## 6/16/2018 notes richard@anki.com # MP - MicData performance - When idle, trigger processing is 36%, dropping to 24% when active, raw processing remains about the same ## Idle, on charger #### THREAD: vic-anim ``` 24.4% vic-anim 66.9% vic-anim 48.0% ProceduralFaceDrawer 16.4% libc 8.9% libopencv 7.8% libc++ ``` #### THREAD: MicProcTrigger ``` 36.9% MicProcTrigger 98.2% vic-anim 80.2% u139y 10.0% b383i 4.0% eb41l 1.8% libpthread ``` #### THREAD: MicProcRaw ``` 30.4% MicProcRaw 85.0% vic-anim 10.3% DoSpatialFilter 8.6% .loop_8_taps 7.8% .i_loop_no_load 6.9% VGenComplextone_i16_ansi 6.4% VAdd_i16_ani 5.8% DoBeamDecision 4.2% rftfsub 4.1% rad4_ps 3.6% MapRatioToFuzzy 10.3% libc 82.2% memcpy 17.8% libc 4.7% libm 52.5% __pow_finite 47.8% __atan2f_finite ``` #### THREAD: WWISE ``` 6.9% vic-anim ``` ## Active #### THREAD: MicProcRaw ``` 32.9% MicProcRaw (>30.4%) 85.0% vic-anim 13.4% .i_loop_no_load (>7.8%) 8.1% .loop_8 (+) 6.4% VGenComplextone_i16_ansi (=6.9%) 0.4% MapRatioToFuzzy (<3.6%) 3.6% DoSpatialFilter (<10.3%) 3.0% .loop_8_taps (<8.6%) 2.8% rad4_ps (<4.1%) 0.8% VAdd_i16_ansi (<6.4%) 0.7% DoBeamDecision (<5.8%) 0.2% rftfsub (<4.2%) 11.4% libc (=10.3%) 82.2% memcpy 17.8% libc 4.2% libm (4.7%) 30.8% atanf 19.3% __log_finite 16.0% __atan2f_finite (<47.8%) 10.8% __pow_finite (<52.5%) ``` #### THREAD: MicProcTrigger ``` 24.4% MicProcTrigger (<36.9%) 98.3% vic-anim (=98.2%) 87.7% u139y (>80.2%) 3.7% w3e8m 3.5% b383i (<10.0%) 1.4% g597v.constprop.1 1.0% eb41l (<4.0%) 1.8% libpthread ``` #### THREAD: Animation Streamer ``` 24.4% vic-anim (<28.0%) 66.9% vic-anim 48.0% ProceduralFaceDrawer 16.4% libc 8.9% libopencv 7.8% libc++ ``` #### THREAD: WWISE ``` 6.9% vic-anim (>12.8%) ``` ## 6/12/2018 notes richard@anki.com # DVT3 - MicData performance - No degradation in performance since 5/8/2018 - Little difference in process between the default voice and smaller-sized voice when idle. - When idle, trigger processing is <7% jumping to 27% when active then raw processing jumps from 18% to 56% ## Idle, on charger ``` DEFAULT VOICE LITTLE VOICE ``` #### THREAD: vic-anim ``` 61% vic-anim 59% vic-anim ``` #### THREAD: MicProcRaw ``` 18.7% MicProcRaw 21% MicProcRaw 61.2% vic-anim 66% vic-anim 7.4% .i_loop_no_load 5.7% aubio_fft_get_norm 4.4% aubio_fft_get_norm 5.6% ProcessRawAudio 4.3% ProcessRawAudio 4.1% cfdmdl 3.7% cfdmdl 3.6% DcRemovalFilter_f32 3.0% DcRemovalFilter_f32 3.6% fvec_weight 2.7% fvec_weight 3.3% AddSamples 3.8% AddSamples 3.2% plt 2.7% plt 3.2% cft1st 3.2% cft1st 3.2% _loop8 1.3% _loop8 2.3% ProcessMicrophonesSE 2.1% ProcessMicrophonesSE 2.3% AnkiStatsAccumulator 2.1% AnkiStatsAccumulator 1.6% ProcessRawLoop 1.7% ProcessRawLoop 17% libm 13.92% libm 61% atanf 51.6% atanf 23% _atan2f_finite 27.7% _atan2f_finite 13% atan2f 14% atan2f 3.1% __log_finite 14% libc 12.5% libc 36% memcpy 50.14% memcpy 11.9% __clock_gettime 15.5% __clock_gettime ``` #### THREAD: wwise ``` 9.6% vic-anim (wwise) 10% vic-anim (wwise) ``` #### THREAD: MicProcTrigger ``` 7.5% MicProcTrigger 6.4% MicProcTrigger 82% vic-anim 78% vic-anim 78.8% u139y 63% u139y 6.7% w3e8m 7.1% ProcessTriggerLoop 5.9% ProcessTriggerLoop 2.9% b383i 3.3% b383i 5.8% libpthread 7.8% libpthread 5.1% libc 4.5% libc 32.2% memcpy 4% libc++ 4.2% libc++ ``` #### THREAD: wwise ``` 1.3% vic-anim (wwise) 1.2% vic-anim (wwise) ``` ## Active ``` DEFAULT VOICE TALKING ``` #### THREAD: vic-anim ``` 25% vic-anim ``` #### THREAD: MicProcRaw ``` 46% MicProcRaw 81% vic-anim 19% .i_loop_no_load 9.3% ConvertFloatToInt16 1.7% ProcessRawAudio 5.6% .qmask_add_pc 5.5% .vcmul_quad_loop_start 1.6% DcRemovalFilter_f32 5.9% AddSamples 3.4% AnkiStatsAccumulator 6.2% libm 66.6% atanf 33.4% __log_finite 10.3% libc ``` #### THREAD: wwise ``` vic-anim (wwise) ``` #### THREAD: MicProcTrigger ``` 27% MicProcTrigger 100% vic-anim 89.6% u139y 7% b383i 3.5% w3e8m ``` ## 5/8/2018 notes richard@anki.com # DVT2 - CPU performance Note: idle means sitting on the charger for 2 minutes, shaken is free-play plus spoken at for 2 minutes - CLAHE_Interpolation_Body functions are gone - MicData is still more expensive than face rendering - 38% of face rendering is noise, 35% converting to HSV, 17% drawing eyes - malloc and new in the results - Dev_AssertIsValidParentPointer is still in the results - vic-cloud does not show results ## PROCESS: vic-engine ### Top 20 functions idle ``` Overhead Command Tid Shared Object Symbol 16.77% VisionSystem 8761 libcozmo_engine void