<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.1-GCC-64bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-MSVC9-32bit / <div style="color:gray;">0.9.1-GCC-64bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.56 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:red;">Δ 46.10%</div></td><td align="right">31.69 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:red;">∇ -31.55%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:red;">Δ 162.99%</div></td><td align="right">18.54 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:red;">∇ -61.98%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -56.76%</div></td><td align="right">5.15 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 131.29%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -85.18%</div></td><td align="right">28.86 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 574.79%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:red;">Δ 168.77%</div></td><td align="right">34.88 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:red;">∇ -62.79%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 83.78%</div></td><td align="right">54.08 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -45.59%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:red;">Δ 148.99%</div></td><td align="right">10.65 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:red;">∇ -59.84%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:red;">Δ 8.33%</div></td><td align="right">22.53 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:red;">∇ -7.69%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:red;">Δ 32.95%</div></td><td align="right">9.62 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:red;">∇ -24.78%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 47.69%</div></td><td align="right">10.89 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -32.29%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:red;">Δ 119.79%</div></td><td align="right">7.12 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:red;">∇ -54.50%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:red;">Δ 6.91%</div></td><td align="right">15.09 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:red;">∇ -6.46%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:red;">Δ 98.63%</div></td><td align="right">10.71 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:red;">∇ -49.65%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:red;">Δ 52.07%</div></td><td align="right">16.52 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:red;">∇ -34.24%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:red;">Δ 415.98%</div></td><td align="right">8.57 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:red;">∇ -80.62%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:red;">Δ 63.89%</div></td><td align="right">32.23 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:red;">∇ -38.98%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -67.60%</div></td><td align="right">7.89 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 208.61%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 71.04%</div></td><td align="right">32.38 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -41.54%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -90.59%</div></td><td align="right">29.93 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 962.38%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:red;">Δ 22.02%</div></td><td align="right">4.73 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:red;">∇ -18.05%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -97.61%</div></td><td align="right">51.41 KHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 4088.44%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.64%</div></td><td align="right">341.05 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 27930.95%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:red;">Δ 261.89%</div></td><td align="right">28.87 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:red;">∇ -72.37%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:red;">Δ 26.08%</div></td><td align="right">1.16 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:red;">∇ -20.69%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:red;">Δ 64.90%</div></td><td align="right">1.14 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:red;">∇ -39.36%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:red;">Δ 155.61%</div></td><td align="right">45.95 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:red;">∇ -60.88%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:red;">Δ 118.48%</div></td><td align="right">22.23 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:red;">∇ -54.23%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:red;">Δ 99.80%</div></td><td align="right">22.14 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:red;">∇ -49.95%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:red;">Δ 151.61%</div></td><td align="right">6.22 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:red;">∇ -60.26%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:red;">Δ 146.82%</div></td><td align="right">6.21 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:red;">∇ -59.48%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">6.73 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:red;">Δ 300.38%</div></td><td align="right">148.49 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:red;">∇ -75.02%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:red;">Δ 174.66%</div></td><td align="right">127.26 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:red;">∇ -63.59%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 649.37%</div></td><td align="right">1.82 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -86.66%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:blue;">∇ -99.81%</div></td><td align="right">22.08 GHz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 53111.33%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 500.53%</div></td><td align="right">2.31 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -83.35%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.50 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">42.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">660.53 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 485.05%</div></td><td align="right">1.51 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -82.91%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:blue;">∇ -13.54%</div></td><td align="right">25.70 MHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 15.67%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 329.55%</div></td><td align="right">2.11 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -76.72%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -80.62%</div></td><td align="right">114.40 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 415.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -19.51%</div></td><td align="right">213.59 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 24.24%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:red;">Δ 23.74%</div></td><td align="right">226.20 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:red;">∇ -19.19%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -44.99%</div></td><td align="right">308.92 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 81.79%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -38.02%</div></td><td align="right">422.77 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 61.34%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 260.14%</div></td><td align="right">672.33 KHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -72.23%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:red;">Δ 46.17%</div></td><td align="right">31.10 MHz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:red;">∇ -31.58%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 179.83%</div></td><td align="right">286.11 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -64.26%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 369.84%</div></td><td align="right">368.24 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -78.72%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:red;">Δ 11.51%</div></td><td align="right">31.37 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:red;">∇ -10.32%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:red;">Δ 68.15%</div></td><td align="right">34.58 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:red;">∇ -40.53%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -38.18%</div></td><td align="right">8.05 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 61.77%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -9.11%</div></td><td