Results for: 0.9.2preSVN2157-GCC-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 20.59 ms 48.58 Hz
icp-slam (match grid): Run with sample dataset 20.64 ms 48.45 Hz
poses: CPose3D (+) CPose3D 42.90 ns 23.31 MHz
poses: CPose3D.composeFrom() 37.61 ns 26.59 MHz
poses: CPose3D (+) CPoint3D 7.25 ns 137.89 MHz
poses: CPose3D.composePoint() 11.83 ns 84.53 MHz
poses: CPoint3D (-) CPose3D 39.31 ns 25.44 MHz
poses: CPose3D.inverseComposePoint() 34.91 ns 28.65 MHz
poses: CPose2D (+) CPose2D 76.08 ns 13.14 MHz
poses: CPose2D.composeFrom() 61.61 ns 16.23 MHz
poses: CPose2D (+) CPoint2D 60.26 ns 16.59 MHz
poses: CPose2D.composePoint() 62.26 ns 16.06 MHz
poses: CPose3DQuat (+) CPose3DQuat 40.99 ns 24.40 MHz
poses: CPose3DQuat.composeFrom() 39.39 ns 25.39 MHz
poses: CPose3DQuat (+) CPoint3D 18.30 ns 54.63 MHz
poses: CPose3DQuat.composePoint() 17.94 ns 55.74 MHz
poses: CPoint3D (-) CPose3DQuat 55.46 ns 18.03 MHz
poses: CPose3DQuat.invcomposePoint() 17.66 ns 56.63 MHz
poses: Conv CPose3DQuat <- CPose3D 16.78 ns 59.58 MHz
poses: Conv CPose3D -> CPose3DQuat 169.37 ns 5.90 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 799.08 us 1.25 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 803.31 us 1.24 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.44 us 105.91 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 648.90 ns 1.54 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 631.00 ns 1.58 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.18 us 122.30 KHz
matrix: unit, dyn[float], 3x3 24.43 ns 40.94 MHz
matrix: unit, dyn[double], 3x3 23.18 ns 43.14 MHz
matrix: unit, dyn[float], 6x6 59.50 ns 16.81 MHz
matrix: unit, dyn[double], 6x6 62.26 ns 16.06 MHz
matrix: unit, fix[float,3,3] 0.35 ns 2.88 GHz
matrix: unit, fix[double,3,3] 1.19 ns 841.75 MHz
matrix: unit, fix[float,6,6] 1.70 ns 587.20 MHz
matrix: unit, fix[double,6,6] 2.77 ns 361.01 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 85.80 ns 11.66 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 23.80 ns 42.02 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 75.90 ns 13.18 MHz
matrix: multiply, fix[double], 3x3 * 3x3 23.50 ns 42.55 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 118.10 ns 8.47 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 44.70 ns 22.37 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 110.50 ns 9.05 MHz
matrix: multiply, fix[double], 3x6 * 6x3 45.20 ns 22.12 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.44 us 183.95 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 3.78 us 264.87 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 5.54 us 180.38 KHz
matrix: multiply, fix[double], 10x40 * 40x10 4.07 us 245.43 KHz
matrix: inv, dyn[float ] 3x3 631.00 ns 1.58 MHz
matrix: inv, fix[float ] 3x3 35.00 ns 28.57 MHz
matrix: inv, dyn[double] 3x3 644.00 ns 1.55 MHz
matrix: inv, fix[double] 3x3 39.00 ns 25.64 MHz
matrix: inv, dyn[float ] 6x6 2.37 us 421.76 KHz
matrix: inv, fix[float ] 6x6 812.00 ns 1.23 MHz
matrix: inv, dyn[double] 6x6 1.26 us 793.02 KHz
matrix: inv, fix[double] 6x6 575.00 ns 1.74 MHz
matrix: inv, dyn[float ] 20x20 25.94 us 38.55 KHz
matrix: inv, fix[float ] 20x20 14.14 us 70.70 KHz
matrix: inv, dyn[double] 20x20 25.76 us 38.83 KHz
matrix: inv, fix[double] 20x20 17.04 us 58.69 KHz
matrix: inv, dyn[float ] 40x40 205.11 us 4.88 KHz
matrix: inv, fix[float ] 40x40 93.29 us 10.72 KHz
matrix: inv, dyn[double] 40x40 207.20 us 4.83 KHz
matrix: inv, fix[double] 40x40 133.80 us 7.47 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 653.50 ns 1.53 MHz
matrix: det, fix[float ] 6x6 210.00 ns 4.76 MHz
matrix: det, dyn[double] 6x6 730.30 ns 1.37 MHz
matrix: det, fix[double] 6x6 212.10 ns 4.71 MHz
matrix: det, dyn[float ] 20x20 5.70 us 175.40 KHz
matrix: det, fix[float ] 20x20 4.20 us 237.92 KHz
matrix: det, dyn[double] 20x20 6.56 us 152.33 KHz
matrix: det, fix[double] 20x20 5.04 us 198.38 KHz
matrix: det, dyn[float ] 40x40 32.38 us 30.89 KHz
matrix: det, fix[float ] 40x40 27.92 us 35.82 KHz
matrix: det, dyn[double] 40x40 39.41 us 25.37 KHz
matrix: det, fix[double] 40x40 29.04 us 34.44 KHz
matrix: chol, dyn[double] 4x4 140.00 ns 7.14 MHz
matrix: chol, fix[double] 4x4 160.00 ns 6.25 MHz
matrix: chol, dyn[double] 40x40 18.38 us 54.41 KHz
matrix: chol, fix[double] 40x40 17.08 us 58.55 KHz
matrix: chol, sparse [2x2;2x2] 8.30 us 120.48 KHz
matrix: chol, sparse [30x30;10x10] 84.40 us 11.85 KHz
matrix: chol, dyn[double] 10x[6x6] 53.00 us 18.87 KHz
matrix: chol, sparse 10x[6x6] 39.49 us 25.32 KHz
matrix: chol, dyn[double] 20x[6x6] 411.70 us 2.43 KHz
matrix: chol, sparse 20x[6x6] 74.09 us 13.50 KHz
matrix: chol, dyn[double] 50x[6x6] 10.38 ms 96.33 Hz
matrix: chol, sparse 50x[6x6] 248.74 us 4.02 KHz
matrix: chol, dyn[double] 100x[6x6] 370.64 ms 2.70 Hz
matrix: chol, sparse 100x[6x6] 353.56 us 2.83 KHz
matrix: chol, dyn[double] 120x[6x6] 365.56 ms 2.74 Hz
matrix: chol, sparse 120x[6x6] 425.27 us 2.35 KHz
matrix: chol, dyn[double] 140x[6x6] 796.04 ms 1.26 Hz
matrix: chol, sparse 140x[6x6] 490.79 us 2.04 KHz
gridmap2D: getCell 0.00 ns inf THz
gridmap2D: setCell 2.58 ns 387.76 MHz
gridmap2D: updateCell 7.44 ns 134.32 MHz
gridmap2D: updateCell_fast_occupied 0.55 ns 1.82 GHz
gridmap2D: insert scan w/o widening 101.23 us 9.88 KHz
gridmap2D: insert scan with widening 291.30 us 3.43 KHz
gridmap2D: resize 1.89 ms 529.66 Hz
gridmap2D: computeLikelihood 16.46 us 60.76 KHz
pointmap: insert 100 scans 3.10 ms 322.50 Hz
pointmap: build 2D kd-tree of 1 scan 4.28 us 233.64 KHz
pointmap: build 2D kd-tree of 100 scan 355.52 us 2.81 KHz
pointmap: build 2D kd-tree of 1000 scan 4.16 ms 240.24 Hz
pointmap: build 3D kd-tree of 1 scan 4.76 us 210.08 KHz
pointmap: build 3D kd-tree of 100 scan 363.20 us 2.75 KHz
pointmap: build 3D kd-tree of 1000 scan 4.09 ms 244.29 Hz
pointmap: kd-tree 2d query on 10 scans 1.38 us 723.59 KHz
pointmap: kd-tree 2d query on 1000 scans 100.93 us 9.91 KHz
pointmap: kd-tree 2d query on 10000 scans 11.91 ms 83.95 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.62 ms 178.01 Hz
pointmap: (insert scan+2D kd-tree query) x 50 130.76 ms 7.65 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.67 ms 176.35 Hz
pointmap: (insert scan+3D kd-tree query) x 50 132.64 ms 7.54 Hz
random: drawUniform32bit 14.57 ns 68.63 MHz
random: drawUniform 14.62 ns 68.41 MHz
random: drawGaussian1D_normalized 68.70 ns 14.56 MHz
random: drawGaussian1D 68.68 ns 14.56 MHz
random: system rand() 10.45 ns 95.67 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.31 us 764.77 KHz
