<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.1-MSVC9-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.1-MSVC9-32bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-MSVC9-32bit / <div style="color:gray;">0.9.1-MSVC9-32bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.56 ms / <div style="color:gray;">31.78 ms</div></td><td align="center"><div style="color:blue;">∇ -0.71%</div></td><td align="right">31.69 Hz / <div style="color:gray;">31.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.72%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">53.70 ms</div></td><td align="center"><div style="color:red;">Δ 0.45%</div></td><td align="right">18.54 Hz / <div style="color:gray;">18.62 Hz</div></td><td align="center"><div style="color:red;">∇ -0.45%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">925.38 ns</div></td><td align="center"><div style="color:blue;">∇ -79.02%</div></td><td align="right">5.15 MHz / <div style="color:gray;">1.08 MHz</div></td><td align="center"><div style="color:blue;">Δ 376.66%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">617.00 ns</div></td><td align="center"><div style="color:blue;">∇ -94.38%</div></td><td align="right">28.86 MHz / <div style="color:gray;">1.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 1680.56%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">35.98 ns</div></td><td align="center"><div style="color:blue;">∇ -20.32%</div></td><td align="right">34.88 MHz / <div style="color:gray;">27.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 25.50%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">14.62 ns</div></td><td align="center"><div style="color:red;">Δ 26.52%</div></td><td align="right">54.08 MHz / <div style="color:gray;">68.42 MHz</div></td><td align="center"><div style="color:red;">∇ -20.96%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">75.43 ns</div></td><td align="center"><div style="color:red;">Δ 24.48%</div></td><td align="right">10.65 MHz / <div style="color:gray;">13.26 MHz</div></td><td align="center"><div style="color:red;">∇ -19.66%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">56.48 ns</div></td><td align="center"><div style="color:blue;">∇ -21.41%</div></td><td align="right">22.53 MHz / <div style="color:gray;">17.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.24%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">121.60 ns</div></td><td align="center"><div style="color:blue;">∇ -14.54%</div></td><td align="right">9.62 MHz / <div style="color:gray;">8.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.01%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">66.63 ns</div></td><td align="center"><div style="color:red;">Δ 37.81%</div></td><td align="right">10.89 MHz / <div style="color:gray;">15.01 MHz</div></td><td align="center"><div style="color:red;">∇ -27.44%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">93.73 ns</div></td><td align="center"><div style="color:red;">Δ 49.75%</div></td><td align="right">7.12 MHz / <div style="color:gray;">10.67 MHz</div></td><td align="center"><div style="color:red;">∇ -33.22%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">62.24 ns</div></td><td align="center"><div style="color:red;">Δ 6.46%</div></td><td align="right">15.09 MHz / <div style="color:gray;">16.07 MHz</div></td><td align="center"><div style="color:red;">∇ -6.07%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">100.74 ns</div></td><td align="center"><div style="color:blue;">∇ -7.33%</div></td><td align="right">10.71 MHz / <div style="color:gray;">9.93 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.91%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">57.92 ns</div></td><td align="center"><div style="color:red;">Δ 4.49%</div></td><td align="right">16.52 MHz / <div style="color:gray;">17.26 MHz</div></td><td align="center"><div style="color:red;">∇ -4.29%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">61.33 ns</div></td><td align="center"><div style="color:red;">Δ 90.31%</div></td><td align="right">8.57 MHz / <div style="color:gray;">16.31 MHz</div></td><td align="center"><div style="color:red;">∇ -47.45%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">27.34 ns</div></td><td align="center"><div style="color:red;">Δ 13.46%</div></td><td align="right">32.23 MHz / <div style="color:gray;">36.57 MHz</div></td><td align="center"><div style="color:red;">∇ -11.86%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">580.67 ns</div></td><td align="center"><div style="color:blue;">∇ -78.17%</div></td><td align="right">7.89 MHz / <div style="color:gray;">1.