Camera calibration, big speed difference between Windows and Linux versions

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1

I have noticed that there is big speed difference between Windows and Linux versions. Linux is like ten times or more faster than Windows even I’m running Linux in VM.
Here is Windows build info:

General configuration for OpenCV 4.10.0 =====================================
  Version control:               4.10.0

  Platform:
    Timestamp:                   2024-06-17T17:58:36Z
    Host:                        Windows 10.0.17763 AMD64
    CMake:                       3.24.2
    CMake generator:             Visual Studio 14 2015
    CMake build tool:            MSBuild.exe
    MSVC:                        1900
    Configuration:               Debug Release

  CPU/HW features:
    Baseline:                    SSE SSE2 SSE3
      requested:                 SSE3
    Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2
      requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
      SSE4_1 (16 files):         + SSSE3 SSE4_1
      SSE4_2 (1 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
      FP16 (0 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
      AVX (8 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (36 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2

  C/C++:
    Built as dynamic libs?:      NO
    C++ standard:                11
    C++ Compiler:                C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin/x86_amd64/cl.exe  (ver 19.0.24247.2)
    C++ flags (Release):         /DWIN32 /D_WINDOWS /W4 /GR  /D _CRT_SECURE_NO_DEPRECATE /D _CRT_NONSTDC_NO_DEPRECATE /D _SCL_SECURE_NO_WARNINGS /Gy /bigobj /Oi  /fp:precise     /EHa /wd4127 /wd4251 /wd4324 /wd4275 /wd4512 /wd4589 /wd4819 /MP  /O2 /Ob2 /DNDEBUG 
    C++ flags (Debug):           /DWIN32 /D_WINDOWS /W4 /GR  /D _CRT_SECURE_NO_DEPRECATE /D _CRT_NONSTDC_NO_DEPRECATE /D _SCL_SECURE_NO_WARNINGS /Gy /bigobj /Oi  /fp:precise     /EHa /wd4127 /wd4251 /wd4324 /wd4275 /wd4512 /wd4589 /wd4819 /MP  /Zi /Ob0 /Od /RTC1 
    C Compiler:                  C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin/x86_amd64/cl.exe
    C flags (Release):           /DWIN32 /D_WINDOWS /W3  /D _CRT_SECURE_NO_DEPRECATE /D _CRT_NONSTDC_NO_DEPRECATE /D _SCL_SECURE_NO_WARNINGS /Gy /bigobj /Oi  /fp:precise     /MP   /O2 /Ob2 /DNDEBUG 
    C flags (Debug):             /DWIN32 /D_WINDOWS /W3  /D _CRT_SECURE_NO_DEPRECATE /D _CRT_NONSTDC_NO_DEPRECATE /D _SCL_SECURE_NO_WARNINGS /Gy /bigobj /Oi  /fp:precise     /MP /Zi /Ob0 /Od /RTC1 
    Linker flags (Release):      /machine:x64  /NODEFAULTLIB:atlthunk.lib /INCREMENTAL:NO  /NODEFAULTLIB:libcmtd.lib /NODEFAULTLIB:libcpmtd.lib /NODEFAULTLIB:msvcrtd.lib
    Linker flags (Debug):        /machine:x64  /NODEFAULTLIB:atlthunk.lib /debug /INCREMENTAL  /NODEFAULTLIB:libcmt.lib /NODEFAULTLIB:libcpmt.lib /NODEFAULTLIB:msvcrt.lib
    ccache:                      NO
    Precompiled headers:         YES
    Extra dependencies:          wsock32 comctl32 gdi32 ole32 setupapi ws2_32
    3rdparty dependencies:       libprotobuf ade ittnotify libjpeg-turbo libwebp libpng libtiff libopenjp2 IlmImf zlib ippiw ippicv

  OpenCV modules:
    To be built:                 calib3d core dnn features2d flann gapi highgui imgcodecs imgproc ml objdetect photo python3 stitching video videoio
    Disabled:                    java world
    Disabled by dependency:      -
    Unavailable:                 python2 ts
    Applications:                -
    Documentation:               NO
    Non-free algorithms:         NO

  Windows RT support:            NO

  GUI:                           WIN32UI
    Win32 UI:                    YES
    VTK support:                 NO

