<html><head><title>mrpt-performance results - 0.9.4-GCC-64bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.4-GCC-64bit vs. 0.9.1-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>0.9.4-GCC-64bit / <div style="color:gray;">0.9.1-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">20.74 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:blue;">∇ -3.96%</div></td><td align="right">48.21 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.12%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">17.09 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:blue;">∇ -16.69%</div></td><td align="right">58.52 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:blue;">Δ 20.03%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">29.76 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -93.37%</div></td><td align="right">33.60 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 1408.80%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">21.90 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -90.63%</div></td><td align="right">45.66 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 967.72%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">7.23 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:blue;">∇ -32.18%</div></td><td align="right">138.24 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:blue;">Δ 47.44%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">11.67 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 16.00%</div></td><td align="right">85.68 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -13.79%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">13.29 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:blue;">∇ -64.77%</div></td><td align="right">75.27 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:blue;">Δ 183.82%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">24.48 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:blue;">∇ -40.26%</div></td><td align="right">40.85 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:blue;">Δ 67.39%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">71.64 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:blue;">∇ -8.35%</div></td><td align="right">13.96 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 9.11%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">69.41 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 11.64%</div></td><td align="right">14.41 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -10.43%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">60.78 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:blue;">∇ -4.84%</div></td><td align="right">16.45 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.08%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">60.80 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:blue;">∇ -1.90%</div></td><td align="right">16.45 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.94%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">40.47 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:blue;">∇ -13.89%</div></td><td align="right">24.71 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.14%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">37.55 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:blue;">∇ -5.65%</div></td><td align="right">26.63 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.99%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">17.39 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:blue;">∇ -23.13%</div></td><td align="right">57.51 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 30.09%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">17.48 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:blue;">∇ -7.64%</div></td><td align="right">57.20 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.27%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">32.97 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -91.57%</div></td><td align="right">30.33 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 1086.78%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">19.11 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 5.83%</div></td><td align="right">52.34 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -5.51%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">23.42 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -93.40%</div></td><td align="right">42.70 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 1415.80%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">172.72 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:blue;">∇ -0.28%</div></td><td align="right">5.79 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.28%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">671.00 ns / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -99.92%</div></td><td align="right">1.49 MHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 121324.37%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">652.00 ns / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.92%</div></td><td align="right">1.53 MHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 125959.59%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">8.74 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:blue;">∇ -8.67%</div></td><td align="right">114.40 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.50%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">454.10 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:blue;">∇ -33.45%</div></td><td align="right">2.20 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 50.25%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">452.90 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:blue;">∇ -15.16%</div></td><td align="right">2.21 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 17.86%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">7.98 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:blue;">∇ -6.33%</div></td><td align="right">125.39 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.76%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">17.64 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:blue;">∇ -14.36%</div></td><td align="right">56.71 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 16.77%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">19.86 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:blue;">∇ -12.13%</div></td><td align="right">50.34 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.80%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">57.06 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:blue;">∇ -10.75%</div></td><td align="right">17.53 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.04%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">60.00 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:blue;">∇ -8.00%</div></td><td align="right">16.67 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.70%</div></td></tr> <tr> <td>matrix: unit, fix[float,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">0.35 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">2.89 GHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,3,3]</td><td align="right">0.00 ns / <div style="color:gray;">1.19 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">842.46 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[float,6,6]</td><td align="right">0.00 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">0.00 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">242.70 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 230.20%</div></td><td align="right">4.12 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -69.72%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">231.60 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 221.22%</div></td><td align="right">4.32 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -68.87%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td><td align="right">0.00 ns / <div style="color:gray;">23.50 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">42.55 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td><td align="right">296.50 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 162.62%</div></td><td align="right">3.37 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -61.92%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">0.10 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:blue;">∇ -99.78%</div></td><td align="right">10.00 GHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 44900.00%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">259.20 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 134.57%</div></td><td align="right">3.86 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -57.37%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">0.00 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">2.09 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -64.01%</div></td><td align="right">477.69 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 177.87%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">1.79 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:blue;">∇ -49.93%</div></td><td align="right">559.03 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 99.72%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">2.43 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -58.72%</div></td><td align="right">411.68 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 142.26%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.16 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -43.31%</div></td><td align="right">462.21 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 76.39%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">767.00 ns / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 85.71%</div></td><td align="right">1.30 MHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -46.15%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">0.00 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">1.#J THz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.