OpenCV dnnモジュールのWinograd対応の効果を見る

この記事は[OpenCV Advent Calendar 2023](https://qiita.com/advent-calendar/2023/opencv)の13日目の記事です。

## はじめに

<https://github.com/opencv/opencv/pull/22577>でenableWinograd APIが追加されました。[ドキュメント](https://docs.opencv.org/4.8.0/db/d30/classcv_1_1dnn_1_1Net.html#a14a87a7604c03ef4ff366672ee9bfcf2)にある`cv::dnn::Net::enableWinograd`の説明は以下の通りです。

> Enables or disables the Winograd compute branch.  
> The Winograd compute branch can speed up 3x3 Convolution at a small loss of accuracy.

> **useWinograd**	true to enable the Winograd compute branch. The default is true.

ここでは以下の点が述べられています。

- `cv::dnn::Net::enableWinograd`は、Winogradの有効化、無効化を切り替えるAPI
- Winogradアルゴリズムによって、accuracyがわずかに低下するが3x3 Convolutionの高速化を図る
- デフォルトではWinogradが有効になっており、動作条件を満たす場合はWinogradアルゴリズムの実装が呼び出される
  - <https://github.com/opencv/opencv/blob/4.8.1/modules/dnn/src/net_impl.cpp#L61>

Winogradアルゴリズムの詳細は<https://proc-cpuinfo.fixstars.com/2017/06/winograd-minimal-filtering/>などを参照ください。

## 計測条件

今回、YOLOv4のinferenceコードを用いてWinogradの効果を確認していきます。

### 入力データ

- [yolov4.weights](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights)
- [yolov4.cfg](https://raw.githubusercontent.com/AlexeyAB/darknet/master/cfg/yolov4.cfg)
- [coco.names](https://github.com/pjreddie/darknet/blob/master/data/coco.names)
- [dog.jpg](https://github.com/pjreddie/darknet/blob/master/data/dog.jpg)

### 計測スクリプト

```python
import cv2

net = cv2.dnn.readNet("yolov4.weights", "yolov4.cfg")
net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

# Winogradを無効化する場合、コメントアウトを外す
# net.enableWinograd(False)

model = cv2.dnn_DetectionModel(net)
model.setInputParams(size=(416, 416), scale=1.0/255.0, swapRB=True)

frame = cv2.imread("dog.jpg")

CONFIDENCE_THRESHOLD = 0.2
NMS_THRESHOLD = 0.4

tm = cv2.TickMeter()
MEASUREMENT_NUM = 10
time = 0.0
for i in range(MEASUREMENT_NUM+1):
    tm.reset()
    tm.start()
    classes, scores, boxes = model.detect(frame, CONFIDENCE_THRESHOLD, NMS_THRESHOLD)
    tm.stop()
    if i > 0:
        time += tm.getTimeMilli()

time /= MEASUREMENT_NUM
print(time)
```

Winogradの効果が見えやすいように以下のようにしてスレッド数を1にしたケースを計測しました。

```python
cv2.setNumThreads(1)
```

また、スレッド数が大きい場合として以下のようにしてスレッド数を8にしたケースも計測しました。

```python
cv2.setNumThreads(8)
```

### 計測環境

#### Windows 10

|名称|スペック、バージョン|
|---|---|
|CPU|Intel Core i7-6700HQ CPU @ 2.60GHz|
|メモリ|64GB|
|OS|Windows 10 Pro 22H2|
|Python|3.10.11|
|opencv-python|4.8.1.78|

#### macOS

MacBook Air (M1, 2020)を用いました。

|名称|スペック、バージョン|
|---|---|
|CPU|Apple M1 3.20GHz 8コア|
|メモリ|16GB|
|OS|macOS Sonoma 14.0|
|Python|3.10.13|
|opencv-python|4.8.1.78|

#### Jetson Linux

Jetson Orin NX 16GBモデルを用いました。

|名称|スペック、バージョン|
|---|---|
|CPU|8コア Arm® Cortex®-A78AE v8.2 64 bit CPU<br>2MB L2 + 4MB L3 (最大2 GHz)|
|メモリ|16GB|
|OS|Jetson Linux 36.2|
|Python|3.10.12|
|opencv-python|4.8.1.78|

- power mode=MAX_N
- jetson_clocks実行

#### Ubuntu 22.04、x86_64

|名称|スペック、バージョン|
|---|---|
|CPU|Intel Core i7-9800X CPU @ 3.80GHz|
|メモリ|32GB|
|OS|Ubuntu 22.04|
|Python|3.10.12|
|opencv-python|4.8.1.78|

