ykcheungab
2e5c047d1e
2. centralixzed arrow config in layout.py 3. seperate mesh render and display resolution to speed up (~40 fps)
88 lines
2.6 KiB
Python
88 lines
2.6 KiB
Python
"""Shared stage timing helpers for finger example pipelines."""
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from __future__ import annotations
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import time
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from collections import defaultdict
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class StageProfiler:
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"""Accumulate per-stage wall times and print rolling averages."""
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DEFAULT_ORDER = (
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"capture",
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"uv_unroll",
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"flow",
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"hhd",
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"contact",
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"read_info",
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"pipeline",
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"mesh",
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"arrows",
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"charts",
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"display",
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"total",
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)
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def __init__(self, *, report_every: int = 30, stage_order: tuple[str, ...] | None = None):
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self.report_every = max(1, int(report_every))
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self.stage_order = stage_order or self.DEFAULT_ORDER
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self.frame_count = 0
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self.totals: dict[str, float] = defaultdict(float)
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self.last: dict[str, float] = {}
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def record(self, name: str, ms: float) -> None:
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self.totals[name] += ms
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self.last[name] = ms
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def tick(self) -> None:
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self.frame_count += 1
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if self.frame_count % self.report_every == 0:
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self.print_report(prefix=f"[profile {self.frame_count} frames]")
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def print_report(self, *, prefix: str = "[profile summary]") -> None:
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if self.frame_count == 0:
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return
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n = self.frame_count
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parts = []
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for name in self.stage_order:
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if name in self.totals:
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parts.append(f"{name}={self.totals[name] / n:.2f}ms")
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total_ms = self.totals.get("total", 0.0) / n
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if total_ms > 0:
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parts.append(f"fps={1000.0 / total_ms:.1f}")
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print(f"\n{prefix} " + " | ".join(parts))
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def run_deformation_timed(tactile, *, check_motion=True, threshold=0, tail_frames=10):
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"""Run flow + gated HHD; return (flow_ms, hhd_ms). Mirrors Sensor.compute_deformation."""
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sensor = tactile.raw_sensor
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t0 = time.perf_counter()
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sensor.compute_flow()
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flow_ms = (time.perf_counter() - t0) * 1000.0
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run_hhd = True
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if check_motion:
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is_motion = sensor.detect_motion(threshold=threshold)
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try:
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tail_frames = max(0, int(tail_frames))
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except (TypeError, ValueError):
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tail_frames = 0
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if is_motion:
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sensor.tail_frames_count = 0
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elif sensor.tail_frames_count < tail_frames:
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sensor.tail_frames_count += 1
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else:
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run_hhd = False
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sensor.tail_frames_count = tail_frames
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hhd_ms = 0.0
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if run_hhd:
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t1 = time.perf_counter()
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sensor.compute_hhd()
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hhd_ms = (time.perf_counter() - t1) * 1000.0
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return flow_ms, hhd_ms
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