Anki::Embedded::ScrollingIntegralImage_u8_s32::FilterRow_innerLoop(int, int, int, int, int const*, int const*, int const*, int const*, unsigned char*) 5.64% VisionSystem 8761 libcozmo_engine Anki::Vision::ImageRGB::FillGray(Anki::Vision::Image&) const 4.26% VisionSystem 8761 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract2dComponents_PerRow_NextRow(unsigned char const*, int, short, short, short) 4.12% VisionSystem 8761 libcozmo_engine Anki::Embedded::ScrollingIntegralImage_u8_s32::ScrollDown(Anki::Embedded::Array const&, int, Anki::Embedded::MemoryStack) 3.79% VisionSystem 8761 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract1dComponents(unsigned char const*, short, short, short, Anki::Embedded::FixedLengthList >&) 2.72% VisionSystem 8761 libcozmo_engine Anki::Embedded::ecvcs_computeBinaryImage_numFilters3(Anki::Embedded::Array const&, Anki::Embedded::FixedLengthList >&, int, int, unsigned char*, bool) 1.86% CozmoRunner 8698 libcozmo_engine Anki::PoseBase::PoseTreeNode::Dev_AssertIsValidParentPointer(Anki::PoseBase::PoseTreeNode const*, Anki::PoseBase::PoseTreeNode const*) 1.52% CozmoRunner 8698 libcozmo_engine Anki::Cozmo::QuadTreeNode::Intersects(Anki::FastPolygon const&) const 1.47% CozmoRunner 8698 libc malloc 1.46% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_5, std::__1::allocator > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_5>, void (Anki::Cozmo::QuadTreeNode&)>::operator()(Anki::Cozmo::QuadTreeNode&) 1.34% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func, void (Anki::Cozmo::QuadTreeNode const&)>::operator()(Anki::Cozmo::QuadTreeNode const&) 1.28% CozmoRunner 8698 libcozmo_engine std::__1::enable_if::value, void>::type Anki::Cozmo::QuadTreeNode::Fold(std::__1::function, Anki::FastPolygon const&, Anki::Cozmo::QuadTreeTypes::FoldDirection) 1.10% VisionSystem 8761 libcozmo_engine Anki::Cozmo::RollingShutterCorrector::ComputePixelShiftsWithImageIMU(unsigned int, Anki::Point<2u, float>&, Anki::Cozmo::VisionPoseData const&, Anki::Cozmo::VisionPoseData const&, float) 1.08% CozmoRunner 8698 libcozmo_engine Anki::Cozmo::QuadTreeNode::Fold(std::__1::function, Anki::Cozmo::QuadTreeTypes::FoldDirection) 1.07% VisionSystem 8761 libc memset 0.98% CozmoRunner 8698 libpthread-2.22 pthread_mutex_lock 0.93% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_1, std::__1::allocator > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_1>, void (Anki::Cozmo::QuadTreeNode&)>::operator()(Anki::Cozmo::QuadTreeNode&) 0.92% VisionSystem 8761 libc __clock_gettime 0.82% CozmoRunner 8698 libcozmo_engine @plt 0.77% CozmoRunner 8698 libcozmo_engine Anki::FastPolygon::Contains(float, float) const ``` ### Top 20 functions shaken ``` Overhead Command Tid Shared Object Symbol 11.40% FaceRecognizer 8748 libcozmo_engine OMR_F_FR80_0042 10.55% VisionSystem 8761 libcozmo_engine void Anki::Embedded::ScrollingIntegralImage_u8_s32::FilterRow_innerLoop(int, int, int, int, int const*, int const*, int const*, int const*, unsigned char*) 3.33% FaceRecognizer 8748 libcozmo_engine OMR_F_FR80_0049 2.78% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_5, std::__1::allocator > (Anki::Cozmo::MemoryMapDataWrapper >)>)::$_5>, void (Anki::Cozmo::QuadTreeNode&)>::operator()(Anki::Cozmo::QuadTreeNode&) 2.73% VisionSystem 8761 libcozmo_engine OMR_F_DT_0031 2.72% VisionSystem 8761 libcozmo_engine Anki::Embedded::ScrollingIntegralImage_u8_s32::ScrollDown(Anki::Embedded::Array const&, int, Anki::Embedded::MemoryStack) 2.66% CozmoRunner 8698 libcozmo_engine Anki::Cozmo::QuadTreeNode::Fold(std::__1::function, Anki::Cozmo::QuadTreeTypes::FoldDirection) 2.47% VisionSystem 8761 libcozmo_engine OMR_F_PT50_0003 2.37% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func, void (Anki::Cozmo::QuadTreeNode const&)>::operator()(Anki::Cozmo::QuadTreeNode const&) 2.11% FaceRecognizer 8748 libcozmo_engine OMR_F_FR80_0056 2.11% VisionSystem 8761 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract1dComponents(unsigned char const*, short, short, short, Anki::Embedded::FixedLengthList >&) 1.68% VisionSystem 8761 libcozmo_engine Anki::Embedded::ecvcs_computeBinaryImage_numFilters3(Anki::Embedded::Array const&, Anki::Embedded::FixedLengthList >&, int, int, unsigned char*, bool) 1.47% VisionSystem 8761 libopencv_imgproc cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 1.24% VisionSystem 8761 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract2dComponents_PerRow_NextRow(unsigned char const*, int, short, short, short) 1.09% FaceRecognizer 