  Media I/O: 
    ZLib:                        build (ver 1.3.1)
    JPEG:                        build-libjpeg-turbo (ver 3.0.3-70)
      SIMD Support Request:      YES
      SIMD Support:              NO
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         build (ver 1.6.43)
      SIMD Support Request:      YES
      SIMD Support:              YES (Intel SSE)
    TIFF:                        build (ver 42 - 4.6.0)
    JPEG 2000:                   build (ver 2.5.0)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      NO
    FFMPEG:                      YES (prebuilt binaries)
      avcodec:                   YES (58.134.100)
      avformat:                  YES (58.76.100)
      avutil:                    YES (56.70.100)
      swscale:                   YES (5.9.100)
      avresample:                YES (4.0.0)
    GStreamer:                   NO
    DirectShow:                  YES
    Media Foundation:            YES
      DXVA:                      YES

  Parallel framework:            Concurrency

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Intel IPP:                   2021.11.0 [2021.11.0]
           at:                   D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.9/cmake-build/3rdparty/ippicv/ippicv_win/icv
    Intel IPP IW:                sources (2021.11.0)
              at:                D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.9/cmake-build/3rdparty/ippicv/ippicv_win/iw
    Lapack:                      NO
    Eigen:                       NO
    Custom HAL:                  NO
    Protobuf:                    build (3.19.1)
    Flatbuffers:                 builtin/3rdparty (23.5.9)

  OpenCL:                        YES (NVD3D11)
    Include path:                D:/a/opencv-python/opencv-python/opencv/3rdparty/include/opencl/1.2
    Link libraries:              Dynamic load

  Python 3:
    Interpreter:                 C:/hostedtoolcache/windows/Python/3.9.13/x64/python.exe (ver 3.9.13)
    Libraries:                   C:/hostedtoolcache/windows/Python/3.9.13/x64/libs/python39.lib (ver 3.9.13)
    Limited API:                 YES (ver 0x03060000)
    numpy:                       C:/hostedtoolcache/windows/Python/3.9.13/x64/lib/site-packages/numpy/_core/include (ver 2.0.0)
    install path:                python/cv2/python-3

  Python (for build):            C:\hostedtoolcache\windows\Python\3.9.13\x64\python.exe

  Java:                          
    ant:                         NO
    Java:                        YES (ver 1.8.0.412)
    JNI:                         C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.412-8/x64/include C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.412-8/x64/include/win32 C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.412-8/x64/include
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.9/cmake-install
-----------------------------------------------------------------

Linux build info:

General configuration for OpenCV 4.10.0 =====================================
  Version control:               4.10.0-dirty

  Platform:
    Timestamp:                   2024-06-17T17:56:37Z
    Host:                        Linux 5.15.0-1064-azure x86_64
    CMake:                       3.29.5
    CMake generator:             Unix Makefiles
    CMake build tool:            /bin/gmake
    Configuration:               Release

  CPU/HW features:
    Baseline:                    SSE SSE2 SSE3
      requested:                 SSE3
    Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
      requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
      SSE4_1 (16 files):         + SSSE3 SSE4_1
      SSE4_2 (1 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
      FP16 (0 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
      AVX (8 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (36 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
      AVX512_SKX (5 files):      + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_COMMON AVX512_SKX

  C/C++:
    Built as dynamic libs?:      NO
    C++ standard:                11
    C++ Compiler:                /opt/rh/devtoolset-10/root/usr/bin/c++  (ver 10.2.1)
    C++ flags (Release):         -Wl,-strip-all   -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -Wl,-strip-all   -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /opt/rh/devtoolset-10/root/usr/bin/cc
    C flags (Release):           -Wl,-strip-all   -fsigned-char -W -Wall -Wreturn-type -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -Wl,-strip-all   -fsigned-char -W -Wall -Wreturn-type -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a -L/ffmpeg_build/lib  -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined  
    Linker flags (Debug):        -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a -L/ffmpeg_build/lib  -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined  
    ccache:                      YES
    Precompiled headers:         NO
    Extra dependencies:          /lib64/libopenblas.so Qt5::Core Qt5::Gui Qt5::Widgets Qt5::Test Qt5::Concurrent /usr/local/lib/libpng.so /lib64/libz.so dl m pthread rt
    3rdparty dependencies:       libprotobuf ade ittnotify libjpeg-turbo libwebp libtiff libopenjp2 IlmImf ippiw ippicv

  OpenCV modules:
    To be built:                 calib3d core dnn features2d flann gapi highgui imgcodecs imgproc ml objdetect photo python3 stitching video videoio
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 java python2 ts
    Applications:                -
    Documentation:               NO
    Non-free algorithms:         NO

