optical flow optimize done and cleaned

config/demo.json

@@ -1,35 +0,0 @@
-{
-    "name": "demo",
-    "version": "1.0",
-    "camera": {
-        "resolution_raw": [1920, 1080],
-        "fps": 60,
-        "units": 15,
-        "units_used": 9,
-        "resolution_stitch": [400, 400]
-    },
-    "stitcher": {
-        "min_area_frac": 0.018,
-        "max_area_frac": 0.035,
-        "max_aspect_ratio": 100,
-        "index": [1, 2, 3, 6, 7, 8, 11, 12, 13],
-        "margin": 10,
-        "nominal_ov_pos": 100,
-        "n": [3, 3]
-    },
-    "tracker": {
-        "adaptive": true,
-        "lower_threshold": 12.0,
-        "upper_threshold": 18.0,
-        "loop_closure_interval": 1,
-        "dis_preset": "medium"
-    },
-    "contact": {
-        "min_contour_area": 3000,
-        "flow_threshold": 1,
-        "div_threshold": 0.02,
-        "expansion_threshold": 0.01,
-        "kernel_size": [5, 5],
-        "denoise_sigma": 15
-    }
-}

config/prototype_of1.json

@@ -0,0 +1,38 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 60,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [400, 400]
+  },
+  "stitcher": {
+    "min_area_frac": 0.018,
+    "max_area_frac": 0.035,
+    "max_aspect_ratio": 100,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "dis_preset": "medium",
+    "finest_scale": 1
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":1,
+    "div_threshold":0.02,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 15
+  }
+}
+
+

config/prototype_of2.json

@@ -0,0 +1,38 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 60,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [400, 400]
+  },
+  "stitcher": {
+    "min_area_frac": 0.018,
+    "max_area_frac": 0.035,
+    "max_aspect_ratio": 100,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "dis_preset": "medium",
+    "finest_scale": 2
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":1,
+    "div_threshold":0.02,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 15
+  }
+}
+
+

config/prototype_of3.json

@@ -0,0 +1,38 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 60,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [400, 400]
+  },
+  "stitcher": {
+    "min_area_frac": 0.018,
+    "max_area_frac": 0.035,
+    "max_aspect_ratio": 100,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "dis_preset": "medium",
+    "finest_scale": 3
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":1,
+    "div_threshold":0.02,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 15
+  }
+}
+
+

config/stereo.json

@@ -1,35 +0,0 @@
-{
-    "name": "prototype",
-    "version": "1.0",
-    "camera": {
-        "resolution_raw": [1920, 1080],
-        "fps": 60,
-        "units": 15,
-        "units_used": 9,
-        "resolution_stitch": [400, 400]
-    },
-    "stitcher": {
-        "min_area_frac": 0.01,
-        "max_area_frac": 0.05,
-        "max_aspect_ratio": 100,
-        "index": [1, 2, 3, 6, 7, 8, 11, 12, 13],
-        "margin": 10,
-        "nominal_ov_pos": 100,
-        "n": [3, 3]
-    },
-    "tracker": {
-        "adaptive": true,
-        "lower_threshold": 12.0,
-        "upper_threshold": 18.0,
-        "loop_closure_interval": 1,
-        "dis_preset": "medium"
-    },
-    "contact": {
-        "min_contour_area": 3000,
-        "flow_threshold": 1,
-        "div_threshold": 0.02,
-        "expansion_threshold": 0.01,
-        "kernel_size": [5, 5],
-        "denoise_sigma": 15
-    }
-}

example1_basic_pipeline.py

@@ -19,11 +19,11 @@ def main():
     
     # 步骤1：创建传感器对象 (必要步骤)，config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor("s1.mp4", config_name="prototype", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
+    # sensor = orisys.Sensor("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
 
     
     # 方式2: 从摄像头读取（取消注释使用） 
-    # sensor = orisys.Sensor(0, config_name="./config/lens_test.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
+    sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
 
@@ -57,7 +57,7 @@ def main():
         arrows = orisys.util.draw_arrows(
             img,
             flow,
-            threshold=5,
+            threshold=4,
             grid_spacing=10,
             arrow_scale=1.0
         )

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