<html><head><title>mrpt-performance results - 0.9.3-GCC-64bit vs 0.9.4-MSVC10-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-GCC-64bit vs. 0.9.4-MSVC10-64bit</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-MSVC10-64bit</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;">26.54 ms</div></td><td align="center"><div style="color:blue;">∇ -21.26%</div></td><td align="right">47.85 Hz / <div style="color:gray;">37.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.01%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">18.76 ms / <div style="color:gray;">32.17 ms</div></td><td align="center"><div style="color:blue;">∇ -41.68%</div></td><td align="right">53.30 Hz / <div style="color:gray;">31.08 Hz</div></td><td align="center"><div style="color:blue;">Δ 71.46%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">41.67 ns / <div style="color:gray;">62.83 ns</div></td><td align="center"><div style="color:blue;">∇ -33.68%</div></td><td align="right">24.00 MHz / <div style="color:gray;">15.92 MHz</div></td><td align="center"><div style="color:blue;">Δ 50.78%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">32.39 ns / <div style="color:gray;">41.42 ns</div></td><td align="center"><div style="color:blue;">∇ -21.80%</div></td><td align="right">30.87 MHz / <div style="color:gray;">24.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.88%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">8.02 ns / <div style="color:gray;">18.89 ns</div></td><td align="center"><div style="color:blue;">∇ -57.52%</div></td><td align="right">124.63 MHz / <div style="color:gray;">52.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 135.41%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.53 ns / <div style="color:gray;">17.17 ns</div></td><td align="center"><div style="color:blue;">∇ -32.84%</div></td><td align="right">86.70 MHz / <div style="color:gray;">58.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 48.90%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">18.18 ns / <div style="color:gray;">88.79 ns</div></td><td align="center"><div style="color:blue;">∇ -79.52%</div></td><td align="right">54.99 MHz / <div style="color:gray;">11.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 388.28%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">25.21 ns / <div style="color:gray;">44.00 ns</div></td><td align="center"><div style="color:blue;">∇ -42.70%</div></td><td align="right">39.66 MHz / <div style="color:gray;">22.73 MHz</div></td><td align="center"><div style="color:blue;">Δ 74.51%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.10 ns / <div style="color:gray;">72.08 ns</div></td><td align="center"><div style="color:red;">Δ 0.03%</div></td><td align="right">13.87 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -0.03%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.22 ns / <div style="color:gray;">63.27 ns</div></td><td align="center"><div style="color:red;">Δ 9.41%</div></td><td align="right">14.45 MHz / <div style="color:gray;">15.81 MHz</div></td><td align="center"><div style="color:red;">∇ -8.60%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.48 ns / <div style="color:gray;">34.42 ns</div></td><td align="center"><div style="color:red;">Δ 75.73%</div></td><td align="right">16.53 MHz / <div style="color:gray;">29.05 MHz</div></td><td align="center"><div style="color:red;">∇ -43.09%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.01 ns / <div style="color:gray;">26.02 ns</div></td><td align="center"><div style="color:red;">Δ 130.61%</div></td><td align="right">16.66 MHz / <div style="color:gray;">38.43 MHz</div></td><td align="center"><div style="color:red;">∇ -56.64%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">42.70 ns / <div style="color:gray;">113.59 ns</div></td><td align="center"><div style="color:blue;">∇ -62.41%</div></td><td align="right">23.42 MHz / <div style="color:gray;">8.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 166.02%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">38.27 ns / <div style="color:gray;">82.72 ns</div></td><td align="center"><div style="color:blue;">∇ -53.73%</div></td><td align="right">26.13 MHz / <div style="color:gray;">12.09 MHz</div></td><td align="center"><div style="color:blue;">Δ 116.14%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.90 ns / <div style="color:gray;">41.33 ns</div></td><td align="center"><div style="color:blue;">∇ -56.68%</div></td><td align="right">55.85 MHz / <div style="color:gray;">24.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 130.82%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">18.44 ns / <div style="color:gray;">31.13 ns</div></td><td align="center"><div style="color:blue;">∇ -40.77%</div></td><td align="right">54.23 MHz / <div style="color:gray;">32.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 68.83%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">33.31 ns / <div style="color:gray;">113.89 ns</div></td><td align="center"><div style="color:blue;">∇ -70.75%</div></td><td align="right">30.02 MHz / <div style="color:gray;">8.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 241.88%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.52 ns / <div style="color:gray;">33.95 ns</div></td><td align="center"><div style="color:blue;">∇ -42.51%</div></td><td align="right">51.24 MHz / <div style="color:gray;">29.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 73.94%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">16.27 ns / <div style="color:gray;">26.44 ns</div></td><td align="center"><div style="color:blue;">∇ -38.46%</div></td><td align="right">61.45 MHz / <div style="color:gray;">37.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 62.49%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">169.77 ns / <div style="color:gray;">97.31 ns</div></td><td align="center"><div style="color:red;">Δ 74.47%</div></td><td align="right">5.89 MHz / <div style="color:gray;">10.28 MHz</div></td><td align="center"><div style="color:red;">∇ -42.68%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">799.00 ns / <div style="color:gray;">948.85 ns</div></td><td align="center"><div style="color:blue;">∇ -15.79%</div></td><td align="right">1.25 MHz / <div style="color:gray;">1.05 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.76%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">788.50 ns / <div style="color:gray;">938.66 ns</div></td><td align="center"><div style="color:blue;">∇ -16.00%</div></td><td align="right">1.27 MHz / <div style="color:gray;">1.