<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.4-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.4-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;">0.9.4-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;">20.74 ms</div></td><td align="center"><div style="color:red;">Δ 52.12%</div></td><td align="right">31.69 Hz / <div style="color:gray;">48.21 Hz</div></td><td align="center"><div style="color:red;">∇ -34.26%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">17.09 ms</div></td><td align="center"><div style="color:red;">Δ 215.66%</div></td><td align="right">18.54 Hz / <div style="color:gray;">58.52 Hz</div></td><td align="center"><div style="color:red;">∇ -68.32%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">29.76 ns</div></td><td align="center"><div style="color:red;">Δ 552.35%</div></td><td align="right">5.15 MHz / <div style="color:gray;">33.60 MHz</div></td><td align="center"><div style="color:red;">∇ -84.67%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">21.90 ns</div></td><td align="center"><div style="color:red;">Δ 58.23%</div></td><td align="right">28.86 MHz / <div style="color:gray;">45.66 MHz</div></td><td align="center"><div style="color:red;">∇ -36.80%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">7.23 ns</div></td><td align="center"><div style="color:red;">Δ 296.28%</div></td><td align="right">34.88 MHz / <div style="color:gray;">138.24 MHz</div></td><td align="center"><div style="color:red;">∇ -74.77%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">11.67 ns</div></td><td align="center"><div style="color:red;">Δ 58.43%</div></td><td align="right">54.08 MHz / <div style="color:gray;">85.68 MHz</div></td><td align="center"><div style="color:red;">∇ -36.88%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">13.29 ns</div></td><td align="center"><div style="color:red;">Δ 606.68%</div></td><td align="right">10.65 MHz / <div style="color:gray;">75.27 MHz</div></td><td align="center"><div style="color:red;">∇ -85.85%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">24.48 ns</div></td><td align="center"><div style="color:red;">Δ 81.33%</div></td><td align="right">22.53 MHz / <div style="color:gray;">40.85 MHz</div></td><td align="center"><div style="color:red;">∇ -44.85%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">71.64 ns</div></td><td align="center"><div style="color:red;">Δ 45.06%</div></td><td align="right">9.62 MHz / <div style="color:gray;">13.96 MHz</div></td><td align="center"><div style="color:red;">∇ -31.06%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">69.41 ns</div></td><td align="center"><div style="color:red;">Δ 32.29%</div></td><td align="right">10.89 MHz / <div style="color:gray;">14.41 MHz</div></td><td align="center"><div style="color:red;">∇ -24.41%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">60.78 ns</div></td><td align="center"><div style="color:red;">Δ 130.96%</div></td><td align="right">7.12 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -56.70%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">60.80 ns</div></td><td align="center"><div style="color:red;">Δ 8.98%</div></td><td align="right">15.09 MHz / <div style="color:gray;">16.45 MHz</div></td><td align="center"><div style="color:red;">∇ -8.24%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">40.47 ns</div></td><td align="center"><div style="color:red;">Δ 130.67%</div></td><td align="right">10.71 MHz / <div style="color:gray;">24.71 MHz</div></td><td align="center"><div style="color:red;">∇ -56.65%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">37.55 ns</div></td><td align="center"><div style="color:red;">Δ 61.18%</div></td><td align="right">16.52 MHz / <div style="color:gray;">26.63 MHz</div></td><td align="center"><div style="color:red;">∇ -37.96%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">17.39 ns</div></td><td align="center"><div style="color:red;">Δ 571.24%</div></td><td align="right">8.57 MHz / <div style="color:gray;">57.51 MHz</div></td><td align="center"><div style="color:red;">∇ -85.10%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">17.48 ns</div></td><td align="center"><div style="color:red;">Δ 77.44%</div></td><td align="right">32.23 MHz / <div style="color:gray;">57.20 MHz</div></td><td align="center"><div style="color:red;">∇ -43.64%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">32.97 ns</div></td><td align="center"><div style="color:red;">Δ 284.56%</div></td><td align="right">7.89 MHz / <div style="color:gray;">30.33 MHz</div></td><td align="center"><div style="color:red;">∇ -74.00%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">19.11 ns</div></td><td align="center"><div style="color:red;">Δ 61.63%</div></td><td align="right">32.38 MHz / <div style="color:gray;">52.34 MHz</div></td><td align="center"><div style="color:red;">∇ -38.13%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">23.42 ns</div></td><td align="center"><div style="color:red;">Δ 42.68%</div></td><td align="right">29.93 MHz / <div style="color:gray;">42.70 MHz</div></td><td align="center"><div style="color:red;">∇ -29.91%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">172.72 ns</div></td><td align="center"><div style="color:red;">Δ 22.36%</div></td><td align="right">4.73 MHz / <div style="color:gray;">5.79 MHz</div></td><td align="center"><div style="color:red;">∇ -18.27%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">671.00 ns</div></td><td align="center"><div style="color:red;">Δ 2799.04%</div></td><td align="right">51.41 KHz / <div style="color:gray;">1.49 MHz</div></td><td align="center"><div style="color:red;">∇ -96.55%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">652.00 ns</div></td><td align="center"><div style="color:red;">Δ 349.72%</div></td><td align="right">341.05 KHz / <div style="color:gray;">1.53 MHz</div></td><td align="center"><div style="color:red;">∇ -77.76%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">8.74 us</div></td><td align="center"><div style="color:red;">Δ 296.25%</div></td><td align="right">28.87 KHz / <div style="color:gray;">114.40 KHz</div></td><td align="center"><div style="color:red;">∇ -74.76%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">454.10 ns</div></td><td align="center"><div style="color:red;">Δ 89.44%</div></td><td align="right">1.16 MHz / <div style="color:gray;">2.20 MHz</div></td><td align="center"><div style="color:red;">∇ -47.21%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">452.90 ns</div></td><td align="center"><div style="color:red;">Δ 94.35%</div></td><td align="right">1.14 MHz / <div style="color:gray;">2.21 MHz</div></td><td align="center"><div style="color:red;">∇ -48.55%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">7.98 us</div></td><td align="center"><div style="color:red;">Δ 172.89%</div></td><td align="right">45.95 KHz / <div style="color:gray;">125.39 KHz</div></td><td align="center"><div style="color:red;">∇ -63.36%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">17.64 ns</div></td><td align="center"><div style="color:red;">Δ 155.11%</div></td><td align="right">22.23 MHz / <div style="color:gray;">56.71 MHz</div></td><td align="center"><div style="color:red;">∇ -60.80%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">19.86 ns</div></td><td align="center"><div style="color:red;">Δ 127.37%</div></td><td align="right">22.14 MHz / <div style="color:gray;">50.34 MHz</div></td><td align="center"><div style="color:red;">∇ -56.02%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">57.06 ns</div></td><td align="center"><div style="color:red;">Δ 181.91%</div></td><td align="right">6.22 MHz / <div style="color:gray;">17.53 MHz</div></td><td align="center"><div style="color:red;">∇ -64.53%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">60.00 ns</div></td><td align="center"><div style="color:red;">Δ 168.28%</div></td><td align="right">6.21 MHz / <div style="color:gray;">16.67 MHz</div></td><td align="center"><div style="color:red;">∇ -62.73%</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;">0.00 ns</div></td><td align="center"><div style="color:red;">Δ 1.#J%</div></td><td align="right">148.49 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: unit, fix[double,6,6]</td><td align="right">7.86 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">127.26 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 ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">242.70 ns</div></td><td align="center"><div style="color:red;">Δ 126.94%</div></td><td align="right">1.82 MHz / <div style="color:gray;">4.12 MHz</div></td><td align="center"><div style="color:red;">∇ -55.94%</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;">231.60 ns</div></td><td align="center"><div style="color:red;">Δ 86.95%</div></td><td align="right">2.31 MHz / <div style="color:gray;">4.32 MHz</div></td><td align="center"><div style="color:red;">∇ -46.51%</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;">296.50 ns</div></td><td align="center"><div style="color:red;">Δ 122.77%</div></td><td align="right">1.51 MHz / <div style="color:gray;">3.37 MHz</div></td><td align="center"><div style="color:red;">∇ -55.11%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:red;">Δ 38805.06%</div></td><td align="right">25.70 MHz / <div style="color:gray;">10.00 GHz</div></td><td align="center"><div style="color:red;">∇ -99.74%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">259.20 ns</div></td><td align="center"><div style="color:red;">Δ 83.12%</div></td><td align="right">2.11 MHz / <div style="color:gray;">3.86 MHz</div></td><td align="center"><div style="color:red;">∇ -45.39%</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;">2.09 us</div></td><td align="center"><div style="color:red;">Δ 123.65%</div></td><td align="right">213.59 KHz / <div style="color:gray;">477.69 KHz</div></td><td align="center"><div style="color:red;">∇ -55.29%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">1.79 us</div></td><td align="center"><div style="color:red;">Δ 147.14%</div></td><td align="right">226.20 KHz / <div style="color:gray;">559.03 KHz</div></td><td align="center"><div style="color:red;">∇ -59.54%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">2.43 us</div></td><td align="center"><div style="color:red;">Δ 33.26%</div></td><td align="right">308.92 KHz / <div style="color:gray;">411.68 KHz</div></td><td align="center"><div style="color:red;">∇ -24.96%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">2.16 us</div></td><td align="center"><div style="color:red;">Δ 9.33%</div></td><td align="right">422.77 KHz / <div style="color:gray;">462.21 KHz</div></td><td align="center"><div style="color:red;">∇ -8.53%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">767.00 ns</div></td><td align="center"><div style="color:red;">Δ 93.92%</div></td><td align="right">672.33 KHz / <div style="color:gray;">1.30 MHz</div></td><td align="center"><div style="color:red;">∇ -48.43%</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;">1.78 us</div></td><td align="center"><div style="color:red;">Δ 96.35%</div></td><td align="right">286.11 KHz / <div style="color:gray;">561.80 KHz</div></td><td align="center"><div style="color:red;">∇ -49.07%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">1.73 us</div></td><td align="center"><div style="color:red;">Δ 57.16%</div></td><td align="right">368.24 KHz / <div style="color:gray;">578.70 KHz</div></td><td align="center"><div style="color:red;">∇ -36.37%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">16.27 us</div></td><td align="center"><div style="color:red;">Δ 95.94%</div></td><td align="right">31.37 KHz / <div style="color:gray;">61.47 KHz</div></td><td align="center"><div style="color:red;">∇ -48.96%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">13.44 us</div></td><td align="center"><div style="color:red;">Δ 115.15%</div></td><td align="right">34.58 KHz / <div style="color:gray;">74.41 KHz</div></td><td align="center"><div style="color:red;">∇ -53.52%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">68.00 us</div></td><td align="center"><div style="color:red;">Δ 82.66%</div></td><td align="right">8.05 KHz / <div style="color:gray;">14.70 KHz</div></td><td align="center"><div style="color:red;">∇ -45.25%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">63.01 us</div></td><td align="center"><div style="color:red;">Δ 94.02%</div></td><td align="right">8.18 KHz / <div style="color:gray;">15.87 KHz</div></td><td align="center"><div style="color:red;">∇ -48.46%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">209.40 ns</div></td><td align="center"><div style="color:red;">Δ 209.27%</div></td><td align="right">1.54 MHz / <div style="color:gray;">4.78 MHz</div></td><td align="center"><div style="color:red;">∇ -67.67%</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;">331.30 ns</div></td><td align="center"><div style="color:red;">Δ 192.66%</div></td><td align="right">1.03 MHz / <div style="color:gray;">3.02 MHz</div></td><td align="center"><div style="color:red;">∇ -65.83%</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;">943.70 ns</div></td><td align="center"><div style="color:red;">Δ 160.07%</div></td><td align="right">407.46 KHz / <div style="color:gray;">1.06 MHz</div></td><td align="center"><div style="color:red;">∇ -61.55%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">575.90 ns</div></td><td align="center"><div style="color:red;">Δ 227.63%</div></td><td align="right">529.99 KHz / <div style="color:gray;">1.74 MHz</div></td><td align="center"><div style="color:red;">∇ -69.48%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">8.10 us</div></td><td align="center"><div style="color:red;">Δ 177.34%</div></td><td align="right">44.49 KHz / <div style="color:gray;">123.40 KHz</div></td><td align="center"><div style="color:red;">∇ -63.94%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">7.48 us</div></td><td align="center"><div style="color:red;">Δ 186.54%</div></td><td align="right">46.63 KHz / <div style="color:gray;">133.61 KHz</div></td><td align="center"><div style="color:red;">∇ -65.10%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">30.87 us</div></td><td align="center"><div style="color:red;">Δ 160.03%</div></td><td align="right">12.46 KHz / <div style="color:gray;">32.39 KHz</div></td><td align="center"><div style="color:red;">∇ -61.54%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">29.01 us</div></td><td align="center"><div style="color:red;">Δ 172.44%</div></td><td align="right">12.65 KHz / <div style="color:gray;">34.47 KHz</div></td><td align="center"><div style="color:red;">∇ -63.29%</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;">120.00 ns</div></td><td align="center"><div style="color:red;">Δ 164.20%</div></td><td align="right">3.15 MHz / <div style="color:gray;">8.33 MHz</div></td><td align="center"><div style="color:red;">∇ -62.15%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">20.70 us</div></td><td align="center"><div style="color:red;">Δ 265.87%</div></td><td align="right">13.20 KHz / <div style="color:gray;">48.31 KHz</div></td><td align="center"><div style="color:red;">∇ -72.67%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">16.54 us</div></td><td align="center"><div style="color:red;">Δ 234.40%</div></td><td align="right">18.08 KHz / <div style="color:gray;">60.46 KHz</div></td><td align="center"><div style="color:red;">∇ -70.10%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">12.20 us</div></td><td align="center"><div style="color:red;">Δ 38.47%</div></td><td align="right">59.19 KHz / <div style="color:gray;">81.97 KHz</div></td><td align="center"><div style="color:red;">∇ -27.78%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">87.70 us</div></td><td align="center"><div style="color:red;">Δ 181.97%</div></td><td align="right">4.04 KHz / <div style="color:gray;">11.40 KHz</div></td><td align="center"><div style="color:red;">∇ -64.54%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">51.70 us</div></td><td align="center"><div style="color:red;">Δ 249.63%</div></td><td align="right">5.53 KHz / <div style="color:gray;">19.34 KHz</div></td><td align="center"><div style="color:red;">∇ -71.40%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">38.27 us</div></td><td align="center"><div style="color:red;">Δ 140.11%</div></td><td align="right">10.88 KHz / <div style="color:gray;">26.13 KHz</div></td><td align="center"><div style="color:red;">∇ -58.35%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">255.50 us</div></td><td align="center"><div style="color:red;">Δ 199.72%</div></td><td align="right">1.31 KHz / <div style="color:gray;">3.91 KHz</div></td><td align="center"><div style="color:red;">∇ -66.64%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">70.94 us</div></td><td align="center"><div style="color:red;">Δ 64.29%</div></td><td align="right">8.58 KHz / <div style="color:gray;">14.10 KHz</div></td><td align="center"><div style="color:red;">∇ -39.13%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">2.75 ms</div></td><td align="center"><div style="color:red;">Δ 48.30%</div></td><td align="right">245.20 Hz / <div style="color:gray;">363.64 Hz</div></td><td align="center"><div style="color:red;">∇ -32.57%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">169.22 us</div></td><td align="center"><div style="color:red;">Δ 22.60%</div></td><td align="right">4.82 KHz / <div style="color:gray;">5.91 KHz</div></td><td align="center"><div style="color:red;">∇ -18.43%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">22.06 ms</div></td><td align="center"><div style="color:red;">Δ 10.76%</div></td><td align="right">40.93 Hz / <div style="color:gray;">45.33 Hz</div></td><td align="center"><div style="color:red;">∇ -9.72%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">339.61 us</div></td><td align="center"><div style="color:red;">Δ 18.78%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:red;">∇ -15.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">36.67 ms</div></td><td align="center"><div style="color:red;">Δ 9.64%</div></td><td align="right">24.87 Hz / <div style="color:gray;">27.27 Hz</div></td><td align="center"><div style="color:red;">∇ -8.79%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">402.38 us</div></td><td align="center"><div style="color:red;">Δ 19.25%</div></td><td align="right">2.08 KHz / <div style="color:gray;">2.49 KHz</div></td><td align="center"><div style="color:red;">∇ -16.14%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">53.86 ms</div></td><td align="center"><div style="color:red;">Δ 11.30%</div></td><td align="right">16.68 Hz / <div style="color:gray;">18.57 Hz</div></td><td align="center"><div style="color:red;">∇ -10.15%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">476.81 us</div></td><td align="center"><div style="color:red;">Δ 17.47%</div></td><td align="right">1.79 KHz / <div style="color:gray;">2.10 KHz</div></td><td align="center"><div style="color:red;">∇ -14.87%</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;">2.71 ns</div></td><td align="center"><div style="color:red;">Δ 197.68%</div></td><td align="right">124.07 MHz / <div style="color:gray;">369.33 MHz</div></td><td align="center"><div style="color:red;">∇ -66.41%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">6.04 ns</div></td><td align="center"><div style="color:red;">Δ 926.32%</div></td><td align="right">16.13 MHz / <div style="color:gray;">165.59 MHz</div></td><td align="center"><div style="color:red;">∇ -90.26%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">0.61 ns</div></td><td align="center"><div style="color:red;">Δ 103.82%</div></td><td align="right">798.82 MHz / <div style="color:gray;">1.63 GHz</div></td><td align="center"><div style="color:red;">∇ -50.94%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">99.83 us</div></td><td align="center"><div style="color:red;">Δ 109.19%</div></td><td align="right">4.79 KHz / <div style="color:gray;">10.02 KHz</div></td><td align="center"><div style="color:red;">∇ -52.20%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">293.13 us</div></td><td align="center"><div style="color:red;">Δ 18.07%</div></td><td align="right">2.89 KHz / <div style="color:gray;">3.41 KHz</div></td><td align="center"><div style="color:red;">∇ -15.30%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">630.00 us</div></td><td align="center"><div style="color:red;">Δ 346.37%</div></td><td align="right">355.60 Hz / <div style="color:gray;">1.59 KHz</div></td><td align="center"><div style="color:red;">∇ -77.60%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">17.81 us</div></td><td align="center"><div style="color:red;">Δ 2.89%</div></td><td align="right">54.57 KHz / <div style="color:gray;">56.14 KHz</div></td><td align="center"><div style="color:red;">∇ -2.81%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">1.01 ms</div></td><td align="center"><div style="color:red;">Δ 554.73%</div></td><td align="right">151.33 Hz / <div style="color:gray;">990.80 Hz</div></td><td align="center"><div style="color:red;">∇ -84.73%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">4.52 us</div></td><td align="center"><div style="color:red;">Δ 33.47%</div></td><td align="right">165.76 KHz / <div style="color:gray;">221.24 KHz</div></td><td align="center"><div style="color:red;">∇ -25.08%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">364.44 us</div></td><td align="center"><div style="color:red;">Δ 47.08%</div></td><td align="right">1.87 KHz / <div style="color:gray;">2.74 KHz</div></td><td align="center"><div style="color:red;">∇ -32.01%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">4.38 ms</div></td><td align="center"><div style="color:red;">Δ 28.81%</div></td><td align="right">177.17 Hz / <div style="color:gray;">228.21 Hz</div></td><td align="center"><div style="color:red;">∇ -22.37%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">5.16 us</div></td><td align="center"><div style="color:red;">Δ 49.21%</div></td><td align="right">129.88 KHz / <div style="color:gray;">193.80 KHz</div></td><td align="center"><div style="color:red;">∇ -32.98%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">372.44 us</div></td><td align="center"><div style="color:red;">Δ 41.93%</div></td><td align="right">1.89 KHz / <div style="color:gray;">2.68 KHz</div></td><td align="center"><div style="color:red;">∇ -29.54%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">4.20 ms</div></td><td align="center"><div style="color:red;">Δ 38.31%</div></td><td align="right">172.12 Hz / <div style="color:gray;">238.06 Hz</div></td><td align="center"><div style="color:red;">∇ -27.70%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.42 us</div></td><td align="center"><div style="color:red;">Δ 50.06%</div></td><td align="right">468.98 KHz / <div style="color:gray;">703.73 KHz</div></td><td align="center"><div style="color:red;">∇ -33.36%</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 43.04%</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;">12.17 ms</div></td><td align="center"><div style="color:red;">Δ 27.24%</div></td><td align="right">64.56 Hz / <div style="color:gray;">82.15 Hz</div></td><td align="center"><div style="color:red;">∇ -21.41%</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;">5.64 ms</div></td><td align="center"><div style="color:red;">Δ 58.37%</div></td><td align="right">111.93 Hz / <div style="color:gray;">177.25 Hz</div></td><td align="center"><div style="color:red;">∇ -36.85%</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;">132.76 ms</div></td><td align="center"><div style="color:red;">Δ 50.69%</div></td><td align="right">5.00 Hz / <div style="color:gray;">7.53 Hz</div></td><td align="center"><div style="color:red;">∇ -33.64%</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;">5.71 ms</div></td><td align="center"><div style="color:red;">Δ 57.08%</div></td><td align="right">111.43 Hz / <div style="color:gray;">175.04 Hz</div></td><td align="center"><div style="color:red;">∇ -36.34%</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;">134.74 ms</div></td><td align="center"><div style="color:red;">Δ 49.33%</div></td><td align="right">4.97 Hz / <div style="color:gray;">7.42 Hz</div></td><td align="center"><div style="color:red;">∇ -33.04%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">14.55 ns</div></td><td align="center"><div style="color:blue;">∇ -46.68%</div></td><td align="right">128.93 MHz / <div style="color:gray;">68.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 87.54%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">14.56 ns</div></td><td align="center"><div style="color:blue;">∇ -47.73%</div></td><td align="right">131.41 MHz / <div style="color:gray;">68.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 91.31%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">66.87 ns</div></td><td align="center"><div style="color:blue;">∇ -22.48%</div></td><td align="right">19.29 MHz / <div style="color:gray;">14.96 MHz</div></td><td align="center"><div style="color:blue;">Δ 29.00%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">66.81 ns</div></td><td align="center"><div style="color:blue;">∇ -22.13%</div></td><td align="right">19.22 MHz / <div style="color:gray;">14.97 MHz</div></td><td align="center"><div style="color:blue;">Δ 28.42%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">10.63 ns</div></td><td align="center"><div style="color:red;">Δ 158.14%</div></td><td align="right">36.46 MHz / <div style="color:gray;">94.11 MHz</div></td><td align="center"><div style="color:red;">∇ -61.26%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">903.36 ns</div></td><td align="center"><div style="color:red;">Δ 449.69%</div></td><td align="right">201.38 KHz / <div style="color:gray;">1.11 MHz</div></td><td align="center"><div style="color:red;">∇ -81.81%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">1.61 us</div></td><td align="center"><div style="color:red;">Δ 563.06%</div></td><td align="right">93.66 KHz / <div style="color:gray;">621.01 KHz</div></td><td align="center"><div style="color:red;">∇ -84.92%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">144.65 ns</div></td><td align="center"><div style="color:red;">Δ 6.21%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.91 MHz</div></td><td align="center"><div style="color:red;">∇ -5.84%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">219.48 ns</div></td><td align="center"><div style="color:red;">Δ 13.94%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.56 MHz</div></td><td align="center"><div style="color:red;">∇ -12.23%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">472.80 ns</div></td><td align="center"><div style="color:red;">Δ 40.57%</div></td><td align="right">1.50 MHz / <div style="color:gray;">2.12 MHz</div></td><td align="center"><div style="color:red;">∇ -28.86%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">152.29 ns</div></td><td align="center"><div style="color:red;">Δ 0.61%</div></td><td align="right">6.53 MHz / <div style="color:gray;">6.57 MHz</div></td><td align="center"><div style="color:red;">∇ -0.61%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">235.04 ns</div></td><td align="center"><div style="color:red;">Δ 7.81%</div></td><td align="right">3.95 MHz / <div style="color:gray;">4.25 MHz</div></td><td align="center"><div style="color:red;">∇ -7.25%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">491.60 ns</div></td><td align="center"><div style="color:red;">Δ 26.72%</div></td><td align="right">1.61 MHz / <div style="color:gray;">2.03 MHz</div></td><td align="center"><div style="color:red;">∇ -21.09%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">243.60 ns</div></td><td align="center"><div style="color:red;">Δ 40.63%</div></td><td align="right">2.92 MHz / <div style="color:gray;">4.11 MHz</div></td><td align="center"><div style="color:red;">∇ -28.89%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">2.99 us</div></td><td align="center"><div style="color:red;">Δ 21.14%</div></td><td align="right">276.54 KHz / <div style="color:gray;">334.99 KHz</div></td><td align="center"><div style="color:red;">∇ -17.45%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">29.51 us</div></td><td align="center"><div style="color:red;">Δ 20.89%</div></td><td align="right">28.03 KHz / <div style="color:gray;">33.88 KHz</div></td><td align="center"><div style="color:red;">∇ -17.28%</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;">10.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 2189954.69%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">33.63 ms</div></td><td align="center"><div style="color:blue;">∇ -16.49%</div></td><td align="right">35.61 Hz / <div style="color:gray;">29.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.74%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">49.85 ms</div></td><td align="center"><div style="color:blue;">∇ -14.14%</div></td><td align="right">23.37 Hz / <div style="color:gray;">20.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.48%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">69.59 ms</div></td><td align="center"><div style="color:blue;">∇ -0.65%</div></td><td align="right">14.46 Hz / <div style="color:gray;">14.37 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.66%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">30.64 ms</div></td><td align="center"><div style="color:blue;">∇ -22.46%</div></td><td align="right">42.09 Hz / <div style="color:gray;">32.63 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.97%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">43.91 ms</div></td><td align="center"><div style="color:blue;">∇ -15.16%</div></td><td align="right">26.85 Hz / <div style="color:gray;">22.78 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.87%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">62.52 ms</div></td><td align="center"><div style="color:blue;">∇ -4.27%</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 4.46%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">3.81 ms</div></td><td align="center"><div style="color:red;">Δ 89.37%</div></td><td align="right">138.75 Hz / <div style="color:gray;">262.76 Hz</div></td><td align="center"><div style="color:red;">∇ -47.19%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">5.96 ms</div></td><td align="center"><div style="color:red;">Δ 45.43%</div></td><td align="right">115.32 Hz / <div style="color:gray;">167.70 Hz</div></td><td align="center"><div style="color:red;">∇ -31.24%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">10.46 ms</div></td><td align="center"><div style="color:red;">Δ 42.84%</div></td><td align="right">66.93 Hz / <div style="color:gray;">95.61 Hz</div></td><td align="center"><div style="color:red;">∇ -29.99%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">12.69 us</div></td><td align="center"><div style="color:red;">Δ 99.05%</div></td><td align="right">39.59 KHz / <div style="color:gray;">78.80 KHz</div></td><td align="center"><div style="color:red;">∇ -49.76%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">9.85 us</div></td><td align="center"><div style="color:red;">Δ 146.60%</div></td><td align="right">41.17 KHz / <div style="color:gray;">101.52 KHz</div></td><td align="center"><div style="color:red;">∇ -59.45%</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;">5.24 us</div></td><td align="center"><div style="color:red;">Δ 163.71%</div></td><td align="right">72.37 KHz / <div style="color:gray;">190.84 KHz</div></td><td align="center"><div style="color:red;">∇ -62.08%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">21.14 ms</div></td><td align="center"><div style="color:red;">Δ 153.56%</div></td><td align="right">18.66 Hz / <div style="color:gray;">47.31 Hz</div></td><td align="center"><div style="color:red;">∇ -60.56%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">21.45 ms</div></td><td align="center"><div style="color:red;">Δ 52.28%</div></td><td align="right">30.61 Hz / <div style="color:gray;">46.61 Hz</div></td><td align="center"><div style="color:red;">∇ -34.33%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">591.25 ms</div></td><td align="center"><div style="color:red;">Δ 22.54%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.69 Hz</div></td><td align="center"><div style="color:red;">∇ -18.39%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">162.82 ms</div></td><td align="center"><div style="color:red;">Δ 33.48%</div></td><td align="right">4.60 Hz / <div style="color:gray;">6.14 Hz</div></td><td align="center"><div style="color:red;">∇ -25.08%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">197.33 ms</div></td><td align="center"><div style="color:red;">Δ 62.27%</div></td><td align="right">3.12 Hz / <div style="color:gray;">5.07 Hz</div></td><td align="center"><div style="color:red;">∇ -38.37%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">6.89 ms</div></td><td align="center"><div style="color:red;">Δ 39.07%</div></td><td align="right">104.37 Hz / <div style="color:gray;">145.15 Hz</div></td><td align="center"><div style="color:red;">∇ -28.09%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">63.90 ms</div></td><td align="center"><div style="color:red;">Δ 73.96%</div></td><td align="right">9.00 Hz / <div style="color:gray;">15.65 Hz</div></td><td align="center"><div style="color:red;">∇ -42.52%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">38.54 ms</div></td><td align="center"><div style="color:red;">Δ 68.01%</div></td><td align="right">15.44 Hz / <div style="color:gray;">25.95 Hz</div></td><td align="center"><div style="color:red;">∇ -40.48%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">33.59 ms</div></td><td align="center"><div style="color:red;">Δ 50.21%</div></td><td align="right">19.82 Hz / <div style="color:gray;">29.77 Hz</div></td><td align="center"><div style="color:red;">∇ -33.43%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.16 sec</div></td><td align="center"><div style="color:red;">Δ 17.88%</div></td><td align="right">732.49 mHz / <div style="color:gray;">863.45 mHz</div></td><td align="center"><div style="color:red;">∇ -15.17%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">375.89 ms</div></td><td align="center"><div style="color:red;">Δ 60.18%</div></td><td align="right">1.66 Hz / <div style="color:gray;">2.66 Hz</div></td><td align="center"><div style="color:red;">∇ -37.57%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">15.89 