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Backport AprilTag threaded convolution#1748

Merged
fspindle merged 2 commits intolagadic:masterfrom
s-trinh:add_apriltag_threaded_convolution
Oct 3, 2025
Merged

Backport AprilTag threaded convolution#1748
fspindle merged 2 commits intolagadic:masterfrom
s-trinh:add_apriltag_threaded_convolution

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@s-trinh s-trinh commented Aug 15, 2025 •
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Script: 
#!/usr/bin/env bash

# # AFTER
# # 1 thread
# ./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_1threads_run1_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_1threads_run2_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_1threads_run3_after.xml \
#     --reporter console::out=-::colour-mode=ansi


# # 2 threads
# ./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_2threads_run1_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_2threads_run2_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_2threads_run3_after.xml \
#     --reporter console::out=-::colour-mode=ansi


# # 4 threads
# ./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_4threads_run1_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_4threads_run2_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_4threads_run3_after.xml \
#     --reporter console::out=-::colour-mode=ansi


# # 8 threads
# ./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_8threads_run1_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_8threads_run2_after.xml \
#     --reporter console::out=-::colour-mode=ansi

# ./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
#     --reporter xml::out=perfApriltagDetection_8threads_run3_after.xml \
#     --reporter console::out=-::colour-mode=ansi



# BEFORE
# 1 thread
./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_1threads_run1_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_1threads_run2_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 1 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_1threads_run3_before.xml \
    --reporter console::out=-::colour-mode=ansi


# 2 threads
./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_2threads_run1_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_2threads_run2_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_2threads_run3_before.xml \
    --reporter console::out=-::colour-mode=ansi


# 4 threads
./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_4threads_run1_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_4threads_run2_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 4 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_4threads_run3_before.xml \
    --reporter console::out=-::colour-mode=ansi


# 8 threads
./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_8threads_run1_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_8threads_run2_before.xml \
    --reporter console::out=-::colour-mode=ansi

./perfApriltagDetection --benchmark --nThreads 8 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_8threads_run3_before.xml \
    --reporter console::out=-::colour-mode=ansi

Timing between consecutive runs are not very stable:

  • 4 threads, before the changes, run1 vs run2
Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12602.50 12670.70 0.99
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11831.20 11876.30 1.00
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 3646.02 6581.58 0.55
Benchmark Apriltag detection: tag25_09 1920x1080 7743.98 12590.80 0.62
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 12582.60 6673.91 1.89
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6857.99 4986.22 1.38
Benchmark Apriltag detection: tag36_11 1920x1080 12753.80 6675.66 1.91
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11551.20 11961.30 0.97
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 5934.13 7010.88 0.85
Benchmark Apriltag detection: tag21_07 1920x1080 6166.22 6262.20 0.98
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 10869.90 6849.24 1.59
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 3540.25 5126.68 0.69
Benchmark Apriltag detection: tag49_12 1920x1080 6442.46 6459.20 1.00
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 6228.59 8191.48 0.76
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 3824.24 3355.37 1.14
Benchmark Apriltag detection: tag48_12 1920x1080 11277.50 11387.40 0.99
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 11372.90 6569.75 1.73
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 6127.75 3584.22 1.71
Benchmark Apriltag detection: tag41_12 1920x1080 7648.20 6698.41 1.14
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 6483.60 6562.82 0.99
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 3438.05 3333.87 1.03
Benchmark Apriltag detection: tag52_13 1920x1080 11626.80 11506.40 1.01
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 6931.20 11221.40 0.62
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5576.61 5916.99 0.94
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 1845.14 2912.17 0.63
Benchmark Apriltag detection: tag25_09 640x480 2276.62 1827.97 1.25
Benchmark Apriltag detection: tag36_11 640x480 1805.13 1610.20 1.12
Benchmark Apriltag detection: tag21_07 640x480 1512.58 1503.90 1.01
Benchmark Apriltag detection: tag49_12 640x480 1705.27 1816.39 0.94
Benchmark Apriltag detection: tag48_12 640x480 1541.62 1735.24 0.89
Benchmark Apriltag detection: tag41_12 640x480 1800.35 1698.38 1.06
Benchmark Apriltag detection: tag52_13 640x480 1504.13 1451.06 1.04

