Default matrix/vector min size to enable Blas/Lapack optimization: 0
Used matrix/vector min size to enable Blas/Lapack optimization: 0

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
perfMatrixMultiplication is a Catch v2.9.2 host application.
Run with -? for options

-------------------------------------------------------------------------------
Benchmark matrix-matrix multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:217
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(3x3)x(3x3) - Naive code                                100          225     3.555 ms 
                                                     159 ns       158 ns       159 ns 
                                                       2 ns         1 ns         4 ns 
                                                                                      
(3x3)x(3x3) - ViSP                                      100          243    3.5721 ms 
                                                     147 ns       147 ns       148 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(6x6)x(6x6) - Naive code                                100          128     3.584 ms 
                                                     286 ns       285 ns       286 ns 
                                                       2 ns         2 ns         3 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          129    3.5862 ms 
                                                     280 ns       280 ns       282 ns 
                                                       3 ns         0 ns         6 ns 
                                                                                      
(8x8)x(8x8) - Naive code                                100           77    3.5728 ms 
                                                     462 ns       461 ns       463 ns 
                                                       3 ns         0 ns         6 ns 
                                                                                      
(8x8)x(8x8) - ViSP                                      100           79    3.5708 ms 
                                                     454 ns       453 ns       455 ns 
                                                       3 ns         1 ns         6 ns 
                                                                                      
(10x10)x(10x10) - Naive code                            100           48     3.576 ms 
                                                     749 ns       748 ns       752 ns 
                                                       7 ns         0 ns        14 ns 
                                                                                      
(10x10)x(10x10) - ViSP                                  100           49    3.6113 ms 
                                                     736 ns       735 ns       738 ns 
                                                       6 ns         0 ns        11 ns 
                                                                                      
(20x20)x(20x20) - Naive code                            100            7    3.8675 ms 
                                                   5.531 us     5.525 us     5.548 us 
                                                      46 ns         4 ns        96 ns 
                                                                                      
(20x20)x(20x20) - ViSP                                  100            7    3.7338 ms 
                                                   5.333 us     5.328 us     5.354 us 
                                                      49 ns         9 ns       114 ns 
                                                                                      
(6x200)x(200x6) - Naive code                            100            5     3.634 ms 
                                                   7.266 us     7.255 us     7.297 us 
                                                      88 ns        32 ns       168 ns 
                                                                                      
(6x200)x(200x6) - ViSP                                  100            5       3.6 ms 
                                                   7.203 us     7.198 us     7.218 us 
                                                      36 ns         4 ns        80 ns 
                                                                                      
(200x6)x(6x200) - Naive code                            100            1   15.3154 ms 
                                                 151.461 us   151.174 us   152.306 us 
                                                   2.275 us       879 ns     4.864 us 
                                                                                      
(200x6)x(6x200) - ViSP                                  100            1   15.7898 ms 
                                                 156.569 us   156.339 us   157.213 us 
                                                   1.795 us       753 ns     3.793 us 
                                                                                      
(207x119)x(119x207) - Naive code                        100            1   485.278 ms 
                                                 4.85549 ms   4.85379 ms   4.85653 ms 
                                                   6.661 us      4.29 us    11.116 us 
                                                                                      
(207x119)x(119x207) - ViSP                              100            1   477.608 ms 
                                                 4.78238 ms   4.77595 ms   4.79972 ms 
                                                  47.254 us      6.05 us    96.202 us 
                                                                                      
(83x201)x(201x83) - Naive code                          100            1   135.463 ms 
                                                 1.35542 ms   1.35483 ms   1.35594 ms 
                                                   2.823 us     2.226 us     3.639 us 
                                                                                      
(83x201)x(201x83) - ViSP                                100            1   134.518 ms 
                                                 1.34536 ms   1.34509 ms   1.34572 ms 
                                                   1.577 us     1.279 us     2.264 us 
                                                                                      
(600x400)x(400x600) - Naive code                        100            1    15.2307 s 
                                                 150.584 ms    150.43 ms   150.813 ms 
                                                 939.971 us   667.107 us   1.19911 ms 
                                                                                      
(600x400)x(400x600) - ViSP                              100            1    14.9176 s 
                                                 148.701 ms   148.491 ms   148.976 ms 
                                                 1.22182 ms   994.341 us   1.42788 ms 
                                                                                      
