<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.2preSVN2157-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.2preSVN2157-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;">0.9.2preSVN2157-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;">20.59 ms</div></td><td align="center"><div style="color:red;">Δ 53.29%</div></td><td align="right">31.69 Hz / <div style="color:gray;">48.58 Hz</div></td><td align="center"><div style="color:red;">∇ -34.77%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">20.64 ms</div></td><td align="center"><div style="color:red;">Δ 161.39%</div></td><td align="right">18.54 Hz / <div style="color:gray;">48.45 Hz</div></td><td align="center"><div style="color:red;">∇ -61.74%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">42.90 ns</div></td><td align="center"><div style="color:red;">Δ 352.54%</div></td><td align="right">5.15 MHz / <div style="color:gray;">23.31 MHz</div></td><td align="center"><div style="color:red;">∇ -77.90%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">37.61 ns</div></td><td align="center"><div style="color:blue;">∇ -7.86%</div></td><td align="right">28.86 MHz / <div style="color:gray;">26.59 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.54%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">7.25 ns</div></td><td align="center"><div style="color:red;">Δ 295.29%</div></td><td align="right">34.88 MHz / <div style="color:gray;">137.89 MHz</div></td><td align="center"><div style="color:red;">∇ -74.70%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">11.83 ns</div></td><td align="center"><div style="color:red;">Δ 56.31%</div></td><td align="right">54.08 MHz / <div style="color:gray;">84.53 MHz</div></td><td align="center"><div style="color:red;">∇ -36.02%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">39.31 ns</div></td><td align="center"><div style="color:red;">Δ 138.83%</div></td><td align="right">10.65 MHz / <div style="color:gray;">25.44 MHz</div></td><td align="center"><div style="color:red;">∇ -58.13%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">34.91 ns</div></td><td align="center"><div style="color:red;">Δ 27.17%</div></td><td align="right">22.53 MHz / <div style="color:gray;">28.65 MHz</div></td><td align="center"><div style="color:red;">∇ -21.36%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">76.08 ns</div></td><td align="center"><div style="color:red;">Δ 36.60%</div></td><td align="right">9.62 MHz / <div style="color:gray;">13.14 MHz</div></td><td align="center"><div style="color:red;">∇ -26.79%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">61.61 ns</div></td><td align="center"><div style="color:red;">Δ 49.03%</div></td><td align="right">10.89 MHz / <div style="color:gray;">16.23 MHz</div></td><td align="center"><div style="color:red;">∇ -32.90%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">60.26 ns</div></td><td align="center"><div style="color:red;">Δ 132.92%</div></td><td align="right">7.12 MHz / <div style="color:gray;">16.59 MHz</div></td><td align="center"><div style="color:red;">∇ -57.07%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">62.26 ns</div></td><td align="center"><div style="color:red;">Δ 6.42%</div></td><td align="right">15.09 MHz / <div style="color:gray;">16.06 MHz</div></td><td align="center"><div style="color:red;">∇ -6.03%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">40.99 ns</div></td><td align="center"><div style="color:red;">Δ 127.75%</div></td><td align="right">10.71 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:red;">∇ -56.09%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">39.39 ns</div></td><td align="center"><div style="color:red;">Δ 53.65%</div></td><td align="right">16.52 MHz / <div style="color:gray;">25.39 MHz</div></td><td align="center"><div style="color:red;">∇ -34.92%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">18.30 ns</div></td><td align="center"><div style="color:red;">Δ 537.65%</div></td><td align="right">8.57 MHz / <div style="color:gray;">54.63 MHz</div></td><td align="center"><div style="color:red;">∇ -84.32%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">17.94 ns</div></td><td align="center"><div style="color:red;">Δ 72.91%</div></td><td align="right">32.23 MHz / <div style="color:gray;">55.74 MHz</div></td><td align="center"><div style="color:red;">∇ -42.17%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">55.46 ns</div></td><td align="center"><div style="color:red;">Δ 128.62%</div></td><td align="right">7.89 MHz / <div style="color:gray;">18.03 MHz</div></td><td align="center"><div style="color:red;">∇ -56.26%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">17.66 ns</div></td><td align="center"><div style="color:red;">Δ 74.86%</div></td><td align="right">32.38 MHz / <div style="color:gray;">56.63 MHz</div></td><td align="center"><div style="color:red;">∇ -42.81%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">16.78 ns</div></td><td align="center"><div style="color:red;">Δ 99.08%</div></td><td align="right">29.93 MHz / <div style="color:gray;">59.58 MHz</div></td><td align="center"><div style="color:red;">∇ -49.77%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">169.37 ns</div></td><td align="center"><div style="color:red;">Δ 24.78%</div></td><td align="right">4.73 MHz / <div style="color:gray;">5.90 MHz</div></td><td align="center"><div style="color:red;">∇ -19.86%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">799.08 us</div></td><td align="center"><div style="color:blue;">∇ -97.57%</div></td><td align="right">51.41 KHz / <div style="color:gray;">1.