Results for: 0.9.4-MSVC10-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 26.54 ms 37.68 Hz
icp-slam (match grid): Run with sample dataset 32.17 ms 31.08 Hz
poses: CPose3D (+) CPose3D 62.83 ns 15.92 MHz
poses: CPose3D.composeFrom() 41.42 ns 24.14 MHz
poses: CPose3D (+) CPoint3D 18.89 ns 52.94 MHz
poses: CPose3D.composePoint() 17.17 ns 58.23 MHz
poses: CPoint3D (-) CPose3D 88.79 ns 11.26 MHz
poses: CPose3D.inverseComposePoint() 44.00 ns 22.73 MHz
poses: CPose2D (+) CPose2D 72.08 ns 13.87 MHz
poses: CPose2D.composeFrom() 63.27 ns 15.81 MHz
poses: CPose2D (+) CPoint2D 34.42 ns 29.05 MHz
poses: CPose2D.composePoint() 26.02 ns 38.43 MHz
poses: CPose3DQuat (+) CPose3DQuat 113.59 ns 8.80 MHz
poses: CPose3DQuat.composeFrom() 82.72 ns 12.09 MHz
poses: CPose3DQuat (+) CPoint3D 41.33 ns 24.20 MHz
poses: CPose3DQuat.composePoint() 31.13 ns 32.12 MHz
poses: CPoint3D (-) CPose3DQuat 113.89 ns 8.78 MHz
poses: CPose3DQuat.invcomposePoint() 33.95 ns 29.46 MHz
poses: Conv CPose3DQuat <- CPose3D 26.44 ns 37.82 MHz
poses: Conv CPose3D -> CPose3DQuat 97.31 ns 10.28 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 948.85 ns 1.05 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 938.66 ns 1.07 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 21.21 us 47.15 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 532.44 ns 1.88 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 528.23 ns 1.89 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 11.19 us 89.35 KHz
matrix: unit, dyn[float], 3x3 45.20 ns 22.13 MHz
matrix: unit, dyn[double], 3x3 45.86 ns 21.81 MHz
matrix: unit, dyn[float], 6x6 177.43 ns 5.64 MHz
matrix: unit, dyn[double], 6x6 169.52 ns 5.90 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] 6.37 ns 157.06 MHz
matrix: unit, fix[double,6,6] 7.86 ns 127.19 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 485.93 ns 2.06 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 0.05 ns 22.08 GHz
matrix: multiply, dyn[double], 3x3 * 3x3 528.41 ns 1.89 MHz
matrix: multiply, fix[double], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x6 * 6x3 547.16 ns 1.83 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 2.36 ns 424.60 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 391.50 ns 2.55 MHz
matrix: multiply, fix[double], 3x6 * 6x3 2.36 ns 424.60 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 2.74 us 364.51 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 2.08 us 479.89 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 3.47 us 288.55 KHz
matrix: multiply, fix[double], 10x40 * 40x10 2.38 us 419.56 KHz
matrix: inv, dyn[double] 3x3 1.09 us 921.12 KHz
matrix: inv, fix[double] 3x3 22.19 ns 45.06 MHz
matrix: inv, dyn[double] 6x6 2.78 us 359.66 KHz
matrix: inv, fix[double] 6x6 2.22 us 450.23 KHz
matrix: inv, dyn[double] 20x20 30.71 us 32.56 KHz
matrix: inv, fix[double] 20x20 24.08 us 41.53 KHz
matrix: inv, dyn[double] 40x40 117.18 us 8.53 KHz
matrix: inv, fix[double] 40x40 112.80 us 8.86 KHz
matrix: det, dyn[double] 2x2 765.51 ns 1.31 MHz