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 19.04%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">9.11 us / <div style="color:gray;">21.21 us</div></td><td align="center"><div style="color:blue;">∇ -57.07%</div></td><td align="right">109.83 KHz / <div style="color:gray;">47.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 132.94%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">557.50 ns / <div style="color:gray;">532.44 ns</div></td><td align="center"><div style="color:red;">Δ 4.71%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.88 MHz</div></td><td align="center"><div style="color:red;">∇ -4.49%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">558.50 ns / <div style="color:gray;">528.23 ns</div></td><td align="center"><div style="color:red;">Δ 5.73%</div></td><td align="right">1.79 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:red;">∇ -5.42%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">8.42 us / <div style="color:gray;">11.19 us</div></td><td align="center"><div style="color:blue;">∇ -24.80%</div></td><td align="right">118.81 KHz / <div style="color:gray;">89.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 32.98%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.83 ns / <div style="color:gray;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -60.54%</div></td><td align="right">56.07 MHz / <div style="color:gray;">22.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 153.43%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.48 ns / <div style="color:gray;">45.86 ns</div></td><td align="center"><div style="color:blue;">∇ -57.53%</div></td><td align="right">51.35 MHz / <div style="color:gray;">21.81 MHz</div></td><td align="center"><div style="color:blue;">Δ 135.46%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">54.85 ns / <div style="color:gray;">177.43 ns</div></td><td align="center"><div style="color:blue;">∇ -69.09%</div></td><td align="right">18.23 MHz / <div style="color:gray;">5.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 223.51%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">55.93 ns / <div style="color:gray;">169.52 ns</div></td><td align="center"><div style="color:blue;">∇ -67.01%</div></td><td align="right">17.88 MHz / <div style="color:gray;">5.90 MHz</div></td><td align="center"><div style="color:blue;">Δ 203.08%</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;">6.37 ns</div></td><td align="center"><div style="color:blue;">∇ -76.47%</div></td><td align="right">667.56 MHz / <div style="color:gray;">157.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 325.04%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">5.61 ns / <div style="color:gray;">7.86 ns</div></td><td align="center"><div style="color:blue;">∇ -28.68%</div></td><td align="right">178.35 MHz / <div style="color:gray;">127.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.22%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">291.30 ns / <div style="color:gray;">485.93 ns</div></td><td align="center"><div style="color:blue;">∇ -40.05%</div></td><td align="right">3.43 MHz / <div style="color:gray;">2.06 MHz</div></td><td align="center"><div style="color:blue;">Δ 66.81%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">292.50 ns / <div style="color:gray;">528.41 ns</div></td><td align="center"><div style="color:blue;">∇ -44.65%</div></td><td align="right">3.42 MHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:blue;">Δ 80.65%</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;">547.16 ns</div></td><td align="center"><div style="color:blue;">∇ -36.49%</div></td><td align="right">2.88 MHz / <div style="color:gray;">1.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 57.46%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">424.60 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;">391.50 ns</div></td><td align="center"><div style="color:blue;">∇ -13.05%</div></td><td align="right">2.94 MHz / <div style="color:gray;">2.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 15.01%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">2.36 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">424.60 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;">2.74 us</div></td><td align="center"><div style="color:blue;">∇ -11.78%</div></td><td align="right">413.19 KHz / <div style="color:gray;">364.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 13.35%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.23 us / <div style="color:gray;">2.08 us</div></td><td align="center"><div style="color:red;">Δ 7.07%</div></td><td align="right">448.19 KHz / <div style="color:gray;">479.89 KHz</div></td><td align="center"><div style="color:red;">∇ -6.61%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.31 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:blue;">∇ -33.31%</div></td><td align="right">432.69 KHz / <div style="color:gray;">288.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 49.96%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.12 us / <div style="color:gray;">2.38 us</div></td><td align="center"><div style="color:blue;">∇ -10.94%</div></td><td align="right">471.08 KHz / <div style="color:gray;">419.56 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.28%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">780.00 ns / <div style="color:gray;">1.09 us</div></td><td align="center"><div style="color:blue;">∇ -28.15%</div></td><td align="right">1.28 MHz / <div style="color:gray;">921.12 KHz</div></td><td align="center"><div style="color:blue;">Δ 39.18%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">22.19 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">45.06 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;">2.78 us</div></td><td align="center"><div style="color:blue;">∇ -29.08%</div></td><td align="right">507.10 KHz / <div style="color:gray;">359.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 41.00%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.60 us / <div style="color:gray;">2.22 us</div></td><td align="center"><div style="color:blue;">∇ -27.92%</div></td><td align="right">624.61 KHz / <div style="color:gray;">450.