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 4007.84%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">803.31 us</div></td><td align="center"><div style="color:blue;">∇ -99.63%</div></td><td align="right">341.05 KHz / <div style="color:gray;">1.24 KHz</div></td><td align="center"><div style="color:blue;">Δ 27296.55%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">9.44 us</div></td><td align="center"><div style="color:red;">Δ 266.83%</div></td><td align="right">28.87 KHz / <div style="color:gray;">105.91 KHz</div></td><td align="center"><div style="color:red;">∇ -72.74%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">648.90 ns</div></td><td align="center"><div style="color:red;">Δ 32.57%</div></td><td align="right">1.16 MHz / <div style="color:gray;">1.54 MHz</div></td><td align="center"><div style="color:red;">∇ -24.57%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">631.00 ns</div></td><td align="center"><div style="color:red;">Δ 39.50%</div></td><td align="right">1.14 MHz / <div style="color:gray;">1.58 MHz</div></td><td align="center"><div style="color:red;">∇ -28.31%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">8.18 us</div></td><td align="center"><div style="color:red;">Δ 166.17%</div></td><td align="right">45.95 KHz / <div style="color:gray;">122.30 KHz</div></td><td align="center"><div style="color:red;">∇ -62.43%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">24.43 ns</div></td><td align="center"><div style="color:red;">Δ 84.18%</div></td><td align="right">22.23 MHz / <div style="color:gray;">40.94 MHz</div></td><td align="center"><div style="color:red;">∇ -45.70%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">23.18 ns</div></td><td align="center"><div style="color:red;">Δ 94.82%</div></td><td align="right">22.14 MHz / <div style="color:gray;">43.14 MHz</div></td><td align="center"><div style="color:red;">∇ -48.67%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">59.50 ns</div></td><td align="center"><div style="color:red;">Δ 170.30%</div></td><td align="right">6.22 MHz / <div style="color:gray;">16.81 MHz</div></td><td align="center"><div style="color:red;">∇ -63.00%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">62.26 ns</div></td><td align="center"><div style="color:red;">Δ 158.52%</div></td><td align="right">6.21 MHz / <div style="color:gray;">16.06 MHz</div></td><td align="center"><div style="color:red;">∇ -61.32%</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;">2.88 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;">841.75 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;">1.70 ns</div></td><td align="center"><div style="color:red;">Δ 295.44%</div></td><td align="right">148.49 MHz / <div style="color:gray;">587.20 MHz</div></td><td align="center"><div style="color:red;">∇ -74.71%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">2.77 ns</div></td><td align="center"><div style="color:red;">Δ 183.68%</div></td><td align="right">127.26 MHz / <div style="color:gray;">361.01 MHz</div></td><td align="center"><div style="color:red;">∇ -64.75%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">85.80 ns</div></td><td align="center"><div style="color:red;">Δ 541.94%</div></td><td align="right">1.82 MHz / <div style="color:gray;">11.66 MHz</div></td><td align="center"><div style="color:red;">∇ -84.42%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">23.80 ns</div></td><td align="center"><div style="color:blue;">∇ -99.81%</div></td><td align="right">22.08 GHz / <div style="color:gray;">42.02 MHz</div></td><td align="center"><div style="color:blue;">Δ 52448.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">75.90 ns</div></td><td align="center"><div style="color:red;">Δ 470.47%</div></td><td align="right">2.31 MHz / <div style="color:gray;">13.18 MHz</div></td><td align="center"><div style="color:red;">∇ -82.47%</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;">118.10 ns</div></td><td align="center"><div style="color:red;">Δ 459.29%</div></td><td align="right">1.51 MHz / <div style="color:gray;">8.47 MHz</div></td><td align="center"><div style="color:red;">∇ -82.12%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">44.70 ns</div></td><td align="center"><div style="color:blue;">∇ -12.96%</div></td><td align="right">25.70 MHz / <div style="color:gray;">22.