<html><head><title>mrpt-performance results - 0.9.4-MSVC10-64bit vs 0.9.1-GCC-64bit</title></head> <body style="background-color:#E6E6FA"> <div align="center"><h2>Comparison: 0.9.4-MSVC10-64bit 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-MSVC10-64bit / <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">26.54 ms / <div style="color:gray;">21.60 ms</div></td><td align="center"><div style="color:red;">Δ 22.89%</div></td><td align="right">37.68 Hz / <div style="color:gray;">46.30 Hz</div></td><td align="center"><div style="color:red;">∇ -18.62%</div></td></tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td><td align="right">32.17 ms / <div style="color:gray;">20.51 ms</div></td><td align="center"><div style="color:red;">Δ 56.84%</div></td><td align="right">31.08 Hz / <div style="color:gray;">48.75 Hz</div></td><td align="center"><div style="color:red;">∇ -36.24%</div></td></tr> <tr> <td>poses: CPose3D (+) CPose3D</td><td align="right">62.83 ns / <div style="color:gray;">449.02 ns</div></td><td align="center"><div style="color:blue;">∇ -86.01%</div></td><td align="right">15.92 MHz / <div style="color:gray;">2.23 MHz</div></td><td align="center"><div style="color:blue;">Δ 614.68%</div></td></tr> <tr> <td>poses: CPose3D.composeFrom()</td><td align="right">41.42 ns / <div style="color:gray;">233.83 ns</div></td><td align="center"><div style="color:blue;">∇ -82.29%</div></td><td align="right">24.14 MHz / <div style="color:gray;">4.28 MHz</div></td><td align="center"><div style="color:blue;">Δ 464.55%</div></td></tr> <tr> <td>poses: CPose3D (+) CPoint3D</td><td align="right">18.89 ns / <div style="color:gray;">10.67 ns</div></td><td align="center"><div style="color:red;">Δ 77.10%</div></td><td align="right">52.94 MHz / <div style="color:gray;">93.76 MHz</div></td><td align="center"><div style="color:red;">∇ -43.53%</div></td></tr> <tr> <td>poses: CPose3D.composePoint()</td><td align="right">17.17 ns / <div style="color:gray;">10.06 ns</div></td><td align="center"><div style="color:red;">Δ 70.69%</div></td><td align="right">58.23 MHz / <div style="color:gray;">99.38 MHz</div></td><td align="center"><div style="color:red;">∇ -41.41%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3D</td><td align="right">88.79 ns / <div style="color:gray;">37.71 ns</div></td><td align="center"><div style="color:red;">Δ 135.46%</div></td><td align="right">11.26 MHz / <div style="color:gray;">26.52 MHz</div></td><td align="center"><div style="color:red;">∇ -57.53%</div></td></tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td><td align="right">44.00 ns / <div style="color:gray;">40.98 ns</div></td><td align="center"><div style="color:red;">Δ 7.38%</div></td><td align="right">22.73 MHz / <div style="color:gray;">24.40 MHz</div></td><td align="center"><div style="color:red;">∇ -6.87%</div></td></tr> <tr> <td>poses: CPose2D (+) CPose2D</td><td align="right">72.08 ns / <div style="color:gray;">78.17 ns</div></td><td align="center"><div style="color:blue;">∇ -7.79%</div></td><td align="right">13.87 MHz / <div style="color:gray;">12.79 MHz</div></td><td align="center"><div style="color:blue;">Δ 8.45%</div></td></tr> <tr> <td>poses: CPose2D.composeFrom()</td><td align="right">63.27 ns / <div style="color:gray;">62.17 ns</div></td><td align="center"><div style="color:red;">Δ 1.77%</div></td><td align="right">15.81 MHz / <div style="color:gray;">16.08 MHz</div></td><td align="center"><div style="color:red;">∇ -1.73%</div></td></tr> <tr> <td>poses: CPose2D (+) CPoint2D</td><td align="right">34.42 ns / <div style="color:gray;">63.86 ns</div></td><td align="center"><div style="color:blue;">∇ -46.11%</div></td><td align="right">29.05 MHz / <div style="color:gray;">15.66 MHz</div></td><td align="center"><div style="color:blue;">Δ 85.55%</div></td></tr> <tr> <td>poses: CPose2D.composePoint()</td><td align="right">26.02 ns / <div style="color:gray;">61.98 ns</div></td><td align="center"><div style="color:blue;">∇ -58.01%</div></td><td align="right">38.43 MHz / <div style="color:gray;">16.13 MHz</div></td><td align="center"><div style="color:blue;">Δ 138.17%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td><td align="right">113.59 ns / <div style="color:gray;">47.00 ns</div></td><td align="center"><div style="color:red;">Δ 141.68%</div></td><td align="right">8.80 MHz / <div style="color:gray;">21.28 MHz</div></td><td align="center"><div style="color:red;">∇ -58.62%</div></td></tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td><td align="right">82.72 ns / <div style="color:gray;">39.80 ns</div></td><td align="center"><div style="color:red;">Δ 107.83%</div></td><td align="right">12.09 MHz / <div style="color:gray;">25.13 MHz</div></td><td align="center"><div style="color:red;">∇ -51.88%</div></td></tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td><td align="right">41.33 ns / <div style="color:gray;">22.62 ns</div></td><td align="center"><div style="color:red;">Δ 82.70%</div></td><td align="right">24.20 MHz / <div style="color:gray;">44.21 MHz</div></td><td align="center"><div style="color:red;">∇ -45.27%</div></td></tr> <tr> <td>poses: CPose3DQuat.composePoint()</td><td align="right">31.13 ns / <div style="color:gray;">18.93 ns</div></td><td align="center"><div style="color:red;">Δ 64.46%</div></td><td align="right">32.12 MHz / <div style="color:gray;">52.83 MHz</div></td><td align="center"><div style="color:red;">∇ -39.19%</div></td></tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td><td align="right">113.89 ns / <div style="color:gray;">391.26 ns</div></td><td align="center"><div style="color:blue;">∇ -70.89%</div></td><td align="right">8.78 MHz / <div style="color:gray;">2.56 MHz</div></td><td align="center"><div style="color:blue;">Δ 243.54%</div></td></tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td><td align="right">33.95 ns / <div style="color:gray;">18.05 ns</div></td><td align="center"><div style="color:red;">Δ 88.03%</div></td><td align="right">29.46 MHz / <div style="color:gray;">55.39 MHz</div></td><td align="center"><div style="color:red;">∇ -46.82%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td><td align="right">26.44 ns / <div style="color:gray;">355.00 ns</div></td><td align="center"><div style="color:blue;">∇ -92.55%</div></td><td align="right">37.82 MHz / <div style="color:gray;">2.82 MHz</div></td><td align="center"><div style="color:blue;">Δ 1242.47%</div></td></tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td><td align="right">97.31 ns / <div style="color:gray;">173.19 ns</div></td><td align="center"><div style="color:blue;">∇ -43.81%</div></td><td align="right">10.28 MHz / <div style="color:gray;">5.77 MHz</div></td><td align="center"><div style="color:blue;">Δ 77.98%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td><td align="right">948.85 ns / <div style="color:gray;">814.76 us</div></td><td align="center"><div style="color:blue;">∇ -99.88%</div></td><td align="right">1.05 MHz / <div style="color:gray;">1.23 KHz</div></td><td align="center"><div style="color:blue;">Δ 85767.62%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td><td align="right">938.66 ns / <div style="color:gray;">821.91 us</div></td><td align="center"><div style="color:blue;">∇ -99.89%</div></td><td align="right">1.07 MHz / <div style="color:gray;">1.22 KHz</div></td><td align="center"><div style="color:blue;">Δ 87461.67%</div></td></tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td><td align="right">21.21 us / <div style="color:gray;">9.57 us</div></td><td align="center"><div style="color:red;">Δ 121.60%</div></td><td align="right">47.15 KHz / <div style="color:gray;">104.48 KHz</div></td><td align="center"><div style="color:red;">∇ -54.87%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td><td align="right">532.44 ns / <div style="color:gray;">682.30 ns</div></td><td align="center"><div style="color:blue;">∇ -21.96%</div></td><td align="right">1.88 MHz / <div style="color:gray;">1.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 28.14%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td><td align="right">528.23 ns / <div style="color:gray;">533.80 ns</div></td><td align="center"><div style="color:blue;">∇ -1.04%</div></td><td align="right">1.89 MHz / <div style="color:gray;">1.87 MHz</div></td><td align="center"><div style="color:blue;">Δ 1.05%</div></td></tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td><td align="right">11.19 us / <div style="color:gray;">8.51 us</div></td><td align="center"><div style="color:red;">Δ 31.45%</div></td><td align="right">89.35 KHz / <div style="color:gray;">117.45 KHz</div></td><td align="center"><div style="color:red;">∇ -23.92%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 3x3</td><td align="right">45.20 ns / <div style="color:gray;">20.59 ns</div></td><td align="center"><div style="color:red;">Δ 119.49%</div></td><td align="right">22.13 MHz / <div style="color:gray;">48.56 MHz</div></td><td align="center"><div style="color:red;">∇ -54.44%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 3x3</td><td align="right">45.86 ns / <div style="color:gray;">22.60 ns</div></td><td align="center"><div style="color:red;">Δ 102.87%</div></td><td align="right">21.81 MHz / <div style="color:gray;">44.24 MHz</div></td><td align="center"><div style="color:red;">∇ -50.71%</div></td></tr> <tr> <td>matrix: unit, dyn[float], 6x6</td><td align="right">177.43 ns / <div style="color:gray;">63.92 ns</div></td><td align="center"><div style="color:red;">Δ 177.57%</div></td><td align="right">5.64 MHz / <div style="color:gray;">15.64 MHz</div></td><td align="center"><div style="color:red;">∇ -63.97%</div></td></tr> <tr> <td>matrix: unit, dyn[double], 6x6</td><td align="right">169.52 ns / <div style="color:gray;">65.22 ns</div></td><td align="center"><div style="color:red;">Δ 159.93%</div></td><td align="right">5.90 MHz / <div style="color:gray;">15.33 MHz</div></td><td align="center"><div style="color:red;">∇ -61.53%</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">6.37 ns / <div style="color:gray;">1.68 ns</div></td><td align="center"><div style="color:red;">Δ 278.54%</div></td><td align="right">157.06 MHz / <div style="color:gray;">594.53 MHz</div></td><td align="center"><div style="color:red;">∇ -73.58%</div></td></tr> <tr> <td>matrix: unit, fix[double,6,6]</td><td align="right">7.86 ns / <div style="color:gray;">2.86 ns</div></td><td align="center"><div style="color:red;">Δ 174.80%</div></td><td align="right">127.19 MHz / <div style="color:gray;">349.53 MHz</div></td><td align="center"><div style="color:red;">∇ -63.61%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td><td align="right">485.93 ns / <div style="color:gray;">73.50 ns</div></td><td align="center"><div style="color:red;">Δ 561.13%</div></td><td align="right">2.06 MHz / <div style="color:gray;">13.61 MHz</div></td><td align="center"><div style="color:red;">∇ -84.87%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td><td align="right">0.05 ns / <div style="color:gray;">24.10 ns</div></td><td align="center"><div style="color:blue;">∇ -99.81%</div></td><td align="right">22.08 GHz / <div style="color:gray;">41.49 MHz</div></td><td align="center"><div style="color:blue;">Δ 53111.09%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td><td align="right">528.41 ns / <div style="color:gray;">72.10 ns</div></td><td align="center"><div style="color:red;">Δ 632.89%</div></td><td align="right">1.89 MHz / <div style="color:gray;">13.87 MHz</div></td><td align="center"><div style="color:red;">∇ -86.36%</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">547.16 ns / <div style="color:gray;">112.90 ns</div></td><td align="center"><div style="color:red;">Δ 384.65%</div></td><td align="right">1.83 MHz / <div style="color:gray;">8.86 MHz</div></td><td align="center"><div style="color:red;">∇ -79.37%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td><td align="right">2.36 ns / <div style="color:gray;">45.00 ns</div></td><td align="center"><div style="color:blue;">∇ -94.77%</div></td><td align="right">424.60 MHz / <div style="color:gray;">22.22 MHz</div></td><td align="center"><div style="color:blue;">Δ 1810.71%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td><td align="right">391.50 ns / <div style="color:gray;">110.50 ns</div></td><td align="center"><div style="color:red;">Δ 254.30%</div></td><td align="right">2.55 MHz / <div style="color:gray;">9.05 MHz</div></td><td align="center"><div style="color:red;">∇ -71.78%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td><td align="right">2.36 ns / <div style="color:gray;">45.10 ns</div></td><td align="center"><div style="color:blue;">∇ -94.78%</div></td><td align="right">424.60 MHz / <div style="color:gray;">22.17 MHz</div></td><td align="center"><div style="color:blue;">Δ 1814.95%</div></td></tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td><td align="right">2.74 us / <div style="color:gray;">5.82 us</div></td><td align="center"><div style="color:blue;">∇ -52.84%</div></td><td align="right">364.51 KHz / <div style="color:gray;">171.