<html><head><title>mrpt-performance results</title></head><body> <div align="center"><h3>Results</h3></div><br><div align="center"><table border="1"> <tr> <td align="center"><b>Test description</b></td> <td align="center"><b>Execution time</b></td><td align="center"><b>Execution rate (Hz)</b></td> </tr> <tr> <td>icp-slam (match points): Run with sample dataset</td> <td align="right">20.10 ms</td> <td align="right">49.76 Hz</td> </tr> <tr> <td>icp-slam (match grid): Run with sample dataset</td> <td align="right">20.65 ms</td> <td align="right">48.43 Hz</td> </tr> <tr> <td>poses: CPose3D (+) CPose3D</td> <td align="right">48.78 ns</td> <td align="right">20.50 MHz</td> </tr> <tr> <td>poses: CPose3D.composeFrom()</td> <td align="right">31.04 ns</td> <td align="right">32.22 MHz</td> </tr> <tr> <td>poses: CPose3D (+) CPoint3D</td> <td align="right">10.51 ns</td> <td align="right">95.17 MHz</td> </tr> <tr> <td>poses: CPose3D.composePoint()</td> <td align="right">18.30 ns</td> <td align="right">54.64 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3D</td> <td align="right">130.15 ns</td> <td align="right">7.68 MHz</td> </tr> <tr> <td>poses: CPose3D.inverseComposePoint()</td> <td align="right">130.82 ns</td> <td align="right">7.64 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPose2D</td> <td align="right">91.34 ns</td> <td align="right">10.95 MHz</td> </tr> <tr> <td>poses: CPose2D.composeFrom()</td> <td align="right">62.17 ns</td> <td align="right">16.08 MHz</td> </tr> <tr> <td>poses: CPose2D (+) CPoint2D</td> <td align="right">63.86 ns</td> <td align="right">15.66 MHz</td> </tr> <tr> <td>poses: CPose2D.composePoint()</td> <td align="right">61.43 ns</td> <td align="right">16.28 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPose3DQuat</td> <td align="right">46.65 ns</td> <td align="right">21.44 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composeFrom()</td> <td align="right">39.38 ns</td> <td align="right">25.39 MHz</td> </tr> <tr> <td>poses: CPose3DQuat (+) CPoint3D</td> <td align="right">22.89 ns</td> <td align="right">43.69 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.composePoint()</td> <td align="right">17.94 ns</td> <td align="right">55.74 MHz</td> </tr> <tr> <td>poses: CPoint3D (-) CPose3DQuat </td> <td align="right">478.14 ns</td> <td align="right">2.09 MHz</td> </tr> <tr> <td>poses: CPose3DQuat.invcomposePoint()</td> <td align="right">17.67 ns</td> <td align="right">56.61 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat <- CPose3D</td> <td align="right">349.62 ns</td> <td align="right">2.86 MHz</td> </tr> <tr> <td>poses: Conv CPose3D -> CPose3DQuat</td> <td align="right">172.17 ns</td> <td align="right">5.81 MHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (DEF)</td> <td align="right">798.93 us</td> <td align="right">1.25 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (Lin)</td> <td align="right">796.59 us</td> <td align="right">1.26 KHz</td> </tr> <tr> <td>poses: Conv CPose3DQuat Gauss <- CPose3D Gauss (SUT)</td> <td align="right">9.48 us</td> <td align="right">105.46 KHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (DEF)</td> <td align="right">527.00 ns</td> <td align="right">1.90 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (Lin)</td> <td align="right">525.70 ns</td> <td align="right">1.90 MHz</td> </tr> <tr> <td>poses: Conv CPose3D Gauss <- CPose3DQuat Gauss (SUT)</td> <td align="right">8.29 us</td> <td align="right">120.67 KHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 3x3</td> <td align="right">20.14 ns</td> <td align="right">49.66 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 3x3</td> <td align="right">19.37 ns</td> <td align="right">51.62 MHz</td> </tr> <tr> <td>matrix: unit, dyn[float], 6x6</td> <td align="right">54.21 ns</td> <td align="right">18.45 MHz</td> </tr> <tr> <td>matrix: unit, dyn[double], 6x6</td> <td align="right">56.30 ns</td> <td align="right">17.76 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,3,3]</td> <td align="right">0.35 ns</td> <td align="right">2.89 GHz</td> </tr> <tr> <td>matrix: unit, fix[double,3,3]</td> <td align="right">1.20 ns</td> <td align="right">831.26 