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.90%</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;">45.20 ns</div></td><td align="center"><div style="color:blue;">∇ -80.66%</div></td><td align="right">114.40 MHz / <div style="color:gray;">22.12 MHz</div></td><td align="center"><div style="color:blue;">Δ 417.09%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">5.44 us</div></td><td align="center"><div style="color:blue;">∇ -13.88%</div></td><td align="right">213.59 KHz / <div style="color:gray;">183.95 KHz</div></td><td align="center"><div style="color:blue;">Δ 16.11%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">3.78 us</div></td><td align="center"><div style="color:red;">Δ 17.09%</div></td><td align="right">226.20 KHz / <div style="color:gray;">264.87 KHz</div></td><td align="center"><div style="color:red;">∇ -14.60%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">5.54 us</div></td><td align="center"><div style="color:blue;">∇ -41.61%</div></td><td align="right">308.92 KHz / <div style="color:gray;">180.38 KHz</div></td><td align="center"><div style="color:blue;">Δ 71.27%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">4.07 us</div></td><td align="center"><div style="color:blue;">∇ -41.95%</div></td><td align="right">422.77 KHz / <div style="color:gray;">245.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 72.25%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">644.00 ns</div></td><td align="center"><div style="color:red;">Δ 130.96%</div></td><td align="right">672.33 KHz / <div style="color:gray;">1.55 MHz</div></td><td align="center"><div style="color:red;">∇ -56.70%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">39.00 ns</div></td><td align="center"><div style="color:blue;">∇ -17.55%</div></td><td align="right">31.10 MHz / <div style="color:gray;">25.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.28%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">1.26 us</div></td><td align="center"><div style="color:red;">Δ 177.17%</div></td><td align="right">286.11 KHz / <div style="color:gray;">793.02 KHz</div></td><td align="center"><div style="color:red;">∇ -63.92%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">575.00 ns</div></td><td align="center"><div style="color:red;">Δ 372.29%</div></td><td align="right">368.24 KHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:red;">∇ -78.83%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">25.76 us</div></td><td align="center"><div style="color:red;">Δ 23.75%</div></td><td align="right">31.37 KHz / <div style="color:gray;">38.83 KHz</div></td><td align="center"><div style="color:red;">∇ -19.19%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">17.04 us</div></td><td align="center"><div style="color:red;">Δ 69.70%</div></td><td align="right">34.58 KHz / <div style="color:gray;">58.69 KHz</div></td><td align="center"><div style="color:red;">∇ -41.07%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">207.20 us</div></td><td align="center"><div style="color:blue;">∇ -40.05%</div></td><td align="right">8.05 KHz / <div style="color:gray;">4.83 KHz</div></td><td align="center"><div style="color:blue;">Δ 66.80%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">133.80 us</div></td><td align="center"><div style="color:blue;">∇ -8.64%</div></td><td align="right">8.18 KHz / <div style="color:gray;">7.47 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.46%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">6.40 ns</div></td><td align="center"><div style="color:red;">Δ 10019.02%</div></td><td align="right">1.54 MHz / <div style="color:gray;">156.25 MHz</div></td><td align="center"><div style="color:red;">∇ -99.01%</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;">730.30 ns</div></td><td align="center"><div style="color:red;">Δ 236.06%</div></td><td align="right">407.46 KHz / <div style="color:gray;">1.37 MHz</div></td><td align="center"><div style="color:red;">∇ -70.24%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">212.10 ns</div></td><td align="center"><div style="color:red;">Δ 789.59%</div></td><td align="right">529.99 KHz / <div style="color:gray;">4.71 MHz</div></td><td align="center"><div style="color:red;">∇ -88.76%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">6.56 us</div></td><td align="center"><div style="color:red;">Δ 242.37%</div></td><td align="right">44.49 KHz / <div style="color:gray;">152.33 KHz</div></td><td align="center"><div style="color:red;">∇ -70.79%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">5.04 us</div></td><td align="center"><div style="color:red;">Δ 325.44%</div></td><td align="right">46.63 KHz / <div style="color:gray;">198.38 KHz</div></td><td align="center"><div style="color:red;">∇ -76.50%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">39.41 us</div></td><td align="center"><div style="color:red;">Δ 103.69%</div></td><td align="right">12.46 