Default matrix/vector min size to enable Blas/Lapack optimization: 8
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
-------------------------------------------------------------------------------
/home/fspindle/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          223    2.0516 ms 
                                                      89 ns        88 ns        89 ns 
                                                       1 ns         0 ns         3 ns 
                                                                                      
(3x3)x(3x3) - ViSP                                      100          103      2.06 ms 
                                                     202 ns       200 ns       210 ns 
                                                      17 ns         1 ns        40 ns 
                                                                                      
(6x6)x(6x6) - Naive code                                100           95     2.052 ms 
                                                     217 ns       216 ns       219 ns 
                                                       5 ns         3 ns         9 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          114    2.0406 ms 
                                                     179 ns       178 ns       185 ns 
                                                      10 ns         0 ns        24 ns 
                                                                                      
(8x8)x(8x8) - Naive code                                100           54     2.079 ms 
                                                     388 ns       387 ns       390 ns 
                                                       6 ns         0 ns        14 ns 
                                                                                      
(8x8)x(8x8) - ViSP                                      100           84    2.0664 ms 
                                                     245 ns       244 ns       253 ns 
                                                      16 ns         0 ns        38 ns 
                                                                                      
(10x10)x(10x10) - Naive code                            100           28    2.0496 ms 
                                                     673 ns       672 ns       678 ns 
                                                      10 ns         0 ns        26 ns 
                                                                                      
(10x10)x(10x10) - ViSP                                  100           50     2.045 ms 
                                                     385 ns       356 ns       426 ns 
                                                     174 ns       135 ns       239 ns 
                                                                                      
(20x20)x(20x20) - Naive code                            100            4    2.4388 ms 
                                                   5.698 us     5.516 us     6.146 us 
                                                   1.362 us       498 ns     2.484 us 
                                                                                      
(20x20)x(20x20) - ViSP                                  100           26    2.0774 ms 
                                                     994 ns       950 ns     1.057 us 
                                                     269 ns       209 ns       355 ns 
                                                                                      
(6x200)x(200x6) - Naive code                            100            3    2.2197 ms 
                                                   7.398 us     7.266 us     7.735 us 
                                                     975 ns       239 ns     1.757 us 
                                                                                      
(6x200)x(200x6) - ViSP                                  100           32    2.0992 ms 
                                                     615 ns       592 ns       669 ns 
                                                     171 ns        86 ns       304 ns 
                                                                                      
(200x6)x(6x200) - Naive code                            100            1    17.175 ms 
                                                 165.571 us   160.191 us     173.5 us 
                                                  32.984 us    24.704 us    44.521 us 
                                                                                      
(200x6)x(6x200) - ViSP                                  100            1    2.8158 ms 
                                                  29.848 us    28.934 us    31.884 us 
                                                   6.576 us     3.754 us    12.739 us 
                                                                                      
(207x119)x(119x207) - Naive code                        100            1   503.475 ms 
                                                 5.26692 ms   5.21554 ms   5.33146 ms 
                                                 293.196 us    245.95 us   386.767 us 
                                                                                      
(207x119)x(119x207) - ViSP                              100            1   24.0501 ms 
                                                 241.335 us   232.314 us   253.677 us 
                                                  53.573 us     41.88 us    67.573 us 
                                                                                      
(83x201)x(201x83) - Naive code                          100            1   135.879 ms 
                                                 1.36202 ms   1.35929 ms   1.36931 ms 
                                                  21.007 us     9.253 us    44.017 us 
                                                                                      
(83x201)x(201x83) - ViSP                                100            1     8.335 ms 
                                                  70.298 us    67.956 us    74.124 us 
                                                  14.996 us    10.355 us    21.024 us 
                                                                                      
(600x400)x(400x600) - Naive code                        100            1    15.4613 s 
                                                 171.254 ms       166 ms   178.327 ms 
                                                 31.0091 ms   24.7589 ms   39.2442 ms 
                                                                                      
(600x400)x(400x600) - ViSP                              100            1   647.363 ms 
                                                 6.38457 ms   6.34948 ms   6.41008 ms 
                                                 151.093 us   109.895 us   216.753 us 
                                                                                      
(400x600)x(600x400) - Naive code                        100            1     10.185 s 
                                                 102.595 ms   102.154 ms    103.28 ms 
                                                 2.76177 ms   1.93992 ms   3.67911 ms 
                                                                                      
(400x600)x(600x400) - ViSP                              100            1   424.223 ms 
                                                 4.21401 ms   4.18659 ms   4.23194 ms 
                                                 111.623 us    77.423 us   160.784 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-rotation matrix multiplication
-------------------------------------------------------------------------------
/home/fspindle/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          162    2.0412 ms 
                                                     118 ns       118 ns       119 ns 
                                                       2 ns         0 ns         5 ns 
                                                                                      
(3x3)x(3x3) - ViSP                                      100          221    2.0332 ms 
                                                      86 ns        85 ns        87 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-homogeneous matrix multiplication
-------------------------------------------------------------------------------
/home/fspindle/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          135     2.052 ms 
                                                     146 ns       146 ns       148 ns 
                                                       3 ns         0 ns         8 ns 
                                                                                      
(4x4)x(4x4) - ViSP                                      100          174    2.0358 ms 
                                                     112 ns       112 ns       113 ns 
                                                       2 ns         0 ns         5 ns 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-vector multiplication
-------------------------------------------------------------------------------
/home/fspindle/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          273    2.0475 ms 
                                                      73 ns        71 ns        76 ns 
                                                      10 ns         1 ns        19 ns 
                                                                                      
(3x3)x(3x1) - ViSP                                      100          169    2.0449 ms 
                                                     139 ns       129 ns       153 ns 
                                                      61 ns        45 ns        79 ns 
                                                                                      
(6x6)x(6x1) - Naive code                                100          213    2.0448 ms 
                                                      91 ns        91 ns        91 ns 
                                                       1 ns         0 ns         3 ns 
                                                                                      
(6x6)x(6x1) - ViSP                                      100          158    2.0382 ms 
                                                     123 ns       123 ns       126 ns 
                                                       5 ns         1 ns        11 ns 
                                                                                      
(8x8)x(8x1) - Naive code                                100          179    2.0406 ms 
                                                     107 ns       107 ns       108 ns 
                                                       1 ns         0 ns         4 ns 
                                                                                      
(8x8)x(8x1) - ViSP                                      100          157     2.041 ms 
                                                     124 ns       124 ns       126 ns 
                                                       4 ns         0 ns         7 ns 
                                                                                      
(10x10)x(10x1) - Naive code                             100          132     2.046 ms 
                                                     133 ns       133 ns       135 ns 
                                                       2 ns         0 ns         5 ns 
                                                                                      
(10x10)x(10x1) - ViSP                                   100          136      2.04 ms 
                                                     137 ns       136 ns       141 ns 
                                                      10 ns         0 ns        25 ns 
                                                                                      
(20x20)x(20x1) - Naive code                             100           59    2.0473 ms 
                                                     311 ns       310 ns       313 ns 
                                                       4 ns         0 ns        11 ns 
                                                                                      
(20x20)x(20x1) - ViSP                                   100          106    2.0564 ms 
                                                     180 ns       178 ns       185 ns 
                                                      12 ns         0 ns        29 ns 
                                                                                      
(6x200)x(200x1) - Naive code                            100           23    2.1183 ms 
                                                     794 ns       793 ns       795 ns 
                                                       3 ns         0 ns         7 ns 
                                                                                      
(6x200)x(200x1) - ViSP                                  100           93    2.0646 ms 
                                                     201 ns       199 ns       211 ns 
                                                      20 ns         2 ns        47 ns 
                                                                                      
(200x6)x(6x1) - Naive code                              100           16    2.0624 ms 
                                                   1.164 us     1.161 us     1.176 us 
                                                      25 ns         1 ns        59 ns 
                                                                                      
(200x6)x(6x1) - ViSP                                    100           25    2.1075 ms 
                                                     781 ns       773 ns       822 ns 
                                                      81 ns         0 ns       193 ns 
                                                                                      
(207x119)x(119x1) - Naive code                          100            2     3.609 ms 
                                                  16.763 us    16.421 us    17.584 us 
                                                   2.573 us     1.043 us     4.592 us 
                                                                                      
(207x119)x(119x1) - ViSP                                100            6    2.2386 ms 
                                                   3.653 us     3.578 us     3.834 us 
                                                     571 ns       275 ns       983 ns 
                                                                                      
(83x201)x(201x1) - Naive code                           100            2    2.2302 ms 
                                                  10.029 us     9.913 us    10.605 us 
                                                   1.149 us         8 ns     2.742 us 
                                                                                      
(83x201)x(201x1) - ViSP                                 100           10     2.199 ms 
                                                   2.092 us     2.069 us     2.195 us 
                                                     211 ns        26 ns       500 ns 
                                                                                      
(600x400)x(400x1) - Naive code                          100            1   22.7039 ms 
                                                 215.771 us   213.856 us   220.459 us 
                                                  14.681 us     7.299 us    25.746 us 
                                                                                      
(600x400)x(400x1) - ViSP                                100            1    3.4367 ms 
                                                   34.26 us    33.546 us    35.702 us 
                                                   4.943 us     2.727 us      7.98 us 
                                                                                      
(400x600)x(600x1) - Naive code                          100            1   18.0648 ms 
                                                  169.05 us   166.772 us   174.014 us 
                                                  16.283 us     8.605 us    28.822 us 
                                                                                      
(400x600)x(600x1) - ViSP                                100            1    3.3765 ms 
                                                    32.3 us    31.727 us    33.925 us 
                                                   4.274 us       644 ns     8.951 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark AtA
-------------------------------------------------------------------------------
/home/fspindle/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          219    2.0367 ms 
                                                      81 ns        81 ns        82 ns 
                                                       1 ns         0 ns         2 ns 
                                                                                      
(3x3) - ViSP                                            100           87    2.0445 ms 
                                                     196 ns       194 ns       202 ns 
                                                      13 ns         0 ns        32 ns 
                                                                                      
(6x6) - Naive code                                      100          111    2.0535 ms 
                                                     166 ns       165 ns       167 ns 
                                                       3 ns         0 ns         7 ns 
                                                                                      
(6x6) - ViSP                                            100           85    2.0485 ms 
                                                     223 ns       220 ns       233 ns 
                                                      21 ns         0 ns        50 ns 
                                                                                      
(8x8) - Naive code                                      100           67    2.0435 ms 
                                                     279 ns       279 ns       282 ns 
                                                       5 ns         1 ns        12 ns 
                                                                                      
(8x8) - ViSP                                            100           77    2.0482 ms 
                                                     252 ns       245 ns       266 ns 
                                                      47 ns        26 ns        77 ns 
                                                                                      
(10x10) - Naive code                                    100           40     2.056 ms 
                                                     464 ns       463 ns       467 ns 
                                                       7 ns         0 ns        17 ns 
                                                                                      
(10x10) - ViSP                                          100           63    2.0538 ms 
                                                     300 ns       298 ns       311 ns 
                                                      22 ns         2 ns        53 ns 
                                                                                      
(20x20) - Naive code                                    100            7    2.3093 ms 
                                                   3.044 us     3.041 us     3.059 us 
                                                      30 ns         3 ns        71 ns 
                                                                                      
(20x20) - ViSP                                          100           23    2.0999 ms 
                                                     815 ns       806 ns       859 ns 
                                                      87 ns         2 ns       208 ns 
                                                                                      
(6x200) - Naive code                                    100            1   10.4797 ms 
                                                  97.175 us    96.383 us    98.895 us 
                                                   5.682 us     2.742 us     9.619 us 
                                                                                      
(6x200) - ViSP                                          100            1    2.6835 ms 
                                                  25.388 us    24.922 us    27.178 us 
                                                   4.216 us       750 ns     9.909 us 
                                                                                      
(200x6) - Naive code                                    100            5    2.0935 ms 
                                                   4.184 us     4.177 us     4.201 us 
                                                      47 ns         4 ns        86 ns 
                                                                                      
(200x6) - ViSP                                          100           27    2.0871 ms 
                                                     690 ns       672 ns       733 ns 
                                                     140 ns        69 ns       229 ns 
                                                                                      
(207x119) - Naive code                                  100            1   144.588 ms 
                                                 1.45281 ms   1.44668 ms   1.46487 ms 
                                                  42.491 us    24.651 us     67.98 us 
                                                                                      
(207x119) - ViSP                                        100            1   14.9142 ms 
                                                 131.627 us   130.423 us   134.817 us 
                                                   8.986 us     2.199 us    16.924 us 
                                                                                      
(83x201) - Naive code                                   100            1   152.614 ms 
                                                 1.49636 ms   1.49332 ms   1.50178 ms 
                                                   20.07 us    12.992 us    29.432 us 
                                                                                      
(83x201) - ViSP                                         100            1     16.69 ms 
                                                 144.707 us     143.3 us   147.362 us 
                                                   9.528 us     5.805 us    16.117 us 
                                                                                      
(600x400) - Naive code                                  100            1    5.72741 s 
                                                 57.3315 ms   57.1886 ms    57.538 ms 
                                                 870.225 us   658.677 us   1.14161 ms 
                                                                                      
(600x400) - ViSP                                        100            1   435.461 ms 
                                                 4.30212 ms   4.27026 ms   4.31975 ms 
                                                 117.438 us    75.304 us   184.055 us 
                                                                                      
(400x600) - Naive code                                  100            1    7.82654 s 
                                                 78.6463 ms   78.4704 ms   78.8933 ms 
                                                 1.05031 ms   816.214 us   1.43298 ms 
                                                                                      
(400x600) - ViSP                                        100            1   660.716 ms 
                                                 6.53438 ms   6.49527 ms   6.57244 ms 
                                                 195.587 us   120.116 us   296.007 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark AAt
-------------------------------------------------------------------------------
/home/fspindle/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          217    2.0398 ms 
                                                      83 ns        83 ns        84 ns 
                                                       2 ns         0 ns         4 ns 
                                                                                      
(3x3) - ViSP                                            100           91    2.0566 ms 
                                                     211 ns       205 ns       223 ns 
                                                      38 ns        17 ns        68 ns 
                                                                                      
(6x6) - Naive code                                      100          110     2.046 ms 
                                                     193 ns       182 ns       211 ns 
                                                      72 ns        51 ns       102 ns 
                                                                                      
(6x6) - ViSP                                            100           79     2.054 ms 
                                                     267 ns       260 ns       281 ns 
                                                      45 ns        25 ns        75 ns 
                                                                                      
(8x8) - Naive code                                      100           63    2.0412 ms 
                                                     337 ns       319 ns       366 ns 
                                                     113 ns        78 ns       165 ns 
                                                                                      
(8x8) - ViSP                                            100           67    2.0636 ms 
                                                     279 ns       268 ns       302 ns 
                                                      77 ns        46 ns       143 ns 
                                                                                      
(10x10) - Naive code                                    100           41    2.0828 ms 
                                                     459 ns       454 ns       479 ns 
                                                      48 ns        16 ns       109 ns 
                                                                                      
(10x10) - ViSP                                          100           46    2.0838 ms 
                                                     363 ns       339 ns       410 ns 
                                                     163 ns        96 ns       264 ns 
                                                                                      
(20x20) - Naive code                                    100            7    2.2001 ms 
                                                    4.88 us     4.665 us     5.071 us 
                                                   1.032 us       914 ns      1.14 us 
                                                                                      
(20x20) - ViSP                                          100           22    2.1208 ms 
                                                     875 ns       845 ns       951 ns 
                                                     240 ns       116 ns       404 ns 
                                                                                      
(6x200) - Naive code                                    100            5    2.1265 ms 
                                                   4.142 us     4.042 us     4.384 us 
                                                     758 ns       371 ns     1.295 us 
                                                                                      
(6x200) - ViSP                                          100           20      2.08 ms 
                                                     947 ns       913 ns     1.026 us 
                                                     259 ns       120 ns       434 ns 
                                                                                      
(200x6) - Naive code                                    100            1    9.9795 ms 
                                                 100.619 us    96.876 us   105.807 us 
                                                  22.349 us    17.575 us    29.378 us 
                                                                                      
(200x6) - ViSP                                          100            1     2.872 ms 
                                                  26.514 us    25.036 us    32.238 us 
                                                  12.726 us     3.037 us    29.115 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-velocity twist multiplication
-------------------------------------------------------------------------------
/home/fspindle/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           70     2.065 ms 
                                                     262 ns       257 ns       275 ns 
                                                      35 ns         6 ns        64 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          106    2.0458 ms 
                                                     172 ns       169 ns       179 ns 
                                                      16 ns         0 ns        37 ns 
                                                                                      
(20x6)x(6x6) - Naive code                               100           29    2.0851 ms 
                                                     729 ns       696 ns       774 ns 
                                                     196 ns       151 ns       248 ns 
                                                                                      
(20x6)x(6x6) - ViSP                                     100           60     2.058 ms 
                                                     328 ns       313 ns       358 ns 
                                                     103 ns        61 ns       160 ns 
                                                                                      
(207x6)x(6x6) - Naive code                              100            4    2.3788 ms 
                                                   5.941 us     5.705 us     6.301 us 
                                                   1.462 us      1.09 us     2.053 us 
                                                                                      
(207x6)x(6x6) - ViSP                                    100            9    2.1888 ms 
                                                   2.209 us     2.158 us     2.343 us 
                                                     381 ns       117 ns       744 ns 
                                                                                      
(600x6)x(6x6) - Naive code                              100            2    3.3366 ms 
                                                  14.785 us    14.589 us    15.278 us 
                                                   1.464 us       516 ns     2.755 us 
                                                                                      
(600x6)x(6x6) - ViSP                                    100            4    2.6204 ms 
                                                   6.292 us     6.222 us     6.489 us 
                                                     552 ns       179 ns     1.162 us 
                                                                                      
(1201x6)x(6x6) - Naive code                             100            1    3.1746 ms 
                                                  28.902 us    28.787 us    29.142 us 
                                                     815 ns       485 ns     1.563 us 
                                                                                      
(1201x6)x(6x6) - ViSP                                   100            2     2.491 ms 
                                                  12.312 us    11.953 us    13.049 us 
                                                   2.508 us      1.43 us     4.146 us 
                                                                                      

-------------------------------------------------------------------------------
Benchmark matrix-force twist multiplication
-------------------------------------------------------------------------------
/home/fspindle/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           74    2.0646 ms 
                                                     253 ns       253 ns       256 ns 
                                                       6 ns         1 ns        15 ns 
                                                                                      
(6x6)x(6x6) - ViSP                                      100          114    2.0406 ms 
                                                     166 ns       166 ns       168 ns 
                                                       4 ns         0 ns        11 ns 
                                                                                      
(20x6)x(6x6) - Naive code                               100           32    2.0608 ms 
                                                     624 ns       621 ns       631 ns 
                                                      20 ns         5 ns        36 ns 
                                                                                      
(20x6)x(6x6) - ViSP                                     100           66    2.0592 ms 
                                                     292 ns       290 ns       298 ns 
                                                      13 ns         2 ns        31 ns 
                                                                                      
(207x6)x(6x6) - Naive code                              100            4       2.3 ms 
                                                    5.46 us      5.28 us     5.871 us 
                                                    1.32 us       729 ns     2.362 us 
                                                                                      
(207x6)x(6x6) - ViSP                                    100           10     2.263 ms 
                                                   2.145 us      2.14 us     2.164 us 
                                                      40 ns         2 ns        95 ns 
                                                                                      
(600x6)x(6x6) - Naive code                              100            2      3.23 ms 
                                                  14.517 us    14.484 us    14.633 us 
                                                     266 ns        24 ns       602 ns 
                                                                                      
(600x6)x(6x6) - ViSP                                    100            4    2.5576 ms 
                                                   5.914 us     5.881 us     6.063 us 
                                                     299 ns         7 ns       706 ns 
                                                                                      
(1201x6)x(6x6) - Naive code                             100            1    3.1943 ms 
                                                  30.849 us    29.807 us     32.58 us 
                                                   6.719 us      4.79 us     9.907 us 
                                                                                      
(1201x6)x(6x6) - ViSP                                   100            2     2.477 ms 
                                                  11.978 us    11.768 us    12.505 us 
                                                   1.594 us       629 ns     2.894 us 
                                                                                      

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

