<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.4-MSVC10-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.4-MSVC10-32bit</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;">0.9.4-MSVC10-32bit</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;">37.14 ms</div></td><td align="center"><div style="color:blue;">∇ -43.73%</div></td><td align="right">47.85 Hz / <div style="color:gray;">26.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 77.71%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">36.34 ms</div></td><td align="center"><div style="color:blue;">∇ -48.36%</div></td><td align="right">53.30 Hz / <div style="color:gray;">27.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 93.66%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">197.08 ns</div></td><td align="center"><div style="color:blue;">∇ -78.86%</div></td><td align="right">24.00 MHz / <div style="color:gray;">5.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 372.94%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">33.62 ns</div></td><td align="center"><div style="color:blue;">∇ -3.67%</div></td><td align="right">30.87 MHz / <div style="color:gray;">29.74 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.81%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">25.13 ns</div></td><td align="center"><div style="color:blue;">∇ -68.08%</div></td><td align="right">124.63 MHz / <div style="color:gray;">39.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 213.25%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">21.31 ns</div></td><td align="center"><div style="color:blue;">∇ -45.86%</div></td><td align="right">86.70 MHz / <div style="color:gray;">46.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 84.72%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">89.96 ns</div></td><td align="center"><div style="color:blue;">∇ -79.79%</div></td><td align="right">54.99 MHz / <div style="color:gray;">11.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 394.74%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">47.25 ns</div></td><td align="center"><div style="color:blue;">∇ -46.63%</div></td><td align="right">39.66 MHz / <div style="color:gray;">21.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 87.38%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">108.63 ns</div></td><td align="center"><div style="color:blue;">∇ -33.62%</div></td><td align="right">13.87 MHz / <div style="color:gray;">9.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 50.66%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">94.77 ns</div></td><td align="center"><div style="color:blue;">∇ -26.96%</div></td><td align="right">14.45 MHz / <div style="color:gray;">10.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 36.91%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">80.61 ns</div></td><td align="center"><div style="color:blue;">∇ -24.96%</div></td><td align="right">16.53 MHz / <div style="color:gray;">12.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 33.27%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">67.32 ns</div></td><td align="center"><div style="color:blue;">∇ -10.86%</div></td><td align="right">16.66 MHz / <div style="color:gray;">14.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.18%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">81.31 ns</div></td><td align="center"><div style="color:blue;">∇ -47.48%</div></td><td align="right">23.42 MHz / <div style="color:gray;">12.30 MHz</div></td><td align="center"><div style="color:blue;">Δ 90.41%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">51.56 ns</div></td><td align="center"><div style="color:blue;">∇ -25.78%</div></td><td align="right">26.13 MHz / <div style="color:gray;">19.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.74%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">55.91 ns</div></td><td align="center"><div style="color:blue;">∇ -67.98%</div></td><td align="right">55.85 MHz / <div style="color:gray;">17.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 212.28%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">32.73 ns</div></td><td align="center"><div style="color:blue;">∇ -43.66%</div></td><td align="right">54.23 MHz / <div style="color:gray;">30.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 77.50%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">124.02 ns</div></td><td align="center"><div style="color:blue;">∇ -73.14%</div></td><td align="right">30.02 MHz / <div style="color:gray;">8.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 272.29%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">30.61 ns</div></td><td align="center"><div style="color:blue;">∇ -36.23%</div></td><td align="right">51.24 MHz / <div style="color:gray;">32.67 MHz</div></td><td align="center"><div style="color:blue;">Δ 56.83%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">28.12 ns</div></td><td align="center"><div style="color:blue;">∇ -42.13%</div></td><td align="right">61.45 MHz / <div style="color:gray;">35.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 72.80%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">216.84 ns</div></td><td align="center"><div style="color:blue;">∇ -21.70%</div></td><td align="right">5.89 MHz / <div style="color:gray;">4.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.72%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:blue;">∇ -35.57%</div></td><td align="right">1.25 MHz / <div style="color:gray;">806.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">1.20 us</div></td><td align="center"><div style="color:blue;">∇ -34.12%</div></td><td align="right">1.27 MHz / <div style="color:gray;">835.