KHz / <div style="color:gray;">25.37 KHz</div></td><td align="center"><div style="color:red;">∇ -50.91%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">29.04 us</div></td><td align="center"><div style="color:red;">Δ 172.20%</div></td><td align="right">12.65 KHz / <div style="color:gray;">34.44 KHz</div></td><td align="center"><div style="color:red;">∇ -63.26%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">140.00 ns</div></td><td align="center"><div style="color:red;">Δ 679.65%</div></td><td align="right">916.16 KHz / <div style="color:gray;">7.14 MHz</div></td><td align="center"><div style="color:red;">∇ -87.17%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">160.00 ns</div></td><td align="center"><div style="color:red;">Δ 98.15%</div></td><td align="right">3.15 MHz / <div style="color:gray;">6.25 MHz</div></td><td align="center"><div style="color:red;">∇ -49.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">18.38 us</div></td><td align="center"><div style="color:red;">Δ 312.06%</div></td><td align="right">13.20 KHz / <div style="color:gray;">54.41 KHz</div></td><td align="center"><div style="color:red;">∇ -75.73%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">17.08 us</div></td><td align="center"><div style="color:red;">Δ 223.83%</div></td><td align="right">18.08 KHz / <div style="color:gray;">58.55 KHz</div></td><td align="center"><div style="color:red;">∇ -69.12%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">8.30 us</div></td><td align="center"><div style="color:red;">Δ 103.54%</div></td><td align="right">59.19 KHz / <div style="color:gray;">120.48 KHz</div></td><td align="center"><div style="color:red;">∇ -50.87%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">84.40 us</div></td><td align="center"><div style="color:red;">Δ 193.00%</div></td><td align="right">4.04 KHz / <div style="color:gray;">11.85 KHz</div></td><td align="center"><div style="color:red;">∇ -65.87%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">53.00 us</div></td><td align="center"><div style="color:red;">Δ 241.05%</div></td><td align="right">5.53 KHz / <div style="color:gray;">18.87 KHz</div></td><td align="center"><div style="color:red;">∇ -70.68%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">39.49 us</div></td><td align="center"><div style="color:red;">Δ 132.69%</div></td><td align="right">10.88 KHz / <div style="color:gray;">25.32 KHz</div></td><td align="center"><div style="color:red;">∇ -57.03%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">411.70 us</div></td><td align="center"><div style="color:red;">Δ 86.00%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -46.24%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">74.09 us</div></td><td align="center"><div style="color:red;">Δ 57.31%</div></td><td align="right">8.58 KHz / <div style="color:gray;">13.50 KHz</div></td><td align="center"><div style="color:red;">∇ -36.43%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">10.38 ms</div></td><td align="center"><div style="color:blue;">∇ -60.71%</div></td><td align="right">245.20 Hz / <div style="color:gray;">96.33 Hz</div></td><td align="center"><div style="color:blue;">Δ 154.54%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">248.74 us</div></td><td align="center"><div style="color:blue;">∇ -16.60%</div></td><td align="right">4.82 KHz / <div style="color:gray;">4.02 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.90%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">370.64 ms</div></td><td align="center"><div style="color:blue;">∇ -93.41%</div></td><td align="right">40.93 Hz / <div style="color:gray;">2.70 Hz</div></td><td align="center"><div style="color:blue;">Δ 1416.88%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">353.56 us</div></td><td align="center"><div style="color:red;">Δ 14.10%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.83 KHz</div></td><td align="center"><div style="color:red;">∇ -12.35%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">365.56 ms</div></td><td align="center"><div style="color:blue;">∇ -89.00%</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 809.31%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">425.27 us</div></td><td align="center"><div style="color:red;">Δ 12.83%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:red;">∇ -11.37%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">796.04 ms</div></td><td align="center"><div style="color:blue;">∇ -92.47%</div></td><td align="right">16.68 Hz / <div style="color:gray;">1.26 Hz</div></td><td align="center"><div style="color:blue;">Δ 1227.89%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">490.79 us</div></td><td align="center"><div style="color:red;">Δ 14.12%</div></td><td align="right">1.79 KHz / <div style="color:gray;">2.04 KHz</div></td><td align="center"><div style="color:red;">∇ -12.37%</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 212.54%</div></td><td