Merge branch 'radxa' of yahoo.com.hk@192.168.192.190:D:\repo\orisyssdk_git into radxa

benchmark.py

@@ -1,18 +1,26 @@
 
 import os
+import sys
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" 
 import cv2
+
+# Ensure benchmark uses local workspace code, not site-packages installation.
+_local_src = os.path.join(os.path.dirname(__file__), "src")
+if _local_src not in sys.path:
+    sys.path.insert(0, _local_src)
+
 import orisys
 import numpy as np
 import time
 
 def main():
+    print(f"Using orisys module: {orisys.__file__}")
     # 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）
     # 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=True, verbose=True)
+    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')
 
     # 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)

src/orisys/HHD.py

@@ -85,6 +85,11 @@ class nHHD(object):
             self.stream1 = None
             self.stream2 = None
 
+        # Select Poisson backend: 'auto' (default), 'cupy', or 'opencl'
+        self.poisson_backend = kwargs.get('poisson_backend', 'auto').lower()
+        if self.poisson_backend not in ('auto', 'cupy', 'opencl'):
+            raise ValueError("poisson_backend must be one of: 'auto', 'cupy', 'opencl'")
+    
         args = kwargs.keys()
 
         if ('grid' in args) == ('points' in args):
@@ -111,8 +116,30 @@ class nHHD(object):
         if (self.dim != 2) and (self.dim != 3):
             raise ValueError("nHHD Solver works only for 2 and 3 dimensions")
 
+        self._force_cpu_cache = None
         self.psolver.prepare(False)  
 
+    def _solve_poisson_backend(self, field, verbose=False):
+        """
+        Dispatch Poisson solve using the selected backend.
+        """
+        if self.poisson_backend == 'opencl':
+            # Always enable profiling for OpenCL backend to see performance breakdown
+            return self.psolver.solve_opencl(field, verbose, profile=False)
+
+        if self.poisson_backend == 'cupy':
+            return self.psolver.solve_gpu(field, verbose)
+
+        # auto: prefer OpenCL, then fallback
+        if 'OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE:
+            try:
+                # Always enable profiling for OpenCL backend to see performance breakdown
+                return self.psolver.solve_opencl(field, verbose, profile=False)
+            except Exception as exc:
+                if verbose:
+                    print(f"OpenCL solve failed ({exc}), falling back to CuPy/CPU")
+        return self.psolver.solve_gpu(field, verbose)
+    
     # create the 3-component decomposition
     def decompose(self, vfield, verbose=0):
 
@@ -139,6 +166,22 @@ class nHHD(object):
             # self.nRu = self.psolver.solve_gpu(self.curlw, verbose > 0) #1)
             # if verbose > 0:
             #     print( 'nR =', self.nRu.shape, self.nRu.min(), self.nRu.max())
+            # compute potentials
+            if self.poisson_backend == 'opencl' and ('OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE):
+                try:
+                    self.nD, self.nRu = self.psolver.solve_opencl_batch2(self.div, self.curlw, verbose > 0, profile=False)
+                except Exception as exc:
+                    if verbose > 0:
+                        print(f"OpenCL batch solve failed ({exc}), falling back to single solves")
+                    self.nD = self._solve_poisson_backend(self.div, verbose > 0)
+                    self.nRu = self._solve_poisson_backend(self.curlw, verbose > 0)
+            else:
+                self.nD = self._solve_poisson_backend(self.div, verbose > 0)
+                self.nRu = self._solve_poisson_backend(self.curlw, verbose > 0)
+            if verbose > 0:
+                print( 'nD =', self.nD.shape, self.nD.min(), self.nD.max())
+            if verbose > 0:
+                print( 'nR =', self.nRu.shape, self.nRu.min(), self.nRu.max())
 
             # compute fields as gradients of potentials
             self.d = self.mesh.gradient(self.nD)
@@ -160,21 +203,21 @@ class nHHD(object):
                 print( 'curlw =', self.curlw.shape, self.curlw.min(), self.curlw.max())
 
             # compute potentials
-            self.nD = self.psolver.solve_gpu(self.div, verbose > 0) #1)
+            self.nD = self._solve_poisson_backend(self.div, verbose > 0)
             if verbose > 0:
                 print( 'nD =', self.nD.shape, self.nD.min(), self.nD.max())
 
