">Δ 23.32%</div></td><td align="right">1.79 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -18.91%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">7.98 us</div></td><td align="center"><div style="color:red;">Δ 5.53%</div></td><td align="right">118.81 KHz / <div style="color:gray;">125.39 KHz</div></td><td align="center"><div style="color:red;">∇ -5.24%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 1.13%</div></td><td align="right">56.07 MHz / <div style="color:gray;">56.71 MHz</div></td><td align="center"><div style="color:red;">∇ -1.12%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">19.86 ns</div></td><td align="center"><div style="color:blue;">∇ -1.95%</div></td><td align="right">51.35 MHz / <div style="color:gray;">50.34 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.99%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">57.06 ns</div></td><td align="center"><div style="color:blue;">∇ -3.87%</div></td><td align="right">18.23 MHz / <div style="color:gray;">17.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.03%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">60.00 ns</div></td><td align="center"><div style="color:blue;">∇ -6.78%</div></td><td align="right">17.88 MHz / <div style="color:gray;">16.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.27%</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;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">667.56 MHz / <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,6,6]</td><td align="right">5.61 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">178.35 MHz / <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 ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">242.70 ns</div></td><td align="center"><div style="color:red;">Δ 20.02%</div></td><td align="right">3.43 MHz / <div style="color:gray;">4.12 MHz</div></td><td align="center"><div style="color:red;">∇ -16.68%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 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[double], 3x3 * 3x3</td><td align="right">292.50 ns / <div style="color:gray;">231.60 ns</div></td><td align="center"><div style="color:red;">Δ 26.30%</div></td><td align="right">3.42 MHz / <div style="color:gray;">4.32 MHz</div></td><td align="center"><div style="color:red;">∇ -20.82%</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;">296.50 ns</div></td><td align="center"><div style="color:red;">Δ 17.20%</div></td><td align="right">2.88 MHz / <div style="color:gray;">3.37 MHz</div></td><td align="center"><div style="color:red;">∇ -14.68%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">10.00 GHz</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;">259.20 ns</div></td><td align="center"><div style="color:red;">Δ 31.33%</div></td><td align="right">2.94 MHz / <div style="color:gray;">3.86 MHz</div></td><td align="center"><div style="color:red;">∇ -23.85%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</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 ], 10x40 * 40x10</td><td align="right">2.42 us / <div style="color:gray;">2.09 us</div></td><td align="center"><div style="color:red;">Δ 15.61%</div></td><td align="right">413.19 KHz / <div style="color:gray;">477.69 KHz</div></td><td align="center"><div style="color:red;">∇ -13.50%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">1.79 us</div></td><td align="center"><div style="color:red;">Δ 24.73%</div></td><td align="right">448.19 KHz / <div style="color:gray;">559.03 KHz</div></td><td align="center"><div style="color:red;">∇ -19.83%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">2.43 us</div></td><td align="center"><div style="color:blue;">∇ -4.86%</div></td><td align="right">432.69 KHz / <div style="color:gray;">411.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.11%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">2.16 us</div></td><td align="center"><div style="color:blue;">∇ -1.88%</div></td><td align="right">471.08 KHz / <div style="color:gray;">462.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.92%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">767.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.69%</div></td><td align="right">1.28 MHz / <div style="color:gray;">1.30 MHz</div></td><td align="center"><div style="color:red;">∇ -1.67%</div></td></tr> <tr> <td>matrix: inv, 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: inv, dyn[double] 6x6</td><td align="right">1.97 us / <div style="color:gray;">1.78 us</div></td><td align="center"><div style="color:red;">Δ 10.79%</div></td><td align="right">507.10 KHz / <div style="color:gray;">561.80 KHz</div></td><td align="center"><div style="color:red;">∇ -9.74%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">1.73 us</div></td><td align="center"><div style="color:blue;">∇ -7.35%</div></td><td align="right">624.61 KHz / <div style="color:gray;">578.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.93%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">16.27 us</div></td><td align="center"><div style="color:blue;">∇ -1.15%</div></td><td align="right">62.19 KHz / <div style="color:gray;">61.47 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.16%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">13.44 us</div></td><td align="center"><div style="color:red;">Δ 7.72%</div></td><td align="right">69.08 KHz / <div style="color:gray;">74.41 KHz</div></td><td align="center"><div style="color:red;">∇ -7.16%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">68.00 us</div></td><td align="center"><div style="color:blue;">∇ -3.26%</div></td><td align="right">15.20 KHz / <div style="color:gray;">14.