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 358.00%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">28.18 ns</div></td><td align="center"><div style="color:red;">Δ 9.58%</div></td><td align="right">32.38 MHz / <div style="color:gray;">35.48 MHz</div></td><td align="center"><div style="color:red;">∇ -8.74%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">506.67 ns</div></td><td align="center"><div style="color:blue;">∇ -93.40%</div></td><td align="right">29.93 MHz / <div style="color:gray;">1.97 MHz</div></td><td align="center"><div style="color:blue;">Δ 1416.25%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">214.86 ns</div></td><td align="center"><div style="color:blue;">∇ -1.64%</div></td><td align="right">4.73 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.67%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">1.56 us</div></td><td align="center"><div style="color:red;">Δ 1150.71%</div></td><td align="right">51.41 KHz / <div style="color:gray;">642.96 KHz</div></td><td align="center"><div style="color:red;">∇ -92.00%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">1.51 us</div></td><td align="center"><div style="color:red;">Δ 94.65%</div></td><td align="right">341.05 KHz / <div style="color:gray;">663.83 KHz</div></td><td align="center"><div style="color:red;">∇ -48.62%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">23.29 us</div></td><td align="center"><div style="color:red;">Δ 48.73%</div></td><td align="right">28.87 KHz / <div style="color:gray;">42.94 KHz</div></td><td align="center"><div style="color:red;">∇ -32.77%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">1.64 us</div></td><td align="center"><div style="color:blue;">∇ -47.54%</div></td><td align="right">1.16 MHz / <div style="color:gray;">609.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 90.64%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">1.66 us</div></td><td align="center"><div style="color:blue;">∇ -47.11%</div></td><td align="right">1.14 MHz / <div style="color:gray;">600.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 89.08%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">16.05 us</div></td><td align="center"><div style="color:red;">Δ 35.63%</div></td><td align="right">45.95 KHz / <div style="color:gray;">62.32 KHz</div></td><td align="center"><div style="color:red;">∇ -26.27%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">39.66 ns</div></td><td align="center"><div style="color:red;">Δ 13.45%</div></td><td align="right">22.23 MHz / <div style="color:gray;">25.22 MHz</div></td><td align="center"><div style="color:red;">∇ -11.86%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">42.75 ns</div></td><td align="center"><div style="color:red;">Δ 5.65%</div></td><td align="right">22.14 MHz / <div style="color:gray;">23.39 MHz</div></td><td align="center"><div style="color:red;">∇ -5.35%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 5.62%</div></td><td align="right">6.22 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -5.32%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">150.45 ns</div></td><td align="center"><div style="color:red;">Δ 6.99%</div></td><td align="right">6.21 MHz / <div style="color:gray;">6.65 MHz</div></td><td align="center"><div style="color:red;">∇ -6.53%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">3.30 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">303.37 MHz</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;">3.48 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">287.56 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;">3.06 ns</div></td><td align="center"><div style="color:red;">Δ 120.34%</div></td><td align="right">148.49 MHz / <div style="color:gray;">327.19 MHz</div></td><td align="center"><div style="color:red;">∇ -54.62%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">6.65 ns</div></td><td align="center"><div style="color:red;">Δ 18.25%</div></td><td align="right">127.26 MHz / <div style="color:gray;">150.48 MHz</div></td><td align="center"><div style="color:red;">∇ -15.43%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">167.81 ns</div></td><td align="center"><div style="color:red;">Δ 228.23%</div></td><td align="right">1.82 MHz / <div style="color:gray;">5.96 MHz</div></td><td align="center"><div style="color:red;">∇ -69.53%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">108.61 ns</div></td><td align="center"><div style="color:blue;">∇ -99.96%</div></td><td align="right">22.08 GHz / <div style="color:gray;">9.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 239703.15%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">158.88 ns</div></td><td align="center"><div style="color:red;">Δ 172.52%</div></td><td align="right">2.31 MHz / <div style="color:gray;">6.29 MHz</div></td><td align="center"><div style="color:red;">∇ -63.30%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">90.86 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">11.01 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;">272.47 ns</div></td><td align="center"><div style="color:red;">Δ 142.42%</div></td><td align="right">1.51 MHz / <div style="color:gray;">3.67 MHz</div></td><td align="center"><div style="color:red;">∇ -58.75%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">193.12 ns</div></td><td align="center"><div style="color:blue;">∇ -79.85%</div></td><td align="right">25.70 MHz / <div style="color:gray;">5.