<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.3-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.3-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;">0.9.3-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;">20.90 ms</div></td><td align="center"><div style="color:red;">Δ 51.00%</div></td><td align="right">31.69 Hz / <div style="color:gray;">47.85 Hz</div></td><td align="center"><div style="color:red;">∇ -33.78%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">18.76 ms</div></td><td align="center"><div style="color:red;">Δ 187.50%</div></td><td align="right">18.54 Hz / <div style="color:gray;">53.30 Hz</div></td><td align="center"><div style="color:red;">∇ -65.22%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">41.67 ns</div></td><td align="center"><div style="color:red;">Δ 365.90%</div></td><td align="right">5.15 MHz / <div style="color:gray;">24.00 MHz</div></td><td align="center"><div style="color:red;">∇ -78.54%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">32.39 ns</div></td><td align="center"><div style="color:red;">Δ 6.98%</div></td><td align="right">28.86 MHz / <div style="color:gray;">30.87 MHz</div></td><td align="center"><div style="color:red;">∇ -6.53%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">8.02 ns</div></td><td align="center"><div style="color:red;">Δ 257.26%</div></td><td align="right">34.88 MHz / <div style="color:gray;">124.63 MHz</div></td><td align="center"><div style="color:red;">∇ -72.01%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">11.53 ns</div></td><td align="center"><div style="color:red;">Δ 60.32%</div></td><td align="right">54.08 MHz / <div style="color:gray;">86.70 MHz</div></td><td align="center"><div style="color:red;">∇ -37.63%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">18.18 ns</div></td><td align="center"><div style="color:red;">Δ 416.33%</div></td><td align="right">10.65 MHz / <div style="color:gray;">54.99 MHz</div></td><td align="center"><div style="color:red;">∇ -80.63%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">25.21 ns</div></td><td align="center"><div style="color:red;">Δ 76.05%</div></td><td align="right">22.53 MHz / <div style="color:gray;">39.66 MHz</div></td><td align="center"><div style="color:red;">∇ -43.20%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 44.13%</div></td><td align="right">9.62 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -30.62%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">69.22 ns</div></td><td align="center"><div style="color:red;">Δ 32.64%</div></td><td align="right">10.89 MHz / <div style="color:gray;">14.45 MHz</div></td><td align="center"><div style="color:red;">∇ -24.61%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">60.48 ns</div></td><td align="center"><div style="color:red;">Δ 132.07%</div></td><td align="right">7.12 MHz / <div style="color:gray;">16.53 MHz</div></td><td align="center"><div style="color:red;">∇ -56.91%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">60.01 ns</div></td><td align="center"><div style="color:red;">Δ 10.41%</div></td><td align="right">15.09 MHz / <div style="color:gray;">16.66 MHz</div></td><td align="center"><div style="color:red;">∇ -9.43%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">42.70 ns</div></td><td align="center"><div style="color:red;">Δ 118.63%</div></td><td align="right">10.71 MHz / <div style="color:gray;">23.42 MHz</div></td><td align="center"><div style="color:red;">∇ -54.26%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">38.27 ns</div></td><td align="center"><div style="color:red;">Δ 58.15%</div></td><td align="right">16.52 MHz / <div style="color:gray;">26.13 MHz</div></td><td align="center"><div style="color:red;">∇ -36.77%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">17.90 ns</div></td><td align="center"><div style="color:red;">Δ 551.89%</div></td><td align="right">8.57 MHz / <div style="color:gray;">55.85 MHz</div></td><td align="center"><div style="color:red;">∇ -84.66%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">18.44 ns</div></td><td align="center"><div style="color:red;">Δ 68.24%</div></td><td align="right">32.23 MHz / <div style="color:gray;">54.23 MHz</div></td><td align="center"><div style="color:red;">∇ -40.56%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">33.31 ns</div></td><td align="center"><div style="color:red;">Δ 280.59%</div></td><td align="right">7.89 MHz / <div style="color:gray;">30.02 MHz</div></td><td align="center"><div style="color:red;">∇ -73.73%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">19.52 ns</div></td><td align="center"><div style="color:red;">Δ 58.23%</div></td><td align="right">32.38 MHz / <div style="color:gray;">51.24 MHz</div></td><td align="center"><div style="color:red;">∇ -36.80%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">16.27 ns</div></td><td align="center"><div style="color:red;">Δ 105.33%</div></td><td align="right">29.93 MHz / <div style="color:gray;">61.45 MHz</div></td><td align="center"><div style="color:red;">∇ -51.30%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">169.77 ns</div></td><td align="center"><div style="color:red;">Δ 24.48%</div></td><td align="right">4.73 MHz / <div style="color:gray;">5.89 MHz</div></td><td align="center"><div style="color:red;">∇ -19.66%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">799.00 ns</div></td><td align="center"><div style="color:red;">Δ 2334.61%</div></td><td align="right">51.41 KHz / <div style="color:gray;">1.25 MHz</div></td><td align="center"><div style="color:red;">∇ -95.89%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">788.50 ns</div></td><td align="center"><div style="color:red;">Δ 271.86%</div></td><td align="right">341.05 KHz / <div style="color:gray;">1.27 MHz</div></td><td align="center"><div