matrix: det, fix[double] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[double] 3x3 822.31 ns 1.22 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 6x6 1.78 us 560.47 KHz
matrix: det, fix[double] 6x6 1.51 us 661.35 KHz
matrix: det, dyn[double] 20x20 18.54 us 53.94 KHz
matrix: det, fix[double] 20x20 19.01 us 52.61 KHz
matrix: det, dyn[double] 40x40 72.40 us 13.81 KHz
matrix: det, fix[double] 40x40 67.43 us 14.83 KHz
matrix: chol, dyn[double] 4x4 606.90 ns 1.65 MHz
matrix: chol, fix[double] 4x4 190.22 ns 5.26 MHz
matrix: chol, dyn[double] 40x40 31.59 us 31.66 KHz
matrix: chol, fix[double] 40x40 20.87 us 47.93 KHz
matrix: chol, sparse [2x2;2x2] 7.11 us 140.63 KHz
matrix: chol, sparse [30x30;10x10] 94.75 us 10.55 KHz
matrix: chol, dyn[double] 10x[6x6] 75.59 us 13.23 KHz
matrix: chol, sparse 10x[6x6] 43.20 us 23.15 KHz
matrix: chol, dyn[double] 20x[6x6] 453.46 us 2.21 KHz
matrix: chol, sparse 20x[6x6] 74.00 us 13.51 KHz
matrix: chol, dyn[double] 50x[6x6] 3.54 ms 282.19 Hz
matrix: chol, sparse 50x[6x6] 178.69 us 5.60 KHz
matrix: chol, dyn[double] 100x[6x6] 22.29 ms 44.87 Hz
matrix: chol, sparse 100x[6x6] 359.36 us 2.78 KHz
matrix: chol, dyn[double] 120x[6x6] 36.29 ms 27.56 Hz
matrix: chol, sparse 120x[6x6] 411.86 us 2.43 KHz
matrix: chol, dyn[double] 140x[6x6] 54.34 ms 18.40 Hz
matrix: chol, sparse 140x[6x6] 488.10 us 2.05 KHz
gridmap2D: getCell 4.13 ns 242.07 MHz
gridmap2D: setCell 5.65 ns 177.14 MHz
gridmap2D: updateCell 6.93 ns 144.35 MHz
gridmap2D: updateCell_fast_occupied 1.20 ns 833.40 MHz
gridmap2D: insert scan w/o widening 102.16 us 9.79 KHz
gridmap2D: insert scan with widening 276.88 us 3.61 KHz
gridmap2D: resize 3.89 ms 257.06 Hz
gridmap2D: computeLikelihood 13.92 us 71.84 KHz
pointmap: insert 100 scans 1.87 ms 534.24 Hz
pointmap: build 2D kd-tree of 1 scan 5.09 us 196.43 KHz
pointmap: build 2D kd-tree of 100 scan 486.39 us 2.06 KHz
pointmap: build 2D kd-tree of 1000 scan 5.10 ms 196.20 Hz
pointmap: build 3D kd-tree of 1 scan 5.56 us 179.80 KHz
pointmap: build 3D kd-tree of 100 scan 467.24 us 2.14 KHz
pointmap: build 3D kd-tree of 1000 scan 5.18 ms 192.98 Hz
pointmap: kd-tree 2d query on 10 scans 1.59 us 627.25 KHz
pointmap: kd-tree 2d query on 1000 scans 126.68 us 7.89 KHz
pointmap: kd-tree 2d query on 10000 scans 13.86 ms 72.14 Hz
pointmap: (insert scan+2D kd-tree query) x 10 6.54 ms 152.81 Hz
pointmap: (insert scan+2D kd-tree query) x 50 174.77 ms 5.72 Hz
pointmap: (insert scan+3D kd-tree query) x 10 6.88 ms 145.28 Hz
pointmap: (insert scan+3D kd-tree query) x 50 181.38 ms 5.51 Hz
random: drawUniform32bit 9.54 ns 104.87 MHz
random: drawUniform 9.69 ns 103.21 MHz
random: drawGaussian1D_normalized 52.06 ns 19.21 MHz
random: drawGaussian1D 50.73 ns 19.71 MHz
random: system rand() 24.47 ns 40.87 MHz
random: drawGaussianMultivariate(fixed 3x3) 1.24 us 805.20 KHz
