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1. tuned arrow mesh drawing

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2. centralixzed arrow config in layout.py
3. seperate mesh render and display resolution to speed up (~40 fps)
This commit is contained in:
ykcheungab
2026-06-19 14:28:28 +08:00
parent 3fd9b839a9
commit 2e5c047d1e
19 changed files with 980 additions and 147 deletions
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examples/pipeline/config.py
+5 -1
View File
@@ -23,9 +23,11 @@ class PipelineConfig:
threshold: float | None = None
viz_pose: str = DEFAULT_FINGER_VIZ_POSE
enable_3d: bool = True
use_color: bool = True
use_color: bool = False
lowpass_cutoff_hz: float = 5.0
force_sample_rate_hz: float = 30.0
profile: bool = False
profile_every: int = 30
@classmethod
def from_args(cls, args) -> "PipelineConfig":
@@ -39,6 +41,8 @@ class PipelineConfig:
viz_pose=args.viz_pose,
enable_3d=not args.no_3d,
lowpass_cutoff_hz=getattr(args, "cutoff", 5.0),
profile=getattr(args, "profile", False),
profile_every=getattr(args, "profile_every", 30),
)
@property
examples/pipeline/profiling.py
+87
View File
@@ -0,0 +1,87 @@
"""Shared stage timing helpers for finger example pipelines."""
from __future__ import annotations
import time
from collections import defaultdict
class StageProfiler:
"""Accumulate per-stage wall times and print rolling averages."""
DEFAULT_ORDER = (
"capture",
"uv_unroll",
"flow",
"hhd",
"contact",
"read_info",
"pipeline",
"mesh",
"arrows",
"charts",
"display",
"total",
)
def __init__(self, *, report_every: int = 30, stage_order: tuple[str, ...] | None = None):
self.report_every = max(1, int(report_every))
self.stage_order = stage_order or self.DEFAULT_ORDER
self.frame_count = 0
self.totals: dict[str, float] = defaultdict(float)
self.last: dict[str, float] = {}
def record(self, name: str, ms: float) -> None:
self.totals[name] += ms
self.last[name] = ms
def tick(self) -> None:
self.frame_count += 1
if self.frame_count % self.report_every == 0:
self.print_report(prefix=f"[profile {self.frame_count} frames]")
def print_report(self, *, prefix: str = "[profile summary]") -> None:
if self.frame_count == 0:
return
n = self.frame_count
parts = []
for name in self.stage_order:
if name in self.totals:
parts.append(f"{name}={self.totals[name] / n:.2f}ms")
total_ms = self.totals.get("total", 0.0) / n
if total_ms > 0:
parts.append(f"fps={1000.0 / total_ms:.1f}")
print(f"\n{prefix} " + " | ".join(parts))
def run_deformation_timed(tactile, *, check_motion=True, threshold=0, tail_frames=10):
"""Run flow + gated HHD; return (flow_ms, hhd_ms). Mirrors Sensor.compute_deformation."""
sensor = tactile.raw_sensor
t0 = time.perf_counter()
sensor.compute_flow()
flow_ms = (time.perf_counter() - t0) * 1000.0
run_hhd = True
if check_motion:
is_motion = sensor.detect_motion(threshold=threshold)
try:
tail_frames = max(0, int(tail_frames))
except (TypeError, ValueError):
tail_frames = 0
if is_motion:
sensor.tail_frames_count = 0
elif sensor.tail_frames_count < tail_frames:
sensor.tail_frames_count += 1
else:
run_hhd = False
sensor.tail_frames_count = tail_frames
hhd_ms = 0.0
if run_hhd:
t1 = time.perf_counter()
sensor.compute_hhd()
hhd_ms = (time.perf_counter() - t1) * 1000.0
return flow_ms, hhd_ms
examples/pipeline/service.py
+89 -21
View File
@@ -3,6 +3,7 @@
from __future__ import annotations
import time
from dataclasses import dataclass
import numpy as np
from orisys.finger import FingerRuntime
@@ -11,6 +12,18 @@ from viz import FrameRecorder, build_uv_surface_mesh, resolve_viz_pose_path
from .config import PipelineConfig
from .frame import FingerFrameView
from .profiling import StageProfiler, run_deformation_timed
@dataclass
class TickTimings:
capture_ms: float = 0.0
uv_unroll_ms: float = 0.0
flow_ms: float = 0.0
hhd_ms: float = 0.0
contact_ms: float = 0.0
read_info_ms: float = 0.0
pipeline_ms: float = 0.0
class FingerPipeline:
