<html><head><title>mrpt-performance results - 0.9.4-MSVC10-32bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.4-MSVC10-32bit 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-MSVC10-32bit / <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">37.14 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:red;">Δ 71.94%</div></td><td align="right">26.93 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:red;">∇ -41.84%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">36.34 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:red;">Δ 77.14%</div></td><td align="right">27.52 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:red;">∇ -43.55%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">197.08 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -56.11%</div></td><td align="right">5.07 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 127.84%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">33.62 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -85.62%</div></td><td align="right">29.74 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 595.42%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">25.13 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:red;">Δ 135.65%</div></td><td align="right">39.79 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:red;">∇ -57.56%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">21.31 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 111.75%</div></td><td align="right">46.94 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -52.77%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">89.96 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:red;">Δ 138.58%</div></td><td align="right">11.12 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:red;">∇ -58.09%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">47.25 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:red;">Δ 15.30%</div></td><td align="right">21.17 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:red;">∇ -13.27%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">108.63 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:red;">Δ 38.96%</div></td><td align="right">9.21 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:red;">∇ -28.04%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">94.77 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 52.44%</div></td><td align="right">10.55 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -34.40%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">80.61 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:red;">Δ 26.22%</div></td><td align="right">12.41 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:red;">∇ -20.77%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">67.32 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:red;">Δ 8.62%</div></td><td align="right">14.85 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:red;">∇ -7.94%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">81.31 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:red;">Δ 72.99%</div></td><td align="right">12.30 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:red;">∇ -42.19%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">51.56 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:red;">Δ 29.56%</div></td><td align="right">19.39 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:red;">∇ -22.81%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">55.91 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:red;">Δ 147.17%</div></td><td align="right">17.89 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:red;">∇ -59.54%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">32.73 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:red;">Δ 72.91%</div></td><td align="right">30.55 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:red;">∇ -42.17%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">124.02 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -68.30%</div></td><td align="right">8.06 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 215.49%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">30.61 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 69.53%</div></td><td align="right">32.67 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -41.01%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">28.12 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -92.08%</div></td><td align="right">35.56 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 1162.39%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">216.84 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:red;">Δ 25.20%</div></td><td align="right">4.61 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:red;">∇ -20.13%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">1.24 us / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -99.85%</div></td><td align="right">806.40 KHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 65602.22%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">1.20 us / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.85%</div></td><td align="right">835.55 KHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 68574.20%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">20.15 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:red;">Δ 110.54%</div></td><td align="right">49.63 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:red;">∇ -52.50%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">817.60 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:red;">Δ 19.83%</div></td><td align="right">1.22 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:red;">∇ -16.55%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">823.40 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:red;">Δ 54.25%</div></td><td align="right">1.21 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:red;">∇ -35.17%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">19.09 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:red;">Δ 124.20%</div></td><td align="right">52.39 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:red;">∇ -55.40%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">49.67 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:red;">Δ 141.20%</div></td><td align="right">20.13 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:red;">∇ -58.54%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">50.90 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:red;">Δ 125.20%</div></td><td align="right">19.64 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:red;">∇ -55.59%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">180.98 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:red;">Δ 183.12%</div></td><td align="right">5.53 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:red;">∇ -64.68%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">177.90 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:red;">Δ 172.78%</div></td><td align="right">5.62 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:red;">∇ -63.34%</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">6.63 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:red;">Δ 294.21%</div></td><td align="right">150.81 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:red;">∇ -74.63%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">8.86 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:red;">Δ 209.55%</div></td><td align="right">112.91 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:red;">∇ -67.70%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">680.28 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 825.54%</div></td><td align="right">1.47 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -89.20%</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">458.35 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 535.71%</div></td><td align="right">2.18 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -84.27%</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">680.46 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 502.71%</div></td><td align="right">1.47 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -83.41%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">35.28 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:blue;">∇ -21.60%</div></td><td align="right">28.34 MHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 27.54%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">514.01 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 365.17%</div></td><td align="right">1.95 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -78.50%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">3.40 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -92.47%</div></td><td align="right">294.39 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 1227.70%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">5.18 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -10.95%</div></td><td align="right">193.06 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 12.30%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">4.56 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:red;">Δ 27.56%</div></td><td align="right">219.44 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:red;">∇ -21.60%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.79 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -35.58%</div></td><td align="right">263.78 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 55.23%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.92 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -23.39%</div></td><td align="right">342.06 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 30.54%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.50 us / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 263.87%</div></td><td align="right">665.44 KHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -72.52%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">9.51 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:blue;">∇ -56.77%</div></td><td align="right">105.14 MHz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:blue;">Δ 131.31%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">3.90 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 212.54%</div></td><td align="right">256.17 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -68.00%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">3.54 