  • with 1 thread, it is better, run1 vs run2, before the changes:
Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12035.70 11587.00 1.04
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11737.00 11684.90 1.00
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 6160.22 6124.67 1.01
Benchmark Apriltag detection: tag25_09 1920x1080 11861.00 11799.30 1.01
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 11827.70 11750.00 1.01
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6131.03 6115.11 1.00
Benchmark Apriltag detection: tag36_11 1920x1080 11901.60 11765.20 1.01
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11790.70 11735.10 1.00
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 6261.49 6255.05 1.00
Benchmark Apriltag detection: tag21_07 1920x1080 8906.94 8833.60 1.01
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 8787.08 9935.82 0.88
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 4605.26 4879.76 0.94
Benchmark Apriltag detection: tag49_12 1920x1080 8877.08 10500.30 0.85
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 8884.04 9556.81 0.93
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 4682.96 4706.12 1.00
Benchmark Apriltag detection: tag48_12 1920x1080 9897.92 10678.20 0.93
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 9924.57 10172.40 0.98
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 5322.80 5542.23 0.96
Benchmark Apriltag detection: tag41_12 1920x1080 9573.35 9932.01 0.96
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 9481.86 10029.10 0.95
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 5021.99 5194.13 0.97
Benchmark Apriltag detection: tag52_13 1920x1080 9860.64 10517.60 0.94
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 9919.72 10909.80 0.91
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5207.54 5570.30 0.93
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2542.34 2650.63 0.96
Benchmark Apriltag detection: tag25_09 640x480 2540.40 2708.01 0.94
Benchmark Apriltag detection: tag36_11 640x480 2640.03 2746.60 0.96
Benchmark Apriltag detection: tag21_07 640x480 1940.40 2071.06 0.94
Benchmark Apriltag detection: tag49_12 640x480 1937.14 1970.85 0.98
Benchmark Apriltag detection: tag48_12 640x480 1852.60 1863.39 0.99
Benchmark Apriltag detection: tag41_12 640x480 1943.98 1951.66 1.00
Benchmark Apriltag detection: tag52_13 640x480 1863.20 1876.88 0.99
  • comparison before / after, 1/2/4/8 threads, example:
./perfApriltagDetection --benchmark --nThreads 2 --blur 0.8 --benchmark-samples 200 \
    --reporter xml::out=perfApriltagDetection_2threads_run1_before.xml \
    --reporter console::out=-::colour-mode=ansi

1 thread

Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12035.70 12093.80 1.00
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11737.00 11823.20 0.99
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 6160.22 6170.47 1.00
Benchmark Apriltag detection: tag25_09 1920x1080 11861.00 12364.50 0.96
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 11827.70 11986.30 0.99
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6131.03 6347.64 0.97
Benchmark Apriltag detection: tag36_11 1920x1080 11901.60 12182.40 0.98
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11790.70 11787.10 1.00
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 6261.49 6270.25 1.00
Benchmark Apriltag detection: tag21_07 1920x1080 8906.94 9040.48 0.99
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 8787.08 9009.99 0.98
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 4605.26 4604.95 1.00
Benchmark Apriltag detection: tag49_12 1920x1080 8877.08 9731.75 0.91
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 8884.04 9518.16 0.93
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 4682.96 4879.03 0.96
Benchmark Apriltag detection: tag48_12 1920x1080 9897.92 10644.70 0.93
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 9924.57 10431.70 0.95
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 5322.80 5340.78 1.00
Benchmark Apriltag detection: tag41_12 1920x1080 9573.35 9892.70 0.97
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 9481.86 9746.55 0.97
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 5021.99 5278.91 0.95
Benchmark Apriltag detection: tag52_13 1920x1080 9860.64 10470.10 0.94
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 9919.72 10487.40 0.95
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5207.54 5290.14 0.98
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2542.34 2593.78 0.98
Benchmark Apriltag detection: tag25_09 640x480 2540.40 2571.53 0.99
Benchmark Apriltag detection: tag36_11 640x480 2640.03 2608.93 1.01
Benchmark Apriltag detection: tag21_07 640x480 1940.40 1992.40 0.97
Benchmark Apriltag detection: tag49_12 640x480 1937.14 1998.69 0.97
Benchmark Apriltag detection: tag48_12 640x480 1852.60 1870.15 0.99
Benchmark Apriltag detection: tag41_12 640x480 1943.98 1958.89 0.99
Benchmark Apriltag detection: tag52_13 640x480 1863.20 1910.05 0.98

2 threads

Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 14962.80 7236.71 2.07
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 10103.50 7171.53 1.41
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 5242.10 3984.50 1.32
Benchmark Apriltag detection: tag25_09 1920x1080 17877.00 8111.63 2.20
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 17782.60 8604.45 2.07
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 10037.90 6788.04 1.48
Benchmark Apriltag detection: tag36_11 1920x1080 14354.10 8228.57 1.74
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 17248.50 7720.51 2.23
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 9886.42 3944.62 2.51
Benchmark Apriltag detection: tag21_07 1920x1080 14600.30 7815.02 1.87
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 14467.50 9715.87 1.49
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 7891.93 5987.65 1.32
Benchmark Apriltag detection: tag49_12 1920x1080 14514.90 8499.15 1.71
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 14998.80 9552.36 1.57
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 7719.32 7275.27 1.06
Benchmark Apriltag detection: tag48_12 1920x1080 15787.40 7353.19 2.15
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 16316.00 8704.95 1.87
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 9112.24 4037.89 2.26
Benchmark Apriltag detection: tag41_12 1920x1080 13953.80 7509.96 1.86
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 15743.70 7039.23 2.24
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 8167.35 6302.98 1.30
Benchmark Apriltag detection: tag52_13 1920x1080 13126.70 9308.54 1.41
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 15377.40 6787.63 2.27
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 8601.49 6269.36 1.37
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2169.48 1700.13 1.28
Benchmark Apriltag detection: tag25_09 640x480 2464.32 1756.31 1.40
Benchmark Apriltag detection: tag36_11 640x480 4168.57 3732.97 1.12
Benchmark Apriltag detection: tag21_07 640x480 3337.96 2456.01 1.36
Benchmark Apriltag detection: tag49_12 640x480 3134.79 2073.62 1.51
Benchmark Apriltag detection: tag48_12 640x480 3163.68 3066.68 1.03
Benchmark Apriltag detection: tag41_12 640x480 3401.56 1570.02 2.17
Benchmark Apriltag detection: tag52_13 640x480 3133.99 2324.16 1.35

4 threads

Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12602.50 8407.78 1.50
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11831.20 6306.11 1.88
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 3646.02 5634.05 0.65
Benchmark Apriltag detection: tag25_09 1920x1080 7743.98 5329.96 1.45
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 12582.60 6111.02 2.06
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6857.99 4831.55 1.42
Benchmark Apriltag detection: tag36_11 1920x1080 12753.80 7109.74 1.79
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11551.20 5894.72 1.96
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 5934.13 3839.07 1.55
Benchmark Apriltag detection: tag21_07 1920x1080 6166.22 5169.12 1.19
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 10869.90 5729.98 1.90
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 3540.25 3052.78 1.16
Benchmark Apriltag detection: tag49_12 1920x1080 6442.46 6962.68 0.93
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 6228.59 6936.62 0.90
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 3824.24 2995.84 1.28
Benchmark Apriltag detection: tag48_12 1920x1080 11277.50 7990.77 1.41
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 11372.90 7977.44 1.43
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 6127.75 4378.36 1.40
Benchmark Apriltag detection: tag41_12 1920x1080 7648.20 5107.79 1.50
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 6483.60 8294.39 0.78
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 3438.05 3132.77 1.10
Benchmark Apriltag detection: tag52_13 1920x1080 11626.80 7603.65 1.53
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 6931.20 6777.89 1.02
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5576.61 4946.97 1.13
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 1845.14 2959.03 0.62
Benchmark Apriltag detection: tag25_09 640x480 2276.62 2668.91 0.85
Benchmark Apriltag detection: tag36_11 640x480 1805.13 2881.76 0.63
Benchmark Apriltag detection: tag21_07 640x480 1512.58 1287.04 1.18
Benchmark Apriltag detection: tag49_12 640x480 1705.27 2162.14 0.79
Benchmark Apriltag detection: tag48_12 640x480 1541.62 2058.55 0.75
Benchmark Apriltag detection: tag41_12 640x480 1800.35 1284.82 1.40
Benchmark Apriltag detection: tag52_13 640x480 1504.13 2103.74 0.71

8 threads

Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 6290.17 6109.38 1.03
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 6437.87 6567.33 0.98
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 3742.60 4167.24 0.90
Benchmark Apriltag detection: tag25_09 1920x1080 6199.47 7412.08 0.84
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 6609.11 7211.01 0.92
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 4209.91 4102.60 1.03
Benchmark Apriltag detection: tag36_11 1920x1080 6280.08 7438.46 0.84
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 6309.21 5988.76 1.05
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 3680.40 4065.44 0.91
Benchmark Apriltag detection: tag21_07 1920x1080 6283.92 6845.29 0.92
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 5658.58 6727.97 0.84
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 2988.02 2630.72 1.14
Benchmark Apriltag detection: tag49_12 1920x1080 5638.36 6385.41 0.88
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 5661.88 6304.99 0.90
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 3078.35 4003.26 0.77
Benchmark Apriltag detection: tag48_12 1920x1080 6372.19 7365.89 0.87
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 6766.60 7450.92 0.91
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 3499.68 4367.93 0.80
Benchmark Apriltag detection: tag41_12 1920x1080 6365.56 7780.51 0.82
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 6776.80 7105.43 0.95
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 3385.18 3216.69 1.05
Benchmark Apriltag detection: tag52_13 1920x1080 6360.23 6196.97 1.03
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 6177.89 6666.17 0.93
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 3415.64 3473.74 0.98
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 1793.81 2590.44 0.69
Benchmark Apriltag detection: tag25_09 640x480 1683.80 1881.09 0.90
Benchmark Apriltag detection: tag36_11 640x480 1821.68 1899.77 0.96
Benchmark Apriltag detection: tag21_07 640x480 1620.65 1531.69 1.06
Benchmark Apriltag detection: tag49_12 640x480 1523.51 1633.07 0.93
Benchmark Apriltag detection: tag48_12 640x480 1477.57 1665.42 0.89
Benchmark Apriltag detection: tag41_12 640x480 1687.01 1612.90 1.05
Benchmark Apriltag detection: tag52_13 640x480 1685.99 1583.01 1.07
  • 1 thread vs 2 threads, after:
Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12093.80 7236.71 1.67
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11823.20 7171.53 1.65
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 6170.47 3984.50 1.55
Benchmark Apriltag detection: tag25_09 1920x1080 12364.50 8111.63 1.52
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 11986.30 8604.45 1.39
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6347.64 6788.04 0.94
Benchmark Apriltag detection: tag36_11 1920x1080 12182.40 8228.57 1.48
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11787.10 7720.51 1.53
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 6270.25 3944.62 1.59
Benchmark Apriltag detection: tag21_07 1920x1080 9040.48 7815.02 1.16
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 9009.99 9715.87 0.93
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 4604.95 5987.65 0.77
Benchmark Apriltag detection: tag49_12 1920x1080 9731.75 8499.15 1.15
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 9518.16 9552.36 1.00
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 4879.03 7275.27 0.67
Benchmark Apriltag detection: tag48_12 1920x1080 10644.70 7353.19 1.45
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 10431.70 8704.95 1.20
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 5340.78 4037.89 1.32
Benchmark Apriltag detection: tag41_12 1920x1080 9892.70 7509.96 1.32
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 9746.55 7039.23 1.38
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 5278.91 6302.98 0.84
Benchmark Apriltag detection: tag52_13 1920x1080 10470.10 9308.54 1.12
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 10487.40 6787.63 1.55
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5290.14 6269.36 0.84
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2593.78 1700.13 1.53
Benchmark Apriltag detection: tag25_09 640x480 2571.53 1756.31 1.46
Benchmark Apriltag detection: tag36_11 640x480 2608.93 3732.97 0.70
Benchmark Apriltag detection: tag21_07 640x480 1992.40 2456.01 0.81
Benchmark Apriltag detection: tag49_12 640x480 1998.69 2073.62 0.96
Benchmark Apriltag detection: tag48_12 640x480 1870.15 3066.68 0.61
Benchmark Apriltag detection: tag41_12 640x480 1958.89 1570.02 1.25
Benchmark Apriltag detection: tag52_13 640x480 1910.05 2324.16 0.82

  • 1 thread vs 4 threads, after:
Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12093.80 8407.78 1.44
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11823.20 6306.11 1.87
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 6170.47 5634.05 1.10
Benchmark Apriltag detection: tag25_09 1920x1080 12364.50 5329.96 2.32
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 11986.30 6111.02 1.96
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6347.64 4831.55 1.31
Benchmark Apriltag detection: tag36_11 1920x1080 12182.40 7109.74 1.71
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11787.10 5894.72 2.00
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 6270.25 3839.07 1.63
Benchmark Apriltag detection: tag21_07 1920x1080 9040.48 5169.12 1.75
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 9009.99 5729.98 1.57
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 4604.95 3052.78 1.51
Benchmark Apriltag detection: tag49_12 1920x1080 9731.75 6962.68 1.40
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 9518.16 6936.62 1.37
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 4879.03 2995.84 1.63
Benchmark Apriltag detection: tag48_12 1920x1080 10644.70 7990.77 1.33
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 10431.70 7977.44 1.31
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 5340.78 4378.36 1.22
Benchmark Apriltag detection: tag41_12 1920x1080 9892.70 5107.79 1.94
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 9746.55 8294.39 1.18
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 5278.91 3132.77 1.69
Benchmark Apriltag detection: tag52_13 1920x1080 10470.10 7603.65 1.38
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 10487.40 6777.89 1.55
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5290.14 4946.97 1.07
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2593.78 2959.03 0.88
Benchmark Apriltag detection: tag25_09 640x480 2571.53 2668.91 0.96
Benchmark Apriltag detection: tag36_11 640x480 2608.93 2881.76 0.91
Benchmark Apriltag detection: tag21_07 640x480 1992.40 1287.04 1.55
Benchmark Apriltag detection: tag49_12 640x480 1998.69 2162.14 0.92
Benchmark Apriltag detection: tag48_12 640x480 1870.15 2058.55 0.91
Benchmark Apriltag detection: tag41_12 640x480 1958.89 1284.82 1.52
Benchmark Apriltag detection: tag52_13 640x480 1910.05 2103.74 0.91