(400x600)x(600x400) - Naive code                        100            1    10.1806 s 
                                                 102.113 ms    101.95 ms    102.35 ms 
                                                 991.012 us   722.193 us   1.24552 ms 
                                                                                      
(400x600)x(600x400) - ViSP                              100            1    10.4568 s 
                                                 104.986 ms   103.894 ms     106.7 ms 
                                                 6.88009 ms   4.91483 ms   9.94268 ms 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-rotation matrix multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:294
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(3x3)x(3x3) - Naive code                                100          144    3.5856 ms 
                                                     232 ns       231 ns       234 ns 
                                                       4 ns         0 ns        10 ns 
                                                                                      
(3x3)x(3x3) - ViSP                                      100          234    3.5568 ms 
                                                     143 ns       141 ns       148 ns 
                                                      15 ns         4 ns        32 ns 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-homogeneous matrix multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:379
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(4x4)x(4x4) - Naive code                                100          128     3.584 ms 
                                                     260 ns       260 ns       261 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(4x4)x(4x4) - ViSP                                      100          199    3.5621 ms 
                                                     167 ns       165 ns       172 ns 
                                                      14 ns         1 ns        26 ns 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-vector multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:467
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(3x3)x(3x1) - Naive code                                100          222    3.5742 ms 
                                                     157 ns       152 ns       166 ns 
                                                      33 ns        23 ns        47 ns 
                                                                                      
(3x3)x(3x1) - ViSP                                      100          249    3.5607 ms 
                                                     136 ns       134 ns       140 ns 
                                                      13 ns         1 ns        25 ns 
                                                                                      
(6x6)x(6x1) - Naive code                                100          197    3.5657 ms 
                                                     176 ns       170 ns       187 ns 
                                                      39 ns        25 ns        57 ns 
                                                                                      
(6x6)x(6x1) - ViSP                                      100          204      3.57 ms 
                                                     157 ns       155 ns       164 ns 
                                                      17 ns         4 ns        35 ns 
                                                                                      
(8x8)x(8x1) - Naive code                                100          175      3.57 ms 
                                                     188 ns       184 ns       197 ns 
                                                      27 ns         4 ns        52 ns 
                                                                                      
(8x8)x(8x1) - ViSP                                      100          186    3.5712 ms 
                                                     177 ns       174 ns       183 ns 
                                                      21 ns        10 ns        36 ns 
                                                                                      
(10x10)x(10x1) - Naive code                             100          155    3.5805 ms 
                                                     211 ns       207 ns       222 ns 
                                                      31 ns         4 ns        56 ns 
                                                                                      
(10x10)x(10x1) - ViSP                                   100          161    3.5742 ms 
                                                     206 ns       199 ns       222 ns 
                                                      51 ns        24 ns        97 ns 
                                                                                      
(20x20)x(20x1) - Naive code                             100           81    3.5964 ms 
                                                     394 ns       386 ns       415 ns 
                                                      57 ns         7 ns       105 ns 
                                                                                      
(20x20)x(20x1) - ViSP                                   100           80       3.6 ms 
                                                     406 ns       390 ns       434 ns 
                                                     106 ns        71 ns       162 ns 
                                                                                      
(6x200)x(200x1) - Naive code                            100           33    3.5871 ms 
                                                     935 ns       921 ns       972 ns 
                                                     102 ns        18 ns       199 ns 
                                                                                      
(6x200)x(200x1) - ViSP                                  100           34    3.6584 ms 
                                                     926 ns       912 ns       961 ns 
                                                      98 ns        19 ns       197 ns 
                                                                                      
(200x6)x(6x1) - Naive code                              100           25     3.715 ms 
                                                   1.265 us     1.257 us     1.298 us 
                                                      72 ns        13 ns       168 ns 
                                                                                      
(200x6)x(6x1) - ViSP                                    100           26    3.6504 ms 
                                                   1.237 us     1.219 us     1.285 us 
                                                     134 ns        28 ns       258 ns 
                                                                                      
(207x119)x(119x1) - Naive code                          100            2    3.8838 ms 
                                                  18.153 us    16.952 us    19.991 us 
                                                     7.5 us     5.521 us    10.852 us 
                                                                                      
(207x119)x(119x1) - ViSP                                100            2    3.9086 ms 
                                                  16.196 us    15.519 us    18.054 us 
                                                   5.282 us     2.283 us    11.024 us 
                                                                                      
(83x201)x(201x1) - Naive code                           100            3    3.7827 ms 
                                                  13.425 us    12.738 us    14.343 us 
                                                   4.013 us     3.232 us     4.867 us 
                                                                                      
(83x201)x(201x1) - ViSP                                 100            3     3.696 ms 
                                                  11.263 us    11.077 us    11.717 us 
                                                   1.476 us       738 ns     2.421 us 
                                                                                      
(600x400)x(400x1) - Naive code                          100            1   22.3505 ms 
                                                 215.451 us    209.67 us   224.038 us 
                                                  35.652 us    26.955 us     48.88 us 
                                                                                      
(600x400)x(400x1) - ViSP                                100            1   21.8008 ms 
                                                 209.021 us   205.093 us   216.816 us 
                                                   27.13 us     16.78 us    47.407 us 
                                                                                      
(400x600)x(600x1) - Naive code                          100            1   18.3873 ms 
                                                 166.808 us   165.328 us   169.876 us 
                                                  10.377 us      4.92 us    17.542 us 
                                                                                      
(400x600)x(600x1) - ViSP                                100            1   18.2372 ms 
                                                 167.901 us   165.673 us   172.539 us 
                                                  15.756 us     8.945 us    27.752 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark AtA
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:548
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(3x3) - Naive code                                      100          220     3.564 ms 
                                                     152 ns       151 ns       153 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(3x3) - ViSP                                            100          245     3.577 ms 
                                                     138 ns       138 ns       140 ns 
                                                       2 ns         0 ns         6 ns 
                                                                                      
(6x6) - Naive code                                      100          146     3.577 ms 
                                                     233 ns       233 ns       234 ns 
                                                       2 ns         0 ns         5 ns 
                                                                                      
(6x6) - ViSP                                            100          152    3.5872 ms 
                                                     221 ns       220 ns       222 ns 
                                                       2 ns         0 ns         6 ns 
                                                                                      
(8x8) - Naive code                                      100           97    3.5793 ms 
                                                     340 ns       340 ns       342 ns 
                                                       3 ns         0 ns         7 ns 
                                                                                      
(8x8) - ViSP                                            100          101    3.5855 ms 
                                                     328 ns       328 ns       329 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(10x10) - Naive code                                    100           63    3.5973 ms 
                                                     529 ns       528 ns       530 ns 
                                                       4 ns         0 ns         7 ns 
                                                                                      
(10x10) - ViSP                                          100           63    3.5973 ms 
                                                     527 ns       526 ns       528 ns 
                                                       4 ns         0 ns         7 ns 
                                                                                      
(20x20) - Naive code                                    100           11    3.6784 ms 
                                                   3.133 us     3.129 us      3.14 us 
                                                      21 ns         2 ns        40 ns 
                                                                                      
(20x20) - ViSP                                          100           11     3.608 ms 
                                                   3.488 us     3.389 us     3.675 us 
                                                     673 ns       386 ns       994 ns 
                                                                                      
(6x200) - Naive code                                    100            1   10.3832 ms 
                                                  97.183 us      95.7 us   102.025 us 
                                                  12.178 us     3.785 us     26.88 us 
                                                                                      
(6x200) - ViSP                                          100            1   10.3793 ms 
                                                  96.792 us     96.15 us    98.869 us 
                                                   5.292 us     1.922 us    11.814 us 
                                                                                      
(200x6) - Naive code                                    100            9    3.8583 ms 
                                                   4.236 us     4.233 us     4.243 us 
                                                      19 ns         5 ns        40 ns 
                                                                                      
(200x6) - ViSP                                          100            9     3.978 ms 
                                                   4.231 us     4.228 us     4.238 us 
                                                      20 ns         1 ns        42 ns 
                                                                                      
(207x119) - Naive code                                  100            1   144.692 ms 
                                                 1.44718 ms    1.4468 ms   1.44764 ms 
                                                   2.117 us      1.79 us      2.79 us 
                                                                                      
(207x119) - ViSP                                        100            1   145.653 ms 
                                                 1.45064 ms    1.4499 ms   1.45159 ms 
                                                   4.262 us     3.395 us     5.657 us 
                                                                                      
(83x201) - Naive code                                   100            1   154.792 ms 
                                                 1.51232 ms   1.50873 ms   1.51632 ms 
                                                  19.448 us    17.624 us    21.905 us 
                                                                                      
(83x201) - ViSP                                         100            1   153.081 ms 
                                                 1.50117 ms   1.49917 ms   1.50415 ms 
                                                  12.332 us      9.23 us    16.588 us 
                                                                                      
(600x400) - Naive code                                  100            1    5.30003 s 
                                                 53.7113 ms   53.5844 ms   53.9151 ms 
                                                  805.24 us   565.451 us   1.13395 ms 
                                                                                      
(600x400) - ViSP                                        100            1    5.30707 s 
                                                  53.287 ms   53.1652 ms   53.4899 ms 
                                                 784.152 us   521.125 us   1.06996 ms 
                                                                                      
(400x600) - Naive code                                  100            1    7.71926 s 
                                                  77.766 ms   77.6037 ms   77.9874 ms 
                                                  956.95 us   740.998 us   1.23455 ms 
                                                                                      
(400x600) - ViSP                                        100            1    7.61589 s 
                                                 78.7699 ms   77.9421 ms   80.2947 ms 
                                                  5.5602 ms   3.39102 ms   8.48305 ms 
                                                                                      

-------------------------------------------------------------------------------
Benchmark AAt
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:619
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(3x3) - Naive code                                      100          220     3.564 ms 
                                                     154 ns       153 ns       156 ns 
                                                       6 ns         2 ns        14 ns 
                                                                                      
(3x3) - ViSP                                            100          236    3.5636 ms 
                                                     141 ns       141 ns       142 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(6x6) - Naive code                                      100          145     3.567 ms 
                                                     229 ns       229 ns       230 ns 
                                                       2 ns         1 ns         4 ns 
                                                                                      
(6x6) - ViSP                                            100          150      3.57 ms 
                                                     217 ns       214 ns       224 ns 
                                                      18 ns         4 ns        36 ns 
                                                                                      
(8x8) - Naive code                                      100           96    3.5712 ms 
                                                     340 ns       339 ns       341 ns 
                                                       4 ns         2 ns         6 ns 
                                                                                      
(8x8) - ViSP                                            100          100       3.6 ms 
                                                     329 ns       328 ns       330 ns 
                                                       3 ns         2 ns         5 ns 
                                                                                      
(10x10) - Naive code                                    100           66    3.6036 ms 
                                                     518 ns       510 ns       539 ns 
                                                      57 ns        24 ns       125 ns 
                                                                                      
(10x10) - ViSP                                          100           67    3.6046 ms 
                                                     504 ns       494 ns       530 ns 
                                                      73 ns        10 ns       137 ns 
                                                                                      
(20x20) - Naive code                                    100           12    3.7356 ms 
                                                   3.392 us     3.335 us     3.536 us 
                                                     406 ns        48 ns       754 ns 
                                                                                      
(20x20) - ViSP                                          100           12     3.666 ms 
                                                   3.148 us     2.986 us     3.398 us 
                                                    1.01 us       760 ns     1.436 us 
                                                                                      
(6x200) - Naive code                                    100            9    3.7314 ms 
                                                   4.074 us     4.071 us     4.081 us 
                                                      18 ns         2 ns        41 ns 
                                                                                      
(6x200) - ViSP                                          100            9    3.7512 ms 
                                                   4.058 us     4.055 us     4.066 us 
                                                      20 ns         1 ns        39 ns 
                                                                                      
(200x6) - Naive code                                    100            1   10.2514 ms 
                                                  98.905 us     94.69 us   105.574 us 
                                                  26.607 us    18.912 us    36.548 us 
                                                                                      
(200x6) - ViSP                                          100            1   10.0775 ms 
                                                  91.459 us    90.432 us    93.602 us 
                                                   7.215 us     3.868 us    12.081 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-velocity twist multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:690
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(6x6)x(6x6) - Naive code                                100           91    3.5945 ms 
                                                     366 ns       360 ns       380 ns 
                                                      39 ns         8 ns        80 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          142    3.5784 ms 
                                                     233 ns       233 ns       234 ns 
                                                       3 ns         0 ns         7 ns 
                                                                                      
(20x6)x(6x6) - Naive code                               100           48    3.6336 ms 
                                                     687 ns       679 ns       710 ns 
                                                      63 ns        15 ns       125 ns 
                                                                                      
(20x6)x(6x6) - ViSP                                     100           94    3.5814 ms 
                                                     353 ns       352 ns       356 ns 
                                                       7 ns         1 ns        16 ns 
                                                                                      
(207x6)x(6x6) - Naive code                              100            6     3.588 ms 
                                                   5.194 us     5.181 us     5.242 us 
                                                     107 ns         5 ns       250 ns 
                                                                                      
(207x6)x(6x6) - ViSP                                    100           15      3.66 ms 
                                                   2.208 us     2.204 us     2.232 us 
                                                      46 ns         2 ns       111 ns 
                                                                                      
(600x6)x(6x6) - Naive code                              100            3       5.1 ms 
                                                  16.761 us    16.135 us     17.64 us 
                                                   3.748 us     2.896 us     4.672 us 
                                                                                      
(600x6)x(6x6) - ViSP                                    100            6    3.9564 ms 
                                                   6.131 us     6.056 us      6.32 us 
                                                     568 ns       240 ns     1.081 us 
                                                                                      
(1201x6)x(6x6) - Naive code                             100            2    6.9766 ms 
                                                  32.687 us    32.259 us    33.384 us 
                                                   2.724 us     1.815 us      4.14 us 
                                                                                      
(1201x6)x(6x6) - ViSP                                   100            3    3.8826 ms 
                                                  11.707 us    11.659 us    11.914 us 
                                                     427 ns        16 ns     1.009 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-force twist multiplication
-------------------------------------------------------------------------------
/visp-ws/visp-fspindle/modules/core/test/math/perfMatrixMultiplication.cpp:775
...............................................................................

benchmark name                                  samples       iterations    estimated
                                                mean          low mean      high mean
                                                std dev       low std dev   high std dev
-------------------------------------------------------------------------------
(6x6)x(6x6) - Naive code                                100           89    3.5867 ms 
                                                     373 ns       363 ns       393 ns 
                                                      67 ns        36 ns       108 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          135    3.5775 ms 
                                                     265 ns       252 ns       283 ns 
                                                      75 ns        56 ns       105 ns 
                                                                                      
(20x6)x(6x6) - Naive code                               100           45     3.609 ms 
                                                     711 ns       699 ns       739 ns 
                                                      84 ns        26 ns       166 ns 
                                                                                      
(20x6)x(6x6) - ViSP                                     100           90     3.591 ms 
                                                     363 ns       356 ns       377 ns 
                                                      46 ns        21 ns        79 ns 
                                                                                      
(207x6)x(6x6) - Naive code                              100            6    3.7482 ms 
                                                   5.695 us     5.611 us     5.857 us 
                                                     573 ns       296 ns     1.007 us 
                                                                                      
(207x6)x(6x6) - ViSP                                    100           14    3.5756 ms 
                                                   2.251 us     2.217 us     2.342 us 
                                                     252 ns        68 ns       505 ns 
                                                                                      
(600x6)x(6x6) - Naive code                              100            2     3.576 ms 
                                                   15.52 us    15.387 us    15.883 us 
                                                   1.035 us       472 ns     2.187 us 
                                                                                      
(600x6)x(6x6) - ViSP                                    100            6    4.1352 ms 
                                                   6.119 us     6.031 us     6.496 us 
                                                     778 ns        41 ns     1.833 us 
                                                                                      
(1201x6)x(6x6) - Naive code                             100            2    6.8786 ms 
                                                  31.103 us    30.663 us    32.401 us 
                                                   3.515 us     1.439 us     7.554 us 
                                                                                      
(1201x6)x(6x6) - ViSP                                   100            3     4.002 ms 
                                                  11.878 us    11.789 us    12.124 us 
                                                     689 ns       204 ns     1.415 us 
                                                                                      

===============================================================================
All tests passed (60 assertions in 8 test cases)