align="right">124.07 MHz / <div style="color:gray;">387.76 MHz</div></td><td align="center"><div style="color:red;">∇ -68.00%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">7.44 ns</div></td><td align="center"><div style="color:red;">Δ 732.50%</div></td><td align="right">16.13 MHz / <div style="color:gray;">134.32 MHz</div></td><td align="center"><div style="color:red;">∇ -87.99%</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 127.24%</div></td><td align="right">798.82 MHz / <div style="color:gray;">1.82 GHz</div></td><td align="center"><div style="color:red;">∇ -55.99%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">101.23 us</div></td><td align="center"><div style="color:red;">Δ 106.31%</div></td><td align="right">4.79 KHz / <div style="color:gray;">9.88 KHz</div></td><td align="center"><div style="color:red;">∇ -51.53%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">291.30 us</div></td><td align="center"><div style="color:red;">Δ 18.81%</div></td><td align="right">2.89 KHz / <div style="color:gray;">3.43 KHz</div></td><td align="center"><div style="color:red;">∇ -15.83%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">1.89 ms</div></td><td align="center"><div style="color:red;">Δ 48.95%</div></td><td align="right">355.60 Hz / <div style="color:gray;">529.66 Hz</div></td><td align="center"><div style="color:red;">∇ -32.86%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">16.46 us</div></td><td align="center"><div style="color:red;">Δ 11.35%</div></td><td align="right">54.57 KHz / <div style="color:gray;">60.76 KHz</div></td><td align="center"><div style="color:red;">∇ -10.19%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">3.10 ms</div></td><td align="center"><div style="color:red;">Δ 113.11%</div></td><td align="right">151.33 Hz / <div style="color:gray;">322.50 Hz</div></td><td align="center"><div style="color:red;">∇ -53.08%</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;">355.52 us</div></td><td align="center"><div style="color:red;">Δ 50.77%</div></td><td align="right">1.87 KHz / <div style="color:gray;">2.81 KHz</div></td><td align="center"><div style="color:red;">∇ -33.67%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">4.16 ms</div></td><td align="center"><div style="color:red;">Δ 35.60%</div></td><td align="right">177.17 Hz / <div style="color:gray;">240.24 Hz</div></td><td align="center"><div style="color:red;">∇ -26.26%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">4.76 us</div></td><td align="center"><div style="color:red;">Δ 61.75%</div></td><td align="right">129.88 KHz / <div style="color:gray;">210.08 KHz</div></td><td align="center"><div style="color:red;">∇ -38.18%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">363.20 us</div></td><td align="center"><div style="color:red;">Δ 45.54%</div></td><td align="right">1.89 KHz / <div style="color:gray;">2.75 KHz</div></td><td align="center"><div style="color:red;">∇ -31.29%</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 41.93%</div></td><td align="right">172.12 Hz / <div style="color:gray;">244.29 Hz</div></td><td align="center"><div style="color:red;">∇ -29.54%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.38 us</div></td><td align="center"><div style="color:red;">Δ 54.29%</div></td><td align="right">468.98 KHz / <div style="color:gray;">723.59 KHz</div></td><td align="center"><div style="color:red;">∇ -35.19%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">100.93 us</div></td><td align="center"><div style="color:red;">Δ 44.36%</div></td><td align="right">6.86 KHz / <div style="color:gray;">9.91 KHz</div></td><td align="center"><div style="color:red;">∇ -30.73%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">11.91 ms</div></td><td align="center"><div style="color:red;">Δ 30.02%</div></td><td align="right">64.56 Hz / <div style="color:gray;">83.95 Hz</div></td><td align="center"><div style="color:red;">∇ -23.09%</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;">5.62 ms</div></td><td align="center"><div style="color:red;">Δ 59.04%</div></td><td align="right">111.93 Hz / <div style="color:gray;">178.01 Hz</div></td><td align="center"><div style="color:red;">∇ -37.12%</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;">130.76 ms</div></td><td align="center"><div style="color:red;">Δ 53.00%</div></td><td align="right">5.00 Hz / <div style="color:gray;">7.65 Hz</div></td><td align="center"><div style="color:red;">∇ -34.64%</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;">5.67 ms</div></td><td align="center"><div style="color:red;">Δ 58.26%</div></td><td align="right">111.43 Hz / <div style="color:gray;">176.35 Hz</div></td><td align="center"><div style="color:red;">∇ -36.81%</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;">132.64 ms</div></td><td align="center"><div style="color:red;">Δ 51.70%</div></td><td align="right">4.97 Hz / <div style="color:gray;">7.54 Hz</div></td><td align="center"><div