style="color:red;">∇ -73.11%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">9.11 us</div></td><td align="center"><div style="color:red;">Δ 280.41%</div></td><td align="right">28.87 KHz / <div style="color:gray;">109.83 KHz</div></td><td align="center"><div style="color:red;">∇ -73.71%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">557.50 ns</div></td><td align="center"><div style="color:red;">Δ 54.31%</div></td><td align="right">1.16 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -35.19%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">558.50 ns</div></td><td align="center"><div style="color:red;">Δ 57.61%</div></td><td align="right">1.14 MHz / <div style="color:gray;">1.79 MHz</div></td><td align="center"><div style="color:red;">∇ -36.55%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">8.42 us</div></td><td align="center"><div style="color:red;">Δ 158.58%</div></td><td align="right">45.95 KHz / <div style="color:gray;">118.81 KHz</div></td><td align="center"><div style="color:red;">∇ -61.33%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">17.83 ns</div></td><td align="center"><div style="color:red;">Δ 152.26%</div></td><td align="right">22.23 MHz / <div style="color:gray;">56.07 MHz</div></td><td align="center"><div style="color:red;">∇ -60.36%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">19.48 ns</div></td><td align="center"><div style="color:red;">Δ 131.90%</div></td><td align="right">22.14 MHz / <div style="color:gray;">51.35 MHz</div></td><td align="center"><div style="color:red;">∇ -56.88%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">54.85 ns</div></td><td align="center"><div style="color:red;">Δ 193.26%</div></td><td align="right">6.22 MHz / <div style="color:gray;">18.23 MHz</div></td><td align="center"><div style="color:red;">∇ -65.90%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">55.93 ns</div></td><td align="center"><div style="color:red;">Δ 187.79%</div></td><td align="right">6.21 MHz / <div style="color:gray;">17.88 MHz</div></td><td align="center"><div style="color:red;">∇ -65.25%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">6.73 ns / <div style="color:gray;">1.50 ns</div></td><td align="center"><div style="color:red;">Δ 349.56%</div></td><td align="right">148.49 MHz / <div style="color:gray;">667.56 MHz</div></td><td align="center"><div style="color:red;">∇ -77.76%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">5.61 ns</div></td><td align="center"><div style="color:red;">Δ 40.15%</div></td><td align="right">127.26 MHz / <div style="color:gray;">178.35 MHz</div></td><td align="center"><div style="color:red;">∇ -28.65%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">291.30 ns</div></td><td align="center"><div style="color:red;">Δ 89.08%</div></td><td align="right">1.82 MHz / <div style="color:gray;">3.43 MHz</div></td><td align="center"><div style="color:red;">∇ -47.11%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 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">22.08 GHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">432.98 ns / <div style="color:gray;">292.50 ns</div></td><td align="center"><div style="color:red;">Δ 48.03%</div></td><td align="right">2.31 MHz / <div style="color:gray;">3.42 MHz</div></td><td align="center"><div style="color:red;">∇ -32.45%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">660.53 ns / <div style="color:gray;">347.50 ns</div></td><td align="center"><div style="color:red;">Δ 90.08%</div></td><td align="right">1.51 MHz / <div style="color:gray;">2.88 MHz</div></td><td align="center"><div style="color:red;">∇ -47.39%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 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">25.70 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">340.40 ns</div></td><td align="center"><div style="color:red;">Δ 39.44%</div></td><td align="right">2.11 MHz / <div style="color:gray;">2.94 MHz</div></td><td align="center"><div style="color:red;">∇ -28.28%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 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">114.40 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">2.42 us</div></td><td align="center"><div style="color:red;">Δ 93.45%</div></td><td align="right">213.59 KHz / <div style="color:gray;">413.19 KHz</div></td><td align="center"><div style="color:red;">∇ -48.31%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">2.23 us</div></td><td align="center"><div style="color:red;">Δ 98.14%</div></td><td align="right">226.20 KHz / <div style="color:gray;">448.19 KHz</div></td><td align="center"><div style="color:red;">∇ -49.53%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">2.31 us</div></td><td align="center"><div style="color:red;">Δ 40.07%</div></td><td align="right">308.92 KHz / <div style="color:gray;">432.69 KHz</div></td><td align="center"><div style="color:red;">∇ -28.60%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">2.12 us</div></td><td align="center"><div style="color:red;">Δ 11.43%</div></td><td align="right">422.77 KHz / <div style="color:gray;">471.08 KHz</div></td><td align="center"><div style="color:red;">∇ -10.26%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">780.00 ns</div></td><td align="center"><div style="color:red;">Δ 90.69%</div></td><td align="right">672.33 KHz / <div style="color:gray;">1.28 MHz</div></td><td align="center"><div style="color:red;">∇ -47.56%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 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">31.10 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">1.97 us</div></td><td align="center"><div style="color:red;">Δ 77.24%</div></td><td align="right">286.11 KHz / <div style="color:gray;">507.10 KHz</div></td><td align="center"><div style="color:red;">∇ -43.58%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">1.60 us</div></td><td align="center"><div style="color:red;">Δ 69.62%</div></td><td align="right">368.24 KHz / <div style="color:gray;">624.61 KHz</div></td><td align="center"><div style="color:red;">∇ -41.05%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">16.08 us</div></td><td align="center"><div style="color:red;">Δ 98.22%</div></td><td align="right">31.37 KHz / <div style="color:gray;">62.19 KHz</div></td><td align="center"><div style="color:red;">∇ -49.55%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">14.48 us</div></td><td align="center"><div style="color:red;">Δ 99.74%</div></td><td align="right">34.58 KHz / <div style="color:gray;">69.08 KHz</div></td><td align="center"><div style="color:red;">∇ -49.93%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">65.78 us</div></td><td align="center"><div style="color:red;">Δ 88.82%</div></td><td align="right">8.05 KHz / <div style="color:gray;">15.20 KHz</div></td><td align="center"><div style="color:red;">∇ -47.04%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">64.13 us</div></td><td align="center"><div style="color:red;">Δ 90.62%</div></td><td align="right">8.18 KHz / <div style="color:gray;">15.59 KHz</div></td><td align="center"><div style="color:red;">∇ -47.54%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">212.60 ns</div></td><td align="center"><div style="color:red;">Δ 204.62%</div></td><td align="right">1.54 MHz / <div style="color:gray;">4.70 MHz</div></td><td align="center"><div style="color:red;">∇ -67.17%</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;">323.30 ns</div></td><td align="center"><div style="color:red;">Δ 199.90%</div></td><td align="right">1.03 MHz / <div style="color:gray;">3.09 MHz</div></td><td align="center"><div style="color:red;">∇ -66.66%</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;">774.90 ns</div></td><td align="center"><div style="color:red;">Δ 216.72%</div></td><td align="right">407.46 KHz / <div style="color:gray;">1.29 MHz</div></td><td align="center"><div style="color:red;">∇ -68.43%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">592.30 ns</div></td><td align="center"><div style="color:red;">Δ 218.56%</div></td><td align="right">529.99 KHz / <div style="color:gray;">1.69 MHz</div></td><td align="center"><div style="color:red;">∇ -68.61%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:red;">Δ 164.37%</div></td><td align="right">44.49 KHz / <div style="color:gray;">117.63 KHz</div></td><td align="center"><div style="color:red;">∇ -62.17%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">7.72 us</div></td><td align="center"><div style="color:red;">Δ 177.79%</div></td><td align="right">46.63 KHz / <div style="color:gray;">129.53 KHz</div></td><td align="center"><div style="color:red;">∇ -64.00%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">32.23 us</div></td><td align="center"><div style="color:red;">Δ 149.11%</div></td><td align="right">12.46 KHz / <div style="color:gray;">31.03 KHz</div></td><td align="center"><div style="color:red;">∇ -59.86%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">30.71 us</div></td><td align="center"><div style="color:red;">Δ 157.40%</div></td><td align="right">12.65 KHz / <div style="color:gray;">32.57 KHz</div></td><td align="center"><div style="color:red;">∇ -61.15%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">530.00 ns</div></td><td align="center"><div style="color:red;">Δ 105.95%</div></td><td align="right">916.16 KHz / <div style="color:gray;">1.89 MHz</div></td><td align="center"><div style="color:red;">∇ -51.44%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 143.88%</div></td><td align="right">3.15 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -59.00%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">22.98 us</div></td><td align="center"><div style="color:red;">Δ 229.57%</div></td><td align="right">13.20 KHz / <div style="color:gray;">43.52 KHz</div></td><td align="center"><div style="color:red;">∇ -69.66%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">19.50 us</div></td><td align="center"><div style="color:red;">Δ 183.64%</div></td><td align="right">18.08 KHz / <div style="color:gray;">51.28 KHz</div></td><td align="center"><div style="color:red;">∇ -64.74%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">8.20 us</div></td><td align="center"><div style="color:red;">Δ 106.02%</div></td><td align="right">59.19 KHz / <div style="color:gray;">121.95 KHz</div></td><td align="center"><div style="color:red;">∇ -51.46%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">85.30 us</div></td><td align="center"><div style="color:red;">Δ 189.91%</div></td><td align="right">4.04 KHz / <div style="color:gray;">11.72 KHz</div></td><td align="center"><div style="color:red;">∇ -65.51%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">56.80 us</div></td><td align="center"><div style="color:red;">Δ 218.23%</div></td><td align="right">5.53 KHz / <div style="color:gray;">17.61 KHz</div></td><td align="center"><div style="color:red;">∇ -68.58%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">39.31 us</div></td><td align="center"><div style="color:red;">Δ 133.76%</div></td><td align="right">10.88 KHz / <div style="color:gray;">25.44 KHz</div></td><td align="center"><div style="color:red;">∇ -57.22%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">266.80 us</div></td><td align="center"><div style="color:red;">Δ 187.02%</div></td><td align="right">1.31 KHz / <div style="color:gray;">3.75 KHz</div></td><td align="center"><div style="color:red;">∇ -65.16%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">72.76 us</div></td><td align="center"><div style="color:red;">Δ 60.18%</div></td><td align="right">8.58 KHz / <div style="color:gray;">13.74 KHz</div></td><td