@@ -24,6 +37,9 @@ class FingerPipeline:
self.uv_mesh = None
self.world_to_cam: np.ndarray | None = None
self.mesh_lookat: np.ndarray | None = None
self.profiler: StageProfiler | None = (
StageProfiler(report_every=config.profile_every) if config.profile else None
)
@property
def is_open(self) -> bool:
@@ -60,6 +76,8 @@ class FingerPipeline:
self.mesh_lookat = self.uv_mesh.rest_vertices.mean(axis=0)
def close(self) -> None:
if self.profiler is not None and self.profiler.frame_count:
self.profiler.print_report(prefix="[profile final]")
if self.runtime is not None:
self.runtime.close()
self.runtime = None
@@ -69,33 +87,17 @@ class FingerPipeline:
if self.runtime is not None:
self.runtime.tactile.reset()
def tick(self) -> FingerFrameView | None:
if self.runtime is None or self._start_time is None:
return None
ok, unrolled = self.runtime.grab_and_process(color=self.config.use_color)
if not ok:
return None
tactile = self.runtime.tactile
self.recorder.write_if_recording(tactile.frame)
tactile.compute_deformation(decompose=True, check_motion=True, threshold=0)
tactile.compute_contact()
fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
def _read_frame_view(self, tactile, unrolled) -> FingerFrameView:
fps, flow, vnormal, depth_map, centroid, fnormal, fshearx, fsheary = tactile.read_info(
tactile.info.FPS,
tactile.info.VRAW,
tactile.info.VNORMAL,
tactile.info.IMG,
tactile.info.CONTOUR,
tactile.info.CENTROID,
tactile.info.DEPTH,
tactile.info.CENTROID,
tactile.info.FNORMAL,
tactile.info.FSHEARX,
tactile.info.FSHEARY,
)
return FingerFrameView(
timestamp=time.time() - self._start_time,
fps=float(fps),
@@ -103,8 +105,8 @@ class FingerPipeline:
flow=flow,
vnormal=vnormal,
depth_map=depth_map,
img=img,
contour=contour,
img=np.array([]),
contour=np.array([]),
centroid=centroid,
fnormal=float(fnormal),
fshearx=float(fshearx),
@@ -114,6 +116,72 @@ class FingerPipeline:
raw_frame=tactile.frame,
)
def tick(self) -> FingerFrameView | None:
frame, _timings = self.tick_timed()
return frame
def tick_timed(self) -> tuple[FingerFrameView | None, TickTimings]:
timings = TickTimings()
if self.runtime is None or self._start_time is None:
return None, timings
pipeline_t0 = time.perf_counter()
profile = self.profiler is not None
if profile:
t0 = time.perf_counter()
ok, frame = self.runtime.read_source()
timings.capture_ms = (time.perf_counter() - t0) * 1000.0
if not ok:
return None, timings
t0 = time.perf_counter()
unrolled = self.runtime.process_frame(frame, color=self.config.use_color)
timings.uv_unroll_ms = (time.perf_counter() - t0) * 1000.0
else:
ok, unrolled = self.runtime.grab_and_process(color=self.config.use_color)
if not ok:
return None, timings
tactile = self.runtime.tactile
self.recorder.write_if_recording(tactile.frame)
if profile:
flow_ms, hhd_ms = run_deformation_timed(
tactile, check_motion=True, threshold=0
)
timings.flow_ms = flow_ms
timings.hhd_ms = hhd_ms
self.profiler.record("capture", timings.capture_ms)
self.profiler.record("uv_unroll", timings.uv_unroll_ms)
self.profiler.record("flow", timings.flow_ms)
self.profiler.record("hhd", timings.hhd_ms)
else:
tactile.compute_deformation(decompose=True, check_motion=True, threshold=0)
t0 = time.perf_counter()
tactile.compute_contact()
timings.contact_ms = (time.perf_counter() - t0) * 1000.0
if profile:
self.profiler.record("contact", timings.contact_ms)
t0 = time.perf_counter()
view = self._read_frame_view(tactile, unrolled)
timings.read_info_ms = (time.perf_counter() - t0) * 1000.0
if profile:
self.profiler.record("read_info", timings.read_info_ms)
timings.pipeline_ms = (time.perf_counter() - pipeline_t0) * 1000.0
if profile:
self.profiler.record("pipeline", timings.pipeline_ms)
return view, timings
def record_total_frame(self, total_ms: float) -> None:
if self.profiler is None:
return
self.profiler.record("total", total_ms)
self.profiler.tick()
def start_recording(self) -> bool:
if self.runtime is None:
return False