Results for: 0.9.2-GCC-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 19.99 ms 50.03 Hz
icp-slam (match grid): Run with sample dataset 19.29 ms 51.84 Hz
poses: CPose3D (+) CPose3D 42.85 ns 23.34 MHz
poses: CPose3D.composeFrom() 37.80 ns 26.46 MHz
poses: CPose3D (+) CPoint3D 7.25 ns 137.89 MHz
poses: CPose3D.composePoint() 11.91 ns 83.98 MHz
poses: CPoint3D (-) CPose3D 48.98 ns 20.42 MHz
poses: CPose3D.inverseComposePoint() 34.95 ns 28.61 MHz
poses: CPose2D (+) CPose2D 78.58 ns 12.73 MHz
poses: CPose2D.composeFrom() 70.31 ns 14.22 MHz
poses: CPose2D (+) CPoint2D 61.33 ns 16.31 MHz
poses: CPose2D.composePoint() 65.17 ns 15.35 MHz
poses: CPose3DQuat (+) CPose3DQuat 44.66 ns 22.39 MHz
poses: CPose3DQuat.composeFrom() 39.43 ns 25.36 MHz
poses: CPose3DQuat (+) CPoint3D 18.24 ns 54.84 MHz
poses: CPose3DQuat.composePoint() 17.94 ns 55.75 MHz
poses: CPoint3D (-) CPose3DQuat 55.43 ns 18.04 MHz
poses: CPose3DQuat.invcomposePoint() 17.64 ns 56.69 MHz
poses: Conv CPose3DQuat <- CPose3D 16.70 ns 59.89 MHz
poses: Conv CPose3D -> CPose3DQuat 169.28 ns 5.91 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 760.96 us 1.31 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 760.62 us 1.31 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.47 us 105.55 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 545.30 ns 1.83 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 544.10 ns 1.84 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.11 us 123.33 KHz
matrix: unit, dyn[float], 3x3 20.92 ns 47.81 MHz
matrix: unit, dyn[double], 3x3 20.15 ns 49.63 MHz
matrix: unit, dyn[float], 6x6 54.04 ns 18.51 MHz
matrix: unit, dyn[double], 6x6 55.27 ns 18.09 MHz
matrix: unit, fix[float,3,3] 0.35 ns 2.89 GHz
matrix: unit, fix[double,3,3] 1.19 ns 842.46 MHz
matrix: unit, fix[float,6,6] 1.70 ns 588.93 MHz
matrix: unit, fix[double,6,6] 2.77 ns 360.36 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 73.10 ns 13.68 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 23.80 ns 42.02 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 72.40 ns 13.81 MHz
matrix: multiply, fix[double], 3x3 * 3x3 23.40 ns 42.74 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 110.50 ns 9.05 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 45.10 ns 22.17 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 116.30 ns 8.60 MHz
matrix: multiply, fix[double], 3x6 * 6x3 45.20 ns 22.12 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.19 us 192.77 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 3.55 us 281.56 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 5.18 us 193.05 KHz
matrix: multiply, fix[double], 10x40 * 40x10 3.61 us 277.05 KHz
matrix: inv, dyn[float ] 3x3 333.00 ns 3.00 MHz
matrix: inv, fix[float ] 3x3 21.00 ns 47.62 MHz
matrix: inv, dyn[double] 3x3 329.00 ns 3.04 MHz
matrix: inv, fix[double] 3x3 21.00 ns 47.62 MHz
matrix: inv, dyn[float ] 6x6 1.22 us 821.69 KHz
matrix: inv, fix[float ] 6x6 468.00 ns 2.14 MHz
matrix: inv, dyn[double] 6x6 1.20 us 832.64 KHz
matrix: inv, fix[double] 6x6 578.00 ns 1.73 MHz
matrix: inv, dyn[float ] 20x20 25.24 us 39.62 KHz
matrix: inv, fix[float ] 20x20 12.60 us 79.36 KHz
matrix: inv, dyn[double] 20x20 25.64 us 39.01 KHz
matrix: inv, fix[double] 20x20 17.36 us 57.60 KHz
matrix: inv, dyn[float ] 40x40 190.86 us 5.24 KHz
matrix: inv, fix[float ] 40x40 88.89 us 11.25 KHz
matrix: inv, dyn[double] 40x40 189.04 us 5.29 KHz
matrix: inv, fix[double] 40x40 121.47 us 8.23 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 692.40 ns 1.44 MHz
matrix: det, fix[float ] 6x6 207.00 ns 4.83 MHz
matrix: det, dyn[double] 6x6 696.30 ns 1.44 MHz
matrix: det, fix[double] 6x6 212.30 ns 4.71 MHz
matrix: det, dyn[float ] 20x20 5.39 us 185.56 KHz
matrix: det, fix[float ] 20x20 3.90 us 256.35 KHz
matrix: det, dyn[double] 20x20 6.40 us 156.16 KHz
matrix: det, fix[double] 20x20 4.72 us 211.77 KHz
matrix: det, dyn[float ] 40x40 30.35 us 32.95 KHz
matrix: det, fix[float ] 40x40 26.47 us 37.78 KHz
matrix: det, dyn[double] 40x40 32.49 us 30.77 KHz
matrix: det, fix[double] 40x40 27.34 us 36.58 KHz
matrix: chol, dyn[double] 4x4 130.00 ns 7.69 MHz
matrix: chol, fix[double] 4x4 140.00 ns 7.14 MHz
matrix: chol, dyn[double] 40x40 18.52 us 54.00 KHz
matrix: chol, fix[double] 40x40 16.55 us 60.42 KHz
matrix: chol, sparse [2x2;2x2] 8.20 us 121.95 KHz
matrix: chol, sparse [30x30;10x10] 82.90 us 12.06 KHz
matrix: chol, dyn[double] 10x[6x6] 52.70 us 18.98 KHz
matrix: chol, sparse 10x[6x6] 38.59 us 25.91 KHz
matrix: chol, dyn[double] 20x[6x6] 409.80 us 2.44 KHz
matrix: chol, sparse 20x[6x6] 70.75 us 14.13 KHz
matrix: chol, dyn[double] 50x[6x6] 8.58 ms 116.60 Hz
matrix: chol, sparse 50x[6x6] 171.20 us 5.84 KHz
matrix: chol, dyn[double] 100x[6x6] 133.58 ms 7.49 Hz
matrix: chol, sparse 100x[6x6] 341.85 us 2.93 KHz
matrix: chol, dyn[double] 120x[6x6] 354.49 ms 2.82 Hz
matrix: chol, sparse 120x[6x6] 401.50 us 2.49 KHz
matrix: chol, dyn[double] 140x[6x6] 773.25 ms 1.29 Hz
matrix: chol, sparse 140x[6x6] 469.25 us 2.13 KHz
gridmap2D: getCell 0.00 ns 10.00 THz
gridmap2D: setCell 2.58 ns 388.02 MHz
gridmap2D: updateCell 7.84 ns 127.58 MHz
gridmap2D: updateCell_fast_occupied 0.55 ns 1.82 GHz
gridmap2D: insert scan w/o widening 102.06 us 9.80 KHz
gridmap2D: insert scan with widening 289.47 us 3.45 KHz
gridmap2D: resize 1.97 ms 508.65 Hz
gridmap2D: computeLikelihood 15.74 us 63.55 KHz
pointmap: insert 100 scans 3.04 ms 329.30 Hz
pointmap: build 2D kd-tree of 1 scan 4.32 us 231.48 KHz
pointmap: build 2D kd-tree of 100 scan 352.12 us 2.84 KHz
pointmap: build 2D kd-tree of 1000 scan 4.14 ms 241.51 Hz
pointmap: build 3D kd-tree of 1 scan 4.68 us 213.68 KHz
pointmap: build 3D kd-tree of 100 scan 359.52 us 2.78 KHz
pointmap: build 3D kd-tree of 1000 scan 4.03 ms 248.28 Hz
pointmap: kd-tree 2d query on 10 scans 1.41 us 711.74 KHz
pointmap: kd-tree 2d query on 1000 scans 97.21 us 10.29 KHz
pointmap: kd-tree 2d query on 10000 scans 11.62 ms 86.05 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.59 ms 178.77 Hz
pointmap: (insert scan+2D kd-tree query) x 50 129.28 ms 7.73 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.66 ms 176.53 Hz
pointmap: (insert scan+3D kd-tree query) x 50 131.22 ms 7.62 Hz
random: drawUniform32bit 14.50 ns 68.95 MHz
random: drawUniform 14.50 ns 68.96 MHz
random: drawGaussian1D_normalized 68.97 ns 14.50 MHz
random: drawGaussian1D 68.98 ns 14.50 MHz
random: system rand() 10.45 ns 95.72 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.31 us 765.12 KHz
random: drawGaussianMultivariate(dyn 3x3) 2.73 us 366.37 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 158.91 ns 6.29 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 237.40 ns 4.21 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 490.03 ns 2.04 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 164.67 ns 6.07 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 249.81 ns 4.00 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 514.70 ns 1.94 MHz
random: permuteVector (len=10) 296.20 ns 3.38 MHz
random: permuteVector (len=100) 3.04 us 328.91 KHz
random: permuteVector (len=1000) 30.22 us 33.09 KHz
math: round 0.10 ns 10.09 GHz
images: Save as JPEG (640x480, quality=95%) 35.06 ms 28.52 Hz
images: Save as JPEG (800x600, quality=95%) 48.96 ms 20.42 Hz
images: Save as JPEG (1024x768, quality=95%) 74.65 ms 13.40 Hz
images: Save as JPEG (640x480, quality=75%) 29.96 ms 33.37 Hz
images: Save as JPEG (800x600, quality=75%) 42.79 ms 23.37 Hz
images: Save as JPEG (1024x768, quality=75%) 64.15 ms 15.59 Hz
images: Gauss filter (640x480) 3.90 ms 256.30 Hz
images: Gauss filter (800x600) 6.21 ms 160.99 Hz
images: Gauss filter (1024x768) 10.55 ms 94.74 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 5.06 us 197.63 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 4.30 us 232.56 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 2.10 us 476.19 KHz
feature_extraction [640x480]: Harris 24.28 ms 41.19 Hz
feature_extraction [640x480]: KLT 24.43 ms 40.94 Hz
feature_extraction [640x480]: SIFT 610.42 ms 1.64 Hz
feature_extraction [640x480]: SIFT desc. 167.77 ms 5.96 Hz
feature_extraction [640x480]: SURF 197.61 ms 5.06 Hz
feature_extraction [640x480]: FAST 5.24 ms 190.68 Hz
feature_extraction [640x480]: Spin desc. 59.98 ms 16.67 Hz
feature_matching [640x480]: Harris + CC 40.88 ms 24.46 Hz
feature_matching [640x480]: Harris + SAD 35.50 ms 28.17 Hz
feature_matching [640x480]: SIFT 1.21 sec 828.07 mHz
feature_matching [640x480]: SURF 379.92 ms 2.63 Hz
feature_matching [640x480]: FAST + CC 16.06 ms 62.26 Hz
feature_matching [640x480]: FAST + SAD 10.73 ms 93.18 Hz
graph(2d): insertEdge x 1e3 117.65 us 8.50 KHz
graph(2d,vec): insertEdge x 1e3 105.12 us 9.51 KHz
graph(2d): insertEdgeAtEnd x 1e3 85.19 us 11.74 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 84.46 us 11.84 KHz
graph(2d pdf): insertEdge x 1e3 172.53 us 5.80 KHz
graph(2d pdf,vec): insertEdge x 1e3 187.97 us 5.32 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 168.61 us 5.93 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 167.39 us 5.97 KHz
graph(2d): insertEdge x 1e4 1.73 ms 579.22 Hz
graph(2d,vec): insertEdge x 1e4 1.45 ms 690.59 Hz
graph(2d): insertEdgeAtEnd x 1e4 884.69 us 1.13 KHz
graph(2d,vec): insertEdgeAtEnd x 1e4 862.22 us 1.16 KHz
graph(2d pdf): insertEdge x 1e4 1.97 ms 506.65 Hz
graph(2d pdf,vec): insertEdge x 1e4 2.31 ms 433.74 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 1.86 ms 538.12 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 1.86 ms 538.35 Hz
graph(3d): insertEdge x 1e3 177.23 us 5.64 KHz
graph(3d,vec): insertEdge x 1e3 178.36 us 5.61 KHz
graph(3d): insertEdgeAtEnd x 1e3 157.86 us 6.33 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 159.54 us 6.27 KHz
graph(3d pdf): insertEdge x 1e3 507.00 us 1.97 KHz
graph(3d pdf,vec): insertEdge x 1e3 509.46 us 1.96 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 473.36 us 2.11 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 474.07 us 2.11 KHz
graph(3d): insertEdge x 1e4 2.47 ms 404.60 Hz
graph(3d,vec): insertEdge x 1e4 2.48 ms 402.82 Hz
graph(3d): insertEdgeAtEnd x 1e4 1.75 ms 570.48 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 1.77 ms 565.81 Hz
graph(3d pdf): insertEdge x 1e4 5.53 ms 180.97 Hz
graph(3d pdf,vec): insertEdge x 1e4 5.56 ms 179.70 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 4.85 ms 206.16 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 4.85 ms 206.11 Hz
graph(3d): dijkstra 1e2 nodes 96.04 us 10.41 KHz
graph(3d,vec): dijkstra 1e2 nodes 80.39 us 12.44 KHz
graph(3d): dijkstra 1e3 nodes 1.13 ms 885.05 Hz
graph(3d,vec): dijkstra 1e3 nodes 804.04 us 1.24 KHz
graph(3d): dijkstra 1e4 nodes 19.14 ms 52.26 Hz
graph(3d,vec): dijkstra 1e4 nodes 9.65 ms 103.63 Hz
graph(3d): dijkstra 1e5 nodes 290.37 ms 3.44 Hz
graph(3d,vec): dijkstra 1e5 nodes 117.73 ms 8.49 Hz
graph(2d): dijkstra 1e5 nodes 268.93 ms 3.72 Hz
graph(2d,vec): dijkstra 1e5 nodes 103.05 ms 9.70 Hz

 


Page generated automatically at 2010/12/18,14:13:40.080283 with MRPT 0.9.3 by 'mrpt-performance'.