Results for: 0.9.4-MSVC10-32bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 37.14 ms 26.93 Hz
icp-slam (match grid): Run with sample dataset 36.34 ms 27.52 Hz
poses: CPose3D (+) CPose3D 197.08 ns 5.07 MHz
poses: CPose3D.composeFrom() 33.62 ns 29.74 MHz
poses: CPose3D (+) CPoint3D 25.13 ns 39.79 MHz
poses: CPose3D.composePoint() 21.31 ns 46.94 MHz
poses: CPoint3D (-) CPose3D 89.96 ns 11.12 MHz
poses: CPose3D.inverseComposePoint() 47.25 ns 21.17 MHz
poses: CPose2D (+) CPose2D 108.63 ns 9.21 MHz
poses: CPose2D.composeFrom() 94.77 ns 10.55 MHz
poses: CPose2D (+) CPoint2D 80.61 ns 12.41 MHz
poses: CPose2D.composePoint() 67.32 ns 14.85 MHz
poses: CPose3DQuat (+) CPose3DQuat 81.31 ns 12.30 MHz
poses: CPose3DQuat.composeFrom() 51.56 ns 19.39 MHz
poses: CPose3DQuat (+) CPoint3D 55.91 ns 17.89 MHz
poses: CPose3DQuat.composePoint() 32.73 ns 30.55 MHz
poses: CPoint3D (-) CPose3DQuat 124.02 ns 8.06 MHz
poses: CPose3DQuat.invcomposePoint() 30.61 ns 32.67 MHz
poses: Conv CPose3DQuat <- CPose3D 28.12 ns 35.56 MHz
poses: Conv CPose3D -> CPose3DQuat 216.84 ns 4.61 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 1.24 us 806.40 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 1.20 us 835.55 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 20.15 us 49.63 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 817.60 ns 1.22 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 823.40 ns 1.21 MHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 19.09 us 52.39 KHz
matrix: unit, dyn[float], 3x3 49.67 ns 20.13 MHz
matrix: unit, dyn[double], 3x3 50.90 ns 19.64 MHz
matrix: unit, dyn[float], 6x6 180.98 ns 5.53 MHz
matrix: unit, dyn[double], 6x6 177.90 ns 5.62 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] 6.63 ns 150.81 MHz
matrix: unit, fix[double,6,6] 8.86 ns 112.91 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 680.28 ns 1.47 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[double], 3x3 * 3x3 458.35 ns 2.18 MHz
matrix: multiply, fix[double], 3x3 * 3x3 0.00 ns 1.#J THz
matrix: multiply, dyn[float ], 3x6 * 6x3 680.46 ns 1.47 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 35.28 ns 28.34 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 514.01 ns 1.95 MHz
matrix: multiply, fix[double], 3x6 * 6x3 3.40 ns 294.39 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 5.18 us 193.06 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 4.56 us 219.44 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 3.79 us 263.78 KHz
matrix: multiply, fix[double], 10x40 * 40x10 2.92 us 342.06 KHz
matrix: inv, dyn[double] 3x3 1.50 us 665.44 KHz
matrix: inv, fix[double] 3x3 9.51 ns 105.14 MHz
matrix: inv, dyn[double] 6x6 3.90 us 256.17 KHz
matrix: inv, fix[double] 6x6 3.54 us 282.49 KHz
matrix: inv, dyn[double] 20x20 34.19 us 29.25 KHz
matrix: inv, fix[double] 20x20 29.35 us 34.07 KHz
matrix: inv, dyn[double] 40x40 134.24 us 7.45 KHz
matrix: inv, fix[double] 40x40 126.45 us 7.91 KHz
matrix: det, dyn[double] 2x2 601.74 ns 1.66 MHz
