dq6a reach 18 ms per frame

benchmark.py

@@ -12,15 +12,30 @@ if _local_src not in sys.path:
 import orisys
 import numpy as np
 import time
+import argparse
 
 def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--video","-v", type=str, default="0", help="Camera ID / Video file path")
+    parser.add_argument("--config","-c", type=str, default="./config/ddjx01.json", help="Configuration file path")
+    parser.add_argument("--cal","-cal", type=str, default="./config/ddjx01.npy", help="Calibration file path")
+    parser.add_argument("--verbose","-verbose", type=bool, default=True, help="Print detailed information")
+    parser.add_argument("--debug","-debug", type=bool, default=True, help="Print detailed information")
+    args = parser.parse_args()
     print(f"Using orisys module: {orisys.__file__}")
     # 步骤1：创建传感器对象 (必要步骤)，
     # config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
     # cal_path为校准文件路径, 每一个设备需要创建/使用一个校准文件
 
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor(2, config_name="./config/ddjx01_q6a.json", cal_path= "./config/ddjx01.npy", isstitch=True, cuda=False, verbose=True, backend='cpu')
+    try:
+        input = int(args.video)
+        is_camera = True
+        sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose, debug=args.debug)
+    except:
+        is_camera = False
+        sensor = orisys.Sensor(args.video, config_name=args.config, cal_path= args.cal, verbose=args.verbose, debug=args.debug)
+    # sensor = orisys.Sensor(2, config_name="./config/ddjx01_q6a.json", cal_path= "./config/ddjx01.npy", isstitch=True, cuda=False, verbose=True, backend='cpu')
 
     # 方式2: 从摄像头读取（取消注释使用） 
     # sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)

src/orisys/HHD.py

@@ -26,12 +26,107 @@ import timeit
 import sys
 # import cv2
 from scipy import signal, spatial
+from numba import njit
 
 from .backend_availability import (
     CUPY_AVAILABLE, OPENCL_AVAILABLE, KERNEL_AVAILABLE,
     cp, cp_signal, _torque_kernel,
     cl, cla, cl_rfftn, cl_irfftn
 )
+
+
+# -- Numba-accelerated finite-difference kernels for 2D HHD ------------------
+# Matches numpy.gradient's second-order boundary stencil exactly.
+
+@njit(cache=True)
+def _divcurl_2d_nb(vfield, dy, dx, div_out, curl_out):
+    """Fused divergence + curl of a 2D vector field via finite differences."""
+    H = vfield.shape[0]
+    W = vfield.shape[1]
+    idy2 = 1.0 / (2.0 * dy)
+    idx2 = 1.0 / (2.0 * dx)
+    idy_edge = 1.0 / (2.0 * dy)
+    idx_edge = 1.0 / (2.0 * dx)
+    for y in range(H):
+        for x in range(W):
+            # du/dx
+            if x == 0:
+                dudx = (-3.0*vfield[y,0,0] + 4.0*vfield[y,1,0] - vfield[y,2,0]) * idx_edge
+            elif x == W - 1:
+                dudx = (vfield[y,W-3,0] - 4.0*vfield[y,W-2,0] + 3.0*vfield[y,W-1,0]) * idx_edge
+            else:
+                dudx = (vfield[y,x+1,0] - vfield[y,x-1,0]) * idx2
+            # dv/dy
+            if y == 0:
+                dvdy = (-3.0*vfield[0,x,1] + 4.0*vfield[1,x,1] - vfield[2,x,1]) * idy_edge
+            elif y == H - 1:
+                dvdy = (vfield[H-3,x,1] - 4.0*vfield[H-2,x,1] + 3.0*vfield[H-1,x,1]) * idy_edge
+            else:
+                dvdy = (vfield[y+1,x,1] - vfield[y-1,x,1]) * idy2
+            # dv/dx
+            if x == 0:
+                dvdx = (-3.0*vfield[y,0,1] + 4.0*vfield[y,1,1] - vfield[y,2,1]) * idx_edge
+            elif x == W - 1:
+                dvdx = (vfield[y,W-3,1] - 4.0*vfield[y,W-2,1] + 3.0*vfield[y,W-1,1]) * idx_edge
+            else:
+                dvdx = (vfield[y,x+1,1] - vfield[y,x-1,1]) * idx2
+            # du/dy
+            if y == 0:
+                dudy = (-3.0*vfield[0,x,0] + 4.0*vfield[1,x,0] - vfield[2,x,0]) * idy_edge
+            elif y == H - 1:
+                dudy = (vfield[H-3,x,0] - 4.0*vfield[H-2,x,0] + 3.0*vfield[H-1,x,0]) * idy_edge
+            else:
+                dudy = (vfield[y+1,x,0] - vfield[y-1,x,0]) * idy2
+
+            div_out[y, x] = dudx + dvdy
+            curl_out[y, x] = dvdx - dudy
+
+
+@njit(cache=True)
+def _grad_rotgrad_h_2d_nb(nD, nRu, vfield, dy, dx, d_out, r_out, h_out):
+    """Fused gradient(nD) + rotated_gradient(nRu) + h = vfield - d - r."""
+    H = nD.shape[0]
+    W = nD.shape[1]
+    idy2 = 1.0 / (2.0 * dy)
+    idx2 = 1.0 / (2.0 * dx)
+    idy_edge = 1.0 / (2.0 * dy)
+    idx_edge = 1.0 / (2.0 * dx)
+    for y in range(H):
+        for x in range(W):
+            # gradient(nD) → d = (ddx_nD, ddy_nD)
+            if x == 0:
+                ddx_nD = (-3.0*nD[y,0] + 4.0*nD[y,1] - nD[y,2]) * idx_edge
+                ddx_nRu = (-3.0*nRu[y,0] + 4.0*nRu[y,1] - nRu[y,2]) * idx_edge
+            elif x == W - 1:
+                ddx_nD = (nD[y,W-3] - 4.0*nD[y,W-2] + 3.0*nD[y,W-1]) * idx_edge
+                ddx_nRu = (nRu[y,W-3] - 4.0*nRu[y,W-2] + 3.0*nRu[y,W-1]) * idx_edge
+            else:
+                ddx_nD = (nD[y,x+1] - nD[y,x-1]) * idx2
+                ddx_nRu = (nRu[y,x+1] - nRu[y,x-1]) * idx2
+
+            if y == 0:
+                ddy_nD = (-3.0*nD[0,x] + 4.0*nD[1,x] - nD[2,x]) * idy_edge
+                ddy_nRu = (-3.0*nRu[0,x] + 4.0*nRu[1,x] - nRu[2,x]) * idy_edge
+            elif y == H - 1:
+                ddy_nD = (nD[H-3,x] - 4.0*nD[H-2,x] + 3.0*nD[H-1,x]) * idy_edge
+                ddy_nRu = (nRu[H-3,x] - 4.0*nRu[H-2,x] + 3.0*nRu[H-1,x]) * idy_edge
+            else:
+                ddy_nD = (nD[y+1,x] - nD[y-1,x]) * idy2
+                ddy_nRu = (nRu[y+1,x] - nRu[y-1,x]) * idy2
+
+            d0 = ddx_nD
+            d1 = ddy_nD
+            r0 = -ddy_nRu
+            r1 = ddx_nRu
+
+            d_out[y, x, 0] = d0
+            d_out[y, x, 1] = d1
+            r_out[y, x, 0] = r0
+            r_out[y, x, 1] = r1
+            h_out[y, x, 0] = vfield[y, x, 0] - d0 - r0
+            h_out[y, x, 1] = vfield[y, x, 1] - d1 - r1
+
+
 # ---------------------------------------------------------------------------
 class nHHD(object):
 
@@ -79,8 +174,23 @@ class nHHD(object):
             raise ValueError("nHHD Solver works only for 2 and 3 dimensions")
 
         self._force_cpu_cache = None
+        self._decompose_bufs = None
         self.psolver.prepare(False)  
 
+    def _ensure_decompose_bufs(self, shape2d):
+        """Lazily allocate reusable buffers for the 2D decompose fast path."""
+        if self._decompose_bufs is not None and self._decompose_bufs['shape'] == shape2d:
+            return self._decompose_bufs
+        self._decompose_bufs = {
+            'shape': shape2d,
+            'div': numpy.empty(shape2d, dtype=numpy.float32),
+            'curl': numpy.empty(shape2d, dtype=numpy.float32),
+            'd': numpy.empty(shape2d + (2,), dtype=numpy.float32),
+            'r': numpy.empty(shape2d + (2,), dtype=numpy.float32),
+            'h': numpy.empty(shape2d + (2,), dtype=numpy.float32),
+        }
+        return self._decompose_bufs
+
     def get_force(self, vfield, verbose=False):
         if self.poisson_backend == 'cupy':
             return self.get_force_cuda(vfield, verbose)
@@ -129,19 +239,19 @@ class nHHD(object):
             print( '\n ==> nhhd.decompose', vfield.shape)
         
         if self.dim == 2:
+            shape2d = (vfield.shape[0], vfield.shape[1])
+            bufs = self._ensure_decompose_bufs(shape2d)
+            dy, dx = self.mesh.dx[0], self.mesh.dx[1]
 