## 計測結果

### Windows 10

Winogradを有効にした方が高速になっています。

|スレッド数|処理時間(ms)<br>（Winograd無効）|処理時間(ms)<br>（Winograd有効）|
|---|---:|---:|
|1|1801|1360|
|8|466|432|

### macOS

Winogradを有効にした方が高速になっています。

|スレッド数|処理時間(ms)<br>（Winograd無効）|処理時間(ms)<br>（Winograd有効）|
|---|---:|---:|
|1|903|653|
|8|236|185|

### Jetson Linux

Winogradを有効にした方が高速になっています。

|スレッド数|処理時間(ms)<br>（Winograd無効）|処理時間(ms)<br>（Winograd有効）|
|---|---:|---:|
|1|2702|1886|
|8|409|359|

### Ubuntu 22.04、x86_64

Winogradを有効にしても速度差がほぼ見られませんでした。

|スレッド数|処理時間(ms)<br>（Winograd無効）|処理時間(ms)<br>（Winograd有効）|
|---|---:|---:|
|1|1016|1022|
|8|161|168|

## まとめ

今回の計測では、一部のプラットフォームを除いてWinograd有効にした方がinferenceが高速になりました。Ubuntu 22.04、x86_64で速度差が見られない理由については今後調査予定です。

## Appendix

### Windows 10

<details><summary>getBuildInformation</summary><div>

```
General configuration for OpenCV 4.8.1 =====================================
  Version control:               4.8.1

  Platform:
    Timestamp:                   2023-09-27T14:21:39Z
    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 (7 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (35 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  /MT /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  /MTd /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   /MT /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 /MTd /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 quirc 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 1.2.13)
    JPEG:                        build-libjpeg-turbo (ver 2.1.3-62)
      SIMD Support Request:      YES
      SIMD Support:              NO
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         build (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.2.0)
    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:                   2021.8 [2021.8.0]
           at:                   D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.7/cmake-build/3rdparty/ippicv/ippicv_win/icv
    Intel IPP IW:                sources (2021.8.0)
              at:                D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.7/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/3.7.9/x64/python.exe (ver 3.7.9)
    Libraries:                   C:/hostedtoolcache/windows/Python/3.7.9/x64/libs/python37.lib (ver 3.7.9)
    numpy:                       C:/hostedtoolcache/windows/Python/3.7.9/x64/lib/site-packages/numpy/core/include (ver 1.17.0)
    install path:                python/cv2/python-3

  Python (for build):            C:\hostedtoolcache\windows\Python\3.7.9\x64\python.exe

  Java:
    ant:                         NO
    Java:                        YES (ver 1.8.0.382)
    JNI:                         C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.382-5/x64/include C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.382-5/x64/include/win32 C:/hostedtoolcache/windows/Java_Temurin-Hotspot_jdk/8.0.382-5/x64/include
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    D:/a/opencv-python/opencv-python/_skbuild/win-amd64-3.7/cmake-install
```

</div></details>

### macOS

<details><summary>getBuildInformation</summary><div>

```
General configuration for OpenCV 4.8.1 =====================================
  Version control:               4.8.1

  Platform:
    Timestamp:                   2023-09-27T14:28:20Z
    Host:                        Darwin 20.2.0 arm64
    CMake:                       3.22.3
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               Release

  CPU/HW features:
    Baseline:                    NEON FP16

  C/C++:
    Built as dynamic libs?:      NO
    C++ standard:                11
    C++ Compiler:                /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++  (ver 12.0.5.12050022)
    C++ flags (Release):         -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -Wno-semicolon-before-method-body -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -Wno-semicolon-before-method-body -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -Wno-semicolon-before-method-body -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wno-delete-non-virtual-dtor -Wno-unnamed-type-template-args -Wno-comment -fdiagnostics-show-option -Qunused-arguments -Wno-semicolon-before-method-body -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,-dead_strip  
    Linker flags (Debug):        -Wl,-dead_strip  
    ccache:                      YES
    Precompiled headers:         NO
    Extra dependencies:          -framework OpenCL /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX11.3.sdk/System/Library/Frameworks/Accelerate.framework -lm -ldl -framework Cocoa -framework AppKit
    3rdparty dependencies:       libprotobuf ade ittnotify libjpeg-turbo libwebp libpng libtiff libopenjp2 IlmImf zlib quirc tegra_hal

  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:                           COCOA
    Cocoa:                       YES
    VTK support:                 NO

  Media I/O: 
    ZLib:                        build (ver 1.2.13)
    JPEG:                        build-libjpeg-turbo (ver 2.1.3-62)
      SIMD Support Request:      YES
      SIMD Support:              YES
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         build (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.2.0)
    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:                YES (4.0.0)
    GStreamer:                   NO
    AVFoundation:                YES

  Parallel framework:            GCD

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Lapack:                      YES (/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX11.3.sdk/System/Library/Frameworks/Accelerate.framework -lm -ldl)
    Eigen:                       NO
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.19.1)
    Flatbuffers:                 builtin/3rdparty (23.5.9)

  OpenCL:                        YES (no extra features)
    Include path:                NO
    Link libraries:              -framework OpenCL

  Python 3:
    Interpreter:                 /Users/xperience/.pyenv/versions/3.7.10/bin/python3.7 (ver 3.7.10)
    Libraries:                   /Users/xperience/.pyenv/versions/3.7.10/lib/libpython3.7m.a (ver 3.7.10)
    numpy:                       /Users/xperience/.pyenv/versions/3.7.10/lib/python3.7/site-packages/numpy/core/include (ver 1.21.0)
    install path:                python/cv2/python-3

  Python (for build):            /Users/xperience/.pyenv/versions/3.7.10/bin/python3.7

  Java:                          
    ant:                         NO
    Java:                        YES (ver )
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /Users/xperience/GHA-OpenCV-Python/_work/opencv-python/opencv-python/_skbuild/macosx-11.0-arm64-3.7/cmake-install
-----------------------------------------------------------------
```

