Results for: 0.9.2-MSVC-32bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 30.39 ms 32.90 Hz
icp-slam (match grid): Run with sample dataset 52.58 ms 19.02 Hz
poses: CPose3D (+) CPose3D 264.70 ns 3.78 MHz
poses: CPose3D.composeFrom() 98.01 ns 10.20 MHz
poses: CPose3D (+) CPoint3D 27.86 ns 35.89 MHz
poses: CPose3D.composePoint() 19.17 ns 52.16 MHz
poses: CPoint3D (-) CPose3D 51.66 ns 19.36 MHz
poses: CPose3D.inverseComposePoint() 46.91 ns 21.32 MHz
poses: CPose2D (+) CPose2D 99.28 ns 10.07 MHz
poses: CPose2D.composeFrom() 89.67 ns 11.15 MHz
poses: CPose2D (+) CPoint2D 82.07 ns 12.18 MHz
poses: CPose2D.composePoint() 64.58 ns 15.49 MHz
poses: CPose3DQuat (+) CPose3DQuat 87.19 ns 11.47 MHz
poses: CPose3DQuat.composeFrom() 57.14 ns 17.50 MHz
poses: CPose3DQuat (+) CPoint3D 48.22 ns 20.74 MHz
poses: CPose3DQuat.composePoint() 29.64 ns 33.74 MHz
poses: CPoint3D (-) CPose3DQuat 84.32 ns 11.86 MHz
poses: CPose3DQuat.invcomposePoint() 30.72 ns 32.55 MHz
poses: Conv CPose3DQuat <- CPose3D 33.02 ns 30.29 MHz
poses: Conv CPose3D -> CPose3DQuat 206.69 ns 4.84 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 1.35 us 739.68 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 1.40 us 712.12 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 23.15 us 43.20 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 1.62 us 617.00 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 1.63 us 613.67 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 15.82 us 63.21 KHz
matrix: unit, dyn[float], 3x3 38.75 ns 25.81 MHz
matrix: unit, dyn[double], 3x3 38.69 ns 25.85 MHz
matrix: unit, dyn[float], 6x6 163.36 ns 6.12 MHz
matrix: unit, dyn[double], 6x6 213.06 ns 4.69 MHz
matrix: unit, fix[float,3,3] 3.56 ns 280.77 MHz
matrix: unit, fix[double,3,3] 3.29 ns 304.17 MHz
matrix: unit, fix[float,6,6] 2.77 ns 360.95 MHz
matrix: unit, fix[double,6,6] 6.07 ns 164.80 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 168.66 ns 5.93 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 109.47 ns 9.14 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 159.15 ns 6.28 MHz
matrix: multiply, fix[double], 3x3 * 3x3 87.59 ns 11.42 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 272.34 ns 3.67 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 190.04 ns 5.26 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 245.84 ns 4.07 MHz
matrix: multiply, fix[double], 3x6 * 6x3 138.91 ns 7.20 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 16.67 us 60.00 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 12.92 us 77.41 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 13.30 us 75.16 KHz
matrix: multiply, fix[double], 10x40 * 40x10 9.66 us 103.53 KHz
matrix: inv, dyn[float ] 3x3 1.46 us 685.70 KHz
matrix: inv, fix[float ] 3x3 59.78 ns 16.73 MHz
matrix: inv, dyn[double] 3x3 1.47 us 681.67 KHz
matrix: inv, fix[double] 3x3 30.80 ns 32.47 MHz
matrix: inv, dyn[float ] 6x6 4.39 us 227.86 KHz
matrix: inv, fix[float ] 6x6 1.39 us 718.96 KHz
matrix: inv, dyn[double] 6x6 5.05 us 198.20 KHz
matrix: inv, fix[double] 6x6 944.32 ns 1.06 MHz
matrix: inv, dyn[float ] 20x20 80.56 us 12.41 KHz
matrix: inv, fix[float ] 20x20 39.77 us 25.14 KHz
matrix: inv, dyn[double] 20x20 106.06 us 9.43 KHz
matrix: inv, fix[double] 20x20 18.99 us 52.65 KHz
matrix: inv, dyn[float ] 40x40 594.37 us 1.68 KHz
matrix: inv, fix[float ] 40x40 302.87 us 3.30 KHz
matrix: inv, dyn[double] 40x40 805.07 us 1.24 KHz
matrix: inv, fix[double] 40x40 129.27 us 7.74 KHz
matrix: det, dyn[float ] 2x2 7.97 ns 125.45 MHz
matrix: det, fix[float ] 2x2 0.05 ns 22.08 GHz
matrix: det, dyn[double] 2x2 8.47 ns 118.07 MHz
matrix: det, fix[double] 2x2 0.00 ns inf THz
matrix: det, dyn[float ] 3x3 20.83 ns 48.00 MHz
matrix: det, fix[float ] 3x3 0.05 ns 22.08 GHz
matrix: det, dyn[double] 3x3 15.90 ns 62.90 MHz
matrix: det, fix[double] 3x3 0.00 ns inf THz
matrix: det, dyn[float ] 6x6 2.28 us 438.79 KHz
matrix: det, fix[float ] 6x6 455.22 ns 2.20 MHz
matrix: det, dyn[double] 6x6 2.27 us 440.64 KHz
matrix: det, fix[double] 6x6 409.52 ns 2.44 MHz
matrix: det, dyn[float ] 20x20 18.23 us 54.86 KHz
matrix: det, fix[float ] 20x20 9.64 us 103.77 KHz
matrix: det, dyn[double] 20x20 17.63 us 56.72 KHz
matrix: det, fix[double] 20x20 6.19 us 161.63 KHz
matrix: det, dyn[float ] 40x40 109.51 us 9.13 KHz
matrix: det, fix[float ] 40x40 61.78 us 16.19 KHz
matrix: det, dyn[double] 40x40 112.43 us 8.89 KHz
matrix: det, fix[double] 40x40 35.24 us 28.38 KHz
matrix: chol, dyn[double] 4x4 172.11 ns 5.81 MHz
matrix: chol, fix[double] 4x4 117.76 ns 8.49 MHz
matrix: chol, dyn[double] 40x40 24.40 us 40.98 KHz
matrix: chol, fix[double] 40x40 17.68 us 56.57 KHz
matrix: chol, sparse [2x2;2x2] 8.42 us 118.71 KHz
matrix: chol, sparse [30x30;10x10] 118.80 us 8.42 KHz
matrix: chol, dyn[double] 10x[6x6] 69.79 us 14.33 KHz
matrix: chol, sparse 10x[6x6] 52.54 us 19.03 KHz
matrix: chol, dyn[double] 20x[6x6] 466.09 us 2.15 KHz
matrix: chol, sparse 20x[6x6] 89.01 us 11.24 KHz
matrix: chol, dyn[double] 50x[6x6] 9.32 ms 107.25 Hz
matrix: chol, sparse 50x[6x6] 201.22 us 4.97 KHz
matrix: chol, dyn[double] 100x[6x6] 138.07 ms 7.24 Hz
matrix: chol, sparse 100x[6x6] 401.45 us 2.49 KHz
matrix: chol, dyn[double] 120x[6x6] 453.62 ms 2.20 Hz
matrix: chol, sparse 120x[6x6] 474.18 us 2.11 KHz
matrix: chol, dyn[double] 140x[6x6] 945.16 ms 1.06 Hz
matrix: chol, sparse 140x[6x6] 552.77 us 1.81 KHz
gridmap2D: getCell 5.57 ns 179.64 MHz
gridmap2D: setCell 7.80 ns 128.17 MHz
gridmap2D: updateCell 10.65 ns 93.93 MHz
gridmap2D: updateCell_fast_occupied 1.20 ns 834.82 MHz
gridmap2D: insert scan w/o widening 202.10 us 4.95 KHz
gridmap2D: insert scan with widening 338.79 us 2.95 KHz
gridmap2D: resize 3.58 ms 279.42 Hz
gridmap2D: computeLikelihood 18.09 us 55.28 KHz
pointmap: insert 100 scans 5.50 ms 181.98 Hz
pointmap: build 2D kd-tree of 1 scan 6.29 us 159.07 KHz
pointmap: build 2D kd-tree of 100 scan 520.70 us 1.92 KHz
pointmap: build 2D kd-tree of 1000 scan 5.50 ms 181.67 Hz
pointmap: build 3D kd-tree of 1 scan 6.47 us 154.62 KHz
pointmap: build 3D kd-tree of 100 scan 526.59 us 1.90 KHz
pointmap: build 3D kd-tree of 1000 scan 5.63 ms 177.52 Hz
pointmap: kd-tree 2d query on 10 scans 2.04 us 490.44 KHz
pointmap: kd-tree 2d query on 1000 scans 137.79 us 7.26 KHz
pointmap: kd-tree 2d query on 10000 scans 14.88 ms 67.19 Hz
pointmap: (insert scan+2D kd-tree query) x 10 8.57 ms 116.69 Hz
pointmap: (insert scan+2D kd-tree query) x 50 191.63 ms 5.22 Hz
pointmap: (insert scan+3D kd-tree query) x 10 8.64 ms 115.78 Hz
pointmap: (insert scan+3D kd-tree query) x 50 194.89 ms 5.13 Hz
random: drawUniform32bit 7.21 ns 138.68 MHz
random: drawUniform 7.18 ns 139.23 MHz
random: drawGaussian1D_normalized 51.37 ns 19.47 MHz
random: drawGaussian1D 51.39 ns 19.46 MHz
random: system rand() 28.61 ns 34.95 MHz
random: drawGaussianMultivariate(fixed 3x3) 2.55 us 391.65 KHz
random: drawGaussianMultivariate(dyn 3x3) 8.36 us 119.66 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 213.95 ns 4.67 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 324.69 ns 3.08 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 829.70 ns 1.21 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 214.89 ns 4.65 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 364.99 ns 2.74 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 760.13 ns 1.32 MHz
random: permuteVector (len=10) 420.57 ns 2.38 MHz
random: permuteVector (len=100) 3.56 us 281.12 KHz
random: permuteVector (len=1000) 33.55 us 29.80 KHz
math: round 0.00 ns inf THz
images: Save as JPEG (640x480, quality=95%) 28.40 ms 35.21 Hz
images: Save as JPEG (800x600, quality=95%) 43.71 ms 22.88 Hz
images: Save as JPEG (1024x768, quality=95%) 70.17 ms 14.25 Hz
images: Save as JPEG (640x480, quality=75%) 24.11 ms 41.48 Hz
images: Save as JPEG (800x600, quality=75%) 37.02 ms 27.01 Hz
images: Save as JPEG (1024x768, quality=75%) 59.51 ms 16.80 Hz
images: Gauss filter (640x480) 5.29 ms 188.95 Hz
images: Gauss filter (800x600) 8.36 ms 119.64 Hz
images: Gauss filter (1024x768) 13.88 ms 72.06 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 18.63 us 53.67 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 17.89 us 55.91 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 5.05 us 197.84 KHz
feature_extraction [640x480]: Harris 33.27 ms 30.06 Hz
feature_extraction [640x480]: KLT 31.21 ms 32.04 Hz
feature_extraction [640x480]: SIFT 675.81 ms 1.48 Hz
feature_extraction [640x480]: SIFT desc. 217.19 ms 4.60 Hz
feature_extraction [640x480]: SURF 316.97 ms 3.15 Hz
feature_extraction [640x480]: FAST 7.82 ms 127.91 Hz
feature_extraction [640x480]: Spin desc. 103.38 ms 9.67 Hz
feature_matching [640x480]: Harris + CC 56.24 ms 17.78 Hz
feature_matching [640x480]: Harris + SAD 47.55 ms 21.03 Hz
feature_matching [640x480]: SIFT 1.34 sec 745.82 mHz
feature_matching [640x480]: SURF 606.64 ms 1.65 Hz
feature_matching [640x480]: FAST + CC 22.36 ms 44.72 Hz
feature_matching [640x480]: FAST + SAD 15.00 ms 66.69 Hz
graph(2d): insertEdge x 1e3 313.03 us 3.19 KHz
graph(2d,vec): insertEdge x 1e3 307.43 us 3.25 KHz
graph(2d): insertEdgeAtEnd x 1e3 222.64 us 4.49 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 222.87 us 4.49 KHz
graph(2d pdf): insertEdge x 1e3 516.93 us 1.93 KHz
graph(2d pdf,vec): insertEdge x 1e3 517.18 us 1.93 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 405.97 us 2.46 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 403.48 us 2.48 KHz
graph(2d): insertEdge x 1e4 3.36 ms 297.28 Hz
graph(2d,vec): insertEdge x 1e4 3.35 ms 298.76 Hz
graph(2d): insertEdgeAtEnd x 1e4 2.22 ms 450.51 Hz
graph(2d,vec): insertEdgeAtEnd x 1e4 2.22 ms 450.21 Hz
graph(2d pdf): insertEdge x 1e4 5.45 ms 183.37 Hz
graph(2d pdf,vec): insertEdge x 1e4 5.44 ms 183.91 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 4.07 ms 245.74 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 4.06 ms 246.50 Hz
graph(3d): insertEdge x 1e3 447.20 us 2.24 KHz
graph(3d,vec): insertEdge x 1e3 442.12 us 2.26 KHz
graph(3d): insertEdgeAtEnd x 1e3 346.69 us 2.88 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 347.20 us 2.88 KHz
graph(3d pdf): insertEdge x 1e3 944.03 us 1.06 KHz
graph(3d pdf,vec): insertEdge x 1e3 978.08 us 1.02 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 793.19 us 1.26 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 793.52 us 1.26 KHz
graph(3d): insertEdge x 1e4 4.62 ms 216.43 Hz
graph(3d,vec): insertEdge x 1e4 4.62 ms 216.67 Hz
graph(3d): insertEdgeAtEnd x 1e4 3.48 ms 287.28 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 3.47 ms 287.84 Hz
graph(3d pdf): insertEdge x 1e4 10.55 ms 94.75 Hz
graph(3d pdf,vec): insertEdge x 1e4 9.75 ms 102.54 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 7.93 ms 126.08 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 7.94 ms 125.93 Hz
graph(3d): dijkstra 1e2 nodes 262.18 us 3.81 KHz
graph(3d,vec): dijkstra 1e2 nodes 363.67 us 2.75 KHz
graph(3d): dijkstra 1e3 nodes 2.97 ms 336.14 Hz
graph(3d,vec): dijkstra 1e3 nodes 3.29 ms 303.75 Hz
graph(3d): dijkstra 1e4 nodes 34.21 ms 29.23 Hz
graph(3d,vec): dijkstra 1e4 nodes 38.12 ms 26.23 Hz
graph(3d): dijkstra 1e5 nodes 389.54 ms 2.57 Hz
graph(3d,vec): dijkstra 1e5 nodes 428.64 ms 2.33 Hz
graph(2d): dijkstra 1e5 nodes 382.11 ms 2.62 Hz
graph(2d,vec): dijkstra 1e5 nodes 417.45 ms 2.40 Hz

 


Page generated automatically at 2010/12/18,14:13:40.079441 with MRPT 0.9.3 by 'mrpt-performance'.