align="right">8.18 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.03%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:red;">Δ 7259.29%</div></td><td align="right">1.54 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:red;">∇ -98.64%</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">969.59 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 9313.51%</div></td><td align="right">1.03 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -98.94%</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">2.45 us / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 232.06%</div></td><td align="right">407.46 KHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -69.88%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 758.43%</div></td><td align="right">529.99 KHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -88.35%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 244.59%</div></td><td align="right">44.49 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -70.98%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 353.66%</div></td><td align="right">46.63 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -77.96%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:red;">Δ 147.80%</div></td><td align="right">12.46 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:red;">∇ -59.65%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 187.14%</div></td><td align="right">12.65 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -65.17%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 542.07%</div></td><td align="right">916.16 KHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -84.43%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 143.88%</div></td><td align="right">3.15 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -59.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 304.36%</div></td><td align="right">13.20 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -75.27%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:red;">Δ 230.40%</div></td><td align="right">18.08 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:red;">∇ -69.73%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:red;">Δ 98.75%</div></td><td align="right">59.19 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:red;">∇ -49.69%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:red;">Δ 163.35%</div></td><td align="right">4.04 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:red;">∇ -62.03%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:red;">Δ 241.70%</div></td><td align="right">5.53 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:red;">∇ -70.73%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:red;">Δ 129.56%</div></td><td align="right">10.88 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:red;">∇ -56.44%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:red;">Δ 86.19%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -46.29%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:red;">Δ 55.44%</div></td><td align="right">8.58 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:red;">∇ -35.67%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -52.62%</div></td><td align="right">245.20 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 111.05%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:red;">Δ 11.93%</div></td><td align="right">4.82 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:red;">∇ -10.66%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -81.95%</div></td><td align="right">40.93 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 454.13%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:red;">Δ 12.12%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -10.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -88.97%</div></td><td align="right">24.87 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 806.22%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:red;">Δ 12.53%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:red;">∇ -11.14%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -92.51%</div></td><td align="right">16.68 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 1234.76%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:red;">Δ 12.56%</div></td><td align="right">1.79 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:red;">∇ -11.16%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.69 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">175.73 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">8.06 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 212.08%</div></td><td align="right">124.07 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -67.96%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:red;">Δ 729.27%</div></td><td align="right">16.13 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:red;">∇ -87.94%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 129.32%</div></td><td align="right">798.82 MHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -56.39%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:red;">Δ 99.29%</div></td><td align="right">4.79 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:red;">∇ -49.82%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:red;">Δ 17.19%</div></td><td align="right">2.89 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:red;">∇ -14.67%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:red;">Δ 54.00%</div></td><td align="right">355.60 Hz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:red;">∇ -35.07%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:red;">Δ 10.06%</div></td><td align="right">54.57 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:red;">∇ -9.14%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:red;">Δ 112.27%</div></td><td align="right">151.33 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:red;">∇ -52.89%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 40.95%</div></td><td align="right">165.76 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -29.05%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 51.01%</div></td><td align="right">1.87 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -33.78%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 36.41%</div></td><td align="right">177.17 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -26.69%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 79.89%</div></td><td align="right">129.88 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -44.41%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 46.33%</div></td><td align="right">1.89 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -31.66%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 42.14%</div></td><td align="right">172.12 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -29.65%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 55.87%</div></td><td align="right">468.98 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -35.84%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 47.22%</div></td><td align="right">6.86 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -32.08%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:red;">Δ 29.54%</div></td><td align="right">64.56 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:red;">∇ -22.80%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">8.93 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 59.48%</div></td><td align="right">111.93 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -37.29%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">200.06 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 54.41%</div></td><td align="right">5.00 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -35.24%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.97 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 58.69%</div></td><td align="right">111.43 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -36.99%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">201.21 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:red;">Δ 51.94%</div></td><td align="right">4.97 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:red;">∇ -34.18%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -50.60%</div></td><td align="right">128.93 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.41%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -51.51%</div></td><td align="right">131.41 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 106.24%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -26.37%</div></td><td align="right">19.29 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.81%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -26.08%</div></td><td align="right">19.22 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.28%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:red;">Δ 