align="center"><div style="color:red;">∇ -37.57%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">2.67 ms</div></td><td align="center"><div style="color:red;">Δ 52.74%</div></td><td align="right">245.20 Hz / <div style="color:gray;">374.53 Hz</div></td><td align="center"><div style="color:red;">∇ -34.53%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">176.19 us</div></td><td align="center"><div style="color:red;">Δ 17.75%</div></td><td align="right">4.82 KHz / <div style="color:gray;">5.68 KHz</div></td><td align="center"><div style="color:red;">∇ -15.07%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">20.73 ms</div></td><td align="center"><div style="color:red;">Δ 17.86%</div></td><td align="right">40.93 Hz / <div style="color:gray;">48.23 Hz</div></td><td align="center"><div style="color:red;">∇ -15.15%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">351.05 us</div></td><td align="center"><div style="color:red;">Δ 14.91%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.85 KHz</div></td><td align="center"><div style="color:red;">∇ -12.98%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">34.60 ms</div></td><td align="center"><div style="color:red;">Δ 16.18%</div></td><td align="right">24.87 Hz / <div style="color:gray;">28.90 Hz</div></td><td align="center"><div style="color:red;">∇ -13.93%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">415.89 us</div></td><td align="center"><div style="color:red;">Δ 15.37%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -13.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">50.32 ms</div></td><td align="center"><div style="color:red;">Δ 19.14%</div></td><td align="right">16.68 Hz / <div style="color:gray;">19.87 Hz</div></td><td align="center"><div style="color:red;">∇ -16.06%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">482.94 us</div></td><td align="center"><div style="color:red;">Δ 15.98%</div></td><td align="right">1.79 KHz / <div style="color:gray;">2.07 KHz</div></td><td align="center"><div style="color:red;">∇ -13.77%</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;">2.61 ns</div></td><td align="center"><div style="color:red;">Δ 209.21%</div></td><td align="right">124.07 MHz / <div style="color:gray;">383.63 MHz</div></td><td align="center"><div style="color:red;">∇ -67.66%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">6.99 ns</div></td><td align="center"><div style="color:red;">Δ 786.43%</div></td><td align="right">16.13 MHz / <div style="color:gray;">143.02 MHz</div></td><td align="center"><div style="color:red;">∇ -88.72%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">0.51 ns</div></td><td align="center"><div style="color:red;">Δ 144.31%</div></td><td align="right">798.82 MHz / <div style="color:gray;">1.95 GHz</div></td><td align="center"><div style="color:red;">∇ -59.07%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">102.59 us</div></td><td align="center"><div style="color:red;">Δ 103.58%</div></td><td align="right">4.79 KHz / <div style="color:gray;">9.75 KHz</div></td><td align="center"><div style="color:red;">∇ -50.88%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">284.11 us</div></td><td align="center"><div style="color:red;">Δ 21.81%</div></td><td align="right">2.89 KHz / <div style="color:gray;">3.52 KHz</div></td><td align="center"><div style="color:red;">∇ -17.91%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">722.00 us</div></td><td align="center"><div style="color:red;">Δ 289.49%</div></td><td align="right">355.60 Hz / <div style="color:gray;">1.39 KHz</div></td><td align="center"><div style="color:red;">∇ -74.33%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">15.69 us</div></td><td align="center"><div style="color:red;">Δ 16.77%</div></td><td align="right">54.57 KHz / <div style="color:gray;">63.72 KHz</div></td><td align="center"><div style="color:red;">∇ -14.36%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">2.97 ms</div></td><td align="center"><div style="color:red;">Δ 122.73%</div></td><td align="right">151.33 Hz / <div style="color:gray;">337.06 Hz</div></td><td align="center"><div style="color:red;">∇ -55.10%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">4.36 us</div></td><td align="center"><div style="color:red;">Δ 38.37%</div></td><td align="right">165.76 KHz / <div style="color:gray;">229.36 KHz</div></td><td align="center"><div style="color:red;">∇ -27.73%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">357.08 us</div></td><td align="center"><div style="color:red;">Δ 50.11%</div></td><td align="right">1.87 KHz / <div style="color:gray;">2.80 KHz</div></td><td align="center"><div style="color:red;">∇ -33.38%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">4.19 ms</div></td><td align="center"><div style="color:red;">Δ 34.68%</div></td><td align="right">177.17 Hz / <div style="color:gray;">238.61 Hz</div></td><td align="center"><div style="color:red;">∇ -25.75%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">4.72 us</div></td><td align="center"><div style="color:red;">Δ 63.12%</div></td><td align="right">129.88 KHz / <div style="color:gray;">211.86 KHz</div></td><td align="center"><div style="color:red;">∇ -38.70%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">362.68 us</div></td><td align="center"><div style="color:red;">Δ 45.75%</div></td><td align="right">1.89 KHz / <div style="color:gray;">2.76 KHz</div></td><td align="center"><div style="color:red;">∇ -31.39%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">4.10 ms</div></td><td align="center"><div style="color:red;">Δ 41.81%</div></td><td align="right">172.12 Hz / <div style="color:gray;">244.09 Hz</div></td><td align="center"><div style="color:red;">∇ -29.48%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.39 us</div></td><td align="center"><div