#J%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">1.78 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 42.51%</div></td><td align="right">561.80 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -29.83%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">1.73 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 198.96%</div></td><td align="right">578.70 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -66.55%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">16.27 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:blue;">∇ -43.09%</div></td><td align="right">61.47 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 75.72%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">13.44 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:blue;">∇ -21.85%</div></td><td align="right">74.41 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:blue;">Δ 27.96%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">68.00 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -66.16%</div></td><td align="right">14.70 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 195.49%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">63.01 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -53.16%</div></td><td align="right">15.87 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 113.48%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">209.40 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:red;">Δ 2279.55%</div></td><td align="right">4.78 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:red;">∇ -95.80%</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">331.30 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 3116.50%</div></td><td align="right">3.02 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -96.89%</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">943.70 ns / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 27.68%</div></td><td align="right">1.06 MHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -21.68%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">575.90 ns / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 162.01%</div></td><td align="right">1.74 MHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -61.83%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">8.10 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 24.25%</div></td><td align="right">123.40 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -19.51%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">7.48 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 58.32%</div></td><td align="right">133.61 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -36.84%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">30.87 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:blue;">∇ -4.70%</div></td><td align="right">32.39 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.93%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">29.01 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 5.39%</div></td><td align="right">34.47 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -5.12%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">530.00 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 211.76%</div></td><td align="right">1.89 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -67.92%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">120.00 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:blue;">∇ -7.69%</div></td><td align="right">8.33 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.33%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">20.70 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 10.52%</div></td><td align="right">48.31 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -9.52%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">16.54 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:blue;">∇ -1.19%</div></td><td align="right">60.46 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.21%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">12.20 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:red;">Δ 43.53%</div></td><td align="right">81.97 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:red;">∇ -30.33%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">87.70 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:blue;">∇ -6.60%</div></td><td align="right">11.40 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.07%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">51.70 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:blue;">∇ -2.27%</div></td><td align="right">19.34 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.32%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">38.27 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:blue;">∇ -4.40%</div></td><td align="right">26.13 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.60%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">255.50 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:blue;">∇ -37.88%</div></td><td align="right">3.91 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 60.98%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">70.94 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:blue;">∇ -5.39%</div></td><td align="right">14.10 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.69%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">2.75 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -68.05%</div></td><td align="right">363.64 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 212.99%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">169.22 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:blue;">∇ -8.70%</div></td><td align="right">5.91 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 9.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">22.06 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -83.71%</div></td><td align="right">45.33 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 513.78%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">339.61 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:blue;">∇ -5.61%</div></td><td align="right">2.94 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.95%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">36.67 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -89.94%</div></td><td align="right">27.27 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 893.59%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">402.38 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:blue;">∇ -5.63%</div></td><td align="right">2.49 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 5.97%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">53.86 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -93.27%</div></td><td align="right">18.57 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 1385.56%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">476.81 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:blue;">∇ -4.18%</div></td><td align="right">2.10 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.36%</div></td></tr> <tr> <td>gridmap2D: getCell</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>gridmap2D: setCell</td><td align="right">2.71 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 4.84%</div></td><td align="right">369.33 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -4.61%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.04 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:blue;">∇ -19.20%</div></td><td align="right">165.59 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 23.76%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">0.61 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 12.51%</div></td><td align="right">1.63 GHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -11.12%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">99.83 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:blue;">∇ -4.74%</div></td><td align="right">10.02 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 4.97%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">293.13 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:blue;">∇ -0.74%</div></td><td align="right">3.41 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.75%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">630.00 us / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:blue;">∇ -65.50%</div></td><td align="right">1.59 KHz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:blue;">Δ 189.84%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">17.81 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:red;">Δ 6.97%</div></td><td align="right">56.14 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:red;">∇ -6.52%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">1.01 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:blue;">∇ -67.58%</div></td><td align="right">990.80 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 208.44%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">4.52 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 5.61%</div></td><td align="right">221.24 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -5.31%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">364.44 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 2.67%</div></td><td align="right">2.74 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -2.60%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">4.38 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 5.90%</div></td><td align="right">228.21 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -5.57%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">5.16 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 20.56%</div></td><td align="right">193.80 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -17.05%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">372.44 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 3.10%</div></td><td align="right">2.68 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -3.01%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">4.20 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 2.77%</div></td><td align="right">238.06 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -2.70%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.42 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 3.87%</div></td><td align="right">703.73 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -3.73%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">101.86 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 2.92%</div></td><td align="right">9.82 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -2.84%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">12.17 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:red;">Δ 1.81%</div></td><td