147.88%</div></td><td align="right">36.46 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:red;">∇ -59.66%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:red;">Δ 273.40%</div></td><td align="right">201.38 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:red;">∇ -73.22%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 251.26%</div></td><td align="right">93.66 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:red;">∇ -71.53%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -5.64%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.98%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:red;">Δ 1.83%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:red;">∇ -1.79%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:red;">Δ 29.12%</div></td><td align="right">1.50 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -22.55%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -11.86%</div></td><td align="right">6.53 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.45%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:blue;">∇ -2.32%</div></td><td align="right">3.95 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.38%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:red;">Δ 18.89%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:red;">∇ -15.89%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:red;">Δ 18.70%</div></td><td align="right">2.92 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:red;">∇ -15.76%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:red;">Δ 17.74%</div></td><td align="right">276.54 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:red;">∇ -15.07%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:red;">Δ 17.93%</div></td><td align="right">28.03 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:red;">∇ -15.20%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">220.79 THz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 2260167.15%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:blue;">∇ -11.60%</div></td><td align="right">35.61 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.12%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:blue;">∇ -6.35%</div></td><td align="right">23.37 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.78%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:blue;">∇ -5.73%</div></td><td align="right">14.46 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.07%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:blue;">∇ -12.50%</div></td><td align="right">42.09 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.28%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:blue;">∇ -7.59%</div></td><td align="right">26.85 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.22%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:blue;">∇ -7.11%</div></td><td align="right">16.71 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.66%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:red;">Δ 59.49%</div></td><td align="right">138.75 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:red;">∇ -37.30%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:red;">Δ 17.98%</div></td><td align="right">115.32 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:red;">∇ -15.24%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:red;">Δ 33.17%</div></td><td align="right">66.93 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:red;">∇ -24.91%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 299.67%</div></td><td align="right">39.59 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -74.98%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 408.15%</div></td><td align="right">41.17 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -80.32%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">13.82 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 545.72%</div></td><td align="right">72.37 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -84.51%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:red;">Δ 89.31%</div></td><td align="right">18.66 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:red;">∇ -47.18%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:red;">Δ 19.48%</div></td><td align="right">30.61 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:red;">∇ -16.31%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:red;">Δ 12.87%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:red;">∇ -11.40%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:red;">Δ 27.35%</div></td><td align="right">4.60 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:red;">∇ -21.48%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:red;">Δ 59.14%</div></td><td align="right">3.12 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:red;">∇ -37.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 83.47%</div></td><td align="right">104.37 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -45.50%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:red;">Δ 82.79%</div></td><td align="right">9.00 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:red;">∇ -45.29%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:red;">Δ 49.67%</div></td><td align="right">15.44 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:red;">∇ -33.19%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:red;">Δ 26.42%</div></td><td align="right">19.82 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:red;">∇ -20.90%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:red;">Δ 6.95%</div></td><td align="right">732.49 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:red;">∇ -6.49%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:red;">Δ 55.92%</div></td><td align="right">1.66 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:red;">∇ -35.86%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:red;">Δ 46.08%</div></td><td align="right">42.46 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:red;">∇ -31.54%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:red;">Δ 43.65%</div></td><td align="right">63.67 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:red;">∇ -30.38%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.33 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.32 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.08 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.96 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.86 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.19 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.49 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.54 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">273.78 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">270.61 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">399.01 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">392.34 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">207.97 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">205.85 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">248.25 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">250.07 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.96 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.01 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.31 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.23 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.50 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.49 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.50 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.48 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">277.54 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">276.39 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">328.99 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">330.96 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">141.02 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">141.24 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">149.36 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">145.34 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.58 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.39 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">318.46 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">271.44 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">26.96 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">23.45 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.31 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.12 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.34 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.15 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.612470 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