random: drawGaussianMultivariate(dyn 3x3) 3.19 us 313.70 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 130.03 ns 7.69 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 198.35 ns 5.04 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 451.66 ns 2.21 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 136.92 ns 7.30 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 213.52 ns 4.68 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 478.55 ns 2.09 MHz
random: permuteVector (len=10) 244.07 ns 4.10 MHz
random: permuteVector (len=100) 3.12 us 320.11 KHz
random: permuteVector (len=1000) 30.82 us 32.44 KHz
math: round 0.00 ns 220.79 THz
images: Save as JPEG (640x480, quality=95%) 29.87 ms 33.48 Hz
images: Save as JPEG (800x600, quality=95%) 42.98 ms 23.26 Hz
images: Save as JPEG (1024x768, quality=95%) 69.03 ms 14.49 Hz
images: Save as JPEG (640x480, quality=75%) 22.86 ms 43.75 Hz
images: Save as JPEG (800x600, quality=75%) 35.20 ms 28.41 Hz
images: Save as JPEG (1024x768, quality=75%) 57.29 ms 17.45 Hz
images: Gauss filter (640x480) 4.45 ms 224.70 Hz
images: Gauss filter (800x600) 8.06 ms 124.15 Hz
images: Gauss filter (1024x768) 13.86 ms 72.16 Hz
images: Half sample GRAY (160x120) 1.32 us 755.28 KHz
images: Half sample GRAY (320x240) 4.41 us 226.69 KHz
images: Half sample GRAY (640x480) 18.51 us 54.02 KHz
images: Half sample GRAY (800x600) 29.74 us 33.62 KHz
images: Half sample GRAY (1024x768) 52.65 us 18.99 KHz
images: Half sample GRAY (1280x1024) 107.42 us 9.31 KHz
images: Half sample RGB (160x120) 9.33 us 107.15 KHz
images: Half sample RGB (320x240) 11.01 us 90.82 KHz
images: Half sample RGB (640x480) 53.51 us 18.69 KHz
images: Half sample RGB (800x600) 126.28 us 7.92 KHz
images: Half sample RGB (1024x768) 248.04 us 4.03 KHz
images: Half sample RGB (1280x1024) 667.92 us 1.50 KHz
images: Half sample smooth GRAY (160x120) 1.83 us 546.97 KHz
images: Half sample smooth GRAY (320x240) 6.09 us 164.16 KHz
images: Half sample smooth GRAY (640x480) 28.72 us 34.81 KHz
images: Half sample smooth GRAY (800x600) 44.06 us 22.70 KHz
images: Half sample smooth GRAY (1024x768) 78.59 us 12.72 KHz
images: Half sample smooth GRAY (1280x1024) 168.62 us 5.93 KHz
images: Half sample smooth RGB (160x120) 88.54 us 11.29 KHz
images: Half sample smooth RGB (320x240) 381.77 us 2.62 KHz
images: Half sample smooth RGB (640x480) 1.50 ms 665.62 Hz
images: Half sample smooth RGB (800x600) 2.40 ms 417.30 Hz
images: Half sample smooth RGB (1024x768) 3.77 ms 265.35 Hz
images: Half sample smooth RGB (1280x1024) 6.50 ms 153.82 Hz
images: RGB->GRAY 8u (40x30) 3.88 us 257.84 KHz
images: RGB->GRAY 8u (80x60) 2.89 us 345.89 KHz
images: RGB->GRAY 8u (160x120) 10.09 us 99.10 KHz
images: RGB->GRAY 8u (320x240) 39.97 us 25.02 KHz
images: RGB->GRAY 8u (640x480) 172.29 us 5.80 KHz
images: RGB->GRAY 8u (800x600) 303.41 us 3.30 KHz
images: RGB->GRAY 8u (1024x768) 645.96 us 1.55 KHz
images: RGB->GRAY 8u (1280x1024) 1.76 ms 569.41 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 17.29 us 57.84 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 16.49 us 60.66 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 9.72 us 102.89 KHz
feature_extraction [640x480]: Harris 31.46 ms 31.79 Hz
feature_extraction [640x480]: KLT 30.94 ms 32.32 Hz