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.37%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">63.01 us</div></td><td align="center"><div style="color:red;">Δ 1.78%</div></td><td align="right">15.59 KHz / <div style="color:gray;">15.87 KHz</div></td><td align="center"><div style="color:red;">∇ -1.75%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">209.40 ns</div></td><td align="center"><div style="color:red;">Δ 1.53%</div></td><td align="right">4.70 MHz / <div style="color:gray;">4.78 MHz</div></td><td align="center"><div style="color:red;">∇ -1.51%</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;">331.30 ns</div></td><td align="center"><div style="color:blue;">∇ -2.41%</div></td><td align="right">3.09 MHz / <div style="color:gray;">3.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.47%</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;">943.70 ns</div></td><td align="center"><div style="color:blue;">∇ -17.89%</div></td><td align="right">1.29 MHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.78%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">575.90 ns</div></td><td align="center"><div style="color:red;">Δ 2.85%</div></td><td align="right">1.69 MHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:red;">∇ -2.77%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">8.10 us</div></td><td align="center"><div style="color:red;">Δ 4.91%</div></td><td align="right">117.63 KHz / <div style="color:gray;">123.40 KHz</div></td><td align="center"><div style="color:red;">∇ -4.68%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">7.48 us</div></td><td align="center"><div style="color:red;">Δ 3.15%</div></td><td align="right">129.53 KHz / <div style="color:gray;">133.61 KHz</div></td><td align="center"><div style="color:red;">∇ -3.05%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">30.87 us</div></td><td align="center"><div style="color:red;">Δ 4.38%</div></td><td align="right">31.03 KHz / <div style="color:gray;">32.39 KHz</div></td><td align="center"><div style="color:red;">∇ -4.20%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">29.01 us</div></td><td align="center"><div style="color:red;">Δ 5.84%</div></td><td align="right">32.57 KHz / <div style="color:gray;">34.47 KHz</div></td><td align="center"><div style="color:red;">∇ -5.52%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">530.00 ns</div></td><td align="center"><div style="color:blue;">∇ 0.00%</div></td><td align="right">1.89 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:red;">∇ 0.00%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">120.00 ns</div></td><td align="center"><div style="color:red;">Δ 8.33%</div></td><td align="right">7.69 MHz / <div style="color:gray;">8.33 MHz</div></td><td align="center"><div style="color:red;">∇ -7.69%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">20.70 us</div></td><td align="center"><div style="color:red;">Δ 11.01%</div></td><td align="right">43.52 KHz / <div style="color:gray;">48.31 KHz</div></td><td align="center"><div style="color:red;">∇ -9.92%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">16.54 us</div></td><td align="center"><div style="color:red;">Δ 17.90%</div></td><td align="right">51.28 KHz / <div style="color:gray;">60.46 KHz</div></td><td align="center"><div style="color:red;">∇ -15.18%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">12.20 us</div></td><td align="center"><div style="color:blue;">∇ -32.79%</div></td><td align="right">121.95 KHz / <div style="color:gray;">81.97 KHz</div></td><td align="center"><div style="color:blue;">Δ 48.78%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">87.70 us</div></td><td align="center"><div style="color:blue;">∇ -2.74%</div></td><td align="right">11.72 KHz / <div style="color:gray;">11.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">51.70 us</div></td><td align="center"><div style="color:red;">Δ 9.86%</div></td><td align="right">17.61 KHz / <div style="color:gray;">19.34 KHz</div></td><td align="center"><div style="color:red;">∇ -8.98%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">38.27 us</div></td><td align="center"><div style="color:red;">Δ 2.72%</div></td><td align="right">25.44 KHz / <div style="color:gray;">26.13 KHz</div></td><td align="center"><div style="color:red;">∇ -2.65%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">255.50 us</div></td><td align="center"><div style="color:red;">Δ 4.42%</div></td><td align="right">3.75 KHz / <div style="color:gray;">3.91 KHz</div></td><td align="center"><div style="color:red;">∇ -4.24%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">70.94 us</div></td><td align="center"><div style="color:red;">Δ 2.57%</div></td><td align="right">13.74 KHz / <div style="color:gray;">14.10 KHz</div></td><td align="center"><div style="color:red;">∇ -2.50%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">2.75 ms</div></td><td align="center"><div style="color:blue;">∇ -2.91%</div></td><td align="right">374.53 Hz / <div style="color:gray;">363.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.00%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">169.22 us</div></td><td align="center"><div style="color:red;">Δ 4.12%</div></td><td align="right">5.68 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -3.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">22.06 ms</div></td><td align="center"><div style="color:blue;">∇ -6.02%</div></td><td align="right">48.23 Hz / <div style="color:gray;">45.