Results for: 0.9.1-GCC-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 21.60 ms 46.30 Hz
icp-slam (match grid): Run with sample dataset 20.51 ms 48.75 Hz
poses: CPose3D (+) CPose3D 449.02 ns 2.23 MHz
poses: CPose3D.composeFrom() 233.83 ns 4.28 MHz
poses: CPose3D (+) CPoint3D 10.67 ns 93.76 MHz
poses: CPose3D.composePoint() 10.06 ns 99.38 MHz
poses: CPoint3D (-) CPose3D 37.71 ns 26.52 MHz
poses: CPose3D.inverseComposePoint() 40.98 ns 24.40 MHz
poses: CPose2D (+) CPose2D 78.17 ns 12.79 MHz
poses: CPose2D.composeFrom() 62.17 ns 16.08 MHz
poses: CPose2D (+) CPoint2D 63.86 ns 15.66 MHz
poses: CPose2D.composePoint() 61.98 ns 16.13 MHz
poses: CPose3DQuat (+) CPose3DQuat 47.00 ns 21.28 MHz
poses: CPose3DQuat.composeFrom() 39.80 ns 25.13 MHz
poses: CPose3DQuat (+) CPoint3D 22.62 ns 44.21 MHz
poses: CPose3DQuat.composePoint() 18.93 ns 52.83 MHz
poses: CPoint3D (-) CPose3DQuat 391.26 ns 2.56 MHz
poses: CPose3DQuat.invcomposePoint() 18.05 ns 55.39 MHz
poses: Conv CPose3DQuat <- CPose3D 355.00 ns 2.82 MHz
poses: Conv CPose3D -> CPose3DQuat 173.19 ns 5.77 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 814.76 us 1.23 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 821.91 us 1.22 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.57 us 104.48 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 682.30 ns 1.47 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 533.80 ns 1.87 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.51 us 117.45 KHz
matrix: unit, dyn[float], 3x3 20.59 ns 48.56 MHz
matrix: unit, dyn[double], 3x3 22.60 ns 44.24 MHz
matrix: unit, dyn[float], 6x6 63.92 ns 15.64 MHz
matrix: unit, dyn[double], 6x6 65.22 ns 15.33 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] 1.68 ns 594.53 MHz
matrix: unit, fix[double,6,6] 2.86 ns 349.53 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 73.50 ns 13.61 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 24.10 ns 41.49 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 72.10 ns 13.87 MHz
matrix: multiply, fix[double], 3x3 * 3x3 23.50 ns 42.55 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 112.90 ns 8.86 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 45.00 ns 22.22 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 110.50 ns 9.05 MHz
matrix: multiply, fix[double], 3x6 * 6x3 45.10 ns 22.17 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.82 us 171.91 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 3.57 us 279.91 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 5.88 us 169.93 KHz
matrix: multiply, fix[double], 10x40 * 40x10 3.82 us 262.04 KHz
matrix: inv, dyn[float ] 3x3 449.00 ns 2.23 MHz
matrix: inv, fix[float ] 3x3 33.00 ns 30.30 MHz
matrix: inv, dyn[double] 3x3 413.00 ns 2.42 MHz
matrix: inv, fix[double] 3x3 22.00 ns 45.45 MHz
matrix: inv, dyn[float ] 6x6 1.31 us 761.04 KHz
matrix: inv, fix[float ] 6x6 468.00 ns 2.14 MHz
matrix: inv, dyn[double] 6x6 1.25 us 800.64 KHz
matrix: inv, fix[double] 6x6 578.00 ns 1.73 MHz