style="color:red;">∇ -34.08%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">14.57 ns</div></td><td align="center"><div style="color:blue;">∇ -46.77%</div></td><td align="right">128.93 MHz / <div style="color:gray;">68.63 MHz</div></td><td align="center"><div style="color:blue;">Δ 87.87%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">14.62 ns</div></td><td align="center"><div style="color:blue;">∇ -47.94%</div></td><td align="right">131.41 MHz / <div style="color:gray;">68.41 MHz</div></td><td align="center"><div style="color:blue;">Δ 92.10%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">68.70 ns</div></td><td align="center"><div style="color:blue;">∇ -24.55%</div></td><td align="right">19.29 MHz / <div style="color:gray;">14.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.54%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">68.68 ns</div></td><td align="center"><div style="color:blue;">∇ -24.26%</div></td><td align="right">19.22 MHz / <div style="color:gray;">14.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 32.03%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">10.45 ns</div></td><td align="center"><div style="color:red;">Δ 162.42%</div></td><td align="right">36.46 MHz / <div style="color:gray;">95.67 MHz</div></td><td align="center"><div style="color:red;">∇ -61.89%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">1.31 us</div></td><td align="center"><div style="color:red;">Δ 279.76%</div></td><td align="right">201.38 KHz / <div style="color:gray;">764.77 KHz</div></td><td align="center"><div style="color:red;">∇ -73.67%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">2.79 us</div></td><td align="center"><div style="color:red;">Δ 283.22%</div></td><td align="right">93.66 KHz / <div style="color:gray;">358.92 KHz</div></td><td align="center"><div style="color:red;">∇ -73.91%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">158.26 ns</div></td><td align="center"><div style="color:blue;">∇ -2.93%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.01%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">236.42 ns</div></td><td align="center"><div style="color:red;">Δ 5.77%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.23 MHz</div></td><td align="center"><div style="color:red;">∇ -5.46%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">489.37 ns</div></td><td align="center"><div style="color:red;">Δ 35.81%</div></td><td align="right">1.50 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:red;">∇ -26.37%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">164.61 ns</div></td><td align="center"><div style="color:blue;">∇ -6.92%</div></td><td align="right">6.53 MHz / <div style="color:gray;">6.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.44%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">248.12 ns</div></td><td align="center"><div style="color:red;">Δ 2.13%</div></td><td align="right">3.95 MHz / <div style="color:gray;">4.03 MHz</div></td><td align="center"><div style="color:red;">∇ -2.08%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">514.83 ns</div></td><td align="center"><div style="color:red;">Δ 21.00%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -17.36%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">317.50 ns</div></td><td align="center"><div style="color:red;">Δ 7.90%</div></td><td align="right">2.92 MHz / <div style="color:gray;">3.15 MHz</div></td><td align="center"><div style="color:red;">∇ -7.32%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.06 us</div></td><td align="center"><div style="color:red;">Δ 18.08%</div></td><td align="right">276.54 KHz / <div style="color:gray;">326.54 KHz</div></td><td align="center"><div style="color:red;">∇ -15.31%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">30.27 us</div></td><td align="center"><div style="color:red;">Δ 17.88%</div></td><td align="right">28.03 KHz / <div style="color:gray;">33.04 KHz</div></td><td align="center"><div style="color:red;">∇ -15.17%</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;">10.09 GHz</div></td><td align="center"><div style="color:blue;">Δ 2188409.14%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">27.27 ms</div></td><td align="center"><div style="color:red;">Δ 2.99%</div></td><td align="right">35.61 Hz / <div style="color:gray;">36.67 Hz</div></td><td align="center"><div style="color:red;">∇ -2.90%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">43.27 ms</div></td><td align="center"><div style="color:blue;">∇ -1.10%</div></td><td align="right">23.37 Hz / <div style="color:gray;">23.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.11%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">74.67 ms</div></td><td align="center"><div style="color:blue;">∇ -7.42%</div></td><td align="right">14.46 Hz / <div style="color:gray;">13.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.01%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">26.31 ms</div></td><td align="center"><div style="color:blue;">∇ -9.69%</div></td><td align="right">42.09 Hz / <div style="color:gray;">38.01 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.73%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">40.92 ms</div></td><td align="center"><div style="color:blue;">∇ -8.96%</div></td><td align="right">26.85 Hz / <div style="color:gray;">24.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.85%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">62.56 ms</div></td><td align="center"><div style="color:blue;">∇ -4.32%</div></td><td align="right">16.71 Hz / <div style="color:gray;">15.99 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.51%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">4.48 ms</div></td><td align="center"><div style="color:red;">Δ 60.73%</div></td><td align="right">138.75 Hz / <div style="color:gray;">223.01 Hz</div></td><td align="center"><div style="color:red;">∇ -37.78%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">7.46 ms</div></td><td align="center"><div style="color:red;">Δ 16.26%</div></td><td align="right">115.32 Hz / <div style="color:gray;">134.07 Hz</div></td><td align="center"><div style="color:red;">∇ -13.99%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">12.41 ms</div></td><td align="center"><div style="color:red;">Δ 20.37%</div></td><td align="right">66.93 Hz / <div style="color:gray;">80.57 Hz</div></td><td align="center"><div style="color:red;">∇ -16.92%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">5.15 us</div></td><td align="center"><div style="color:red;">Δ 390.46%</div></td><td align="right">39.59 KHz / <div style="color:gray;">194.17 KHz</div></td><td align="center"><div style="color:red;">∇ -79.61%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">4.35 us</div></td><td align="center"><div style="color:red;">Δ 458.38%</div></td><td align="right">41.17 KHz / <div style="color:gray;">229.89 KHz</div></td><td align="center"><div style="color:red;">∇ -82.09%</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;">2.12 us</div></td><td align="center"><div style="color:red;">Δ 551.81%</div></td><td align="right">72.37 KHz / <div style="color:gray;">471.70 KHz</div></td><td align="center"><div style="color:red;">∇ -84.66%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">33.18 ms</div></td><td align="center"><div style="color:red;">Δ 61.54%</div></td><td align="right">18.66 Hz / <div style="color:gray;">30.14 Hz</div></td><td align="center"><div style="color:red;">∇ -38.10%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">29.64 ms</div></td><td align="center"><div style="color:red;">Δ 10.23%</div></td><td align="right">30.61 Hz / <div style="color:gray;">33.74 Hz</div></td><td align="center"><div style="color:red;">∇ -9.28%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">637.68 ms</div></td><td align="center"><div style="color:red;">Δ 13.62%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.57 Hz</div></td><td align="center"><div style="color:red;">∇ -11.99%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">173.14 ms</div></td><td align="center"><div style="color:red;">Δ 25.52%</div></td><td align="right">4.60 Hz / <div style="color:gray;">5.78 Hz</div></td><td align="center"><div style="color:red;">∇ -20.33%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">202.84 ms</div></td><td align="center"><div style="color:red;">Δ 57.87%</div></td><td align="right">3.12 Hz / <div style="color:gray;">4.93 Hz</div></td><td align="center"><div style="color:red;">∇ -36.65%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">5.10 ms</div></td><td align="center"><div style="color:red;">Δ 87.73%</div></td><td align="right">104.37 Hz / <div style="color:gray;">195.94 Hz</div></td><td align="center"><div style="color:red;">∇ -46.73%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">61.22 ms</div></td><td align="center"><div style="color:red;">Δ 81.57%</div></td><td align="right">9.00 Hz / <div style="color:gray;">16.33 Hz</div></td><td align="center"><div style="color:red;">∇ -44.93%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">43.90 ms</div></td><td align="center"><div style="color:red;">Δ 47.50%</div></td><td align="right">15.44 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:red;">∇ -32.20%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">38.32 ms</div></td><td align="center"><div style="color:red;">Δ 31.66%</div></td><td align="right">19.82 Hz / <div style="color:gray;">26.09 Hz</div></td><td align="center"><div style="color:red;">∇ -24.05%</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 6.88%</div></td><td align="right">732.49 mHz / <div style="color:gray;">782.87 mHz</div></td><td align="center"><div style="color:red;">∇ -6.44%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">387.99 ms</div></td><td align="center"><div style="color:red;">Δ 55.19%</div></td><td align="right">1.66 Hz / <div style="color:gray;">2.58 Hz</div></td><td align="center"><div style="color:red;">∇ -35.56%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">15.73 ms</div></td><td align="center"><div style="color:red;">Δ 49.71%</div></td><td align="right">42.46 Hz / <div style="color:gray;">63.57 Hz</div></td><td align="center"><div style="color:red;">∇ -33.21%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">10.56 ms</div></td><td align="center"><div style="color:red;">Δ 48.73%</div></td><td align="right">63.67 Hz / <div style="color:gray;">94.70 Hz</div></td><td align="center"><div style="color:red;">∇ -32.77%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">104.46 us</div></td><td align="center"><div style="color:red;">Δ 187.40%</div></td><td align="right">3.33 KHz / <div style="color:gray;">9.57 KHz</div></td><td align="center"><div style="color:red;">∇ -65.21%</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;">85.19 us</div></td><td align="center"><div style="color:red;">Δ 187.83%</div></td><td align="right">4.08 KHz / <div style="color:gray;">11.74 KHz</div></td><td align="center"><div style="color:red;">∇ -65.26%</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;">134.65 us</div></td><td align="center"><div style="color:red;">Δ 299.26%</div></td><td align="right">1.86 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:red;">∇ -74.95%</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;">119.89 us</div></td><td align="center"><div style="color:red;">Δ 234.62%</div></td><td align="right">2.49 KHz / <div style="color:gray;">8.34 KHz</div></td><td align="center"><div style="color:red;">∇ -70.12%</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;">1.39 ms</div></td><td align="center"><div style="color:red;">Δ 163.70%</div></td><td align="right">273.78 Hz / <div style="color:gray;">721.96 Hz</div></td><td align="center"><div style="color:red;">∇ -62.08%</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;">854.04 us</div></td><td align="center"><div style="color:red;">Δ 193.45%</div></td><td align="right">399.01 Hz / <div style="color:gray;">1.17 KHz</div></td><td align="center"><div style="color:red;">∇ -65.92%</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;">1.61 ms</div></td><td align="center"><div style="color:red;">Δ 198.98%</div></td><td align="right">207.97 Hz / <div style="color:gray;">621.80 Hz</div></td><td align="center"><div style="color:red;">∇ -66.55%</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;">1.20 ms</div></td><td align="center"><div style="color:red;">Δ 235.46%</div></td><td align="right">248.25 Hz / <div style="color:gray;">832.81 Hz</div></td><td align="center"><div style="color:red;">∇ -70.19%</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;">132.91 us</div></td><td align="center"><div style="color:red;">Δ 154.42%</div></td><td align="right">2.96 KHz / <div style="color:gray;">7.52 KHz</div></td><td align="center"><div style="color:red;">∇ -60.69%</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;">109.11 us</div></td><td align="center"><div style="color:red;">Δ 177.16%</div></td><td align="right">3.31 KHz / <div style="color:gray;">9.17 KHz</div></td><td align="center"><div style="color:red;">∇ -63.92%</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;">349.74 us</div></td><td align="center"><div style="color:red;">Δ 91.20%</div></td><td align="right">1.50 KHz / <div style="color:gray;">2.86 KHz</div></td><td align="center"><div style="color:red;">∇ -47.70%</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;">321.54 us</div></td><td align="center"><div style="color:red;">Δ 107.88%</div></td><td align="right">1.50 KHz / <div style="color:gray;">3.11 KHz</div></td><td align="center"><div style="color:red;">∇ -51.90%</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;">1.89 ms</div></td><td align="center"><div style="color:red;">Δ 90.64%</div></td><td align="right">277.54 Hz / <div style="color:gray;">529.10 Hz</div></td><td align="center"><div style="color:red;">∇ -47.54%</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;">1.10 ms</div></td><td align="center"><div style="color:red;">Δ 176.68%</div></td><td align="right">328.99 Hz / <div style="color:gray;">910.25 Hz</div></td><td align="center"><div style="color:red;">∇ -63.86%</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;">4.65 ms</div></td><td align="center"><div style="color:red;">Δ 52.60%</div></td><td align="right">141.02 Hz / <div style="color:gray;">215.20 Hz</div></td><td align="center"><div style="color:red;">∇ -34.47%</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;">4.05 ms</div></td><td align="center"><div style="color:red;">Δ 65.25%</div></td><td align="right">149.36 Hz / <div style="color:gray;">246.81 Hz</div></td><td align="center"><div style="color:red;">∇ -39.48%</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 2011/06/03,22:26:38.494464 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
