Why self compiled Opencv is slower than apt-get package?
Hi community.
I have 2 opencv package: one is self-compiled opencv3.1 with cuda and the other is installed using sudo apt-get install ros-kinetic-opencv3.
When I tried the same program on different packages, it appears my self compiled package is much slower than that in ROS.
Ex> Template matching with ORB
My opencv3.1 : 150 - 200 ms per frame
ROS opencv3.2.0-dev : 40~50ms per frame
This is tested in python, but I also find my c++ codes have a similar result.
Here shows getBuildInformation() result in each version.
1.Self compiled opencv
General configuration for OpenCV 3.1.0 =====================================
Version control: 3.1.0-3-g50b7dfd-dirty
Platform:
Host: Linux 3.10.96-tegra aarch64
CMake: 3.5.1
CMake generator: Unix Makefiles
CMake build tool: /usr/bin/make
Configuration: RelWithDebugInfo
C/C++:
Built as dynamic libs?: YES
C++ Compiler: /usr/bin/c++ (ver 5.4.0)
C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
C Compiler: /usr/bin/cc
C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG
C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
Linker flags (Release):
Linker flags (Debug):
Precompiled headers: NO
Extra dependencies: Qt5::Test Qt5::Concurrent Qt5::OpenGL /usr/lib/aarch64-linux-gnu/libwebp.so /usr/lib/aarch64-linux-gnu/libpng.so /usr/lib/aarch64-linux-gnu/libtiff.so /usr/lib/aarch64-linux-gnu/libjasper.so /usr/lib/aarch64-linux-gnu/libjpeg.so v4l1 v4l2 avcodec-ffmpeg avformat-ffmpeg avutil-ffmpeg swscale-ffmpeg /usr/lib/aarch64-linux-gnu/libbz2.so Qt5::Core Qt5::Gui Qt5::Widgets /usr/lib/aarch64-linux-gnu/hdf5/serial/lib/libhdf5.so /usr/lib/aarch64-linux-gnu/libpthread.so /usr/lib/aarch64-linux-gnu/libsz.so /usr/lib/aarch64-linux-gnu/libz.so /usr/lib/aarch64-linux-gnu/libdl.so /usr/lib/aarch64-linux-gnu/libm.so correspondence multiview numeric glog gflags dl m pthread rt /usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so tbb atomic cudart nppc nppi npps cufft -L/usr/local/cuda-8.0/lib64
3rdparty dependencies:
OpenCV modules:
To be built: cudev core cudaarithm flann hdf imgproc ml reg surface_matching video cudabgsegm cudafilters cudaimgproc cudawarping dnn fuzzy imgcodecs photo shape videoio cudacodec highgui objdetect plot ts xobjdetect xphoto bgsegm bioinspired dpm face features2d line_descriptor saliency text calib3d ccalib cudafeatures2d cudalegacy cudaobjdetect cudaoptflow cudastereo cvv datasets rgbd stereo structured_light superres tracking videostab xfeatures2d ximgproc aruco optflow sfm stitching python2
Disabled: world contrib_world
Disabled by dependency: -
Unavailable: java python3 viz matlab
GUI:
QT 5.x: YES (ver 5.5.1)
QT OpenGL support: YES (Qt5::OpenGL 5.5.1)
OpenGL support: YES (/usr/lib/aarch64-linux-gnu/libGLU.so /usr/lib/aarch64-linux-gnu/libGL.so)
VTK support: NO
Media I/O:
ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver )
WEBP: /usr/lib/aarch64-linux-gnu/libwebp.so (ver encoder: 0x0202)
PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 - 4.0.6)
JPEG 2000: /usr/lib/aarch64-linux-gnu/libjasper.so (ver 1.900.1)
OpenEXR: NO
GDAL: NO
Video I/O:
DC1394 1.x: NO
DC1394 2.x: NO
FFMPEG: YES
codec: YES (ver 56.60.100)
format: YES (ver 56.40.101)