matrix: inv, dyn[float ] 20x20 28.01 us 35.71 KHz
matrix: inv, fix[float ] 20x20 12.67 us 78.91 KHz
matrix: inv, dyn[double] 20x20 28.58 us 34.98 KHz
matrix: inv, fix[double] 20x20 17.20 us 58.15 KHz
matrix: inv, dyn[float ] 40x40 205.67 us 4.86 KHz
matrix: inv, fix[float ] 40x40 92.66 us 10.79 KHz
matrix: inv, dyn[double] 40x40 200.95 us 4.98 KHz
matrix: inv, fix[double] 40x40 134.50 us 7.43 KHz
matrix: det, dyn[float ] 2x2 6.40 ns 156.25 MHz
matrix: det, fix[float ] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[double] 2x2 8.80 ns 113.64 MHz
matrix: det, fix[double] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[float ] 3x3 10.30 ns 97.09 MHz
matrix: det, fix[float ] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 3x3 10.30 ns 97.09 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[float ] 6x6 931.50 ns 1.07 MHz
matrix: det, fix[float ] 6x6 215.70 ns 4.64 MHz
matrix: det, dyn[double] 6x6 739.10 ns 1.35 MHz
matrix: det, fix[double] 6x6 219.80 ns 4.55 MHz
matrix: det, dyn[float ] 20x20 5.64 us 177.30 KHz
matrix: det, fix[float ] 20x20 4.05 us 246.81 KHz
matrix: det, dyn[double] 20x20 6.52 us 153.32 KHz
matrix: det, fix[double] 20x20 4.73 us 211.54 KHz
matrix: det, dyn[float ] 40x40 30.83 us 32.43 KHz
matrix: det, fix[float ] 40x40 25.85 us 38.68 KHz
matrix: det, dyn[double] 40x40 32.40 us 30.87 KHz
matrix: det, fix[double] 40x40 27.53 us 36.33 KHz
matrix: chol, dyn[double] 4x4 170.00 ns 5.88 MHz
matrix: chol, fix[double] 4x4 130.00 ns 7.69 MHz
matrix: chol, dyn[double] 40x40 18.73 us 53.39 KHz
matrix: chol, fix[double] 40x40 16.74 us 59.74 KHz
matrix: chol, sparse [2x2;2x2] 8.50 us 117.65 KHz
matrix: chol, sparse [30x30;10x10] 93.90 us 10.65 KHz
matrix: chol, dyn[double] 10x[6x6] 52.90 us 18.90 KHz
matrix: chol, sparse 10x[6x6] 40.03 us 24.98 KHz
matrix: chol, dyn[double] 20x[6x6] 411.30 us 2.43 KHz
matrix: chol, sparse 20x[6x6] 74.98 us 13.34 KHz
matrix: chol, dyn[double] 50x[6x6] 8.61 ms 116.18 Hz
matrix: chol, sparse 50x[6x6] 185.35 us 5.40 KHz
matrix: chol, dyn[double] 100x[6x6] 135.40 ms 7.39 Hz
matrix: chol, sparse 100x[6x6] 359.80 us 2.78 KHz
matrix: chol, dyn[double] 120x[6x6] 364.32 ms 2.74 Hz
matrix: chol, sparse 120x[6x6] 426.39 us 2.35 KHz
matrix: chol, dyn[double] 140x[6x6] 800.16 ms 1.25 Hz
matrix: chol, sparse 140x[6x6] 497.60 us 2.01 KHz
gridmap2D: getCell 0.00 ns 1.#J THz
gridmap2D: setCell 2.58 ns 387.19 MHz
gridmap2D: updateCell 7.47 ns 133.80 MHz
gridmap2D: updateCell_fast_occupied 0.55 ns 1.83 GHz
gridmap2D: insert scan w/o widening 104.80 us 9.54 KHz
gridmap2D: insert scan with widening 295.32 us 3.39 KHz
gridmap2D: resize 1.83 ms 547.65 Hz
gridmap2D: computeLikelihood 16.65 us 60.06 KHz
pointmap: insert 100 scans 3.11 ms 321.23 Hz
pointmap: build 2D kd-tree of 1 scan 4.28 us 233.64 KHz
pointmap: build 2D kd-tree of 100 scan 354.96 us 2.82 KHz
pointmap: build 2D kd-tree of 1000 scan 4.14 ms 241.67 Hz
pointmap: build 3D kd-tree of 1 scan 4.28 us 233.64 KHz
pointmap: build 3D kd-tree of 100 scan 361.24 us 2.77 KHz