-            self.nRu = self.psolver.solve_gpu(self.curlu, verbose > 0)
+            self.nRu = self._solve_poisson_backend(self.curlu, verbose > 0)
             self.nRu *= -1.0
             if verbose > 0:
                 print( 'nRu =', self.nRu.shape, self.nRu.min(), self.nRu.max())
 
-            self.nRv = self.psolver.solve_gpu(self.curlv, verbose > 0)
+            self.nRv = self._solve_poisson_backend(self.curlv, verbose > 0)
             self.nRv *= -1.0
             if verbose > 0:
                 print( 'nRv =', self.nRv.shape, self.nRv.min(), self.nRv.max())
 
-            self.nRw = self.psolver.solve_gpu(self.curlw, verbose > 0)
+            self.nRw = self._solve_poisson_backend(self.curlw, verbose > 0)
             self.nRw *= -1.0
 
             if verbose > 0:
@@ -245,13 +288,41 @@ class nHHD(object):
                 print('curlw =', curlw_gpu.shape, float(curlw_gpu.min()), float(curlw_gpu.max()))
 
             
-            # Compute potentials on GPU (solve_gpu returns numpy, so we convert back)
+            # In GPU decomposition, keep data on CuPy by default.
-            with self.stream1:
+            # OpenCL here requires CuPy<->CPU copies and is only enabled
-                nD_gpu = self.psolver._solve_gpu_internal(div_gpu)
+            # when explicitly requested.
-            with self.stream2:
+            use_opencl = (
-                nRu_gpu = self.psolver._solve_gpu_internal(curlw_gpu)
+                self.poisson_backend == 'opencl' and
-            self.stream1.synchronize()
+                ('OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE)
-            self.stream2.synchronize()
+            )
+            if use_opencl:
+                try:
+                    div_cpu = cp.asnumpy(div_gpu)
+                    curlw_cpu = cp.asnumpy(curlw_gpu)
+                    nD_cpu = self.psolver.solve_opencl(div_cpu, verbose > 0, profile=False)
+                    nRu_cpu = self.psolver.solve_opencl(curlw_cpu, verbose > 0, profile=False)
+                    nD_gpu = cp.asarray(nD_cpu, dtype=cp.float32)
+                    nRu_gpu = cp.asarray(nRu_cpu, dtype=cp.float32)
+                except Exception as exc:
+                    if self.poisson_backend == 'opencl':
+                        raise
+                    if verbose > 0:
+                        print(f"OpenCL path failed ({exc}), using CuPy internal solver")
+                    with self.stream1:
+                        nD_gpu = self.psolver._solve_gpu_internal(div_gpu)
+                    with self.stream2:
+                        nRu_gpu = self.psolver._solve_gpu_internal(curlw_gpu)
+                    self.stream1.synchronize()
+                    self.stream2.synchronize()
+            else:
+                if self.poisson_backend == 'opencl':
+                    raise RuntimeError("poisson_backend='opencl' requested but OpenCL is not available")
+                with self.stream1:
+                    nD_gpu = self.psolver._solve_gpu_internal(div_gpu)
+                with self.stream2:
+                    nRu_gpu = self.psolver._solve_gpu_internal(curlw_gpu)
+                self.stream1.synchronize()
+                self.stream2.synchronize()
             
             if verbose > 0:
                 print('nD =', nD_gpu.shape, float(nD_gpu.min()), float(nD_gpu.max()))
@@ -302,10 +373,12 @@ class nHHD(object):
             return None
 
     def get_force(self, vfield, verbose=False): 
-        
+        shape = (vfield.shape[0], vfield.shape[1])
-        mgrid = numpy.mgrid[0: vfield.shape[0], 0: vfield.shape[1]]
+        if (not hasattr(self, '_force_cpu_cache') or
-        grid = numpy.stack((mgrid[0], mgrid[1]), axis =2)
+                self._force_cpu_cache is None or
-        # print(grid.shape)
+                self._force_cpu_cache['shape'] != shape):
+            self._init_force_cpu_cache(shape)
+        grid = self._force_cpu_cache['grid']
         
         
         self.decompose(vfield, verbose)       
@@ -340,6 +413,17 @@ class nHHD(object):
         return flag,output
         # return self.d, self.h, numpy.cross(r_p, self.r) , numpy.cross(r_n, self.r)
 