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 112.03%</div></td></tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td><td align="right">2.08 us / <div style="color:gray;">3.57 us</div></td><td align="center"><div style="color:blue;">∇ -41.67%</div></td><td align="right">479.89 KHz / <div style="color:gray;">279.91 KHz</div></td><td align="center"><div style="color:blue;">Δ 71.45%</div></td></tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td><td align="right">3.47 us / <div style="color:gray;">5.88 us</div></td><td align="center"><div style="color:blue;">∇ -41.11%</div></td><td align="right">288.55 KHz / <div style="color:gray;">169.93 KHz</div></td><td align="center"><div style="color:blue;">Δ 69.80%</div></td></tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td><td align="right">2.38 us / <div style="color:gray;">3.82 us</div></td><td align="center"><div style="color:blue;">∇ -37.54%</div></td><td align="right">419.56 KHz / <div style="color:gray;">262.04 KHz</div></td><td align="center"><div style="color:blue;">Δ 60.11%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 3x3</td><td align="right">1.09 us / <div style="color:gray;">413.00 ns</div></td><td align="center"><div style="color:red;">Δ 162.87%</div></td><td align="right">921.12 KHz / <div style="color:gray;">2.42 MHz</div></td><td align="center"><div style="color:red;">∇ -61.96%</div></td></tr> <tr> <td>matrix: inv, fix[double] 3x3</td><td align="right">22.19 ns / <div style="color:gray;">22.00 ns</div></td><td align="center"><div style="color:red;">Δ 0.88%</div></td><td align="right">45.06 MHz / <div style="color:gray;">45.45 MHz</div></td><td align="center"><div style="color:red;">∇ -0.87%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 6x6</td><td align="right">2.78 us / <div style="color:gray;">1.25 us</div></td><td align="center"><div style="color:red;">Δ 122.61%</div></td><td align="right">359.66 KHz / <div style="color:gray;">800.64 KHz</div></td><td align="center"><div style="color:red;">∇ -55.08%</div></td></tr> <tr> <td>matrix: inv, fix[double] 6x6</td><td align="right">2.22 us / <div style="color:gray;">578.00 ns</div></td><td align="center"><div style="color:red;">Δ 284.27%</div></td><td align="right">450.23 KHz / <div style="color:gray;">1.73 MHz</div></td><td align="center"><div style="color:red;">∇ -73.98%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 20x20</td><td align="right">30.71 us / <div style="color:gray;">28.58 us</div></td><td align="center"><div style="color:red;">Δ 7.45%</div></td><td align="right">32.56 KHz / <div style="color:gray;">34.98 KHz</div></td><td align="center"><div style="color:red;">∇ -6.93%</div></td></tr> <tr> <td>matrix: inv, fix[double] 20x20</td><td align="right">24.08 us / <div style="color:gray;">17.20 us</div></td><td align="center"><div style="color:red;">Δ 40.01%</div></td><td align="right">41.53 KHz / <div style="color:gray;">58.15 KHz</div></td><td align="center"><div style="color:red;">∇ -28.58%</div></td></tr> <tr> <td>matrix: inv, dyn[double] 40x40</td><td align="right">117.18 us / <div style="color:gray;">200.95 us</div></td><td align="center"><div style="color:blue;">∇ -41.69%</div></td><td align="right">8.53 KHz / <div style="color:gray;">4.98 KHz</div></td><td align="center"><div style="color:blue;">Δ 71.49%</div></td></tr> <tr> <td>matrix: inv, fix[double] 40x40</td><td align="right">112.80 us / <div style="color:gray;">134.50 us</div></td><td align="center"><div style="color:blue;">∇ -16.13%</div></td><td align="right">8.86 KHz / <div style="color:gray;">7.43 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.24%</div></td></tr> <tr> <td>matrix: det, dyn[double] 2x2</td><td align="right">765.51 ns / <div style="color:gray;">8.80 ns</div></td><td align="center"><div style="color:red;">Δ 8599.02%</div></td><td align="right">1.31 MHz / <div style="color:gray;">113.64 MHz</div></td><td align="center"><div style="color:red;">∇ -98.85%</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">822.31 ns / <div style="color:gray;">10.30 ns</div></td><td align="center"><div style="color:red;">Δ 7883.58%</div></td><td align="right">1.22 MHz / <div style="color:gray;">97.09 MHz</div></td><td align="center"><div style="color:red;">∇ -98.75%</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">1.78 us / <div style="color:gray;">739.10 ns</div></td><td align="center"><div style="color:red;">Δ 141.40%</div></td><td align="right">560.47 KHz / <div style="color:gray;">1.35 MHz</div></td><td align="center"><div style="color:red;">∇ -58.58%</div></td></tr> <tr> <td>matrix: det, fix[double] 6x6</td><td align="right">1.51 us / <div style="color:gray;">219.80 ns</div></td><td align="center"><div style="color:red;">Δ 587.92%</div></td><td align="right">661.35 KHz / <div style="color:gray;">4.55 MHz</div></td><td align="center"><div style="color:red;">∇ -85.46%</div></td></tr> <tr> <td>matrix: det, dyn[double] 20x20</td><td align="right">18.54 us / <div style="color:gray;">6.52 us</div></td><td align="center"><div style="color:red;">Δ 184.22%</div></td><td align="right">53.94 KHz / <div style="color:gray;">153.32 KHz</div></td><td align="center"><div style="color:red;">∇ -64.82%</div></td></tr> <tr> <td>matrix: det, fix[double] 20x20</td><td align="right">19.01 us / <div style="color:gray;">4.73 us</div></td><td align="center"><div style="color:red;">Δ 302.10%</div></td><td align="right">52.61 KHz / <div style="color:gray;">211.54 KHz</div></td><td align="center"><div style="color:red;">∇ -75.13%</div></td></tr> <tr> <td>matrix: det, dyn[double] 40x40</td><td align="right">72.40 us / <div style="color:gray;">32.40 us</div></td><td align="center"><div style="color:red;">Δ 123.48%</div></td><td align="right">13.81 KHz / <div style="color:gray;">30.87 KHz</div></td><td align="center"><div style="color:red;">∇ -55.25%</div></td></tr> <tr> <td>matrix: det, fix[double] 40x40</td><td align="right">67.43 us / <div style="color:gray;">27.53 us</div></td><td align="center"><div style="color:red;">Δ 144.96%</div></td><td align="right">14.83 KHz / <div style="color:gray;">36.33 KHz</div></td><td align="center"><div style="color:red;">∇ -59.18%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 4x4</td><td align="right">606.90 ns / <div style="color:gray;">170.00 ns</div></td><td align="center"><div style="color:red;">Δ 257.00%</div></td><td align="right">1.65 MHz / <div style="color:gray;">5.88 MHz</div></td><td align="center"><div style="color:red;">∇ -71.99%</div></td></tr> <tr> <td>matrix: chol, fix[double] 4x4</td><td align="right">190.22 ns / <div style="color:gray;">130.00 ns</div></td><td align="center"><div style="color:red;">Δ 46.33%</div></td><td align="right">5.26 MHz / <div style="color:gray;">7.69 MHz</div></td><td align="center"><div style="color:red;">∇ -31.66%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 40x40</td><td align="right">31.59 us / <div style="color:gray;">18.73 us</div></td><td align="center"><div style="color:red;">Δ 68.64%</div></td><td align="right">31.66 KHz / <div style="color:gray;">53.39 KHz</div></td><td align="center"><div style="color:red;">∇ -40.70%</div></td></tr> <tr> <td>matrix: chol, fix[double] 40x40</td><td align="right">20.87 us / <div style="color:gray;">16.74 us</div></td><td align="center"><div style="color:red;">Δ 24.65%</div></td><td align="right">47.93 KHz / <div style="color:gray;">59.74 KHz</div></td><td align="center"><div style="color:red;">∇ -19.77%</div></td></tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td><td align="right">7.11 us / <div style="color:gray;">8.50 