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 38.73%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.08 us / <div style="color:gray;">30.71 us</div></td><td align="center"><div style="color:blue;">∇ -47.64%</div></td><td align="right">62.19 KHz / <div style="color:gray;">32.56 KHz</div></td><td align="center"><div style="color:blue;">Δ 91.00%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">14.48 us / <div style="color:gray;">24.08 us</div></td><td align="center"><div style="color:blue;">∇ -39.88%</div></td><td align="right">69.08 KHz / <div style="color:gray;">41.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 66.32%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">65.78 us / <div style="color:gray;">117.18 us</div></td><td align="center"><div style="color:blue;">∇ -43.86%</div></td><td align="right">15.20 KHz / <div style="color:gray;">8.53 KHz</div></td><td align="center"><div style="color:blue;">Δ 78.12%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">64.13 us / <div style="color:gray;">112.80 us</div></td><td align="center"><div style="color:blue;">∇ -43.15%</div></td><td align="right">15.59 KHz / <div style="color:gray;">8.86 KHz</div></td><td align="center"><div style="color:blue;">Δ 75.90%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">212.60 ns / <div style="color:gray;">765.51 ns</div></td><td align="center"><div style="color:blue;">∇ -72.23%</div></td><td align="right">4.70 MHz / <div style="color:gray;">1.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 260.07%</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;">822.31 ns</div></td><td align="center"><div style="color:blue;">∇ -60.68%</div></td><td align="right">3.09 MHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 154.35%</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;">1.78 us</div></td><td align="center"><div style="color:blue;">∇ -56.57%</div></td><td align="right">1.29 MHz / <div style="color:gray;">560.47 KHz</div></td><td align="center"><div style="color:blue;">Δ 130.25%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">592.30 ns / <div style="color:gray;">1.51 us</div></td><td align="center"><div style="color:blue;">∇ -60.83%</div></td><td align="right">1.69 MHz / <div style="color:gray;">661.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 155.28%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.50 us / <div style="color:gray;">18.54 us</div></td><td align="center"><div style="color:blue;">∇ -54.14%</div></td><td align="right">117.63 KHz / <div style="color:gray;">53.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 118.06%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.72 us / <div style="color:gray;">19.01 us</div></td><td align="center"><div style="color:blue;">∇ -59.39%</div></td><td align="right">129.53 KHz / <div style="color:gray;">52.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 146.22%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">32.23 us / <div style="color:gray;">72.40 us</div></td><td align="center"><div style="color:blue;">∇ -55.49%</div></td><td align="right">31.03 KHz / <div style="color:gray;">13.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 124.65%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">30.71 us / <div style="color:gray;">67.43 us</div></td><td align="center"><div style="color:blue;">∇ -54.46%</div></td><td align="right">32.57 KHz / <div style="color:gray;">14.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 119.59%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">606.90 ns</div></td><td align="center"><div style="color:blue;">∇ -12.67%</div></td><td align="right">1.89 MHz / <div style="color:gray;">1.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.51%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">130.00 ns / <div style="color:gray;">190.22 ns</div></td><td align="center"><div style="color:blue;">∇ -31.66%</div></td><td align="right">7.69 MHz / <div style="color:gray;">5.26 MHz</div></td><td align="center"><div style="color:blue;">Δ 46.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">22.98 us / <div style="color:gray;">31.59 us</div></td><td align="center"><div style="color:blue;">∇ -27.25%</div></td><td align="right">43.52 KHz / <div style="color:gray;">31.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 37.45%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">19.50 us / <div style="color:gray;">20.87 us</div></td><td align="center"><div style="color:blue;">∇ -6.55%</div></td><td align="right">51.28 KHz / <div style="color:gray;">47.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.00%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">8.20 us / <div style="color:gray;">7.11 us</div></td><td align="center"><div style="color:red;">Δ 15.32%</div></td><td align="right">121.95 KHz / <div style="color:gray;">140.63 KHz</div></td><td align="center"><div style="color:red;">∇ -13.28%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">85.30 us / <div style="color:gray;">94.75 us</div></td><td align="center"><div style="color:blue;">∇ -9.97%</div></td><td align="right">11.72 KHz / <div style="color:gray;">10.55 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.08%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">56.80 us / <div style="color:gray;">75.59 us</div></td><td align="center"><div style="color:blue;">∇ -24.86%</div></td><td align="right">17.61 KHz / <div style="color:gray;">13.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 33.08%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">39.31 us / <div style="color:gray;">43.20 us</div></td><td align="center"><div style="color:blue;">∇ -9.01%</div></td><td align="right">25.44 KHz / <div style="color:gray;">23.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.90%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">266.80 us / <div style="color:gray;">453.46 us</div></td><td align="center"><div style="color:blue;">∇ -41.16%</div></td><td align="right">3.75 KHz / <div style="color:gray;">2.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 69.96%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">72.76 us / <div style="color:gray;">74.00 us</div></td><td align="center"><div style="color:blue;">∇ -1.68%</div></td><td align="right">13.74 KHz / <div style="color:gray;">13.