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 512.45%</div></td><td align="right">282.49 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -83.67%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">34.19 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:red;">Δ 19.62%</div></td><td align="right">29.25 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:red;">∇ -16.40%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">29.35 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:red;">Δ 70.69%</div></td><td align="right">34.07 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:red;">∇ -41.41%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">134.24 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -33.20%</div></td><td align="right">7.45 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 49.69%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">126.45 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -5.99%</div></td><td align="right">7.91 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.37%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">601.74 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:red;">Δ 6737.96%</div></td><td align="right">1.66 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:red;">∇ -98.54%</div></td></tr> <tr> <td>matrix: det, fix[double] 2x2</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: det, dyn[double] 3x3</td><td align="right">872.81 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 8373.87%</div></td><td align="right">1.15 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -98.82%</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">2.32 us / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 214.43%</div></td><td align="right">430.29 KHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -68.20%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">2.17 us / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 887.75%</div></td><td align="right">460.60 KHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -89.88%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">23.14 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 254.71%</div></td><td align="right">43.22 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -71.81%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">21.38 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 352.22%</div></td><td align="right">46.78 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -77.89%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">92.83 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:red;">Δ 186.56%</div></td><td align="right">10.77 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:red;">∇ -65.10%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">90.97 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 230.48%</div></td><td align="right">10.99 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -69.74%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">892.24 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 424.85%</div></td><td align="right">1.12 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -80.95%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">249.10 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 91.62%</div></td><td align="right">4.01 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -47.81%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">41.12 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 119.56%</div></td><td align="right">24.32 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -54.46%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">26.92 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:red;">Δ 60.79%</div></td><td align="right">37.15 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:red;">∇ -37.81%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">15.31 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:red;">Δ 80.10%</div></td><td align="right">65.32 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:red;">∇ -44.48%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">116.85 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:red;">Δ 24.44%</div></td><td align="right">8.56 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:red;">∇ -19.64%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">98.96 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:red;">Δ 87.07%</div></td><td align="right">10.10 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:red;">∇ -46.54%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">55.18 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:red;">Δ 37.84%</div></td><td align="right">18.12 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:red;">∇ -27.45%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">498.07 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:red;">Δ 21.10%</div></td><td align="right">2.01 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -17.42%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">133.40 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:red;">Δ 77.91%</div></td><td align="right">7.50 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:red;">∇ -43.79%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">4.99 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -41.99%</div></td><td align="right">200.30 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 72.40%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">243.96 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:red;">Δ 31.62%</div></td><td align="right">4.10 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:red;">∇ -24.02%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">30.03 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -77.82%</div></td><td align="right">33.31 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 350.95%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">486.08 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:red;">Δ 35.10%</div></td><td align="right">2.06 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:red;">∇ -25.98%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">51.94 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -85.74%</div></td><td align="right">19.25 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 601.35%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">583.78 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:red;">Δ 36.91%</div></td><td align="right">1.71 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:red;">∇ -26.96%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">76.91 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -90.39%</div></td><td align="right">13.00 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 940.45%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">649.31 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:red;">Δ 30.49%</div></td><td align="right">1.54 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:red;">∇ -23.36%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">6.44 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">155.25 MHz / <div style="color:gray;">1.#J THz</div></td><td align="center"><div style="color:red;">∇ -1.#J%</div></td></tr> <tr> <td>gridmap2D: setCell</td><td align="right">9.52 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 268.74%</div></td><td align="right">105.00 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -72.88%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">9.85 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:red;">Δ 31.76%</div></td><td align="right">101.55 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:red;">∇ -24.10%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.47 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 169.62%</div></td><td align="right">679.40 MHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -62.91%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">225.20 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:red;">Δ 114.89%</div></td><td align="right">4.44 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:red;">∇ -53.46%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">365.80 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:red;">Δ 23.86%</div></td><td align="right">2.73 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:red;">∇ -19.27%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">2.56 ms / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:red;">Δ 40.44%</div></td><td align="right">389.96 Hz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:red;">∇ -28.79%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">21.14 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:red;">Δ 26.98%</div></td><td align="right">47.30 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:red;">∇ -21.25%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">3.27 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:red;">Δ 5.07%</div></td><td align="right">305.75 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:red;">∇ -4.82%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">6.03 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 40.95%</div></td><td align="right">165.76 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -29.05%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">579.42 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 63.24%</div></td><td align="right">1.73 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -38.74%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">6.14 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 48.38%</div></td><td align="right">162.87 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -32.61%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">6.68 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 56.19%</div></td><td align="right">149.59 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -35.98%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">519.96 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 43.94%</div></td><td align="right">1.92 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -30.53%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">6.64 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 62.37%</div></td><td align="right">150.68 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -38.41%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.95 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 42.89%</div></td><td align="right">511.57 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -30.02%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">167.14 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 68.89%</div></td><td align="right">5.98 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -40.79%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">17.45 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:red;">Δ 45.98%</div></td><td align="right">57.30 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:red;">∇ -31.50%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">9.11 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 62.65%</div></td><td align="right">109.75 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -38.52%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">210.71 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 62.64%</div></td><td align="right">4.75 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -38.51%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">8.38 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 48.14%</div></td><td align="right">119.37 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -32.49%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">198.71 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:red;">Δ 50.06%</div></td><td align="right">5.03 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:red;">∇ -33.36%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">7.57 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -51.78%</div></td><td align="right">132.11 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 107.40%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">7.60 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -51.56%</div></td><td align="right">131.54 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 106.45%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">58.48 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -16.94%</div></td><td align="right">17.10 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 20.39%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">57.62 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -18.12%</div></td><td align="right">17.35 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 22.13%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">29.43 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:red;">Δ 165.94%</div></td><td align="right">33.98 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:red;">∇ -62.40%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">2.95 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:red;">Δ 121.68%</div></td><td align="right">339.21 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:red;">∇ -54.89%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.53 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 16.28%</div></td><td align="right">282.92 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:red;">∇ -14.00%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">145.71 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -10.50%</div></td><td align="right">6.86 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 11.73%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">227.37 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:blue;">∇ -7.42%</div></td><td align="right">4.40 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.01%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">514.56 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:blue;">∇ -0.04%</div></td><td align="right">1.94 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 0.04%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">170.42 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -1.97%</div></td><td align="right">5.87 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 2.01%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">283.60 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:red;">Δ 9.32%</div></td><td align="right">3.53 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:red;">∇ -8.53%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">661.22 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:red;">Δ 26.19%</div></td><td align="right">1.51 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:red;">∇ -20.75%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">304.45 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:red;">Δ 5.49%</div></td><td align="right">3.28 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:red;">∇ -5.21%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.47 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:red;">Δ 12.89%</div></td><td align="right">288.42 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:red;">∇ -11.42%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">37.99 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:red;">Δ 25.54%</div></td><td align="right">26.33 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:red;">∇ -20.34%</div></td></tr> <tr> <td>math: round</td><td align="right">0.00 ns / <div style="color:gray;">0.10 ns</div></td><td align="center"><div style="color:blue;">∇ -100.00%</div></td><td align="right">220.79 THz / <div style="color:gray;">9.77 GHz</div></td><td align="center"><div style="color:blue;">Δ 2260156.92%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td><td align="right">33.06 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:red;">Δ 4.07%</div></td><td align="right">30.25 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:red;">∇ -3.91%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">50.64 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:red;">Δ 10.81%</div></td><td align="right">19.75 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:red;">∇ -9.76%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">82.66 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:red;">Δ 12.72%</div></td><td align="right">12.10 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:red;">∇ -11.28%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">27.36 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:red;">Δ 0.75%</div></td><td align="right">36.56 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:red;">∇ -0.74%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">43.25 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:red;">Δ 7.30%</div></td><td align="right">23.12 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:red;">∇ -6.81%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">66.55 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:red;">Δ 3.28%</div></td><td align="right">15.03 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:red;">∇ -3.18%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">5.57 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:red;">Δ 23.29%</div></td><td align="right">179.49 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:red;">∇ -18.89%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.84 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:red;">Δ 20.29%</div></td><td align="right">113.10 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:red;">∇ -16.87%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">14.37 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:red;">Δ 28.11%</div></td><td align="right">69.58 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:red;">∇ -21.94%</div></td></tr> <tr> <td>images: Half sample GRAY (160x120)</td><td align="right">1.63 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">612.18 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (320x240)</td><td align="right">4.13 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">241.92 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (640x480)</td><td align="right">19.15 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">52.22 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (800x600)</td><td align="right">31.65 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">31.59 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1024x768)</td><td align="right">50.27 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">19.89 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1280x1024)</td><td align="right">87.87 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.38 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (160x120)</td><td align="right">3.54 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">282.58 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (320x240)</td><td align="right">11.27 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">88.76 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (640x480)</td><td align="right">57.50 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">17.39 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (800x600)</td><td align="right">80.68 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">12.39 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1024x768)</td><td align="right">391.11 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.56 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1280x1024)</td><td align="right">826.49 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.21 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">2.87 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">348.99 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">8.64 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">115.70 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">29.52 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">33.88 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">66.07 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">15.14 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">90.65 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.03 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">132.57 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">7.54 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">202.00 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.95 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">779.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.28 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">3.10 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">323.08 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">4.82 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">207.41 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">8.63 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">115.89 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">14.76 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">67.77 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (40x30)</td><td align="right">6.40 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">156.37 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (80x60)</td><td align="right">4.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">230.95 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (160x120)</td><td align="right">11.84 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">84.43 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (320x240)</td><td align="right">44.50 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">22.47 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (640x480)</td><td align="right">191.53 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.22 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (800x600)</td><td align="right">350.56 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.85 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1024x768)</td><td align="right">968.81 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.03 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1280x1024)</td><td align="right">1.71 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">584.85 Hz / <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">21.97 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 247.57%</div></td><td align="right">45.52 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -71.23%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">22.01 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 360.40%</div></td><td align="right">45.44 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -78.28%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">12.71 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 493.87%</div></td><td align="right">78.69 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -83.16%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">38.32 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:red;">Δ 35.33%</div></td><td align="right">26.10 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:red;">∇ -26.11%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">37.22 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:red;">Δ 36.12%</div></td><td align="right">26.87 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:red;">∇ -26.53%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">739.68 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:red;">Δ 15.23%</div></td><td align="right">1.35 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:red;">∇ -13.22%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">232.95 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:red;">Δ 36.50%</div></td><td align="right">4.29 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:red;">∇ -26.74%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">309.97 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:red;">Δ 54.05%</div></td><td align="right">3.23 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:red;">∇ -35.09%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">6.88 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 31.84%</div></td><td align="right">145.25 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -24.15%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">88.28 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:red;">Δ 45.18%</div></td><td align="right">11.33 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:red;">∇ -31.12%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">59.68 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:red;">Δ 37.96%</div></td><td align="right">16.76 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:red;">∇ -27.52%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">58.57 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:red;">Δ 46.75%</div></td><td align="right">17.07 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:red;">∇ -31.86%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.50 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:red;">Δ 17.27%</div></td><td align="right">668.02 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:red;">∇ -14.72%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">621.62 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:red;">Δ 60.97%</div></td><td align="right">1.61 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:red;">∇ -37.88%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">21.69 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:red;">Δ 34.55%</div></td><td align="right">46.10 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:red;">∇ -25.68%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">12.64 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:red;">Δ 15.58%</div></td><td align="right">79.13 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:red;">∇ -13.48%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">301.62 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.32 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdge x 1e3</td><td align="right">298.86 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.35 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td><td align="right">274.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.64 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">270.21 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.70 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">415.87 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.40 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">406.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.46 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">377.54 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.65 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">379.45 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.64 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">4.14 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">241.59 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">4.00 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">250.06 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">2.94 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">339.77 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d,vec): insertEdgeAtEnd x 1e4</td><td align="right">2.89 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">345.69 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td><td align="right">4.77 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">209.57 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">4.86 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">205.59 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td><td align="right">4.05 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">246.64 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">4.21 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">237.52 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">381.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.62 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">407.21 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.46 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">339.57 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.94 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">334.55 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.99 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">688.91 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.45 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">684.69 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.46 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">683.24 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.46 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">684.37 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.46 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.89 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">257.39 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">3.79 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">263.81 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">3.59 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">278.91 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">3.52 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">284.28 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">7.80 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">128.15 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">7.81 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">128.11 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">7.49 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">133.45 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">7.57 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">132.15 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">213.16 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.69 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">311.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.21 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">2.57 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">389.66 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">2.70 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">370.20 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">31.29 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">31.96 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d,vec): dijkstra 1e4 nodes</td><td align="right">32.92 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">30.38 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">393.68 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.54 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">385.61 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.59 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">380.30 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.63 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">376.84 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">2.65 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:38.063439 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