us</div></td><td align="center"><div style="color:blue;">∇ -16.34%</div></td><td align="right">140.63 KHz / <div style="color:gray;">117.65 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.54%</div></td></tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td><td align="right">94.75 us / <div style="color:gray;">93.90 us</div></td><td align="center"><div style="color:red;">Δ 0.90%</div></td><td align="right">10.55 KHz / <div style="color:gray;">10.65 KHz</div></td><td align="center"><div style="color:red;">∇ -0.90%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td><td align="right">75.59 us / <div style="color:gray;">52.90 us</div></td><td align="center"><div style="color:red;">Δ 42.89%</div></td><td align="right">13.23 KHz / <div style="color:gray;">18.90 KHz</div></td><td align="center"><div style="color:red;">∇ -30.02%</div></td></tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td><td align="right">43.20 us / <div style="color:gray;">40.03 us</div></td><td align="center"><div style="color:red;">Δ 7.93%</div></td><td align="right">23.15 KHz / <div style="color:gray;">24.98 KHz</div></td><td align="center"><div style="color:red;">∇ -7.35%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td><td align="right">453.46 us / <div style="color:gray;">411.30 us</div></td><td align="center"><div style="color:red;">Δ 10.25%</div></td><td align="right">2.21 KHz / <div style="color:gray;">2.43 KHz</div></td><td align="center"><div style="color:red;">∇ -9.30%</div></td></tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td><td align="right">74.00 us / <div style="color:gray;">74.98 us</div></td><td align="center"><div style="color:blue;">∇ -1.31%</div></td><td align="right">13.51 KHz / <div style="color:gray;">13.34 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.32%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td><td align="right">3.54 ms / <div style="color:gray;">8.61 ms</div></td><td align="center"><div style="color:blue;">∇ -58.83%</div></td><td align="right">282.19 Hz / <div style="color:gray;">116.18 Hz</div></td><td align="center"><div style="color:blue;">Δ 142.89%</div></td></tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td><td align="right">178.69 us / <div style="color:gray;">185.35 us</div></td><td align="center"><div style="color:blue;">∇ -3.59%</div></td><td align="right">5.60 KHz / <div style="color:gray;">5.40 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.73%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td><td align="right">22.29 ms / <div style="color:gray;">135.40 ms</div></td><td align="center"><div style="color:blue;">∇ -83.54%</div></td><td align="right">44.87 Hz / <div style="color:gray;">7.39 Hz</div></td><td align="center"><div style="color:blue;">Δ 507.56%</div></td></tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td><td align="right">359.36 us / <div style="color:gray;">359.80 us</div></td><td align="center"><div style="color:blue;">∇ -0.12%</div></td><td align="right">2.78 KHz / <div style="color:gray;">2.78 KHz</div></td><td align="center"><div style="color:blue;">Δ 0.12%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td><td align="right">36.29 ms / <div style="color:gray;">364.32 ms</div></td><td align="center"><div style="color:blue;">∇ -90.04%</div></td><td align="right">27.56 Hz / <div style="color:gray;">2.74 Hz</div></td><td align="center"><div style="color:blue;">Δ 904.00%</div></td></tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td><td align="right">411.86 us / <div style="color:gray;">426.39 us</div></td><td align="center"><div style="color:blue;">∇ -3.41%</div></td><td align="right">2.43 KHz / <div style="color:gray;">2.35 KHz</div></td><td align="center"><div style="color:blue;">Δ 3.53%</div></td></tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td><td align="right">54.34 ms / <div style="color:gray;">800.16 ms</div></td><td align="center"><div style="color:blue;">∇ -93.21%</div></td><td align="right">18.40 Hz / <div style="color:gray;">1.25 Hz</div></td><td align="center"><div style="color:blue;">Δ 1372.44%</div></td></tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td><td align="right">488.10 us / <div style="color:gray;">497.60 us</div></td><td align="center"><div style="color:blue;">∇ -1.91%</div></td><td align="right">2.05 KHz / <div style="color:gray;">2.01 KHz</div></td><td align="center"><div style="color:blue;">Δ 1.95%</div></td></tr> <tr> <td>gridmap2D: getCell</td><td align="right">4.13 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">242.07 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">5.65 ns / <div style="color:gray;">2.58 ns</div></td><td align="center"><div style="color:red;">Δ 118.57%</div></td><td align="right">177.14 MHz / <div style="color:gray;">387.19 MHz</div></td><td align="center"><div style="color:red;">∇ -54.25%</div></td></tr> <tr> <td>gridmap2D: updateCell</td><td align="right">6.93 ns / <div style="color:gray;">7.47 ns</div></td><td align="center"><div style="color:blue;">∇ -7.31%</div></td><td align="right">144.35 MHz / <div style="color:gray;">133.80 MHz</div></td><td align="center"><div style="color:blue;">Δ 7.88%</div></td></tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td><td align="right">1.20 ns / <div style="color:gray;">0.55 ns</div></td><td align="center"><div style="color:red;">Δ 119.80%</div></td><td align="right">833.40 MHz / <div style="color:gray;">1.83 GHz</div></td><td align="center"><div style="color:red;">∇ -54.50%</div></td></tr> <tr> <td>gridmap2D: insert scan w/o widening</td><td align="right">102.16 us / <div style="color:gray;">104.80 us</div></td><td align="center"><div style="color:blue;">∇ -2.52%</div></td><td align="right">9.79 KHz / <div style="color:gray;">9.54 KHz</div></td><td align="center"><div style="color:blue;">Δ 2.58%</div></td></tr> <tr> <td>gridmap2D: insert scan with widening</td><td align="right">276.88 us / <div style="color:gray;">295.32 us</div></td><td align="center"><div style="color:blue;">∇ -6.25%</div></td><td align="right">3.61 KHz / <div style="color:gray;">3.39 KHz</div></td><td align="center"><div style="color:blue;">Δ 6.66%</div></td></tr> <tr> <td>gridmap2D: resize</td><td align="right">3.89 ms / <div style="color:gray;">1.83 ms</div></td><td align="center"><div style="color:red;">Δ 113.04%</div></td><td align="right">257.06 Hz / <div style="color:gray;">547.65 Hz</div></td><td align="center"><div style="color:red;">∇ -53.06%</div></td></tr> <tr> <td>gridmap2D: computeLikelihood</td><td align="right">13.92 us / <div style="color:gray;">16.65 us</div></td><td align="center"><div style="color:blue;">∇ -16.40%</div></td><td align="right">71.84 KHz / <div style="color:gray;">60.06 KHz</div></td><td align="center"><div style="color:blue;">Δ 19.61%</div></td></tr> <tr> <td>pointmap: insert 100 scans</td><td align="right">1.87 ms / <div style="color:gray;">3.11 