matrix: det, fix[double] 2x2 0.05 ns 22.08 GHz
matrix: det, dyn[double] 3x3 872.81 ns 1.15 MHz
matrix: det, fix[double] 3x3 0.00 ns 1.#J THz
matrix: det, dyn[double] 6x6 2.32 us 430.29 KHz
matrix: det, fix[double] 6x6 2.17 us 460.60 KHz
matrix: det, dyn[double] 20x20 23.14 us 43.22 KHz
matrix: det, fix[double] 20x20 21.38 us 46.78 KHz
matrix: det, dyn[double] 40x40 92.83 us 10.77 KHz
matrix: det, fix[double] 40x40 90.97 us 10.99 KHz
matrix: chol, dyn[double] 4x4 892.24 ns 1.12 MHz
matrix: chol, fix[double] 4x4 249.10 ns 4.01 MHz
matrix: chol, dyn[double] 40x40 41.12 us 24.32 KHz
matrix: chol, fix[double] 40x40 26.92 us 37.15 KHz
matrix: chol, sparse [2x2;2x2] 15.31 us 65.32 KHz
matrix: chol, sparse [30x30;10x10] 116.85 us 8.56 KHz
matrix: chol, dyn[double] 10x[6x6] 98.96 us 10.10 KHz
matrix: chol, sparse 10x[6x6] 55.18 us 18.12 KHz
matrix: chol, dyn[double] 20x[6x6] 498.07 us 2.01 KHz
matrix: chol, sparse 20x[6x6] 133.40 us 7.50 KHz
matrix: chol, dyn[double] 50x[6x6] 4.99 ms 200.30 Hz
matrix: chol, sparse 50x[6x6] 243.96 us 4.10 KHz
matrix: chol, dyn[double] 100x[6x6] 30.03 ms 33.31 Hz
matrix: chol, sparse 100x[6x6] 486.08 us 2.06 KHz
matrix: chol, dyn[double] 120x[6x6] 51.94 ms 19.25 Hz
matrix: chol, sparse 120x[6x6] 583.78 us 1.71 KHz
matrix: chol, dyn[double] 140x[6x6] 76.91 ms 13.00 Hz
matrix: chol, sparse 140x[6x6] 649.31 us 1.54 KHz
gridmap2D: getCell 6.44 ns 155.25 MHz
gridmap2D: setCell 9.52 ns 105.00 MHz
gridmap2D: updateCell 9.85 ns 101.55 MHz
gridmap2D: updateCell_fast_occupied 1.47 ns 679.40 MHz
gridmap2D: insert scan w/o widening 225.20 us 4.44 KHz
gridmap2D: insert scan with widening 365.80 us 2.73 KHz
gridmap2D: resize 2.56 ms 389.96 Hz
gridmap2D: computeLikelihood 21.14 us 47.30 KHz
pointmap: insert 100 scans 3.27 ms 305.75 Hz
pointmap: build 2D kd-tree of 1 scan 6.03 us 165.76 KHz
pointmap: build 2D kd-tree of 100 scan 579.42 us 1.73 KHz
pointmap: build 2D kd-tree of 1000 scan 6.14 ms 162.87 Hz
pointmap: build 3D kd-tree of 1 scan 6.68 us 149.59 KHz
pointmap: build 3D kd-tree of 100 scan 519.96 us 1.92 KHz
pointmap: build 3D kd-tree of 1000 scan 6.64 ms 150.68 Hz
pointmap: kd-tree 2d query on 10 scans 1.95 us 511.57 KHz
pointmap: kd-tree 2d query on 1000 scans 167.14 us 5.98 KHz
pointmap: kd-tree 2d query on 10000 scans 17.45 ms 57.30 Hz
pointmap: (insert scan+2D kd-tree query) x 10 9.11 ms 109.75 Hz
pointmap: (insert scan+2D kd-tree query) x 50 210.71 ms 4.75 Hz
pointmap: (insert scan+3D kd-tree query) x 10 8.38 ms 119.37 Hz
pointmap: (insert scan+3D kd-tree query) x 50 198.71 ms 5.03 Hz
random: drawUniform32bit 7.57 ns 132.11 MHz
random: drawUniform 7.60 ns 131.54 MHz
random: drawGaussian1D_normalized 58.48 ns 17.10 MHz
random: drawGaussian1D 57.62 ns 17.35 MHz
random: system rand() 29.43 ns 33.98 MHz
random: drawGaussianMultivariate(fixed 3x3) 2.95 us 339.21 KHz
