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expose flow and hhd for benchmark

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radxa-d6a
2026-02-18 21:28:32 +08:00
parent ffb0305e10
commit 6a0c3f16ea
3 changed files with 19 additions and 11 deletions
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benchmark.py
+13 -5
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@@ -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