Results for: 0.9.3-GCC-64bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 20.90 ms 47.85 Hz
icp-slam (match grid): Run with sample dataset 18.76 ms 53.30 Hz
poses: CPose3D (+) CPose3D 41.67 ns 24.00 MHz
poses: CPose3D.composeFrom() 32.39 ns 30.87 MHz
poses: CPose3D (+) CPoint3D 8.02 ns 124.63 MHz
poses: CPose3D.composePoint() 11.53 ns 86.70 MHz
poses: CPoint3D (-) CPose3D 18.18 ns 54.99 MHz
poses: CPose3D.inverseComposePoint() 25.21 ns 39.66 MHz
poses: CPose2D (+) CPose2D 72.10 ns 13.87 MHz
poses: CPose2D.composeFrom() 69.22 ns 14.45 MHz
poses: CPose2D (+) CPoint2D 60.48 ns 16.53 MHz
poses: CPose2D.composePoint() 60.01 ns 16.66 MHz
poses: CPose3DQuat (+) CPose3DQuat 42.70 ns 23.42 MHz
poses: CPose3DQuat.composeFrom() 38.27 ns 26.13 MHz
poses: CPose3DQuat (+) CPoint3D 17.90 ns 55.85 MHz
poses: CPose3DQuat.composePoint() 18.44 ns 54.23 MHz
poses: CPoint3D (-) CPose3DQuat 33.31 ns 30.02 MHz
poses: CPose3DQuat.invcomposePoint() 19.52 ns 51.24 MHz
poses: Conv CPose3DQuat <- CPose3D 16.27 ns 61.45 MHz
poses: Conv CPose3D -> CPose3DQuat 169.77 ns 5.89 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 799.00 ns 1.25 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 788.50 ns 1.27 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 9.11 us 109.83 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 557.50 ns 1.79 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 558.50 ns 1.79 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 8.42 us 118.81 KHz
matrix: unit, dyn[float], 3x3 17.83 ns 56.07 MHz
matrix: unit, dyn[double], 3x3 19.48 ns 51.35 MHz
matrix: unit, dyn[float], 6x6 54.85 ns 18.23 MHz
matrix: unit, dyn[double], 6x6 55.93 ns 17.88 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] 1.50 ns 667.56 MHz
matrix: unit, fix[double,6,6] 5.61 ns 178.35 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 291.30 ns 3.43 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[double], 3x3 * 3x3 292.50 ns 3.42 MHz
matrix: multiply, fix[double], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x6 * 6x3 347.50 ns 2.88 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 0.00 ns 1.#J THz
matrix: multiply, dyn[double], 3x6 * 6x3 340.40 ns 2.94 MHz
matrix: multiply, fix[double], 3x6 * 6x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 10x40 * 40x10 2.42 us 413.19 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 2.23 us 448.19 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 2.31 us 432.69 KHz
matrix: multiply, fix[double], 10x40 * 40x10 2.12 us 471.08 KHz
matrix: inv, dyn[double] 3x3 780.00 ns 1.28 MHz
matrix: inv, fix[double] 3x3 0.00 ns 1.#J THz
matrix: inv, dyn[double] 6x6 1.97 us 507.10 KHz
matrix: inv, fix[double] 6x6 1.60 us 624.61 KHz
matrix: inv, dyn[double] 20x20 16.08 us 62.19 KHz
matrix: inv, fix[double] 20x20 14.48 us 69.08 KHz
matrix: inv, dyn[double] 40x40 65.78 us 15.20 KHz
matrix: inv, fix[double] 40x40 64.13 us 15.59 KHz
matrix: det, dyn[double] 2x2 212.60 ns 4.70 MHz
matrix: det, fix[double] 2x2 0.00 ns 1.#J THz
matrix: det, dyn[double] 3x3 323.30 ns 3.09 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 6x6 774.90 ns 1.29 MHz
matrix: det, fix[double] 6x6 592.30 ns 1.69 MHz
matrix: det, dyn[double] 20x20 8.50 us 117.63 KHz
matrix: det, fix[double] 20x20 7.72 us 129.53 KHz
matrix: det, dyn[double] 40x40 32.23 us 31.03 KHz
matrix: det, fix[double] 40x40 30.71 us 32.57 KHz
matrix: chol, dyn[double] 4x4 530.00 ns 1.89 MHz