random: drawGaussianMultivariate(dyn 3x3) 2.79 us 358.92 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 158.26 ns 6.32 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 236.42 ns 4.23 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 489.37 ns 2.04 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 164.61 ns 6.07 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 248.12 ns 4.03 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 514.83 ns 1.94 MHz
random: permuteVector (len=10) 317.50 ns 3.15 MHz
random: permuteVector (len=100) 3.06 us 326.54 KHz
random: permuteVector (len=1000) 30.27 us 33.04 KHz
math: round 0.10 ns 10.09 GHz
images: Save as JPEG (640x480, quality=95%) 27.27 ms 36.67 Hz
images: Save as JPEG (800x600, quality=95%) 43.27 ms 23.11 Hz
images: Save as JPEG (1024x768, quality=95%) 74.67 ms 13.39 Hz
images: Save as JPEG (640x480, quality=75%) 26.31 ms 38.01 Hz
images: Save as JPEG (800x600, quality=75%) 40.92 ms 24.44 Hz
images: Save as JPEG (1024x768, quality=75%) 62.56 ms 15.99 Hz
images: Gauss filter (640x480) 4.48 ms 223.01 Hz
images: Gauss filter (800x600) 7.46 ms 134.07 Hz
images: Gauss filter (1024x768) 12.41 ms 80.57 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 5.15 us 194.17 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 4.35 us 229.89 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 2.12 us 471.70 KHz
feature_extraction [640x480]: Harris 33.18 ms 30.14 Hz
feature_extraction [640x480]: KLT 29.64 ms 33.74 Hz
feature_extraction [640x480]: SIFT 637.68 ms 1.57 Hz
feature_extraction [640x480]: SIFT desc. 173.14 ms 5.78 Hz
feature_extraction [640x480]: SURF 202.84 ms 4.93 Hz
feature_extraction [640x480]: FAST 5.10 ms 195.94 Hz
feature_extraction [640x480]: Spin desc. 61.22 ms 16.33 Hz
feature_matching [640x480]: Harris + CC 43.90 ms 22.78 Hz
feature_matching [640x480]: Harris + SAD 38.32 ms 26.09 Hz
feature_matching [640x480]: SIFT 1.28 sec 782.87 mHz
feature_matching [640x480]: SURF 387.99 ms 2.58 Hz
feature_matching [640x480]: FAST + CC 15.73 ms 63.57 Hz
feature_matching [640x480]: FAST + SAD 10.56 ms 94.70 Hz
graph(2d): insertEdge x 1e3 104.46 us 9.57 KHz
graph(2d): insertEdgeAtEnd x 1e3 85.19 us 11.74 KHz
graph(2d pdf): insertEdge x 1e3 134.65 us 7.43 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 119.89 us 8.34 KHz
graph(2d): insertEdge x 1e4 1.39 ms 721.96 Hz
graph(2d): insertEdgeAtEnd x 1e4 854.04 us 1.17 KHz
graph(2d pdf): insertEdge x 1e4 1.61 ms 621.80 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 1.20 ms 832.81 Hz
graph(3d): insertEdge x 1e3 132.91 us 7.52 KHz
graph(3d): insertEdgeAtEnd x 1e3 109.11 us 9.17 KHz
graph(3d pdf): insertEdge x 1e3 349.74 us 2.86 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 321.54 us 3.11 KHz
graph(3d): insertEdge x 1e4 1.89 ms 529.10 Hz
graph(3d): insertEdgeAtEnd x 1e4 1.10 ms 910.25 Hz
graph(3d pdf): insertEdge x 1e4 4.65 ms 215.20 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 4.05 ms 246.81 Hz
graph(3d,map): dijkstra 1e2 nodes 94.48 us 10.58 KHz
graph(3d,map): dijkstra 1e3 nodes 1.16 ms 860.07 Hz
graph(3d,map): dijkstra 1e4 nodes 19.13 ms 52.28 Hz

 


Page generated automatically at 2010/12/18,14:13:40.078653 with MRPT 0.9.3 by 'mrpt-performance'.