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 396.40%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">238.91 ns</div></td><td align="center"><div style="color:red;">Δ 98.67%</div></td><td align="right">2.11 MHz / <div style="color:gray;">4.19 MHz</div></td><td align="center"><div style="color:red;">∇ -49.67%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 ns / <div style="color:gray;">139.05 ns</div></td><td align="center"><div style="color:blue;">∇ -93.71%</div></td><td align="right">114.40 MHz / <div style="color:gray;">7.19 MHz</div></td><td align="center"><div style="color:blue;">Δ 1490.69%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">16.80 us</div></td><td align="center"><div style="color:blue;">∇ -72.14%</div></td><td align="right">213.59 KHz / <div style="color:gray;">59.51 KHz</div></td><td align="center"><div style="color:blue;">Δ 258.91%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">13.06 us</div></td><td align="center"><div style="color:blue;">∇ -66.15%</div></td><td align="right">226.20 KHz / <div style="color:gray;">76.57 KHz</div></td><td align="center"><div style="color:blue;">Δ 195.43%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">13.55 us</div></td><td align="center"><div style="color:blue;">∇ -76.11%</div></td><td align="right">308.92 KHz / <div style="color:gray;">73.81 KHz</div></td><td align="center"><div style="color:blue;">Δ 318.57%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:blue;">∇ -76.25%</div></td><td align="right">422.77 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 321.09%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">1.53 us</div></td><td align="center"><div style="color:blue;">∇ -2.90%</div></td><td align="right">672.33 KHz / <div style="color:gray;">652.84 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.99%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">31.25 ns</div></td><td align="center"><div style="color:red;">Δ 2.90%</div></td><td align="right">31.10 MHz / <div style="color:gray;">32.00 MHz</div></td><td align="center"><div style="color:red;">∇ -2.82%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">5.08 us</div></td><td align="center"><div style="color:blue;">∇ -31.26%</div></td><td align="right">286.11 KHz / <div style="color:gray;">196.68 KHz</div></td><td align="center"><div style="color:blue;">Δ 45.47%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">926.67 ns</div></td><td align="center"><div style="color:red;">Δ 193.06%</div></td><td align="right">368.24 KHz / <div style="color:gray;">1.08 MHz</div></td><td align="center"><div style="color:red;">∇ -65.88%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">108.60 us</div></td><td align="center"><div style="color:blue;">∇ -70.65%</div></td><td align="right">31.37 KHz / <div style="color:gray;">9.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 240.70%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">19.22 us</div></td><td align="center"><div style="color:red;">Δ 50.42%</div></td><td align="right">34.58 KHz / <div style="color:gray;">52.02 KHz</div></td><td align="center"><div style="color:red;">∇ -33.52%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">818.27 us</div></td><td align="center"><div style="color:blue;">∇ -84.82%</div></td><td align="right">8.05 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 558.74%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">136.18 us</div></td><td align="center"><div style="color:blue;">∇ -10.23%</div></td><td align="right">8.18 KHz / <div style="color:gray;">7.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.40%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">9.56 ns</div></td><td align="center"><div style="color:red;">Δ 6676.69%</div></td><td align="right">1.54 MHz / <div style="color:gray;">104.64 MHz</div></td><td align="center"><div style="color:red;">∇ -98.52%</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;">15.90 ns</div></td><td align="center"><div style="color:red;">Δ 5999.07%</div></td><td align="right">1.03 MHz / <div style="color:gray;">62.90 MHz</div></td><td align="center"><div style="color:red;">∇ -98.36%</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;">2.38 us</div></td><td align="center"><div style="color:red;">Δ 3.18%</div></td><td align="right">407.46 KHz / <div style="color:gray;">420.40 KHz</div></td><td align="center"><div style="color:red;">∇ -3.08%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">422.89 ns</div></td><td align="center"><div style="color:red;">Δ 346.18%</div></td><td align="right">529.99 KHz / <div style="color:gray;">2.36 MHz</div></td><td align="center"><div style="color:red;">∇ -77.59%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">18.19 us</div></td><td align="center"><div style="color:red;">Δ 23.59%</div></td><td align="right">44.49 KHz / <div style="color:gray;">54.99 KHz</div></td><td align="center"><div style="color:red;">∇ -19.09%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 228.77%</div></td><td align="right">46.63 KHz / <div style="color:gray;">153.30 KHz</div></td><td align="center"><div style="color:red;">∇ -69.58%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">114.84 us</div></td><td align="center"><div style="color:blue;">∇ -30.10%</div></td><td align="right">12.46 KHz / <div style="color:gray;">8.