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 51.78%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">20.15 us</div></td><td align="center"><div style="color:blue;">∇ -54.81%</div></td><td align="right">109.83 KHz / <div style="color:gray;">49.63 KHz</div></td><td align="center"><div style="color:blue;">Δ 121.31%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">817.60 ns</div></td><td align="center"><div style="color:blue;">∇ -31.81%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 46.65%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">823.40 ns</div></td><td align="center"><div style="color:blue;">∇ -32.17%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 47.43%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">19.09 us</div></td><td align="center"><div style="color:blue;">∇ -55.91%</div></td><td align="right">118.81 KHz / <div style="color:gray;">52.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 126.81%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">49.67 ns</div></td><td align="center"><div style="color:blue;">∇ -64.09%</div></td><td align="right">56.07 MHz / <div style="color:gray;">20.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 178.50%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">50.90 ns</div></td><td align="center"><div style="color:blue;">∇ -61.74%</div></td><td align="right">51.35 MHz / <div style="color:gray;">19.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 161.38%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">180.98 ns</div></td><td align="center"><div style="color:blue;">∇ -69.70%</div></td><td align="right">18.23 MHz / <div style="color:gray;">5.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 229.99%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">177.90 ns</div></td><td align="center"><div style="color:blue;">∇ -68.56%</div></td><td align="right">17.88 MHz / <div style="color:gray;">5.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 218.06%</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;">6.63 ns</div></td><td align="center"><div style="color:blue;">∇ -77.41%</div></td><td align="right">667.56 MHz / <div style="color:gray;">150.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 342.63%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">8.86 ns</div></td><td align="center"><div style="color:blue;">∇ -36.69%</div></td><td align="right">178.35 MHz / <div style="color:gray;">112.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 57.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">680.28 ns</div></td><td align="center"><div style="color:blue;">∇ -57.18%</div></td><td align="right">3.43 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 133.53%</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;">458.35 ns</div></td><td align="center"><div style="color:blue;">∇ -36.18%</div></td><td align="right">3.42 MHz / <div style="color:gray;">2.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 56.70%</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;">680.46 ns</div></td><td align="center"><div style="color:blue;">∇ -48.93%</div></td><td align="right">2.88 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 95.81%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">35.28 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">28.34 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;">514.01 ns</div></td><td align="center"><div style="color:blue;">∇ -33.78%</div></td><td align="right">2.94 MHz / <div style="color:gray;">1.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 51.00%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">3.40 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">294.39 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">2.42 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:blue;">∇ -53.28%</div></td><td align="right">413.19 KHz / <div style="color:gray;">193.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 114.02%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">4.56 us</div></td><td align="center"><div style="color:blue;">∇ -51.04%</div></td><td align="right">448.19 KHz / <div style="color:gray;">219.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 104.24%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">3.79 us</div></td><td align="center"><div style="color:blue;">∇ -39.04%</div></td><td align="right">432.69 KHz / <div style="color:gray;">263.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 64.04%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">2.92 us</div></td><td align="center"><div style="color:blue;">∇ -27.39%</div></td><td align="right">471.08 KHz / <div style="color:gray;">342.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.72%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">1.50 us</div></td><td align="center"><div style="color:blue;">∇ -48.10%</div></td><td align="right">1.28 MHz / <div style="color:gray;">665.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 92.66%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">9.51 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">105.14 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;">3.90 us</div></td><td align="center"><div style="color:blue;">∇ -49.48%</div></td><td align="right">507.10 KHz / <div style="color:gray;">256.17 KHz</div></td><td align="center"><div style="color:blue;">Δ 97.95%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">3.54 us</div></td><td align="center"><div style="color:blue;">∇ -54.77%</div></td><td align="right">624.61 KHz / <div style="color:gray;">282.