Results for: 0.9.1-MSVC-32bit




Test description Execution timeExecution rate (Hz)
icp-slam (match points): Run with sample dataset 31.78 ms 31.46 Hz
icp-slam (match grid): Run with sample dataset 53.70 ms 18.62 Hz
poses: CPose3D (+) CPose3D 925.38 ns 1.08 MHz
poses: CPose3D.composeFrom() 617.00 ns 1.62 MHz
poses: CPose3D (+) CPoint3D 35.98 ns 27.80 MHz
poses: CPose3D.composePoint() 14.62 ns 68.42 MHz
poses: CPoint3D (-) CPose3D 75.43 ns 13.26 MHz
poses: CPose3D.inverseComposePoint() 56.48 ns 17.70 MHz
poses: CPose2D (+) CPose2D 121.60 ns 8.22 MHz
poses: CPose2D.composeFrom() 66.63 ns 15.01 MHz
poses: CPose2D (+) CPoint2D 93.73 ns 10.67 MHz
poses: CPose2D.composePoint() 62.24 ns 16.07 MHz
poses: CPose3DQuat (+) CPose3DQuat 100.74 ns 9.93 MHz
poses: CPose3DQuat.composeFrom() 57.92 ns 17.26 MHz
poses: CPose3DQuat (+) CPoint3D 61.33 ns 16.31 MHz
poses: CPose3DQuat.composePoint() 27.34 ns 36.57 MHz
poses: CPoint3D (-) CPose3DQuat 580.67 ns 1.72 MHz
poses: CPose3DQuat.invcomposePoint() 28.18 ns 35.48 MHz
poses: Conv CPose3DQuat <- CPose3D 506.67 ns 1.97 MHz
poses: Conv CPose3D -> CPose3DQuat 214.86 ns 4.65 MHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF) 1.56 us 642.96 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin) 1.51 us 663.83 KHz
poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT) 23.29 us 42.94 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF) 1.64 us 609.77 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin) 1.66 us 600.84 KHz
poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT) 16.05 us 62.32 KHz
matrix: unit, dyn[float], 3x3 39.66 ns 25.22 MHz
matrix: unit, dyn[double], 3x3 42.75 ns 23.39 MHz
matrix: unit, dyn[float], 6x6 152.29 ns 6.57 MHz
matrix: unit, dyn[double], 6x6 150.45 ns 6.65 MHz
matrix: unit, fix[float,3,3] 3.30 ns 303.37 MHz
matrix: unit, fix[double,3,3] 3.48 ns 287.56 MHz
matrix: unit, fix[float,6,6] 3.06 ns 327.19 MHz
matrix: unit, fix[double,6,6] 6.65 ns 150.48 MHz
matrix: multiply, dyn[float ], 3x3 * 3x3 167.81 ns 5.96 MHz
matrix: multiply, fix[float ], 3x3 * 3x3 108.61 ns 9.21 MHz
matrix: multiply, dyn[double], 3x3 * 3x3 158.88 ns 6.29 MHz
matrix: multiply, fix[double], 3x3 * 3x3 90.86 ns 11.01 MHz
matrix: multiply, dyn[float ], 3x6 * 6x3 272.47 ns 3.67 MHz
matrix: multiply, fix[float ], 3x6 * 6x3 193.12 ns 5.18 MHz
matrix: multiply, dyn[double], 3x6 * 6x3 238.91 ns 4.19 MHz
matrix: multiply, fix[double], 3x6 * 6x3 139.05 ns 7.19 MHz
matrix: multiply, dyn[float ], 10x40 * 40x10 16.80 us 59.51 KHz
matrix: multiply, fix[float ], 10x40 * 40x10 13.06 us 76.57 KHz
matrix: multiply, dyn[double], 10x40 * 40x10 13.55 us 73.81 KHz
matrix: multiply, fix[double], 10x40 * 40x10 9.96 us 100.40 KHz
matrix: inv, dyn[float ] 3x3 1.50 us 665.84 KHz
matrix: inv, fix[float ] 3x3 59.79 ns 16.73 MHz
matrix: inv, dyn[double] 3x3 1.53 us 652.84 KHz
matrix: inv, fix[double] 3x3 31.25 ns 32.00 MHz
matrix: inv, dyn[float ] 6x6 5.07 us 197.26 KHz
matrix: inv, fix[float ] 6x6 1.33 us 749.46 KHz
matrix: inv, dyn[double] 6x6 5.08 us 196.68 KHz
matrix: inv, fix[double] 6x6 926.67 ns 1.08 MHz
matrix: inv, dyn[float ] 20x20 81.86 us 12.22 KHz
matrix: inv, fix[float ] 20x20 40.71 us 24.56 KHz
matrix: inv, dyn[double] 20x20 108.60 us 9.21 KHz
matrix: inv, fix[double] 20x20 19.22 us 52.02 KHz
matrix: inv, dyn[float ] 40x40 609.15 us 1.64 KHz
matrix: inv, fix[float ] 40x40 307.68 us 3.25 KHz
matrix: inv, dyn[double] 40x40 818.27 us 1.22 KHz
matrix: inv, fix[double] 40x40 136.18 us 7.34 KHz
matrix: det, dyn[float ] 2x2 9.15 ns 109.30 MHz
matrix: det, fix[float ] 2x2 0.00 ns inf THz
matrix: det, dyn[double] 2x2 9.56 ns 104.64 MHz
matrix: det, fix[double] 2x2 0.00 ns inf THz
matrix: det, dyn[float ] 3x3 19.70 ns 50.76 MHz
matrix: det, fix[float ] 3x3 0.00 ns inf THz
matrix: det, dyn[double] 3x3 15.90 ns 62.90 MHz
matrix: det, fix[double] 3x3 0.00 ns inf THz
matrix: det, dyn[float ] 6x6 2.32 us 431.38 KHz
matrix: det, fix[float ] 6x6 434.76 ns 2.30 MHz
matrix: det, dyn[double] 6x6 2.38 us 420.40 KHz
matrix: det, fix[double] 6x6 422.89 ns 2.36 MHz
matrix: det, dyn[float ] 20x20 18.34 us 54.54 KHz
matrix: det, fix[float ] 20x20 9.85 us 101.56 KHz
matrix: det, dyn[double] 20x20 18.19 us 54.99 KHz
matrix: det, fix[double] 20x20 6.52 us 153.30 KHz
matrix: det, dyn[float ] 40x40 111.92 us 8.93 KHz
matrix: det, fix[float ] 40x40 63.43 us 15.77 KHz
matrix: det, dyn[double] 40x40 114.84 us 8.71 KHz
matrix: det, fix[double] 40x40 36.00 us 27.78 KHz
matrix: chol, dyn[double] 4x4 185.70 ns 5.39 MHz
matrix: chol, fix[double] 4x4 113.23 ns 8.83 MHz
matrix: chol, dyn[double] 40x40 24.43 us 40.93 KHz
matrix: chol, fix[double] 40x40 17.73 us 56.40 KHz
matrix: chol, sparse [2x2;2x2] 10.78 us 92.77 KHz
matrix: chol, sparse [30x30;10x10] 117.89 us 8.48 KHz
matrix: chol, dyn[double] 10x[6x6] 70.52 us 14.18 KHz
matrix: chol, sparse 10x[6x6] 52.59 us 19.02 KHz
matrix: chol, dyn[double] 20x[6x6] 491.10 us 2.04 KHz
matrix: chol, sparse 20x[6x6] 85.83 us 11.65 KHz
matrix: chol, dyn[double] 50x[6x6] 9.44 ms 105.88 Hz
matrix: chol, sparse 50x[6x6] 204.52 us 4.89 KHz
matrix: chol, dyn[double] 100x[6x6] 150.13 ms 6.66 Hz
matrix: chol, sparse 100x[6x6] 415.58 us 2.41 KHz
matrix: chol, dyn[double] 120x[6x6] 461.43 ms 2.17 Hz
matrix: chol, sparse 120x[6x6] 484.92 us 2.06 KHz
matrix: chol, dyn[double] 140x[6x6] 947.45 ms 1.06 Hz
matrix: chol, sparse 140x[6x6] 586.44 us 1.71 KHz
gridmap2D: getCell 5.77 ns 173.23 MHz
gridmap2D: setCell 7.96 ns 125.64 MHz
gridmap2D: updateCell 10.80 ns 92.58 MHz
gridmap2D: updateCell_fast_occupied 1.21 ns 826.59 MHz
gridmap2D: insert scan w/o widening 204.23 us 4.90 KHz
gridmap2D: insert scan with widening 344.40 us 2.90 KHz
gridmap2D: resize 2.62 ms 381.93 Hz
gridmap2D: computeLikelihood 18.59 us 53.79 KHz
pointmap: insert 100 scans 5.62 ms 178.02 Hz
pointmap: build 2D kd-tree of 1 scan 6.21 us 160.93 KHz
pointmap: build 2D kd-tree of 100 scan 511.81 us 1.95 KHz
pointmap: build 2D kd-tree of 1000 scan 5.59 ms 178.86 Hz
pointmap: build 3D kd-tree of 1 scan 7.23 us 138.34 KHz
pointmap: build 3D kd-tree of 100 scan 523.10 us 1.91 KHz
pointmap: build 3D kd-tree of 1000 scan 5.77 ms 173.21 Hz
pointmap: kd-tree 2d query on 10 scans 2.05 us 487.07 KHz
pointmap: kd-tree 2d query on 1000 scans 140.79 us 7.10 KHz
pointmap: kd-tree 2d query on 10000 scans 15.17 ms 65.91 Hz
pointmap: (insert scan+2D kd-tree query) x 10 8.69 ms 115.01 Hz
pointmap: (insert scan+2D kd-tree query) x 50 196.44 ms 5.09 Hz
pointmap: (insert scan+3D kd-tree query) x 10 8.73 ms 114.60 Hz
pointmap: (insert scan+3D kd-tree query) x 50 198.48 ms 5.04 Hz
random: drawUniform32bit 7.29 ns 137.11 MHz