8748 libcozmo_engine OMR_F_FR80_0054 1.06% VisionSystem 8761 libcozmo_engine OMR_F_DT_0048 1.04% VisionSystem 8761 libopencv_imgproc cv::resizeNNInvoker::operator()(cv::Range const&) const 1.03% VisionSystem 8761 libcozmo_engine Anki::Vision::ImageRGB::FillGray(Anki::Vision::Image&) const 1.03% CozmoRunner 8698 libcozmo_engine std::__1::__function::__func, Anki::Cozmo::MemoryMapDataWrapper > (Anki::Cozmo::MemoryMapDataWrapper >)>::operator()(Anki::Cozmo::MemoryMapDataWrapper >&&) 0.99% FaceRecognizer 8748 libcozmo_engine OMR_F_FR80_0041 ``` ### Hierarchical idle #### THREAD: VisionSystem (51%) ``` 88% libcozmo_engine 37% ScrollingIntegralImage_u8_s32::FilterRow_innerLoop 12% FillGray 9% ConnectedComponentsTemplate::Extract2dComponents_PerRow_NextRow 9% ScrollingIntegralImage_u8_s32::ScrollDown 8% ConnectedComponentsTemplate::Extract1dComponents_PerRow_NextRow ``` #### THREAD: CozmoRunner (47%) ``` 62% cozmo_engine 17% other 7% Dev_AssertDevIsValidParentPointer 6% QuadTreeNode::Intersects 5% QuadTreeNode::Transform 5% MemoryMap::GetBroadcastInfo 18% libc 19% malloc 6% free 8% libc++ 8% new 3% delete ``` ### Hierarchical shaken #### THREAD: VisionSystem (41% -10%) ``` 88% libcozmo_engine 37% ScrollingIntegralImage_u8_s32::FilterRow_innerLoop 12% FillGray 9% ConnectedComponentsTemplate::Extract2dComponents_PerRow_NextRow 9% ScrollingIntegralImage_u8_s32::ScrollDown 8% ConnectedComponentsTemplate::Extract1dComponents_PerRow_NextRow ``` #### THREAD: CozmoRunner (37% -10%) ``` 65% cozmo_engine (+3%) 17% other (=) 14% QuadTreeNode::Transform (+9%) 12% MemoryMap::GetBroadcastInfo (+9%) 5% MapComponent::TimeoutObjects (NEW) 4% Dev_AssertDevIsValidParentPointer (-3%) 17% libc (-1%) 17% malloc (-2%) 7% free (+1%) 7% memcpy 5% vfprintf 10% libc++ (+2%) 4% new (-4%) 2% delete (-1%) ``` #### THREAD: FaceRecognizer (20%) ``` 100% OMR_F_* ``` ## PROCESS: vic-anim ### Top 20 functions idle ``` Overhead Command Tid Shared Object Symbol 36.70% MicProcTrigger 8707 vic-anim u139y 6.12% MicProcRaw 8706 vic-anim .i_loop_no_load 6.06% vic-anim 8678 vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyNoise(Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB565 const&, Anki::Vision::ImageRGB565&, Anki::Cozmo::ProceduralFaceDrawer::DrawCacheState) 5.58% vic-anim 8678 vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.71% MicProcRaw 8706 vic-anim VGenComplexTone_i16_ansi 2.63% vic-anim 8678 vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.05% vic-anim 8678 libopencv_imgproc void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 1.96% MicProcRaw 8706 libc memcpy 1.65% MicProcTrigger 8707 vic-anim w3e8m 1.53% MicProcTrigger 8707 vic-anim b383i 1.36% MicProcRaw 8706 vic-anim ConvertFloatToInt16 1.13% MicProcRaw 8706 vic-anim radf4_ps 1.09% vic-anim 8678 libm roundf 0.99% MicProcRaw 8706 vic-anim .qmask_add_pc 0.93% MicProcRaw 8706 vic-anim .vcmul_quad_loop_start 0.91% MicProcRaw 8706 vic-anim .vcrmul_quad_loop_start 0.91% MicProcRaw 8706 vic-anim .loop_8_taps 0.83% vic-anim 8678 libc memcpy 0.80% MicProcRaw 8706 vic-anim VDotProductsLeftShift_q15_i16_ansi ``` ### Top 20 functions shaken ``` Overhead Command Tid Shared Object Symbol 33.55% MicProcTrigger 8707 vic-anim u139y 5.71% MicProcRaw 8706 vic-anim .i_loop_no_load 4.90% vic-anim 8678 vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyNoise(Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB565 const&, Anki::Vision::ImageRGB565&, Anki::Cozmo::ProceduralFaceDrawer::DrawCacheState) 4.58% vic-anim 8678 vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.81% MicProcRaw 8706 vic-anim .loop_8 2.41% MicProcRaw 8706 vic-anim VGenComplexTone_i16_ansi 2.19% vic-anim 8678 libopencv_imgproc void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.19% vic-anim 8678 vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Vision::ImageRGB&, Anki::Rectangle&) 1.76% MicProcRaw 8706 libc memcpy 1.49% MicProcTrigger 8707 vic-anim b383i 1.33% MicProcTrigger 8707 vic-anim w3e8m 1.14% MicProcRaw 8706 vic-anim ConvertFloatToInt16 1.09% MicProcRaw 8706 vic-anim .qmask_add_pc 1.06% MicProcRaw 8706 vic-anim radf4_ps 0.99% MicProcRaw 8706 vic-anim .loop_8_taps 0.98% vic-anim 8678 libm roundf 0.95% MicProcRaw 8706 vic-anim .load_qmask 0.86% MicProcRaw 8706 vic-anim .vcrmul_quad_loop_start 0.84% MicProcRaw 8706 vic-anim .vcmul_quad_loop_start 0.82% MicProcRaw 8706 vic-anim VDotProductsLeftShift_q15_i16_ansi ``` ### Hierarchical idle #### THREAD: MicProcTrigger (42%) ``` 86% u139y 4% w3e8m ``` #### THREAD: MicProcRaw (31%) ``` 22% .i_loop_no_load 10% VGenComplextone_i16_ansi ``` #### THREAD: vic-anim (25%) ``` 63% vic-anim 38% ApplyNoise 35% ConvertHSV 17% DrawEye 15% opencv 8% libc ``` ### Hierarchical shaken #### THREAD: MicProcTrigger (38% -3%) ``` 88% u139y (+2%) 4% w3e8m (=) ``` #### THREAD: MicProcRaw (32% ==) ``` 89% vic-anim 20% .i_loop_no_load (-2%) 10% .loop_8 (NEW) 8% VGenComplextone_i16_ansi (-2%) 7% libc 80% memcpy ``` #### THREAD: vic-anim (22% -3%) ``` 60% vic-anim (-3%) 37% ApplyNoise (-1%) 35% ConvertHSV (=) 17% DrawEye (=) 17% opencv (+2%) 9% libc (+1%) ``` ## PROCESS: vic-cloud ### Top 20 functions idle ``` Overhead Command Tid Shared Object Symbol 49.00% vic-cloud 8684 vic-cloud vic-cloud[+5fde0] 25.93% vic-cloud 8684 vic-cloud _start 19.77% vic-cloud 8684 [vectors] [vectors][+fc8] 4.42% vic-cloud 8684 [vectors] [vectors][+fc0] 0.84% vic-cloud 8684 [vectors] [vectors][+fa0] 0.03% vic-cloud 8684 vic-cloud vic-cloud[+5fe30] ``` ### Top 20 functions shaken ``` Overhead Command Tid Shared Object Symbol 89.50% vic-cloud 8684 vic-cloud _start 8.68% vic-cloud 8684 [vectors] [vectors][+fd8] 1.80% vic-cloud 8684 [vectors] [vectors][+fc0] 0.03% vic-cloud 8684 vic-cloud vic-cloud[+5fe30] ``` ## PROCESS: vic-robot ### Top 20 functions idle ``` Overhead Command Tid Shared Object Symbol 11.41% vic-robot 8677 libgcc __divdi3 9.01% vic-robot 8677 libc memcpy 7.45% vic-robot 8677 vic-robot calc_crc 4.60% vic-robot 8677 libc memset 3.69% vic-robot 8677 libc __clock_gettime 2.25% vic-robot 8677 vic-robot Anki::Cozmo::spine_get_frame() 2.07% vic-robot 8677 libc++ std::__1::chrono::steady_clock::now() 1.87% vic-robot 8677 vic-robot spine_parse_frame 1.80% vic-robot 8677 vic-robot Anki::Cozmo::IMUFilter::Update() 1.35% vic-robot 8677 vic-robot @plt 1.29% vic-robot 8677 libc read 1.24% vic-robot 8677 vic-robot Anki::Cozmo::IMUFilter::DetectPickup() 1.21% vic-robot 8683 libc++ std::__1::this_thread::sleep_for(std::__1::chrono::duration > const&) 1.17% vic-robot 8677 vic-robot Anki::Cozmo::HAL::Step() 1.09% vic-robot 8677 vic-robot GetTimeStamp 1.00% vic-robot 8677 vic-robot Anki::Cozmo::ProxSensors::UpdateCliff() 0.95% vic-robot 8683 libc std::__1::chrono::steady_clock::now() 0.92% vic-robot 8683 libc __clock_gettime 0.86% vic-robot 8677 vic-robot Anki::Cozmo::DockingController::Update() 0.80% vic-robot 8677 vic-robot Anki::Cozmo::Robot::step_MainExecution() ``` ### Hierarchical idle #### THREAD: vic-robot (87%) ``` 49% vic-robot 17% calc_crc 5% spine_get_frame 4% spine_parse_frame 27% libc 38% memcpy 19% memset 15% libc++ 87% __divdi3 5% libm ``` #### THREAD: vic-robot (12%) ``` 30% vic-robot 20% sleep 20% ProcessIMUEvents 16% spi_transfer 15% imu_manage 13% @plt 25% libc 23% libc++ 16% libgcc ``` ## 2/21/2018 notes richard@anki.com ### DVT2 - CPU performance - Large single function consumers are working with bitmap images - Order of expensive functions doesnt change between idle and shaken, some additions - vic-anim process, vic-anim thread is consistent between idle and shaken - pthreads more prevalent than expected ### DVT1 - CPU performance - Large single function consumers are working with bitmap images - `_raw_spin_unlock_irq` and thread functions prevalent - many memory allocation related functions in sub-1% band - Hard to find relationship between DVT1 and Webots performance ### Webots - memory performance - finding the jpeg encoder does ~5000 allocations! - 1 persistent allocation - 300,880 transient allocations in 3.4GB 90% of which are `intel_performance_primitives` - `intel_performance_primitives` appears to be running on a different thread, IPC for allocations? # DVT2 - CPU performance ## PROCESS: vic-engine ### Top 10 functions idle ``` Overhead Command Tid Shared Object Symbol 19.26% VisionSystem 12260 libcozmo_engine void Anki::Embedded::ScrollingIntegralImage_u8_s32::FilterRow_innerLoop(int, int, int, int, int const*, int const*, int const*, int const*, unsigned char*) 11.75% VisionSystem 12260 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 6.21% VisionSystem 12261 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 6.11% VisionSystem 12260 libcozmo_engine Anki::Vision::Image::BoxFilter(Anki::Vision::ImageBase&, unsigned int) const 6.00% VisionSystem 12263 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 5.80% VisionSystem 12262 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 5.05% VisionSystem 12260 libcozmo_engine