</div></details>

### Jetson Linux

<details><summary>getBuildInformation</summary><div>

```
General configuration for OpenCV 4.8.1 =====================================
  Version control:               4.8.1-dirty

  Platform:
    Timestamp:                   2023-09-27T14:31:34Z
    Host:                        Linux 5.3.0-28-generic aarch64
    CMake:                       3.27.5
    CMake generator:             Unix Makefiles
    CMake build tool:            /bin/gmake
    Configuration:               Release

  CPU/HW features:
    Baseline:                    NEON FP16

  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 -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -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 -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -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 -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -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 -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -L/ffmpeg_build/lib  -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined  
    Linker flags (Debug):        -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 quirc tegra_hal

  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 5.15.0 )
      QT OpenGL support:         NO
    GTK+:                        NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /lib64/libz.so (ver 1.2.7)
    JPEG:                        libjpeg-turbo (ver 2.1.3-62)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/local/lib/libpng.so (ver 1.6.40)
    TIFF:                        build (ver 42 - 4.2.0)
    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:
    Lapack:                      YES (/lib64/libopenblas.so)
    Eigen:                       NO
    Custom HAL:                  YES (carotene (ver 0.0.1))
    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/cp37-cp37m/bin/python3.7 (ver 3.7.17)
    Libraries:                   libpython3.7m.a (ver 3.7.17)
    numpy:                       /home/ci/.local/lib/python3.7/site-packages/numpy/core/include (ver 1.19.3)
    install path:                python/cv2/python-3

  Python (for build):            /opt/python/cp37-cp37m/bin/python3.7

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

  Install to:                    /io/_skbuild/linux-aarch64-3.7/cmake-install
-----------------------------------------------------------------
```

</div></details>

### Ubuntu 22.04、x86_64

<details><summary>getBuildInformation</summary><div>

```
General configuration for OpenCV 4.8.1 =====================================
  Version control:               4.8.1-dirty

  Platform:
    Timestamp:                   2023-09-27T14:20:56Z
    Host:                        Linux 5.15.0-1046-azure x86_64
    CMake:                       3.27.5
    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 (7 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (35 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 quirc 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 5.15.0 )
      QT OpenGL support:         NO
    GTK+:                        NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /lib64/libz.so (ver 1.2.7)
    JPEG:                        libjpeg-turbo (ver 2.1.3-62)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/local/lib/libpng.so (ver 1.6.40)
    TIFF:                        build (ver 42 - 4.2.0)
    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:                   2021.8 [2021.8.0]
           at:                   /io/_skbuild/linux-x86_64-3.7/cmake-build/3rdparty/ippicv/ippicv_lnx/icv
    Intel IPP IW:                sources (2021.8.0)
              at:                /io/_skbuild/linux-x86_64-3.7/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/cp37-cp37m/bin/python3.7 (ver 3.7.17)
    Libraries:                   libpython3.7m.a (ver 3.7.17)
    numpy:                       /home/ci/.local/lib/python3.7/site-packages/numpy/core/include (ver 1.17.0)
    install path:                python/cv2/python-3

  Python (for build):            /opt/python/cp37-cp37m/bin/python3.7

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

  Install to:                    /io/_skbuild/linux-x86_64-3.7/cmake-install
```

</div></details>