optical flow optimize done and cleaned

2026-01-14 10:13:19 +08:00
parent 4d6bfb49ae
commit 721dccbab4
11 changed files with 120 additions and 108 deletions
@@ -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