style="color:red;">Δ 53.62%</div></td><td align="right">468.98 KHz / <div style="color:gray;">720.46 KHz</div></td><td align="center"><div style="color:red;">∇ -34.91%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">101.86 us</div></td><td align="center"><div style="color:red;">Δ 43.03%</div></td><td align="right">6.86 KHz / <div style="color:gray;">9.82 KHz</div></td><td align="center"><div style="color:red;">∇ -30.09%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">11.78 ms</div></td><td align="center"><div style="color:red;">Δ 31.53%</div></td><td align="right">64.56 Hz / <div style="color:gray;">84.92 Hz</div></td><td align="center"><div style="color:red;">∇ -23.97%</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 58.89%</div></td><td align="right">111.93 Hz / <div style="color:gray;">177.84 Hz</div></td><td align="center"><div style="color:red;">∇ -37.06%</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;">130.59 ms</div></td><td align="center"><div style="color:red;">Δ 53.20%</div></td><td align="right">5.00 Hz / <div style="color:gray;">7.66 Hz</div></td><td align="center"><div style="color:red;">∇ -34.73%</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;">5.69 ms</div></td><td align="center"><div style="color:red;">Δ 57.70%</div></td><td align="right">111.43 Hz / <div style="color:gray;">175.73 Hz</div></td><td align="center"><div style="color:red;">∇ -36.59%</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;">132.22 ms</div></td><td align="center"><div style="color:red;">Δ 52.17%</div></td><td align="right">4.97 Hz / <div style="color:gray;">7.56 Hz</div></td><td align="center"><div style="color:red;">∇ -34.29%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">15.67 ns</div></td><td align="center"><div style="color:blue;">∇ -50.50%</div></td><td align="right">128.93 MHz / <div style="color:gray;">63.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 102.02%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">15.66 ns</div></td><td align="center"><div style="color:blue;">∇ -51.39%</div></td><td align="right">131.41 MHz / <div style="color:gray;">63.88 MHz</div></td><td align="center"><div style="color:blue;">Δ 105.73%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">69.89 ns</div></td><td align="center"><div style="color:blue;">∇ -25.84%</div></td><td align="right">19.29 MHz / <div style="color:gray;">14.31 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.84%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">69.86 ns</div></td><td align="center"><div style="color:blue;">∇ -25.53%</div></td><td align="right">19.22 MHz / <div style="color:gray;">14.32 MHz</div></td><td align="center"><div style="color:blue;">Δ 34.28%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">12.21 ns</div></td><td align="center"><div style="color:red;">Δ 124.57%</div></td><td align="right">36.46 MHz / <div style="color:gray;">81.87 MHz</div></td><td align="center"><div style="color:red;">∇ -55.47%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">2.70 us</div></td><td align="center"><div style="color:red;">Δ 83.97%</div></td><td align="right">201.38 KHz / <div style="color:gray;">370.49 KHz</div></td><td align="center"><div style="color:red;">∇ -45.64%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">5.71 us</div></td><td align="center"><div style="color:red;">Δ 87.00%</div></td><td align="right">93.66 KHz / <div style="color:gray;">175.14 KHz</div></td><td align="center"><div style="color:red;">∇ -46.52%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">148.19 ns</div></td><td align="center"><div style="color:red;">Δ 3.67%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.75 MHz</div></td><td align="center"><div style="color:red;">∇ -3.54%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">232.46 ns</div></td><td align="center"><div style="color:red;">Δ 7.58%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.30 MHz</div></td><td align="center"><div style="color:red;">∇ -7.04%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">489.71 ns</div></td><td align="center"><div style="color:red;">Δ 35.72%</div></td><td align="right">1.50 MHz / <div style="color:gray;">2.04 MHz</div></td><td align="center"><div style="color:red;">∇ -26.32%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">159.54 ns</div></td><td align="center"><div style="color:blue;">∇ -3.96%</div></td><td align="right">6.53 MHz / <div style="color:gray;">6.27 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.12%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">247.75 ns</div></td><td align="center"><div style="color:red;">Δ 2.28%</div></td><td align="right">3.95 MHz / <div style="color:gray;">4.04 MHz</div></td><td align="center"><div style="color:red;">∇ -2.23%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">521.91 ns</div></td><td align="center"><div style="color:red;">Δ 19.36%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.92 MHz</div></td><td align="center"><div style="color:red;">∇ -16.22%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">251.30 ns</div></td><td align="center"><div style="color:red;">Δ 36.32%</div></td><td align="right">2.92 MHz / <div style="color:gray;">3.98 MHz</div></td><td align="center"><div style="color:red;">∇ -26.65%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.02 us</div></td><td align="center"><div style="color:red;">Δ 19.86%</div></td><td align="right">276.54 KHz / <div style="color:gray;">331.46 KHz</div></td><td align="center"><div style="color:red;">∇ -16.57%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">30.36 us</div></td><td align="center"><div style="color:red;">Δ 17.51%</div></td><td align="right">28.03 KHz / <div style="color:gray;">32.93 KHz</div></td><td align="center"><div style="color:red;">∇ -14.90%</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 2188188.34%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">34.14 ms</div></td><td align="center"><div style="color:blue;">∇ -17.74%</div></td><td align="right">35.61 Hz / <div style="color:gray;">29.