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 121.11%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">34.19 us</div></td><td align="center"><div style="color:blue;">∇ -52.97%</div></td><td align="right">62.19 KHz / <div style="color:gray;">29.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 112.63%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">29.35 us</div></td><td align="center"><div style="color:blue;">∇ -50.68%</div></td><td align="right">69.08 KHz / <div style="color:gray;">34.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 102.76%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">134.24 us</div></td><td align="center"><div style="color:blue;">∇ -50.99%</div></td><td align="right">15.20 KHz / <div style="color:gray;">7.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 104.05%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">126.45 us</div></td><td align="center"><div style="color:blue;">∇ -49.28%</div></td><td align="right">15.59 KHz / <div style="color:gray;">7.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 97.18%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">601.74 ns</div></td><td align="center"><div style="color:blue;">∇ -64.67%</div></td><td align="right">4.70 MHz / <div style="color:gray;">1.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 183.04%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</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: det, dyn[double] 3x3</td><td align="right">323.30 ns / <div style="color:gray;">872.81 ns</div></td><td align="center"><div style="color:blue;">∇ -62.96%</div></td><td align="right">3.09 MHz / <div style="color:gray;">1.15 MHz</div></td><td align="center"><div style="color:blue;">Δ 169.97%</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;">2.32 us</div></td><td align="center"><div style="color:blue;">∇ -66.66%</div></td><td align="right">1.29 MHz / <div style="color:gray;">430.29 KHz</div></td><td align="center"><div style="color:blue;">Δ 199.91%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">2.17 us</div></td><td align="center"><div style="color:blue;">∇ -72.72%</div></td><td align="right">1.69 MHz / <div style="color:gray;">460.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 266.55%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">23.14 us</div></td><td align="center"><div style="color:blue;">∇ -63.25%</div></td><td align="right">117.63 KHz / <div style="color:gray;">43.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 172.14%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">21.38 us</div></td><td align="center"><div style="color:blue;">∇ -63.89%</div></td><td align="right">129.53 KHz / <div style="color:gray;">46.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 176.91%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">92.83 us</div></td><td align="center"><div style="color:blue;">∇ -65.29%</div></td><td align="right">31.03 KHz / <div style="color:gray;">10.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 188.07%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">90.97 us</div></td><td align="center"><div style="color:blue;">∇ -66.25%</div></td><td align="right">32.57 KHz / <div style="color:gray;">10.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 196.25%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">892.24 ns</div></td><td align="center"><div style="color:blue;">∇ -40.60%</div></td><td align="right">1.89 MHz / <div style="color:gray;">1.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 68.35%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">249.10 ns</div></td><td align="center"><div style="color:blue;">∇ -47.81%</div></td><td align="right">7.69 MHz / <div style="color:gray;">4.01 MHz</div></td><td align="center"><div style="color:blue;">Δ 91.62%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">41.12 us</div></td><td align="center"><div style="color:blue;">∇ -44.12%</div></td><td align="right">43.52 KHz / <div style="color:gray;">24.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 78.96%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">26.92 us</div></td><td align="center"><div style="color:blue;">∇ -27.55%</div></td><td align="right">51.28 KHz / <div style="color:gray;">37.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.03%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">15.31 us</div></td><td align="center"><div style="color:blue;">∇ -46.43%</div></td><td align="right">121.95 KHz / <div style="color:gray;">65.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 86.69%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">116.85 us</div></td><td align="center"><div style="color:blue;">∇ -27.00%</div></td><td align="right">11.72 KHz / <div style="color:gray;">8.56 KHz</div></td><td align="center"><div style="color:blue;">Δ 36.99%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:blue;">∇ -42.60%</div></td><td align="right">17.61 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 74.23%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">55.18 us</div></td><td align="center"><div style="color:blue;">∇ -28.76%</div></td><td align="right">25.44 KHz / <div style="color:gray;">18.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.37%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">498.07 us</div></td><td align="center"><div style="color:blue;">∇ -46.43%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 86.68%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">133.40 us</div></td><td align="center"><div style="color:blue;">∇ -45.46%</div></td><td align="right">13.74 KHz / <div style="color:gray;">7.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 83.34%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">4.99 ms</div></td><td align="center"><div style="color:blue;">∇ -46.52%</div></td><td align="right">374.53 Hz / <div style="color:gray;">200.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 86.99%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">243.96 us</div></td><td align="center"><div style="color:blue;">∇ -27.78%</div></td><td align="right">5.68 KHz / <div style="color:gray;">4.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.47%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">30.03 ms</div></td><td align="center"><div style="color:blue;">∇ -30.95%</div></td><td align="right">48.23 Hz / <div style="color:gray;">33.31 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.82%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">486.08 us</div></td><td align="center"><div style="color:blue;">∇ -27.78%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.46%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">51.94 ms</div></td><td align="center"><div style="color:blue;">∇ -33.38%</div></td><td align="right">28.90 Hz / <div style="color:gray;">19.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.11%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">583.78 us</div></td><td align="center"><div style="color:blue;">∇ -28.76%</div></td><td align="right">2.40 KHz / <div style="color:gray;">1.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.37%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">76.91 ms</div></td><td align="center"><div style="color:blue;">∇ -34.57%</div></td><td align="right">19.87 Hz / <div style="color:gray;">13.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 52.84%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">649.31 us</div></td><td align="center"><div style="color:blue;">∇ -25.62%</div></td><td align="right">2.07 KHz / <div style="color:gray;">1.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 34.45%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">6.44 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">155.25 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;">9.52 ns</div></td><td align="center"><div style="color:blue;">∇ -72.63%</div></td><td align="right">383.63 MHz / <div style="color:gray;">105.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 265.35%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">9.85 ns</div></td><td align="center"><div style="color:blue;">∇ -29.00%</div></td><td align="right">143.02 MHz / <div style="color:gray;">101.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.84%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">1.47 ns</div></td><td align="center"><div style="color:blue;">∇ -65.19%</div></td><td align="right">1.95 GHz / <div style="color:gray;">679.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 187.25%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">225.20 us</div></td><td align="center"><div style="color:blue;">∇ -54.45%</div></td><td align="right">9.75 KHz / <div style="color:gray;">4.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 119.52%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">365.80 us</div></td><td align="center"><div style="color:blue;">∇ -22.33%</div></td><td align="right">3.52 KHz / <div style="color:gray;">2.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.75%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">2.56 ms</div></td><td align="center"><div style="color:blue;">∇ -71.85%</div></td><td align="right">1.39 KHz / <div style="color:gray;">389.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 255.18%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">21.14 us</div></td><td align="center"><div style="color:blue;">∇ -25.77%</div></td><td align="right">63.72 KHz / <div style="color:gray;">47.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 34.72%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">3.27 ms</div></td><td align="center"><div style="color:blue;">∇ -9.29%</div></td><td align="right">337.06 Hz / <div style="color:gray;">305.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.24%</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;">579.42 us</div></td><td align="center"><div style="color:blue;">∇ -38.37%</div></td><td align="right">2.80 KHz / <div style="color:gray;">1.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 62.27%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">6.14 ms</div></td><td align="center"><div style="color:blue;">∇ -31.74%</div></td><td align="right">238.61 Hz / <div style="color:gray;">162.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 46.51%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">6.68 us</div></td><td align="center"><div style="color:blue;">∇ -29.39%</div></td><td align="right">211.86 KHz / <div style="color:gray;">149.59 KHz</div></td><td align="center"><div style="color:blue;">Δ 41.63%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">519.96 us</div></td><td align="center"><div style="color:blue;">∇ -30.25%</div></td><td align="right">2.76 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:blue;">Δ 43.37%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">6.64 ms</div></td><td align="center"><div style="color:blue;">∇ -38.27%</div></td><td align="right">244.09 Hz / <div style="color:gray;">150.