optical flow optimize done and cleaned

src/orisys/configs/sample_1.json

@@ -1,28 +0,0 @@
-{
-    "name": "prototype",
-    "version": "1.0",
-    "camera": {
-      "resolution_raw": [1920, 1080],
-      "fps": 60,
-      "units": 15,
-      "units_used": 9, 
-      "resolution_stitch": [400, 400],
-      "index": [1,2,3,6,7,8,11,12,13],
-      "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]]
-    },
-    "stitcher": {
-      "min_area_frac": 0.01,
-      "max_area_frac": 0.05,
-      "max_aspect_ratio": 100
-    },
-    "contact": {
-      "min_contour_area": 3000,
-      "min_magnitude": 1.0,
-      "expansion_threshold": 0.01,
-      "contact_ds_factor": 10,
-      "kernel_size": [5,5],
-      "denoise_sigma": 15
-    }
-}
-
-

src/orisys/sensor.py

@@ -160,11 +160,13 @@ class Sensor:
         Returns:
             np.ndarray: Processed grayscale image
         """
+        t0 = time.perf_counter()
         ret, frame = self.cap.read()
         if not ret:
             print("Failed to get_img from video source.")
             return None
-
+        t1 = time.perf_counter()
+        print(f"read frame time: {t1 - t0} seconds")
         
         # Convert to grayscale
         gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

src/orisys/tracker.py

@@ -1,8 +1,5 @@
 import cv2
 import numpy as np
-import cupy as cp
-import time
-
 
 class Tracker:
     def __init__(self,
@@ -146,12 +143,9 @@ class Tracker:
                     self.__checkLoopClosure(frame)
                 
                 # CPU optical flow computation
-                start_time = time.perf_counter()
                 self.__prev_fine_flow = self.__tracking_inst.calc(
                     self.__fine_base_frame_queue[-1], frame,
                     self.__prev_fine_flow)
-                end_time = time.perf_counter()
-                print(f"CPU optical flow computation time: {end_time - start_time} seconds")
                 # Direct numpy addition is faster than cv2.add
                 final_flow = self.__fine_flow_queue[-1] + self.__prev_fine_flow