Results for: 0.9.4-GCC-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 20.74 ms 48.21 Hz
icp-slam (match grid): Run with sample dataset 17.09 ms 58.52 Hz
poses: CPose3D (+) CPose3D 29.76 ns 33.60 MHz
poses: CPose3D.composeFrom() 21.90 ns 45.66 MHz
poses: CPose3D (+) CPoint3D 7.23 ns 138.24 MHz
poses: CPose3D.composePoint() 11.67 ns 85.68 MHz
poses: CPoint3D (-) CPose3D 13.29 ns 75.27 MHz
poses: CPose3D.inverseComposePoint() 24.48 ns 40.85 MHz
poses: CPose2D (+) CPose2D 71.64 ns 13.96 MHz
poses: CPose2D.composeFrom() 69.41 ns 14.41 MHz
poses: CPose2D (+) CPoint2D 60.78 ns 16.45 MHz
poses: CPose2D.composePoint() 60.80 ns 16.45 MHz
poses: CPose3DQuat (+) CPose3DQuat 40.47 ns 24.71 MHz
poses: CPose3DQuat.composeFrom() 37.55 ns 26.63 MHz
poses: CPose3DQuat (+) CPoint3D 17.39 ns 57.51 MHz
poses: CPose3DQuat.composePoint() 17.48 ns 57.20 MHz
poses: CPoint3D (-) CPose3DQuat 32.97 ns 30.33 MHz
poses: CPose3DQuat.invcomposePoint() 19.11 ns 52.34 MHz
poses: Conv CPose3DQuat <- CPose3D 23.42 ns 42.70 MHz
poses: Conv CPose3D -> CPose3DQuat 172.72 ns 5.79 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 671.00 ns 1.49 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 652.00 ns 1.53 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 8.74 us 114.40 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 454.10 ns 2.20 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 452.90 ns 2.21 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 7.98 us 125.39 KHz
matrix: unit, dyn[float], 3x3 17.64 ns 56.71 MHz
matrix: unit, dyn[double], 3x3 19.86 ns 50.34 MHz
matrix: unit, dyn[float], 6x6 57.06 ns 17.53 MHz
matrix: unit, dyn[double], 6x6 60.00 ns 16.67 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] 0.00 ns 1.#J THz
matrix: unit, fix[double,6,6] 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x3 * 3x3 242.70 ns 4.12 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[double], 3x3 * 3x3 231.60 ns 4.32 MHz
matrix: multiply, fix[double], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x6 * 6x3 296.50 ns 3.37 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 0.10 ns 10.00 GHz
matrix: multiply, dyn[double], 3x6 * 6x3 259.20 ns 3.86 MHz
matrix: multiply, fix[double], 3x6 * 6x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 10x40 * 40x10 2.09 us 477.69 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 1.79 us 559.03 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 2.43 us 411.68 KHz
matrix: multiply, fix[double], 10x40 * 40x10 2.16 us 462.21 KHz
matrix: inv, dyn[double] 3x3 767.00 ns 1.30 MHz
matrix: inv, fix[double] 3x3 0.00 ns 1.#J THz
matrix: inv, dyn[double] 6x6 1.78 us 561.80 KHz
matrix: inv, fix[double] 6x6 1.73 us 578.70 KHz
matrix: inv, dyn[double] 20x20 16.27 us 61.47 KHz
matrix: inv, fix[double] 20x20 13.44 us 74.41 KHz
matrix: inv, dyn[double] 40x40 68.00 us 14.70 KHz
matrix: inv, fix[double] 40x40 63.01 us 15.87 KHz
matrix: det, dyn[double] 2x2 209.40 ns 4.78 MHz