MHz</td> </tr> <tr> <td>matrix: unit, fix[float,6,6]</td> <td align="right">1.68 ns</td> <td align="right">594.53 MHz</td> </tr> <tr> <td>matrix: unit, fix[double,6,6]</td> <td align="right">2.78 ns</td> <td align="right">359.97 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x3 * 3x3</td> <td align="right">72.90 ns</td> <td align="right">13.72 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x3 * 3x3</td> <td align="right">23.80 ns</td> <td align="right">42.02 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x3 * 3x3</td> <td align="right">77.10 ns</td> <td align="right">12.97 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x3 * 3x3</td> <td align="right">23.60 ns</td> <td align="right">42.37 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 3x6 * 6x3</td> <td align="right">110.90 ns</td> <td align="right">9.02 MHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 3x6 * 6x3</td> <td align="right">44.80 ns</td> <td align="right">22.32 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 3x6 * 6x3</td> <td align="right">113.40 ns</td> <td align="right">8.82 MHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 3x6 * 6x3</td> <td align="right">45.20 ns</td> <td align="right">22.12 MHz</td> </tr> <tr> <td>matrix: multiply, dyn[float ], 10x40 * 40x10</td> <td align="right">5.20 us</td> <td align="right">192.37 KHz</td> </tr> <tr> <td>matrix: multiply, fix[float ], 10x40 * 40x10</td> <td align="right">3.55 us</td> <td align="right">281.80 KHz</td> </tr> <tr> <td>matrix: multiply, dyn[double], 10x40 * 40x10</td> <td align="right">5.19 us</td> <td align="right">192.75 KHz</td> </tr> <tr> <td>matrix: multiply, fix[double], 10x40 * 40x10</td> <td align="right">3.55 us</td> <td align="right">282.06 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 3x3</td> <td align="right">341.00 ns</td> <td align="right">2.93 MHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 3x3</td> <td align="right">20.00 ns</td> <td align="right">50.00 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 3x3</td> <td align="right">331.00 ns</td> <td align="right">3.02 MHz</td> </tr> <tr> <td>matrix: inv, fix[double] 3x3</td> <td align="right">21.00 ns</td> <td align="right">47.62 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 6x6</td> <td align="right">1.26 us</td> <td align="right">796.81 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 6x6</td> <td align="right">466.00 ns</td> <td align="right">2.15 MHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 6x6</td> <td align="right">1.27 us</td> <td align="right">788.64 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 6x6</td> <td align="right">595.00 ns</td> <td align="right">1.68 MHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 20x20</td> <td align="right">25.54 us</td> <td align="right">39.16 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 20x20</td> <td align="right">12.33 us</td> <td align="right">81.12 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 20x20</td> <td align="right">25.73 us</td> <td align="right">38.87 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 20x20</td> <td align="right">16.78 us</td> <td align="right">59.60 KHz</td> </tr> <tr> <td>matrix: inv, dyn[float ] 40x40</td> <td align="right">191.70 us</td> <td align="right">5.22 KHz</td> </tr> <tr> <td>matrix: inv, fix[float ] 40x40</td> <td align="right">89.08 us</td> <td align="right">11.23 KHz</td> </tr> <tr> <td>matrix: inv, dyn[double] 40x40</td> <td align="right">188.85 us</td> <td align="right">5.30 KHz</td> </tr> <tr> <td>matrix: inv, fix[double] 40x40</td> <td align="right">124.58 us</td> <td align="right">8.03 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 2x2</td> <td align="right">6.40 ns</td> <td align="right">156.25 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 2x2</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[double] 2x2</td> <td align="right">6.40 ns</td> <td align="right">156.25 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 2x2</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[float ] 3x3</td> <td align="right">10.30 ns</td> <td align="right">97.09 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 