Results


Test description Execution timeExecution rate (Hz)
matrix: unit, dyn[float], 3x3 20.21 ns 49.49 M
matrix: unit, dyn[double], 3x3 20.72 ns 48.26 M
matrix: unit, dyn[float], 6x6 65.67 ns 15.23 M
matrix: unit, dyn[double], 6x6 66.16 ns 15.12 M
matrix: unit, fix[float,3,3] 0.37 ns 2.70 G
matrix: unit, fix[double,3,3] 1.52 ns 659.63 M
matrix: unit, fix[float,6,6] 1.82 ns 547.95 M
matrix: unit, fix[double,6,6] 2.94 ns 339.90 M
matrix: multiply, dyn[float ], 3x3 * 3x3 80.00 ns 12.50 M
matrix: multiply, fix[float ], 3x3 * 3x3 0.10 ns 10.00 G
matrix: multiply, dyn[double], 3x3 * 3x3 68.00 ns 14.71 M
matrix: multiply, fix[double], 3x3 * 3x3 0.20 ns 5.00 G
matrix: multiply, dyn[float ], 3x6 * 6x3 103.40 ns 9.67 M
matrix: multiply, fix[float ], 3x6 * 6x3 0.20 ns 5.00 G
matrix: multiply, dyn[double], 3x6 * 6x3 105.90 ns 9.44 M
matrix: multiply, fix[double], 3x6 * 6x3 0.20 ns 5.00 G
matrix: multiply, dyn[float ], 10x40 * 40x10 5.25 us 190.41 K
matrix: multiply, fix[float ], 10x40 * 40x10 4.04 us 247.76 K
matrix: multiply, dyn[double], 10x40 * 40x10 5.27 us 189.84 K
matrix: multiply, fix[double], 10x40 * 40x10 2.22 us 450.41 K
matrix: inv, dyn[float ] 3x3 384.90 ns 2.60 M
matrix: inv, fix[float ] 3x3 104.00 ns 9.62 M
matrix: inv, dyn[double] 3x3 441.40 ns 2.27 M
matrix: inv, fix[double] 3x3 104.00 ns 9.62 M
matrix: inv, dyn[float ] 6x6 1.24 us 805.09 K
matrix: inv, fix[float ] 6x6 623.00 ns 1.61 M
matrix: inv, dyn[double] 6x6 1.39 us 720.41 K
matrix: inv, fix[double] 6x6 638.00 ns 1.57 M
matrix: inv, dyn[float ] 20x20 23.09 us 43.31 K
matrix: inv, fix[float ] 20x20 12.21 us 81.91 K
matrix: inv, dyn[double] 20x20 24.97 us 40.05 K
matrix: inv, fix[double] 20x20 18.40 us 54.35 K
matrix: inv, dyn[float ] 40x40 162.51 us 6.15 K
matrix: inv, fix[float ] 40x40 85.11 us 11.75 K
matrix: inv, dyn[double] 40x40 169.46 us 5.90 K
matrix: inv, fix[double] 40x40 149.59 us 6.68 K
matrix: det, dyn[float ] 2x2 9.70 ns 103.09 M
matrix: det, fix[float ] 2x2 25.00 ns 40.00 M
matrix: det, dyn[double] 2x2 8.80 ns 113.64 M
matrix: det, fix[double] 2x2 18.50 ns 54.05 M
matrix: det, dyn[float ] 3x3 11.90 ns 84.03 M
matrix: det, fix[float ] 3x3 63.90 ns 15.65 M
matrix: det, dyn[double] 3x3 11.60 ns 86.21 M
matrix: det, fix[double] 3x3 70.50 ns 14.18 M
matrix: det, dyn[float ] 6x6 617.80 ns 1.62 M
matrix: det, fix[float ] 6x6 272.80 ns 3.67 M
matrix: det, dyn[double] 6x6 670.30 ns 1.49 M
matrix: det, fix[double] 6x6 320.70 ns 3.12 M
matrix: det, dyn[float ] 20x20 6.24 us 160.13 K
matrix: det, fix[float ] 20x20 4.64 us 215.47 K
matrix: det, dyn[double] 20x20 7.02 us 142.38 K
matrix: det, fix[double] 20x20 5.64 us 177.35 K
matrix: det, dyn[float ] 40x40 36.34 us 27.51 K
matrix: det, fix[float ] 40x40 29.94 us 33.41 K
matrix: det, dyn[double] 40x40 37.70 us 26.53 K
matrix: det, fix[double] 40x40 33.31 us 30.02 K
gridmap2D: getCell 0.00 ns 10.00 T
gridmap2D: setCell 2.09 ns 479.27 M
gridmap2D: updateCell 6.69 ns 149.50 M
gridmap2D: updateCell_fast_occupied 0.53 ns 1.90 G
gridmap2D: insert scan w/o widening 115.68 us 8.64 K
gridmap2D: insert scan with widening 303.56 us 3.29 K
gridmap2D: resize 2.60 ms 385.06
gridmap2D: computeLikelihood 17.61 us 56.77 K
pointmap: insert 100 scans 3.41 ms 293.33
pointmap: build 2D kd-tree of 1 scan 4.88 us 204.92 K
pointmap: build 2D kd-tree of 100 scan 381.44 us 2.62 K
pointmap: build 2D kd-tree of 1000 scan 4.67 ms 214.20
pointmap: build 3D kd-tree of 1 scan 5.08 us 196.85 K
pointmap: build 3D kd-tree of 100 scan 392.08 us 2.55 K
pointmap: build 3D kd-tree of 1000 scan 4.51 ms 221.83
pointmap: kd-tree 2d query on 10 scans 1.53 us 653.59 K
pointmap: kd-tree 2d query on 1000 scans 108.32 us 9.23 K
pointmap: kd-tree 2d query on 10000 scans 13.45 ms 74.36
pointmap: (insert scan+2D kd-tree query) x 10 5.97 ms 167.53
pointmap: (insert scan+2D kd-tree query) x 50 137.82 ms 7.26
pointmap: (insert scan+2D kd-tree query) x 100 564.92 ms 1.77
pointmap: (insert scan+3D kd-tree query) x 10 6.08 ms 164.58
pointmap: (insert scan+3D kd-tree query) x 50 140.15 ms 7.14
pointmap: (insert scan+3D kd-tree query) x 100 575.73 ms 1.74
random: drawUniform32bit 16.54 ns 60.46 M
random: drawUniform 16.53 ns 60.48 M
random: drawGaussian1D_normalized 78.82 ns 12.69 M
random: drawGaussian1D 78.46 ns 12.75 M
random: system rand() 11.00 ns 90.89 M
random: drawGaussianMultivariate(fixed 3x3) 1.88 us 532.12 K
random: drawGaussianMultivariate(dyn 3x3) 3.14 us 318.06 K
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 177.18 ns 5.64 M
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 264.45 ns 3.78 M
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 579.55 ns 1.73 M
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 179.98 ns 5.56 M
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 274.21 ns 3.65 M
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 564.09 ns 1.77 M
random: permuteVector (len=10) 361.40 ns 2.77 M
random: permuteVector (len=100) 3.75 us 266.74 K
random: permuteVector (len=1000) 37.48 us 26.68 K
math: round 0.05 ns 19.15 G
icp-slam (match points): Run with sample dataset 7.87 ms 127.04
icp-slam (match grid): Run with sample dataset 21.90 ms 45.66
images: Save as JPEG (640x480, quality=95%) 30.30 ms 33.00
images: Save as JPEG (800x600, quality=95%) 42.14 ms 23.73
images: Save as JPEG (1024x768, quality=95%) 71.30 ms 14.03
images: Save as JPEG (640x480, quality=75%) 22.41 ms 44.61
images: Save as JPEG (800x600, quality=75%) 37.33 ms 26.79
images: Save as JPEG (1024x768, quality=75%) 58.71 ms 17.03
images: Gauss filter (640x480) 5.07 ms 197.41
images: Gauss filter (800x600) 8.09 ms 123.68
images: Gauss filter (1024x768) 13.36 ms 74.86

 

cpuinfo

 

processor : 0
vendor_id : GenuineIntel
cpu family : 6
model : 23
model name : Intel(R) Core(TM)2 Duo CPU P8600 @ 2.40GHz
stepping : 10
cpu MHz : 2401.000
cache size : 3072 KB
physical id : 0
siblings : 2
core id : 0
cpu cores : 2
apicid : 0
initial apicid : 0
fpu : yes
fpu_exception : yes
cpuid level : 13
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 lm constant_tsc arch_perfmon pebs bts rep_good pni dtes64 monitor ds_cpl vmx smx est tm2 ssse3 cx16 xtpr pdcm sse4_1 xsave lahf_lm ida tpr_shadow vnmi flexpriority
bogomips : 4800.18
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 : 23
model name : Intel(R) Core(TM)2 Duo CPU P8600 @ 2.40GHz
stepping : 10
cpu MHz : 1600.000
cache size : 3072 KB
physical id : 0
siblings : 2
core id : 1
cpu cores : 2
apicid : 1
initial apicid : 1
fpu : yes
fpu_exception : yes
cpuid level : 13
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 lm constant_tsc arch_perfmon pebs bts rep_good pni dtes64 monitor ds_cpl vmx smx est tm2 ssse3 cx16 xtpr pdcm sse4_1 xsave lahf_lm ida tpr_shadow vnmi flexpriority
bogomips : 4799.93
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:


 


Automated test run at 2009/12/13,19:25:29.919188 with MRPT 0.8.0 svn:1339M using program 'mrpt-performance'.
Overall run took 1.08 minutes