matrix: det, fix[double] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[double] 3x3 331.30 ns 3.02 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 6x6 943.70 ns 1.06 MHz
matrix: det, fix[double] 6x6 575.90 ns 1.74 MHz
matrix: det, dyn[double] 20x20 8.10 us 123.40 KHz
matrix: det, fix[double] 20x20 7.48 us 133.61 KHz
matrix: det, dyn[double] 40x40 30.87 us 32.39 KHz
matrix: det, fix[double] 40x40 29.01 us 34.47 KHz
matrix: chol, dyn[double] 4x4 530.00 ns 1.89 MHz
matrix: chol, fix[double] 4x4 120.00 ns 8.33 MHz
matrix: chol, dyn[double] 40x40 20.70 us 48.31 KHz
matrix: chol, fix[double] 40x40 16.54 us 60.46 KHz
matrix: chol, sparse [2x2;2x2] 12.20 us 81.97 KHz
matrix: chol, sparse [30x30;10x10] 87.70 us 11.40 KHz
matrix: chol, dyn[double] 10x[6x6] 51.70 us 19.34 KHz
matrix: chol, sparse 10x[6x6] 38.27 us 26.13 KHz
matrix: chol, dyn[double] 20x[6x6] 255.50 us 3.91 KHz
matrix: chol, sparse 20x[6x6] 70.94 us 14.10 KHz
matrix: chol, dyn[double] 50x[6x6] 2.75 ms 363.64 Hz
matrix: chol, sparse 50x[6x6] 169.22 us 5.91 KHz
matrix: chol, dyn[double] 100x[6x6] 22.06 ms 45.33 Hz
matrix: chol, sparse 100x[6x6] 339.61 us 2.94 KHz
matrix: chol, dyn[double] 120x[6x6] 36.67 ms 27.27 Hz
matrix: chol, sparse 120x[6x6] 402.38 us 2.49 KHz
matrix: chol, dyn[double] 140x[6x6] 53.86 ms 18.57 Hz
matrix: chol, sparse 140x[6x6] 476.81 us 2.10 KHz
gridmap2D: getCell 0.00 ns 1.#J THz
gridmap2D: setCell 2.71 ns 369.33 MHz
gridmap2D: updateCell 6.04 ns 165.59 MHz
gridmap2D: updateCell_fast_occupied 0.61 ns 1.63 GHz
gridmap2D: insert scan w/o widening 99.83 us 10.02 KHz
gridmap2D: insert scan with widening 293.13 us 3.41 KHz
gridmap2D: resize 630.00 us 1.59 KHz
gridmap2D: computeLikelihood 17.81 us 56.14 KHz
pointmap: insert 100 scans 1.01 ms 990.80 Hz
pointmap: build 2D kd-tree of 1 scan 4.52 us 221.24 KHz
pointmap: build 2D kd-tree of 100 scan 364.44 us 2.74 KHz
pointmap: build 2D kd-tree of 1000 scan 4.38 ms 228.21 Hz
pointmap: build 3D kd-tree of 1 scan 5.16 us 193.80 KHz
pointmap: build 3D kd-tree of 100 scan 372.44 us 2.68 KHz
pointmap: build 3D kd-tree of 1000 scan 4.20 ms 238.06 Hz
pointmap: kd-tree 2d query on 10 scans 1.42 us 703.73 KHz
pointmap: kd-tree 2d query on 1000 scans 101.86 us 9.82 KHz
pointmap: kd-tree 2d query on 10000 scans 12.17 ms 82.15 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.64 ms 177.25 Hz
pointmap: (insert scan+2D kd-tree query) x 50 132.76 ms 7.53 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.71 ms 175.04 Hz
pointmap: (insert scan+3D kd-tree query) x 50 134.74 ms 7.42 Hz
random: drawUniform32bit 14.55 ns 68.75 MHz
random: drawUniform 14.56 ns 68.69 MHz
random: drawGaussian1D_normalized 66.87 ns 14.96 MHz
random: drawGaussian1D 66.81 ns 14.97 MHz
random: system rand() 10.63 ns 94.11 MHz
random: drawGaussianMultivariate(fixed 3x3) 903.36 ns 1.11 MHz
random: drawGaussianMultivariate(dyn 3x3) 1.61 us 621.01 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 144.65 ns 6.91 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 219.48 ns 4.56 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 472.80 ns 2.12 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 152.29 ns 6.57 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 235.04 ns 4.25 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 491.60 ns 2.03 MHz
