Results for: 0.9.3-MSVC9-32bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 31.56 ms 31.69 Hz
icp-slam (match grid): Run with sample dataset 53.95 ms 18.54 Hz
poses: CPose3D (+) CPose3D 194.14 ns 5.15 MHz
poses: CPose3D.composeFrom() 34.65 ns 28.86 MHz
poses: CPose3D (+) CPoint3D 28.67 ns 34.88 MHz
poses: CPose3D.composePoint() 18.49 ns 54.08 MHz
poses: CPoint3D (-) CPose3D 93.89 ns 10.65 MHz
poses: CPose3D.inverseComposePoint() 44.39 ns 22.53 MHz
poses: CPose2D (+) CPose2D 103.92 ns 9.62 MHz
poses: CPose2D.composeFrom() 91.82 ns 10.89 MHz
poses: CPose2D (+) CPoint2D 140.37 ns 7.12 MHz
poses: CPose2D.composePoint() 66.26 ns 15.09 MHz
poses: CPose3DQuat (+) CPose3DQuat 93.35 ns 10.71 MHz
poses: CPose3DQuat.composeFrom() 60.52 ns 16.52 MHz
poses: CPose3DQuat (+) CPoint3D 116.72 ns 8.57 MHz
poses: CPose3DQuat.composePoint() 31.02 ns 32.23 MHz
poses: CPoint3D (-) CPose3DQuat 126.78 ns 7.89 MHz
poses: CPose3DQuat.invcomposePoint() 30.88 ns 32.38 MHz
poses: Conv CPose3DQuat <- CPose3D 33.42 ns 29.93 MHz
poses: Conv CPose3D -> CPose3DQuat 211.33 ns 4.73 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 19.45 us 51.41 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 2.93 us 341.05 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 34.64 us 28.87 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 860.26 ns 1.16 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 880.23 ns 1.14 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 21.76 us 45.95 KHz
matrix: unit, dyn[float], 3x3 44.99 ns 22.23 MHz
matrix: unit, dyn[double], 3x3 45.16 ns 22.14 MHz
matrix: unit, dyn[float], 6x6 160.84 ns 6.22 MHz
matrix: unit, dyn[double], 6x6 160.97 ns 6.21 MHz
matrix: unit, fix[float,3,3] 0.00 ns 1.#J THz
matrix: unit, fix[double,3,3] 0.00 ns 1.#J THz
matrix: unit, fix[float,6,6] 6.73 ns 148.49 MHz
matrix: unit, fix[double,6,6] 7.86 ns 127.26 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 550.79 ns 1.82 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 0.05 ns 22.08 GHz
matrix: multiply, dyn[double], 3x3 * 3x3 432.98 ns 2.31 MHz
matrix: multiply, fix[double], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x6 * 6x3 660.53 ns 1.51 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 38.91 ns 25.70 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 474.65 ns 2.11 MHz
matrix: multiply, fix[double], 3x6 * 6x3 8.74 ns 114.40 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 4.68 us 213.59 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 4.42 us 226.20 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 3.24 us 308.92 KHz
matrix: multiply, fix[double], 10x40 * 40x10 2.37 us 422.77 KHz
matrix: inv, dyn[double] 3x3 1.49 us 672.33 KHz
matrix: inv, fix[double] 3x3 32.16 ns 31.10 MHz
matrix: inv, dyn[double] 6x6 3.50 us 286.11 KHz
matrix: inv, fix[double] 6x6 2.72 us 368.24 KHz
matrix: inv, dyn[double] 20x20 31.87 us 31.37 KHz
matrix: inv, fix[double] 20x20 28.91 us 34.58 KHz
matrix: inv, dyn[double] 40x40 124.22 us 8.05 KHz
matrix: inv, fix[double] 40x40 122.24 us 8.18 KHz
matrix: det, dyn[double] 2x2 647.62 ns 1.54 MHz
matrix: det, fix[double] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[double] 3x3 969.59 ns 1.03 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 6x6 2.45 us 407.46 KHz
matrix: det, fix[double] 6x6 1.89 us 529.99 KHz
matrix: det, dyn[double] 20x20 22.48 us 44.49 KHz
matrix: det, fix[double] 20x20 21.45 us 46.63 KHz
matrix: det, dyn[double] 40x40 80.28 us 12.46 KHz