Anki::Embedded::ScrollingIntegralImage_u8_s32::ScrollDown(Anki::Embedded::Array const&, int, Anki::Embedded::MemoryStack) 3.76% VisionSystem 12260 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract1dComponents(unsigned char const*, short, short, short, Anki::Embedded::FixedLengthList >&) 3.15% VisionSystem 12260 libcozmo_engine Anki::Embedded::ecvcs_computeBinaryImage_numFilters3(Anki::Embedded::Array const&, Anki::Embedded::FixedLengthList >&, int, int, unsigned char*, bool) 1.71% VisionSystem 12260 libcozmo_engine Anki::Vision::ImageRGB::FillGray(Anki::Vision::Image&) const ``` ### Top 10 functions shaken ``` Overhead Command Tid Shared Object Symbol 14.68% VisionSystem 12260 libcozmo_engine void Anki::Embedded::ScrollingIntegralImage_u8_s32::FilterRow_innerLoop(int, int, int, int, int const*, int const*, int const*, int const*, unsigned char*) 6.17% VisionSystem 12260 libcozmo_engine OMR_F_DT_0031 5.35% VisionSystem 12260 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 5.24% VisionSystem 12262 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 4.46% VisionSystem 13166 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 4.27% VisionSystem 12263 libopencv_imgproc (anonymous namespace)::CLAHE_Interpolation_Body::operator()(cv::Range const&) const 3.98% VisionSystem 12260 libcozmo_engine Anki::Vision::Image::BoxFilter(Anki::Vision::ImageBase&, unsigned int) const 3.54% VisionSystem 12260 libcozmo_engine Anki::Embedded::ScrollingIntegralImage_u8_s32::ScrollDown(Anki::Embedded::Array const&, int, Anki::Embedded::MemoryStack) 3.01% CozmoRunner 12205 libcozmo_engine Anki::LineSegment::IntersectsWith(Anki::LineSegment const&) const 2.73% VisionSystem 12260 libcozmo_engine Anki::Embedded::ConnectedComponentsTemplate::Extract1dComponents(unsigned char const*, short, short, short, Anki::Embedded::FixedLengthList >&) ``` ### Hierarchical idle #### THREAD: VisionSystem (64.1%) ``` 69.8% libcozmo_engine 43.5% Anki::Embedded...FilterRow_innerloop 13.8% Anki::Vision::Image::BoxFilter 11.4% Anki::Embedded...ScrollDown 8.5% ConnectedComponentsTemplate::Extract1Dcomponents 7.1% ecvcs_computeBinaryImage_numFilters3 20.5% libopencv_imgproc 89.9% CLAHE_Interpolation_Body 8.3% CLAHE_CalcLut_Body 4.7% libc 54.2% memset 22.4% memcpy 7.9% pthread_getspecific ``` #### THREAD: CozmoRunner (12.9%) ``` 60.3% libcozmo_engine 19.8% Anki::LineSegment::IntersectsWith 10.7% Anki::QuadTreeNode::GetOverlapType 7.6% Anki::PoseBase::DevAssert_IsValidParentPointer 24.4% libc 24.4% pthread_mutex_unlock 18.4% pthread_mutex_lock 9.8% pthread_getspecific 7.4% @plt 8.6% libc++ 38.2% __release_shared ``` #### THREAD: VisionSystem (7.8%) ``` ... CLAHE_Interpolation_Body ``` #### THREAD: VisionSystem (7.6%) ``` ... CLAHE_Interpolation_Body ``` #### THREAD: VisionSystem (7.4%) ``` ... CLAHE_Interpolation_Body ``` ### Hierarchical shaken #### THREAD: VisionSystem (58.0% < 64.1%) ``` 79.8% libcozmo_engine (> 69.8%) 32.1% Anki::Embedded...FilterRow_innerloop (< 43.5%) 13.5% OMR_F_DT_0031 () 8.7% Anki::Vision::Image::BoxFilter (< 13.8%) 7.7% Anki::Embedded...ScrollDown (< 11.4%) 6.0% ConnectedComponentsTemplate::Extract1Dcomponents (8.5%) 5.6% OMR_F_DT_0048 () 4.8% ecvcs_computeBinaryImage_numFilters3 (7.1%) 13.8% libopencv_imgproc (< 20.5%) 67.3% CLAHE_Interpolation_Body (< 89.9%) 7.1% cv::ColumnSum () 5.9% cv::resizeNNInvoker () 4.9% CLAHE_CalcLut_Body (<8.3%) 3.5% libc (<4.7%) 53.0% memset (<54.2%) 27.5% memcpy (>22.4%) 5.1% pthread_getspecific (<7.9%) ``` #### THREAD: CozmoRunner (22.7% > 12.9%) ``` 61.3% libcozmo_engine (~= 60.3%) 19.8% Anki::LineSegment::IntersectsWith 10.7% Anki::QuadTreeNode::GetOverlapType 7.6% Anki::PoseBase::DevAssert_IsValidParentPointer 21.4% libc (~= 24.4%) 18.7% pthread_mutex_unlock (< 24.4%) 13.3% pthread_mutex_lock (< 18.4%) 8.7% pthread_getspecific (~= 9.8%) 6.2% @plt (~= 7.4%) 9.8% libc++ (~= 8.6%) 43.2% __release_shared (> 38.2%) ``` #### THREAD: VisionSystem (6.5% < 7.8%) ``` ... CLAHE_Interpolation_Body ``` #### THREAD: VisionSystem (5.6% < 7.6%) ``` ... CLAHE_Interpolation_Body ``` #### THREAD: VisionSystem (5.3% < 7.4%) ``` ... CLAHE_Interpolation_Body ``` ## PROCESS: vic-anim ### Top 10 functions idle ``` Overhead Command Tid Shared Object Symbol 11.74% MicDataProc 12190 vic-anim .i_loop_no_load 8.74% MicDataProc 12190 vic-anim u139y 6.10% vic-anim 12183 vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 4.87% MicDataProc 12190 vic-anim VGenComplexTone_i16_ansi 4.20% vic-anim 12183 vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 3.55% vic-anim 12183 libopencv_imgproc void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 3.50% MicDataProc 12190 libc memcpy 2.71% MicDataProc 12190 vic-anim ConvertFloatToInt16 2.69% MicDataProc 12190 vic-anim radf4_ps 2.25% vic-anim 12183 libm floorf ``` ### Top 10 functions shaken ``` Overhead Command Tid Shared Object Symbol 47.78% MicDataProc 12190 vic-anim u139y 4.85% MicDataProc 12190 vic-anim .i_loop_no_load 3.35% vic-anim 12183 vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.46% MicDataProc 12190 vic-anim .loop_8 2.38% vic-anim 12183 vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.23% MicDataProc 12190 vic-anim a562j 2.03% vic-anim 12183 libopencv_imgproc void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 1.99% MicDataProc 12190 vic-anim VGenComplexTone_i16_ansi 1.65% MicDataProc 12190 vic-anim b383i 1.54% MicDataProc 12190 libc memcpy ``` ### Hierarchical idle #### THREAD: MicDataProc (64%) ``` 90% vic-anim 20.3% i_loop_no_load 15.1% u139y 8.4% VGenComplexTone_i16_ansi 4.7% ConvertFloatToInt16 7.5% libc 78.0% memcpy 3.9% memset ``` #### THREAD: vic-anim (34.7%) ``` 38.4% vic-anim 47.3% DrawEye 32.6% ConvertHSV2RGB565 7.9% ApplyScanlines 4.0% @plt 28.5% libopencv_imgproc 35.9% cv::remapNearest 13.6% cv::ColumnSum 11.4% cv::RowSum 10.7% cv::LineAA 13.4% libm 48.0% floorf 42.1% roundf 8.0% @plt 12.4% libc 48.6% memcpy 7.2% pthread_mutex_lock 6.8% pthread_mutex_unlock ``` ### Hierarchical shaken #### THREAD: MicDataProc (79.9% > 64%) ``` 96.7% vic-anim (> 90%) 62.2% u139y (> 15.1%) 6.3% i_loop_no_load (< 20.3%) 4.4% 3.2% loop_8 2.6% VGenComplexTone_i16_ansi (< 8.4%) 1.4% ConvertFloatToInt16 (4.7%) 2.6% libc (< 7.5%) 81.9% memcpy (> 78.0%) 4.1% memset (> 3.9%) ``` #### THREAD: vic-anim (19.9% < 34.7%) ``` 38.4% vic-anim (== 38.4%) 48.3% DrawEye (~= 47.3%) 34.4% ConvertHSV2RGB565 (~= 32.6%) 8.3% ApplyScanlines (~= 7.9%) 3.9% @plt (== 4.0%) 28.4% libopencv_imgproc (== 28.5%) 38.1% cv::remapNearest (> 35.9%) 12.4% cv::ColumnSum (> 13.6%) 10.9% cv::RowSum (< 11.4%) 11.5% cv::LineAA (< 10.7%) 14.1% libm (~= 13.4%) 49.6% floorf (~= 48.0%) 41.4% roundf (~= 42.1%) 7.7% @plt (~= 8.0%) 11.9% libc (~= 12.4%) 55.8% memcpy (> 48.6%) 7.9% pthread_mutex_lock (> 7.2%) 7.1% pthread_mutex_unlock (> 6.8%) 7.1% pthread_getspecific () ``` # DVT1 - CPU performance ## PROCESS: cozmoengined #### THREAD: VisionSystem ``` 23% Anki::Embedded::ScrollingIntegralImage_u8_s32::FilterRow_innerLoop 11% CLAHE_Interpolation_Body 7% Anki::Embedded::ScrollingIntegralImage_u8_s32::ScrollDown 6% Anki::Embedded::ExtractLineFitsPeaks 5% Anki::Embedded::ConnectedComponentsTemplate 3% Anki::Embedded::ecvcs_computeBinaryImage_numFilters3 2% Anki::Vision::ImageRGB::FillGray 1% CLAHE_CalcLut_Body 1% Anki::Embedded::ScrollingIntegralImage_u8_s32::PadImageRow ``` #### THREAD: CozmoRunner ``` 3% Anki::Cozmo::UiMessageHandler::Update() 3% je_arena_malloc_hard 3% arena_dalloc_bin_locked_impl 2% je_malloc 2% arena_run_reg_alloc 1% unlock 1% Anki::PoseBase::PoseTreeNode::Dev_AssertIsValidParentPointer ``` #### THREAD: VisionSystem ``` 61% CLAHE_Interpolation_Body 20% _raw_spin_unlock_irq 7% CLAHE_CalcLut_Body 2% cv::KMeansDistanceComputer::operator() ``` #### THREAD: VisionSystem ``` 62% CLAHE_Interpolation_Body 17% _raw_spin_unlock_irq 6% CLAHE_CalcLut_Body 2% cv::KMeansDistanceComputer::operator() ``` #### THREAD: VisionSystem ``` 63% CLAHE_Interpolation_Body 15% _raw_spin_unlock_irq 7% CLAHE_CalcLut_Body 2% cv::KMeansDistanceComputer::operator() ``` #### THREAD: vic-engine ``` 48% _raw_spin_unlock_irqrestore 7% usleep 2.5% IsRunning ``` #### THREAD: mm_cam_stream ``` 75% mm_app_snapshot_notify_cb_raw 13% v7_dma_inv_range ``` #### THREAD: FaceRecognizer ``` 40% _raw_spin_unlock_irqrestore 4% FaceRecognizer::Run 7% sleep 2% thread_mutex_lock 1% thread_mutex_unlock ``` #### THREAD: BehaviorServer ``` 36% _raw_spin_unlock_irqrestore 11% mutex ``` #### THREAD: civetweb-master ``` 82% poll ``` #### THREAD: camera? ``` 51% v7_dma_flush_range ``` ## PROCESS: vic-anim #### THREAD: MicDataProc ``` 26% _raw_spin_unlock_irqrestore 8% Anki::Cozmo::MicData::MicDataProcessor::ProcessLoop 4% sleep ``` #### THREAD: vic-anim ``` 18% cv::HSV2RGB... 11% cv::remapNearest 9% Anki::Cozmo::ProceduralFaceDrawer::DrawEye 6% cv_vrndq_u32_f32 6% memcpy 3% cv::LineAA 3% cv::WarpAffineInvoker::operator() 2% floor 2% round 2% cv::RGB2RGB5x5::operator() 1% cv::fastMalloc ``` #### THREAD: DrawFaceLoop ``` 75% write 17% sleep 2% Anki::Cozmo::FaceDisplay::DrawFaceLoop() ``` #### THREAD: civetweb-master ``` 86% poll 6% master_thread ``` #### THREAD: wwise ``` 36% sleep ``` #### THREAD: wwise ``` 32% sleep ``` # Webots - CPU performance ## PROCESS: cozmoengined ### THREAD: main thread ``` 99% CozmoAPI::Update 87% Robot::Update 70% VisionComponent::Update 47% VisionComponent::Update::CaptureImage 22% VisionComponent::CompressAndSendImage 11% RobotManager::UpdateRobotConnection ``` #### THREAD: VISIONPROCESSORTHREAD ``` 86% UpdateVisionSystem ... 