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 61.99%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">1.95 us</div></td><td align="center"><div style="color:blue;">∇ -28.99%</div></td><td align="right">720.46 KHz / <div style="color:gray;">511.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 40.83%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">167.14 us</div></td><td align="center"><div style="color:blue;">∇ -39.06%</div></td><td align="right">9.82 KHz / <div style="color:gray;">5.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 64.09%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">17.45 ms</div></td><td align="center"><div style="color:blue;">∇ -32.53%</div></td><td align="right">84.92 Hz / <div style="color:gray;">57.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 48.22%</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;">9.11 ms</div></td><td align="center"><div style="color:blue;">∇ -38.29%</div></td><td align="right">177.84 Hz / <div style="color:gray;">109.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 62.05%</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;">210.71 ms</div></td><td align="center"><div style="color:blue;">∇ -38.03%</div></td><td align="right">7.66 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 61.36%</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;">8.38 ms</div></td><td align="center"><div style="color:blue;">∇ -32.07%</div></td><td align="right">175.73 Hz / <div style="color:gray;">119.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.21%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">132.22 ms / <div style="color:gray;">198.71 ms</div></td><td align="center"><div style="color:blue;">∇ -33.46%</div></td><td align="right">7.56 Hz / <div style="color:gray;">5.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 50.29%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">7.57 ns</div></td><td align="center"><div style="color:red;">Δ 106.99%</div></td><td align="right">63.82 MHz / <div style="color:gray;">132.11 MHz</div></td><td align="center"><div style="color:red;">∇ -51.69%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">7.60 ns</div></td><td align="center"><div style="color:red;">Δ 105.94%</div></td><td align="right">63.88 MHz / <div style="color:gray;">131.54 MHz</div></td><td align="center"><div style="color:red;">∇ -51.44%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">58.48 ns</div></td><td align="center"><div style="color:red;">Δ 19.53%</div></td><td align="right">14.31 MHz / <div style="color:gray;">17.10 MHz</div></td><td align="center"><div style="color:red;">∇ -16.34%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">57.62 ns</div></td><td align="center"><div style="color:red;">Δ 21.23%</div></td><td align="right">14.32 MHz / <div style="color:gray;">17.35 MHz</div></td><td align="center"><div style="color:red;">∇ -17.51%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">29.43 ns</div></td><td align="center"><div style="color:blue;">∇ -58.49%</div></td><td align="right">81.87 MHz / <div style="color:gray;">33.98 MHz</div></td><td align="center"><div style="color:blue;">Δ 140.93%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">2.95 us</div></td><td align="center"><div style="color:blue;">∇ -8.44%</div></td><td align="right">370.49 KHz / <div style="color:gray;">339.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.22%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">3.53 us</div></td><td align="center"><div style="color:red;">Δ 61.54%</div></td><td align="right">175.14 KHz / <div style="color:gray;">282.92 KHz</div></td><td align="center"><div style="color:red;">∇ -38.10%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">145.71 ns</div></td><td align="center"><div style="color:red;">Δ 1.70%</div></td><td align="right">6.75 MHz / <div style="color:gray;">6.86 MHz</div></td><td align="center"><div style="color:red;">∇ -1.67%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">227.37 ns</div></td><td align="center"><div style="color:red;">Δ 2.24%</div></td><td align="right">4.30 MHz / <div style="color:gray;">4.40 MHz</div></td><td align="center"><div style="color:red;">∇ -2.19%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">514.56 ns</div></td><td align="center"><div style="color:blue;">∇ -4.83%</div></td><td align="right">2.04 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">170.42 ns</div></td><td align="center"><div style="color:blue;">∇ -6.38%</div></td><td align="right">6.27 MHz / <div style="color:gray;">5.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.82%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">283.60 ns</div></td><td align="center"><div style="color:blue;">∇ -12.64%</div></td><td align="right">4.04 MHz / <div style="color:gray;">3.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.47%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">661.22 ns</div></td><td align="center"><div style="color:blue;">∇ -21.07%</div></td><td align="right">1.92 MHz / <div style="color:gray;">1.51 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.69%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">304.45 ns</div></td><td align="center"><div style="color:blue;">∇ -17.46%</div></td><td align="right">3.98 MHz / <div style="color:gray;">3.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.15%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:blue;">∇ -12.98%</div></td><td align="right">331.46 KHz / <div style="color:gray;">288.42 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.92%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">37.99 us</div></td><td align="center"><div style="color:blue;">∇ -20.06%</div></td><td align="right">32.93 KHz / <div style="color:gray;">26.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 25.10%</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 2188178.43%</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;">33.06 ms</div></td><td align="center"><div style="color:red;">Δ 3.27%</div></td><td align="right">29.29 Hz / <div style="color:gray;">30.25 Hz</div></td><td align="center"><div style="color:red;">∇ -3.17%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">50.64 ms</div></td><td align="center"><div style="color:blue;">∇ -1.60%</div></td><td align="right">20.07 Hz / <div style="color:gray;">19.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.62%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">82.66 ms</div></td><td align="center"><div style="color:blue;">∇ -2.36%</div></td><td align="right">12.39 Hz / <div style="color:gray;">12.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.41%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">27.36 ms</div></td><td align="center"><div style="color:red;">Δ 7.34%</div></td><td align="right">34.05 Hz / <div style="color:gray;">36.56 Hz</div></td><td align="center"><div style="color:red;">∇ -6.84%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">43.25 ms</div></td><td align="center"><div style="color:blue;">∇ -1.87%</div></td><td align="right">23.56 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.90%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">66.55 ms</div></td><td align="center"><div style="color:blue;">∇ -1.72%</div></td><td align="right">15.29 Hz / <div style="color:gray;">15.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.75%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">5.57 ms</div></td><td align="center"><div style="color:blue;">∇ -16.28%</div></td><td align="right">214.40 Hz / <div style="color:gray;">179.49 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.45%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">8.84 ms</div></td><td align="center"><div style="color:blue;">∇ -32.32%</div></td><td align="right">167.10 Hz / <div style="color:gray;">113.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 47.75%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">14.37 ms</div></td><td align="center"><div style="color:blue;">∇ -27.47%</div></td><td align="right">95.93 Hz / <div style="color:gray;">69.58 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.88%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">21.97 us</div></td><td align="center"><div style="color:blue;">∇ -48.33%</div></td><td align="right">88.11 KHz / <div style="color:gray;">45.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 93.54%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">22.01 us</div></td><td align="center"><div style="color:blue;">∇ -54.74%</div></td><td align="right">100.40 KHz / <div style="color:gray;">45.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 120.95%</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;">12.71 us</div></td><td align="center"><div style="color:blue;">∇ -56.57%</div></td><td align="right">181.16 KHz / <div style="color:gray;">78.69 KHz</div></td><td align="center"><div style="color:blue;">Δ 130.23%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">38.32 ms</div></td><td align="center"><div style="color:blue;">∇ -15.83%</div></td><td align="right">31.01 Hz / <div style="color:gray;">26.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.80%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">37.22 ms</div></td><td align="center"><div style="color:blue;">∇ -31.20%</div></td><td align="right">39.06 Hz / <div style="color:gray;">26.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 45.35%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">739.68 ms</div></td><td align="center"><div style="color:blue;">∇ -14.71%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.24%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">232.95 ms</div></td><td align="center"><div style="color:blue;">∇ -29.56%</div></td><td align="right">6.09 Hz / <div style="color:gray;">4.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 41.97%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">309.97 ms</div></td><td align="center"><div style="color:blue;">∇ -33.01%</div></td><td align="right">4.82 Hz / <div style="color:gray;">3.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 49.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">6.88 ms</div></td><td align="center"><div style="color:red;">Δ 10.39%</div></td><td align="right">131.57 Hz / <div style="color:gray;">145.25 Hz</div></td><td align="center"><div style="color:red;">∇ -9.42%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">88.28 ms</div></td><td align="center"><div style="color:blue;">∇ -31.35%</div></td><td align="right">16.50 Hz / <div style="color:gray;">11.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 45.67%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">59.68 ms</div></td><td align="center"><div style="color:blue;">∇ -26.30%</div></td><td align="right">22.73 Hz / <div style="color:gray;">16.76 Hz</div></td><td align="center"><div style="color:blue;">Δ 35.68%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">58.57 ms</div></td><td align="center"><div style="color:blue;">∇ -38.05%</div></td><td align="right">27.56 Hz / <div style="color:gray;">17.