Test description | Execution time | Execution 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 |