ms</div></td><td align="center"><div style="color:blue;">∇ -39.87%</div></td><td align="right">534.24 Hz / <div style="color:gray;">321.23 Hz</div></td><td align="center"><div style="color:blue;">Δ 66.31%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td><td align="right">5.09 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 18.94%</div></td><td align="right">196.43 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -15.93%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td><td align="right">486.39 us / <div style="color:gray;">354.96 us</div></td><td align="center"><div style="color:red;">Δ 37.03%</div></td><td align="right">2.06 KHz / <div style="color:gray;">2.82 KHz</div></td><td align="center"><div style="color:red;">∇ -27.02%</div></td></tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td><td align="right">5.10 ms / <div style="color:gray;">4.14 ms</div></td><td align="center"><div style="color:red;">Δ 23.18%</div></td><td align="right">196.20 Hz / <div style="color:gray;">241.67 Hz</div></td><td align="center"><div style="color:red;">∇ -18.82%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td><td align="right">5.56 us / <div style="color:gray;">4.28 us</div></td><td align="center"><div style="color:red;">Δ 29.95%</div></td><td align="right">179.80 KHz / <div style="color:gray;">233.64 KHz</div></td><td align="center"><div style="color:red;">∇ -23.05%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td><td align="right">467.24 us / <div style="color:gray;">361.24 us</div></td><td align="center"><div style="color:red;">Δ 29.34%</div></td><td align="right">2.14 KHz / <div style="color:gray;">2.77 KHz</div></td><td align="center"><div style="color:red;">∇ -22.69%</div></td></tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td><td align="right">5.18 ms / <div style="color:gray;">4.09 ms</div></td><td align="center"><div style="color:red;">Δ 26.78%</div></td><td align="right">192.98 Hz / <div style="color:gray;">244.66 Hz</div></td><td align="center"><div style="color:red;">∇ -21.12%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td><td align="right">1.59 us / <div style="color:gray;">1.37 us</div></td><td align="center"><div style="color:red;">Δ 16.54%</div></td><td align="right">627.25 KHz / <div style="color:gray;">730.99 KHz</div></td><td align="center"><div style="color:red;">∇ -14.19%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td><td align="right">126.68 us / <div style="color:gray;">98.96 us</div></td><td align="center"><div style="color:red;">Δ 28.00%</div></td><td align="right">7.89 KHz / <div style="color:gray;">10.10 KHz</div></td><td align="center"><div style="color:red;">∇ -21.88%</div></td></tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td><td align="right">13.86 ms / <div style="color:gray;">11.96 ms</div></td><td align="center"><div style="color:red;">Δ 15.94%</div></td><td align="right">72.14 Hz / <div style="color:gray;">83.64 Hz</div></td><td align="center"><div style="color:red;">∇ -13.75%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td><td align="right">6.54 ms / <div style="color:gray;">5.60 ms</div></td><td align="center"><div style="color:red;">Δ 16.81%</div></td><td align="right">152.81 Hz / <div style="color:gray;">178.50 Hz</div></td><td align="center"><div style="color:red;">∇ -14.39%</div></td></tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td><td align="right">174.77 ms / <div style="color:gray;">129.56 ms</div></td><td align="center"><div style="color:red;">Δ 34.89%</div></td><td align="right">5.72 Hz / <div style="color:gray;">7.72 Hz</div></td><td align="center"><div style="color:red;">∇ -25.87%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td><td align="right">6.88 ms / <div style="color:gray;">5.65 ms</div></td><td align="center"><div style="color:red;">Δ 21.72%</div></td><td align="right">145.28 Hz / <div style="color:gray;">176.84 Hz</div></td><td align="center"><div style="color:red;">∇ -17.84%</div></td></tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td><td align="right">181.38 ms / <div style="color:gray;">132.43 ms</div></td><td align="center"><div style="color:red;">Δ 36.96%</div></td><td align="right">5.51 Hz / <div style="color:gray;">7.55 Hz</div></td><td align="center"><div style="color:red;">∇ -26.99%</div></td></tr> <tr> <td>random: drawUniform32bit</td><td align="right">9.54 ns / <div style="color:gray;">15.70 ns</div></td><td align="center"><div style="color:blue;">∇ -39.26%</div></td><td align="right">104.87 MHz / <div style="color:gray;">63.70 MHz</div></td><td align="center"><div style="color:blue;">Δ 64.64%</div></td></tr> <tr> <td>random: drawUniform</td><td align="right">9.69 ns / <div style="color:gray;">15.69 ns</div></td><td align="center"><div style="color:blue;">∇ -38.26%</div></td><td align="right">103.21 MHz / <div style="color:gray;">63.72 MHz</div></td><td align="center"><div style="color:blue;">Δ 61.98%</div></td></tr> <tr> <td>random: drawGaussian1D_normalized</td><td align="right">52.06 ns / <div style="color:gray;">70.40 ns</div></td><td align="center"><div style="color:blue;">∇ -26.05%</div></td><td align="right">19.21 MHz / <div style="color:gray;">14.20 MHz</div></td><td align="center"><div style="color:blue;">Δ 35.22%</div></td></tr> <tr> <td>random: drawGaussian1D</td><td align="right">50.73 ns / <div style="color:gray;">70.38 ns</div></td><td align="center"><div style="color:blue;">∇ -27.91%</div></td><td align="right">19.71 MHz / <div style="color:gray;">14.21 MHz</div></td><td align="center"><div style="color:blue;">Δ 38.72%</div></td></tr> <tr> <td>random: system rand()</td><td align="right">24.47 ns / <div style="color:gray;">11.07 ns</div></td><td align="center"><div style="color:red;">Δ 121.12%</div></td><td align="right">40.87 MHz / <div style="color:gray;">90.37 MHz</div></td><td align="center"><div style="color:red;">∇ -54.78%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td><td align="right">1.24 us / <div style="color:gray;">1.33 us</div></td><td align="center"><div style="color:blue;">∇ -6.61%</div></td><td align="right">805.20 KHz / <div style="color:gray;">751.96 KHz</div></td><td align="center"><div style="color:blue;">Δ 7.08%</div></td></tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td><td align="right">3.19 us / <div style="color:gray;">3.04 us</div></td><td align="center"><div style="color:red;">Δ 4.88%</div></td><td align="right">313.70 KHz / <div style="color:gray;">328.99 KHz</div></td><td align="center"><div style="color:red;">∇ -4.65%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td><td align="right">130.03 ns / <div style="color:gray;">162.81 ns</div></td><td align="center"><div style="color:blue;">∇ -20.14%</div></td><td align="right">7.69 MHz / <div style="color:gray;">6.14 MHz</div></td><td align="center"><div style="color:blue;">Δ 25.21%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td><td align="right">198.35 ns / <div style="color:gray;">245.58 ns</div></td><td align="center"><div style="color:blue;">∇ -19.23%</div></td><td align="right">5.04 MHz / <div style="color:gray;">4.07 MHz</div></td><td align="center"><div style="color:blue;">Δ 23.81%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td><td align="right">451.66 ns / <div style="color:gray;">514.74 ns</div></td><td align="center"><div style="color:blue;">∇ -12.25%</div></td><td align="right">2.21 MHz / <div style="color:gray;">1.94 MHz</div></td><td align="center"><div style="color:blue;">Δ 13.