util: YES (ver 54.31.100)
swscale: YES (ver 3.1.101)
resample: NO
gentoo-style: YES
GStreamer: NO
OpenNI: NO
OpenNI PrimeSensor Modules: NO
OpenNI2: NO
PvAPI: NO
GigEVisionSDK: NO
UniCap: NO
UniCap ucil: NO
V4L/V4L2: Using libv4l1 (ver 1.10.0) / libv4l2 (ver 1.10.0)
XIMEA: NO
Xine: NO
gPhoto2: NO
Parallel framework: TBB (ver 4.4 interface 9002)
Other third-party libraries:
Use IPP: NO
Use VA: NO
Use Intel VA-API/OpenCL: NO
Use Eigen: YES (ver 3.2.92)
Use Cuda: YES (ver 8.0)
Use OpenCL: NO
Use custom HAL: NO
NVIDIA CUDA
Use CUFFT: YES
Use CUBLAS: NO
USE NVCUVID: NO
NVIDIA GPU arch: 52
NVIDIA PTX archs: 52
Use fast math: NO
Python 2:
Interpreter: /usr/bin/python2.7 (ver 2.7.12)
Libraries: /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.12)
numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.11.0)
packages path: lib/python2.7/dist-packages
Python 3:
Interpreter: /usr/bin/python3 (ver 3.5.2)
Python (for build): /usr/bin/python2.7
Java:
ant: NO
JNI: NO
Java wrappers: NO
Java tests: NO
Matlab: Matlab not found or implicitly disabled
Documentation:
Doxygen: NO
PlantUML: NO
Tests and samples:
Tests: NO
Performance tests: NO
C/C++ Examples: YES
Install path: /usr/local
cvconfig.h is in: /home/ubuntu/opencv/build
-----------------------------------------------------------------
ros-kinetic-opencv
General configuration for OpenCV 3.2.0-dev =====================================
Version control: unknown
Extra modules:
Location (extra): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/opencv_contrib
Version control (extra): unknown
Platform:
Timestamp: 2017-06-07T18:53:03Z
Host: Linux 3.13.0-48-generic aarch64
CMake: 3.5.1
CMake generator: Unix Makefiles
CMake build tool: /usr/bin/make
Configuration: None
C/C++:
Built as dynamic libs?: YES
C++ Compiler: /usr/lib/ccache/aarch64-linux-gnu-g++ (ver 5.4.0)
C++ flags (Release): -g -O2 -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG
C++ flags (Debug): -g -O2 -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG
C Compiler: /usr/lib/ccache/aarch64-linux-gnu-gcc
C flags (Release): -g -O2 -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG
C flags (Debug): -g -O2 -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG
Linker flags (Release):
Linker flags (Debug):
ccache: YES
Precompiled headers: NO
Extra dependencies: Qt5::Test Qt5::Concurrent /usr/lib/aarch64-linux-gnu/libwebp.so /usr/lib/aarch64-linux-gnu/libjasper.so avcodec-ffmpeg avformat-ffmpeg avutil-ffmpeg swscale-ffmpeg Qt5::Core Qt5::Gui Qt5::Widgets /usr/lib/aarch64-linux-gnu/hdf5/serial/lib/libhdf5.so /usr/lib/aarch64-linux-gnu/libpthread.so /usr/lib/aarch64-linux-gnu/libsz.so /usr/lib/aarch64-linux-gnu/libdl.so /usr/lib/aarch64-linux-gnu/libm.so vtkRenderingOpenGL vtkImagingHybrid vtkIOImage vtkCommonDataModel vtkCommonMath vtkCommonCore vtksys vtkCommonMisc vtkCommonSystem vtkCommonTransforms vtkCommonExecutionModel vtkDICOMParser vtkIOCore /usr/lib/aarch64-linux-gnu/libz.so vtkmetaio /usr/lib/aarch64-linux-gnu/libjpeg.so /usr/lib/aarch64-linux-gnu/libpng.so /usr/lib/aarch64-linux-gnu/libtiff.so vtkImagingCore vtkRenderingCore vtkCommonColor vtkFiltersExtraction vtkFiltersCore vtkFiltersGeneral vtkCommonComputationalGeometry vtkFiltersStatistics vtkImagingFourier vtkalglib vtkFiltersGeometry vtkFiltersSources vtkInteractionStyle vtkRenderingLOD vtkFiltersModeling vtkIOPLY vtkIOGeometry /usr/lib/aarch64-linux-gnu/libjsoncpp.so vtkFiltersTexture vtkRenderingFreeType /usr/lib/aarch64-linux-gnu/libfreetype.so vtkftgl vtkIOExport vtkRenderingAnnotation vtkImagingColor vtkRenderingContext2D vtkRenderingGL2PS vtkRenderingContextOpenGL /usr/lib/libgl2ps.so vtkRenderingLabel dl m pthread rt