matrix: chol, fix[double] 4x4 130.00 ns 7.69 MHz
matrix: chol, dyn[double] 40x40 22.98 us 43.52 KHz
matrix: chol, fix[double] 40x40 19.50 us 51.28 KHz
matrix: chol, sparse [2x2;2x2] 8.20 us 121.95 KHz
matrix: chol, sparse [30x30;10x10] 85.30 us 11.72 KHz
matrix: chol, dyn[double] 10x[6x6] 56.80 us 17.61 KHz
matrix: chol, sparse 10x[6x6] 39.31 us 25.44 KHz
matrix: chol, dyn[double] 20x[6x6] 266.80 us 3.75 KHz
matrix: chol, sparse 20x[6x6] 72.76 us 13.74 KHz
matrix: chol, dyn[double] 50x[6x6] 2.67 ms 374.53 Hz
matrix: chol, sparse 50x[6x6] 176.19 us 5.68 KHz
matrix: chol, dyn[double] 100x[6x6] 20.73 ms 48.23 Hz
matrix: chol, sparse 100x[6x6] 351.05 us 2.85 KHz
matrix: chol, dyn[double] 120x[6x6] 34.60 ms 28.90 Hz
matrix: chol, sparse 120x[6x6] 415.89 us 2.40 KHz
matrix: chol, dyn[double] 140x[6x6] 50.32 ms 19.87 Hz
matrix: chol, sparse 140x[6x6] 482.94 us 2.07 KHz
gridmap2D: getCell 0.00 ns 1.#J THz
gridmap2D: setCell 2.61 ns 383.63 MHz
gridmap2D: updateCell 6.99 ns 143.02 MHz
gridmap2D: updateCell_fast_occupied 0.51 ns 1.95 GHz
gridmap2D: insert scan w/o widening 102.59 us 9.75 KHz
gridmap2D: insert scan with widening 284.11 us 3.52 KHz
gridmap2D: resize 722.00 us 1.39 KHz
gridmap2D: computeLikelihood 15.69 us 63.72 KHz
pointmap: insert 100 scans 2.97 ms 337.06 Hz
pointmap: build 2D kd-tree of 1 scan 4.36 us 229.36 KHz
pointmap: build 2D kd-tree of 100 scan 357.08 us 2.80 KHz
pointmap: build 2D kd-tree of 1000 scan 4.19 ms 238.61 Hz
pointmap: build 3D kd-tree of 1 scan 4.72 us 211.86 KHz
pointmap: build 3D kd-tree of 100 scan 362.68 us 2.76 KHz
pointmap: build 3D kd-tree of 1000 scan 4.10 ms 244.09 Hz
pointmap: kd-tree 2d query on 10 scans 1.39 us 720.46 KHz
pointmap: kd-tree 2d query on 1000 scans 101.86 us 9.82 KHz
pointmap: kd-tree 2d query on 10000 scans 11.78 ms 84.92 Hz
pointmap: (insert scan+2D kd-tree query) x 10 5.62 ms 177.84 Hz
pointmap: (insert scan+2D kd-tree query) x 50 130.59 ms 7.66 Hz
pointmap: (insert scan+3D kd-tree query) x 10 5.69 ms 175.73 Hz
pointmap: (insert scan+3D kd-tree query) x 50 132.22 ms 7.56 Hz
random: drawUniform32bit 15.67 ns 63.82 MHz
random: drawUniform 15.66 ns 63.88 MHz
random: drawGaussian1D_normalized 69.89 ns 14.31 MHz
random: drawGaussian1D 69.86 ns 14.32 MHz
random: system rand() 12.21 ns 81.87 MHz
random: drawGaussianMultivariate(fixed 3x3) 2.70 us 370.49 KHz
random: drawGaussianMultivariate(dyn 3x3) 5.71 us 175.14 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 148.19 ns 6.75 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 232.46 ns 4.30 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 489.71 ns 2.04 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 159.54 ns 6.27 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 247.75 ns 4.04 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 521.91 ns 1.92 MHz
random: permuteVector (len=10) 251.30 ns 3.98 MHz
random: permuteVector (len=100) 3.02 us 331.46 KHz
random: permuteVector (len=1000) 30.36 us 32.93 KHz
math: round 0.10 ns 10.09 GHz
images: Save as JPEG (640x480, quality=95%) 34.14 ms 29.29 Hz
images: Save as JPEG (800x600, quality=95%) 49.83 ms 20.07 Hz
images: Save as JPEG (1024x768, quality=95%) 80.71 ms 12.39 Hz
images: Save as JPEG (640x480, quality=75%) 29.36 ms 34.05 Hz
images: Save as JPEG (800x600, quality=75%) 42.45 ms 23.56 Hz
images: Save as JPEG (1024x768, quality=75%) 65.41 ms 15.29 Hz
images: Gauss filter (640x480) 4.66 ms 214.40 Hz