random: drawUniform 7.33 ns 136.49 MHz
random: drawGaussian1D_normalized 51.27 ns 19.50 MHz
random: drawGaussian1D 51.74 ns 19.33 MHz
random: system rand() 29.39 ns 34.03 MHz
random: drawGaussianMultivariate(fixed 3x3) 2.64 us 378.48 KHz
random: drawGaussianMultivariate(dyn 3x3) 8.53 us 117.18 KHz
random: drawGaussianMultivariateMany(fixed 2x2, 1000) 215.16 ns 4.65 MHz
random: drawGaussianMultivariateMany(fixed 3x3, 1000) 359.98 ns 2.78 MHz
random: drawGaussianMultivariateMany(fixed 6x6, 1000) 732.12 ns 1.37 MHz
random: drawGaussianMultivariateMany(dyn 2x2, 1000) 213.59 ns 4.68 MHz
random: drawGaussianMultivariateMany(dyn 3x3, 1000) 339.30 ns 2.95 MHz
random: drawGaussianMultivariateMany(dyn 6x6, 1000) 760.92 ns 1.31 MHz
random: permuteVector (len=10) 411.34 ns 2.43 MHz
random: permuteVector (len=100) 3.59 us 278.70 KHz
random: permuteVector (len=1000) 34.34 us 29.12 KHz
math: round 0.00 ns inf THz
images: Save as JPEG (640x480, quality=95%) 27.92 ms 35.81 Hz
images: Save as JPEG (800x600, quality=95%) 43.53 ms 22.97 Hz
images: Save as JPEG (1024x768, quality=95%) 70.76 ms 14.13 Hz
images: Save as JPEG (640x480, quality=75%) 23.43 ms 42.67 Hz
images: Save as JPEG (800x600, quality=75%) 36.52 ms 27.39 Hz
images: Save as JPEG (1024x768, quality=75%) 59.82 ms 16.72 Hz
images: Gauss filter (640x480) 6.68 ms 149.74 Hz
images: Gauss filter (800x600) 8.62 ms 116.03 Hz
images: Gauss filter (1024x768) 14.49 ms 69.01 Hz
scan_matching: 6D LS Rigid Trans. [CPose3D] 21.12 us 47.34 KHz
scan_matching: 6D LS Rigid Trans. [CPose3DQuat] 19.36 us 51.65 KHz
scan_matching: 6D LS Rigid Trans. [vector of points] 6.24 us 160.34 KHz
feature_extraction [640x480]: Harris 40.83 ms 24.49 Hz
feature_extraction [640x480]: KLT 33.62 ms 29.75 Hz
feature_extraction [640x480]: SIFT 705.28 ms 1.42 Hz
feature_extraction [640x480]: SIFT desc. 214.22 ms 4.67 Hz
feature_extraction [640x480]: SURF 326.57 ms 3.06 Hz
feature_extraction [640x480]: FAST 7.69 ms 130.08 Hz
feature_extraction [640x480]: Spin desc. 105.90 ms 9.44 Hz
feature_matching [640x480]: Harris + CC 57.67 ms 17.34 Hz
feature_matching [640x480]: Harris + SAD 50.27 ms 19.89 Hz
feature_matching [640x480]: SIFT 1.38 sec 724.62 mHz
feature_matching [640x480]: SURF 618.66 ms 1.62 Hz
feature_matching [640x480]: FAST + CC 22.11 ms 45.22 Hz
feature_matching [640x480]: FAST + SAD 14.58 ms 68.57 Hz
graph(2d): insertEdge x 1e3 354.58 us 2.82 KHz
graph(2d): insertEdgeAtEnd x 1e3 284.04 us 3.52 KHz
graph(2d pdf): insertEdge x 1e3 549.28 us 1.82 KHz
graph(2d pdf): insertEdgeAtEnd x 1e3 452.79 us 2.21 KHz
graph(2d): insertEdge x 1e4 3.86 ms 259.12 Hz
graph(2d): insertEdgeAtEnd x 1e4 2.88 ms 347.75 Hz
graph(2d pdf): insertEdge x 1e4 5.74 ms 174.28 Hz
graph(2d pdf): insertEdgeAtEnd x 1e4 4.44 ms 225.33 Hz
graph(3d): insertEdge x 1e3 1.35 ms 743.07 Hz
graph(3d): insertEdgeAtEnd x 1e3 1.09 ms 917.96 Hz
graph(3d pdf): insertEdge x 1e3 1.74 ms 573.66 Hz
graph(3d pdf): insertEdgeAtEnd x 1e3 1.46 ms 683.28 Hz
graph(3d): insertEdge x 1e4 13.92 ms 71.86 Hz
graph(3d): insertEdgeAtEnd x 1e4 11.12 ms 89.92 Hz
graph(3d pdf): insertEdge x 1e4 17.58 ms 56.89 Hz
graph(3d pdf): insertEdgeAtEnd x 1e4 14.12 ms 70.81 Hz

 


Page generated automatically at 2010/12/18,14:13:40.081160 with MRPT 0.9.3 by 'mrpt-performance'.