matrix: det, fix[double] 40x40 79.04 us 12.65 KHz
matrix: chol, dyn[double] 4x4 1.09 us 916.16 KHz
matrix: chol, fix[double] 4x4 317.04 ns 3.15 MHz
matrix: chol, dyn[double] 40x40 75.74 us 13.20 KHz
matrix: chol, fix[double] 40x40 55.31 us 18.08 KHz
matrix: chol, sparse [2x2;2x2] 16.89 us 59.19 KHz
matrix: chol, sparse [30x30;10x10] 247.29 us 4.04 KHz
matrix: chol, dyn[double] 10x[6x6] 180.76 us 5.53 KHz
matrix: chol, sparse 10x[6x6] 91.89 us 10.88 KHz
matrix: chol, dyn[double] 20x[6x6] 765.78 us 1.31 KHz
matrix: chol, sparse 20x[6x6] 116.55 us 8.58 KHz
matrix: chol, dyn[double] 50x[6x6] 4.08 ms 245.20 Hz
matrix: chol, sparse 50x[6x6] 207.46 us 4.82 KHz
matrix: chol, dyn[double] 100x[6x6] 24.43 ms 40.93 Hz
matrix: chol, sparse 100x[6x6] 403.40 us 2.48 KHz
matrix: chol, dyn[double] 120x[6x6] 40.20 ms 24.87 Hz
matrix: chol, sparse 120x[6x6] 479.83 us 2.08 KHz
matrix: chol, dyn[double] 140x[6x6] 59.95 ms 16.68 Hz
matrix: chol, sparse 140x[6x6] 560.09 us 1.79 KHz
gridmap2D: getCell 5.69 ns 175.73 MHz
gridmap2D: setCell 8.06 ns 124.07 MHz
gridmap2D: updateCell 61.98 ns 16.13 MHz
gridmap2D: updateCell_fast_occupied 1.25 ns 798.82 MHz
gridmap2D: insert scan w/o widening 208.84 us 4.79 KHz
gridmap2D: insert scan with widening 346.08 us 2.89 KHz
gridmap2D: resize 2.81 ms 355.60 Hz
gridmap2D: computeLikelihood 18.33 us 54.57 KHz
pointmap: insert 100 scans 6.61 ms 151.33 Hz
pointmap: build 2D kd-tree of 1 scan 6.03 us 165.76 KHz
pointmap: build 2D kd-tree of 100 scan 536.01 us 1.87 KHz
pointmap: build 2D kd-tree of 1000 scan 5.64 ms 177.17 Hz
pointmap: build 3D kd-tree of 1 scan 7.70 us 129.88 KHz
pointmap: build 3D kd-tree of 100 scan 528.60 us 1.89 KHz
pointmap: build 3D kd-tree of 1000 scan 5.81 ms 172.12 Hz
pointmap: kd-tree 2d query on 10 scans 2.13 us 468.98 KHz
pointmap: kd-tree 2d query on 1000 scans 145.70 us 6.86 KHz
pointmap: kd-tree 2d query on 10000 scans 15.49 ms 64.56 Hz
pointmap: (insert scan+2D kd-tree query) x 10 8.93 ms 111.93 Hz
pointmap: (insert scan+2D kd-tree query) x 50 200.06 ms 5.00 Hz
pointmap: (insert scan+3D kd-tree query) x 10 8.97 ms 111.43 Hz
pointmap: (insert scan+3D kd-tree query) x 50 201.21 ms 4.97 Hz
random: drawUniform32bit 7.76 ns 128.93 MHz
random: drawUniform 7.61 ns 131.41 MHz
random: drawGaussian1D_normalized 51.84 ns 19.29 MHz
random: drawGaussian1D 52.02 ns 19.22 MHz
random: system rand() 27.43 ns 36.46 MHz
random: drawGaussianMultivariate(fixed 3x3) 4.97 us 201.38 KHz
random: drawGaussianMultivariate(dyn 3x3) 10.68 us 93.66 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 153.63 ns 6.51 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 250.07 ns 4.00 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 664.62 ns 1.50 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 153.22 ns 6.53 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 253.40 ns 3.95 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 622.96 ns 1.61 MHz
random: permuteVector (len=10) 342.58 ns 2.92 MHz
random: permuteVector (len=100) 3.62 us 276.54 KHz
random: permuteVector (len=1000) 35.68 us 28.03 KHz
math: round 0.00 ns 220.79 THz
images: Save as JPEG (640x480, quality=95%) 28.08 ms 35.61 Hz
images: Save as JPEG (800x600, quality=95%) 42.80 ms 23.37 Hz
images: Save as JPEG (1024x768, quality=95%) 69.14 ms 14.46 Hz
images: Save as JPEG (640x480, quality=75%) 23.76 ms 42.09 Hz
images: Save as JPEG (800x600, quality=75%) 37.25 ms 26.85 Hz
images: Save as JPEG (1024x768, quality=75%) 59.86 ms 16.71 Hz