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td><td align="right">136.92 ns / <div style="color:gray;">173.84 ns</div></td><td align="center"><div style="color:blue;">∇ -21.23%</div></td><td align="right">7.30 MHz / <div style="color:gray;">5.75 MHz</div></td><td align="center"><div style="color:blue;">Δ 26.96%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td><td align="right">213.52 ns / <div style="color:gray;">259.42 ns</div></td><td align="center"><div style="color:blue;">∇ -17.70%</div></td><td align="right">4.68 MHz / <div style="color:gray;">3.85 MHz</div></td><td align="center"><div style="color:blue;">Δ 21.50%</div></td></tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td><td align="right">478.55 ns / <div style="color:gray;">523.99 ns</div></td><td align="center"><div style="color:blue;">∇ -8.67%</div></td><td align="right">2.09 MHz / <div style="color:gray;">1.91 MHz</div></td><td align="center"><div style="color:blue;">Δ 9.49%</div></td></tr> <tr> <td>random: permuteVector (len=10)</td><td align="right">244.07 ns / <div style="color:gray;">288.60 ns</div></td><td align="center"><div style="color:blue;">∇ -15.43%</div></td><td align="right">4.10 MHz / <div style="color:gray;">3.47 MHz</div></td><td align="center"><div style="color:blue;">Δ 18.24%</div></td></tr> <tr> <td>random: permuteVector (len=100)</td><td align="right">3.12 us / <div style="color:gray;">3.07 us</div></td><td align="center"><div style="color:red;">Δ 1.72%</div></td><td align="right">320.11 KHz / <div style="color:gray;">325.61 KHz</div></td><td align="center"><div style="color:red;">∇ -1.69%</div></td></tr> <tr> <td>random: permuteVector (len=1000)</td><td align="right">30.82 us / <div style="color:gray;">30.26 us</div></td><td align="center"><div style="color:red;">Δ 1.87%</div></td><td align="right">32.44 KHz / <div style="color:gray;">33.05 KHz</div></td><td align="center"><div style="color:red;">∇ -1.84%</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">29.87 ms / <div style="color:gray;">31.77 ms</div></td><td align="center"><div style="color:blue;">∇ -5.97%</div></td><td align="right">33.48 Hz / <div style="color:gray;">31.48 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.35%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td><td align="right">42.98 ms / <div style="color:gray;">45.70 ms</div></td><td align="center"><div style="color:blue;">∇ -5.94%</div></td><td align="right">23.26 Hz / <div style="color:gray;">21.88 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.31%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td><td align="right">69.03 ms / <div style="color:gray;">73.33 ms</div></td><td align="center"><div style="color:blue;">∇ -5.87%</div></td><td align="right">14.49 Hz / <div style="color:gray;">13.64 Hz</div></td><td align="center"><div style="color:blue;">Δ 6.24%</div></td></tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td><td align="right">22.86 ms / <div style="color:gray;">27.15 ms</div></td><td align="center"><div style="color:blue;">∇ -15.82%</div></td><td align="right">43.75 Hz / <div style="color:gray;">36.83 Hz</div></td><td align="center"><div style="color:blue;">Δ 18.80%</div></td></tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td><td align="right">35.20 ms / <div style="color:gray;">40.31 ms</div></td><td align="center"><div style="color:blue;">∇ -12.67%</div></td><td align="right">28.41 Hz / <div style="color:gray;">24.81 Hz</div></td><td align="center"><div style="color:blue;">Δ 14.50%</div></td></tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td><td align="right">57.29 ms / <div style="color:gray;">64.44 ms</div></td><td align="center"><div style="color:blue;">∇ -11.09%</div></td><td align="right">17.45 Hz / <div style="color:gray;">15.52 Hz</div></td><td align="center"><div style="color:blue;">Δ 12.47%</div></td></tr> <tr> <td>images: Gauss filter (640x480)</td><td align="right">4.45 ms / <div style="color:gray;">4.52 ms</div></td><td align="center"><div style="color:blue;">∇ -1.52%</div></td><td align="right">224.70 Hz / <div style="color:gray;">221.30 Hz</div></td><td align="center"><div style="color:blue;">Δ 1.54%</div></td></tr> <tr> <td>images: Gauss filter (800x600)</td><td align="right">8.06 ms / <div style="color:gray;">7.35 ms</div></td><td align="center"><div style="color:red;">Δ 9.59%</div></td><td align="right">124.15 Hz / <div style="color:gray;">136.05 Hz</div></td><td align="center"><div style="color:red;">∇ -8.75%</div></td></tr> <tr> <td>images: Gauss filter (1024x768)</td><td align="right">13.86 ms / <div style="color:gray;">11.22 ms</div></td><td align="center"><div style="color:red;">Δ 23.52%</div></td><td align="right">72.16 Hz / <div style="color:gray;">89.13 Hz</div></td><td align="center"><div style="color:red;">∇ -19.04%</div></td></tr> <tr> <td>images: Half sample GRAY (160x120)</td><td align="right">1.32 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">755.28 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (320x240)</td><td align="right">4.41 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">226.69 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (640x480)</td><td align="right">18.51 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">54.02 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (800x600)</td><td align="right">29.74 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">33.62 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1024x768)</td><td align="right">52.65 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">18.99 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample GRAY (1280x1024)</td><td align="right">107.42 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">9.31 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (160x120)</td><td align="right">9.