align="right">82.15 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:red;">∇ -1.78%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">5.64 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 0.70%</div></td><td align="right">177.25 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -0.70%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">132.76 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 2.47%</div></td><td align="right">7.53 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -2.41%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">5.71 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 1.02%</div></td><td align="right">175.04 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -1.01%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">134.74 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:red;">Δ 1.74%</div></td><td align="right">7.42 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:red;">∇ -1.71%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">14.55 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -7.35%</div></td><td align="right">68.75 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.93%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">14.56 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -7.24%</div></td><td align="right">68.69 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.80%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">66.87 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -5.02%</div></td><td align="right">14.96 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.28%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">66.81 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -5.07%</div></td><td align="right">14.97 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 5.34%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">10.63 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:blue;">∇ -3.97%</div></td><td align="right">94.11 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:blue;">Δ 4.14%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">903.36 ns / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:blue;">∇ -32.07%</div></td><td align="right">1.11 MHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 47.21%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">1.61 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:blue;">∇ -47.02%</div></td><td align="right">621.01 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:blue;">Δ 88.76%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">144.65 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -11.15%</div></td><td align="right">6.91 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 12.55%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">219.48 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:blue;">∇ -10.63%</div></td><td align="right">4.56 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.89%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">472.80 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:blue;">∇ -8.15%</div></td><td align="right">2.12 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.87%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">152.29 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -12.39%</div></td><td align="right">6.57 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 14.15%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">235.04 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:blue;">∇ -9.40%</div></td><td align="right">4.25 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 10.37%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">491.60 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:blue;">∇ -6.18%</div></td><td align="right">2.03 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 6.59%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">243.60 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:blue;">∇ -15.59%</div></td><td align="right">4.11 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.47%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">2.99 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:blue;">∇ -2.80%</div></td><td align="right">334.99 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.88%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">29.51 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:blue;">∇ -2.45%</div></td><td align="right">33.88 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.52%</div></td></tr> <tr> <td>math: round</td><td align="right">0.10 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -3.11%</div></td><td align="right">10.08 GHz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 3.21%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">33.63 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:red;">Δ 5.85%</div></td><td align="right">29.74 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:red;">∇ -5.53%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">49.85 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:red;">Δ 9.08%</div></td><td align="right">20.06 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:red;">∇ -8.33%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.59 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:blue;">∇ -5.11%</div></td><td align="right">14.37 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 5.38%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">30.64 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:red;">Δ 12.85%</div></td><td align="right">32.63 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:red;">∇ -11.39%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">43.91 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:red;">Δ 8.92%</div></td><td align="right">22.78 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:red;">∇ -8.19%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">62.52 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:blue;">∇ -2.97%</div></td><td align="right">15.99 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 3.06%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">3.81 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:blue;">∇ -15.78%</div></td><td align="right">262.76 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.73%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">5.96 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:blue;">∇ -18.88%</div></td><td align="right">167.70 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:blue;">Δ 23.27%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">10.46 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:blue;">∇ -6.77%</div></td><td align="right">95.61 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:blue;">Δ 7.26%</div></td></tr> <tr> <td>images: Half sample GRAY (160x120)</td><td align="right">1.04 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">961.54 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (320x240)</td><td align="right">2.91 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">344.04 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (640x480)</td><td align="right">14.63 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">68.35 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (800x600)</td><td align="right">27.61 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">36.21 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1024x768)</td><td align="right">43.98 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">22.74 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1280x1024)</td><td align="right">84.93 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.77 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (160x120)</td><td align="right">2.35 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">426.14 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (320x240)</td><td align="right">8.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">111.44 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (640x480)</td><td align="right">49.58 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">20.17 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (800x600)</td><td align="right">83.52 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.97 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1024x768)</td><td align="right">175.02 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.71 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1280x1024)</td><td align="right">434.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.30 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (160x120)</td><td align="right">1.52 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">656.46 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (320x240)</td><td align="right">5.05 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">197.89 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (640x480)</td><td align="right">27.35 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">36.57 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (800x600)</td><td align="right">41.00 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">24.39 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (1024x768)</td><td align="right">70.54 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">14.18 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth GRAY (1280x1024)</td><td align="right">147.17 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.80 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (160x120)</td><td align="right">87.34 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.45 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (320x240)</td><td align="right">341.55 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.93 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (640x480)</td><td align="right">1.35 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">740.73 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (800x600)</td><td align="right">2.