3x3</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[double] 3x3</td> <td align="right">10.30 ns</td> <td align="right">97.09 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 3x3</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>matrix: det, dyn[float ] 6x6</td> <td align="right">687.90 ns</td> <td align="right">1.45 MHz</td> </tr> <tr> <td>matrix: det, fix[float ] 6x6</td> <td align="right">206.20 ns</td> <td align="right">4.85 MHz</td> </tr> <tr> <td>matrix: det, dyn[double] 6x6</td> <td align="right">709.40 ns</td> <td align="right">1.41 MHz</td> </tr> <tr> <td>matrix: det, fix[double] 6x6</td> <td align="right">211.00 ns</td> <td align="right">4.74 MHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 20x20</td> <td align="right">5.22 us</td> <td align="right">191.41 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 20x20</td> <td align="right">4.00 us</td> <td align="right">250.13 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 20x20</td> <td align="right">6.36 us</td> <td align="right">157.33 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 20x20</td> <td align="right">4.69 us</td> <td align="right">213.18 KHz</td> </tr> <tr> <td>matrix: det, dyn[float ] 40x40</td> <td align="right">30.13 us</td> <td align="right">33.19 KHz</td> </tr> <tr> <td>matrix: det, fix[float ] 40x40</td> <td align="right">26.00 us</td> <td align="right">38.46 KHz</td> </tr> <tr> <td>matrix: det, dyn[double] 40x40</td> <td align="right">31.99 us</td> <td align="right">31.26 KHz</td> </tr> <tr> <td>matrix: det, fix[double] 40x40</td> <td align="right">27.03 us</td> <td align="right">37.00 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 4x4</td> <td align="right">130.00 ns</td> <td align="right">7.69 MHz</td> </tr> <tr> <td>matrix: chol, fix[double] 4x4</td> <td align="right">170.00 ns</td> <td align="right">5.88 MHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 40x40</td> <td align="right">18.30 us</td> <td align="right">54.64 KHz</td> </tr> <tr> <td>matrix: chol, fix[double] 40x40</td> <td align="right">16.66 us</td> <td align="right">60.02 KHz</td> </tr> <tr> <td>matrix: chol, sparse [2x2;2x2]</td> <td align="right">8.00 us</td> <td align="right">125.00 KHz</td> </tr> <tr> <td>matrix: chol, sparse [30x30;10x10]</td> <td align="right">84.30 us</td> <td align="right">11.86 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 10x[6x6]</td> <td align="right">52.70 us</td> <td align="right">18.98 KHz</td> </tr> <tr> <td>matrix: chol, sparse 10x[6x6]</td> <td align="right">39.44 us</td> <td align="right">25.35 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 20x[6x6]</td> <td align="right">411.30 us</td> <td align="right">2.43 KHz</td> </tr> <tr> <td>matrix: chol, sparse 20x[6x6]</td> <td align="right">74.83 us</td> <td align="right">13.36 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 50x[6x6]</td> <td align="right">8.53 ms</td> <td align="right">117.21 Hz</td> </tr> <tr> <td>matrix: chol, sparse 50x[6x6]</td> <td align="right">176.58 us</td> <td align="right">5.66 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 100x[6x6]</td> <td align="right">133.33 ms</td> <td align="right">7.50 Hz</td> </tr> <tr> <td>matrix: chol, sparse 100x[6x6]</td> <td align="right">345.74 us</td> <td align="right">2.89 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 120x[6x6]</td> <td align="right">355.42 ms</td> <td align="right">2.81 Hz</td> </tr> <tr> <td>matrix: chol, sparse 120x[6x6]</td> <td align="right">413.02 us</td> <td align="right">2.42 KHz</td> </tr> <tr> <td>matrix: chol, dyn[double] 140x[6x6]</td> <td align="right">776.92 ms</td> <td align="right">1.29 Hz</td> </tr> <tr> <td>matrix: chol, sparse 140x[6x6]</td> <td align="right">488.58 us</td> <td align="right">2.05 KHz</td> </tr> <tr> <td>gridmap2D: getCell</td> <td align="right">0.00 ns</td> <td align="right">inf THz</td> </tr> <tr> <td>gridmap2D: setCell</td> <td align="right">2.58 ns</td> <td align="right">386.85 MHz</td> </tr> <tr> <td>gridmap2D: updateCell</td> <td align="right">7.45 ns</td> <td align="right">134.17 MHz</td> </tr> <tr> <td>gridmap2D: updateCell_fast_occupied</td> <td align="right">0.55 