1. tuned arrow mesh drawing

2. centralixzed arrow config in layout.py
3. seperate mesh render and display resolution to speed up (~40 fps)

examples/finger_pipeline.py

@@ -12,6 +12,7 @@ For the full demo (UV debug panels, dashboard, benchmarks) see:
 import argparse
 import os
 import sys
+import time
 
 os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
 
@@ -19,6 +20,19 @@ import cv2
 import orisys
 from orisys.finger import FingerRuntime
 
+from pipeline.profiling import StageProfiler, run_deformation_timed
+
+_FINGER_PIPELINE_STAGES = (
+    "capture",
+    "uv_unroll",
+    "flow",
+    "hhd",
+    "contact",
+    "read_info",
+    "display",
+    "total",
+)
+
 
 def main():
     parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
@@ -27,6 +41,17 @@ def main():
     parser.add_argument("--config", "-c", default="./config/dd02-ov.json", help="Orisys SDK config")
     parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
     parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
+    parser.add_argument(
+        "--profile",
+        action="store_true",
+        help="Print per-stage timing (capture, UV, flow, HHD, contact, read_info, display)",
+    )
+    parser.add_argument(
+        "--profile-every",
+        type=int,
+        default=30,
+        help="When --profile is set, print rolling averages every N frames (default: 30)",
+    )
     args = parser.parse_args()
 
     try:
@@ -52,16 +77,48 @@ def main():
 
     runtime.warmup(color=False)
     tactile = runtime.tactile
+    profiler = (
+        StageProfiler(report_every=args.profile_every, stage_order=_FINGER_PIPELINE_STAGES)
+        if args.profile
+        else None
+    )
 
     print("Press 'q' to quit, 'r' to reset tracker.")
+    if args.profile:
+        print(f"Profiling enabled (report every {args.profile_every} frames).")
     try:
         while True:
-            ok, unrolled = runtime.grab_and_process(color=False)
-            if not ok:
-                break
-            tactile.compute_deformation(check_motion=True, threshold=0)
-            tactile.compute_contact()
+            frame_t0 = time.perf_counter()
 
+            if profiler is not None:
+                t0 = time.perf_counter()
+                ok, frame = runtime.read_source()
+                profiler.record("capture", (time.perf_counter() - t0) * 1000.0)
+                if not ok:
+                    break
+                t0 = time.perf_counter()
+                unrolled = runtime.process_frame(frame, color=False)
+                profiler.record("uv_unroll", (time.perf_counter() - t0) * 1000.0)
+            else:
+                ok, unrolled = runtime.grab_and_process(color=False)
+                if not ok:
+                    break
+
+            if profiler is not None:
+                flow_ms, hhd_ms = run_deformation_timed(
+                    tactile, check_motion=True, threshold=0
+                )
+                profiler.record("flow", flow_ms)
+                profiler.record("hhd", hhd_ms)
+            else:
+                tactile.compute_deformation(check_motion=True, threshold=0)
+
+            t0 = time.perf_counter()
+            tactile.compute_contact()
+            if profiler is not None:
+                profiler.record("contact", (time.perf_counter() - t0) * 1000.0)
+
+            t0 = time.perf_counter()
             fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
                 tactile.info.FPS,
                 tactile.info.VRAW,
@@ -72,18 +129,18 @@ def main():
                 tactile.info.DEPTH,
                 tactile.info.FNORMAL,
                 tactile.info.FSHEARX,
-                tactile.info.FSHEARY
+                tactile.info.FSHEARY,
             )
+            if profiler is not None:
+                profiler.record("read_info", (time.perf_counter() - t0) * 1000.0)
 
-            print(
+            status = (
                 f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
-                f"mask={tactile.mask_stats['coverage']:.2f}",
-                end="\r",
+                f"mask={tactile.mask_stats['coverage']:.2f}"
             )
 
-
             if args.show:
-
+                t0 = time.perf_counter()
                 arrows = orisys.util.draw_arrows(
                     unrolled,
                     flow,
@@ -91,10 +148,19 @@ def main():
                     grid_spacing=10,
                     arrow_scale=1.0,
                 )
-                        # 步骤 3.2：显示接触区域和质心
-                image_with_foe = orisys.util.draw_contact(img, contour, centroid)
-                cv2.imshow("接触区域与质心", image_with_foe)
                 cv2.imshow("UV Unrolled", arrows)
+                if profiler is not None:
+                    profiler.record("display", (time.perf_counter() - t0) * 1000.0)
+
+            if profiler is not None:
+                total_ms = (time.perf_counter() - frame_t0) * 1000.0
+                profiler.record("total", total_ms)
+                status += (
+                    f" | wall={total_ms:.1f}ms flow={profiler.last.get('flow', 0):.1f}ms"
+                    f" hhd={profiler.last.get('hhd', 0):.1f}ms"
+                )
+                profiler.tick()
+            print(status, end="\r")
 
             key = cv2.waitKey(1) & 0xFF
             if key == ord("q"):
@@ -104,6 +170,8 @@ def main():
                 tactile.reset()
                 print("\nTracker reset.")
     finally:
+        if profiler is not None and profiler.frame_count:
+            profiler.print_report(prefix="[profile final]")
         runtime.close()
         cv2.destroyAllWindows()