3rdparty dependencies: IlmImf tegra_hal
OpenCV modules:
To be built: core flann hdf imgproc ml photo reg surface_matching video viz fuzzy imgcodecs shape videoio highgui objdetect plot superres xobjdetect xphoto bgsegm bioinspired dpm face features2d line_descriptor saliency text calib3d ccalib cvv datasets rgbd stereo videostab xfeatures2d ximgproc aruco optflow phase_unwrapping stitching structured_light python2
Disabled: world contrib_world
Disabled by dependency: tracking
Unavailable: cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java python3 ts cnn_3dobj freetype matlab sfm
GUI:
QT 5.x: YES (ver 5.5.1)
QT OpenGL support: NO
OpenGL support: NO
VTK support: YES (ver 6.2.0)
Media I/O:
ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.8)
JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver )
WEBP: /usr/lib/aarch64-linux-gnu/libwebp.so (ver encoder: 0x0202)
PNG: /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.2.54)
TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 - 4.0.6)
JPEG 2000: /usr/lib/aarch64-linux-gnu/libjasper.so (ver 1.900.1)
OpenEXR: build (ver 1.7.1)
GDAL: NO
GDCM: NO
Video I/O:
DC1394 1.x: NO
DC1394 2.x: NO
FFMPEG: YES
avcodec: YES (ver 56.60.100)
avformat: YES (ver 56.40.101)
avutil: YES (ver 54.31.100)
swscale: YES (ver 3.1.101)
avresample: NO
GStreamer: NO
OpenNI: NO
OpenNI PrimeSensor Modules: NO
OpenNI2: NO
PvAPI: NO
GigEVisionSDK: NO
Aravis SDK: NO
UniCap: NO
UniCap ucil: NO
V4L/V4L2: NO/YES
XIMEA: NO
Xine: NO
gPhoto2: NO
Parallel framework: pthreads
Other third-party libraries:
Use IPP: NO
Use VA: NO
Use Intel VA-API/OpenCL: NO
Use Lapack: NO
Use Eigen: YES (ver 3.2.92)
Use Cuda: NO
Use OpenCL: YES
Use OpenVX: NO
Use custom HAL: YES (carotene (ver 0.0.1))
OpenCL: <Dynamic loading of OpenCL library>
Include path: /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/3rdparty/include/opencl/1.2
Use AMDFFT: NO
Use AMDBLAS: NO
Python 2:
Interpreter: /usr/bin/python2.7 (ver 2.7.12)
Libraries: /usr/lib/aarch64-linux-gnu/libpython2.7.so (ver 2.7.12)
numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.11.0)
packages path: lib/python2.7/dist-packages
Python 3:
Interpreter: /usr/bin/python3 (ver 3.5.2)
Python (for build): /usr/bin/python2.7
Java:
ant: NO
JNI: NO
Java wrappers: NO
Java tests: NO
Matlab: Matlab not found or implicitly disabled
Documentation:
Doxygen: NO
Tests and samples:
Tests: NO
Performance tests: NO
C/C++ Examples: NO
Install path: /opt/ros/kinetic
cvconfig.h is in: /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/obj-aarch64-linux-gnu
-----------------------------------------------------------------
Q1. Do you know why it happen and can I fix this by recompiling with some cmake prefix?
Q2. Can I pick ROS opencv package for normal cpu function and pick my own package for cuda function?
Thank you.