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 61.41%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.50 sec</div></td><td align="center"><div style="color:blue;">∇ -19.95%</div></td><td align="right">834.47 mHz / <div style="color:gray;">668.02 mHz</div></td><td align="center"><div style="color:blue;">Δ 24.92%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">621.62 ms</div></td><td align="center"><div style="color:blue;">∇ -38.90%</div></td><td align="right">2.63 Hz / <div style="color:gray;">1.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 63.66%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">21.69 ms</div></td><td align="center"><div style="color:blue;">∇ -26.08%</div></td><td align="right">62.36 Hz / <div style="color:gray;">46.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 35.28%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">12.64 ms</div></td><td align="center"><div style="color:blue;">∇ -14.12%</div></td><td align="right">92.14 Hz / <div style="color:gray;">79.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.44%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">301.62 us</div></td><td align="center"><div style="color:blue;">∇ -60.22%</div></td><td align="right">8.33 KHz / <div style="color:gray;">3.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 151.37%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">298.86 us</div></td><td align="center"><div style="color:blue;">∇ -64.14%</div></td><td align="right">9.33 KHz / <div style="color:gray;">3.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 178.84%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">274.69 us</div></td><td align="center"><div style="color:blue;">∇ -69.41%</div></td><td align="right">11.90 KHz / <div style="color:gray;">3.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 226.89%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">270.21 us</div></td><td align="center"><div style="color:blue;">∇ -69.14%</div></td><td align="right">11.99 KHz / <div style="color:gray;">3.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 224.10%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">415.87 us</div></td><td align="center"><div style="color:blue;">∇ -58.97%</div></td><td align="right">5.86 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 143.75%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">406.59 us</div></td><td align="center"><div style="color:blue;">∇ -55.33%</div></td><td align="right">5.51 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 123.88%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">377.54 us</div></td><td align="center"><div style="color:blue;">∇ -52.58%</div></td><td align="right">5.59 KHz / <div style="color:gray;">2.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 110.89%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">379.45 us</div></td><td align="center"><div style="color:blue;">∇ -52.94%</div></td><td align="right">5.60 KHz / <div style="color:gray;">2.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 112.47%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:blue;">∇ -61.77%</div></td><td align="right">632.00 Hz / <div style="color:gray;">241.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 161.60%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">4.00 ms</div></td><td align="center"><div style="color:blue;">∇ -68.38%</div></td><td align="right">790.83 Hz / <div style="color:gray;">250.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 216.26%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">2.94 ms</div></td><td align="center"><div style="color:blue;">∇ -70.67%</div></td><td align="right">1.16 KHz / <div style="color:gray;">339.77 Hz</div></td><td align="center"><div style="color:blue;">Δ 240.89%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">2.89 ms</div></td><td align="center"><div style="color:blue;">∇ -70.75%</div></td><td align="right">1.18 KHz / <div style="color:gray;">345.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 241.89%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">4.77 ms</div></td><td align="center"><div style="color:blue;">∇ -58.90%</div></td><td align="right">509.85 Hz / <div style="color:gray;">209.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 143.28%</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;">∇ -53.82%</div></td><td align="right">445.23 Hz / <div style="color:gray;">205.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 116.56%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.05 ms</div></td><td align="center"><div style="color:blue;">∇ -51.80%</div></td><td align="right">511.72 Hz / <div style="color:gray;">246.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 107.47%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">4.21 ms</div></td><td align="center"><div style="color:blue;">∇ -53.67%</div></td><td align="right">512.69 Hz / <div style="color:gray;">237.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 115.85%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">381.69 us</div></td><td align="center"><div style="color:blue;">∇ -55.65%</div></td><td align="right">5.91 KHz / <div style="color:gray;">2.62 KHz</div></td><td align="center"><div style="color:blue;">Δ 125.50%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">407.21 us</div></td><td align="center"><div style="color:blue;">∇ -58.55%</div></td><td align="right">5.93 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 141.27%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">339.57 us</div></td><td align="center"><div style="color:blue;">∇ -54.74%</div></td><td align="right">6.51 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 120.94%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">334.55 us</div></td><td align="center"><div style="color:blue;">∇ -53.91%</div></td><td align="right">6.49 KHz / <div style="color:gray;">2.