Results


Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 20.40 ms 49.02 Hz
icp-slam (match grid): Run with sample dataset 20.32 ms 49.22 Hz
poses: CPose3D (+) CPose3D 446.32 ns 2.24 MHz
poses: CPose3D.composeFrom() 232.50 ns 4.30 MHz
poses: CPose3D (+) CPoint3D 10.52 ns 95.04 MHz
poses: CPose3D.composePoint() 13.58 ns 73.62 MHz
poses: CPoint3D (-) CPose3D 41.83 ns 23.91 MHz
poses: CPose3D.inverseComposePoint() 39.89 ns 25.07 MHz
poses: CPose2D (+) CPose2D 78.70 ns 12.71 MHz
poses: CPose2D.composeFrom() 61.90 ns 16.16 MHz
poses: CPose2D (+) CPoint2D 66.36 ns 15.07 MHz
poses: CPose2D.composePoint() 61.51 ns 16.26 MHz
poses: CPose3DQuat (+) CPose3DQuat 46.71 ns 21.41 MHz
poses: CPose3DQuat.composeFrom() 39.29 ns 25.45 MHz
poses: CPose3DQuat (+) CPoint3D 22.46 ns 44.53 MHz
poses: CPose3DQuat.composePoint() 17.94 ns 55.75 MHz
poses: CPoint3D (-) CPose3DQuat 385.41 ns 2.59 MHz
poses: CPose3DQuat.invcomposePoint() 17.55 ns 56.97 MHz
poses: Conv CPose3DQuat <- CPose3D 355.13 ns 2.82 MHz
poses: Conv CPose3D -> CPose3DQuat 173.98 ns 5.75 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 801.93 us 1.25 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 797.27 us 1.25 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.51 us 105.16 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 524.20 ns 1.91 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 524.70 ns 1.91 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.33 us 120.07 KHz
matrix: unit, dyn[float], 3x3 20.54 ns 48.68 MHz
matrix: unit, dyn[double], 3x3 19.13 ns 52.27 MHz
matrix: unit, dyn[float], 6x6 59.34 ns 16.85 MHz
matrix: unit, dyn[double], 6x6 58.46 ns 17.11 MHz
matrix: unit, fix[float,3,3] 0.35 ns 2.88 GHz
matrix: unit, fix[double,3,3] 1.19 ns 842.46 MHz
matrix: unit, fix[float,6,6] 1.74 ns 573.72 MHz
matrix: unit, fix[double,6,6] 2.80 ns 357.65 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 71.20 ns 14.04 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 23.80 ns 42.02 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 75.80 ns 13.19 MHz
matrix: multiply, fix[double], 3x3 * 3x3 23.50 ns 42.55 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 111.40 ns 8.98 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 46.10 ns 21.69 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 112.70 ns 8.87 MHz
matrix: multiply, fix[double], 3x6 * 6x3 45.30 ns 22.08 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.20 us 192.40 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 3.54 us 282.65 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 5.19 us 192.73 KHz
matrix: multiply, fix[double], 10x40 * 40x10 3.55 us 281.32 KHz
matrix: inv, dyn[float ] 3x3 329.00 ns 3.04 MHz
matrix: inv, fix[float ] 3x3 20.00 ns 50.00 MHz
matrix: inv, dyn[double] 3x3 331.00 ns 3.02 MHz
matrix: inv, fix[double] 3x3 22.00 ns 45.45 MHz
matrix: inv, dyn[float ] 6x6 1.28 us 780.64 KHz
matrix: inv, fix[float ] 6x6 466.00 ns 2.15 MHz
matrix: inv, dyn[double] 6x6 1.21 us 824.40 KHz
matrix: inv, fix[double] 6x6 576.00 ns 1.74 MHz
matrix: inv, dyn[float ] 20x20 25.79 us 38.78 KHz
matrix: inv, fix[float ] 20x20 12.29 us 81.34 KHz
matrix: inv, dyn[double] 20x20 26.36 us 37.94 KHz
matrix: inv, fix[double] 20x20 16.86 us 59.30 KHz
matrix: inv, dyn[float ] 40x40 191.45 us 5.22 KHz
matrix: inv, fix[float ] 40x40 92.54 us 10.81 KHz
matrix: inv, dyn[double] 40x40 188.48 us 5.31 KHz