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 43.06%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">36.00 us</div></td><td align="center"><div style="color:red;">Δ 119.54%</div></td><td align="right">12.65 KHz / <div style="color:gray;">27.78 KHz</div></td><td align="center"><div style="color:red;">∇ -54.45%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">185.70 ns</div></td><td align="center"><div style="color:red;">Δ 487.80%</div></td><td align="right">916.16 KHz / <div style="color:gray;">5.39 MHz</div></td><td align="center"><div style="color:red;">∇ -82.99%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">113.23 ns</div></td><td align="center"><div style="color:red;">Δ 180.00%</div></td><td align="right">3.15 MHz / <div style="color:gray;">8.83 MHz</div></td><td align="center"><div style="color:red;">∇ -64.29%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">24.43 us</div></td><td align="center"><div style="color:red;">Δ 210.01%</div></td><td align="right">13.20 KHz / <div style="color:gray;">40.93 KHz</div></td><td align="center"><div style="color:red;">∇ -67.74%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">17.73 us</div></td><td align="center"><div style="color:red;">Δ 211.92%</div></td><td align="right">18.08 KHz / <div style="color:gray;">56.40 KHz</div></td><td align="center"><div style="color:red;">∇ -67.94%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">10.78 us</div></td><td align="center"><div style="color:red;">Δ 56.72%</div></td><td align="right">59.19 KHz / <div style="color:gray;">92.77 KHz</div></td><td align="center"><div style="color:red;">∇ -36.19%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">117.89 us</div></td><td align="center"><div style="color:red;">Δ 109.76%</div></td><td align="right">4.04 KHz / <div style="color:gray;">8.48 KHz</div></td><td align="center"><div style="color:red;">∇ -52.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">70.52 us</div></td><td align="center"><div style="color:red;">Δ 156.32%</div></td><td align="right">5.53 KHz / <div style="color:gray;">14.18 KHz</div></td><td align="center"><div style="color:red;">∇ -60.99%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">52.59 us</div></td><td align="center"><div style="color:red;">Δ 74.74%</div></td><td align="right">10.88 KHz / <div style="color:gray;">19.02 KHz</div></td><td align="center"><div style="color:red;">∇ -42.77%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">491.10 us</div></td><td align="center"><div style="color:red;">Δ 55.93%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.04 KHz</div></td><td align="center"><div style="color:red;">∇ -35.87%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">85.83 us</div></td><td align="center"><div style="color:red;">Δ 35.79%</div></td><td align="right">8.58 KHz / <div style="color:gray;">11.65 KHz</div></td><td align="center"><div style="color:red;">∇ -26.36%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">9.44 ms</div></td><td align="center"><div style="color:blue;">∇ -56.82%</div></td><td align="right">245.20 Hz / <div style="color:gray;">105.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 131.59%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">204.52 us</div></td><td align="center"><div style="color:red;">Δ 1.44%</div></td><td align="right">4.82 KHz / <div style="color:gray;">4.89 KHz</div></td><td align="center"><div style="color:red;">∇ -1.42%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">150.13 ms</div></td><td align="center"><div style="color:blue;">∇ -83.72%</div></td><td align="right">40.93 Hz / <div style="color:gray;">6.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 514.42%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">415.58 us</div></td><td align="center"><div style="color:blue;">∇ -2.93%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.41 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.02%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">461.43 ms</div></td><td align="center"><div style="color:blue;">∇ -91.29%</div></td><td align="right">24.87 Hz / <div style="color:gray;">2.17 Hz</div></td><td align="center"><div style="color:blue;">Δ 1047.79%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">484.92 us</div></td><td align="center"><div style="color:blue;">∇ -1.05%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.06%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">947.45 ms</div></td><td align="center"><div style="color:blue;">∇ -93.67%</div></td><td align="right">16.68 Hz / <div style="color:gray;">1.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 1480.45%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">586.44 us</div></td><td align="center"><div style="color:blue;">∇ -4.49%</div></td><td align="right">1.79 KHz / <div style="color:gray;">1.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.70%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.69 ns / <div style="color:gray;">5.77 ns</div></td><td align="center"><div style="color:blue;">∇ -1.43%</div></td><td align="right">175.73 MHz / <div style="color:gray;">173.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.45%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">8.06 ns / <div style="color:gray;">7.96 ns</div></td><td align="center"><div style="color:red;">Δ 1.27%</div></td><td align="right">124.07 MHz / <div style="color:gray;">125.64 MHz</div></td><td align="center"><div style="color:red;">∇ -1.25%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">10.80 ns</div></td><td align="center"><div style="color:red;">Δ 473.80%</div></td><td align="right">16.13 MHz / <div style="color:gray;">92.58 MHz</div></td><td align="center"><div style="color:red;">∇ -82.57%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">1.21 ns</div></td><td align="center"><div style="color:red;">Δ 3.48%</div></td><td align="right">798.82 MHz / <div style="color:gray;">826.59 MHz</div></td><td align="center"><div style="color:red;">∇ -3.36%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">204.23 us</div></td><td align="center"><div style="color:red;">Δ 2.26%</div></td><td align="right">4.79 KHz / <div style="color:gray;">4.90 KHz</div></td><td align="center"><div style="color:red;">∇ -2.21%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">344.40 us</div></td><td align="center"><div style="color:red;">Δ 0.49%</div></td><td align="right">2.89 KHz / <div style="color:gray;">2.90 KHz</div></td><td align="center"><div style="color:red;">∇ -0.48%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">2.62 ms</div></td><td align="center"><div style="color:red;">Δ 7.40%</div></td><td align="right">355.60 Hz / <div style="color:gray;">381.93 Hz</div></td><td align="center"><div style="color:red;">∇ -6.89%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">18.59 us</div></td><td align="center"><div style="color:blue;">∇ -1.42%</div></td><td align="right">54.57 KHz / <div style="color:gray;">53.79 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.44%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">5.62 ms</div></td><td align="center"><div style="color:red;">Δ 17.64%</div></td><td align="right">151.33 Hz / <div style="color:gray;">178.02 Hz</div></td><td align="center"><div style="color:red;">∇ -14.99%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">6.21 us</div></td><td align="center"><div style="color:blue;">∇ -2.92%</div></td><td align="right">165.76 KHz / <div style="color:gray;">160.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.00%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">511.81 us</div></td><td align="center"><div style="color:red;">Δ 4.73%</div></td><td align="right">1.87 KHz / <div style="color:gray;">1.95 KHz</div></td><td align="center"><div style="color:red;">∇ -4.51%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">5.59 ms</div></td><td align="center"><div style="color:red;">Δ 0.96%</div></td><td align="right">177.17 Hz / <div style="color:gray;">178.86 Hz</div></td><td align="center"><div style="color:red;">∇ -0.95%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">7.23 us</div></td><td align="center"><div style="color:red;">Δ 6.51%</div></td><td align="right">129.88 KHz / <div style="color:gray;">138.34 KHz</div></td><td align="center"><div style="color:red;">∇ -6.12%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">523.10 us</div></td><td align="center"><div style="color:red;">Δ 1.05%</div></td><td align="right">1.89 KHz / <div style="color:gray;">1.91 KHz</div></td><td align="center"><div style="color:red;">∇ -1.04%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">5.77 ms</div></td><td align="center"><div style="color:red;">Δ 0.63%</div></td><td align="right">172.12 Hz / <div style="color:gray;">173.21 Hz</div></td><td align="center"><div style="color:red;">∇ -0.63%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">2.05 us</div></td><td align="center"><div style="color:red;">Δ 3.86%</div></td><td align="right">468.98 KHz / <div style="color:gray;">487.07 KHz</div></td><td align="center"><div style="color:red;">∇ -3.72%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">140.79 us</div></td><td align="center"><div style="color:red;">Δ 3.49%</div></td><td align="right">6.86 KHz / <div style="color:gray;">7.10 KHz</div></td><td align="center"><div style="color:red;">∇ -3.37%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">15.17 ms</div></td><td align="center"><div style="color:red;">Δ 2.08%</div></td><td align="right">64.56 Hz / <div style="color:gray;">65.91 Hz</div></td><td align="center"><div style="color:red;">∇ -2.04%</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;">8.69 ms</div></td><td align="center"><div style="color:red;">Δ 2.76%</div></td><td align="right">111.93 Hz / <div style="color:gray;">115.01 Hz</div></td><td align="center"><div style="color:red;">∇ -2.68%</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;">196.44 ms</div></td><td align="center"><div style="color:red;">Δ 1.84%</div></td><td align="right">5.00 Hz / <div style="color:gray;">5.09 Hz</div></td><td align="center"><div style="color:red;">∇ -1.81%</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;">8.73 ms</div></td><td align="center"><div style="color:red;">Δ 2.84%</div></td><td align="right">111.43 Hz / <div style="color:gray;">114.60 Hz</div></td><td align="center"><div style="color:red;">∇ -2.76%</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;">198.48 ms</div></td><td align="center"><div style="color:red;">Δ 1.37%</div></td><td align="right">4.97 Hz / <div style="color:gray;">5.04 Hz</div></td><td align="center"><div style="color:red;">∇ -1.35%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">7.29 ns</div></td><td align="center"><div style="color:red;">Δ 6.34%</div></td><td align="right">128.93 MHz / <div style="color:gray;">137.11 MHz</div></td><td align="center"><div style="color:red;">∇ -5.97%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">7.33 ns</div></td><td align="center"><div style="color:red;">Δ 3.87%</div></td><td align="right">131.41 MHz / <div style="color:gray;">136.49 MHz</div></td><td align="center"><div style="color:red;">∇ -3.72%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">51.27 ns</div></td><td align="center"><div style="color:red;">Δ 1.09%</div></td><td align="right">19.29 MHz / <div style="color:gray;">19.50 MHz</div></td><td align="center"><div style="color:red;">∇ -1.08%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">51.74 ns</div></td><td align="center"><div style="color:red;">Δ 0.55%</div></td><td align="right">19.22 MHz / <div style="color:gray;">19.33 MHz</div></td><td align="center"><div style="color:red;">∇ -0.54%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">29.39 ns</div></td><td align="center"><div style="color:blue;">∇ -6.66%</div></td><td align="right">36.46 MHz / <div style="color:gray;">34.03 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.13%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">2.64 us</div></td><td align="center"><div style="color:red;">Δ 87.94%</div></td><td align="right">201.38 KHz / <div style="color:gray;">378.48 KHz</div></td><td align="center"><div style="color:red;">∇ -46.79%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">8.53 us</div></td><td align="center"><div style="color:red;">Δ 25.11%</div></td><td align="right">93.66 KHz / <div style="color:gray;">117.18 KHz</div></td><td align="center"><div style="color:red;">∇ -20.07%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">215.16 ns</div></td><td align="center"><div style="color:blue;">∇ -28.60%</div></td><td align="right">6.51 MHz / <div style="color:gray;">4.65 MHz</div></td><td align="center"><div style="color:blue;">Δ 40.05%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">359.98 ns</div></td><td align="center"><div style="color:blue;">∇ -30.53%</div></td><td align="right">4.00 MHz / <div style="color:gray;">2.78 MHz</div></td><td align="center"><div style="color:blue;">Δ 43.95%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">732.12 ns</div></td><td align="center"><div style="color:blue;">∇ -9.22%</div></td><td align="right">1.50 MHz / <div style="color:gray;">1.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.16%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">213.59 ns</div></td><td align="center"><div style="color:blue;">∇ -28.26%</div></td><td align="right">6.53 MHz / <div style="color:gray;">4.68 MHz</div></td><td align="center"><div style="color:blue;">Δ 39.40%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">339.30 ns</div></td><td align="center"><div style="color:blue;">∇ -25.32%</div></td><td align="right">3.95 MHz / <div style="color:gray;">2.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 33.90%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">760.92 ns</div></td><td align="center"><div style="color:blue;">∇ -18.13%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.15%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">411.34 ns</div></td><td align="center"><div style="color:blue;">∇ -16.72%</div></td><td align="right">2.92 MHz / <div style="color:gray;">2.43 MHz</div></td><td align="center"><div style="color:blue;">Δ 20.07%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.59 us</div></td><td align="center"><div style="color:red;">Δ 0.78%</div></td><td align="right">276.54 KHz / <div style="color:gray;">278.70 KHz</div></td><td align="center"><div style="color:red;">∇ -0.78%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">34.34 us</div></td><td align="center"><div style="color:red;">Δ 3.92%</div></td><td align="right">28.03 KHz / <div style="color:gray;">29.12 KHz</div></td><td align="center"><div style="color:red;">∇ -3.77%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 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">220.79 THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">27.92 ms</div></td><td align="center"><div style="color:red;">Δ 0.57%</div></td><td align="right">35.61 Hz / <div style="color:gray;">35.81 Hz</div></td><td align="center"><div style="color:red;">∇ -0.57%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">43.53 ms</div></td><td align="center"><div style="color:blue;">∇ -1.69%</div></td><td align="right">23.37 Hz / <div style="color:gray;">22.