Results


Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 20.97 ms 47.68 Hz
icp-slam (match grid): Run with sample dataset 19.30 ms 51.81 Hz
poses: CPose3D (+) CPose3D 445.76 ns 2.24 MHz
poses: CPose3D.composeFrom() 231.93 ns 4.31 MHz
poses: CPose3D (+) CPoint3D 10.82 ns 92.46 MHz
poses: CPose3D.composePoint() 10.06 ns 99.40 MHz
poses: CPoint3D (-) CPose3D 37.73 ns 26.51 MHz
poses: CPose3D.inverseComposePoint() 39.77 ns 25.14 MHz
poses: CPose2D (+) CPose2D 78.45 ns 12.75 MHz
poses: CPose2D.composeFrom() 59.72 ns 16.74 MHz
poses: CPose2D (+) CPoint2D 62.71 ns 15.95 MHz
poses: CPose2D.composePoint() 61.15 ns 16.35 MHz
poses: CPose3DQuat (+) CPose3DQuat 46.02 ns 21.73 MHz
poses: CPose3DQuat.composeFrom() 39.14 ns 25.55 MHz
poses: CPose3DQuat (+) CPoint3D 22.75 ns 43.96 MHz
poses: CPose3DQuat.composePoint() 17.81 ns 56.14 MHz
poses: CPoint3D (-) CPose3DQuat 385.84 ns 2.59 MHz
poses: CPose3DQuat.invcomposePoint() 17.64 ns 56.70 MHz
poses: Conv CPose3DQuat <- CPose3D 351.01 ns 2.85 MHz
poses: Conv CPose3D -> CPose3DQuat 170.83 ns 5.85 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 814.59 us 1.23 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 804.30 us 1.24 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.58 us 104.43 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 526.00 ns 1.90 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 528.30 ns 1.89 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.34 us 119.83 KHz
matrix: unit, dyn[float], 3x3 23.47 ns 42.60 MHz
matrix: unit, dyn[double], 3x3 19.09 ns 52.39 MHz
matrix: unit, dyn[float], 6x6 62.13 ns 16.10 MHz
matrix: unit, dyn[double], 6x6 59.29 ns 16.87 MHz
matrix: unit, fix[float,3,3] 0.35 ns 2.88 GHz
matrix: unit, fix[double,3,3] 1.19 ns 842.46 MHz
matrix: unit, fix[float,6,6] 1.68 ns 594.18 MHz
matrix: unit, fix[double,6,6] 2.77 ns 360.88 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 71.10 ns 14.06 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 23.80 ns 42.02 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 72.20 ns 13.85 MHz
matrix: multiply, fix[double], 3x3 * 3x3 24.60 ns 40.65 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 111.50 ns 8.97 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 44.80 ns 22.32 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 110.50 ns 9.05 MHz
matrix: multiply, fix[double], 3x6 * 6x3 45.30 ns 22.08 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.27 us 189.79 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 3.54 us 282.22 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 5.30 us 188.66 KHz
matrix: multiply, fix[double], 10x40 * 40x10 3.53 us 282.97 KHz
matrix: inv, dyn[float ] 3x3 439.00 ns 2.28 MHz
matrix: inv, fix[float ] 3x3 29.00 ns 34.48 MHz
matrix: inv, dyn[double] 3x3 311.60 ns 3.21 MHz
matrix: inv, fix[double] 3x3 22.00 ns 45.45 MHz
matrix: inv, dyn[float ] 6x6 1.22 us 817.59 KHz
matrix: inv, fix[float ] 6x6 465.00 ns 2.15 MHz
matrix: inv, dyn[double] 6x6 1.29 us 773.81 KHz
matrix: inv, fix[double] 6x6 576.00 ns 1.74 MHz
matrix: inv, dyn[float ] 20x20 25.87 us 38.65 KHz
matrix: inv, fix[float ] 20x20 12.13 us 82.47 KHz
matrix: inv, dyn[double] 20x20 25.53 us 39.16 KHz
matrix: inv, fix[double] 20x20 17.52 us 57.07 KHz
matrix: inv, dyn[float ] 40x40 192.74 us 5.19 KHz
matrix: inv, fix[float ] 40x40 89.67 us 11.15 KHz
matrix: inv, dyn[double] 40x40 190.08 us 5.26 KHz
matrix: inv, fix[double] 40x40 125.53 us 7.97 KHz
matrix: det, dyn[float ] 2x2 6.40 ns 156.25 MHz
matrix: det, fix[float ] 2x2 0.00 ns inf THz
matrix: det, dyn[double] 2x2 6.40 ns 156.25 MHz
matrix: det, fix[double] 2x2 0.00 ns inf THz
matrix: det, dyn[float ] 3x3 10.30 ns 97.09 MHz
matrix: det, fix[float ] 3x3 0.00 ns inf THz
matrix: det, dyn[double] 3x3 10.30 ns 97.09 MHz
matrix: det, fix[double] 3x3 0.00 ns inf THz
matrix: det, dyn[float ] 6x6 671.10 ns 1.49 MHz
matrix: det, fix[float ] 6x6 208.10 ns 4.81 MHz
matrix: det, dyn[double] 6x6 688.50 ns 1.45 MHz
matrix: det, fix[double] 6x6 211.60 ns 4.73 MHz
matrix: det, dyn[float ] 20x20 5.29 us 189.04 KHz
matrix: det, fix[float ] 20x20 3.92 us 255.03 KHz
matrix: det, dyn[double] 20x20 6.35 us 157.42 KHz
matrix: det, fix[double] 20x20 4.78 us 209.31 KHz
matrix: det, dyn[float ] 40x40 30.44 us 32.86 KHz
matrix: det, fix[float ] 40x40 26.31 us 38.00 KHz
matrix: det, dyn[double] 40x40 32.29 us 30.97 KHz
matrix: det, fix[double] 40x40 27.23 us 36.72 KHz
gridmap2D: getCell 0.00 ns inf THz
gridmap2D: setCell 2.58 ns 387.82 MHz
gridmap2D: updateCell 7.51 ns 133.08 MHz
gridmap2D: updateCell_fast_occupied 0.55 ns 1.83 GHz
gridmap2D: insert scan w/o widening 103.54 us 9.66 KHz
gridmap2D: insert scan with widening 292.23 us 3.42 KHz
gridmap2D: resize 1.81 ms 551.57 Hz
gridmap2D: computeLikelihood 16.32 us 61.26 KHz
pointmap: insert 100 scans 3.12 ms 320.32 Hz
pointmap: build 2D kd-tree of 1 scan 4.36 us 229.36 KHz
pointmap: build 2D kd-tree of 100 scan 358.96 us 2.79 KHz
pointmap: build 2D kd-tree of 1000 scan 4.26 ms 235.01 Hz
pointmap: build 3D kd-tree of 1 scan 4.80 us 208.33 KHz
pointmap: build 3D kd-tree of 100 scan 399.64 us 2.50 KHz
pointmap: build 3D kd-tree of 1000 scan 4.18 ms 239.09 Hz
pointmap: kd-tree 2d query on 10 scans 1.40 us 713.78 KHz
pointmap: kd-tree 2d query on 1000 scans 101.54 us 9.85 KHz
pointmap: kd-tree 2d query on 10000 scans 11.86 ms 84.33 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.80 ms 172.54 Hz
pointmap: (insert scan+2D kd-tree query) x 50 132.94 ms 7.52 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.87 ms 170.41 Hz
pointmap: (insert scan+3D kd-tree query) x 50 135.17 ms 7.40 Hz
random: drawUniform32bit 14.58 ns 68.58 MHz
random: drawUniform 14.57 ns 68.62 MHz
random: drawGaussian1D_normalized 68.87 ns 14.52 MHz
random: drawGaussian1D 68.81 ns 14.53 MHz
random: system rand() 10.48 ns 95.46 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.31 us 762.39 KHz
random: drawGaussianMultivariate(dyn 3x3) 2.71 us 368.59 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 158.38 ns 6.31 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 237.11 ns 4.22 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 491.14 ns 2.04 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 165.03 ns 6.06 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 247.75 ns 4.04 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 511.39 ns 1.96 MHz
random: permuteVector (len=10) 292.30 ns 3.42 MHz
random: permuteVector (len=100) 3.04 us 329.13 KHz
random: permuteVector (len=1000) 30.29 us 33.02 KHz
math: round 0.10 ns 10.09 GHz
images: Save as JPEG (640x480, quality=95%) 38.15 ms 26.21 Hz
images: Save as JPEG (800x600, quality=95%) 52.74 ms 18.96 Hz
images: Save as JPEG (1024x768, quality=95%) 77.23 ms 12.95 Hz
images: Save as JPEG (640x480, quality=75%) 27.97 ms 35.75 Hz
images: Save as JPEG (800x600, quality=75%) 37.34 ms 26.78 Hz
images: Save as JPEG (1024x768, quality=75%) 60.56 ms 16.51 Hz
images: Gauss filter (640x480) 4.97 ms 201.39 Hz
images: Gauss filter (800x600) 6.13 ms 163.07 Hz
images: Gauss filter (1024x768) 10.29 ms 97.16 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 5.92 us 168.92 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 4.87 us 205.34 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 2.19 us 456.62 KHz
feature_extraction [640x480]: Harris 27.17 ms 36.81 Hz
feature_extraction [640x480]: KLT 27.04 ms 36.98 Hz
feature_extraction [640x480]: SIFT 611.52 ms 1.64 Hz
feature_extraction [640x480]: SIFT desc. 166.42 ms 6.01 Hz
feature_extraction [640x480]: SURF 200.74 ms 4.98 Hz
feature_extraction [640x480]: FAST 6.01 ms 166.50 Hz
feature_extraction [640x480]: Spin desc. 59.83 ms 16.71 Hz
feature_matching [640x480]: Harris + CC 43.20 ms 23.15 Hz
feature_matching [640x480]: Harris + SAD 37.41 ms 26.73 Hz
feature_matching [640x480]: SIFT 1.28 sec 782.50 mHz
feature_matching [640x480]: SURF 395.87 ms 2.53 Hz
feature_matching [640x480]: FAST + CC 13.71 ms 72.91 Hz
feature_matching [640x480]: FAST + SAD 6.59 ms 151.76 Hz

 

cpuinfo

 

processor : 0
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 2267.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 0
cpu cores : 2
apicid : 0
initial apicid : 0
fpu : yes
fpu_exception : yes
cpuid level : 11
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.13
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:

processor : 1
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 2
cpu cores : 2
apicid : 4
initial apicid : 4
fpu : yes
fpu_exception : yes
cpuid level : 11
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.76
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:

processor : 2
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 0
cpu cores : 2
apicid : 1
initial apicid : 1
fpu : yes
fpu_exception : yes
cpuid level : 11
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.76
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:

processor : 3
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 2
cpu cores : 2
apicid : 5
initial apicid : 5
fpu : yes
fpu_exception : yes
cpuid level : 11
wp : yes
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.76
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:


 


Automated test run at 2010/06/02,18:26:50.485822 with MRPT 0.9.0 using program 'mrpt-performance'.
Overall run took 1.80 minutes