random: drawGaussianMultivariate(dyn 3x3) 3.53 us 282.92 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 145.71 ns 6.86 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 227.37 ns 4.40 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 514.56 ns 1.94 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 170.42 ns 5.87 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 283.60 ns 3.53 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 661.22 ns 1.51 MHz
random: permuteVector (len=10) 304.45 ns 3.28 MHz
random: permuteVector (len=100) 3.47 us 288.42 KHz
random: permuteVector (len=1000) 37.99 us 26.33 KHz
math: round 0.00 ns 220.79 THz
images: Save as JPEG (640x480, quality=95%) 33.06 ms 30.25 Hz
images: Save as JPEG (800x600, quality=95%) 50.64 ms 19.75 Hz
images: Save as JPEG (1024x768, quality=95%) 82.66 ms 12.10 Hz
images: Save as JPEG (640x480, quality=75%) 27.36 ms 36.56 Hz
images: Save as JPEG (800x600, quality=75%) 43.25 ms 23.12 Hz
images: Save as JPEG (1024x768, quality=75%) 66.55 ms 15.03 Hz
images: Gauss filter (640x480) 5.57 ms 179.49 Hz
images: Gauss filter (800x600) 8.84 ms 113.10 Hz
images: Gauss filter (1024x768) 14.37 ms 69.58 Hz
images: Half sample GRAY (160x120) 1.63 us 612.18 KHz
images: Half sample GRAY (320x240) 4.13 us 241.92 KHz
images: Half sample GRAY (640x480) 19.15 us 52.22 KHz
images: Half sample GRAY (800x600) 31.65 us 31.59 KHz
images: Half sample GRAY (1024x768) 50.27 us 19.89 KHz
images: Half sample GRAY (1280x1024) 87.87 us 11.38 KHz
images: Half sample RGB (160x120) 3.54 us 282.58 KHz
images: Half sample RGB (320x240) 11.27 us 88.76 KHz
images: Half sample RGB (640x480) 57.50 us 17.39 KHz
images: Half sample RGB (800x600) 80.68 us 12.39 KHz
images: Half sample RGB (1024x768) 391.11 us 2.56 KHz
images: Half sample RGB (1280x1024) 826.49 us 1.21 KHz
images: Half sample smooth GRAY (160x120) 2.87 us 348.99 KHz
images: Half sample smooth GRAY (320x240) 8.64 us 115.70 KHz
images: Half sample smooth GRAY (640x480) 29.52 us 33.88 KHz
images: Half sample smooth GRAY (800x600) 66.07 us 15.14 KHz
images: Half sample smooth GRAY (1024x768) 90.65 us 11.03 KHz
images: Half sample smooth GRAY (1280x1024) 132.57 us 7.54 KHz
images: Half sample smooth RGB (160x120) 202.00 us 4.95 KHz
images: Half sample smooth RGB (320x240) 779.03 us 1.28 KHz
images: Half sample smooth RGB (640x480) 3.10 ms 323.08 Hz
images: Half sample smooth RGB (800x600) 4.82 ms 207.41 Hz
images: Half sample smooth RGB (1024x768) 8.63 ms 115.89 Hz
images: Half sample smooth RGB (1280x1024) 14.76 ms 67.77 Hz
images: RGB->GRAY 8u (40x30) 6.40 us 156.37 KHz
images: RGB->GRAY 8u (80x60) 4.33 us 230.95 KHz
images: RGB->GRAY 8u (160x120) 11.84 us 84.43 KHz
images: RGB->GRAY 8u (320x240) 44.50 us 22.47 KHz
images: RGB->GRAY 8u (640x480) 191.53 us 5.22 KHz
images: RGB->GRAY 8u (800x600) 350.56 us 2.85 KHz
images: RGB->GRAY 8u (1024x768) 968.81 us 1.03 KHz
images: RGB->GRAY 8u (1280x1024) 1.71 ms 584.85 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 21.97 us 45.52 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 22.01 us 45.44 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 12.71 us 78.69 KHz
feature_extraction [640x480]: Harris 38.32 ms 26.10 Hz