ns</td> <td align="right">1.82 GHz</td> </tr> <tr> <td>gridmap2D: insert scan w/o widening</td> <td align="right">101.95 us</td> <td align="right">9.81 KHz</td> </tr> <tr> <td>gridmap2D: insert scan with widening</td> <td align="right">290.01 us</td> <td align="right">3.45 KHz</td> </tr> <tr> <td>gridmap2D: resize</td> <td align="right">1.81 ms</td> <td align="right">553.10 Hz</td> </tr> <tr> <td>gridmap2D: computeLikelihood</td> <td align="right">16.28 us</td> <td align="right">61.42 KHz</td> </tr> <tr> <td>pointmap: insert 100 scans</td> <td align="right">3.05 ms</td> <td align="right">327.40 Hz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1 scan</td> <td align="right">4.36 us</td> <td align="right">229.36 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 100 scan</td> <td align="right">353.44 us</td> <td align="right">2.83 KHz</td> </tr> <tr> <td>pointmap: build 2D kd-tree of 1000 scan</td> <td align="right">4.17 ms</td> <td align="right">239.60 Hz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1 scan</td> <td align="right">4.72 us</td> <td align="right">211.86 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 100 scan</td> <td align="right">360.72 us</td> <td align="right">2.77 KHz</td> </tr> <tr> <td>pointmap: build 3D kd-tree of 1000 scan</td> <td align="right">4.05 ms</td> <td align="right">246.78 Hz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10 scans</td> <td align="right">1.38 us</td> <td align="right">724.64 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 1000 scans</td> <td align="right">97.84 us</td> <td align="right">10.22 KHz</td> </tr> <tr> <td>pointmap: kd-tree 2d query on 10000 scans</td> <td align="right">11.64 ms</td> <td align="right">85.89 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 10</td> <td align="right">5.57 ms</td> <td align="right">179.48 Hz</td> </tr> <tr> <td>pointmap: (insert scan+2D kd-tree query) x 50</td> <td align="right">128.75 ms</td> <td align="right">7.77 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 10</td> <td align="right">5.68 ms</td> <td align="right">176.14 Hz</td> </tr> <tr> <td>pointmap: (insert scan+3D kd-tree query) x 50</td> <td align="right">158.24 ms</td> <td align="right">6.32 Hz</td> </tr> <tr> <td>random: drawUniform32bit</td> <td align="right">21.27 ns</td> <td align="right">47.01 MHz</td> </tr> <tr> <td>random: drawUniform</td> <td align="right">21.27 ns</td> <td align="right">47.00 MHz</td> </tr> <tr> <td>random: drawGaussian1D_normalized</td> <td align="right">100.39 ns</td> <td align="right">9.96 MHz</td> </tr> <tr> <td>random: drawGaussian1D</td> <td align="right">104.30 ns</td> <td align="right">9.59 MHz</td> </tr> <tr> <td>random: system rand()</td> <td align="right">17.36 ns</td> <td align="right">57.60 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(fixed 3x3)</td> <td align="right">1.96 us</td> <td align="right">511.32 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariate(dyn 3x3)</td> <td align="right">4.14 us</td> <td align="right">241.55 KHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 2x2, 1000)</td> <td align="right">231.75 ns</td> <td align="right">4.31 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 3x3, 1000)</td> <td align="right">345.64 ns</td> <td align="right">2.89 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(fixed 6x6, 1000)</td> <td align="right">716.29 ns</td> <td align="right">1.40 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 2x2, 1000)</td> <td align="right">259.14 ns</td> <td align="right">3.86 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 3x3, 1000)</td> <td align="right">403.95 ns</td> <td align="right">2.48 MHz</td> </tr> <tr> <td>random: drawGaussianMultivariateMany(dyn 6x6, 1000)</td> <td align="right">793.64 ns</td> <td align="right">1.26 MHz</td> </tr> <tr> <td>random: permuteVector (len=10)</td> <td align="right">467.20 ns</td> <td align="right">2.14 MHz</td> </tr> <tr> <td>random: permuteVector (len=100)</td> <td align="right">4.51 us</td> <td align="right">221.79 KHz</td> </tr> <tr> <td>random: permuteVector (len=1000)</td> <td align="right">44.71 us</td> <td align="right">22.36 KHz</td> </tr> <tr> <td>math: round</td> <td align="right">0.14 ns</td> <td align="right">6.90 GHz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=95%)</td> <td align="right">41.95 ms</td> <td align="right">23.84 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=95%)</td> <td align="right">64.87 ms</td> <td align="right">15.41 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=95%)</td> <td align="right">73.69 ms</td> <td align="right">13.57 Hz</td> </tr> <tr> <td>images: Save as JPEG (640x480, quality=75%)</td> <td align="right">30.93 ms</td> <td align="right">32.34 Hz</td> </tr> <tr> <td>images: Save as JPEG (800x600, quality=75%)</td> <td align="right">44.10 ms</td> <td align="right">22.68 Hz</td> </tr> <tr> <td>images: Save as JPEG (1024x768, quality=75%)</td> <td align="right">62.66 ms</td> <td align="right">15.96 Hz</td> </tr> <tr> <td>images: Gauss filter (640x480)</td> <td align="right">3.85 ms</td> <td align="right">259.75 Hz</td> </tr> <tr> <td>images: Gauss filter (800x600)</td> <td align="right">6.15 ms</td> <td align="right">162.58 Hz</td> </tr> <tr> <td>images: Gauss filter (1024x768)</td> <td align="right">10.36 ms</td> <td align="right">96.49 Hz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3D]</td> <td align="right">6.18 us</td> <td align="right">161.81 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [CPose3DQuat]</td> <td align="right">5.88 us</td> <td align="right">170.07 KHz</td> </tr> <tr> <td>scan_matching: 6D LS Rigid Trans. [vector of points]</td> <td align="right">2.13 us</td> <td align="right">469.48 KHz</td> </tr> <tr> <td>feature_extraction [640x480]: Harris</td> <td align="right">26.56 ms</td> <td align="right">37.65 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: KLT</td> <td align="right">27.10 ms</td> <td align="right">36.90 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT</td> <td align="right">624.01 ms</td> <td align="right">1.60 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SIFT desc.</td> <td align="right">174.73 ms</td> <td align="right">5.72 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: SURF</td> <td align="right">290.37 ms</td> <td align="right">3.44 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: FAST</td> <td align="right">7.40 ms</td> <td align="right">135.21 Hz</td> </tr> <tr> <td>feature_extraction [640x480]: Spin desc.</td> <td align="right">87.70 ms</td> <td align="right">11.40 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + CC</td> <td align="right">58.61 ms</td> <td align="right">17.06 Hz</td> </tr> <tr> <td>feature_matching [640x480]: Harris + SAD</td> <td align="right">51.39 ms</td> <td align="right">19.46 Hz</td> </tr> <tr> <td>feature_matching [640x480]: SIFT</td> <td align="right">1.79 sec</td> <td align="right">560.05 mHz</td> </tr> <tr> <td>feature_matching [640x480]: SURF</td> <td align="right">558.48 ms</td> <td align="right">1.79 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + CC</td> <td align="right">22.90 ms</td> <td align="right">43.68 Hz</td> </tr> <tr> <td>feature_matching [640x480]: FAST + SAD</td> <td align="right">15.32 ms</td> <td align="right">65.26 Hz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e3</td> <td align="right">179.62 us</td> <td align="right">5.57 KHz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e3</td> <td align="right">154.93 us</td> <td align="right">6.45 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e3</td> <td align="right">209.24 us</td> <td align="right">4.78 KHz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">188.87 us</td> <td align="right">5.29 KHz</td> </tr> <tr> <td>graph(2d): insertEdge x 1e4</td> <td align="right">2.17 ms</td> <td align="right">460.11 Hz</td> </tr> <tr> <td>graph(2d): insertEdgeAtEnd x 1e4</td> <td align="right">1.51 ms</td> <td align="right">661.57 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdge x 1e4</td> <td align="right">2.96 ms</td> <td align="right">337.47 Hz</td> </tr> <tr> <td>graph(2d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">1.90 ms</td> <td align="right">527.07 Hz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e3</td> <td align="right">293.50 us</td> <td align="right">3.41 