+    def _init_force_cpu_cache(self, shape):
+        """
+        Initialize cached CPU grid arrays for force computation.
+        Avoids per-frame mgrid/stack allocations and reduces jitter.
+        """
+        mgrid = numpy.mgrid[0:shape[0], 0:shape[1]]
+        self._force_cpu_cache = {
+            'shape': shape,
+            'grid': numpy.stack((mgrid[0], mgrid[1]), axis=2),
+        }
+    
     def _init_force_gpu_cache(self, shape):
         """
         Initialize cached GPU arrays for force computation.
@@ -896,6 +980,20 @@ class StructuredGrid(object):
 #     cp_signal = None
 #     CUPY_AVAILABLE = False
 
+# Try to import OpenCL + pyvkfft for FFT-based convolution
+try:
+    import pyopencl as cl
+    import pyopencl.array as cla
+    from pyvkfft.fft import rfftn as cl_rfftn
+    from pyvkfft.fft import irfftn as cl_irfftn
+    OPENCL_AVAILABLE = True
+except ImportError:
+    cl = None
+    cla = None
+    cl_rfftn = None
+    cl_irfftn = None
+    OPENCL_AVAILABLE = False
+
 
 '''
 # ------------------------------------------------------------------------------
@@ -993,6 +1091,13 @@ class PoissonSolver(object):
 
         self.ready = False
         self._gpu_cache = None  # Cache for GPU arrays
+        self._opencl_cache = None  # Cache for OpenCL FFT buffers
+        self._opencl_queue = None  # OpenCL command queue
+        self._opencl_context = None  # OpenCL context (set when queue is created)
+        self._opencl_crop_kernel = None  # Cached OpenCL crop kernel
+        self._opencl_scatter_kernel = None  # Cached scatter (reverse-crop) kernel
+        self._opencl_fused_mul_kernel = None  # Cached fused complex multiply kernel
+        self._opencl_last_timing = None  # Last per-stage OpenCL timing in ms
         # if (self.ptype == 'G'):
         #     print( 'PoissonSolver:', self.dim, 'D grid =', self.gdims, 'with spacings', self.gdx)
         # elif (self.ptype == 'P'):
@@ -1289,6 +1394,525 @@ class PoissonSolver(object):
 
         # return p
 
+    def _get_opencl_queue(self):
+        """Create and cache an OpenCL queue on first available GPU."""
+        if self._opencl_queue is not None:
+            return self._opencl_queue
+
+        if not OPENCL_AVAILABLE:
+            raise RuntimeError("OpenCL/pyvkfft is not available")
+
+        ctx = None
+        for platform in cl.get_platforms():
+            for device in platform.get_devices():
+                if device.type & cl.device_type.GPU == 0:
+                    continue
+                ctx = cl.Context(devices=(device,))
+                break
+            if ctx is not None:
+                break
+
+        if ctx is None:
+            raise RuntimeError("No OpenCL GPU device found")
+
+        self._opencl_queue = cl.CommandQueue(ctx)
+        self._opencl_context = ctx
+        return self._opencl_queue
+    
+    def _get_opencl_crop_kernel(self, queue):
+        """Create and cache OpenCL kernel for cropping convolution result."""
+        if hasattr(self, '_opencl_crop_kernel') and self._opencl_crop_kernel is not None:
+            return self._opencl_crop_kernel
+        
+        # Simple 2D copy kernel
+        kernel_code = """
+        __kernel void crop_and_scale(
+            __global const float* src,
+            __global float* dst,
+            const int src_width,
+            const int dst_width,
+            const int dst_height,
+            const int start_x,
+            const int start_y,
+            const float scale
+        ) {
+            int gid_x = get_global_id(0);
+            int gid_y = get_global_id(1);
+            
+            if (gid_x < dst_width && gid_y < dst_height) {
+                int src_idx = (start_y + gid_y) * src_width + (start_x + gid_x);
+                int dst_idx = gid_y * dst_width + gid_x;
+                dst[dst_idx] = src[src_idx] * scale;
+            }
+        }
+        """
+        
+        program = cl.Program(self._opencl_context, kernel_code).build()
+        self._opencl_crop_kernel = program.crop_and_scale
+        return self._opencl_crop_kernel
+
+    def _get_opencl_scatter_kernel(self, queue):
+        """Kernel that copies unpadded input into a zero-padded device buffer (reverse of crop)."""
+        if self._opencl_scatter_kernel is not None:
+            return self._opencl_scatter_kernel
+
+        kernel_code = """
+        __kernel void scatter_to_padded(
+            __global const float* src,
+            __global float* dst,
+            const int src_width,
+            const int src_height,
+            const int dst_width
+        ) {
+            int gid_x = get_global_id(0);
+            int gid_y = get_global_id(1);
+            if (gid_x < src_width && gid_y < src_height) {
+                dst[gid_y * dst_width + gid_x] = src[gid_y * src_width + gid_x];
+            }
+        }
+        """
+        program = cl.Program(self._opencl_context, kernel_code).build()
+        self._opencl_scatter_kernel = program.scatter_to_padded
+        return self._opencl_scatter_kernel
+
+    def _get_opencl_fused_mul_kernel(self, queue):
+        """Kernel that multiplies two complex spectra by one Green's spectrum in a single pass."""
+        if self._opencl_fused_mul_kernel is not None:
+            return self._opencl_fused_mul_kernel
+
+        kernel_code = """
+        __kernel void fused_complex_mul(
+            __global float2* fft1,
+            __global float2* fft2,
+            __global const float2* g,
+            const int n
+        ) {
+            int i = get_global_id(0);
+            if (i < n) {
+                float2 gv = g[i];
+                float2 a = fft1[i];
+                float2 b = fft2[i];
+                fft1[i] = (float2)(a.x * gv.x - a.y * gv.y,
+                                   a.x * gv.y + a.y * gv.x);
+                fft2[i] = (float2)(b.x * gv.x - b.y * gv.y,
+                                   b.x * gv.y + b.y * gv.x);
+            }
+        }
+        """
+        program = cl.Program(self._opencl_context, kernel_code).build()
+        self._opencl_fused_mul_kernel = program.fused_complex_mul
+        return self._opencl_fused_mul_kernel
+
+    @staticmethod
+    def _center_crop_same(full_conv, target_shape):
+        """Crop full convolution result to scipy 'same' output shape."""
+        starts = [(full_conv.shape[i] - target_shape[i]) // 2 for i in range(len(target_shape))]
+        slices = tuple(slice(starts[i], starts[i] + target_shape[i]) for i in range(len(target_shape)))
+        return full_conv[slices]
+
+    def solve_opencl(self, f, verbose=False, profile=False):
+        """
+        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.
+        """
+        if not OPENCL_AVAILABLE:
+            if verbose:
+                print("OpenCL/pyvkfft not available, falling back to CPU solver")
+            return self.solve(f, verbose)
+
+        if not self.ready:
+            self.prepare(verbose)
+
+        fshape = f.shape
+        gtimer = Timer()
+        if verbose:
+            print('\nSolving Poisson Eq. with OpenCL FFT')
+
+        if self.ptype == 'G':
+            if self.gdims != fshape:
+                print(self.gdims, fshape)
+                raise ValueError("Shape of function should match shape of grid")
+
+            if self.stype == 'F':
+                timing = {'cache_prepare_ms': 0.0}
+                t_total = timeit.default_timer()
+
+                t0 = timeit.default_timer()
+                queue = self._get_opencl_queue()
+                timing['queue_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                t0 = timeit.default_timer()
+                f_host = numpy.ascontiguousarray(f, dtype=numpy.float32)
+                full_shape = tuple(2 * s - 1 for s in f_host.shape)
+                timing['host_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                cache_valid = (