  • 1 thread vs 8 threads, after:
Benchmark Apriltag detection 1920x1080 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 1920x1080 12093.80 6109.38 1.98
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=2 11823.20 6567.33 1.80
Benchmark Apriltag detection: tag16_05 1920x1080 decimate=3 6170.47 4167.24 1.48
Benchmark Apriltag detection: tag25_09 1920x1080 12364.50 7412.08 1.67
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=2 11986.30 7211.01 1.66
Benchmark Apriltag detection: tag25_09 1920x1080 decimate=3 6347.64 4102.60 1.55
Benchmark Apriltag detection: tag36_11 1920x1080 12182.40 7438.46 1.64
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=2 11787.10 5988.76 1.97
Benchmark Apriltag detection: tag36_11 1920x1080 decimate=3 6270.25 4065.44 1.54
Benchmark Apriltag detection: tag21_07 1920x1080 9040.48 6845.29 1.32
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=2 9009.99 6727.97 1.34
Benchmark Apriltag detection: tag21_07 1920x1080 decimate=3 4604.95 2630.72 1.75
Benchmark Apriltag detection: tag49_12 1920x1080 9731.75 6385.41 1.52
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=2 9518.16 6304.99 1.51
Benchmark Apriltag detection: tag49_12 1920x1080 decimate=3 4879.03 4003.26 1.22
Benchmark Apriltag detection: tag48_12 1920x1080 10644.70 7365.89 1.45
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=2 10431.70 7450.92 1.40
Benchmark Apriltag detection: tag48_12 1920x1080 decimate=3 5340.78 4367.93 1.22
Benchmark Apriltag detection: tag41_12 1920x1080 9892.70 7780.51 1.27
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=2 9746.55 7105.43 1.37
Benchmark Apriltag detection: tag41_12 1920x1080 decimate=3 5278.91 3216.69 1.64
Benchmark Apriltag detection: tag52_13 1920x1080 10470.10 6196.97 1.69
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=2 10487.40 6666.17 1.57
Benchmark Apriltag detection: tag52_13 1920x1080 decimate=3 5290.14 3473.74 1.52
Benchmark Apriltag detection 640x480 - time unit: us Before After Speed-up
Benchmark Apriltag detection: tag16_05 640x480 2593.78 2590.44 1.00
Benchmark Apriltag detection: tag25_09 640x480 2571.53 1881.09 1.37
Benchmark Apriltag detection: tag36_11 640x480 2608.93 1899.77 1.37
Benchmark Apriltag detection: tag21_07 640x480 1992.40 1531.69 1.30
Benchmark Apriltag detection: tag49_12 640x480 1998.69 1633.07 1.22
Benchmark Apriltag detection: tag48_12 640x480 1870.15 1665.42 1.12
Benchmark Apriltag detection: tag41_12 640x480 1958.89 1612.90 1.21
Benchmark Apriltag detection: tag52_13 640x480 1910.05 1583.01 1.21

@s-trinh s-trinh force-pushed the add_apriltag_threaded_convolution branch from b7fa0be to b66ea98 Compare August 15, 2025 13:57
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codecov bot commented Sep 2, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 54.39%. Comparing base (6c74a4c) to head (a50db79).
⚠️ Report is 89 commits behind head on master.

Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1748      +/-   ##
==========================================
- Coverage   54.39%   54.39%   -0.01%     
==========================================
  Files         447      447              
  Lines       54582    54582              
==========================================
- Hits        29691    29690       -1     
- Misses      24891    24892       +1

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fspindle commented Oct 3, 2025

@s-trinh Thanks

@fspindle fspindle merged commit 84c4483 into lagadic:master Oct 3, 2025
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@s-trinh @fspindle