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">107.15 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (320x240)</td><td align="right">11.01 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">90.82 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (640x480)</td><td align="right">53.51 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">18.69 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (800x600)</td><td align="right">126.28 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">7.92 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1024x768)</td><td align="right">248.04 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.03 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: Half sample RGB (1280x1024)</td><td align="right">667.92 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.50 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">1.83 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">546.97 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">6.09 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">164.16 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">28.72 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">34.81 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">44.06 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">22.70 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">78.59 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">12.72 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">168.62 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.93 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">88.54 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">11.29 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">381.77 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>images: Half sample smooth RGB (640x480)</td><td align="right">1.50 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">665.62 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">2.40 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">417.30 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">3.77 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">265.35 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">6.50 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">153.82 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">257.84 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (80x60)</td><td align="right">2.89 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">345.89 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (160x120)</td><td align="right">10.09 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">99.10 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (320x240)</td><td align="right">39.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">25.02 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (640x480)</td><td align="right">172.29 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.80 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (800x600)</td><td align="right">303.41 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.30 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1024x768)</td><td align="right">645.96 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.55 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>images: RGB->GRAY 8u (1280x1024)</td><td align="right">1.76 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">569.41 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">17.29 us / <div style="color:gray;">6.32 us</div></td><td align="center"><div style="color:red;">Δ 173.54%</div></td><td align="right">57.84 KHz / <div style="color:gray;">158.23 KHz</div></td><td align="center"><div style="color:red;">∇ -63.44%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td><td align="right">16.49 us / <div style="color:gray;">4.78 us</div></td><td align="center"><div style="color:red;">Δ 244.90%</div></td><td align="right">60.66 KHz / <div style="color:gray;">209.21 KHz</div></td><td align="center"><div style="color:red;">∇ -71.01%</div></td></tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td><td align="right">9.72 us / <div style="color:gray;">2.14 us</div></td><td align="center"><div style="color:red;">Δ 354.18%</div></td><td align="right">102.89 KHz / <div style="color:gray;">467.29 KHz</div></td><td align="center"><div style="color:red;">∇ -77.98%</div></td></tr> <tr> <td>feature_extraction [640x480]: Harris</td><td align="right">31.46 ms / <div style="color:gray;">28.31 ms</div></td><td align="center"><div style="color:red;">Δ 11.11%</div></td><td align="right">31.79 Hz / <div style="color:gray;">35.32 Hz</div></td><td align="center"><div style="color:red;">∇ -10.00%</div></td></tr> <tr> <td>feature_extraction [640x480]: KLT</td><td align="right">30.94 ms / <div style="color:gray;">27.34 ms</div></td><td align="center"><div style="color:red;">Δ 13.18%</div></td><td align="right">32.32 Hz / <div style="color:gray;">36.57 Hz</div></td><td align="center"><div style="color:red;">∇ -11.64%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT</td><td align="right">653.53 ms / <div style="color:gray;">641.91 ms</div></td><td align="center"><div style="color:red;">Δ 1.81%</div></td><td align="right">1.53 Hz / <div style="color:gray;">1.56 Hz</div></td><td align="center"><div style="color:red;">∇ -1.78%</div></td></tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td><td align="right">210.38 ms / <div style="color:gray;">170.65 ms</div></td><td align="center"><div style="color:red;">Δ 23.28%</div></td><td align="right">4.75 Hz / <div style="color:gray;">5.86 Hz</div></td><td align="center"><div style="color:red;">∇ -18.88%</div></td></tr> <tr> <td>feature_extraction [640x480]: SURF</td><td align="right">243.66 ms / <div style="color:gray;">201.21 ms</div></td><td align="center"><div style="color:red;">Δ 21.10%</div></td><td align="right">4.10 Hz / <div style="color:gray;">4.97 Hz</div></td><td align="center"><div style="color:red;">∇ -17.42%</div></td></tr> <tr> <td>feature_extraction [640x480]: FAST</td><td align="right">6.32 ms / <div style="color:gray;">5.22 ms</div></td><td align="center"><div style="color:red;">Δ 21.05%</div></td><td align="right">158.19 Hz / <div style="color:gray;">191.49 Hz</div></td><td align="center"><div style="color:red;">∇ -17.39%</div></td></tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td><td align="right">45.12 ms / <div style="color:gray;">60.81 ms</div></td><td align="center"><div style="color:blue;">∇ -25.80%</div></td><td align="right">22.16 Hz / <div style="color:gray;">16.44 Hz</div></td><td align="center"><div style="color:blue;">Δ 34.78%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + CC</td><td align="right">46.60 ms / <div style="color:gray;">43.26 ms</div></td><td align="center"><div style="color:red;">Δ 7.71%</div></td><td align="right">21.46 Hz / <div style="color:gray;">23.12 Hz</div></td><td align="center"><div style="color:red;">∇ -7.16%</div></td></tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td><td align="right">40.89 ms / <div style="color:gray;">39.91 ms</div></td><td align="center"><div style="color:red;">Δ 2.45%</div></td><td align="right">24.46 Hz / <div style="color:gray;">25.06 Hz</div></td><td align="center"><div style="color:red;">∇ -2.39%</div></td></tr> <tr> <td>feature_matching [640x480]: SIFT</td><td