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.72%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">70.76 ms</div></td><td align="center"><div style="color:blue;">∇ -2.29%</div></td><td align="right">14.46 Hz / <div style="color:gray;">14.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.35%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">23.43 ms</div></td><td align="center"><div style="color:red;">Δ 1.39%</div></td><td align="right">42.09 Hz / <div style="color:gray;">42.67 Hz</div></td><td align="center"><div style="color:red;">∇ -1.37%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">36.52 ms</div></td><td align="center"><div style="color:red;">Δ 2.01%</div></td><td align="right">26.85 Hz / <div style="color:gray;">27.39 Hz</div></td><td align="center"><div style="color:red;">∇ -1.97%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">59.82 ms</div></td><td align="center"><div style="color:red;">Δ 0.07%</div></td><td align="right">16.71 Hz / <div style="color:gray;">16.72 Hz</div></td><td align="center"><div style="color:red;">∇ -0.07%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">6.68 ms</div></td><td align="center"><div style="color:red;">Δ 7.92%</div></td><td align="right">138.75 Hz / <div style="color:gray;">149.74 Hz</div></td><td align="center"><div style="color:red;">∇ -7.34%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">8.62 ms</div></td><td align="center"><div style="color:red;">Δ 0.62%</div></td><td align="right">115.32 Hz / <div style="color:gray;">116.03 Hz</div></td><td align="center"><div style="color:red;">∇ -0.61%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">14.49 ms</div></td><td align="center"><div style="color:red;">Δ 3.11%</div></td><td align="right">66.93 Hz / <div style="color:gray;">69.01 Hz</div></td><td align="center"><div style="color:red;">∇ -3.01%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">21.12 us</div></td><td align="center"><div style="color:red;">Δ 19.57%</div></td><td align="right">39.59 KHz / <div style="color:gray;">47.34 KHz</div></td><td align="center"><div style="color:red;">∇ -16.37%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">19.36 us</div></td><td align="center"><div style="color:red;">Δ 25.45%</div></td><td align="right">41.17 KHz / <div style="color:gray;">51.65 KHz</div></td><td align="center"><div style="color:red;">∇ -20.29%</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;">6.24 us</div></td><td align="center"><div style="color:red;">Δ 121.57%</div></td><td align="right">72.37 KHz / <div style="color:gray;">160.34 KHz</div></td><td align="center"><div style="color:red;">∇ -54.87%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">40.83 ms</div></td><td align="center"><div style="color:red;">Δ 31.29%</div></td><td align="right">18.66 Hz / <div style="color:gray;">24.49 Hz</div></td><td align="center"><div style="color:red;">∇ -23.83%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">33.62 ms</div></td><td align="center"><div style="color:blue;">∇ -2.82%</div></td><td align="right">30.61 Hz / <div style="color:gray;">29.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.90%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">705.28 ms</div></td><td align="center"><div style="color:red;">Δ 2.73%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.42 Hz</div></td><td align="center"><div style="color:red;">∇ -2.65%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">214.22 ms</div></td><td align="center"><div style="color:red;">Δ 1.45%</div></td><td align="right">4.60 Hz / <div style="color:gray;">4.67 Hz</div></td><td align="center"><div style="color:red;">∇ -1.43%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">326.57 ms</div></td><td align="center"><div style="color:blue;">∇ -1.95%</div></td><td align="right">3.12 Hz / <div style="color:gray;">3.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.99%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">7.69 ms</div></td><td align="center"><div style="color:red;">Δ 24.63%</div></td><td align="right">104.37 Hz / <div style="color:gray;">130.08 Hz</div></td><td align="center"><div style="color:red;">∇ -19.76%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">105.90 ms</div></td><td align="center"><div style="color:red;">Δ 4.96%</div></td><td align="right">9.00 Hz / <div style="color:gray;">9.44 Hz</div></td><td align="center"><div style="color:red;">∇ -4.73%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">57.67 ms</div></td><td align="center"><div style="color:red;">Δ 12.27%</div></td><td align="right">15.44 Hz / <div style="color:gray;">17.34 Hz</div></td><td align="center"><div style="color:red;">∇ -10.93%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">50.27 ms</div></td><td align="center"><div style="color:red;">Δ 0.37%</div></td><td align="right">19.82 Hz / <div style="color:gray;">19.89 Hz</div></td><td align="center"><div style="color:red;">∇ -0.37%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.38 sec</div></td><td align="center"><div style="color:blue;">∇ -1.07%</div></td><td align="right">732.49 mHz / <div style="color:gray;">724.62 