+                    self._opencl_cache is not None and
+                    self._opencl_cache['fshape'] == f_host.shape and
+                    self._opencl_cache['full_shape'] == full_shape
+                )
+
+                if not cache_valid:
+                    t0 = timeit.default_timer()
+                    g_host = numpy.asarray(self.G, dtype=numpy.float32)
+                    g_pad = numpy.zeros(full_shape, dtype=numpy.float32)
+                    g_slices = tuple(slice(0, s) for s in g_host.shape)
+                    g_pad[g_slices] = g_host
+                    g_dev = cla.to_device(queue, g_pad)
+                    g_fft_dev = cl_rfftn(g_dev)
+                    if profile:
+                        queue.finish()
+                    same_starts = [(full_shape[i] - f_host.shape[i]) // 2 for i in range(self.dim)]
+                    same_slices = tuple(
+                        slice(same_starts[i], same_starts[i] + f_host.shape[i])
+                        for i in range(self.dim)
+                    )
+                    fft_shape = tuple(list(full_shape[:-1]) + [full_shape[-1] // 2 + 1])
+                    self._opencl_cache = {
+                        'fshape': f_host.shape,
+                        'full_shape': full_shape,
+                        'fft_shape': fft_shape,
+                        'g_fft_dev': g_fft_dev,
+                        'same_slices': same_slices,
+                        'same_starts': same_starts,
+                        'gdx_prod': numpy.prod(self.gdx),
+                        # Zero-init so padding stays zero across frames
+                        'f_dev': cla.zeros(queue, full_shape, dtype=numpy.float32),
+                        # Small staging buffer for input-sized H2D
+                        'f_stage_dev': cla.empty(queue, f_host.shape, dtype=numpy.float32),
+                        'f_fft_dev': cla.empty(queue, fft_shape, dtype=numpy.complex64),
+                        'conv_full_dev': cla.empty(queue, full_shape, dtype=numpy.float32),
+                        'p_dev': cla.empty(queue, f_host.shape, dtype=numpy.float32),
+                        'p_host': numpy.empty(f_host.shape, dtype=numpy.float32),
+                    }
+                    timing['cache_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                # H2D: upload only input-sized data, scatter into padded device buffer
+                t0 = timeit.default_timer()
+                self._opencl_cache['f_stage_dev'].set(f_host, queue=queue)
+                if self.dim == 2:
+                    scatter_kern = self._get_opencl_scatter_kernel(queue)
+                    fshape_c = self._opencl_cache['fshape']
+                    full_shape_c = self._opencl_cache['full_shape']
+                    scatter_kern(
+                        queue, (fshape_c[1], fshape_c[0]), None,
+                        self._opencl_cache['f_stage_dev'].data,
+                        self._opencl_cache['f_dev'].data,
+                        numpy.int32(fshape_c[1]),
+                        numpy.int32(fshape_c[0]),
+                        numpy.int32(full_shape_c[1])
+                    )
+                else:
+                    # 3D fallback: host-side pad + full upload
+                    f_pad = numpy.zeros(full_shape, dtype=numpy.float32)
+                    f_slices = tuple(slice(0, s) for s in f_host.shape)
+                    f_pad[f_slices] = f_host
+                    self._opencl_cache['f_dev'].set(f_pad, queue=queue)
+                if profile:
+                    queue.finish()
+                timing['h2d_set_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                t0 = timeit.default_timer()
+                f_fft_dev = cl_rfftn(self._opencl_cache['f_dev'], self._opencl_cache['f_fft_dev'])
+                if profile:
+                    queue.finish()
+                timing['fft_f_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                t0 = timeit.default_timer()
+                f_fft_dev *= self._opencl_cache['g_fft_dev']
+                if profile:
+                    queue.finish()
+                timing['mul_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                t0 = timeit.default_timer()
+                conv_full_dev = cl_irfftn(f_fft_dev, self._opencl_cache['conv_full_dev'])
+                if profile:
+                    queue.finish()
+                timing['ifft_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                # Optimized path: use OpenCL kernel to crop and scale on device, then transfer only cropped result.
+                t0 = timeit.default_timer()
+                p_dev = self._opencl_cache['p_dev']
+                same_starts = self._opencl_cache['same_starts']
+                fshape = self._opencl_cache['fshape']
+                full_shape_cache = self._opencl_cache['full_shape']
+                
+                if self.dim == 2:
+                    # Use custom kernel for 2D cropping and scaling
+                    crop_kernel = self._get_opencl_crop_kernel(queue)
+                    crop_kernel(
+                        queue, (fshape[1], fshape[0]), None,
+                        conv_full_dev.data,
+                        p_dev.data,
+                        numpy.int32(full_shape_cache[1]),  # src_width
+                        numpy.int32(fshape[1]),  # dst_width
+                        numpy.int32(fshape[0]),  # dst_height
+                        numpy.int32(same_starts[1]),  # start_x
+                        numpy.int32(same_starts[0]),  # start_y
+                        numpy.float32(self._opencl_cache['gdx_prod'])  # scale
+                    )
+                    if profile:
+                        queue.finish()
+                    timing['crop_scale_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                    t0 = timeit.default_timer()
+                    # Transfer only the cropped result (much smaller than full convolution)
+                    p = p_dev.get(ary=self._opencl_cache['p_host'])
+                    timing['d2h_get_ms'] = (timeit.default_timer() - t0) * 1000.0
+                else:
+                    # Fallback for 3D: transfer full, crop on CPU
+                    conv_full_dev *= self._opencl_cache['gdx_prod']
+                    queue.finish()
+                    timing['crop_scale_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                    t0 = timeit.default_timer()
+                    conv_full = conv_full_dev.get()
+                    timing['d2h_get_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+                    t0 = timeit.default_timer()
+                    p = conv_full[self._opencl_cache['same_slices']].copy()
+                    timing['crop_scale_ms'] += (timeit.default_timer() - t0) * 1000.0
+                timing['total_ms'] = (timeit.default_timer() - t_total) * 1000.0
+                self._opencl_last_timing = timing
+
+                if verbose:
+                    print('Poisson solver (OpenCL FFT) finished')
+                if profile:
+                    print(
+                        "OpenCL timing [ms]: "
+                        f"total={timing['total_ms']:.3f}, "
+                        f"queue={timing['queue_ms']:.3f}, "
+                        f"cache={timing['cache_prepare_ms']:.3f}, "
+                        f"host={timing['host_prepare_ms']:.3f}, "
+                        f"h2d={timing['h2d_set_ms']:.3f}, "
+                        f"fft={timing['fft_f_ms']:.3f}, "
+                        f"mul={timing['mul_ms']:.3f}, "
+                        f"ifft={timing['ifft_ms']:.3f}, "
+                        f"d2h={timing['d2h_get_ms']:.3f}, "
+                        f"crop={timing['crop_scale_ms']:.3f}"
+                    )
+                    gtimer.end()
+                return p
+
+            elif self.stype == 'S':
+                raise SyntaxError('Spatial solver not suggested for structured grids')
+
+        elif self.ptype == 'P':
+            if verbose:
+                print('OpenCL solver not optimized for unstructured points, using CPU')
+            return self.solve(f, verbose)
+
+    def solve_opencl_batch2(self, f1, f2, verbose=False, profile=False):
+        """
+        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).
+        """
+        if not OPENCL_AVAILABLE:
+            if verbose:
+                print("OpenCL/pyvkfft not available, falling back to CPU solver")
+            return self.solve(f1, verbose), self.solve(f2, verbose)
+
+        if self.dim != 2:
+            return self.solve_opencl(f1, verbose, profile), self.solve_opencl(f2, verbose, profile)
+
+        if not self.ready:
+            self.prepare(verbose)
+
+        fshape = f1.shape
+        if fshape != f2.shape:
+            raise ValueError("solve_opencl_batch2 requires inputs with identical shapes")
+
+        if self.ptype != 'G' or self.stype != 'F':
+            return self.solve_opencl(f1, verbose, profile), self.solve_opencl(f2, verbose, profile)
+
+        if self.gdims != fshape:
+            print(self.gdims, fshape)
+            raise ValueError("Shape of function should match shape of grid")
+
+        timing = {'cache_prepare_ms': 0.0}
+        t_total = timeit.default_timer()
+
+        t0 = timeit.default_timer()
+        queue = self._get_opencl_queue()
+        timing['queue_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        t0 = timeit.default_timer()
+        f1_host = numpy.ascontiguousarray(f1, dtype=numpy.float32)
+        f2_host = numpy.ascontiguousarray(f2, dtype=numpy.float32)
+        full_shape = tuple(2 * s - 1 for s in f1_host.shape)
+        timing['host_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        cache_valid = (
+            self._opencl_cache is not None and
+            self._opencl_cache['fshape'] == f1_host.shape and
+            self._opencl_cache['full_shape'] == full_shape and
+            'f_dev2' in self._opencl_cache
+        )
+
+        if not cache_valid:
+            t0 = timeit.default_timer()
+            g_host = numpy.asarray(self.G, dtype=numpy.float32)
+            g_pad = numpy.zeros(full_shape, dtype=numpy.float32)
+            g_slices = tuple(slice(0, s) for s in g_host.shape)
+            g_pad[g_slices] = g_host
+            g_dev = cla.to_device(queue, g_pad)
+            g_fft_dev = cl_rfftn(g_dev)
+            if profile:
+                queue.finish()
+
+            same_starts = [(full_shape[i] - f1_host.shape[i]) // 2 for i in range(self.dim)]
+            same_slices = tuple(slice(same_starts[i], same_starts[i] + f1_host.shape[i]) for i in range(self.dim))
+            fft_shape = tuple(list(full_shape[:-1]) + [full_shape[-1] // 2 + 1])
+            fft_n_elements = 1
+            for d in fft_shape:
+                fft_n_elements *= d
+
+            self._opencl_cache = {
+                'fshape': f1_host.shape,
+                'full_shape': full_shape,
+                'fft_shape': fft_shape,
+                'fft_n_elements': fft_n_elements,
+                'g_fft_dev': g_fft_dev,
+                'same_slices': same_slices,
+                'same_starts': same_starts,
+                'gdx_prod': numpy.prod(self.gdx),
+                # Zero-init padded buffers so padding stays zero across frames
+                # (out-of-place rfftn does not modify the source)
+                'f_dev': cla.zeros(queue, full_shape, dtype=numpy.float32),
+                'f_dev2': cla.zeros(queue, full_shape, dtype=numpy.float32),
+                # Small staging buffers for input-sized H2D (~4x smaller)
+                'f_stage_dev': cla.empty(queue, f1_host.shape, dtype=numpy.float32),
+                'f_stage_dev2': cla.empty(queue, f1_host.shape, dtype=numpy.float32),