align="right">1.28 sec / <div style="color:gray;">1.28 sec</div></td><td align="center"><div style="color:red;">Δ 0.59%</div></td><td align="right">778.73 mHz / <div style="color:gray;">783.36 mHz</div></td><td align="center"><div style="color:red;">∇ -0.59%</div></td></tr> <tr> <td>feature_matching [640x480]: SURF</td><td align="right">502.54 ms / <div style="color:gray;">386.18 ms</div></td><td align="center"><div style="color:red;">Δ 30.13%</div></td><td align="right">1.99 Hz / <div style="color:gray;">2.59 Hz</div></td><td align="center"><div style="color:red;">∇ -23.16%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + CC</td><td align="right">19.71 ms / <div style="color:gray;">16.12 ms</div></td><td align="center"><div style="color:red;">Δ 22.25%</div></td><td align="right">50.74 Hz / <div style="color:gray;">62.03 Hz</div></td><td align="center"><div style="color:red;">∇ -18.20%</div></td></tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td><td align="right">13.01 ms / <div style="color:gray;">10.93 ms</div></td><td align="center"><div style="color:red;">Δ 18.99%</div></td><td align="right">76.86 Hz / <div style="color:gray;">91.46 Hz</div></td><td align="center"><div style="color:red;">∇ -15.96%</div></td></tr> <tr> <td>graph(2d): insertEdge x 1e3</td><td align="right">236.53 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.23 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">246.73 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): insertEdgeAtEnd x 1e3</td><td align="right">218.81 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.57 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">209.21 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">4.78 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">329.87 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.03 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">303.60 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.29 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">280.10 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.57 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">284.27 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.52 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdge x 1e4</td><td align="right">2.72 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">367.00 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">2.73 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">366.67 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td><td align="right">1.95 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">512.34 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">1.92 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">519.87 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">3.21 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">311.68 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">3.24 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">308.83 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">3.23 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">309.95 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">3.17 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">314.97 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e3</td><td align="right">274.22 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.65 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">264.66 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.78 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td><td align="right">263.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.79 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">267.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.74 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">589.01 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.70 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">596.64 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.68 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">562.97 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.78 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">559.03 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">1.79 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdge x 1e4</td><td align="right">3.23 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">309.17 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">3.13 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">319.30 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td><td align="right">2.62 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">381.66 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">2.55 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">392.76 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">6.11 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">163.57 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">5.61 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">178.36 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">5.21 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">192.01 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">5.18 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">192.88 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e2 nodes</td><td align="right">156.43 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">6.39 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">192.33 us / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">5.20 KHz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e3 nodes</td><td align="right">2.18 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">459.11 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">1.80 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">555.25 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e4 nodes</td><td align="right">26.67 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">37.50 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">22.83 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">43.80 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(3d): dijkstra 1e5 nodes</td><td align="right">307.16 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.26 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">266.80 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.75 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> <tr> <td>graph(2d): dijkstra 1e5 nodes</td><td align="right">302.10 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.31 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">262.78 ms / <div style="color:gray;">X</div></td><td align="center"></td><td align="right">3.81 Hz / <div style="color:gray;">X</div></td><td align="center"></td></tr> </table></div> <p> </p> <hr><small>Page generated automatically at 2011/06/03,22:26:37.792423 with MRPT 0.9.4 by 'mrpt-performance'.</small> </body></html>