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.40%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">339.61 us</div></td><td align="center"><div style="color:red;">Δ 3.37%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -3.26%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">36.67 ms</div></td><td align="center"><div style="color:blue;">∇ -5.63%</div></td><td align="right">28.90 Hz / <div style="color:gray;">27.27 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.96%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">402.38 us</div></td><td align="center"><div style="color:red;">Δ 3.36%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -3.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">53.86 ms</div></td><td align="center"><div style="color:blue;">∇ -6.58%</div></td><td align="right">19.87 Hz / <div style="color:gray;">18.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.04%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">476.81 us</div></td><td align="center"><div style="color:red;">Δ 1.29%</div></td><td align="right">2.07 KHz / <div style="color:gray;">2.10 KHz</div></td><td align="center"><div style="color:red;">∇ -1.27%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">2.61 ns / <div style="color:gray;">2.71 ns</div></td><td align="center"><div style="color:blue;">∇ -3.73%</div></td><td align="right">383.63 MHz / <div style="color:gray;">369.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.87%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">6.04 ns</div></td><td align="center"><div style="color:red;">Δ 15.78%</div></td><td align="right">143.02 MHz / <div style="color:gray;">165.59 MHz</div></td><td align="center"><div style="color:red;">∇ -13.63%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">0.61 ns</div></td><td align="center"><div style="color:blue;">∇ -16.57%</div></td><td align="right">1.95 GHz / <div style="color:gray;">1.63 GHz</div></td><td align="center"><div style="color:blue;">Δ 19.87%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">99.83 us</div></td><td align="center"><div style="color:red;">Δ 2.76%</div></td><td align="right">9.75 KHz / <div style="color:gray;">10.02 KHz</div></td><td align="center"><div style="color:red;">∇ -2.68%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">293.13 us</div></td><td align="center"><div style="color:blue;">∇ -3.08%</div></td><td align="right">3.52 KHz / <div style="color:gray;">3.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.17%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">630.00 us</div></td><td align="center"><div style="color:red;">Δ 14.60%</div></td><td align="right">1.39 KHz / <div style="color:gray;">1.59 KHz</div></td><td align="center"><div style="color:red;">∇ -12.74%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">17.81 us</div></td><td align="center"><div style="color:blue;">∇ -11.89%</div></td><td align="right">63.72 KHz / <div style="color:gray;">56.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.49%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">1.01 ms</div></td><td align="center"><div style="color:red;">Δ 193.96%</div></td><td align="right">337.06 Hz / <div style="color:gray;">990.80 Hz</div></td><td align="center"><div style="color:red;">∇ -65.98%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">4.52 us</div></td><td align="center"><div style="color:blue;">∇ -3.54%</div></td><td align="right">229.36 KHz / <div style="color:gray;">221.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.67%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">364.44 us</div></td><td align="center"><div style="color:blue;">∇ -2.02%</div></td><td align="right">2.80 KHz / <div style="color:gray;">2.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.06%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">4.38 ms</div></td><td align="center"><div style="color:blue;">∇ -4.36%</div></td><td align="right">238.61 Hz / <div style="color:gray;">228.21 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.56%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">5.16 us</div></td><td align="center"><div style="color:blue;">∇ -8.53%</div></td><td align="right">211.86 KHz / <div style="color:gray;">193.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.32%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">372.44 us</div></td><td align="center"><div style="color:blue;">∇ -2.62%</div></td><td align="right">2.76 KHz / <div style="color:gray;">2.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.69%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">4.20 ms</div></td><td align="center"><div style="color:blue;">∇ -2.47%</div></td><td align="right">244.09 Hz / <div style="color:gray;">238.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.53%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">1.42 us</div></td><td align="center"><div style="color:blue;">∇ -2.32%</div></td><td align="right">720.46 KHz / <div style="color:gray;">703.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.38%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:red;">Δ 0.01%</div></td><td align="right">9.82 KHz / <div style="color:gray;">9.82 KHz</div></td><td align="center"><div style="color:red;">∇ -0.01%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">12.17 ms</div></td><td align="center"><div style="color:blue;">∇ -3.26%</div></td><td align="right">84.92 Hz / <div style="color:gray;">82.