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">468.44 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (1024x768)</td><td align="right">3.55 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">281.93 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample smooth RGB (1280x1024)</td><td align="right">6.52 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">153.40 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (40x30)</td><td align="right">3.88 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">257.95 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (80x60)</td><td align="right">2.78 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">359.28 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (160x120)</td><td align="right">9.91 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">100.91 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (320x240)</td><td align="right">39.89 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">25.07 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (640x480)</td><td align="right">157.22 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.36 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (800x600)</td><td align="right">266.94 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.75 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1024x768)</td><td align="right">485.16 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.06 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1280x1024)</td><td align="right">926.17 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.08 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td><td align="right">12.69 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 100.79%</div></td><td align="right">78.80 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -50.20%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">9.85 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 106.07%</div></td><td align="right">101.52 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -51.47%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">5.24 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 144.86%</div></td><td align="right">190.84 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -59.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">21.14 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:blue;">∇ -25.34%</div></td><td align="right">47.31 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:blue;">Δ 33.94%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">21.45 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:blue;">∇ -21.54%</div></td><td align="right">46.61 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:blue;">Δ 27.45%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">591.25 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:blue;">∇ -7.89%</div></td><td align="right">1.69 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:blue;">Δ 8.57%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">162.82 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:blue;">∇ -4.59%</div></td><td align="right">6.14 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.81%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">197.33 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:blue;">∇ -1.93%</div></td><td align="right">5.07 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.97%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">6.89 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 31.93%</div></td><td align="right">145.15 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -24.20%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">63.90 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:red;">Δ 5.08%</div></td><td align="right">15.65 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:red;">∇ -4.83%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">38.54 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:blue;">∇ -10.92%</div></td><td align="right">25.95 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.26%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">33.59 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:blue;">∇ -15.84%</div></td><td align="right">29.77 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.82%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.16 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:blue;">∇ -9.28%</div></td><td align="right">863.45 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:blue;">Δ 10.22%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">375.89 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:blue;">∇ -2.66%</div></td><td align="right">2.66 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:blue;">Δ 2.74%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">15.89 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:blue;">∇ -1.46%</div></td><td align="right">62.95 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.48%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">10.48 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:blue;">∇ -4.15%</div></td><td align="right">95.42 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:blue;">Δ 4.33%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">158.24 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.32 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">133.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">7.48 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">84.43 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.84 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e3</td><td align="right">81.78 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">12.23 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td><td align="right">207.17 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.83 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e3</td><td align="right">232.57 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.30 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td><td align="right">246.74 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.05 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">192.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.19 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">2.08 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">480.05 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e4</td><td align="right">1.62 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">618.53 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">870.19 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.15 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">846.92 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.18 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">2.34 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">427.14 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdge x 1e4</td><td align="right">2.81 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">356.06 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">2.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">470.35 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">469.13 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">220.82 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.53 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e3</td><td align="right">221.81 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.51 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">183.18 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.46 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e3</td><td align="right">186.52 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.36 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td><td align="right">532.35 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.88 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e3</td><td align="right">537.98 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.86 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td><td align="right">487.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.05 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e3</td><td align="right">493.50 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.03 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">2.78 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">359.55 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdge x 1e4</td><td align="right">2.77 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">360.52 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">2.09 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">477.61 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.05 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">487.11 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td><td align="right">7.36 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">135.81 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdge x 1e4</td><td align="right">6.97 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">143.42 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td><td align="right">5.29 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">189.20 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d pdf,vec): insertEdgeAtEnd x 1e4</td><td align="right">5.49 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">182.28 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">90.55 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.04 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e2 nodes</td><td align="right">83.50 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.98 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">1.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">882.20 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e3 nodes</td><td align="right">767.67 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.30 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">21.12 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">47.35 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">10.86 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">92.06 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">341.35 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.93 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e5 nodes</td><td align="right">142.53 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">7.02 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">320.28 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.12 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): dijkstra 1e5 nodes</td><td align="right">133.66 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">7.48 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.365456 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