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.71%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.67 ms / <div style="color:gray;">3.54 ms</div></td><td align="center"><div style="color:blue;">∇ -24.65%</div></td><td align="right">374.53 Hz / <div style="color:gray;">282.19 Hz</div></td><td align="center"><div style="color:blue;">Δ 32.72%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">176.19 us / <div style="color:gray;">178.69 us</div></td><td align="center"><div style="color:blue;">∇ -1.40%</div></td><td align="right">5.68 KHz / <div style="color:gray;">5.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">20.73 ms / <div style="color:gray;">22.29 ms</div></td><td align="center"><div style="color:blue;">∇ -6.97%</div></td><td align="right">48.23 Hz / <div style="color:gray;">44.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.49%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">351.05 us / <div style="color:gray;">359.36 us</div></td><td align="center"><div style="color:blue;">∇ -2.31%</div></td><td align="right">2.85 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.37%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">34.60 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:blue;">∇ -4.64%</div></td><td align="right">28.90 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.86%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">415.89 us / <div style="color:gray;">411.86 us</div></td><td align="center"><div style="color:red;">Δ 0.98%</div></td><td align="right">2.40 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -0.97%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">50.32 ms / <div style="color:gray;">54.34 ms</div></td><td align="center"><div style="color:blue;">∇ -7.40%</div></td><td align="right">19.87 Hz / <div style="color:gray;">18.40 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.00%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">482.94 us / <div style="color:gray;">488.10 us</div></td><td align="center"><div style="color:blue;">∇ -1.06%</div></td><td align="right">2.07 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.07%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">0.00 ns / <div style="color:gray;">4.13 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">242.07 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;">5.65 ns</div></td><td align="center"><div style="color:blue;">∇ -53.82%</div></td><td align="right">383.63 MHz / <div style="color:gray;">177.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 116.56%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.99 ns / <div style="color:gray;">6.93 ns</div></td><td align="center"><div style="color:red;">Δ 0.93%</div></td><td align="right">143.02 MHz / <div style="color:gray;">144.35 MHz</div></td><td align="center"><div style="color:red;">∇ -0.92%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.51 ns / <div style="color:gray;">1.20 ns</div></td><td align="center"><div style="color:blue;">∇ -57.30%</div></td><td align="right">1.95 GHz / <div style="color:gray;">833.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 134.17%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.59 us / <div style="color:gray;">102.16 us</div></td><td align="center"><div style="color:red;">Δ 0.42%</div></td><td align="right">9.75 KHz / <div style="color:gray;">9.79 KHz</div></td><td align="center"><div style="color:red;">∇ -0.42%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">284.11 us / <div style="color:gray;">276.88 us</div></td><td align="center"><div style="color:red;">Δ 2.61%</div></td><td align="right">3.52 KHz / <div style="color:gray;">3.61 KHz</div></td><td align="center"><div style="color:red;">∇ -2.54%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">722.00 us / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:blue;">∇ -81.44%</div></td><td align="right">1.39 KHz / <div style="color:gray;">257.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 438.79%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">15.69 us / <div style="color:gray;">13.92 us</div></td><td align="center"><div style="color:red;">Δ 12.74%</div></td><td align="right">63.72 KHz / <div style="color:gray;">71.84 KHz</div></td><td align="center"><div style="color:red;">∇ -11.30%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">2.97 ms / <div style="color:gray;">1.87 ms</div></td><td align="center"><div style="color:red;">Δ 58.50%</div></td><td align="right">337.06 Hz / <div style="color:gray;">534.24 Hz</div></td><td align="center"><div style="color:red;">∇ -36.91%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.36 us / <div style="color:gray;">5.09 us</div></td><td align="center"><div style="color:blue;">∇ -14.35%</div></td><td align="right">229.36 KHz / <div style="color:gray;">196.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.76%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">357.08 us / <div style="color:gray;">486.39 us</div></td><td align="center"><div style="color:blue;">∇ -26.59%</div></td><td align="right">2.80 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 36.21%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.19 ms / <div style="color:gray;">5.10 ms</div></td><td align="center"><div style="color:blue;">∇ -17.78%</div></td><td align="right">238.61 Hz / <div style="color:gray;">196.20 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.62%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">4.72 us / <div style="color:gray;">5.56 us</div></td><td align="center"><div style="color:blue;">∇ -15.13%</div></td><td align="right">211.86 KHz / <div style="color:gray;">179.80 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.83%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">362.68 us / <div style="color:gray;">467.24 us</div></td><td align="center"><div style="color:blue;">∇ -22.38%</div></td><td align="right">2.76 KHz / <div style="color:gray;">2.14 KHz</div></td><td align="center"><div style="color:blue;">Δ 28.83%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.10 ms / <div style="color:gray;">5.18 ms</div></td><td align="center"><div style="color:blue;">∇ -20.94%</div></td><td align="right">244.09 Hz / <div style="color:gray;">192.98 Hz</div></td><td align="center"><div style="color:blue;">Δ 26.48%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.39 us / <div style="color:gray;">1.59 us</div></td><td align="center"><div style="color:blue;">∇ -12.94%</div></td><td align="right">720.46 KHz / <div style="color:gray;">627.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.86%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">126.68 us</div></td><td align="center"><div style="color:blue;">∇ -19.59%</div></td><td align="right">9.82 KHz / <div style="color:gray;">7.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.36%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">11.78 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:blue;">∇ -15.05%</div></td><td align="right">84.92 Hz / <div style="color:gray;">72.14 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.72%</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;">6.54 ms</div></td><td align="center"><div style="color:blue;">∇ -14.07%</div></td><td align="right">177.84 Hz / <div style="color:gray;">152.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.38%</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;">174.77 ms</div></td><td align="center"><div style="color:blue;">∇ -25.28%</div></td><td align="right">7.66 Hz / <div style="color:gray;">5.72 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.83%</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;">6.88 ms</div></td><td align="center"><div style="color:blue;">∇ -17.33%</div></td><td align="right">175.73 Hz / <div style="color:gray;">145.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.96%</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;">181.38 ms</div></td><td align="center"><div style="color:blue;">∇ -27.10%</div></td><td align="right">7.56 Hz / <div style="color:gray;">5.51 Hz</div></td><td align="center"><div style="color:blue;">Δ 37.17%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">15.67 ns / <div style="color:gray;">9.54 ns</div></td><td align="center"><div style="color:red;">Δ 64.32%</div></td><td align="right">63.82 MHz / <div style="color:gray;">104.87 MHz</div></td><td align="center"><div style="color:red;">∇ -39.14%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">15.66 ns / <div style="color:gray;">9.69 ns</div></td><td align="center"><div style="color:red;">Δ 61.58%</div></td><td align="right">63.88 MHz / <div style="color:gray;">103.21 MHz</div></td><td align="center"><div style="color:red;">∇ -38.11%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">69.89 ns / <div style="color:gray;">52.06 ns</div></td><td align="center"><div style="color:red;">Δ 34.25%</div></td><td align="right">14.31 MHz / <div style="color:gray;">19.21 MHz</div></td><td align="center"><div style="color:red;">∇ -25.51%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">69.86 ns / <div style="color:gray;">50.73 ns</div></td><td align="center"><div style="color:red;">Δ 37.69%</div></td><td align="right">14.32 MHz / <div style="color:gray;">19.71 MHz</div></td><td align="center"><div style="color:red;">∇ -27.38%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">12.21 ns / <div style="color:gray;">24.47 ns</div></td><td align="center"><div style="color:blue;">∇ -50.08%</div></td><td align="right">81.87 MHz / <div style="color:gray;">40.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 100.33%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.70 us / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:red;">Δ 117.33%</div></td><td align="right">370.49 KHz / <div style="color:gray;">805.20 KHz</div></td><td align="center"><div style="color:red;">∇ -53.99%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">5.71 us / <div style="color:gray;">3.19 us</div></td><td align="center"><div style="color:red;">Δ 79.11%</div></td><td align="right">175.14 KHz / <div style="color:gray;">313.70 KHz</div></td><td align="center"><div style="color:red;">∇ -44.17%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">148.19 ns / <div style="color:gray;">130.03 ns</div></td><td align="center"><div style="color:red;">Δ 13.97%</div></td><td align="right">6.75 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -12.25%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">232.46 ns / <div style="color:gray;">198.35 ns</div></td><td align="center"><div style="color:red;">Δ 17.19%</div></td><td align="right">4.30 MHz / <div style="color:gray;">5.04 MHz</div></td><td align="center"><div style="color:red;">∇ -14.67%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">489.71 ns / <div style="color:gray;">451.66 ns</div></td><td align="center"><div style="color:red;">Δ 8.42%</div></td><td align="right">2.04 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -7.77%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">159.54 ns / <div style="color:gray;">136.92 ns</div></td><td align="center"><div style="color:red;">Δ 16.52%</div></td><td align="right">6.27 MHz / <div style="color:gray;">7.30 MHz</div></td><td align="center"><div style="color:red;">∇ -14.17%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">247.75 ns / <div style="color:gray;">213.52 ns</div></td><td align="center"><div style="color:red;">Δ 16.03%</div></td><td align="right">4.04 MHz / <div style="color:gray;">4.68 MHz</div></td><td align="center"><div style="color:red;">∇ -13.82%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">521.91 ns / <div style="color:gray;">478.55 ns</div></td><td align="center"><div style="color:red;">Δ 9.06%</div></td><td align="right">1.92 MHz / <div style="color:gray;">2.09 MHz</div></td><td align="center"><div style="color:red;">∇ -8.31%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">251.30 ns / <div style="color:gray;">244.07 ns</div></td><td align="center"><div style="color:red;">Δ 2.96%</div></td><td align="right">3.98 MHz / <div style="color:gray;">4.10 MHz</div></td><td align="center"><div style="color:red;">∇ -2.88%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.02 us / <div style="color:gray;">3.12 us</div></td><td align="center"><div style="color:blue;">∇ -3.42%</div></td><td align="right">331.46 KHz / <div style="color:gray;">320.11 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.54%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.36 us / <div style="color:gray;">30.82 us</div></td><td align="center"><div style="color:blue;">∇ -1.49%</div></td><td align="right">32.93 KHz / <div style="color:gray;">32.