+                'f_fft_dev': cla.empty(queue, fft_shape, dtype=numpy.complex64),
+                'f_fft_dev2': cla.empty(queue, fft_shape, dtype=numpy.complex64),
+                'conv_full_dev': cla.empty(queue, full_shape, dtype=numpy.float32),
+                'conv_full_dev2': cla.empty(queue, full_shape, dtype=numpy.float32),
+                'p_dev': cla.empty(queue, f1_host.shape, dtype=numpy.float32),
+                'p_dev2': cla.empty(queue, f1_host.shape, dtype=numpy.float32),
+                'p_host': numpy.empty(f1_host.shape, dtype=numpy.float32),
+                'p_host2': numpy.empty(f1_host.shape, dtype=numpy.float32),
+            }
+            timing['cache_prepare_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # H2D: async upload input-sized data, scatter into padded device buffer
+        t0 = timeit.default_timer()
+        self._opencl_cache['f_stage_dev'].set(f1_host, queue=queue, async_=True)
+        self._opencl_cache['f_stage_dev2'].set(f2_host, queue=queue, async_=True)
+        scatter_kern = self._get_opencl_scatter_kernel(queue)
+        fshape_c = self._opencl_cache['fshape']
+        full_shape_c = self._opencl_cache['full_shape']
+        scatter_kern(
+            queue, (fshape_c[1], fshape_c[0]), None,
+            self._opencl_cache['f_stage_dev'].data,
+            self._opencl_cache['f_dev'].data,
+            numpy.int32(fshape_c[1]),
+            numpy.int32(fshape_c[0]),
+            numpy.int32(full_shape_c[1])
+        )
+        scatter_kern(
+            queue, (fshape_c[1], fshape_c[0]), None,
+            self._opencl_cache['f_stage_dev2'].data,
+            self._opencl_cache['f_dev2'].data,
+            numpy.int32(fshape_c[1]),
+            numpy.int32(fshape_c[0]),
+            numpy.int32(full_shape_c[1])
+        )
+        if profile:
+            queue.finish()
+        timing['h2d_set_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # FFT both fields
+        t0 = timeit.default_timer()
+        fft1 = cl_rfftn(self._opencl_cache['f_dev'], self._opencl_cache['f_fft_dev'])
+        fft2 = cl_rfftn(self._opencl_cache['f_dev2'], self._opencl_cache['f_fft_dev2'])
+        if profile:
+            queue.finish()
+        timing['fft_f_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # Fused multiply: one kernel, reads g_fft once, multiplies both spectra
+        t0 = timeit.default_timer()
+        fused_mul = self._get_opencl_fused_mul_kernel(queue)
+        fused_mul(
+            queue, (self._opencl_cache['fft_n_elements'],), None,
+            fft1.data, fft2.data,
+            self._opencl_cache['g_fft_dev'].data,
+            numpy.int32(self._opencl_cache['fft_n_elements'])
+        )
+        if profile:
+            queue.finish()
+        timing['mul_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # iFFT both fields
+        t0 = timeit.default_timer()
+        full1 = cl_irfftn(fft1, self._opencl_cache['conv_full_dev'])
+        full2 = cl_irfftn(fft2, self._opencl_cache['conv_full_dev2'])
+        if profile:
+            queue.finish()
+        timing['ifft_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # Crop + scale on device (both fields, back-to-back enqueue)
+        t0 = timeit.default_timer()
+        crop_kernel = self._get_opencl_crop_kernel(queue)
+        same_starts = self._opencl_cache['same_starts']
+
+        crop_kernel(
+            queue, (fshape_c[1], fshape_c[0]), None,
+            full1.data, self._opencl_cache['p_dev'].data,
+            numpy.int32(full_shape_c[1]),
+            numpy.int32(fshape_c[1]),
+            numpy.int32(fshape_c[0]),
+            numpy.int32(same_starts[1]),
+            numpy.int32(same_starts[0]),
+            numpy.float32(self._opencl_cache['gdx_prod'])
+        )
+        crop_kernel(
+            queue, (fshape_c[1], fshape_c[0]), None,
+            full2.data, self._opencl_cache['p_dev2'].data,
+            numpy.int32(full_shape_c[1]),
+            numpy.int32(fshape_c[1]),
+            numpy.int32(fshape_c[0]),
+            numpy.int32(same_starts[1]),
+            numpy.int32(same_starts[0]),
+            numpy.float32(self._opencl_cache['gdx_prod'])
+        )
+        if profile:
+            queue.finish()
+        timing['crop_scale_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        # D2H: async enqueue both copies, single sync point
+        t0 = timeit.default_timer()
+        cl.enqueue_copy(queue, self._opencl_cache['p_host'],
+                        self._opencl_cache['p_dev'].data, is_blocking=False)
+        cl.enqueue_copy(queue, self._opencl_cache['p_host2'],
+                        self._opencl_cache['p_dev2'].data, is_blocking=False)
+        queue.finish()
+        p1 = self._opencl_cache['p_host']
+        p2 = self._opencl_cache['p_host2']
+        timing['d2h_get_ms'] = (timeit.default_timer() - t0) * 1000.0
+
+        timing['total_ms'] = (timeit.default_timer() - t_total) * 1000.0
+        self._opencl_last_timing = timing
+
+        if verbose:
+            print('Poisson solver (OpenCL FFT batch2) finished')
+        if profile:
+            print(
+                "OpenCL batch2 timing [ms]: "
+                f"total={timing['total_ms']:.3f}, "
+                f"queue={timing['queue_ms']:.3f}, "
+                f"cache={timing['cache_prepare_ms']:.3f}, "
+                f"host={timing['host_prepare_ms']:.3f}, "
+                f"h2d={timing['h2d_set_ms']:.3f}, "
+                f"fft={timing['fft_f_ms']:.3f}, "
+                f"mul={timing['mul_ms']:.3f}, "
+                f"ifft={timing['ifft_ms']:.3f}, "
+                f"d2h={timing['d2h_get_ms']:.3f}, "
+                f"crop={timing['crop_scale_ms']:.3f}"
+            )
+        return p1, p2
+    
     def _solve_gpu_internal(self, f_gpu):
         """Internal GPU solve that accepts and returns GPU arrays."""
         """