feature_extraction [640x480]: KLT 37.22 ms 26.87 Hz
feature_extraction [640x480]: SIFT 739.68 ms 1.35 Hz
feature_extraction [640x480]: SIFT desc. 232.95 ms 4.29 Hz
feature_extraction [640x480]: SURF 309.97 ms 3.23 Hz
feature_extraction [640x480]: FAST 6.88 ms 145.25 Hz
feature_extraction [640x480]: Spin desc. 88.28 ms 11.33 Hz
feature_matching [640x480]: Harris + CC 59.68 ms 16.76 Hz
feature_matching [640x480]: Harris + SAD 58.57 ms 17.07 Hz
feature_matching [640x480]: SIFT 1.50 sec 668.02 mHz
feature_matching [640x480]: SURF 621.62 ms 1.61 Hz
feature_matching [640x480]: FAST + CC 21.69 ms 46.10 Hz
feature_matching [640x480]: FAST + SAD 12.64 ms 79.13 Hz
graph(2d): insertEdge x 1e3 301.62 us 3.32 KHz
graph(2d,vec): insertEdge x 1e3 298.86 us 3.35 KHz
graph(2d): insertEdgeAtEnd x 1e3 274.69 us 3.64 KHz
graph(2d,vec): insertEdgeAtEnd x 1e3 270.21 us 3.70 KHz
graph(2d pdf): insertEdge x 1e3 415.87 us 2.40 KHz
graph(2d pdf,vec): insertEdge x 1e3 406.59 us 2.46 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 377.54 us 2.65 KHz
graph(2d pdf,vec): insertEdgeAtEnd x 1e3 379.45 us 2.64 KHz
graph(2d): insertEdge x 1e4 4.14 ms 241.59 Hz
graph(2d,vec): insertEdge x 1e4 4.00 ms 250.06 Hz
graph(2d): insertEdgeAtEnd x 1e4 2.94 ms 339.77 Hz
graph(2d,vec): insertEdgeAtEnd x 1e4 2.89 ms 345.69 Hz
graph(2d pdf): insertEdge x 1e4 4.77 ms 209.57 Hz
graph(2d pdf,vec): insertEdge x 1e4 4.86 ms 205.59 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 4.05 ms 246.64 Hz
graph(2d pdf,vec): insertEdgeAtEnd x 1e4 4.21 ms 237.52 Hz
graph(3d): insertEdge x 1e3 381.69 us 2.62 KHz
graph(3d,vec): insertEdge x 1e3 407.21 us 2.46 KHz
graph(3d): insertEdgeAtEnd x 1e3 339.57 us 2.94 KHz
graph(3d,vec): insertEdgeAtEnd x 1e3 334.55 us 2.99 KHz
graph(3d pdf): insertEdge x 1e3 688.91 us 1.45 KHz
graph(3d pdf,vec): insertEdge x 1e3 684.69 us 1.46 KHz
graph(3d pdf): insertEdgeAtEnd x 1e3 683.24 us 1.46 KHz
graph(3d pdf,vec): insertEdgeAtEnd x 1e3 684.37 us 1.46 KHz
graph(3d): insertEdge x 1e4 3.89 ms 257.39 Hz
graph(3d,vec): insertEdge x 1e4 3.79 ms 263.81 Hz
graph(3d): insertEdgeAtEnd x 1e4 3.59 ms 278.91 Hz
graph(3d,vec): insertEdgeAtEnd x 1e4 3.52 ms 284.28 Hz
graph(3d pdf): insertEdge x 1e4 7.80 ms 128.15 Hz
graph(3d pdf,vec): insertEdge x 1e4 7.81 ms 128.11 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 7.49 ms 133.45 Hz
graph(3d pdf,vec): insertEdgeAtEnd x 1e4 7.57 ms 132.15 Hz
graph(3d): dijkstra 1e2 nodes 213.16 us 4.69 KHz
graph(3d,vec): dijkstra 1e2 nodes 311.59 us 3.21 KHz
graph(3d): dijkstra 1e3 nodes 2.57 ms 389.66 Hz
graph(3d,vec): dijkstra 1e3 nodes 2.70 ms 370.20 Hz
graph(3d): dijkstra 1e4 nodes 31.29 ms 31.96 Hz
graph(3d,vec): dijkstra 1e4 nodes 32.92 ms 30.38 Hz
graph(3d): dijkstra 1e5 nodes 393.68 ms 2.54 Hz
graph(3d,vec): dijkstra 1e5 nodes 385.61 ms 2.59 Hz
graph(2d): dijkstra 1e5 nodes 380.30 ms 2.63 Hz
graph(2d,vec): dijkstra 1e5 nodes 376.84 ms 2.65 Hz

 


Page generated automatically at 2011/06/03,22:26:37.418402 with MRPT 0.9.4 by 'mrpt-performance'.