mHz</div></td><td align="center"><div style="color:blue;">Δ 1.09%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">618.66 ms</div></td><td align="center"><div style="color:blue;">∇ -2.67%</div></td><td align="right">1.66 Hz / <div style="color:gray;">1.62 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.75%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">22.11 ms</div></td><td align="center"><div style="color:red;">Δ 6.50%</div></td><td align="right">42.46 Hz / <div style="color:gray;">45.22 Hz</div></td><td align="center"><div style="color:red;">∇ -6.11%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">14.58 ms</div></td><td align="center"><div style="color:red;">Δ 7.69%</div></td><td align="right">63.67 Hz / <div style="color:gray;">68.57 Hz</div></td><td align="center"><div style="color:red;">∇ -7.14%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">354.58 us</div></td><td align="center"><div style="color:blue;">∇ -15.33%</div></td><td align="right">3.33 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 18.11%</div></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;">284.04 us</div></td><td align="center"><div style="color:blue;">∇ -13.67%</div></td><td align="right">4.08 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.84%</div></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;">549.28 us</div></td><td align="center"><div style="color:blue;">∇ -2.13%</div></td><td align="right">1.86 KHz / <div style="color:gray;">1.82 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.17%</div></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;">452.79 us</div></td><td align="center"><div style="color:blue;">∇ -11.40%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.21 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.86%</div></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;">3.86 ms</div></td><td align="center"><div style="color:blue;">∇ -5.35%</div></td><td align="right">273.78 Hz / <div style="color:gray;">259.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.66%</div></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;">2.88 ms</div></td><td align="center"><div style="color:blue;">∇ -12.85%</div></td><td align="right">399.01 Hz / <div style="color:gray;">347.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.74%</div></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;">5.74 ms</div></td><td align="center"><div style="color:blue;">∇ -16.20%</div></td><td align="right">207.97 Hz / <div style="color:gray;">174.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.33%</div></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;">4.44 ms</div></td><td align="center"><div style="color:blue;">∇ -9.23%</div></td><td align="right">248.25 Hz / <div style="color:gray;">225.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.17%</div></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;">1.35 ms</div></td><td align="center"><div style="color:blue;">∇ -74.87%</div></td><td align="right">2.96 KHz / <div style="color:gray;">743.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 297.99%</div></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;">1.09 ms</div></td><td align="center"><div style="color:blue;">∇ -72.24%</div></td><td align="right">3.31 KHz / <div style="color:gray;">917.96 Hz</div></td><td align="center"><div style="color:blue;">Δ 260.23%</div></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;">1.74 ms</div></td><td align="center"><div style="color:blue;">∇ -61.64%</div></td><td align="right">1.50 KHz / <div style="color:gray;">573.66 Hz</div></td><td align="center"><div style="color:blue;">Δ 160.68%</div></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;">1.46 ms</div></td><td align="center"><div style="color:blue;">∇ -54.33%</div></td><td align="right">1.50 KHz / <div style="color:gray;">683.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 118.96%</div></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;">13.92 ms</div></td><td align="center"><div style="color:blue;">∇ -74.11%</div></td><td align="right">277.54 Hz / <div style="color:gray;">71.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 286.20%</div></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;">11.12 ms</div></td><td align="center"><div style="color:blue;">∇ -72.67%</div></td><td align="right">328.99 Hz / <div style="color:gray;">89.92 Hz</div></td><td align="center"><div style="color:blue;">Δ 265.87%</div></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;">17.58 ms</div></td><td align="center"><div style="color:blue;">∇ -59.66%</div></td><td align="right">141.02 Hz / <div style="color:gray;">56.89 Hz</div></td><td align="center"><div style="color:blue;">Δ 147.90%</div></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;">14.12 ms</div></td><td align="center"><div style="color:blue;">∇ -52.59%</div></td><td align="right">149.36 Hz / <div style="color:gray;">70.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 110.94%</div></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 2011/06/03,22:26:38.578468 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
