add debug option

src/orisys/HHD.py

@@ -51,7 +51,8 @@ class nHHD(object):
             backend = 'cpu'
         elif backend == 'opencl' and not OPENCL_AVAILABLE:
             backend = 'cpu'
-        
+
+        self.debug = kwargs.get('debug', False)
         self.poisson_backend = backend
         
         # Initialize CUDA streams for cupy backend
@@ -103,7 +104,7 @@ class nHHD(object):
         Dispatch Poisson solve using the selected backend.
         """
         if self.poisson_backend == 'opencl':
-            return self.psolver.solve_opencl(field, verbose, profile=True)
+            return self.psolver.solve_opencl(field, verbose, profile=self.debug)
 
         if self.poisson_backend == 'cupy':
             return self.psolver.solve_gpu(field, verbose)
@@ -136,7 +137,7 @@ class nHHD(object):
 
             # compute potentials
             if self.poisson_backend == 'opencl' and ('OPENCL_AVAILABLE' in globals() and OPENCL_AVAILABLE):
-                self.nD, self.nRu = self.psolver.solve_opencl_batch2(self.div, self.curlw, verbose > 0, profile=True)
+                self.nD, self.nRu = self.psolver.solve_opencl_batch2(self.div, self.curlw, verbose > 0, profile=self.debug)
             else:
                 self.nD = self._solve_poisson_backend(self.div, verbose > 0)
                 self.nRu = self._solve_poisson_backend(self.curlw, verbose > 0)
@@ -1655,7 +1656,7 @@ class PoissonSolver(object):
         return full_conv[slices]
 
 
-    def solve_opencl_batch2(self, f1, f2, verbose=False, profile=True):
+    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

src/orisys/sensor.py

@@ -59,7 +59,7 @@ class Sensor:
     # Initialization
     # =========================================================================
     
-    def __init__(self, vid_src, cuda=True, isstitch=True, verbose=True, 
+    def __init__(self, vid_src, cuda=True, isstitch=True, verbose=True, debug=False,
                  config_name="prototype", cal_path=None, override=False, box=None, mirror=True, poisson_backend='auto'):
         """
         Initialize Sensor with video source and configuration.
@@ -86,6 +86,7 @@ class Sensor:
         self.isstitch = isstitch
         self.cuda = cuda
         self.verbose = verbose
+        self.debug = debug
         self.config_name = config_name
         self.cal_path = cal_path
         self.mirror = mirror
@@ -130,7 +131,7 @@ class Sensor:
         
         # Initialize components
         self.stitcher = Stitcher(isstitch=isstitch, config_stitcher=self.__config_stitcher, verbose=self.verbose)
-        self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, dis_preset=self._config_dis_preset, config_tracker=self.__config_tracker)
+        self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, config_tracker=self.__config_tracker)
         self.__contact3d = Contact3D(config_contact=self.__config_contact, verbose=self.verbose)
         self.__hhd = None
         self.poisson_backend = poisson_backend
@@ -252,7 +253,7 @@ class Sensor:
         
         # Initialize HHD solver
         if self.__hhd is None:
-            self.__hhd = nHHD(cuda=self.cuda, grid=flow.shape[:2], spacings=(18, 18), poisson_backend=self.poisson_backend)
+            self.__hhd = nHHD(cuda=self.cuda, grid=flow.shape[:2], spacings=(18, 18), poisson_backend=self.poisson_backend, debug=self.debug)
 
         # Force computation
         # When OpenCL backend is selected, use host force path to ensure

src/orisys/tracker.py

@@ -11,7 +11,7 @@ class Tracker:
                  lower_threshold=12.0,
                  upper_threshold=18.0,
                  loop_closure_interval=1,
-                 dis_preset='medium',
+                #  dis_preset='medium',
                  verbose=False):
         # Check if OpenCV is built with CUDA support
         # if cuda and not cv2.cuda.getCudaEnabledDeviceCount():