random: permuteVector (len=10) 243.60 ns 4.11 MHz
random: permuteVector (len=100) 2.99 us 334.99 KHz
random: permuteVector (len=1000) 29.51 us 33.88 KHz
math: round 0.10 ns 10.08 GHz
images: Save as JPEG (640x480, quality=95%) 33.63 ms 29.74 Hz
images: Save as JPEG (800x600, quality=95%) 49.85 ms 20.06 Hz
images: Save as JPEG (1024x768, quality=95%) 69.59 ms 14.37 Hz
images: Save as JPEG (640x480, quality=75%) 30.64 ms 32.63 Hz
images: Save as JPEG (800x600, quality=75%) 43.91 ms 22.78 Hz
images: Save as JPEG (1024x768, quality=75%) 62.52 ms 15.99 Hz
images: Gauss filter (640x480) 3.81 ms 262.76 Hz
images: Gauss filter (800x600) 5.96 ms 167.70 Hz
images: Gauss filter (1024x768) 10.46 ms 95.61 Hz
images: Half sample GRAY (160x120) 1.04 us 961.54 KHz
images: Half sample GRAY (320x240) 2.91 us 344.04 KHz
images: Half sample GRAY (640x480) 14.63 us 68.35 KHz
images: Half sample GRAY (800x600) 27.61 us 36.21 KHz
images: Half sample GRAY (1024x768) 43.98 us 22.74 KHz
images: Half sample GRAY (1280x1024) 84.93 us 11.77 KHz
images: Half sample RGB (160x120) 2.35 us 426.14 KHz
images: Half sample RGB (320x240) 8.97 us 111.44 KHz
images: Half sample RGB (640x480) 49.58 us 20.17 KHz
images: Half sample RGB (800x600) 83.52 us 11.97 KHz
images: Half sample RGB (1024x768) 175.02 us 5.71 KHz
images: Half sample RGB (1280x1024) 434.33 us 2.30 KHz
images: Half sample smooth GRAY (160x120) 1.52 us 656.46 KHz
images: Half sample smooth GRAY (320x240) 5.05 us 197.89 KHz
images: Half sample smooth GRAY (640x480) 27.35 us 36.57 KHz
images: Half sample smooth GRAY (800x600) 41.00 us 24.39 KHz
images: Half sample smooth GRAY (1024x768) 70.54 us 14.18 KHz
images: Half sample smooth GRAY (1280x1024) 147.17 us 6.80 KHz
images: Half sample smooth RGB (160x120) 87.34 us 11.45 KHz
images: Half sample smooth RGB (320x240) 341.55 us 2.93 KHz
images: Half sample smooth RGB (640x480) 1.35 ms 740.73 Hz
images: Half sample smooth RGB (800x600) 2.13 ms 468.44 Hz
images: Half sample smooth RGB (1024x768) 3.55 ms 281.93 Hz
images: Half sample smooth RGB (1280x1024) 6.52 ms 153.40 Hz
images: RGB->GRAY 8u (40x30) 3.88 us 257.95 KHz
images: RGB->GRAY 8u (80x60) 2.78 us 359.28 KHz
images: RGB->GRAY 8u (160x120) 9.91 us 100.91 KHz
images: RGB->GRAY 8u (320x240) 39.89 us 25.07 KHz
images: RGB->GRAY 8u (640x480) 157.22 us 6.36 KHz
images: RGB->GRAY 8u (800x600) 266.94 us 3.75 KHz
images: RGB->GRAY 8u (1024x768) 485.16 us 2.06 KHz
images: RGB->GRAY 8u (1280x1024) 926.17 us 1.08 KHz
scan_matching: 6D LS Rigid Trans. [CPose3D] 12.69 us 78.80 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 9.85 us 101.52 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 5.24 us 190.84 KHz
feature_extraction [640x480]: Harris 21.14 ms 47.31 Hz
feature_extraction [640x480]: KLT 21.45 ms 46.61 Hz
feature_extraction [640x480]: SIFT 591.25 ms 1.69 Hz
feature_extraction [640x480]: SIFT desc. 162.82 ms 6.14 Hz
feature_extraction [640x480]: SURF 197.33 ms 5.07 Hz
feature_extraction [640x480]: FAST 6.89 ms 145.15 Hz
feature_extraction [640x480]: Spin desc. 63.90 ms 15.65 Hz
feature_matching [640x480]: Harris + CC 38.54 ms 25.95 Hz
feature_matching [640x480]: Harris + SAD 33.59 ms 29.77 Hz
feature_matching [640x480]: SIFT 1.16 sec 863.45 mHz
feature_matching [640x480]: SURF 375.89 ms 2.66 Hz
feature_matching [640x480]: FAST + CC 15.89 ms 62.95 Hz
feature_matching [640x480]: FAST + SAD 10.48 ms 95.42 Hz
graph(2d): insertEdge x 1e3 158.24 us 6.32 KHz
graph(2d,vec): insertEdge x 1e3 133.69 us 7.48 KHz
graph(2d): insertEdgeAtEnd x 1e3 84.43 us 11.84 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 81.78 us 12.23 KHz
graph(2d pdf): insertEdge x 1e3 207.17 us 4.83 KHz
graph(2d pdf,vec): insertEdge x 1e3 232.57 us 4.30 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 246.74 us 4.05 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 192.59 us 5.19 KHz
graph(2d): insertEdge x 1e4 2.08 ms 480.05 Hz
graph(2d,vec): insertEdge x 1e4 1.62 ms 618.53 Hz
graph(2d): insertEdgeAtEnd x 1e4 870.19 us 1.15 KHz
graph(2d,vec): insertEdgeAtEnd x 1e4 846.92 us 1.18 KHz
graph(2d pdf): insertEdge x 1e4 2.34 ms 427.14 Hz
graph(2d pdf,vec): insertEdge x 1e4 2.81 ms 356.06 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 2.13 ms 470.35 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 2.13 ms 469.13 Hz
graph(3d): insertEdge x 1e3 220.82 us 4.53 KHz
graph(3d,vec): insertEdge x 1e3 221.81 us 4.51 KHz
graph(3d): insertEdgeAtEnd x 1e3 183.18 us 5.46 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 186.52 us 5.36 KHz
graph(3d pdf): insertEdge x 1e3 532.35 us 1.88 KHz
graph(3d pdf,vec): insertEdge x 1e3 537.98 us 1.86 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 487.59 us 2.05 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 493.50 us 2.03 KHz
graph(3d): insertEdge x 1e4 2.78 ms 359.55 Hz
graph(3d,vec): insertEdge x 1e4 2.77 ms 360.52 Hz
graph(3d): insertEdgeAtEnd x 1e4 2.09 ms 477.61 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 2.05 ms 487.11 Hz
graph(3d pdf): insertEdge x 1e4 7.36 ms 135.81 Hz
graph(3d pdf,vec): insertEdge x 1e4 6.97 ms 143.42 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 5.29 ms 189.20 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 5.49 ms 182.28 Hz
graph(3d): dijkstra 1e2 nodes 90.55 us 11.04 KHz
graph(3d,vec): dijkstra 1e2 nodes 83.50 us 11.98 KHz
graph(3d): dijkstra 1e3 nodes 1.13 ms 882.20 Hz
graph(3d,vec): dijkstra 1e3 nodes 767.67 us 1.30 KHz
graph(3d): dijkstra 1e4 nodes 21.12 ms 47.35 Hz
graph(3d,vec): dijkstra 1e4 nodes 10.86 ms 92.06 Hz
graph(3d): dijkstra 1e5 nodes 341.35 ms 2.93 Hz
graph(3d,vec): dijkstra 1e5 nodes 142.53 ms 7.02 Hz
graph(2d): dijkstra 1e5 nodes 320.28 ms 3.12 Hz
graph(2d,vec): dijkstra 1e5 nodes 133.66 ms 7.48 Hz

 


Page generated automatically at 2011/06/03,22:26:37.427403 with MRPT 0.9.4 by 'mrpt-performance'.