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 21.57%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">49.83 ms</div></td><td align="center"><div style="color:blue;">∇ -14.11%</div></td><td align="right">23.37 Hz / <div style="color:gray;">20.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.43%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">80.71 ms</div></td><td align="center"><div style="color:blue;">∇ -14.34%</div></td><td align="right">14.46 Hz / <div style="color:gray;">12.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.75%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">29.36 ms</div></td><td align="center"><div style="color:blue;">∇ -19.09%</div></td><td align="right">42.09 Hz / <div style="color:gray;">34.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.59%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">42.45 ms</div></td><td align="center"><div style="color:blue;">∇ -12.24%</div></td><td align="right">26.85 Hz / <div style="color:gray;">23.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.95%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">65.41 ms</div></td><td align="center"><div style="color:blue;">∇ -8.49%</div></td><td align="right">16.71 Hz / <div style="color:gray;">15.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.27%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">4.66 ms</div></td><td align="center"><div style="color:red;">Δ 54.52%</div></td><td align="right">138.75 Hz / <div style="color:gray;">214.40 Hz</div></td><td align="center"><div style="color:red;">∇ -35.28%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">5.98 ms</div></td><td align="center"><div style="color:red;">Δ 44.91%</div></td><td align="right">115.32 Hz / <div style="color:gray;">167.10 Hz</div></td><td align="center"><div style="color:red;">∇ -30.99%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">10.42 ms</div></td><td align="center"><div style="color:red;">Δ 43.32%</div></td><td align="right">66.93 Hz / <div style="color:gray;">95.93 Hz</div></td><td align="center"><div style="color:red;">∇ -30.23%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">11.35 us</div></td><td align="center"><div style="color:red;">Δ 122.54%</div></td><td align="right">39.59 KHz / <div style="color:gray;">88.11 KHz</div></td><td align="center"><div style="color:red;">∇ -55.07%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">9.96 us</div></td><td align="center"><div style="color:red;">Δ 143.87%</div></td><td align="right">41.17 KHz / <div style="color:gray;">100.40 KHz</div></td><td align="center"><div style="color:red;">∇ -58.99%</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;">5.52 us</div></td><td align="center"><div style="color:red;">Δ 150.33%</div></td><td align="right">72.37 KHz / <div style="color:gray;">181.16 KHz</div></td><td align="center"><div style="color:red;">∇ -60.05%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">32.25 ms</div></td><td align="center"><div style="color:red;">Δ 66.19%</div></td><td align="right">18.66 Hz / <div style="color:gray;">31.01 Hz</div></td><td align="center"><div style="color:red;">∇ -39.83%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">25.60 ms</div></td><td align="center"><div style="color:red;">Δ 27.59%</div></td><td align="right">30.61 Hz / <div style="color:gray;">39.06 Hz</div></td><td align="center"><div style="color:red;">∇ -21.63%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">630.91 ms</div></td><td align="center"><div style="color:red;">Δ 14.84%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.59 Hz</div></td><td align="center"><div style="color:red;">∇ -12.92%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">164.09 ms</div></td><td align="center"><div style="color:red;">Δ 32.45%</div></td><td align="right">4.60 Hz / <div style="color:gray;">6.09 Hz</div></td><td align="center"><div style="color:red;">∇ -24.50%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">207.64 ms</div></td><td align="center"><div style="color:red;">Δ 54.21%</div></td><td align="right">3.12 Hz / <div style="color:gray;">4.82 Hz</div></td><td align="center"><div style="color:red;">∇ -35.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">7.60 ms</div></td><td align="center"><div style="color:red;">Δ 26.06%</div></td><td align="right">104.37 Hz / <div style="color:gray;">131.57 Hz</div></td><td align="center"><div style="color:red;">∇ -20.67%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">60.60 ms</div></td><td align="center"><div style="color:red;">Δ 83.41%</div></td><td align="right">9.00 Hz / <div style="color:gray;">16.50 Hz</div></td><td align="center"><div style="color:red;">∇ -45.48%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">43.99 ms</div></td><td align="center"><div style="color:red;">Δ 47.19%</div></td><td align="right">15.44 Hz / <div style="color:gray;">22.73 Hz</div></td><td align="center"><div style="color:red;">∇ -32.06%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">36.29 ms</div></td><td align="center"><div style="color:red;">Δ 39.06%</div></td><td align="right">19.82 Hz / <div style="color:gray;">27.56 Hz</div></td><td align="center"><div style="color:red;">∇ -28.09%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.20 sec</div></td><td align="center"><div style="color:red;">Δ 13.92%</div></td><td align="right">732.49 mHz / <div style="color:gray;">834.47 mHz</div></td><td align="center"><div style="color:red;">∇ -12.22%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">379.83 ms</div></td><td align="center"><div