ms</div></td><td align="center"><div style="color:red;">Δ 48.24%</div></td><td align="right">42.46 Hz / <div style="color:gray;">62.95 Hz</div></td><td align="center"><div style="color:red;">∇ -32.54%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">10.48 ms</div></td><td align="center"><div style="color:red;">Δ 49.87%</div></td><td align="right">63.67 Hz / <div style="color:gray;">95.42 Hz</div></td><td align="center"><div style="color:red;">∇ -33.28%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">158.24 us</div></td><td align="center"><div style="color:red;">Δ 89.72%</div></td><td align="right">3.33 KHz / <div style="color:gray;">6.32 KHz</div></td><td align="center"><div style="color:red;">∇ -47.29%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">133.69 us</div></td><td align="center"><div style="color:red;">Δ 125.10%</div></td><td align="right">3.32 KHz / <div style="color:gray;">7.48 KHz</div></td><td align="center"><div style="color:red;">∇ -55.58%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">84.43 us</div></td><td align="center"><div style="color:red;">Δ 190.44%</div></td><td align="right">4.08 KHz / <div style="color:gray;">11.84 KHz</div></td><td align="center"><div style="color:red;">∇ -65.57%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">81.78 us</div></td><td align="center"><div style="color:red;">Δ 209.15%</div></td><td align="right">3.96 KHz / <div style="color:gray;">12.23 KHz</div></td><td align="center"><div style="color:red;">∇ -67.65%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">207.17 us</div></td><td align="center"><div style="color:red;">Δ 159.51%</div></td><td align="right">1.86 KHz / <div style="color:gray;">4.83 KHz</div></td><td align="center"><div style="color:red;">∇ -61.47%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">232.57 us</div></td><td align="center"><div style="color:red;">Δ 96.26%</div></td><td align="right">2.19 KHz / <div style="color:gray;">4.30 KHz</div></td><td align="center"><div style="color:red;">∇ -49.05%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">246.74 us</div></td><td align="center"><div style="color:red;">Δ 62.59%</div></td><td align="right">2.49 KHz / <div style="color:gray;">4.05 KHz</div></td><td align="center"><div style="color:red;">∇ -38.50%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">192.59 us</div></td><td align="center"><div style="color:red;">Δ 104.59%</div></td><td align="right">2.54 KHz / <div style="color:gray;">5.19 KHz</div></td><td align="center"><div style="color:red;">∇ -51.12%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">2.08 ms</div></td><td align="center"><div style="color:red;">Δ 75.34%</div></td><td align="right">273.78 Hz / <div style="color:gray;">480.05 Hz</div></td><td align="center"><div style="color:red;">∇ -42.97%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">1.62 ms</div></td><td align="center"><div style="color:red;">Δ 128.57%</div></td><td align="right">270.61 Hz / <div style="color:gray;">618.53 Hz</div></td><td align="center"><div style="color:red;">∇ -56.25%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">870.19 us</div></td><td align="center"><div style="color:red;">Δ 188.00%</div></td><td align="right">399.01 Hz / <div style="color:gray;">1.15 KHz</div></td><td align="center"><div style="color:red;">∇ -65.28%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">846.92 us</div></td><td align="center"><div style="color:red;">Δ 200.95%</div></td><td align="right">392.34 Hz / <div style="color:gray;">1.18 KHz</div></td><td align="center"><div style="color:red;">∇ -66.77%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">2.34 ms</div></td><td align="center"><div style="color:red;">Δ 105.38%</div></td><td align="right">207.97 Hz / <div style="color:gray;">427.14 Hz</div></td><td align="center"><div style="color:red;">∇ -51.31%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">2.81 ms</div></td><td align="center"><div style="color:red;">Δ 72.97%</div></td><td align="right">205.85 Hz / <div style="color:gray;">356.06 Hz</div></td><td align="center"><div style="color:red;">∇ -42.19%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:red;">Δ 89.46%</div></td><td align="right">248.25 Hz / <div style="color:gray;">470.35 Hz</div></td><td align="center"><div style="color:red;">∇ -47.22%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">2.13 ms</div></td><td align="center"><div style="color:red;">Δ 87.60%</div></td><td align="right">250.07 Hz / <div style="color:gray;">469.13 Hz</div></td><td align="center"><div style="color:red;">∇ -46.70%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">220.82 us</div></td><td align="center"><div style="color:red;">Δ 53.13%</div></td><td align="right">2.96 KHz / <div style="color:gray;">4.53 KHz</div></td><td align="center"><div style="color:red;">∇ -34.70%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">221.81 us</div></td><td align="center"><div style="color:red;">Δ 49.69%</div></td><td align="right">3.01 KHz / <div style="color:gray;">4.51 KHz</div></td><td align="center"><div style="color:red;">∇ -33.20%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">183.18 us</div></td><td align="center"><div style="color:red;">Δ 65.09%</div></td><td align="right">3.31 KHz / <div style="color:gray;">5.46 KHz</div></td><td align="center"><div style="color:red;">∇ -39.43%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">186.52 us</div></td><td align="center"><div style="color:red;">Δ 66.02%</div></td><td align="right">3.23 KHz / <div style="color:gray;">5.36 KHz</div></td><td align="center"><div style="color:red;">∇ -39.77%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">532.35 us</div></td><td align="center"><div style="color:red;">Δ 25.62%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.88 KHz</div></td><td align="center"><div style="color:red;">∇ -20.39%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">537.98 us</div></td><td align="center"><div style="color:red;">Δ 25.08%</div></td><td align="right">1.49 KHz / <div style="color:gray;">1.86 KHz</div></td><td align="center"><div style="color:red;">∇ -20.05%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">487.59 us</div></td><td align="center"><div style="color:red;">Δ 37.08%</div></td><td align="right">1.50 KHz / <div style="color:gray;">2.05 KHz</div></td><td align="center"><div style="color:red;">∇ -27.05%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">493.50 us</div></td><td align="center"><div style="color:red;">Δ 37.10%</div></td><td align="right">1.48 KHz / <div style="color:gray;">2.03 KHz</div></td><td align="center"><div style="color:red;">∇ -27.06%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">2.78 ms</div></td><td align="center"><div style="color:red;">Δ 29.55%</div></td><td align="right">277.54 Hz / <div style="color:gray;">359.55 Hz</div></td><td align="center"><div style="color:red;">∇ -22.81%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">2.77 ms</div></td><td align="center"><div style="color:red;">Δ 30.44%</div></td><td align="right">276.39 Hz / <div style="color:gray;">360.52 Hz</div></td><td align="center"><div style="color:red;">∇ -23.34%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">2.09 ms</div></td><td align="center"><div style="color:red;">Δ 45.17%</div></td><td align="right">328.99 Hz / <div style="color:gray;">477.61 Hz</div></td><td align="center"><div style="color:red;">∇ -31.12%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">2.05 ms</div></td><td align="center"><div style="color:red;">Δ 47.18%</div></td><td align="right">330.96 Hz / <div style="color:gray;">487.11 Hz</div></td><td align="center"><div style="color:red;">∇ -32.06%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">7.36 ms</div></td><td align="center"><div style="color:blue;">∇ -3.70%</div></td><td align="right">141.02 Hz / <div style="color:gray;">135.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.84%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">6.97 ms</div></td><td align="center"><div style="color:red;">Δ 1.55%</div></td><td align="right">141.24 Hz / <div style="color:gray;">143.42 Hz</div></td><td align="center"><div style="color:red;">∇ -1.52%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">5.29 ms</div></td><td align="center"><div style="color:red;">Δ 26.68%</div></td><td align="right">149.36 Hz / <div style="color:gray;">189.20 Hz</div></td><td align="center"><div style="color:red;">∇ -21.06%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">5.49 ms</div></td><td align="center"><div style="color:red;">Δ 25.42%</div></td><td align="right">145.34 Hz / <div style="color:gray;">182.28 Hz</div></td><td align="center"><div style="color:red;">∇ -20.27%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">90.55 us</div></td><td align="center"><div style="color:red;">Δ 208.27%</div></td><td align="right">3.58 KHz / <div style="color:gray;">11.04 KHz</div></td><td align="center"><div style="color:red;">∇ -67.56%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">83.50 us</div></td><td align="center"><div style="color:red;">Δ 400.38%</div></td><td align="right">2.39 KHz / <div style="color:gray;">11.98 KHz</div></td><td align="center"><div style="color:red;">∇ -80.02%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">1.13 ms</div></td><td align="center"><div style="color:red;">Δ 177.02%</div></td><td align="right">318.46 Hz / <div style="color:gray;">882.20 Hz</div></td><td align="center"><div style="color:red;">∇ -63.90%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">767.67 us</div></td><td align="center"><div style="color:red;">Δ 379.89%</div></td><td align="right">271.44 Hz / <div style="color:gray;">1.30 KHz</div></td><td align="center"><div style="color:red;">∇ -79.16%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">21.12 ms</div></td><td align="center"><div style="color:red;">Δ 75.63%</div></td><td align="right">26.96 Hz / <div style="color:gray;">47.35 Hz</div></td><td align="center"><div style="color:red;">∇ -43.06%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">10.86 ms</div></td><td align="center"><div style="color:red;">Δ 292.62%</div></td><td align="right">23.45 Hz / <div style="color:gray;">92.06 Hz</div></td><td align="center"><div style="color:red;">∇ -74.53%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">341.35 ms</div></td><td align="center"><div style="color:red;">Δ 27.06%</div></td><td align="right">2.31 Hz / <div style="color:gray;">2.93 Hz</div></td><td align="center"><div style="color:red;">∇ -21.30%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">142.53 ms</div></td><td align="center"><div style="color:red;">Δ 230.34%</div></td><td align="right">2.12 Hz / <div style="color:gray;">7.02 Hz</div></td><td align="center"><div style="color:red;">∇ -69.73%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">320.28 ms</div></td><td align="center"><div style="color:red;">Δ 33.69%</div></td><td align="right">2.34 Hz / <div style="color:gray;">3.12 Hz</div></td><td align="center"><div style="color:red;">∇ -25.20%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">133.66 ms</div></td><td align="center"><div style="color:red;">Δ 248.12%</div></td><td align="right">2.15 Hz / <div style="color:gray;">7.48 Hz</div></td><td align="center"><div style="color:red;">∇ -71.27%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.443461 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