76% Anki::Embedded::DetectFiducialMarkers 54% Anki::Embedded::ExtraComponentsViaCharacterIsticScale ultimately ucvcs_ functions ``` #### THREAD: TASKEXECUTORTHREAD ``` 57% Anki::Util::RollingFileLogger 53% ostream.flush ``` ## PROCESS: vic-anim #### THREAD: MAIN THREAD ``` 51% AnimationStreamer::Update 47% AnimationStreamer::StreamLayers 45% AnimationStreamer::BufferFaceToSend 31% AnimProcessMessages::Update 13% GetNextPacketFromRobot => UDP 10% ProcessMessages => UDP 4% MicDataProcessor ``` #### THREAD: MIC PROCESSOR ``` 38% MicDataProcessor::ProcessResampledAudio 35% MicDataProcessor::ResampleAudioChunk 23% SpeechRecognizerTHF ``` #### THREAD: WWISE #### THREAD: FACE DISPLAY ``` 65% sleeping ``` # Webots - memory performance #### Cozmo process ``` 69%, 422MB, 1910594 Cozmo::Robot::UpdateAllRobots 68%, 420MB, 1885073 Cozmo::Robot::Update 48%, 298MB, 160492 Cozmo::VisionComponent::Update 26%, 163MB, 63840 Cozmo::VisionComponent::CompressAndSendImage 19.3%, 117MB, 23940 cv::JpegEncoder 9.0%, 274KB, 4788 cv::findEncoder 16%, 100MB, 1478710 Cozmo::VisionComponent::UpdateAllResults 6%, 40MB, 528276 CreateObjectsFromMarkers 5%, 30MB, 489172 AddAndUpdateObjects 2.5%, 15MB, 239400 UpdatePoseOfStackedObjcets 13%, 99MB, 1508447 Cozmo::Robot::UpdateRobotConnection ``` #### Anim process ``` 90%, 3.2GB, 196785 ippMalloc 4%, 156MB, 61374 Cozmo::AnimEngine::Update ``` # Performance costs of features in face rendering Sampled over 60 seconds on DVT2, Victor was shaken. Key |Options ----------------|------- COZMO RENDERING | none of the new Victor features VICTOR RENDERING| all of the Victor features enabled X-glowfilt | all Victor features enabled except kProcFace_ApplyGlowFilter X-aliasing | all Victor features enabled except kProcFace_AntiAliasingSize X-outerglow | all Victor features enabled except kProcFace_RenderInnerOuterGlow X-noise | all Victor features enabled except kProcFace_UseNoise ## Notes vic-anim process is dominated by the MicDataThread, 47%. Cozmo rendering costs 2.35% per eye Victor rendering costs 4.87% per eye OpenCV filtering costs ~2% Worst case cost ~22% (4.87% + 4.87% + 3.75% + 2.97% + 1.83% + 1.62% + 1.09% + 0.87% + 0.87%) ## Suggestions ApplyScanlines NEONized Test rendering quality with lines AA or not Triangle rasterization NEONized ``` 47.07% VICTOR RENDERING X-glowfilt MicDataProc u139y 46.90% VICTOR RENDERING X-aliasing MicDataProc u139y 44.54% VICTOR RENDERING X-outerglow MicDataProc u139y 40.33% COZMO RENDERING MicDataProc u139y 35.11% VICTOR RENDERING X-noise MicDataProc u139y 34.35% VICTOR RENDERING MicDataProc u139y 6.17% COZMO RENDERING MicDataProc .i_loop_no_load 5.88% VICTOR RENDERING MicDataProc .i_loop_no_load 5.76% VICTOR RENDERING X-noise MicDataProc .i_loop_no_load 5.48% VICTOR RENDERING X-outerglow MicDataProc .i_loop_no_load 5.28% VICTOR RENDERING X-glowfilt MicDataProc .i_loop_no_load 4.77% VICTOR RENDERING X-aliasing MicDataProc .i_loop_no_load 4.87% VICTOR RENDERING X-noise vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 4.81% VICTOR RENDERING vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.72% VICTOR RENDERING X-aliasing vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.47% VICTOR RENDERING X-outerglow vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.39% VICTOR RENDERING X-glowfilt vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 2.35% COZMO RENDERING vic-anim Anki::Cozmo::ProceduralFaceDrawer::DrawEye(Anki::Cozmo::ProceduralFace const&, Anki::Cozmo::ProceduralFace::WhichEye, Anki::Util::RandomGenerator const&, Anki::Vision::ImageRGB&, Anki::Rectangle&) 3.75% COZMO RENDERING vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 3.48% VICTOR RENDERING X-noise vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 3.44% VICTOR RENDERING vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.84% VICTOR RENDERING X-outerglow vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.47% VICTOR RENDERING X-glowfilt vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.37% VICTOR RENDERING X-aliasing vic-anim Anki::Vision::ImageRGB::ConvertHSV2RGB565(Anki::Vision::ImageRGB565&) 2.97% COZMO RENDERING vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.78% VICTOR RENDERING X-noise vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.69% VICTOR RENDERING vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.09% VICTOR RENDERING X-glowfilt vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.06% VICTOR RENDERING X-outerglow vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 2.04% VICTOR RENDERING X-aliasing vic-anim void cv::remapNearest(cv::Mat const&, cv::Mat&, cv::Mat const&, int, cv::Scalar_ const&) 1.83% VICTOR RENDERING X-noise vic-anim floorf 1.76% VICTOR RENDERING vic-anim floorf 1.04% VICTOR RENDERING X-outerglow vic-anim floorf 0.90% COZMO RENDERING vic-anim floorf 0.85% VICTOR RENDERING X-aliasing vic-anim floorf 0.74% VICTOR RENDERING X-glowfilt vic-anim floorf 1.62% VICTOR RENDERING vic-anim roundf 1.60% VICTOR RENDERING X-noise vic-anim roundf 0.89% VICTOR RENDERING X-outerglow vic-anim roundf 0.73% VICTOR RENDERING X-aliasing vic-anim roundf 0.71% COZMO RENDERING vic-anim roundf 0.62% VICTOR RENDERING X-glowfilt vic-anim roundf 1.09% VICTOR RENDERING X-noise vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 1.05% VICTOR RENDERING vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 0.76% VICTOR RENDERING X-outerglow vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 0.38% VICTOR RENDERING X-outerglow vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 0.37% VICTOR RENDERING X-aliasing vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 0.36% VICTOR RENDERING X-glowfilt vic-anim cv::ColumnSum::operator()(unsigned char const**, unsigned char*, int, int, int) 0.87% COZMO RENDERING vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.80% VICTOR RENDERING X-noise vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.80% VICTOR RENDERING vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.60% VICTOR RENDERING X-outerglow vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.60% VICTOR RENDERING X-glowfilt vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.60% VICTOR RENDERING X-aliasing vic-anim Anki::Cozmo::ProceduralFaceDrawer::ApplyScanlines(Anki::Vision::ImageRGB&, float) 0.87% COZMO RENDERING vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.80% VICTOR RENDERING vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.78% VICTOR RENDERING X-noise vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.63% VICTOR RENDERING X-outerglow vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.62% VICTOR RENDERING X-glowfilt vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.61% VICTOR RENDERING X-aliasing vic-anim cv::LineAA(cv::Mat&, cv::Point_, cv::Point_, void const*) 0.73% COZMO RENDERING vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.68% VICTOR RENDERING vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.65% VICTOR RENDERING X-noise vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.49% VICTOR RENDERING X-glowfilt vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.49% VICTOR RENDERING X-aliasing vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.48% VICTOR RENDERING X-outerglow vic-anim cv::WarpAffineInvoker::operator()(cv::Range const&) const 0.97% VICTOR RENDERING X-noise vic-anim memcpy 0.95% VICTOR RENDERING vic-anim memcpy 0.89% COZMO RENDERING vic-anim memcpy 0.74% VICTOR RENDERING X-outerglow vic-anim memcpy 0.67% VICTOR RENDERING X-aliasing vic-anim memcpy 0.65% VICTOR RENDERING X-glowfilt vic-anim memcpy 0.32% VICTOR RENDERING vic-anim cv::FilterEngine::proceed(unsigned char const*, int, int, unsigned char*, int) 0.27% VICTOR RENDERING X-outerglow vic-anim cv::FilterEngine::proceed(unsigned char const*, int, int, unsigned char*, int) 0.90% VICTOR RENDERING X-noise vic-anim cv::RowSum::operator()(unsigned char const*, unsigned char*, int, int) 0.90% VICTOR RENDERING vic-anim cv::RowSum::operator()(unsigned char const*, unsigned char*, int, int) 0.65% VICTOR RENDERING X-outerglow vic-anim cv::RowSum::operator()(unsigned char const*, unsigned char*, int, int) 0.38% VICTOR RENDERING X-aliasing vic-anim cv::RowSum::operator()(unsigned char const*, unsigned char*, int, int) 0.25% VICTOR RENDERING X-glowfilt vic-anim cv::RowSum::operator()(unsigned char const*, unsigned char*, int, int) ```