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 116.97%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">688.91 us</div></td><td align="center"><div style="color:blue;">∇ -31.49%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.97%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">684.69 us</div></td><td align="center"><div style="color:blue;">∇ -29.96%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 42.77%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">683.24 us</div></td><td align="center"><div style="color:blue;">∇ -35.41%</div></td><td align="right">2.27 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 54.81%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">684.37 us</div></td><td align="center"><div style="color:blue;">∇ -34.97%</div></td><td align="right">2.25 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 53.77%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:blue;">∇ -36.77%</div></td><td align="right">407.06 Hz / <div style="color:gray;">257.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 58.15%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.79 ms</div></td><td align="center"><div style="color:blue;">∇ -35.10%</div></td><td align="right">406.51 Hz / <div style="color:gray;">263.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.09%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.59 ms</div></td><td align="center"><div style="color:blue;">∇ -52.60%</div></td><td align="right">588.45 Hz / <div style="color:gray;">278.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 110.98%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">3.52 ms</div></td><td align="center"><div style="color:blue;">∇ -51.65%</div></td><td align="right">587.97 Hz / <div style="color:gray;">284.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 106.83%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">7.80 ms</div></td><td align="center"><div style="color:blue;">∇ -14.35%</div></td><td align="right">149.62 Hz / <div style="color:gray;">128.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.75%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">7.81 ms</div></td><td align="center"><div style="color:blue;">∇ -13.47%</div></td><td align="right">148.06 Hz / <div style="color:gray;">128.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.57%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">7.49 ms</div></td><td align="center"><div style="color:blue;">∇ -38.80%</div></td><td align="right">218.07 Hz / <div style="color:gray;">133.45 Hz</div></td><td align="center"><div style="color:blue;">Δ 63.41%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">7.57 ms</div></td><td align="center"><div style="color:blue;">∇ -39.54%</div></td><td align="right">218.58 Hz / <div style="color:gray;">132.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 65.40%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">213.16 us</div></td><td align="center"><div style="color:blue;">∇ -58.23%</div></td><td align="right">11.23 KHz / <div style="color:gray;">4.69 KHz</div></td><td align="center"><div style="color:blue;">Δ 139.38%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">311.59 us</div></td><td align="center"><div style="color:blue;">∇ -75.82%</div></td><td align="right">13.28 KHz / <div style="color:gray;">3.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 313.65%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">2.57 ms</div></td><td align="center"><div style="color:blue;">∇ -56.87%</div></td><td align="right">903.43 Hz / <div style="color:gray;">389.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 131.85%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">2.70 ms</div></td><td align="center"><div style="color:blue;">∇ -73.67%</div></td><td align="right">1.41 KHz / <div style="color:gray;">370.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 279.82%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">31.29 ms</div></td><td align="center"><div style="color:blue;">∇ -40.74%</div></td><td align="right">53.94 Hz / <div style="color:gray;">31.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 68.75%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">32.92 ms</div></td><td align="center"><div style="color:blue;">∇ -70.36%</div></td><td align="right">102.51 Hz / <div style="color:gray;">30.38 Hz</div></td><td align="center"><div style="color:blue;">Δ 237.40%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">393.68 ms</div></td><td align="center"><div style="color:blue;">∇ -35.84%</div></td><td align="right">3.96 Hz / <div style="color:gray;">2.54 Hz</div></td><td align="center"><div style="color:blue;">Δ 55.87%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">385.61 ms</div></td><td align="center"><div style="color:blue;">∇ -70.89%</div></td><td align="right">8.91 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 243.58%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">380.30 ms</div></td><td align="center"><div style="color:blue;">∇ -32.68%</div></td><td align="right">3.91 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 48.54%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">376.84 ms</div></td><td align="center"><div style="color:blue;">∇ -71.83%</div></td><td align="right">9.42 Hz / <div style="color:gray;">2.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 254.97%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.682474 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