images: Gauss filter (640x480) 7.21 ms 138.75 Hz
images: Gauss filter (800x600) 8.67 ms 115.32 Hz
images: Gauss filter (1024x768) 14.94 ms 66.93 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 25.26 us 39.59 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 24.29 us 41.17 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 13.82 us 72.37 KHz
feature_extraction [640x480]: Harris 53.60 ms 18.66 Hz
feature_extraction [640x480]: KLT 32.67 ms 30.61 Hz
feature_extraction [640x480]: SIFT 724.51 ms 1.38 Hz
feature_extraction [640x480]: SIFT desc. 217.33 ms 4.60 Hz
feature_extraction [640x480]: SURF 320.21 ms 3.12 Hz
feature_extraction [640x480]: FAST 9.58 ms 104.37 Hz
feature_extraction [640x480]: Spin desc. 111.16 ms 9.00 Hz
feature_matching [640x480]: Harris + CC 64.75 ms 15.44 Hz
feature_matching [640x480]: Harris + SAD 50.46 ms 19.82 Hz
feature_matching [640x480]: SIFT 1.37 sec 732.49 mHz
feature_matching [640x480]: SURF 602.11 ms 1.66 Hz
feature_matching [640x480]: FAST + CC 23.55 ms 42.46 Hz
feature_matching [640x480]: FAST + SAD 15.71 ms 63.67 Hz
graph(2d): insertEdge x 1e3 300.22 us 3.33 KHz
graph(2d,vec): insertEdge x 1e3 300.93 us 3.32 KHz
graph(2d): insertEdgeAtEnd x 1e3 245.20 us 4.08 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 252.81 us 3.96 KHz
graph(2d pdf): insertEdge x 1e3 537.61 us 1.86 KHz
graph(2d pdf,vec): insertEdge x 1e3 456.45 us 2.19 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 401.18 us 2.49 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 394.03 us 2.54 KHz
graph(2d): insertEdge x 1e4 3.65 ms 273.78 Hz
graph(2d,vec): insertEdge x 1e4 3.70 ms 270.61 Hz
graph(2d): insertEdgeAtEnd x 1e4 2.51 ms 399.01 Hz
graph(2d,vec): insertEdgeAtEnd x 1e4 2.55 ms 392.34 Hz
graph(2d pdf): insertEdge x 1e4 4.81 ms 207.97 Hz
graph(2d pdf,vec): insertEdge x 1e4 4.86 ms 205.85 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 4.03 ms 248.25 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 4.00 ms 250.07 Hz
graph(3d): insertEdge x 1e3 338.14 us 2.96 KHz
graph(3d,vec): insertEdge x 1e3 332.03 us 3.01 KHz
graph(3d): insertEdgeAtEnd x 1e3 302.41 us 3.31 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 309.65 us 3.23 KHz
graph(3d pdf): insertEdge x 1e3 668.72 us 1.50 KHz
graph(3d pdf,vec): insertEdge x 1e3 672.92 us 1.49 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 668.41 us 1.50 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 676.59 us 1.48 KHz
graph(3d): insertEdge x 1e4 3.60 ms 277.54 Hz
graph(3d,vec): insertEdge x 1e4 3.62 ms 276.39 Hz
graph(3d): insertEdgeAtEnd x 1e4 3.04 ms 328.99 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 3.02 ms 330.96 Hz
graph(3d pdf): insertEdge x 1e4 7.09 ms 141.02 Hz
graph(3d pdf,vec): insertEdge x 1e4 7.08 ms 141.24 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 6.70 ms 149.36 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 6.88 ms 145.34 Hz
graph(3d): dijkstra 1e2 nodes 279.15 us 3.58 KHz
graph(3d,vec): dijkstra 1e2 nodes 417.83 us 2.39 KHz
graph(3d): dijkstra 1e3 nodes 3.14 ms 318.46 Hz
graph(3d,vec): dijkstra 1e3 nodes 3.68 ms 271.44 Hz
graph(3d): dijkstra 1e4 nodes 37.09 ms 26.96 Hz
graph(3d,vec): dijkstra 1e4 nodes 42.65 ms 23.45 Hz
graph(3d): dijkstra 1e5 nodes 433.73 ms 2.31 Hz
graph(3d,vec): dijkstra 1e5 nodes 470.84 ms 2.12 Hz
graph(2d): dijkstra 1e5 nodes 428.18 ms 2.34 Hz
graph(2d,vec): dijkstra 1e5 nodes 465.28 ms 2.15 Hz

 


Page generated automatically at 2011/06/03,22:26:37.436403 with MRPT 0.9.4 by 'mrpt-performance'.