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.51%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 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;">29.87 ms</div></td><td align="center"><div style="color:red;">Δ 14.30%</div></td><td align="right">29.29 Hz / <div style="color:gray;">33.48 Hz</div></td><td align="center"><div style="color:red;">∇ -12.51%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.83 ms / <div style="color:gray;">42.98 ms</div></td><td align="center"><div style="color:red;">Δ 15.92%</div></td><td align="right">20.07 Hz / <div style="color:gray;">23.26 Hz</div></td><td align="center"><div style="color:red;">∇ -13.74%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">80.71 ms / <div style="color:gray;">69.03 ms</div></td><td align="center"><div style="color:red;">Δ 16.93%</div></td><td align="right">12.39 Hz / <div style="color:gray;">14.49 Hz</div></td><td align="center"><div style="color:red;">∇ -14.48%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">29.36 ms / <div style="color:gray;">22.86 ms</div></td><td align="center"><div style="color:red;">Δ 28.48%</div></td><td align="right">34.05 Hz / <div style="color:gray;">43.75 Hz</div></td><td align="center"><div style="color:red;">∇ -22.16%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">42.45 ms / <div style="color:gray;">35.20 ms</div></td><td align="center"><div style="color:red;">Δ 20.57%</div></td><td align="right">23.56 Hz / <div style="color:gray;">28.41 Hz</div></td><td align="center"><div style="color:red;">∇ -17.06%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">65.41 ms / <div style="color:gray;">57.29 ms</div></td><td align="center"><div style="color:red;">Δ 14.16%</div></td><td align="right">15.29 Hz / <div style="color:gray;">17.45 Hz</div></td><td align="center"><div style="color:red;">∇ -12.41%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.66 ms / <div style="color:gray;">4.45 ms</div></td><td align="center"><div style="color:red;">Δ 4.80%</div></td><td align="right">214.40 Hz / <div style="color:gray;">224.70 Hz</div></td><td align="center"><div style="color:red;">∇ -4.58%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.98 ms / <div style="color:gray;">8.06 ms</div></td><td align="center"><div style="color:blue;">∇ -25.71%</div></td><td align="right">167.10 Hz / <div style="color:gray;">124.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.60%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.42 ms / <div style="color:gray;">13.86 ms</div></td><td align="center"><div style="color:blue;">∇ -24.78%</div></td><td align="right">95.93 Hz / <div style="color:gray;">72.16 Hz</div></td><td align="center"><div style="color:blue;">Δ 32.94%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">11.35 us / <div style="color:gray;">17.29 us</div></td><td align="center"><div style="color:blue;">∇ -34.35%</div></td><td align="right">88.11 KHz / <div style="color:gray;">57.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 52.31%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.96 us / <div style="color:gray;">16.49 us</div></td><td align="center"><div style="color:blue;">∇ -39.59%</div></td><td align="right">100.40 KHz / <div style="color:gray;">60.66 KHz</div></td><td align="center"><div style="color:blue;">Δ 65.52%</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;">9.72 us</div></td><td align="center"><div style="color:blue;">∇ -43.21%</div></td><td align="right">181.16 KHz / <div style="color:gray;">102.89 KHz</div></td><td align="center"><div style="color:blue;">Δ 76.08%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">32.25 ms / <div style="color:gray;">31.46 ms</div></td><td align="center"><div style="color:red;">Δ 2.52%</div></td><td align="right">31.01 Hz / <div style="color:gray;">31.79 Hz</div></td><td align="center"><div style="color:red;">∇ -2.46%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">25.60 ms / <div style="color:gray;">30.94 ms</div></td><td align="center"><div style="color:blue;">∇ -17.26%</div></td><td align="right">39.06 Hz / <div style="color:gray;">32.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.86%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">630.91 ms / <div style="color:gray;">653.53 ms</div></td><td align="center"><div style="color:blue;">∇ -3.46%</div></td><td align="right">1.59 Hz / <div style="color:gray;">1.53 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.59%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">164.09 ms / <div style="color:gray;">210.38 ms</div></td><td align="center"><div style="color:blue;">∇ -22.00%</div></td><td align="right">6.09 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.21%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">207.64 ms / <div style="color:gray;">243.66 ms</div></td><td align="center"><div style="color:blue;">∇ -14.78%</div></td><td align="right">4.82 Hz / <div style="color:gray;">4.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.35%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">7.60 ms / <div style="color:gray;">6.32 ms</div></td><td align="center"><div style="color:red;">Δ 20.23%</div></td><td align="right">131.57 Hz / <div style="color:gray;">158.19 Hz</div></td><td align="center"><div style="color:red;">∇ -16.83%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">60.60 ms / <div style="color:gray;">45.12 ms</div></td><td align="center"><div style="color:red;">Δ 34.32%</div></td><td align="right">16.50 Hz / <div style="color:gray;">22.16 Hz</div></td><td align="center"><div style="color:red;">∇ -25.55%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">43.99 ms / <div style="color:gray;">46.60 ms</div></td><td align="center"><div style="color:blue;">∇ -5.59%</div></td><td align="right">22.73 Hz / <div style="color:gray;">21.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.93%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">36.29 ms / <div style="color:gray;">40.89 ms</div></td><td align="center"><div style="color:blue;">∇ -11.26%</div></td><td align="right">27.56 Hz / <div style="color:gray;">24.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.69%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.20 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:blue;">∇ -6.68%</div></td><td align="right">834.47 mHz / <div style="color:gray;">778.73 mHz</div></td><td align="center"><div style="color:blue;">Δ 7.16%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">379.83 ms / <div style="color:gray;">502.54 ms</div></td><td align="center"><div style="color:blue;">∇ -24.42%</div></td><td align="right">2.63 Hz / <div style="color:gray;">1.