<html><head><title>mrpt-performance results - 0.9.3-MSVC9-32bit vs 0.9.4-MSVC10-32bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.3-MSVC9-32bit vs. 0.9.4-MSVC10-32bit</h2></div><hr> <br><br> <div align="center"><table border="1"> <tr> <td rowspan="2" align="center"><b>Test description</b></td> <td colspan="4" align="center"><b>0.9.3-MSVC9-32bit / <div style="color:gray;">0.9.4-MSVC10-32bit</div></b></td></tr><tr><td colspan="2" align="center"><b>Execution time</b></td><td colspan="2" align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td><td align="right">31.56 ms / <div style="color:gray;">37.14 ms</div></td><td align="center"><div style="color:blue;">∇ -15.03%</div></td><td align="right">31.69 Hz / <div style="color:gray;">26.93 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.68%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">53.95 ms / <div style="color:gray;">36.34 ms</div></td><td align="center"><div style="color:red;">Δ 48.46%</div></td><td align="right">18.54 Hz / <div style="color:gray;">27.52 Hz</div></td><td align="center"><div style="color:red;">∇ -32.64%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">194.14 ns / <div style="color:gray;">197.08 ns</div></td><td align="center"><div style="color:blue;">∇ -1.49%</div></td><td align="right">5.15 MHz / <div style="color:gray;">5.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.51%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">34.65 ns / <div style="color:gray;">33.62 ns</div></td><td align="center"><div style="color:red;">Δ 3.06%</div></td><td align="right">28.86 MHz / <div style="color:gray;">29.74 MHz</div></td><td align="center"><div style="color:red;">∇ -2.97%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">28.67 ns / <div style="color:gray;">25.13 ns</div></td><td align="center"><div style="color:red;">Δ 14.05%</div></td><td align="right">34.88 MHz / <div style="color:gray;">39.79 MHz</div></td><td align="center"><div style="color:red;">∇ -12.32%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">18.49 ns / <div style="color:gray;">21.31 ns</div></td><td align="center"><div style="color:blue;">∇ -13.21%</div></td><td align="right">54.08 MHz / <div style="color:gray;">46.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 15.22%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">93.89 ns / <div style="color:gray;">89.96 ns</div></td><td align="center"><div style="color:red;">Δ 4.36%</div></td><td align="right">10.65 MHz / <div style="color:gray;">11.12 MHz</div></td><td align="center"><div style="color:red;">∇ -4.18%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.39 ns / <div style="color:gray;">47.25 ns</div></td><td align="center"><div style="color:blue;">∇ -6.05%</div></td><td align="right">22.53 MHz / <div style="color:gray;">21.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.44%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">103.92 ns / <div style="color:gray;">108.63 ns</div></td><td align="center"><div style="color:blue;">∇ -4.33%</div></td><td align="right">9.62 MHz / <div style="color:gray;">9.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.53%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">91.82 ns / <div style="color:gray;">94.77 ns</div></td><td align="center"><div style="color:blue;">∇ -3.12%</div></td><td align="right">10.89 MHz / <div style="color:gray;">10.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.22%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">140.37 ns / <div style="color:gray;">80.61 ns</div></td><td align="center"><div style="color:red;">Δ 74.13%</div></td><td align="right">7.12 MHz / <div style="color:gray;">12.41 MHz</div></td><td align="center"><div style="color:red;">∇ -42.57%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">66.26 ns / <div style="color:gray;">67.32 ns</div></td><td align="center"><div style="color:blue;">∇ -1.58%</div></td><td align="right">15.09 MHz / <div style="color:gray;">14.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.60%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">93.35 ns / <div style="color:gray;">81.31 ns</div></td><td align="center"><div style="color:red;">Δ 14.82%</div></td><td align="right">10.71 MHz / <div style="color:gray;">12.30 MHz</div></td><td align="center"><div style="color:red;">∇ -12.90%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">60.52 ns / <div style="color:gray;">51.56 ns</div></td><td align="center"><div style="color:red;">Δ 17.37%</div></td><td align="right">16.52 MHz / <div style="color:gray;">19.39 MHz</div></td><td align="center"><div style="color:red;">∇ -14.80%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">116.72 ns / <div style="color:gray;">55.91 ns</div></td><td align="center"><div style="color:red;">Δ 108.75%</div></td><td align="right">8.57 MHz / <div style="color:gray;">17.89 MHz</div></td><td align="center"><div style="color:red;">∇ -52.10%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.02 ns / <div style="color:gray;">32.73 ns</div></td><td align="center"><div style="color:blue;">∇ -5.22%</div></td><td align="right">32.23 MHz / <div style="color:gray;">30.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.50%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">126.78 ns / <div style="color:gray;">124.02 ns</div></td><td align="center"><div style="color:red;">Δ 2.23%</div></td><td align="right">7.89 MHz / <div style="color:gray;">8.06 MHz</div></td><td align="center"><div style="color:red;">∇ -2.18%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.88 ns / <div style="color:gray;">30.61 ns</div></td><td align="center"><div style="color:red;">Δ 0.90%</div></td><td align="right">32.38 MHz / <div style="color:gray;">32.67 MHz</div></td><td align="center"><div style="color:red;">∇ -0.89%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">33.42 ns / <div style="color:gray;">28.12 ns</div></td><td align="center"><div style="color:red;">Δ 18.83%</div></td><td align="right">29.93 MHz / <div style="color:gray;">35.56 MHz</div></td><td align="center"><div style="color:red;">∇ -15.84%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">211.33 ns / <div style="color:gray;">216.84 ns</div></td><td align="center"><div style="color:blue;">∇ -2.54%</div></td><td align="right">4.73 MHz / <div style="color:gray;">4.61 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.61%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">19.45 us / <div style="color:gray;">1.24 us</div></td><td align="center"><div style="color:red;">Δ 1468.66%</div></td><td align="right">51.41 KHz / <div style="color:gray;">806.40 KHz</div></td><td align="center"><div style="color:red;">∇ -93.63%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">2.93 us / <div style="color:gray;">1.20 us</div></td><td align="center"><div style="color:red;">Δ 144.99%</div></td><td align="right">341.05 KHz / <div style="color:gray;">835.55 KHz</div></td><td align="center"><div style="color:red;">∇ -59.18%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">34.64 us / <div style="color:gray;">20.15 us</div></td><td align="center"><div style="color:red;">Δ 71.89%</div></td><td align="right">28.87 KHz / <div style="color:gray;">49.63 KHz</div></td><td align="center"><div style="color:red;">∇ -41.82%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">860.26 ns / <div style="color:gray;">817.60 ns</div></td><td align="center"><div style="color:red;">Δ 5.22%</div></td><td align="right">1.16 MHz / <div style="color:gray;">1.22 MHz</div></td><td align="center"><div style="color:red;">∇ -4.96%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">880.23 ns / <div style="color:gray;">823.40 ns</div></td><td align="center"><div style="color:red;">Δ 6.90%</div></td><td align="right">1.14 MHz / <div style="color:gray;">1.21 MHz</div></td><td align="center"><div style="color:red;">∇ -6.46%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">21.76 us / <div style="color:gray;">19.09 us</div></td><td align="center"><div style="color:red;">Δ 14.01%</div></td><td align="right">45.95 KHz / <div style="color:gray;">52.39 KHz</div></td><td align="center"><div style="color:red;">∇ -12.29%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">44.99 ns / <div style="color:gray;">49.67 ns</div></td><td align="center"><div style="color:blue;">∇ -9.42%</div></td><td align="right">22.23 MHz / <div style="color:gray;">20.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.40%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.16 ns / <div style="color:gray;">50.90 ns</div></td><td align="center"><div style="color:blue;">∇ -11.28%</div></td><td align="right">22.14 MHz / <div style="color:gray;">19.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.71%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">160.84 ns / <div style="color:gray;">180.98 ns</div></td><td align="center"><div style="color:blue;">∇ -11.13%</div></td><td align="right">6.22 MHz / <div style="color:gray;">5.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.52%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">160.97 ns / <div style="color:gray;">177.90 ns</div></td><td align="center"><div style="color:blue;">∇ -9.52%</div></td><td align="right">6.21 MHz / <div style="color:gray;">5.62 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.52%</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;">6.63 ns</div></td><td align="center"><div style="color:red;">Δ 1.56%</div></td><td align="right">148.49 MHz / <div style="color:gray;">150.81 MHz</div></td><td align="center"><div style="color:red;">∇ -1.54%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">8.86 ns</div></td><td align="center"><div style="color:blue;">∇ -11.27%</div></td><td align="right">127.26 MHz / <div style="color:gray;">112.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.70%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">550.79 ns / <div style="color:gray;">680.28 ns</div></td><td align="center"><div style="color:blue;">∇ -19.03%</div></td><td align="right">1.82 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 23.51%</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;">458.35 ns</div></td><td align="center"><div style="color:blue;">∇ -5.53%</div></td><td align="right">2.31 MHz / <div style="color:gray;">2.18 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.86%</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;">680.46 ns</div></td><td align="center"><div style="color:blue;">∇ -2.93%</div></td><td align="right">1.51 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 3.02%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">38.91 ns / <div style="color:gray;">35.28 ns</div></td><td align="center"><div style="color:red;">Δ 10.27%</div></td><td align="right">25.70 MHz / <div style="color:gray;">28.34 MHz</div></td><td align="center"><div style="color:red;">∇ -9.31%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">474.65 ns / <div style="color:gray;">514.01 ns</div></td><td align="center"><div style="color:blue;">∇ -7.66%</div></td><td align="right">2.11 MHz / <div style="color:gray;">1.95 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.29%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">8.74 ns / <div style="color:gray;">3.40 ns</div></td><td align="center"><div style="color:red;">Δ 157.33%</div></td><td align="right">114.40 MHz / <div style="color:gray;">294.39 MHz</div></td><td align="center"><div style="color:red;">∇ -61.14%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">4.68 us / <div style="color:gray;">5.18 us</div></td><td align="center"><div style="color:blue;">∇ -9.61%</div></td><td align="right">213.59 KHz / <div style="color:gray;">193.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 10.63%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.42 us / <div style="color:gray;">4.56 us</div></td><td align="center"><div style="color:blue;">∇ -2.99%</div></td><td align="right">226.20 KHz / <div style="color:gray;">219.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.08%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.24 us / <div style="color:gray;">3.79 us</div></td><td align="center"><div style="color:blue;">∇ -14.61%</div></td><td align="right">308.92 KHz / <div style="color:gray;">263.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.11%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.37 us / <div style="color:gray;">2.92 us</div></td><td align="center"><div style="color:blue;">∇ -19.09%</div></td><td align="right">422.77 KHz / <div style="color:gray;">342.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 23.59%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.49 us / <div style="color:gray;">1.50 us</div></td><td align="center"><div style="color:blue;">∇ -1.03%</div></td><td align="right">672.33 KHz / <div style="color:gray;">665.