matrix: inv, fix[double] 40x40 124.26 us 8.05 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 672.10 ns 1.49 MHz
matrix: det, fix[float ] 6x6 206.20 ns 4.85 MHz
matrix: det, dyn[double] 6x6 700.60 ns 1.43 MHz
matrix: det, fix[double] 6x6 210.80 ns 4.74 MHz
matrix: det, dyn[float ] 20x20 5.29 us 189.03 KHz
matrix: det, fix[float ] 20x20 3.88 us 257.81 KHz
matrix: det, dyn[double] 20x20 6.30 us 158.71 KHz
matrix: det, fix[double] 20x20 4.67 us 214.04 KHz
matrix: det, dyn[float ] 40x40 30.40 us 32.89 KHz
matrix: det, fix[float ] 40x40 25.66 us 38.97 KHz
matrix: det, dyn[double] 40x40 31.98 us 31.27 KHz
matrix: det, fix[double] 40x40 26.85 us 37.25 KHz
matrix: chol, dyn[double] 4x4 140.00 ns 7.14 MHz
matrix: chol, fix[double] 4x4 140.00 ns 7.14 MHz
matrix: chol, dyn[double] 40x40 18.38 us 54.41 KHz
matrix: chol, fix[double] 40x40 16.68 us 59.95 KHz
matrix: chol, sparse [2x2;2x2] 7.80 us 128.21 KHz
matrix: chol, sparse [30x30;10x10] 83.10 us 12.03 KHz
matrix: chol, dyn[double] 10x[6x6] 54.60 us 18.32 KHz
matrix: chol, sparse 10x[6x6] 38.92 us 25.69 KHz
matrix: chol, dyn[double] 20x[6x6] 577.90 us 1.73 KHz
matrix: chol, sparse 20x[6x6] 73.20 us 13.66 KHz
matrix: chol, dyn[double] 50x[6x6] 8.59 ms 116.40 Hz
matrix: chol, sparse 50x[6x6] 176.86 us 5.65 KHz
matrix: chol, dyn[double] 100x[6x6] 133.60 ms 7.49 Hz
matrix: chol, sparse 100x[6x6] 346.60 us 2.89 KHz
matrix: chol, dyn[double] 120x[6x6] 358.82 ms 2.79 Hz
matrix: chol, sparse 120x[6x6] 420.54 us 2.38 KHz
matrix: chol, dyn[double] 140x[6x6] 776.05 ms 1.29 Hz
matrix: chol, sparse 140x[6x6] 488.61 us 2.05 KHz
gridmap2D: getCell 0.00 ns inf THz
gridmap2D: setCell 2.58 ns 387.78 MHz
gridmap2D: updateCell 7.51 ns 133.16 MHz
gridmap2D: updateCell_fast_occupied 0.54 ns 1.84 GHz
gridmap2D: insert scan w/o widening 104.84 us 9.54 KHz
gridmap2D: insert scan with widening 293.96 us 3.40 KHz
gridmap2D: resize 1.77 ms 563.70 Hz
gridmap2D: computeLikelihood 16.23 us 61.62 KHz
pointmap: insert 100 scans 3.11 ms 321.79 Hz
pointmap: build 2D kd-tree of 1 scan 4.24 us 235.85 KHz
pointmap: build 2D kd-tree of 100 scan 353.88 us 2.83 KHz
pointmap: build 2D kd-tree of 1000 scan 4.14 ms 241.54 Hz
pointmap: build 3D kd-tree of 1 scan 4.28 us 233.64 KHz
pointmap: build 3D kd-tree of 100 scan 362.40 us 2.76 KHz
pointmap: build 3D kd-tree of 1000 scan 4.08 ms 244.87 Hz
pointmap: kd-tree 2d query on 10 scans 1.37 us 728.33 KHz
pointmap: kd-tree 2d query on 1000 scans 98.17 us 10.19 KHz
pointmap: kd-tree 2d query on 10000 scans 11.64 ms 85.93 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.59 ms 178.79 Hz
pointmap: (insert scan+2D kd-tree query) x 50 128.87 ms 7.76 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.64 ms 177.24 Hz
pointmap: (insert scan+3D kd-tree query) x 50 130.67 ms 7.65 Hz
random: drawUniform32bit 15.72 ns 63.63 MHz
random: drawUniform 15.70 ns 63.68 MHz
random: drawGaussian1D_normalized 70.41 ns 14.20 MHz
random: drawGaussian1D 70.47 ns 14.19 MHz
random: system rand() 12.59 ns 79.45 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.43 us 696.87 KHz
random: drawGaussianMultivariate(dyn 3x3) 2.94 us 340.26 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 165.50 ns 6.04 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 249.02 ns 4.02 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 670.80 ns 1.49 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 221.85 ns 4.51 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 256.11 ns 3.90 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 533.36 ns 1.87 MHz
