この記事はOpenCV Advent Calendar 2023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
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
計測スクリプト
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。
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。
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 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) (Winograd無効) |
処理時間(ms) (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) (Winograd無効) |
処理時間(ms) (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) (Winograd無効) |
処理時間(ms) (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) (Winograd無効) |
処理時間(ms) (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
getBuildInformation
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:
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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
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C/C++:
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C++ Compiler: C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin/x86_amd64/cl.exe (ver 19.0.24247.2)
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C Compiler: C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin/x86_amd64/cl.exe
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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
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OpenCV modules:
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Disabled: java world
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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
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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
macOS
getBuildInformation
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
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VTK support: NO
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WEBP: build (ver encoder: 0x020f)
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-----------------------------------------------------------------
Jetson Linux
getBuildInformation
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
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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
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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
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install path: python/cv2/python-3
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Java:
ant: NO
Java: NO
JNI: NO
Java wrappers: NO
Java tests: NO
Install to: /io/_skbuild/linux-aarch64-3.7/cmake-install
-----------------------------------------------------------------
Ubuntu 22.04、x86_64
getBuildInformation
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