src/orisys/sensor.py

@@ -53,7 +53,7 @@ class Sensor:
     # =========================================================================
     
     def __init__(self, vid_src, cuda=True, isstitch=True, verbose=True, 
-                 config_name="prototype", cal_path=None, override=False, box=None, mirror=True):
+                 config_name="prototype", cal_path=None, override=False, box=None, mirror=True, poisson_backend='auto'):
         """
         Initialize Sensor with video source and configuration.
         
@@ -141,6 +141,7 @@ class Sensor:
         self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, dis_preset=self._config_dis_preset, config_tracker=self.__config_tracker)
         self.__contact3d = Contact3D(config_contact=self.__config_contact, verbose=self.verbose)
         self.__hhd = None
+        self.poisson_backend = poisson_backend
         
         # Setup video capture
         self._open_video_source(override, box)
@@ -243,10 +244,14 @@ class Sensor:
         
         # Initialize HHD solver
         if self.__hhd is None:
-            self.__hhd = nHHD(cuda=self.cuda, grid=flow.shape[:2], spacings=(18, 18))
+            self.__hhd = nHHD(cuda=self.cuda, grid=flow.shape[:2], spacings=(18, 18), poisson_backend=self.poisson_backend)
 
         # Force computation
-        if self.cuda and self.CUPY_AVAILABLE:
+        # When OpenCL backend is selected, use CPU force path to ensure
+        # Poisson solve goes through PoissonSolver.solve_opencl().
+        if self.poisson_backend == 'opencl':
+            _, forces = self.__hhd.get_force(flow)
+        elif self.cuda and self.CUPY_AVAILABLE:
             _, forces = self.__hhd.get_force_gpu_v2(flow)
         else:
             _, forces = self.__hhd.get_force(flow)