feature_extraction [640x480]: SIFT 653.53 ms 1.53 Hz
feature_extraction [640x480]: SIFT desc. 210.38 ms 4.75 Hz
feature_extraction [640x480]: SURF 243.66 ms 4.10 Hz
feature_extraction [640x480]: FAST 6.32 ms 158.19 Hz
feature_extraction [640x480]: Spin desc. 45.12 ms 22.16 Hz
feature_matching [640x480]: Harris + CC 46.60 ms 21.46 Hz
feature_matching [640x480]: Harris + SAD 40.89 ms 24.46 Hz
feature_matching [640x480]: SIFT 1.28 sec 778.73 mHz
feature_matching [640x480]: SURF 502.54 ms 1.99 Hz
feature_matching [640x480]: FAST + CC 19.71 ms 50.74 Hz
feature_matching [640x480]: FAST + SAD 13.01 ms 76.86 Hz
graph(2d): insertEdge x 1e3 236.53 us 4.23 KHz
graph(2d,vec): insertEdge x 1e3 246.73 us 4.05 KHz
graph(2d): insertEdgeAtEnd x 1e3 218.81 us 4.57 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 209.21 us 4.78 KHz
graph(2d pdf): insertEdge x 1e3 329.87 us 3.03 KHz
graph(2d pdf,vec): insertEdge x 1e3 303.60 us 3.29 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 280.10 us 3.57 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 284.27 us 3.52 KHz
graph(2d): insertEdge x 1e4 2.72 ms 367.00 Hz
graph(2d,vec): insertEdge x 1e4 2.73 ms 366.67 Hz
graph(2d): insertEdgeAtEnd x 1e4 1.95 ms 512.34 Hz
graph(2d,vec): insertEdgeAtEnd x 1e4 1.92 ms 519.87 Hz
graph(2d pdf): insertEdge x 1e4 3.21 ms 311.68 Hz
graph(2d pdf,vec): insertEdge x 1e4 3.24 ms 308.83 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 3.23 ms 309.95 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 3.17 ms 314.97 Hz
graph(3d): insertEdge x 1e3 274.22 us 3.65 KHz
graph(3d,vec): insertEdge x 1e3 264.66 us 3.78 KHz
graph(3d): insertEdgeAtEnd x 1e3 263.97 us 3.79 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 267.33 us 3.74 KHz
graph(3d pdf): insertEdge x 1e3 589.01 us 1.70 KHz
graph(3d pdf,vec): insertEdge x 1e3 596.64 us 1.68 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 562.97 us 1.78 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 559.03 us 1.79 KHz
graph(3d): insertEdge x 1e4 3.23 ms 309.17 Hz
graph(3d,vec): insertEdge x 1e4 3.13 ms 319.30 Hz
graph(3d): insertEdgeAtEnd x 1e4 2.62 ms 381.66 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 2.55 ms 392.76 Hz
graph(3d pdf): insertEdge x 1e4 6.11 ms 163.57 Hz
graph(3d pdf,vec): insertEdge x 1e4 5.61 ms 178.36 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 5.21 ms 192.01 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 5.18 ms 192.88 Hz
graph(3d): dijkstra 1e2 nodes 156.43 us 6.39 KHz
graph(3d,vec): dijkstra 1e2 nodes 192.33 us 5.20 KHz
graph(3d): dijkstra 1e3 nodes 2.18 ms 459.11 Hz
graph(3d,vec): dijkstra 1e3 nodes 1.80 ms 555.25 Hz
graph(3d): dijkstra 1e4 nodes 26.67 ms 37.50 Hz
graph(3d,vec): dijkstra 1e4 nodes 22.83 ms 43.80 Hz
graph(3d): dijkstra 1e5 nodes 307.16 ms 3.26 Hz
graph(3d,vec): dijkstra 1e5 nodes 266.80 ms 3.75 Hz
graph(2d): dijkstra 1e5 nodes 302.10 ms 3.31 Hz
graph(2d,vec): dijkstra 1e5 nodes 262.78 ms 3.81 Hz

 


Page generated automatically at 2011/06/03,22:26:37.408401 with MRPT 0.9.4 by 'mrpt-performance'.