random: permuteVector (len=10) 293.80 ns 3.40 MHz
random: permuteVector (len=100) 3.26 us 306.76 KHz
random: permuteVector (len=1000) 30.54 us 32.75 KHz
math: round 0.10 ns 10.08 GHz
images: Save as JPEG (640x480, quality=95%) 27.22 ms 36.74 Hz
images: Save as JPEG (800x600, quality=95%) 42.24 ms 23.68 Hz
images: Save as JPEG (1024x768, quality=95%) 71.59 ms 13.97 Hz
images: Save as JPEG (640x480, quality=75%) 22.19 ms 45.06 Hz
images: Save as JPEG (800x600, quality=75%) 34.49 ms 28.99 Hz
images: Save as JPEG (1024x768, quality=75%) 58.51 ms 17.09 Hz
images: Gauss filter (640x480) 4.42 ms 226.23 Hz
images: Gauss filter (800x600) 5.96 ms 167.90 Hz
images: Gauss filter (1024x768) 10.17 ms 98.30 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 6.31 us 158.48 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 4.83 us 207.04 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 2.14 us 467.29 KHz
feature_extraction [640x480]: Harris 27.18 ms 36.79 Hz
feature_extraction [640x480]: KLT 27.15 ms 36.84 Hz
feature_extraction [640x480]: SIFT 623.41 ms 1.60 Hz
feature_extraction [640x480]: SIFT desc. 167.46 ms 5.97 Hz
feature_extraction [640x480]: SURF 198.98 ms 5.03 Hz
feature_extraction [640x480]: FAST 5.13 ms 194.97 Hz
feature_extraction [640x480]: Spin desc. 60.66 ms 16.48 Hz
feature_matching [640x480]: Harris + CC 41.95 ms 23.84 Hz
feature_matching [640x480]: Harris + SAD 37.00 ms 27.03 Hz
feature_matching [640x480]: SIFT 1.25 sec 802.80 mHz
feature_matching [640x480]: SURF 382.33 ms 2.62 Hz
feature_matching [640x480]: FAST + CC 15.60 ms 64.11 Hz
feature_matching [640x480]: FAST + SAD 10.44 ms 95.77 Hz

 

cpuinfo

 

processor : 0
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 0
cpu cores : 2
apicid : 0
initial apicid : 0
fpu : yes
fpu_exception : yes
cpuid level : 11
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 rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4522.08
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 : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 2
cpu cores : 2
apicid : 4
initial apicid : 4
fpu : yes
fpu_exception : yes
cpuid level : 11
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 rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.75
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:

processor : 2
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 1199.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 0
cpu cores : 2
apicid : 1
initial apicid : 1
fpu : yes
fpu_exception : yes
cpuid level : 11
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 rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.78
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:

processor : 3
vendor_id : GenuineIntel
cpu family : 6
model : 37
model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz
stepping : 2
cpu MHz : 2267.000
cache size : 3072 KB
physical id : 0
siblings : 4
core id : 2
cpu cores : 2
apicid : 5
initial apicid : 5
fpu : yes
fpu_exception : yes
cpuid level : 11
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 rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid
bogomips : 4521.76
clflush size : 64
cache_alignment : 64
address sizes : 36 bits physical, 48 bits virtual
power management:


 


Automated test run at 2010/07/31,18:08:00.593044 with MRPT 0.9.1 using program 'mrpt-performance'.
Overall run took 1.77 minutes