images: Gauss filter (800x600) 5.98 ms 167.10 Hz
images: Gauss filter (1024x768) 10.42 ms 95.93 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 11.35 us 88.11 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 9.96 us 100.40 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 5.52 us 181.16 KHz
feature_extraction [640x480]: Harris 32.25 ms 31.01 Hz
feature_extraction [640x480]: KLT 25.60 ms 39.06 Hz
feature_extraction [640x480]: SIFT 630.91 ms 1.59 Hz
feature_extraction [640x480]: SIFT desc. 164.09 ms 6.09 Hz
feature_extraction [640x480]: SURF 207.64 ms 4.82 Hz
feature_extraction [640x480]: FAST 7.60 ms 131.57 Hz
feature_extraction [640x480]: Spin desc. 60.60 ms 16.50 Hz
feature_matching [640x480]: Harris + CC 43.99 ms 22.73 Hz
feature_matching [640x480]: Harris + SAD 36.29 ms 27.56 Hz
feature_matching [640x480]: SIFT 1.20 sec 834.47 mHz
feature_matching [640x480]: SURF 379.83 ms 2.63 Hz
feature_matching [640x480]: FAST + CC 16.04 ms 62.36 Hz
feature_matching [640x480]: FAST + SAD 10.85 ms 92.14 Hz
graph(2d): insertEdge x 1e3 119.99 us 8.33 KHz
graph(2d,vec): insertEdge x 1e3 107.18 us 9.33 KHz
graph(2d): insertEdgeAtEnd x 1e3 84.03 us 11.90 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 83.37 us 11.99 KHz
graph(2d pdf): insertEdge x 1e3 170.61 us 5.86 KHz
graph(2d pdf,vec): insertEdge x 1e3 181.61 us 5.51 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 179.02 us 5.59 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 178.59 us 5.60 KHz
graph(2d): insertEdge x 1e4 1.58 ms 632.00 Hz
graph(2d,vec): insertEdge x 1e4 1.26 ms 790.83 Hz
graph(2d): insertEdgeAtEnd x 1e4 863.38 us 1.16 KHz
graph(2d,vec): insertEdgeAtEnd x 1e4 846.12 us 1.18 KHz
graph(2d pdf): insertEdge x 1e4 1.96 ms 509.85 Hz
graph(2d pdf,vec): insertEdge x 1e4 2.25 ms 445.23 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 1.95 ms 511.72 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 1.95 ms 512.69 Hz
graph(3d): insertEdge x 1e3 169.26 us 5.91 KHz
graph(3d,vec): insertEdge x 1e3 168.78 us 5.93 KHz
graph(3d): insertEdgeAtEnd x 1e3 153.69 us 6.51 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 154.19 us 6.49 KHz
graph(3d pdf): insertEdge x 1e3 471.95 us 2.12 KHz
graph(3d pdf,vec): insertEdge x 1e3 479.58 us 2.09 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 441.33 us 2.27 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 445.05 us 2.25 KHz
graph(3d): insertEdge x 1e4 2.46 ms 407.06 Hz
graph(3d,vec): insertEdge x 1e4 2.46 ms 406.51 Hz
graph(3d): insertEdgeAtEnd x 1e4 1.70 ms 588.45 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 1.70 ms 587.97 Hz
graph(3d pdf): insertEdge x 1e4 6.68 ms 149.62 Hz
graph(3d pdf,vec): insertEdge x 1e4 6.75 ms 148.06 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 4.59 ms 218.07 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 4.58 ms 218.58 Hz
graph(3d): dijkstra 1e2 nodes 89.04 us 11.23 KHz
graph(3d,vec): dijkstra 1e2 nodes 75.33 us 13.28 KHz
graph(3d): dijkstra 1e3 nodes 1.11 ms 903.43 Hz
graph(3d,vec): dijkstra 1e3 nodes 711.20 us 1.41 KHz
graph(3d): dijkstra 1e4 nodes 18.54 ms 53.94 Hz
graph(3d,vec): dijkstra 1e4 nodes 9.76 ms 102.51 Hz
graph(3d): dijkstra 1e5 nodes 252.57 ms 3.96 Hz
graph(3d,vec): dijkstra 1e5 nodes 112.23 ms 8.91 Hz
graph(2d): dijkstra 1e5 nodes 256.02 ms 3.91 Hz
graph(2d,vec): dijkstra 1e5 nodes 106.16 ms 9.42 Hz

 


Page generated automatically at 2011/06/03,22:26:37.444403 with MRPT 0.9.4 by 'mrpt-performance'.