pointmap: build 3D kd-tree of 1000 scan 4.09 ms 244.66 Hz
pointmap: kd-tree 2d query on 10 scans 1.37 us 730.99 KHz
pointmap: kd-tree 2d query on 1000 scans 98.96 us 10.10 KHz
pointmap: kd-tree 2d query on 10000 scans 11.96 ms 83.64 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.60 ms 178.50 Hz
pointmap: (insert scan+2D kd-tree query) x 50 129.56 ms 7.72 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.65 ms 176.84 Hz
pointmap: (insert scan+3D kd-tree query) x 50 132.43 ms 7.55 Hz
random: drawUniform32bit 15.70 ns 63.70 MHz
random: drawUniform 15.69 ns 63.72 MHz
random: drawGaussian1D_normalized 70.40 ns 14.20 MHz
random: drawGaussian1D 70.38 ns 14.21 MHz
random: system rand() 11.07 ns 90.37 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.33 us 751.96 KHz
random: drawGaussianMultivariate(dyn 3x3) 3.04 us 328.99 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 162.81 ns 6.14 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 245.58 ns 4.07 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 514.74 ns 1.94 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 173.84 ns 5.75 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 259.42 ns 3.85 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 523.99 ns 1.91 MHz
random: permuteVector (len=10) 288.60 ns 3.47 MHz
random: permuteVector (len=100) 3.07 us 325.61 KHz
random: permuteVector (len=1000) 30.26 us 33.05 KHz
math: round 0.10 ns 9.77 GHz
images: Save as JPEG (640x480, quality=95%) 31.77 ms 31.48 Hz
images: Save as JPEG (800x600, quality=95%) 45.70 ms 21.88 Hz
images: Save as JPEG (1024x768, quality=95%) 73.33 ms 13.64 Hz
images: Save as JPEG (640x480, quality=75%) 27.15 ms 36.83 Hz
images: Save as JPEG (800x600, quality=75%) 40.31 ms 24.81 Hz
images: Save as JPEG (1024x768, quality=75%) 64.44 ms 15.52 Hz
images: Gauss filter (640x480) 4.52 ms 221.30 Hz
images: Gauss filter (800x600) 7.35 ms 136.05 Hz
images: Gauss filter (1024x768) 11.22 ms 89.13 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 6.32 us 158.23 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 4.78 us 209.21 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 2.14 us 467.29 KHz
feature_extraction [640x480]: Harris 28.31 ms 35.32 Hz
feature_extraction [640x480]: KLT 27.34 ms 36.57 Hz
feature_extraction [640x480]: SIFT 641.91 ms 1.56 Hz
feature_extraction [640x480]: SIFT desc. 170.65 ms 5.86 Hz
feature_extraction [640x480]: SURF 201.21 ms 4.97 Hz
feature_extraction [640x480]: FAST 5.22 ms 191.49 Hz
feature_extraction [640x480]: Spin desc. 60.81 ms 16.44 Hz
feature_matching [640x480]: Harris + CC 43.26 ms 23.12 Hz
feature_matching [640x480]: Harris + SAD 39.91 ms 25.06 Hz
feature_matching [640x480]: SIFT 1.28 sec 783.36 mHz
feature_matching [640x480]: SURF 386.18 ms 2.59 Hz
feature_matching [640x480]: FAST + CC 16.12 ms 62.03 Hz
feature_matching [640x480]: FAST + SAD 10.93 ms 91.46 Hz

 


Page generated automatically at 2011/06/03,22:26:37.501407 with MRPT 0.9.4 by 'mrpt-performance'.