-            # compute div curl
-            (self.div, self.curlw) = self.mesh.divcurl(vfield)
-
-            if self.poisson_backend == 'opencl':
-                self.div = numpy.ascontiguousarray(self.div, dtype=numpy.float32)
-                self.curlw = numpy.ascontiguousarray(self.curlw, dtype=numpy.float32)
+            vf32 = vfield if vfield.dtype == numpy.float32 else vfield.astype(numpy.float32)
+            _divcurl_2d_nb(vf32, dy, dx, bufs['div'], bufs['curl'])
+            self.div = bufs['div']
+            self.curlw = bufs['curl']
 
             if verbose > 0:
                 print( 'div =', self.div.shape, self.div.min(), self.div.max())
                 print( 'curlw =', self.curlw.shape, self.curlw.min(), self.curlw.max())
 
-            # compute potentials
             if self.poisson_backend == 'opencl' and ('OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE):
                 self.nD, self.nRu = self.psolver.solve_opencl_batch2(self.div, self.curlw, verbose > 0, profile=self.debug)
             else:
@@ -151,14 +261,19 @@ class nHHD(object):
                 print( 'nD =', self.nD.shape, self.nD.min(), self.nD.max())
                 print( 'nR =', self.nRu.shape, self.nRu.min(), self.nRu.max())
 
-            # compute fields as gradients of potentials
-            self.d = self.mesh.gradient(self.nD)
+            nD_f32 = self.nD if self.nD.dtype == numpy.float32 else self.nD.astype(numpy.float32)
+            nRu_f32 = self.nRu if self.nRu.dtype == numpy.float32 else self.nRu.astype(numpy.float32)
+            _grad_rotgrad_h_2d_nb(nD_f32, nRu_f32, vf32, dy, dx,
+                                  bufs['d'], bufs['r'], bufs['h'])
+            self.d = bufs['d']
+            self.r = bufs['r']
+            self.h = bufs['h']
+
             if verbose > 0:
                 print( 'd =', self.d.shape, self.d.min(), self.d.max())
-
-            self.r = self.mesh.rotated_gradient(self.nRu)
-            if verbose > 0:
                 print( 'r =', self.r.shape, self.r.min(), self.r.max())
+                print( 'h =', self.h.shape, self.h.min(), self.h.max())
+            return
         else:
 
             # compute div curl

src/orisys/Stitcher.py

@@ -3,6 +3,35 @@ import numpy as np
 import scipy.fft
 from scipy import ndimage
 import cv2
+from numba import njit
+
+@njit(cache=True)
+def _blend_kernel(blend_patch, wsum_patch, cov_patch, src_patch, w_patch):
+    """Fused incremental weighted-average composite (numba-accelerated)."""
+    sh = src_patch.shape[0]
+    sw = src_patch.shape[1]
+    for y in range(sh):
+        for x in range(sw):
+            w = w_patch[y, x]
+            s0 = np.float32(src_patch[y, x, 0])
+            s1 = np.float32(src_patch[y, x, 1])
+            s2 = np.float32(src_patch[y, x, 2])
+            if cov_patch[y, x] == 0:
+                blend_patch[y, x, 0] = s0
+                blend_patch[y, x, 1] = s1
+                blend_patch[y, x, 2] = s2
+                wsum_patch[y, x] = w
+            else:
+                ws = wsum_patch[y, x] + w
+                if ws < 1e-6:
+                    ws = 1e-6
+                a = w / ws
+                blend_patch[y, x, 0] += (s0 - blend_patch[y, x, 0]) * a
+                blend_patch[y, x, 1] += (s1 - blend_patch[y, x, 1]) * a
+                blend_patch[y, x, 2] += (s2 - blend_patch[y, x, 2]) * a
+                wsum_patch[y, x] = ws
+            cov_patch[y, x] = 1
+
 
 class Stitcher:
 
@@ -407,7 +436,7 @@ class Stitcher:
         return wy[:, None] * wx[None, :]
 
     def _blend_tile_inplace(self, blend, wsum, cov, src, weight, y0, x0, scratch=None):
-        """Copy non-overlap tiles directly; blend only when this tile touches existing content."""
+        """Composite a tile onto the canvas using numba-fused weighted average."""
         h, w = src.shape[:2]
         H, W = blend.shape[:2]
         y0d, x0d = max(0, y0), max(0, x0)
@@ -417,36 +446,15 @@ class Stitcher:
 
         sy0, sx0 = y0d - y0, x0d - x0
         sh, sw = y1d - y0d, x1d - x0d
-        w_patch = weight[sy0 : sy0 + sh, sx0 : sx0 + sw]
-        blend_patch = blend[y0d:y1d, x0d:x1d]
-        wsum_patch = wsum[y0d:y1d, x0d:x1d]
-        cov_patch = cov[y0d:y1d, x0d:x1d]
-        src_patch = src[sy0 : sy0 + sh, sx0 : sx0 + sw]
 
-        if not np.any(cov_patch):
-            blend_patch[:] = src_patch
-            wsum_patch[:] = w_patch
-        elif scratch is not None:
-            s_src, s_alpha = scratch
-            sf = s_src[:sh, :sw]
-            sa = s_alpha[:sh, :sw]
-            sf[:] = src_patch
-            np.add(wsum_patch, w_patch, out=wsum_patch)
-            np.maximum(wsum_patch, 1e-6, out=sa)
-            np.divide(w_patch, sa, out=sa)
-            np.subtract(sf, blend_patch, out=sf)
-            sf[:, :, 0] *= sa
-            sf[:, :, 1] *= sa
-            sf[:, :, 2] *= sa
-            np.add(blend_patch, sf, out=blend_patch)
-        else:
-            total = wsum_patch + w_patch
-            alpha = w_patch / np.maximum(total, 1e-6)
-            src_patch_f = src_patch.astype(np.float32, copy=False)
-            blend_patch += (src_patch_f - blend_patch) * alpha[:, :, None]
-            wsum_patch[:] = total
-
-        cov_patch[:] = 1
+        src_f = src[sy0:sy0+sh, sx0:sx0+sw].astype(np.float32, copy=False)
+        _blend_kernel(
+            blend[y0d:y1d, x0d:x1d],
+            wsum[y0d:y1d, x0d:x1d],
+            cov[y0d:y1d, x0d:x1d],
+            src_f,
+            weight[sy0:sy0+sh, sx0:sx0+sw],
+        )
 
     def _mean_gray_bgr(self, bgr):
         ch = cv2.mean(bgr)
@@ -641,17 +649,6 @@ class Stitcher:
         t_after_reset = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0
 
         blend_margin = 16 if blend else 0
-        max_th = max(h0c, *(tb.shape[0] for tb in tiles_bgr_c)) if tiles_bgr_c else h0c
-        max_tw = max(w0c, *(tb.shape[1] for tb in tiles_bgr_c)) if tiles_bgr_c else w0c
-        _ss = canvas_cache.get("scratch_src")
-        _sa = canvas_cache.get("scratch_alpha")
-        if _ss is None or _ss.shape[0] < max_th or _ss.shape[1] < max_tw:
-            _ss = np.empty((max_th, max_tw, 3), dtype=np.float32)
-            canvas_cache["scratch_src"] = _ss
-        if _sa is None or _sa.shape[0] < max_th or _sa.shape[1] < max_tw:
-            _sa = np.empty((max_th, max_tw), dtype=np.float32)
-            canvas_cache["scratch_alpha"] = _sa
-        _scratch = (_ss, _sa)
 
         blended_tiles = 0
         for tile_bgr, H_use, paste in zip(tiles_bgr_c, H_use_list, pastes):
@@ -662,13 +659,13 @@ class Stitcher:
             wkey = (th, tw, blend_margin)
             if wkey not in weight_maps:
                 weight_maps[wkey] = self._tile_weight_map(th, tw, blend_margin)
-            self._blend_tile_inplace(blend_buf, wsum, cov, tile_bgr, weight_maps[wkey], y0, x0, _scratch)
+            self._blend_tile_inplace(blend_buf, wsum, cov, tile_bgr, weight_maps[wkey], y0, x0)
             blended_tiles += 1
 
         ref_wkey = (h0c, w0c, blend_margin)
         if ref_wkey not in weight_maps:
             weight_maps[ref_wkey] = self._tile_weight_map(h0c, w0c, blend_margin)
-        self._blend_tile_inplace(blend_buf, wsum, cov, t_ref_bgr, weight_maps[ref_wkey], ref_y0, ref_x0, _scratch)
+        self._blend_tile_inplace(blend_buf, wsum, cov, t_ref_bgr, weight_maps[ref_wkey], ref_y0, ref_x0)
         t_after_blend = cv2.getTickCount() / cv2.getTickFrequency() if do_profile else 0.0
 
         crop_rect = canvas_cache.get("crop_rect")

src/orisys/sensor.py

@@ -114,6 +114,8 @@ class Sensor:
         # self.stitch_calibration = []
         self.frame = self.img = None
         self.initial_img = None
+        self._img_bgr_raw = None
+        self._img_gray_buf = None
         shape = (self.__config_cam["resolution_stitch"][1], self.__config_cam["resolution_stitch"][0])
         self.img_size_raw = None
         self.img_filtered = None
@@ -212,35 +214,33 @@ class Sensor:
         # Start processing timing
         t_processing_start = time.perf_counter()
         
-        # self.frame = frame.copy()
         self.frame = frame
-        # Extract and stitch tiles
-        # self.stitcher.get_stitch_unit(frame)
         self._extract_tiles(frame)
         t_after_extract = time.perf_counter()
 
-        img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized(blend=True))
+        img_bgr = self.stitcher.stitch_rt_optimized(blend=False)
         t_after_stitch = time.perf_counter()
 
-        self.img_size_raw = img.shape
-        # Resize
-        img = cv2.resize(img, tuple(self._config_resolution_stitch), interpolation=cv2.INTER_LINEAR)
+        self.img_size_raw = img_bgr.shape
+        self._img_bgr_raw = img_bgr
+
+        gray = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
+        res = tuple(self._config_resolution_stitch)
+        if self._img_gray_buf is None or self._img_gray_buf.shape != (res[1], res[0]):
+            self._img_gray_buf = np.empty((res[1], res[0]), dtype=np.uint8)
+        cv2.resize(gray, res, dst=self._img_gray_buf, interpolation=cv2.INTER_LINEAR)
         t_after_resize = time.perf_counter()
 
         if self.mirror:
-            img = cv2.flip(img, 1)
-        t_after_mirror = time.perf_counter()
+            cv2.flip(self._img_gray_buf, 1, dst=self._img_gray_buf)
 
-        self.img = img.astype(np.uint8)
-        t_after_astype = time.perf_counter()
+        self.img = self._img_gray_buf
         
         t_processing_end = time.perf_counter()
         self._last_processing_time = t_processing_end - t_processing_start
         self._last_stage_times["extract_tiles"] = t_after_extract - t_processing_start
         self._last_stage_times["stitch"] = t_after_stitch - t_after_extract
-        self._last_stage_times["resize"] = t_after_resize - t_after_stitch
-        self._last_stage_times["mirror"] = t_after_mirror - t_after_resize
-        self._last_stage_times["astype"] = t_after_astype - t_after_mirror
+        self._last_stage_times["resize"] = t_processing_end - t_after_stitch
 
         # FPS calculation
         self._fps = 1.0 / (time.perf_counter() - self.last_log_time)
@@ -248,6 +248,16 @@ class Sensor:
             
         return self.img.copy()
 
+    def _get_img_bgr(self):
+        """Produce a resized+mirrored BGR image on demand (for display)."""
+        if self._img_bgr_raw is None:
+            return None
+        res = tuple(self._config_resolution_stitch)
+        bgr = cv2.resize(self._img_bgr_raw, res, interpolation=cv2.INTER_LINEAR)
+        if self.mirror:
+            cv2.flip(bgr, 1, dst=bgr)
+        return bgr
+
     def detect_motion(self, threshold=6):
 
         # detect motion by optical flow magnitude
@@ -410,7 +420,7 @@ class Sensor:
                 else None
             ),
             self.info.CONTOUR: lambda: self.contour.copy() if self.contour is not None else np.array([]),
-            self.info.IMG: lambda: self.img.copy() if self.img is not None else np.array([]),
+            self.info.IMG: lambda: self._get_img_bgr() if self._img_bgr_raw is not None else np.array([]),
         }
         
         return tuple(mapping.get(arg, lambda: None)() for arg in args if isinstance(arg, self.info))