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.37%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.62 ms / <div style="color:gray;">5.64 ms</div></td><td align="center"><div style="color:blue;">∇ -0.33%</div></td><td align="right">177.84 Hz / <div style="color:gray;">177.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.33%</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;">132.76 ms</div></td><td align="center"><div style="color:blue;">∇ -1.64%</div></td><td align="right">7.66 Hz / <div style="color:gray;">7.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.66%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.69 ms / <div style="color:gray;">5.71 ms</div></td><td align="center"><div style="color:blue;">∇ -0.39%</div></td><td align="right">175.73 Hz / <div style="color:gray;">175.04 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.39%</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;">134.74 ms</div></td><td align="center"><div style="color:blue;">∇ -1.87%</div></td><td align="right">7.56 Hz / <div style="color:gray;">7.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.90%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">14.55 ns</div></td><td align="center"><div style="color:red;">Δ 7.72%</div></td><td align="right">63.82 MHz / <div style="color:gray;">68.75 MHz</div></td><td align="center"><div style="color:red;">∇ -7.17%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">14.56 ns</div></td><td align="center"><div style="color:red;">Δ 7.53%</div></td><td align="right">63.88 MHz / <div style="color:gray;">68.69 MHz</div></td><td align="center"><div style="color:red;">∇ -7.01%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">66.87 ns</div></td><td align="center"><div style="color:red;">Δ 4.53%</div></td><td align="right">14.31 MHz / <div style="color:gray;">14.96 MHz</div></td><td align="center"><div style="color:red;">∇ -4.33%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">66.81 ns</div></td><td align="center"><div style="color:red;">Δ 4.57%</div></td><td align="right">14.32 MHz / <div style="color:gray;">14.97 MHz</div></td><td align="center"><div style="color:red;">∇ -4.37%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">10.63 ns</div></td><td align="center"><div style="color:red;">Δ 14.95%</div></td><td align="right">81.87 MHz / <div style="color:gray;">94.11 MHz</div></td><td align="center"><div style="color:red;">∇ -13.00%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">903.36 ns</div></td><td align="center"><div style="color:red;">Δ 198.79%</div></td><td align="right">370.49 KHz / <div style="color:gray;">1.11 MHz</div></td><td align="center"><div style="color:red;">∇ -66.53%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">1.61 us</div></td><td align="center"><div style="color:red;">Δ 254.58%</div></td><td align="right">175.14 KHz / <div style="color:gray;">621.01 KHz</div></td><td align="center"><div style="color:red;">∇ -71.80%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">144.65 ns</div></td><td align="center"><div style="color:red;">Δ 2.44%</div></td><td align="right">6.75 MHz / <div style="color:gray;">6.91 MHz</div></td><td align="center"><div style="color:red;">∇ -2.38%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">219.48 ns</div></td><td align="center"><div style="color:red;">Δ 5.91%</div></td><td align="right">4.30 MHz / <div style="color:gray;">4.56 MHz</div></td><td align="center"><div style="color:red;">∇ -5.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">472.80 ns</div></td><td align="center"><div style="color:red;">Δ 3.58%</div></td><td align="right">2.04 MHz / <div style="color:gray;">2.12 MHz</div></td><td align="center"><div style="color:red;">∇ -3.45%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 4.76%</div></td><td align="right">6.27 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -4.54%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">235.04 ns</div></td><td align="center"><div style="color:red;">Δ 5.41%</div></td><td align="right">4.04 MHz / <div style="color:gray;">4.25 MHz</div></td><td align="center"><div style="color:red;">∇ -5.13%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">491.60 ns</div></td><td align="center"><div style="color:red;">Δ 6.17%</div></td><td align="right">1.92 MHz / <div style="color:gray;">2.03 MHz</div></td><td align="center"><div style="color:red;">∇ -5.81%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">243.60 ns</div></td><td align="center"><div style="color:red;">Δ 3.16%</div></td><td align="right">3.98 MHz / <div style="color:gray;">4.11 MHz</div></td><td align="center"><div style="color:red;">∇ -3.06%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">2.99 us</div></td><td align="center"><div style="color:red;">Δ 1.07%</div></td><td align="right">331.46 KHz / <div style="color:gray;">334.99 KHz</div></td><td align="center"><div style="color:red;">∇ -1.05%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">29.51 us</div></td><td align="center"><div style="color:red;">Δ 2.88%</div></td><td align="right">32.93 KHz / <div style="color:gray;">33.88 KHz</div></td><td align="center"><div style="color:red;">∇ -2.80%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -0.08%</div></td><td align="right">10.09 GHz / <div style="color:gray;">10.