cleanup example profile code

examples/finger_pipeline.py

@@ -12,7 +12,6 @@ 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")
 
@@ -20,19 +19,6 @@ 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")
@@ -41,17 +27,6 @@ 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:
@@ -77,48 +52,17 @@ 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:
-            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,
@@ -131,8 +75,6 @@ def main():
                 tactile.info.FSHEARX,
                 tactile.info.FSHEARY,
             )
-            if profiler is not None:
-                profiler.record("read_info", (time.perf_counter() - t0) * 1000.0)
 
             status = (
                 f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
@@ -140,7 +82,6 @@ def main():
             )
 
             if args.show:
-                t0 = time.perf_counter()
                 arrows = orisys.util.draw_arrows(
                     unrolled,
                     flow,
@@ -149,17 +90,7 @@ def main():
                     arrow_scale=1.0,
                 )
                 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
@@ -170,8 +101,6 @@ 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()