style="color:red;">Δ 58.52%</div></td><td align="right">1.66 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -36.92%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">16.04 ms</div></td><td align="center"><div style="color:red;">Δ 46.86%</div></td><td align="right">42.46 Hz / <div style="color:gray;">62.36 Hz</div></td><td align="center"><div style="color:red;">∇ -31.91%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">10.85 ms</div></td><td align="center"><div style="color:red;">Δ 44.71%</div></td><td align="right">63.67 Hz / <div style="color:gray;">92.14 Hz</div></td><td align="center"><div style="color:red;">∇ -30.90%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">119.99 us</div></td><td align="center"><div style="color:red;">Δ 150.20%</div></td><td align="right">3.33 KHz / <div style="color:gray;">8.33 KHz</div></td><td align="center"><div style="color:red;">∇ -60.03%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">107.18 us</div></td><td align="center"><div style="color:red;">Δ 180.77%</div></td><td align="right">3.32 KHz / <div style="color:gray;">9.33 KHz</div></td><td align="center"><div style="color:red;">∇ -64.38%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">84.03 us</div></td><td align="center"><div style="color:red;">Δ 191.80%</div></td><td align="right">4.08 KHz / <div style="color:gray;">11.90 KHz</div></td><td align="center"><div style="color:red;">∇ -65.73%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">83.37 us</div></td><td align="center"><div style="color:red;">Δ 203.23%</div></td><td align="right">3.96 KHz / <div style="color:gray;">11.99 KHz</div></td><td align="center"><div style="color:red;">∇ -67.02%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">170.61 us</div></td><td align="center"><div style="color:red;">Δ 215.10%</div></td><td align="right">1.86 KHz / <div style="color:gray;">5.86 KHz</div></td><td align="center"><div style="color:red;">∇ -68.26%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">181.61 us</div></td><td align="center"><div style="color:red;">Δ 151.33%</div></td><td align="right">2.19 KHz / <div style="color:gray;">5.51 KHz</div></td><td align="center"><div style="color:red;">∇ -60.21%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">179.02 us</div></td><td align="center"><div style="color:red;">Δ 124.10%</div></td><td align="right">2.49 KHz / <div style="color:gray;">5.59 KHz</div></td><td align="center"><div style="color:red;">∇ -55.38%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">178.59 us</div></td><td align="center"><div style="color:red;">Δ 120.64%</div></td><td align="right">2.54 KHz / <div style="color:gray;">5.60 KHz</div></td><td align="center"><div style="color:red;">∇ -54.68%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">1.58 ms</div></td><td align="center"><div style="color:red;">Δ 130.84%</div></td><td align="right">273.78 Hz / <div style="color:gray;">632.00 Hz</div></td><td align="center"><div style="color:red;">∇ -56.68%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">1.26 ms</div></td><td align="center"><div style="color:red;">Δ 192.24%</div></td><td align="right">270.61 Hz / <div style="color:gray;">790.83 Hz</div></td><td align="center"><div style="color:red;">∇ -65.78%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">863.38 us</div></td><td align="center"><div style="color:red;">Δ 190.28%</div></td><td align="right">399.01 Hz / <div style="color:gray;">1.16 KHz</div></td><td align="center"><div style="color:red;">∇ -65.55%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">846.12 us</div></td><td align="center"><div style="color:red;">Δ 201.24%</div></td><td align="right">392.34 Hz / <div style="color:gray;">1.18 KHz</div></td><td align="center"><div style="color:red;">∇ -66.80%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">1.96 ms</div></td><td align="center"><div style="color:red;">Δ 145.15%</div></td><td align="right">207.97 Hz / <div style="color:gray;">509.85 Hz</div></td><td align="center"><div style="color:red;">∇ -59.21%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">2.25 ms</div></td><td align="center"><div style="color:red;">Δ 116.29%</div></td><td align="right">205.85 Hz / <div style="color:gray;">445.23 Hz</div></td><td align="center"><div style="color:red;">∇ -53.77%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:red;">Δ 106.13%</div></td><td align="right">248.25 Hz / <div style="color:gray;">511.72 Hz</div></td><td align="center"><div style="color:red;">∇ -51.49%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">1.95 ms</div></td><td align="center"><div style="color:red;">Δ 105.02%</div></td><td align="right">250.07 Hz / <div style="color:gray;">512.69 Hz</div></td><td align="center"><div style="color:red;">∇ -51.22%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">169.26 us</div></td><td align="center"><div style="color:red;">Δ 99.78%</div></td><td align="right">2.96 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -49.94%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">168.78 us</div></td><td align="center"><div style="color:red;">Δ 96.73%</div></td><td align="right">3.01 KHz / <div style="color:gray;">5.93 KHz</div></td><td align="center"><div style="color:red;">∇ -49.17%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">153.69 us</div></td><td align="center"><div style="color:red;">Δ 96.76%</div></td><td align="right">3.31 KHz / <div style="color:gray;">6.51 KHz</div></td><td align="center"><div style="color:red;">∇ -49.18%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">154.19 us</div></td><td align="center"><div style="color:red;">Δ 100.82%</div></td><td align="right">3.23 KHz / <div style="color:gray;">6.49 KHz</div></td><td align="center"><div style="color:red;">∇ -50.21%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">471.95 us</div></td><td align="center"><div style="color:red;">Δ 41.69%</div></td><td align="right">1.50 KHz / <div style="color:gray;">2.12 KHz</div></td><td align="center"><div style="color:red;">∇ -29.42%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">479.58 us</div></td><td align="center"><div style="color:red;">Δ 40.32%</div></td><td align="right">1.49 KHz / <div style="color:gray;">2.09 KHz</div></td><td align="center"><div style="color:red;">∇ -28.73%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">441.33 us</div></td><td align="center"><div style="color:red;">Δ 51.45%</div></td><td align="right">1.50 KHz / <div style="color:gray;">2.27 KHz</div></td><td align="center"><div style="color:red;">∇ -33.97%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">445.05 us</div></td><td align="center"><div style="color:red;">Δ 52.02%</div></td><td align="right">1.48 KHz / <div style="color:gray;">2.25 KHz</div></td><td align="center"><div style="color:red;">∇ -34.22%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">2.46 ms</div></td><td align="center"><div style="color:red;">Δ 46.66%</div></td><td align="right">277.54 Hz / <div style="color:gray;">407.06 Hz</div></td><td align="center"><div style="color:red;">∇ -31.82%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">2.46 ms</div></td><td align="center"><div style="color:red;">Δ 47.08%</div></td><td align="right">276.39 Hz / <div style="color:gray;">406.51 Hz</div></td><td align="center"><div style="color:red;">∇ -32.01%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">1.70 ms</div></td><td align="center"><div style="color:red;">Δ 78.86%</div></td><td align="right">328.99 Hz / <div style="color:gray;">588.45 Hz</div></td><td align="center"><div style="color:red;">∇ -44.09%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">1.70 ms</div></td><td align="center"><div style="color:red;">Δ 77.66%</div></td><td align="right">330.96 Hz / <div style="color:gray;">587.97 Hz</div></td><td align="center"><div style="color:red;">∇ -43.71%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">6.68 ms</div></td><td align="center"><div style="color:red;">Δ 6.10%</div></td><td align="right">141.02 Hz / <div style="color:gray;">149.62 Hz</div></td><td align="center"><div style="color:red;">∇ -5.75%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">6.75 ms</div></td><td align="center"><div style="color:red;">Δ 4.83%</div></td><td align="right">141.24 Hz / <div style="color:gray;">148.06 Hz</div></td><td align="center"><div style="color:red;">∇ -4.61%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">4.59 ms</div></td><td align="center"><div style="color:red;">Δ 46.01%</div></td><td align="right">149.36 Hz / <div style="color:gray;">218.07 Hz</div></td><td align="center"><div style="color:red;">∇ -31.51%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">4.58 ms</div></td><td align="center"><div style="color:red;">Δ 50.39%</div></td><td align="right">145.34 Hz / <div style="color:gray;">218.58 Hz</div></td><td align="center"><div style="color:red;">∇ -33.51%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">89.04 us</div></td><td align="center"><div style="color:red;">Δ 213.49%</div></td><td align="right">3.58 KHz / <div style="color:gray;">11.23 KHz</div></td><td align="center"><div style="color:red;">∇ -68.10%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">75.33 us</div></td><td align="center"><div style="color:red;">Δ 454.69%</div></td><td align="right">2.39 KHz / <div style="color:gray;">13.28 KHz</div></td><td align="center"><div style="color:red;">∇ -81.97%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">1.11 ms</div></td><td align="center"><div style="color:red;">Δ 183.69%</div></td><td align="right">318.46 Hz / <div style="color:gray;">903.43 Hz</div></td><td align="center"><div style="color:red;">∇ -64.75%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">711.20 us</div></td><td align="center"><div style="color:red;">Δ 418.00%</div></td><td align="right">271.44 Hz / <div style="color:gray;">1.41 KHz</div></td><td align="center"><div style="color:red;">∇ -80.69%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">18.54 ms</div></td><td align="center"><div style="color:red;">Δ 100.08%</div></td><td align="right">26.96 Hz / <div style="color:gray;">53.94 Hz</div></td><td align="center"><div style="color:red;">∇ -50.02%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">9.76 ms</div></td><td align="center"><div style="color:red;">Δ 337.15%</div></td><td align="right">23.45 Hz / <div style="color:gray;">102.51 Hz</div></td><td align="center"><div style="color:red;">∇ -77.12%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">252.57 ms</div></td><td align="center"><div style="color:red;">Δ 71.73%</div></td><td align="right">2.31 Hz / <div style="color:gray;">3.96 Hz</div></td><td align="center"><div style="color:red;">∇ -41.77%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">112.23 ms</div></td><td align="center"><div style="color:red;">Δ 319.51%</div></td><td align="right">2.12 Hz / <div style="color:gray;">8.91 Hz</div></td><td align="center"><div style="color:red;">∇ -76.16%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">256.02 ms</div></td><td align="center"><div style="color:red;">Δ 67.25%</div></td><td align="right">2.34 Hz / <div style="color:gray;">3.91 Hz</div></td><td align="center"><div style="color:red;">∇ -40.21%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">106.16 ms</div></td><td align="center"><div style="color:red;">Δ 338.28%</div></td><td align="right">2.15 Hz / <div style="color:gray;">9.42 Hz</div></td><td align="center"><div style="color:red;">∇ -77.18%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.473462 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