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 0.08%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">34.14 ms / <div style="color:gray;">33.63 ms</div></td><td align="center"><div style="color:red;">Δ 1.53%</div></td><td align="right">29.29 Hz / <div style="color:gray;">29.74 Hz</div></td><td align="center"><div style="color:red;">∇ -1.50%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">49.85 ms</div></td><td align="center"><div style="color:blue;">∇ -0.04%</div></td><td align="right">20.07 Hz / <div style="color:gray;">20.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.04%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">69.59 ms</div></td><td align="center"><div style="color:red;">Δ 15.98%</div></td><td align="right">12.39 Hz / <div style="color:gray;">14.37 Hz</div></td><td align="center"><div style="color:red;">∇ -13.78%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">30.64 ms</div></td><td align="center"><div style="color:blue;">∇ -4.17%</div></td><td align="right">34.05 Hz / <div style="color:gray;">32.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.35%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">43.91 ms</div></td><td align="center"><div style="color:blue;">∇ -3.32%</div></td><td align="right">23.56 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.44%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">62.52 ms</div></td><td align="center"><div style="color:red;">Δ 4.61%</div></td><td align="right">15.29 Hz / <div style="color:gray;">15.99 Hz</div></td><td align="center"><div style="color:red;">∇ -4.41%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">3.81 ms</div></td><td align="center"><div style="color:red;">Δ 22.55%</div></td><td align="right">214.40 Hz / <div style="color:gray;">262.76 Hz</div></td><td align="center"><div style="color:red;">∇ -18.40%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">5.96 ms</div></td><td align="center"><div style="color:red;">Δ 0.36%</div></td><td align="right">167.10 Hz / <div style="color:gray;">167.70 Hz</div></td><td align="center"><div style="color:red;">∇ -0.36%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">10.46 ms</div></td><td align="center"><div style="color:blue;">∇ -0.34%</div></td><td align="right">95.93 Hz / <div style="color:gray;">95.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.34%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">12.69 us</div></td><td align="center"><div style="color:blue;">∇ -10.56%</div></td><td align="right">88.11 KHz / <div style="color:gray;">78.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.81%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">9.85 us</div></td><td align="center"><div style="color:red;">Δ 1.12%</div></td><td align="right">100.40 KHz / <div style="color:gray;">101.52 KHz</div></td><td align="center"><div style="color:red;">∇ -1.10%</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;">5.24 us</div></td><td align="center"><div style="color:red;">Δ 5.34%</div></td><td align="right">181.16 KHz / <div style="color:gray;">190.84 KHz</div></td><td align="center"><div style="color:red;">∇ -5.07%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">21.14 ms</div></td><td align="center"><div style="color:red;">Δ 52.58%</div></td><td align="right">31.01 Hz / <div style="color:gray;">47.31 Hz</div></td><td align="center"><div style="color:red;">∇ -34.46%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">21.45 ms</div></td><td align="center"><div style="color:red;">Δ 19.35%</div></td><td align="right">39.06 Hz / <div style="color:gray;">46.61 Hz</div></td><td align="center"><div style="color:red;">∇ -16.21%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">591.25 ms</div></td><td align="center"><div style="color:red;">Δ 6.71%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.69 Hz</div></td><td align="center"><div style="color:red;">∇ -6.29%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">162.82 ms</div></td><td align="center"><div style="color:red;">Δ 0.78%</div></td><td align="right">6.09 Hz / <div style="color:gray;">6.14 Hz</div></td><td align="center"><div style="color:red;">∇ -0.77%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">197.33 ms</div></td><td align="center"><div style="color:red;">Δ 5.22%</div></td><td align="right">4.82 Hz / <div style="color:gray;">5.07 Hz</div></td><td align="center"><div style="color:red;">∇ -4.96%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">6.89 ms</div></td><td align="center"><div style="color:red;">Δ 10.32%</div></td><td align="right">131.57 Hz / <div style="color:gray;">145.15 Hz</div></td><td align="center"><div style="color:red;">∇ -9.35%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">63.90 ms</div></td><td align="center"><div style="color:blue;">∇ -5.15%</div></td><td align="right">16.50 Hz / <div style="color:gray;">15.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.43%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">38.54 ms</div></td><td align="center"><div style="color:red;">Δ 14.15%</div></td><td align="right">22.73 Hz / <div style="color:gray;">25.95 Hz</div></td><td align="center"><div style="color:red;">∇ -12.39%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">33.59 ms</div></td><td align="center"><div style="color:red;">Δ 8.02%</div></td><td align="right">27.56 Hz / <div style="color:gray;">29.77 Hz</div></td><td align="center"><div style="color:red;">∇ -7.43%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.16 sec</div></td><td align="center"><div style="color:red;">Δ 3.47%</div></td><td align="right">834.47 mHz / <div style="color:gray;">863.45 mHz</div></td><td align="center"><div style="color:red;">∇ -3.36%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">375.89 ms</div></td><td align="center"><div