refractor for HHD and depth backend
This commit is contained in:
bluepulsar
+18
-219
@@ -20,6 +20,7 @@ from .tracker import Tracker
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from .HHD import nHHD
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from . import configs
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from .get_depth import Contact3D
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from .backend_availability import (check_cupy_available, check_opencl_available)
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class Sensor:
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"""
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@@ -67,12 +68,9 @@ class Sensor:
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override: Skip auto-detection, use provided box (default: False)
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box: Manual bounding boxes when override=True (default: None)
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"""
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# Check CUDA availability
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try:
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import cupy as cp
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self.CUPY_AVAILABLE = True
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except ImportError:
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self.CUPY_AVAILABLE = False
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self.CUPY_AVAILABLE = check_cupy_available()
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self.OPENCL_AVAILABLE = check_opencl_available()
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if vid_src is None:
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raise Exception("User must specify a video source.")
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@@ -124,18 +122,6 @@ class Sensor:
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self._last_capture_time = 0.0
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self._last_processing_time = 0.0
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# Async pipeline state
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# self._async_enabled = False
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# self._capture_thread = None
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# self._flow_thread = None
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# self._compute_thread = None
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# self._capture_queue = None
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# self._flow_queue = None
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# self._result_queue = None
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# self._stop_event = None
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# Initialize components
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self.stitcher = Stitcher(isstitch=isstitch, config_stitcher=self.__config_stitcher, verbose=self.verbose)
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self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, dis_preset=self._config_dis_preset, config_tracker=self.__config_tracker)
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@@ -149,9 +135,13 @@ class Sensor:
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if self.verbose:
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print(f" Video source: {vid_src}")
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print(f" Stitch mode: {self.stitch_valid}")
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print(f" CUDA acceleration: {self.cuda}")
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print(f" CuPy available: {self.CUPY_AVAILABLE}")
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print(f" Optical flow algorithm: {self.__config_tracker['algorithm']}")
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print(f" Poisson backend: {self.poisson_backend}")
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# print(f" CUDA acceleration: {self.cuda}")
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print(f" CuPy available: {self.CUPY_AVAILABLE}")
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print(f" OpenCL available: {self.OPENCL_AVAILABLE}")
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# =========================================================================
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# Public API - Core Methods (Most Frequently Used)
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@@ -247,14 +237,15 @@ class Sensor:
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self.__hhd = nHHD(cuda=self.cuda, grid=flow.shape[:2], spacings=(18, 18), poisson_backend=self.poisson_backend)
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# Force computation
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# When OpenCL backend is selected, use CPU force path to ensure
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# When OpenCL backend is selected, use host force path to ensure
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# Poisson solve goes through PoissonSolver.solve_opencl().
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if self.poisson_backend == 'opencl':
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_, forces = self.__hhd.get_force(flow)
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elif self.cuda and self.CUPY_AVAILABLE:
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_, forces = self.__hhd.get_force_gpu_v2(flow)
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else:
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_, forces = self.__hhd.get_force(flow)
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_, forces = self.__hhd.get_force(flow)
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# if self.poisson_backend == 'opencl':
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# _, forces = self.__hhd.get_force_host(flow)
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# elif self.cuda and self.CUPY_AVAILABLE:
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# _, forces = self.__hhd.get_force_gpu_v2(flow)
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# else:
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# _, forces = self.__hhd.get_force_host(flow)
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self.fnormal, self.fshearx, self.fsheary, self.ftor = forces
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# Get components
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@@ -359,8 +350,6 @@ class Sensor:
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def disconnect(self):
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"""Release resources and stop async threads."""
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# if self._async_enabled:
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# self.disable_async()
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if self.cap.isOpened():
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self.cap.release()
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if self.verbose:
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@@ -521,193 +510,3 @@ class Sensor:
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print(f" ─────────────────────────")
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print(f" TOTAL: {timings['total']:7.2f} ms ({1000/timings['total']:.1f} FPS)")
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# =========================================================================
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# Public API - Async Pipeline
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# =========================================================================
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# def enable_async(self, queue_size=2, compute_contact=False):
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# """
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# Enable 3-stage async pipeline: Capture → Flow → HHD.
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# Each stage runs in parallel for maximum throughput.
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# """
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# if self._async_enabled:
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# return
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# self._compute_contact_enabled = compute_contact
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# self._capture_queue = Queue(maxsize=queue_size)
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# self._flow_queue = Queue(maxsize=queue_size)
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# self._result_queue = Queue(maxsize=queue_size)
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# if compute_contact:
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# self._contact_queue = Queue(maxsize=queue_size)
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# self._stop_event = Event()
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# self._async_enabled = True
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# self._capture_thread = Thread(target=self._capture_worker, daemon=True)
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# self._flow_thread = Thread(target=self._flow_worker, daemon=True)
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# self._compute_thread = Thread(target=self._hhd_worker, daemon=True)
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# if compute_contact:
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# self._contact_thread = Thread(target=self._contact_worker, daemon=True)
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# self._capture_thread.start()
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# self._flow_thread.start()
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# self._compute_thread.start()
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# if compute_contact:
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# self._contact_thread.start()
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# if self.verbose:
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# if compute_contact:
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# print("Async pipeline enabled: Capture → Flow → HHD → Contact")
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# else:
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# print("Async pipeline enabled: Capture → Flow → HHD")
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# def get_async(self, timeout=0.05):
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# """
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# Get latest result from async pipeline (non-blocking).
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# Returns:
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# dict or None: Sensor data if available
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# """
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# compute_contact = self._compute_contact_enabled
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# if not self._async_enabled:
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# return None
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# try:
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# result = self._result_queue.get(timeout=timeout)
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# t = time.perf_counter()
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# result['fps'] = 1.0 / (t - self.last_log_time) if self.last_log_time else 0
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# self.last_log_time = t
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# # Sync instance variables
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# # for k in ['img', 'flow', 'normal', 'shear', 'depth', 'fnormal', 'fshearx', 'fsheary', 'ftor', 'fps']:
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# if compute_contact:
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# for k in ['img', 'flow', 'normal', 'shear', 'depth', 'centroid', 'centroid_found', 'contour', 'fps', 'fnormal', 'fshearx', 'fsheary', 'ftor']:
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# setattr(self, k, result.get(k))
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# else:
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# for k in ['img', 'flow', 'normal', 'shear', 'fnormal', 'fshearx', 'fsheary', 'ftor', 'fps']:
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# setattr(self, k, result.get(k))
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# self.vupdate = True
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# return result
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# except Empty:
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# return None
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# def disable_async(self):
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# """Stop async pipeline."""
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# if not self._async_enabled:
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# return
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# self._stop_event.set()
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# for t in [self._capture_thread, self._flow_thread, self._compute_thread]:
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# if t: t.join(timeout=2.0)
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# self._async_enabled = False
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# self._capture_thread = self._flow_thread = self._compute_thread = None
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# self._capture_queue = self._flow_queue = self._result_queue = self._stop_event = None
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# if self.verbose:
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# print("Async pipeline disabled")
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# =========================================================================
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# Private - Async Workers
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# =========================================================================
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# def _queue_put(self, q, item):
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# """Put item in queue, dropping old if full."""
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# if q.full():
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# try: q.get_nowait()
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# except Empty: pass
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# q.put(item)
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# def _capture_worker(self):
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# """Stage 1: Capture and preprocess frames by reusing get_img()."""
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# while not self._stop_event.is_set():
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# try:
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# # Reuse get_img() to avoid code duplication
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# if self.get_img() is None:
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# continue
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# # Put the processed image in the queue
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# # get_img() updates self.img, so we use that
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# if self.img is not None:
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# self._queue_put(self._capture_queue, self.img.copy())
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# except Exception as e:
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# if self.verbose: print(f"Capture error: {e}")
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# def _flow_worker(self):
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# """Stage 2: Compute optical flow by reusing __compute_flow()."""
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# while not self._stop_event.is_set():
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# try:
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# img = self._capture_queue.get(timeout=0.1)
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# # Set __img to reuse __compute_flow()
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# self.img = img
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# self.__compute_flow()
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# flow = self.flow.copy() if self.flow is not None else None
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# self._queue_put(self._flow_queue, (img, flow))
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# except Empty:
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# continue
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# except Exception as e:
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# if self.verbose: print(f"Flow error: {e}")
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# def _hhd_worker(self):
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# """Stage 3: HHD decomposition by reusing __compute_hhd()."""
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# while not self._stop_event.is_set():
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# try:
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# img, flow = self._flow_queue.get(timeout=0.1)
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# # Set __flow to reuse __compute_hhd()
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# self.flow = flow
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# self.__compute_hhd()
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# # Get results from internal variables set by __compute_hhd()
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# result = {
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# 'img': img, 'flow': flow,
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# 'normal': self.vnormal.copy() if self.vnormal is not None else None,
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# 'shear': self.vshear.copy() if self.vshear is not None else None,
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# # 'depth': getFilteredDensity(flow, use_cuda=self.cuda),
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# 'fnormal': self.fnormal, 'fshearx': self.fshearx,
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# 'fsheary': self.fsheary, 'ftor': self.ftor,
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# }
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# # Always include contact fields to ensure consistent result structure
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# # When compute_contact is True, contact worker will update these values
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# # When compute_contact is False, they remain None
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# result.update({
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# 'centroid': None,
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# 'centroid_found': False,
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# 'contour': None,
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# 'depth_map': None,
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# 'depth': None, # Alias for depth_map for compatibility
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# })
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# self._queue_put(self._result_queue, result)
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# except Empty:
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# continue
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# except Exception as e:
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# if self.verbose: print(f"HHD error: {e}")
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# def _contact_worker(self):
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# """Stage 4: Contact computation using vnormal from HHD results."""
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# while not self._stop_event.is_set():
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# try:
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# # Get results from HHD worker which includes vnormal
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# hhd_result = self._result_queue.get(timeout=0.1)
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# vnormal = hhd_result.get('normal') # This is vnormal from HHD
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# if vnormal is not None:
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# # Compute contact using vnormal directly
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# contact_result = self.compute_contact(vnormal=vnormal)
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# # Add contact results to the existing HHD result
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# depth_map = contact_result.get('divergence_map')
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# hhd_result.update({
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# 'centroid': contact_result.get('centroid'),
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# 'centroid_found': contact_result.get('centroid_found'),
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# 'contour': contact_result.get('contour'),
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# 'depth_map': depth_map,
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# 'depth': depth_map, # Alias for depth_map for compatibility
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# })
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# # Put updated result back to queue
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# self._queue_put(self._result_queue, hhd_result)
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# except Empty:
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# continue
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# except Exception as e:
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# if self.verbose: print(f"Contact error: {e}")
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