KHz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e3</td> <td align="right">220.01 us</td> <td align="right">4.55 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e3</td> <td align="right">659.85 us</td> <td align="right">1.52 KHz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e3</td> <td align="right">540.44 us</td> <td align="right">1.85 KHz</td> </tr> <tr> <td>graph(3d): insertEdge x 1e4</td> <td align="right">4.41 ms</td> <td align="right">226.85 Hz</td> </tr> <tr> <td>graph(3d): insertEdgeAtEnd x 1e4</td> <td align="right">2.22 ms</td> <td align="right">449.58 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdge x 1e4</td> <td align="right">8.06 ms</td> <td align="right">124.02 Hz</td> </tr> <tr> <td>graph(3d pdf): insertEdgeAtEnd x 1e4</td> <td align="right">7.12 ms</td> <td align="right">140.38 Hz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e2 nodes</td> <td align="right">145.48 us</td> <td align="right">6.87 KHz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e3 nodes</td> <td align="right">1.91 ms</td> <td align="right">522.60 Hz</td> </tr> <tr> <td>graph(3d,map): dijkstra 1e4 nodes</td> <td align="right">26.56 ms</td> <td align="right">37.65 Hz</td> </tr> </table></div> <p> </p> <div align="center"><h3>cpuinfo</h3></div><p> </p> <verbatim><small>processor : 0 <br> vendor_id : GenuineIntel <br> cpu family : 6 <br> model : 37 <br> model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz <br> stepping : 2 <br> cpu MHz : 1199.000 <br> cache size : 3072 KB <br> physical id : 0 <br> siblings : 4 <br> core id : 0 <br> cpu cores : 2 <br> apicid : 0 <br> initial apicid : 0 <br> fpu : yes <br> fpu_exception : yes <br> cpuid level : 11 <br> wp : yes <br> flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid <br> bogomips : 4521.44 <br> clflush size : 64 <br> cache_alignment : 64 <br> address sizes : 36 bits physical, 48 bits virtual <br> power management: <br> <br> processor : 1 <br> vendor_id : GenuineIntel <br> cpu family : 6 <br> model : 37 <br> model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz <br> stepping : 2 <br> cpu MHz : 1733.000 <br> cache size : 3072 KB <br> physical id : 0 <br> siblings : 4 <br> core id : 2 <br> cpu cores : 2 <br> apicid : 4 <br> initial apicid : 4 <br> fpu : yes <br> fpu_exception : yes <br> cpuid level : 11 <br> wp : yes <br> flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid <br> bogomips : 4521.76 <br> clflush size : 64 <br> cache_alignment : 64 <br> address sizes : 36 bits physical, 48 bits virtual <br> power management: <br> <br> processor : 2 <br> vendor_id : GenuineIntel <br> cpu family : 6 <br> model : 37 <br> model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz <br> stepping : 2 <br> cpu MHz : 1733.000 <br> cache size : 3072 KB <br> physical id : 0 <br> siblings : 4 <br> core id : 0 <br> cpu cores : 2 <br> apicid : 1 <br> initial apicid : 1 <br> fpu : yes <br> fpu_exception : yes <br> cpuid level : 11 <br> wp : yes <br> flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid <br> bogomips : 4521.76 <br> clflush size : 64 <br> cache_alignment : 64 <br> address sizes : 36 bits physical, 48 bits virtual <br> power management: <br> <br> processor : 3 <br> vendor_id : GenuineIntel <br> cpu family : 6 <br> model : 37 <br> model name : Intel(R) Core(TM) i5 CPU M 430 @ 2.27GHz <br> stepping : 2 <br> cpu MHz : 1199.000 <br> cache size : 3072 KB <br> physical id : 0 <br> siblings : 4 <br> core id : 2 <br> cpu cores : 2 <br> apicid : 5 <br> initial apicid : 5 <br> fpu : yes <br> fpu_exception : yes <br> cpuid level : 11 <br> wp : yes <br> flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good xtopology nonstop_tsc aperfmperf pni dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 popcnt lahf_lm ida arat tpr_shadow vnmi flexpriority ept vpid <br> bogomips : 4521.76 <br> clflush size : 64 <br> cache_alignment : 64 <br> address sizes : 36 bits physical, 48 bits virtual <br> power management: <br> <br> <br> </small></verbatim><p> </p> <hr><small>Automated test run at 2010/08/25,19:04:43.195058 with MRPT 0.9.2 using program 'mrpt-performance'.<br>Overall run took 2.18 minutes</small> </body></html>