style="color:red;">Δ 1.05%</div></td><td align="right">2.63 Hz / <div style="color:gray;">2.66 Hz</div></td><td align="center"><div style="color:red;">∇ -1.04%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">15.89 ms</div></td><td align="center"><div style="color:red;">Δ 0.93%</div></td><td align="right">62.36 Hz / <div style="color:gray;">62.95 Hz</div></td><td align="center"><div style="color:red;">∇ -0.93%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">10.48 ms</div></td><td align="center"><div style="color:red;">Δ 3.56%</div></td><td align="right">92.14 Hz / <div style="color:gray;">95.42 Hz</div></td><td align="center"><div style="color:red;">∇ -3.44%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">158.24 us</div></td><td align="center"><div style="color:blue;">∇ -24.17%</div></td><td align="right">8.33 KHz / <div style="color:gray;">6.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.88%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">133.69 us</div></td><td align="center"><div style="color:blue;">∇ -19.83%</div></td><td align="right">9.33 KHz / <div style="color:gray;">7.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.73%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">84.43 us</div></td><td align="center"><div style="color:blue;">∇ -0.47%</div></td><td align="right">11.90 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.47%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">81.78 us</div></td><td align="center"><div style="color:red;">Δ 1.95%</div></td><td align="right">11.99 KHz / <div style="color:gray;">12.23 KHz</div></td><td align="center"><div style="color:red;">∇ -1.91%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">207.17 us</div></td><td align="center"><div style="color:blue;">∇ -17.64%</div></td><td align="right">5.86 KHz / <div style="color:gray;">4.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 21.43%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">232.57 us</div></td><td align="center"><div style="color:blue;">∇ -21.91%</div></td><td align="right">5.51 KHz / <div style="color:gray;">4.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.06%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">246.74 us</div></td><td align="center"><div style="color:blue;">∇ -27.45%</div></td><td align="right">5.59 KHz / <div style="color:gray;">4.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.83%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">192.59 us</div></td><td align="center"><div style="color:blue;">∇ -7.27%</div></td><td align="right">5.60 KHz / <div style="color:gray;">5.19 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.84%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">2.08 ms</div></td><td align="center"><div style="color:blue;">∇ -24.04%</div></td><td align="right">632.00 Hz / <div style="color:gray;">480.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.65%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">1.62 ms</div></td><td align="center"><div style="color:blue;">∇ -21.79%</div></td><td align="right">790.83 Hz / <div style="color:gray;">618.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.86%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">870.19 us</div></td><td align="center"><div style="color:blue;">∇ -0.78%</div></td><td align="right">1.16 KHz / <div style="color:gray;">1.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.79%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">846.92 us</div></td><td align="center"><div style="color:blue;">∇ -0.09%</div></td><td align="right">1.18 KHz / <div style="color:gray;">1.18 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.09%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">2.34 ms</div></td><td align="center"><div style="color:blue;">∇ -16.22%</div></td><td align="right">509.85 Hz / <div style="color:gray;">427.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.36%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">2.81 ms</div></td><td align="center"><div style="color:blue;">∇ -20.03%</div></td><td align="right">445.23 Hz / <div style="color:gray;">356.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 25.04%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:blue;">∇ -8.08%</div></td><td align="right">511.72 Hz / <div style="color:gray;">470.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.80%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:blue;">∇ -8.50%</div></td><td align="right">512.69 Hz / <div style="color:gray;">469.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.29%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">220.82 us</div></td><td align="center"><div style="color:blue;">∇ -23.35%</div></td><td align="right">5.91 KHz / <div style="color:gray;">4.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.46%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">221.81 us</div></td><td align="center"><div style="color:blue;">∇ -23.91%</div></td><td align="right">5.93 KHz / <div style="color:gray;">4.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 31.43%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">183.18 us</div></td><td align="center"><div style="color:blue;">∇ -16.10%</div></td><td align="right">6.51 KHz / <div style="color:gray;">5.