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.04%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">32.16 ns / <div style="color:gray;">9.51 ns</div></td><td align="center"><div style="color:red;">Δ 238.09%</div></td><td align="right">31.10 MHz / <div style="color:gray;">105.14 MHz</div></td><td align="center"><div style="color:red;">∇ -70.42%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.50 us / <div style="color:gray;">3.90 us</div></td><td align="center"><div style="color:blue;">∇ -10.47%</div></td><td align="right">286.11 KHz / <div style="color:gray;">256.17 KHz</div></td><td align="center"><div style="color:blue;">Δ 11.69%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.72 us / <div style="color:gray;">3.54 us</div></td><td align="center"><div style="color:blue;">∇ -23.29%</div></td><td align="right">368.24 KHz / <div style="color:gray;">282.49 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.35%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">31.87 us / <div style="color:gray;">34.19 us</div></td><td align="center"><div style="color:blue;">∇ -6.78%</div></td><td align="right">31.37 KHz / <div style="color:gray;">29.25 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.27%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">28.91 us / <div style="color:gray;">29.35 us</div></td><td align="center"><div style="color:blue;">∇ -1.49%</div></td><td align="right">34.58 KHz / <div style="color:gray;">34.07 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.51%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">124.22 us / <div style="color:gray;">134.24 us</div></td><td align="center"><div style="color:blue;">∇ -7.46%</div></td><td align="right">8.05 KHz / <div style="color:gray;">7.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.07%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">122.24 us / <div style="color:gray;">126.45 us</div></td><td align="center"><div style="color:blue;">∇ -3.33%</div></td><td align="right">8.18 KHz / <div style="color:gray;">7.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.44%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">647.62 ns / <div style="color:gray;">601.74 ns</div></td><td align="center"><div style="color:red;">Δ 7.62%</div></td><td align="right">1.54 MHz / <div style="color:gray;">1.66 MHz</div></td><td align="center"><div style="color:red;">∇ -7.08%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</td><td align="right">0.00 ns / <div style="color:gray;">0.05 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.08 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[double] 3x3</td><td align="right">969.59 ns / <div style="color:gray;">872.81 ns</div></td><td align="center"><div style="color:red;">Δ 11.09%</div></td><td align="right">1.03 MHz / <div style="color:gray;">1.15 MHz</div></td><td align="center"><div style="color:red;">∇ -9.98%</div></td></tr> <tr> <td>matrix: det, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -1.#J%</div></td><td align="right">1.#J THz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>matrix: det, dyn[double] 6x6</td><td align="right">2.45 us / <div style="color:gray;">2.32 us</div></td><td align="center"><div style="color:red;">Δ 5.60%</div></td><td align="right">407.46 KHz / <div style="color:gray;">430.29 KHz</div></td><td align="center"><div style="color:red;">∇ -5.31%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.89 us / <div style="color:gray;">2.17 us</div></td><td align="center"><div style="color:blue;">∇ -13.09%</div></td><td align="right">529.99 KHz / <div style="color:gray;">460.60 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.07%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">22.48 us / <div style="color:gray;">23.14 us</div></td><td align="center"><div style="color:blue;">∇ -2.85%</div></td><td align="right">44.49 KHz / <div style="color:gray;">43.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.94%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.45 us / <div style="color:gray;">21.38 us</div></td><td align="center"><div style="color:red;">Δ 0.32%</div></td><td align="right">46.63 KHz / <div style="color:gray;">46.78 KHz</div></td><td align="center"><div style="color:red;">∇ -0.32%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">80.28 us / <div style="color:gray;">92.83 us</div></td><td align="center"><div style="color:blue;">∇ -13.53%</div></td><td align="right">12.46 KHz / <div style="color:gray;">10.77 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.64%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">79.04 us / <div style="color:gray;">90.97 us</div></td><td align="center"><div style="color:blue;">∇ -13.11%</div></td><td align="right">12.65 KHz / <div style="color:gray;">10.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.09%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">1.09 us / <div style="color:gray;">892.24 ns</div></td><td align="center"><div style="color:red;">Δ 22.33%</div></td><td align="right">916.16 KHz / <div style="color:gray;">1.12 MHz</div></td><td align="center"><div style="color:red;">∇ -18.26%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">317.04 ns / <div style="color:gray;">249.10 ns</div></td><td align="center"><div style="color:red;">Δ 27.27%</div></td><td align="right">3.15 MHz / <div style="color:gray;">4.01 MHz</div></td><td align="center"><div style="color:red;">∇ -21.43%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">75.74 us / <div style="color:gray;">41.12 us</div></td><td align="center"><div style="color:red;">Δ 84.16%</div></td><td align="right">13.20 KHz / <div style="color:gray;">24.32 KHz</div></td><td align="center"><div style="color:red;">∇ -45.70%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">55.31 us / <div style="color:gray;">26.92 us</div></td><td align="center"><div style="color:red;">Δ 105.48%</div></td><td align="right">18.08 KHz / <div style="color:gray;">37.15 KHz</div></td><td align="center"><div style="color:red;">∇ -51.33%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">16.89 us / <div style="color:gray;">15.31 us</div></td><td align="center"><div style="color:red;">Δ 10.35%</div></td><td align="right">59.19 KHz / <div style="color:gray;">65.32 KHz</div></td><td align="center"><div style="color:red;">∇ -9.38%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">247.29 us / <div style="color:gray;">116.85 us</div></td><td align="center"><div style="color:red;">Δ 111.63%</div></td><td align="right">4.04 KHz / <div style="color:gray;">8.56 KHz</div></td><td align="center"><div style="color:red;">∇ -52.75%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">180.76 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 82.65%</div></td><td align="right">5.53 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -45.25%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">91.89 us / <div style="color:gray;">55.18 us</div></td><td align="center"><div style="color:red;">Δ 66.53%</div></td><td align="right">10.88 KHz / <div style="color:gray;">18.12 KHz</div></td><td align="center"><div style="color:red;">∇ -39.95%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">765.78 us / <div style="color:gray;">498.07 us</div></td><td align="center"><div style="color:red;">Δ 53.75%</div></td><td align="right">1.31 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:red;">∇ -34.96%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">116.55 us / <div style="color:gray;">133.40 us</div></td><td align="center"><div style="color:blue;">∇ -12.63%</div></td><td align="right">8.58 KHz / <div style="color:gray;">7.50 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.46%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.08 ms / <div style="color:gray;">4.99 ms</div></td><td align="center"><div style="color:blue;">∇ -18.31%</div></td><td align="right">245.20 Hz / <div style="color:gray;">200.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.42%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">207.46 us / <div style="color:gray;">243.96 us</div></td><td align="center"><div style="color:blue;">∇ -14.96%</div></td><td align="right">4.82 KHz / <div style="color:gray;">4.10 KHz</div></td><td align="center"><div style="color:blue;">Δ 17.59%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">24.43 ms / <div style="color:gray;">30.03 ms</div></td><td align="center"><div style="color:blue;">∇ -18.62%</div></td><td align="right">40.93 Hz / <div style="color:gray;">33.31 Hz</div></td><td align="center"><div style="color:blue;">Δ 22.88%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">403.40 us / <div style="color:gray;">486.08 us</div></td><td align="center"><div style="color:blue;">∇ -17.01%</div></td><td align="right">2.48 KHz / <div style="color:gray;">2.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 20.50%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">40.20 ms / <div style="color:gray;">51.94 ms</div></td><td align="center"><div style="color:blue;">∇ -22.61%</div></td><td align="right">24.87 Hz / <div style="color:gray;">19.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 29.21%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">479.83 us / <div style="color:gray;">583.78 us</div></td><td align="center"><div style="color:blue;">∇ -17.81%</div></td><td align="right">2.08 KHz / <div style="color:gray;">1.71 KHz</div></td><td align="center"><div style="color:blue;">Δ 21.66%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">59.95 ms / <div style="color:gray;">76.91 ms</div></td><td align="center"><div style="color:blue;">∇ -22.05%</div></td><td align="right">16.68 Hz / <div style="color:gray;">13.00 Hz</div></td><td align="center"><div style="color:blue;">Δ 28.29%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">560.09 us / <div style="color:gray;">649.31 us</div></td><td align="center"><div style="color:blue;">∇ -13.74%</div></td><td align="right">1.79 KHz / <div style="color:gray;">1.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.93%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">5.69 ns / <div style="color:gray;">6.44 ns</div></td><td align="center"><div style="color:blue;">∇ -11.65%</div></td><td align="right">175.73 MHz / <div style="color:gray;">155.25 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.19%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">8.06 ns / <div style="color:gray;">9.52 ns</div></td><td align="center"><div style="color:blue;">∇ -15.37%</div></td><td align="right">124.07 MHz / <div style="color:gray;">105.00 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.16%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">61.98 ns / <div style="color:gray;">9.85 ns</div></td><td align="center"><div style="color:red;">Δ 529.38%</div></td><td align="right">16.13 MHz / <div style="color:gray;">101.55 MHz</div></td><td align="center"><div style="color:red;">∇ -84.11%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.25 ns / <div style="color:gray;">1.47 ns</div></td><td align="center"><div style="color:blue;">∇ -14.95%</div></td><td align="right">798.82 MHz / <div style="color:gray;">679.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.58%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">208.84 us / <div style="color:gray;">225.20 us</div></td><td align="center"><div style="color:blue;">∇ -7.26%</div></td><td align="right">4.79 KHz / <div style="color:gray;">4.44 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.83%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">346.08 us / <div style="color:gray;">365.80 us</div></td><td align="center"><div style="color:blue;">∇ -5.39%</div></td><td align="right">2.89 KHz / <div style="color:gray;">2.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.70%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.81 ms / <div style="color:gray;">2.56 ms</div></td><td align="center"><div style="color:red;">Δ 9.66%</div></td><td align="right">355.60 Hz / <div style="color:gray;">389.96 Hz</div></td><td align="center"><div style="color:red;">∇ -8.81%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">18.33 us / <div style="color:gray;">21.14 us</div></td><td align="center"><div style="color:blue;">∇ -13.32%</div></td><td align="right">54.57 KHz / <div style="color:gray;">47.30 KHz</div></td><td align="center"><div style="color:blue;">Δ 15.37%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">6.61 ms / <div style="color:gray;">3.27 ms</div></td><td align="center"><div style="color:red;">Δ 102.04%</div></td><td align="right">151.33 Hz / <div style="color:gray;">305.75 Hz</div></td><td align="center"><div style="color:red;">∇ -50.50%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">6.03 us</div></td><td align="center"><div style="color:blue;">∇ -0.00%</div></td><td align="right">165.76 KHz / <div style="color:gray;">165.76 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.00%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">536.01 us / <div style="color:gray;">579.42 us</div></td><td align="center"><div style="color:blue;">∇ -7.49%</div></td><td align="right">1.87 KHz / <div style="color:gray;">1.73 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.10%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.64 ms / <div style="color:gray;">6.14 ms</div></td><td align="center"><div style="color:blue;">∇ -8.07%</div></td><td align="right">177.17 Hz / <div style="color:gray;">162.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.78%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">7.70 us / <div style="color:gray;">6.68 us</div></td><td align="center"><div style="color:red;">Δ 15.18%</div></td><td align="right">129.88 KHz / <div style="color:gray;">149.59 KHz</div></td><td align="center"><div style="color:red;">∇ -13.18%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">528.60 us / <div style="color:gray;">519.96 us</div></td><td align="center"><div style="color:red;">Δ 1.66%</div></td><td align="right">1.89 KHz / <div style="color:gray;">1.92 KHz</div></td><td align="center"><div style="color:red;">∇ -1.63%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.81 ms / <div style="color:gray;">6.64 ms</div></td><td align="center"><div style="color:blue;">∇ -12.46%</div></td><td align="right">172.12 Hz / <div style="color:gray;">150.68 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.23%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">2.13 us / <div style="color:gray;">1.95 us</div></td><td align="center"><div style="color:red;">Δ 9.08%</div></td><td align="right">468.98 KHz / <div style="color:gray;">511.57 KHz</div></td><td align="center"><div style="color:red;">∇ -8.33%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">145.70 us / <div style="color:gray;">167.14 us</div></td><td align="center"><div style="color:blue;">∇ -12.83%</div></td><td align="right">6.86 KHz / <div style="color:gray;">5.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 14.72%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">15.49 ms / <div style="color:gray;">17.45 ms</div></td><td align="center"><div style="color:blue;">∇ -11.26%</div></td><td align="right">64.56 Hz / <div style="color:gray;">57.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.69%</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;">9.11 ms</div></td><td align="center"><div style="color:blue;">∇ -1.95%</div></td><td align="right">111.93 Hz / <div style="color:gray;">109.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.99%</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;">210.71 ms</div></td><td align="center"><div style="color:blue;">∇ -5.06%</div></td><td align="right">5.00 Hz / <div style="color:gray;">4.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.33%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.97 ms / <div style="color:gray;">8.38 ms</div></td><td align="center"><div style="color:red;">Δ 7.13%</div></td><td align="right">111.43 Hz / <div style="color:gray;">119.37 Hz</div></td><td align="center"><div style="color:red;">∇ -6.65%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">201.21 ms / <div style="color:gray;">198.71 ms</div></td><td align="center"><div style="color:red;">Δ 1.26%</div></td><td align="right">4.97 Hz / <div style="color:gray;">5.03 Hz</div></td><td align="center"><div style="color:red;">∇ -1.24%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.76 ns / <div style="color:gray;">7.57 ns</div></td><td align="center"><div style="color:red;">Δ 2.46%</div></td><td align="right">128.93 MHz / <div style="color:gray;">132.11 MHz</div></td><td align="center"><div style="color:red;">∇ -2.40%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.61 ns / <div style="color:gray;">7.60 ns</div></td><td align="center"><div style="color:red;">Δ 0.10%</div></td><td align="right">131.41 MHz / <div style="color:gray;">131.54 MHz</div></td><td align="center"><div style="color:red;">∇ -0.10%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">51.84 ns / <div style="color:gray;">58.48 ns</div></td><td align="center"><div style="color:blue;">∇ -11.36%</div></td><td align="right">19.29 MHz / <div style="color:gray;">17.10 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.81%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">52.02 ns / <div style="color:gray;">57.62 ns</div></td><td align="center"><div style="color:blue;">∇ -9.72%</div></td><td align="right">19.22 MHz / <div style="color:gray;">17.35 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.77%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">27.43 ns / <div style="color:gray;">29.43 ns</div></td><td align="center"><div style="color:blue;">∇ -6.79%</div></td><td align="right">36.46 MHz / <div style="color:gray;">33.98 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.28%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">4.97 us / <div style="color:gray;">2.95 us</div></td><td align="center"><div style="color:red;">Δ 68.44%</div></td><td align="right">201.38 KHz / <div style="color:gray;">339.21 KHz</div></td><td align="center"><div style="color:red;">∇ -40.63%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">10.68 us / <div style="color:gray;">3.53 us</div></td><td align="center"><div style="color:red;">Δ 202.08%</div></td><td align="right">93.66 KHz / <div style="color:gray;">282.92 KHz</div></td><td align="center"><div style="color:red;">∇ -66.90%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">153.63 ns / <div style="color:gray;">145.71 ns</div></td><td align="center"><div style="color:red;">Δ 5.43%</div></td><td align="right">6.51 MHz / <div style="color:gray;">6.86 MHz</div></td><td align="center"><div style="color:red;">∇ -5.15%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">250.07 ns / <div style="color:gray;">227.37 ns</div></td><td align="center"><div style="color:red;">Δ 9.99%</div></td><td align="right">4.00 MHz / <div style="color:gray;">4.40 MHz</div></td><td align="center"><div style="color:red;">∇ -9.08%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">664.62 ns / <div style="color:gray;">514.56 ns</div></td><td align="center"><div style="color:red;">Δ 29.16%</div></td><td align="right">1.50 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:red;">∇ -22.58%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">153.22 ns / <div style="color:gray;">170.42 ns</div></td><td align="center"><div style="color:blue;">∇ -10.09%</div></td><td align="right">6.53 MHz / <div style="color:gray;">5.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.22%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">253.40 ns / <div style="color:gray;">283.60 ns</div></td><td align="center"><div style="color:blue;">∇ -10.65%</div></td><td align="right">3.95 MHz / <div style="color:gray;">3.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.92%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">622.96 ns / <div style="color:gray;">661.22 ns</div></td><td align="center"><div style="color:blue;">∇ -5.79%</div></td><td align="right">1.61 MHz / <div style="color:gray;">1.51 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.14%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">342.58 ns / <div style="color:gray;">304.45 ns</div></td><td align="center"><div style="color:red;">Δ 12.53%</div></td><td align="right">2.92 MHz / <div style="color:gray;">3.28 MHz</div></td><td align="center"><div style="color:red;">∇ -11.13%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.62 us / <div style="color:gray;">3.47 us</div></td><td align="center"><div style="color:red;">Δ 4.30%</div></td><td align="right">276.54 KHz / <div style="color:gray;">288.42 KHz</div></td><td align="center"><div style="color:red;">∇ -4.12%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">35.68 us / <div style="color:gray;">37.99 us</div></td><td align="center"><div style="color:blue;">∇ -6.06%</div></td><td align="right">28.03 KHz / <div style="color:gray;">26.33 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.46%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.00 ns</div></td><td align="center"><div style="color:blue;">∇ -0.00%</div></td><td align="right">220.79 THz / <div style="color:gray;">220.79 THz</div></td><td align="center"><div style="color:blue;">Δ 0.00%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">28.08 ms / <div style="color:gray;">33.06 ms</div></td><td align="center"><div style="color:blue;">∇ -15.05%</div></td><td align="right">35.61 Hz / <div style="color:gray;">30.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.72%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.80 ms / <div style="color:gray;">50.64 ms</div></td><td align="center"><div style="color:blue;">∇ -15.48%</div></td><td align="right">23.37 Hz / <div style="color:gray;">19.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.32%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.14 ms / <div style="color:gray;">82.66 ms</div></td><td align="center"><div style="color:blue;">∇ -16.36%</div></td><td align="right">14.46 Hz / <div style="color:gray;">12.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 19.56%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">23.76 ms / <div style="color:gray;">27.36 ms</div></td><td align="center"><div style="color:blue;">∇ -13.15%</div></td><td align="right">42.09 Hz / <div style="color:gray;">36.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 15.14%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">37.25 ms / <div style="color:gray;">43.25 ms</div></td><td align="center"><div style="color:blue;">∇ -13.88%</div></td><td align="right">26.85 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.12%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">59.86 ms / <div style="color:gray;">66.55 ms</div></td><td align="center"><div style="color:blue;">∇ -10.06%</div></td><td align="right">16.71 Hz / <div style="color:gray;">15.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.19%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">7.21 ms / <div style="color:gray;">5.57 ms</div></td><td align="center"><div style="color:red;">Δ 29.36%</div></td><td align="right">138.75 Hz / <div style="color:gray;">179.49 Hz</div></td><td align="center"><div style="color:red;">∇ -22.70%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.67 ms / <div style="color:gray;">8.84 ms</div></td><td align="center"><div style="color:blue;">∇ -1.92%</div></td><td align="right">115.32 Hz / <div style="color:gray;">113.10 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.96%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.94 ms / <div style="color:gray;">14.37 ms</div></td><td align="center"><div style="color:red;">Δ 3.95%</div></td><td align="right">66.93 Hz / <div style="color:gray;">69.58 Hz</div></td><td align="center"><div style="color:red;">∇ -3.80%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">25.26 us / <div style="color:gray;">21.97 us</div></td><td align="center"><div style="color:red;">Δ 14.99%</div></td><td align="right">39.59 KHz / <div style="color:gray;">45.52 KHz</div></td><td align="center"><div style="color:red;">∇ -13.04%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">24.29 us / <div style="color:gray;">22.01 us</div></td><td align="center"><div style="color:red;">Δ 10.37%</div></td><td align="right">41.17 KHz / <div style="color:gray;">45.44 KHz</div></td><td align="center"><div style="color:red;">∇ -9.40%</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;">12.71 us</div></td><td align="center"><div style="color:red;">Δ 8.73%</div></td><td align="right">72.37 KHz / <div style="color:gray;">78.69 KHz</div></td><td align="center"><div style="color:red;">∇ -8.03%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">53.60 ms / <div style="color:gray;">38.32 ms</div></td><td align="center"><div style="color:red;">Δ 39.89%</div></td><td align="right">18.66 Hz / <div style="color:gray;">26.10 Hz</div></td><td align="center"><div style="color:red;">∇ -28.51%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">32.67 ms / <div style="color:gray;">37.22 ms</div></td><td align="center"><div style="color:blue;">∇ -12.22%</div></td><td align="right">30.61 Hz / <div style="color:gray;">26.87 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.92%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">724.51 ms / <div style="color:gray;">739.68 ms</div></td><td align="center"><div style="color:blue;">∇ -2.05%</div></td><td align="right">1.38 Hz / <div style="color:gray;">1.35 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.09%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">217.33 ms / <div style="color:gray;">232.95 ms</div></td><td align="center"><div style="color:blue;">∇ -6.70%</div></td><td align="right">4.60 Hz / <div style="color:gray;">4.29 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.19%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">320.21 ms / <div style="color:gray;">309.97 ms</div></td><td align="center"><div style="color:red;">Δ 3.30%</div></td><td align="right">3.12 Hz / <div style="color:gray;">3.23 Hz</div></td><td align="center"><div style="color:red;">∇ -3.20%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">9.58 ms / <div style="color:gray;">6.88 ms</div></td><td align="center"><div style="color:red;">Δ 39.16%</div></td><td align="right">104.37 Hz / <div style="color:gray;">145.25 Hz</div></td><td align="center"><div style="color:red;">∇ -28.14%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">111.16 ms / <div style="color:gray;">88.28 ms</div></td><td align="center"><div style="color:red;">Δ 25.91%</div></td><td align="right">9.00 Hz / <div style="color:gray;">11.33 Hz</div></td><td align="center"><div style="color:red;">∇ -20.58%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">64.75 ms / <div style="color:gray;">59.68 ms</div></td><td align="center"><div style="color:red;">Δ 8.49%</div></td><td align="right">15.44 Hz / <div style="color:gray;">16.76 Hz</div></td><td align="center"><div style="color:red;">∇ -7.82%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">50.46 ms / <div style="color:gray;">58.57 ms</div></td><td align="center"><div style="color:blue;">∇ -13.85%</div></td><td align="right">19.82 Hz / <div style="color:gray;">17.07 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.08%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.37 sec / <div style="color:gray;">1.50 sec</div></td><td align="center"><div style="color:blue;">∇ -8.80%</div></td><td align="right">732.49 mHz / <div style="color:gray;">668.02 mHz</div></td><td align="center"><div style="color:blue;">Δ 9.65%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">602.11 ms / <div style="color:gray;">621.62 ms</div></td><td align="center"><div style="color:blue;">∇ -3.14%</div></td><td align="right">1.66 Hz / <div style="color:gray;">1.61 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.24%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">23.55 ms / <div style="color:gray;">21.69 ms</div></td><td align="center"><div style="color:red;">Δ 8.57%</div></td><td align="right">42.46 Hz / <div style="color:gray;">46.10 Hz</div></td><td align="center"><div style="color:red;">∇ -7.89%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">15.71 ms / <div style="color:gray;">12.64 ms</div></td><td align="center"><div style="color:red;">Δ 24.28%</div></td><td align="right">63.67 Hz / <div style="color:gray;">79.13 Hz</div></td><td align="center"><div style="color:red;">∇ -19.54%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">300.22 us / <div style="color:gray;">301.62 us</div></td><td align="center"><div style="color:blue;">∇ -0.47%</div></td><td align="right">3.33 KHz / <div style="color:gray;">3.32 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.47%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">300.93 us / <div style="color:gray;">298.86 us</div></td><td align="center"><div style="color:red;">Δ 0.69%</div></td><td align="right">3.32 KHz / <div style="color:gray;">3.35 KHz</div></td><td align="center"><div style="color:red;">∇ -0.69%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">245.20 us / <div style="color:gray;">274.69 us</div></td><td align="center"><div style="color:blue;">∇ -10.74%</div></td><td align="right">4.08 KHz / <div style="color:gray;">3.64 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.03%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">252.81 us / <div style="color:gray;">270.21 us</div></td><td align="center"><div style="color:blue;">∇ -6.44%</div></td><td align="right">3.96 KHz / <div style="color:gray;">3.70 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.88%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">537.61 us / <div style="color:gray;">415.87 us</div></td><td align="center"><div style="color:red;">Δ 29.27%</div></td><td align="right">1.86 KHz / <div style="color:gray;">2.40 KHz</div></td><td align="center"><div style="color:red;">∇ -22.64%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">456.45 us / <div style="color:gray;">406.59 us</div></td><td align="center"><div style="color:red;">Δ 12.26%</div></td><td align="right">2.19 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:red;">∇ -10.92%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">401.18 us / <div style="color:gray;">377.54 us</div></td><td align="center"><div style="color:red;">Δ 6.26%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.65 KHz</div></td><td align="center"><div style="color:red;">∇ -5.89%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">394.03 us / <div style="color:gray;">379.45 us</div></td><td align="center"><div style="color:red;">Δ 3.84%</div></td><td align="right">2.54 KHz / <div style="color:gray;">2.64 KHz</div></td><td align="center"><div style="color:red;">∇ -3.70%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">3.65 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:blue;">∇ -11.76%</div></td><td align="right">273.78 Hz / <div style="color:gray;">241.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.33%</div></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">3.70 ms / <div style="color:gray;">4.00 ms</div></td><td align="center"><div style="color:blue;">∇ -7.59%</div></td><td align="right">270.61 Hz / <div style="color:gray;">250.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.22%</div></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.51 ms / <div style="color:gray;">2.94 ms</div></td><td align="center"><div style="color:blue;">∇ -14.85%</div></td><td align="right">399.01 Hz / <div style="color:gray;">339.77 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.44%</div></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.55 ms / <div style="color:gray;">2.89 ms</div></td><td align="center"><div style="color:blue;">∇ -11.89%</div></td><td align="right">392.34 Hz / <div style="color:gray;">345.69 Hz</div></td><td align="center"><div style="color:blue;">Δ 13.50%</div></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.81 ms / <div style="color:gray;">4.77 ms</div></td><td align="center"><div style="color:red;">Δ 0.77%</div></td><td align="right">207.97 Hz / <div style="color:gray;">209.57 Hz</div></td><td align="center"><div style="color:red;">∇ -0.76%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">4.86 ms / <div style="color:gray;">4.86 ms</div></td><td align="center"><div style="color:blue;">∇ -0.13%</div></td><td align="right">205.85 Hz / <div style="color:gray;">205.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.13%</div></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.03 ms / <div style="color:gray;">4.05 ms</div></td><td align="center"><div style="color:blue;">∇ -0.65%</div></td><td align="right">248.25 Hz / <div style="color:gray;">246.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 0.65%</div></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">4.00 ms / <div style="color:gray;">4.21 ms</div></td><td align="center"><div style="color:blue;">∇ -5.02%</div></td><td align="right">250.07 Hz / <div style="color:gray;">237.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.28%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">338.14 us / <div style="color:gray;">381.69 us</div></td><td align="center"><div style="color:blue;">∇ -11.41%</div></td><td align="right">2.96 KHz / <div style="color:gray;">2.62 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.88%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">332.03 us / <div style="color:gray;">407.21 us</div></td><td align="center"><div style="color:blue;">∇ -18.46%</div></td><td align="right">3.01 KHz / <div style="color:gray;">2.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 22.64%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">302.41 us / <div style="color:gray;">339.57 us</div></td><td align="center"><div style="color:blue;">∇ -10.94%</div></td><td align="right">3.31 KHz / <div style="color:gray;">2.94 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.29%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">309.65 us / <div style="color:gray;">334.55 us</div></td><td align="center"><div style="color:blue;">∇ -7.44%</div></td><td align="right">3.23 KHz / <div style="color:gray;">2.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 8.04%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">668.72 us / <div style="color:gray;">688.91 us</div></td><td align="center"><div style="color:blue;">∇ -2.93%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.02%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">672.92 us / <div style="color:gray;">684.69 us</div></td><td align="center"><div style="color:blue;">∇ -1.72%</div></td><td align="right">1.49 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.75%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">668.41 us / <div style="color:gray;">683.24 us</div></td><td align="center"><div style="color:blue;">∇ -2.17%</div></td><td align="right">1.50 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.22%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">676.59 us / <div style="color:gray;">684.37 us</div></td><td align="center"><div style="color:blue;">∇ -1.14%</div></td><td align="right">1.48 KHz / <div style="color:gray;">1.46 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.15%</div></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.60 ms / <div style="color:gray;">3.89 ms</div></td><td align="center"><div style="color:blue;">∇ -7.26%</div></td><td align="right">277.54 Hz / <div style="color:gray;">257.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.83%</div></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">3.62 ms / <div style="color:gray;">3.79 ms</div></td><td align="center"><div style="color:blue;">∇ -4.55%</div></td><td align="right">276.39 Hz / <div style="color:gray;">263.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.77%</div></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.04 ms / <div style="color:gray;">3.59 ms</div></td><td align="center"><div style="color:blue;">∇ -15.22%</div></td><td align="right">328.99 Hz / <div style="color:gray;">278.91 Hz</div></td><td align="center"><div style="color:blue;">Δ 17.96%</div></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">3.02 ms / <div style="color:gray;">3.52 ms</div></td><td align="center"><div style="color:blue;">∇ -14.10%</div></td><td align="right">330.96 Hz / <div style="color:gray;">284.28 Hz</div></td><td align="center"><div style="color:blue;">Δ 16.42%</div></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.09 ms / <div style="color:gray;">7.80 ms</div></td><td align="center"><div style="color:blue;">∇ -9.13%</div></td><td align="right">141.02 Hz / <div style="color:gray;">128.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.04%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">7.08 ms / <div style="color:gray;">7.81 ms</div></td><td align="center"><div style="color:blue;">∇ -9.29%</div></td><td align="right">141.24 Hz / <div style="color:gray;">128.11 Hz</div></td><td align="center"><div style="color:blue;">Δ 10.25%</div></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">6.70 ms / <div style="color:gray;">7.49 ms</div></td><td align="center"><div style="color:blue;">∇ -10.65%</div></td><td align="right">149.36 Hz / <div style="color:gray;">133.45 Hz</div></td><td align="center"><div style="color:blue;">Δ 11.92%</div></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">6.88 ms / <div style="color:gray;">7.57 ms</div></td><td align="center"><div style="color:blue;">∇ -9.08%</div></td><td align="right">145.34 Hz / <div style="color:gray;">132.15 Hz</div></td><td align="center"><div style="color:blue;">Δ 9.99%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">279.15 us / <div style="color:gray;">213.16 us</div></td><td align="center"><div style="color:red;">Δ 30.96%</div></td><td align="right">3.58 KHz / <div style="color:gray;">4.69 KHz</div></td><td align="center"><div style="color:red;">∇ -23.64%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">417.83 us / <div style="color:gray;">311.59 us</div></td><td align="center"><div style="color:red;">Δ 34.10%</div></td><td align="right">2.39 KHz / <div style="color:gray;">3.21 KHz</div></td><td align="center"><div style="color:red;">∇ -25.43%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">3.14 ms / <div style="color:gray;">2.57 ms</div></td><td align="center"><div style="color:red;">Δ 22.36%</div></td><td align="right">318.46 Hz / <div style="color:gray;">389.66 Hz</div></td><td align="center"><div style="color:red;">∇ -18.27%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">3.68 ms / <div style="color:gray;">2.70 ms</div></td><td align="center"><div style="color:red;">Δ 36.38%</div></td><td align="right">271.44 Hz / <div style="color:gray;">370.20 Hz</div></td><td align="center"><div style="color:red;">∇ -26.68%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">37.09 ms / <div style="color:gray;">31.29 ms</div></td><td align="center"><div style="color:red;">Δ 18.56%</div></td><td align="right">26.96 Hz / <div style="color:gray;">31.96 Hz</div></td><td align="center"><div style="color:red;">∇ -15.65%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">42.65 ms / <div style="color:gray;">32.92 ms</div></td><td align="center"><div style="color:red;">Δ 29.57%</div></td><td align="right">23.45 Hz / <div style="color:gray;">30.38 Hz</div></td><td align="center"><div style="color:red;">∇ -22.82%</div></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">433.73 ms / <div style="color:gray;">393.68 ms</div></td><td align="center"><div style="color:red;">Δ 10.17%</div></td><td align="right">2.31 Hz / <div style="color:gray;">2.54 Hz</div></td><td align="center"><div style="color:red;">∇ -9.23%</div></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">470.84 ms / <div style="color:gray;">385.61 ms</div></td><td align="center"><div style="color:red;">Δ 22.10%</div></td><td align="right">2.12 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:red;">∇ -18.10%</div></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">428.18 ms / <div style="color:gray;">380.30 ms</div></td><td align="center"><div style="color:red;">Δ 12.59%</div></td><td align="right">2.34 Hz / <div style="color:gray;">2.63 Hz</div></td><td align="center"><div style="color:red;">∇ -11.18%</div></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">465.28 ms / <div style="color:gray;">376.84 ms</div></td><td align="center"><div style="color:red;">Δ 23.47%</div></td><td align="right">2.15 Hz / <div style="color:gray;">2.65 Hz</div></td><td align="center"><div style="color:red;">∇ -19.01%</div></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.418459 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