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 32.31%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">16.04 ms / <div style="color:gray;">19.71 ms</div></td><td align="center"><div style="color:blue;">∇ -18.64%</div></td><td align="right">62.36 Hz / <div style="color:gray;">50.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.91%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.85 ms / <div style="color:gray;">13.01 ms</div></td><td align="center"><div style="color:blue;">∇ -16.58%</div></td><td align="right">92.14 Hz / <div style="color:gray;">76.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.88%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">119.99 us / <div style="color:gray;">236.53 us</div></td><td align="center"><div style="color:blue;">∇ -49.27%</div></td><td align="right">8.33 KHz / <div style="color:gray;">4.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 97.12%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">107.18 us / <div style="color:gray;">246.73 us</div></td><td align="center"><div style="color:blue;">∇ -56.56%</div></td><td align="right">9.33 KHz / <div style="color:gray;">4.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 130.20%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.03 us / <div style="color:gray;">218.81 us</div></td><td align="center"><div style="color:blue;">∇ -61.60%</div></td><td align="right">11.90 KHz / <div style="color:gray;">4.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 160.39%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">83.37 us / <div style="color:gray;">209.21 us</div></td><td align="center"><div style="color:blue;">∇ -60.15%</div></td><td align="right">11.99 KHz / <div style="color:gray;">4.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 150.94%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">170.61 us / <div style="color:gray;">329.87 us</div></td><td align="center"><div style="color:blue;">∇ -48.28%</div></td><td align="right">5.86 KHz / <div style="color:gray;">3.03 KHz</div></td><td align="center"><div style="color:blue;">Δ 93.34%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">181.61 us / <div style="color:gray;">303.60 us</div></td><td align="center"><div style="color:blue;">∇ -40.18%</div></td><td align="right">5.51 KHz / <div style="color:gray;">3.29 KHz</div></td><td align="center"><div style="color:blue;">Δ 67.17%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">179.02 us / <div style="color:gray;">280.10 us</div></td><td align="center"><div style="color:blue;">∇ -36.09%</div></td><td align="right">5.59 KHz / <div style="color:gray;">3.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 56.46%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">178.59 us / <div style="color:gray;">284.27 us</div></td><td align="center"><div style="color:blue;">∇ -37.18%</div></td><td align="right">5.60 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 59.18%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">1.58 ms / <div style="color:gray;">2.72 ms</div></td><td align="center"><div style="color:blue;">∇ -41.93%</div></td><td align="right">632.00 Hz / <div style="color:gray;">367.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 72.21%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.26 ms / <div style="color:gray;">2.73 ms</div></td><td align="center"><div style="color:blue;">∇ -53.63%</div></td><td align="right">790.83 Hz / <div style="color:gray;">366.67 Hz</div></td><td align="center"><div style="color:blue;">Δ 115.68%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">863.38 us / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:blue;">∇ -55.77%</div></td><td align="right">1.16 KHz / <div style="color:gray;">512.34 Hz</div></td><td align="center"><div style="color:blue;">Δ 126.07%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.12 us / <div style="color:gray;">1.92 ms</div></td><td align="center"><div style="color:blue;">∇ -56.01%</div></td><td align="right">1.18 KHz / <div style="color:gray;">519.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 127.34%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">1.96 ms / <div style="color:gray;">3.21 ms</div></td><td align="center"><div style="color:blue;">∇ -38.87%</div></td><td align="right">509.85 Hz / <div style="color:gray;">311.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 63.58%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.25 ms / <div style="color:gray;">3.24 ms</div></td><td align="center"><div style="color:blue;">∇ -30.64%</div></td><td align="right">445.23 Hz / <div style="color:gray;">308.83 Hz</div></td><td align="center"><div style="color:blue;">Δ 44.17%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">3.23 ms</div></td><td align="center"><div style="color:blue;">∇ -39.43%</div></td><td align="right">511.72 Hz / <div style="color:gray;">309.95 Hz</div></td><td align="center"><div style="color:blue;">Δ 65.10%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">3.17 ms</div></td><td align="center"><div style="color:blue;">∇ -38.57%</div></td><td align="right">512.69 Hz / <div style="color:gray;">314.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 62.78%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">169.26 us / <div style="color:gray;">274.22 us</div></td><td align="center"><div style="color:blue;">∇ -38.28%</div></td><td align="right">5.91 KHz / <div style="color:gray;">3.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 62.01%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">168.78 us / <div style="color:gray;">264.66 us</div></td><td align="center"><div style="color:blue;">∇ -36.23%</div></td><td align="right">5.93 KHz / <div style="color:gray;">3.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 56.81%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">153.69 us / <div style="color:gray;">263.97 us</div></td><td align="center"><div style="color:blue;">∇ -41.78%</div></td><td align="right">6.51 KHz / <div style="color:gray;">3.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 71.75%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">154.19 us / <div style="color:gray;">267.33 us</div></td><td align="center"><div style="color:blue;">∇ -42.32%</div></td><td align="right">6.49 KHz / <div style="color:gray;">3.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 73.38%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">471.95 us / <div style="color:gray;">589.01 us</div></td><td align="center"><div style="color:blue;">∇ -19.87%</div></td><td align="right">2.12 KHz / <div style="color:gray;">1.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.80%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">479.58 us / <div style="color:gray;">596.64 us</div></td><td align="center"><div style="color:blue;">∇ -19.62%</div></td><td align="right">2.09 KHz / <div style="color:gray;">1.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.41%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">441.33 us / <div style="color:gray;">562.97 us</div></td><td align="center"><div style="color:blue;">∇ -21.61%</div></td><td align="right">2.27 KHz / <div style="color:gray;">1.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 27.56%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">445.05 us / <div style="color:gray;">559.03 us</div></td><td align="center"><div style="color:blue;">∇ -20.39%</div></td><td align="right">2.25 KHz / <div style="color:gray;">1.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 25.61%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.23 ms</div></td><td align="center"><div style="color:blue;">∇ -24.05%</div></td><td align="right">407.06 Hz / <div style="color:gray;">309.17 Hz</div></td><td align="center"><div style="color:blue;">Δ 31.66%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.46 ms / <div style="color:gray;">3.13 ms</div></td><td align="center"><div style="color:blue;">∇ -21.45%</div></td><td align="right">406.51 Hz / <div style="color:gray;">319.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.31%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">2.62 ms</div></td><td align="center"><div style="color:blue;">∇ -35.14%</div></td><td align="right">588.45 Hz / <div style="color:gray;">381.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 54.18%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">1.70 ms / <div style="color:gray;">2.55 ms</div></td><td align="center"><div style="color:blue;">∇ -33.20%</div></td><td align="right">587.97 Hz / <div style="color:gray;">392.76 Hz</div></td><td align="center"><div style="color:blue;">Δ 49.70%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">6.68 ms / <div style="color:gray;">6.11 ms</div></td><td align="center"><div style="color:red;">Δ 9.32%</div></td><td align="right">149.62 Hz / <div style="color:gray;">163.57 Hz</div></td><td align="center"><div style="color:red;">∇ -8.53%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.75 ms / <div style="color:gray;">5.61 ms</div></td><td align="center"><div style="color:red;">Δ 20.47%</div></td><td align="right">148.06 Hz / <div style="color:gray;">178.36 Hz</div></td><td align="center"><div style="color:red;">∇ -16.99%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.59 ms / <div style="color:gray;">5.21 ms</div></td><td align="center"><div style="color:blue;">∇ -11.95%</div></td><td align="right">218.07 Hz / <div style="color:gray;">192.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.57%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.58 ms / <div style="color:gray;">5.18 ms</div></td><td align="center"><div style="color:blue;">∇ -11.76%</div></td><td align="right">218.58 Hz / <div style="color:gray;">192.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.32%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">89.04 us / <div style="color:gray;">156.43 us</div></td><td align="center"><div style="color:blue;">∇ -43.08%</div></td><td align="right">11.23 KHz / <div style="color:gray;">6.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 75.67%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">75.33 us / <div style="color:gray;">192.33 us</div></td><td align="center"><div style="color:blue;">∇ -60.83%</div></td><td align="right">13.28 KHz / <div style="color:gray;">5.20 KHz</div></td><td align="center"><div style="color:blue;">Δ 155.32%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.11 ms / <div style="color:gray;">2.18 ms</div></td><td align="center"><div style="color:blue;">∇ -49.18%</div></td><td align="right">903.43 Hz / <div style="color:gray;">459.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 96.78%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">711.20 us / <div style="color:gray;">1.80 ms</div></td><td align="center"><div style="color:blue;">∇ -60.51%</div></td><td align="right">1.41 KHz / <div style="color:gray;">555.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 153.23%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">18.54 ms / <div style="color:gray;">26.67 ms</div></td><td align="center"><div style="color:blue;">∇ -30.48%</div></td><td align="right">53.94 Hz / <div style="color:gray;">37.50 Hz</div></td><td align="center"><div style="color:blue;">Δ 43.85%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">9.76 ms / <div style="color:gray;">22.83 ms</div></td><td align="center"><div style="color:blue;">∇ -57.27%</div></td><td align="right">102.51 Hz / <div style="color:gray;">43.80 Hz</div></td><td align="center"><div style="color:blue;">Δ 134.05%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">252.57 ms / <div style="color:gray;">307.16 ms</div></td><td align="center"><div style="color:blue;">∇ -17.77%</div></td><td align="right">3.96 Hz / <div style="color:gray;">3.26 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.61%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">112.23 ms / <div style="color:gray;">266.80 ms</div></td><td align="center"><div style="color:blue;">∇ -57.93%</div></td><td align="right">8.91 Hz / <div style="color:gray;">3.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 137.71%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">256.02 ms / <div style="color:gray;">302.10 ms</div></td><td align="center"><div style="color:blue;">∇ -15.25%</div></td><td align="right">3.91 Hz / <div style="color:gray;">3.31 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.00%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">106.16 ms / <div style="color:gray;">262.78 ms</div></td><td align="center"><div style="color:blue;">∇ -59.60%</div></td><td align="right">9.42 Hz / <div style="color:gray;">3.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 147.53%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.644472 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>