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.19%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">186.52 us</div></td><td align="center"><div style="color:blue;">∇ -17.33%</div></td><td align="right">6.49 KHz / <div style="color:gray;">5.36 KHz</div></td><td align="center"><div style="color:blue;">Δ 20.97%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">532.35 us</div></td><td align="center"><div style="color:blue;">∇ -11.35%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.88 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.80%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">537.98 us</div></td><td align="center"><div style="color:blue;">∇ -10.86%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.18%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">487.59 us</div></td><td align="center"><div style="color:blue;">∇ -9.49%</div></td><td align="right">2.27 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.48%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">493.50 us</div></td><td align="center"><div style="color:blue;">∇ -9.82%</div></td><td align="right">2.25 KHz / <div style="color:gray;">2.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.88%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">2.78 ms</div></td><td align="center"><div style="color:blue;">∇ -11.67%</div></td><td align="right">407.06 Hz / <div style="color:gray;">359.55 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.21%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">2.77 ms</div></td><td align="center"><div style="color:blue;">∇ -11.31%</div></td><td align="right">406.51 Hz / <div style="color:gray;">360.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.76%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">2.09 ms</div></td><td align="center"><div style="color:blue;">∇ -18.83%</div></td><td align="right">588.45 Hz / <div style="color:gray;">477.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.21%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">2.05 ms</div></td><td align="center"><div style="color:blue;">∇ -17.15%</div></td><td align="right">587.97 Hz / <div style="color:gray;">487.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.71%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">7.36 ms</div></td><td align="center"><div style="color:blue;">∇ -9.23%</div></td><td align="right">149.62 Hz / <div style="color:gray;">135.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.17%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">6.97 ms</div></td><td align="center"><div style="color:blue;">∇ -3.13%</div></td><td align="right">148.06 Hz / <div style="color:gray;">143.42 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.23%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:blue;">∇ -13.24%</div></td><td align="right">218.07 Hz / <div style="color:gray;">189.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.26%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">5.49 ms</div></td><td align="center"><div style="color:blue;">∇ -16.60%</div></td><td align="right">218.58 Hz / <div style="color:gray;">182.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.91%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">90.55 us</div></td><td align="center"><div style="color:blue;">∇ -1.67%</div></td><td align="right">11.23 KHz / <div style="color:gray;">11.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.70%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">83.50 us</div></td><td align="center"><div style="color:blue;">∇ -9.79%</div></td><td align="right">13.28 KHz / <div style="color:gray;">11.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.85%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">1.13 ms</div></td><td align="center"><div style="color:blue;">∇ -2.35%</div></td><td align="right">903.43 Hz / <div style="color:gray;">882.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.41%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">767.67 us</div></td><td align="center"><div style="color:blue;">∇ -7.36%</div></td><td align="right">1.41 KHz / <div style="color:gray;">1.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.94%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">21.12 ms</div></td><td align="center"><div style="color:blue;">∇ -12.22%</div></td><td align="right">53.94 Hz / <div style="color:gray;">47.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.92%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">10.86 ms</div></td><td align="center"><div style="color:blue;">∇ -10.19%</div></td><td align="right">102.51 Hz / <div style="color:gray;">92.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.34%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">341.35 ms</div></td><td align="center"><div style="color:blue;">∇ -26.01%</div></td><td align="right">3.96 Hz / <div style="color:gray;">2.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 35.15%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">142.53 ms</div></td><td align="center"><div style="color:blue;">∇ -21.26%</div></td><td align="right">8.91 Hz / <div style="color:gray;">7.02 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.99%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">320.28 ms</div></td><td align="center"><div style="color:blue;">∇ -20.07%</div></td><td align="right">3.91 Hz / <div style="color:gray;">3.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 25.10%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">133.66 ms</div></td><td align="center"><div style="color:blue;">∇ -20.57%</div></td><td align="right">9.42 Hz / <div style="color:gray;">7.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 25.90%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.713476 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