  GUI:                           QT5
    QT:                          YES (ver 5.15.13 )
      QT OpenGL support:         NO
    GTK+:                        NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /lib64/libz.so (ver 1.2.7)
    JPEG:                        build-libjpeg-turbo (ver 3.0.3-70)
      SIMD Support Request:      YES
      SIMD Support:              YES
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/local/lib/libpng.so (ver 1.6.43)
    TIFF:                        build (ver 42 - 4.6.0)
    JPEG 2000:                   build (ver 2.5.0)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      NO
    FFMPEG:                      YES
      avcodec:                   YES (59.37.100)
      avformat:                  YES (59.27.100)
      avutil:                    YES (57.28.100)
      swscale:                   YES (6.7.100)
      avresample:                NO
    GStreamer:                   NO
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            pthreads

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Intel IPP:                   2021.11.0 [2021.11.0]
           at:                   /io/_skbuild/linux-x86_64-3.9/cmake-build/3rdparty/ippicv/ippicv_lnx/icv
    Intel IPP IW:                sources (2021.11.0)
              at:                /io/_skbuild/linux-x86_64-3.9/cmake-build/3rdparty/ippicv/ippicv_lnx/iw
    VA:                          NO
    Lapack:                      YES (/lib64/libopenblas.so)
    Eigen:                       NO
    Custom HAL:                  NO
    Protobuf:                    build (3.19.1)
    Flatbuffers:                 builtin/3rdparty (23.5.9)

  OpenCL:                        YES (no extra features)
    Include path:                /io/opencv/3rdparty/include/opencl/1.2
    Link libraries:              Dynamic load

  Python 3:
    Interpreter:                 /opt/python/cp39-cp39/bin/python3.9 (ver 3.9.19)
    Libraries:                   libpython3.9m.a (ver 3.9.19)
    Limited API:                 YES (ver 0x03060000)
    numpy:                       /home/ci/.local/lib/python3.9/site-packages/numpy/_core/include (ver 2.0.0)
    install path:                python/cv2/python-3

  Python (for build):            /opt/python/cp39-cp39/bin/python3.9

  Java:                          
    ant:                         NO
    Java:                        NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /io/_skbuild/linux-x86_64-3.9/cmake-install
-----------------------------------------------------------------
2

more info please.

did you build anything here? or are those the official release binaries?

are those the opencv-python binaries, or binaries for C++ use?

how specifically do you come to your impression that execution speed differs?

what is the system resource utilization, specifically, while you run whatever you run?

3

Both are official builds installed with pip. I have quite a lot camera calibration images. Windows took like 20 hours. After 16 hours or so I installed virtual linux and started same task and it finished first. Results seems to be identical Linux is just way faster. Both versions seems to be using only one cpu so multithreading is not causing this diffrence.

4

how do you perform camera calibration? custom code, or any of the “apps” that opencv comes with?

you say, one CPU’s worth of utilization? do you see any GPU utilization?

is there a dataset (and whatever’s needed to run on it) that you can point to for replication of your results? if I went and tried to replicate this, I’d prefer it be done in less than 4 hours. I don’t need your dataset specifically. if something else can demonstrate the issue just as well, that’d be fine too.

could (some of) this be suitable?

by the way, how many cameras are you calibrating, on how many pics each? typically, people need one or two or maybe a few dozen cams calibrated, and usually have around dozens of pics per camera, and after scraping points out of each picture, the optimization should converge within a second each.

5

Neither Windows nor Linux version seems not to use GPU.

Here is small data to reproduce: Test data
And code to run:

import cv2
import json
import numpy
import time

with open('test_data.json') as f_in:
    test_data=json.load(f_in)

for ind in range(len(test_data['detected_corners_board'])):
    test_data['detected_corners_board'][ind]=numpy.array(test_data['detected_corners_board'][ind],dtype=numpy.float32)
for ind in range(len(test_data['detected_corners_image'])):
    test_data['detected_corners_image'][ind]=numpy.array(test_data['detected_corners_image'][ind],dtype=numpy.float32)

frame_shape=(1920,1080)
start_time=time.time()
camera_cal = cv2.calibrateCameraExtended(test_data['detected_corners_board'], test_data['detected_corners_image'], frame_shape[::-1], None, None)
print(time.time()-start_time)

I got 2.3sec in Linux and Windows took 40 sec in my laptop.

6

I’ll give that a try in ~12 hours or so

1 Like
7

Thanks for the MRE! I have reproduced the difference in execution times.

I diffed the getBuildInformation() outputs. besides a bunch of platform-specific differences, a difference in parallel frameworks (probably irrelevant, maybe not), and the Windows build having both Release and Debug builds enabled… I see that the Windows version has no lapack/openblas. maybe someone implemented a substandard fallback.

for more insight, I’d have to see if I can attach a debugger, break into the code, and see the call stack. unfortunately, opencv-python doesn’t seem to come with debugging symbols and I have zero experience with reverse engineering of of desktop software.

if you’d like, you could report this issue on the github. let them figure it out :slight_smile: