From 6a0c3f16ea02bc7f17d20e882edd2c1aef621278 Mon Sep 17 00:00:00 2001
From: radxa-d6a <ykcheungab@connect.ust.hk>
Date: Wed, 18 Feb 2026 21:28:32 +0800
Subject: [PATCH] expose flow and hhd for benchmark

---
 benchmark.py         | 18 +++++++++++++-----
 src/orisys/HHD.py    |  4 ++--
 src/orisys/sensor.py |  8 ++++----
 3 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/benchmark.py b/benchmark.py
index ebe8d5b..5b11e61 100644
--- a/benchmark.py
+++ b/benchmark.py
@@ -20,7 +20,7 @@ def main():
     # 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("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/dd01a_0.npy", isstitch=True, cuda=False, verbose=True, poisson_backend='opencl')
+    sensor = orisys.Sensor("s1_480p.mp4", config_name="./config/prototype_of3_480p.json", cal_path= "./config/dd01a_0_480p.npy", isstitch=True, cuda=False, verbose=True, poisson_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)
@@ -39,9 +39,17 @@ def main():
         #     print("motion detected")
         # 步骤 2.2: 计算形变场 (必要步骤)
         start_time = time.perf_counter()
-        sensor.compute_deformation()
+        sensor.compute_flow()
+        
         end_time = time.perf_counter()
-        compute_deformation_time = end_time - start_time
+        compute_flow_time = end_time - start_time
+        
+        start_time = time.perf_counter()
+        sensor.compute_hhd()
+        
+        end_time = time.perf_counter()
+        compute_hhd_time = end_time - start_time
+
         # 步骤 2.3: 计算触碰点 
         start_time = time.perf_counter()
         sensor.compute_contact()
@@ -98,8 +106,8 @@ def main():
         capture_time = sensor._last_capture_time
         processing_time = sensor._last_processing_time
         
-        total_time = get_img_time + compute_deformation_time + compute_contact_time + read_info_time + display_time
-        print(f"get_img: {get_img_time*1000:.2f}ms (capture: {capture_time*1000:.2f}ms, processing: {processing_time*1000:.2f}ms), deformation: {compute_deformation_time*1000:.2f}ms, contact: {compute_contact_time*1000:.2f}ms, read: {read_info_time*1000:.2f}ms, display: {display_time*1000:.2f}ms, total: {total_time*1000:.2f}ms")
+        total_time = get_img_time + compute_flow_time + compute_hhd_time + compute_contact_time + read_info_time + display_time
+        print(f"get_img: {get_img_time*1000:.2f}ms (capture: {capture_time*1000:.2f}ms, processing: {processing_time*1000:.2f}ms), flow: {compute_flow_time*1000:.2f}ms,hhd: {compute_hhd_time*1000:.2f}ms, contact: {compute_contact_time*1000:.2f}ms, read: {read_info_time*1000:.2f}ms, display: {display_time*1000:.2f}ms, total: {total_time*1000:.2f}ms")
             
         #步骤 3.5: 键盘控制
         key = cv2.waitKey(1) & 0xFF
diff --git a/src/orisys/HHD.py b/src/orisys/HHD.py
index cf44110..819850f 100644
--- a/src/orisys/HHD.py
+++ b/src/orisys/HHD.py
@@ -1628,7 +1628,7 @@ class PoissonSolver(object):
         Batched OpenCL Poisson solver for two 2D fields.
         Optimized: scatter H2D (~4x smaller transfer), fused multiply
         (reads g_fft once), async D2H (one sync instead of two).
-        When profile=True, records and optionally prints per-stage timings.
+        When profile=False, records and optionally prints per-stage timings.
         """
         if not OPENCL_AVAILABLE:
             if verbose:
@@ -1818,7 +1818,7 @@ class PoissonSolver(object):
     #     """
     #     OpenCL Poisson solver using pyvkfft FFT convolution.
     #     Replaces scipy.signal.fftconvolve(..., mode='same') for structured grids.
-    #     When profile=True, records and optionally prints per-stage timings.
+    #     When profile=False, records and optionally prints per-stage timings.
     #     """
     #     if not OPENCL_AVAILABLE:
     #         if verbose:
diff --git a/src/orisys/sensor.py b/src/orisys/sensor.py
index 4206e29..a0561a6 100644
--- a/src/orisys/sensor.py
+++ b/src/orisys/sensor.py
@@ -210,13 +210,13 @@ class Sensor:
         if self.img is None:
             raise Exception("Warning: Get image first")
         
-        self.__compute_flow()
+        self.compute_flow()
         if decompose:
-            self.__compute_hhd()
+            self.compute_hhd()
 
         return True
 
-    def __compute_flow(self):
+    def compute_flow(self):
         if self.img is None:
             raise Exception("Warning: Get image first")
         
@@ -226,7 +226,7 @@ class Sensor:
             flow = flow.download()
         self.flow = flow
     
-    def __compute_hhd(self):
+    def compute_hhd(self):
 
         flow = self.flow
         if flow is None: