GPU并行化优化

libs/MVS/mask_face_occlusion.py

@@ -1,3 +1,4 @@
+import time
 import open3d as o3d
 import os
 import numpy as np
@@ -9,6 +10,9 @@ from get_pose_matrix import get_w2c
 import argparse
 import matplotlib.pyplot as plt
 import collections
+import torch
+import torch.nn.functional as F
+from torch.utils.dlpack import to_dlpack, from_dlpack
 
 class ModelProcessor:
     def __init__(self):
@@ -54,6 +58,10 @@ class ModelProcessor:
         if not os.path.exists(self.pose_path):
             raise FileNotFoundError(f"Camera data not found: {self.pose_path}")
         
+        # GPU设备设置
+        self.device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+        print(f"Using device: {self.device}")
+
         self.mesh = None
 
     def load_model(self):
@@ -89,9 +97,370 @@ class ModelProcessor:
         self.uv_array = np.asarray(self.mesh.triangle_uvs)
         # print(f"UV 坐标形状：{self.uv_array.shape}, {self.uv_array[0][1]}")
         #"""
+        #"""
+        # 将数据转移到GPU
+        vertices = np.asarray(self.mesh.vertices, dtype=np.float32)
+        triangles = np.asarray(self.mesh.triangles, dtype=np.int32)
+        
+        # 转换为PyTorch张量并转移到GPU
+        self.vertices_tensor = torch.from_numpy(vertices).to(self.device)
+        self.triangles_tensor = torch.from_numpy(triangles).to(self.device)
+        
+        print(f"Loaded {len(vertices)} vertices and {len(triangles)} triangles and {len(self.triangles_tensor)} triangles_tensor")
+
+        self._build_face_adjacency_gpu()
+        #"""
+        # self._build_face_adjacency()
+
+        if not self.mesh.has_vertex_colors():
+            num_vertices = len(self.mesh.vertices)
+            self.mesh.vertex_colors = o3d.utility.Vector3dVector(
+                np.ones((num_vertices, 3))
+            )
+
+    def _build_face_adjacency_gpu(self):
+        """优化的GPU版本面片邻接关系构建"""
+        if len(self.triangles_tensor) == 0:
+            return
+            
+        triangles = self.triangles_tensor.cpu().numpy()  # 转到CPU处理
+        num_faces = len(triangles)
+        
+        # 使用更高效的方法构建边-面映射
+        edge_face_map = {}
+        
+        for face_idx, tri in enumerate(triangles):
+            # 获取三条边（排序顶点保证唯一性）
+            edges = [
+                tuple(sorted([tri[0], tri[1]])),
+                tuple(sorted([tri[1], tri[2]])),
+                tuple(sorted([tri[2], tri[0]]))
+            ]
+            
+            for edge in edges:
+                if edge not in edge_face_map:
+                    edge_face_map[edge] = []
+                edge_face_map[edge].append(face_idx)
+        
+        # 构建邻接关系
+        self.face_adjacency = [[] for _ in range(num_faces)]
+        
+        adjacency_count = 0
+        for edge, faces in edge_face_map.items():
+            if len(faces) > 1:  # 只处理共享边
+                for i in faces:
+                    for j in faces:
+                        if i != j:
+                            if j not in self.face_adjacency[i]:
+                                self.face_adjacency[i].append(j)
+                                adjacency_count += 1
+        
+        print(f"邻接关系构建完成:")
+        print(f"- 面片总数: {num_faces}")
+        print(f"- 边总数: {len(edge_face_map)}")
+        print(f"- 共享边数: {len([f for f in edge_face_map.values() if len(f) > 1])}")
+        print(f"- 邻接关系数: {adjacency_count}")
+    
+    def _build_depth_pyramid_gpu(self, depth_map, levels=4):
+        """GPU版本的深度金字塔构建"""
+        if not isinstance(depth_map, torch.Tensor):
+            depth_tensor = torch.from_numpy(depth_map).float().to(self.device)
+        else:
+            depth_tensor = depth_map.float()
+            
+        pyramid = [depth_tensor]
+        current_level = depth_tensor
+        
+        for _ in range(levels-1):
+            # 使用平均池化进行下采样
+            current_level = current_level.unsqueeze(0).unsqueeze(0)  # 添加batch和channel维度
+            current_level = F.avg_pool2d(current_level, kernel_size=2, stride=2)
+            current_level = current_level.squeeze(0).squeeze(0)
+            pyramid.append(current_level)
+            
+        return pyramid
+    
+    def _hierarchical_occlusion_test_gpu(self, vertices_cam, depth_pyramid, intrinsics, img_size):
+        """GPU版本的层级遮挡检测 - 直接计算方法"""
+        fx, fy, cx, cy = intrinsics
+        height, width = img_size
+        
+        # 过滤无效顶点
+        valid_mask = vertices_cam[:, 2] > 1e-6
+        vertices_valid = vertices_cam[valid_mask]
+        
+        if len(vertices_valid) == 0:
+            return (torch.zeros(len(vertices_cam), dtype=torch.bool, device=self.device),
+                    torch.zeros(len(vertices_cam), dtype=torch.bool, device=self.device))
+        
+        visible = torch.zeros(len(vertices_valid), dtype=torch.bool, device=self.device)
+        occlusion = torch.zeros(len(vertices_valid), dtype=torch.bool, device=self.device)
+        
+        # 批量处理所有层级
+        for level in reversed(range(len(depth_pyramid))):
+            scale = 2 ** level
+            current_depth = depth_pyramid[level]
+            h, w = current_depth.shape
+            
+            # 直接计算投影坐标，避免矩阵乘法
+            x = vertices_valid[:, 0]
+            y = vertices_valid[:, 1]
+            z = vertices_valid[:, 2]
+            
+            # 缩放的内参
+            fx_scaled = max(fx/(scale + 1e-6), 1e-6)
+            fy_scaled = max(fy/(scale + 1e-6), 1e-6)
+            cx_scaled = (cx - 0.5)/scale + 0.5
+            cy_scaled = (cy - 0.5)/scale + 0.5
+            
+            # 投影计算
+            u = (x / z) * fx_scaled + cx_scaled
+            v = (y / z) * fy_scaled + cy_scaled
+            
+            # 边界处理
+            u = torch.clamp(u, 0.0, float(w-1))
+            v = torch.clamp(v, 0.0, float(h-1))
+            
+            # 转换为整数索引
+            u_idx = torch.clamp(torch.floor(u).long(), 0, w-1)
+            v_idx = torch.clamp(torch.floor(v).long(), 0, h-1)
+            
+            # 批量采样深度值
+            depth_vals = current_depth[v_idx, u_idx]
+            
+            # 批量深度比较
+            level_tol = 0.0008 * (2 ** level)
+            visible |= (z <= (depth_vals + level_tol))
+            occlusion |= (z > (depth_vals + level_tol))
+        
+        # 映射回原始顶点数量
+        final_visible = torch.zeros(len(vertices_cam), dtype=torch.bool, device=self.device)
+        final_visible[valid_mask] = visible
+
+        final_occlusion = torch.zeros(len(vertices_cam), dtype=torch.bool, device=self.device)
+        final_occlusion[valid_mask] = occlusion
+
+        return final_visible, final_occlusion
+    
+    def _compute_vertex_in_frustum_gpu(self, fx, fy, cx, cy, R, eye, height, width, depth_map, qvec, tvec):
+        """GPU版本的视锥体计算和遮挡检测"""
+        print(f"开始 _compute_vertex_in_frustum_gpu")
+
+        # 直接使用get_w2c，避免重复计算
+        w2c = get_w2c(qvec, tvec)
+        
+        # 确保w2c是4x4矩阵
+        if w2c.shape != (4, 4):
+            if w2c.shape == (3, 4):
+                w2c_4x4 = np.eye(4)
+                w2c_4x4[:3, :] = w2c
+                w2c = w2c_4x4
+            else:
+                raise ValueError(f"w2c matrix has unexpected shape: {w2c.shape}")
+
+        # 使用GPU张量
+        vertices = self.vertices_tensor.float()
+        ones = torch.ones(len(vertices), 1, device=self.device)
+        vertices_homo = torch.cat([vertices, ones], dim=1)
+
+        w2c_tensor = torch.tensor(w2c, device=self.device, dtype=torch.float32)
+        # 简化矩阵乘法
+        vertices_cam_homo = (w2c_tensor @ vertices_homo.T).T
+        vertices_cam = vertices_cam_homo[:, :3]
 
-        self._build_face_adjacency()
+        # 视锥体快速剔除
+        valid_z = vertices_cam[:, 2] > 0
+        tan_fov_x = (width / 2) / fx
+        tan_fov_y = (height / 2) / fy
+        x_ratio = vertices_cam[:, 0] / vertices_cam[:, 2]
+        y_ratio = vertices_cam[:, 1] / vertices_cam[:, 2]
+        frustum_mask = valid_z & (torch.abs(x_ratio) <= tan_fov_x) & (torch.abs(y_ratio) <= tan_fov_y)
         
+        # 构建深度金字塔
+        depth_pyramid = self._build_depth_pyramid_gpu(depth_map)
+
+        # 多级遮挡检测
+        visible_mask, occlusion_mask = self._hierarchical_occlusion_test_gpu(
+            vertices_cam, depth_pyramid, (fx, fy, cx, cy), (height, width)
+        )
+
+        final_visible = torch.zeros(len(vertices), dtype=torch.bool, device=self.device)
+        final_visible[frustum_mask] = visible_mask[frustum_mask]
+
+        final_occlusion = torch.zeros(len(vertices), dtype=torch.bool, device=self.device)
+        final_occlusion[frustum_mask] = occlusion_mask[frustum_mask]
+
+        # 转换为numpy数组返回
+        # return (final_visible.cpu().numpy().tolist(), 
+        #        self._occlusion_expansion_gpu(final_occlusion, vertices.cpu().numpy()))
+        # 转换为numpy数组返回
+        return (final_visible.cpu().numpy().tolist())
+    
+    def _occlusion_expansion_gpu(self, occlusion_mask, vertices, radius=0.0008):
+        """GPU版本的空间哈希遮挡扩展"""
+        if not isinstance(occlusion_mask, torch.Tensor):
+            occlusion_tensor = torch.from_numpy(occlusion_mask).to(self.device)
+            vertices_tensor = torch.from_numpy(vertices).to(self.device)
+        else:
+            occlusion_tensor = occlusion_mask
+            vertices_tensor = torch.from_numpy(vertices).to(self.device)
+        
+        # 构建空间哈希
+        grid_size = radius * 2
+        quantized = (vertices_tensor / grid_size).long()
+        
+        # 使用CUDA加速的哈希表
+        from collections import defaultdict
+        hash_table = defaultdict(list)
+        
+        # 将数据移回CPU进行哈希构建（这部分在GPU上实现较复杂）
+        quantized_cpu = quantized.cpu().numpy()
+        for idx, (x, y, z) in enumerate(quantized_cpu):
+            hash_table[(x, y, z)].append(idx)
+        
+        # 扩展遮挡区域
+        dilated_mask = occlusion_tensor.cpu().numpy().copy()
+        occluded_indices = np.where(occlusion_tensor.cpu().numpy())[0]
+        
+        for idx in occluded_indices:
+            x, y, z = quantized_cpu[idx]
+            for dx in (-1, 0, 1):
+                for dy in (-1, 0, 1):
+                    for dz in (-1, 0, 1):
+                        neighbor_cell = (x+dx, y+dy, z+dz)
+                        for neighbor_idx in hash_table.get(neighbor_cell, []):
+                            dilated_mask[neighbor_idx] = True
+                            
+        return dilated_mask.tolist()
+    
+    def _gen_depth_image_gpu(self, cam_data, render):
+        """生成深度图（保持原样，因为Open3D渲染器可能不支持GPU）"""
+        # Open3D的渲染器目前主要在CPU上工作
+        return self._gen_depth_image(cam_data, render)
+    
+    def _flag_model_gpu(self, camera_data, face_points=None):
+
+        # 确保使用正确的深度图生成方式
+        render = o3d.visualization.rendering.OffscreenRenderer(
+            camera_data['width'], camera_data['height'])
+        
+        material = o3d.visualization.rendering.MaterialRecord()
+        render.scene.add_geometry("mesh", self.mesh, material)
+
+        # 生成深度图 - 确保与CPU版本一致
+        depth_image = self._gen_depth_image_gpu(camera_data, render)
+        
+        # 使用与CPU版本相同的参数计算
+        R = self.qvec2rotmat(camera_data['qvec']).T
+        eye = -R @ camera_data['tvec']
+        
+        # final_visible_list, final_occlusion_list = self._compute_vertex_in_frustum_gpu(
+        final_visible_list = self._compute_vertex_in_frustum_gpu(
+            camera_data['fx'], camera_data['fy'],
+            camera_data['cx'], camera_data['cy'],
+            R, eye,
+            camera_data['height'], camera_data['width'],
+            depth_image, camera_data['qvec'], camera_data['tvec']
+        )
+        
+        # 确保使用正确的张量设备
+        final_visible_tensor = torch.tensor(final_visible_list, device=self.device)
+        triangles_tensor = self.triangles_tensor  # 直接使用已加载的GPU张量
+        
+        # 向量化计算面片可见性
+        v0_indices = triangles_tensor[:, 0]
+        v1_indices = triangles_tensor[:, 1] 
+        v2_indices = triangles_tensor[:, 2]
+        
+        v0_visible = final_visible_tensor[v0_indices]
+        v1_visible = final_visible_tensor[v1_indices]
+        v2_visible = final_visible_tensor[v2_indices]
+        
+        face_visible = v0_visible | v1_visible | v2_visible
+        
+        # 使用与CPU版本相同的后续处理
+        shrunk_visibility = self._shrink_face_visibility(face_visible.cpu().numpy(), 6)
+        expanded_visibility = self._expand_face_visibility(face_visible.cpu().numpy(), 30)
+        shrunk_visibility2 = self._shrink_face_visibility(face_visible.cpu().numpy(), 50)
+        expanded_edge = expanded_visibility & ~shrunk_visibility2
+        delete_edge = face_visible.cpu().numpy() & ~shrunk_visibility
+        
+        return shrunk_visibility, expanded_edge, delete_edge
+    
+    """
+    def _gen_depth_image_gpu(self, cam_data, render):
+        # 复制CPU版本的逻辑
+        qvec = cam_data['qvec']
+        tvec = cam_data['tvec']
+        fx = cam_data['fx']
+        fy = cam_data['fy']
+        cx = cam_data['cx']
+        cy = cam_data['cy']
+        width = cam_data['width']
+        height = cam_data['height']
+
+        intrinsics = o3d.camera.PinholeCameraIntrinsic(
+            width, height, fx=fx, fy=fy, cx=cx, cy=cy)
+        w2c = get_w2c(qvec, tvec)
+        
+        render.setup_camera(intrinsics, w2c)
+        depth = render.render_to_depth_image(z_in_view_space=True)
+        return np.asarray(depth)  # 确保返回numpy数组
+    """
+    
+    def _mask_occlusion_gpu(self):
+        """GPU版本的多相机遮挡检测"""
+        cameras = read_cameras_text(os.path.join(self.pose_path, "cameras.txt"))
+        images = read_images_text(os.path.join(self.pose_path, "images.txt"))
+
+        visible_faces_dict = {}
+        edge_faces_dict = {}
+        delete_edge_faces_dict = {}
+        
+        total_start = time.time()
+        
+        for n, img in enumerate(images.values()):
+            camera = cameras[img.camera_id]
+            camera_data = {
+                "qvec": img.qvec,
+                "tvec": img.tvec,
+                "fx": camera.params[0],
+                "fy": camera.params[1],
+                "cx": camera.params[2],
+                "cy": camera.params[3],
+                "width": camera.width,
+                "height": camera.height,
+                "name": img.name[:-4]
+            }
+            
+            img_name = img.name[:-4]
+            print(f"处理图像 {img_name} ({n+1}/{len(images)})")           
+            # if (img_name!="73_8" and img_name!="52_8" and img_name!="62_8"):
+            # if (img_name!="52_8" and img_name!="62_8"):
+            # if (img_name!="52_8"):
+            #    continue
+            
+            start_time = time.time()
+            face_visibility, face_edge, face_delete_edge = self._flag_model_gpu(camera_data)
+            processing_time = time.time() - start_time
+            
+            visible_faces = np.where(face_visibility)[0].tolist()
+            visible_faces_dict[img_name] = visible_faces
+            edge_faces_dict[img_name] = np.where(face_edge)[0].tolist()
+            delete_edge_faces_dict[img_name] = np.where(face_delete_edge)[0].tolist()
+            
+            print(f"图像 {img_name} 处理完成，耗时: {processing_time:.2f}秒，可见面数量{len(visible_faces)}")
+        
+        total_time = time.time() - total_start
+        print(f"所有图像处理完成，总耗时: {total_time:.2f}秒")
+        print(f"平均每张图像耗时: {total_time/len(images):.2f}秒")
+        
+        return {
+            "result1": visible_faces_dict, 
+            "result2": edge_faces_dict, 
+            "result3": delete_edge_faces_dict
+        }
+            
     #"""
     def _build_face_adjacency(self):
         if not self.mesh.triangles:
@@ -617,53 +986,10 @@ class ModelProcessor:
         )
         print("_flag_model", len(final_occlusion_list), len(self.mesh.vertices), len(self.mesh.vertex_colors))
 
-        """
-        vertices = np.asarray(self.mesh.vertices)
-        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
-
-        vertex_colors = np.asarray(self.mesh.vertex_colors)
-        if face_points==None:
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                if final_occlusion_list[vertex_id]:
-                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-            
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_遮挡判断.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        else:
-            list_id = []
-            # sorted_verts = self.sort_vertices(self.mesh.vertices)
-            sorted_verts =sorted(
-                (tuple(v.tolist()) for v in vertices),
-                key=lambda v: (v[0], v[1], v[2])
-            )
-            dict_s_o = {} 
-            dict_o_s = {} 
-            for sorted_idx, sorted_v in enumerate(sorted_verts):
-                original_idx = vertex_index_map[sorted_v]
-                dict_s_o[sorted_idx] = original_idx
-                dict_o_s[original_idx] = sorted_idx
-
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                # print(vertex_id, coord)
-                if final_occlusion_list[vertex_id]:
-                    if dict_o_s[vertex_id] in face_points:
-                        list_id.append(dict_o_s[vertex_id])
-                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-            
-            write_int_text(list_id, os.path.join(self.pose_path, "face_points_mask.txt"))
-
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_脸部遮挡判断.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        #"""
         # 获取三角形面片数组
         triangles = np.asarray(self.mesh.triangles)
         
         face_visible_bitmap = np.zeros(len(triangles), dtype=bool)
-        # face_edge_bitmap = np.zeros(len(triangles), dtype=bool)
         
         # 遍历所有面片
         for face_idx, face in enumerate(triangles):
@@ -675,175 +1001,12 @@ class ModelProcessor:
                 final_visible_list[v2]
             ]) 
 
-            # threshold = 0.5
-            # face_edge_bitmap[face_idx] = all([ # any all
-            #     final_vertex_difference_list[v0] < threshold,
-            #     final_vertex_difference_list[v1] < threshold,
-            #     final_vertex_difference_list[v2] < threshold
-            # ]) 
-
-        # return face_visible_bitmap
         shrunk_visibility = self._shrink_face_visibility(face_visible_bitmap, 6) # 6 10
 
-        # 16,13;13,16;16,16
         expanded_visibility = self._expand_face_visibility(face_visible_bitmap, 30)
         shrunk_visibility2 = self._shrink_face_visibility(face_visible_bitmap, 50)
         expanded_edge = expanded_visibility & ~shrunk_visibility2
         delete_edge = face_visible_bitmap & ~shrunk_visibility
-
-        """
-        # 创建顶点可见性映射（基于面片可见性）
-        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
-        # 遍历所有面片，将可见面片的顶点标记为可见
-        for face_idx, face in enumerate(triangles):
-            # if expanded_edge[face_idx] and face_edge_bitmap[face_idx] :
-            if delete_edge[face_idx] :
-                vertex_visibility[face[0]] = True
-                vertex_visibility[face[1]] = True
-                vertex_visibility[face[2]] = True
-
-
-        vertices = np.asarray(self.mesh.vertices)
-        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
-
-        vertex_colors = np.asarray(self.mesh.vertex_colors)
-        if face_points==None:
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                if vertex_visibility[vertex_id]:
-                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-            
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_edge.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        else:
-            list_id = []
-            # sorted_verts = self.sort_vertices(self.mesh.vertices)
-            sorted_verts =sorted(
-                (tuple(v.tolist()) for v in vertices),
-                key=lambda v: (v[0], v[1], v[2])
-            )
-            dict_s_o = {} 
-            dict_o_s = {} 
-            for sorted_idx, sorted_v in enumerate(sorted_verts):
-                original_idx = vertex_index_map[sorted_v]
-                dict_s_o[sorted_idx] = original_idx
-                dict_o_s[original_idx] = sorted_idx
-
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                # print(vertex_id, coord)
-                if vertex_visibility[vertex_id]:
-                    if dict_o_s[vertex_id] in face_points:
-                        list_id.append(dict_o_s[vertex_id])
-                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_edge.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        #"""
-
-        """
-        # 创建顶点可见性映射（基于面片可见性）
-        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
-        # 遍历所有面片，将可见面片的顶点标记为可见
-        for face_idx, face in enumerate(triangles):
-            if expanded_visibility[face_idx]:
-                vertex_visibility[face[0]] = True
-                vertex_visibility[face[1]] = True
-                vertex_visibility[face[2]] = True
-
-
-        vertices = np.asarray(self.mesh.vertices)
-        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
-
-        vertex_colors = np.asarray(self.mesh.vertex_colors)
-        if face_points==None:
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                if vertex_visibility[vertex_id]:
-                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-            
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_expanded.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        else:
-            list_id = []
-            # sorted_verts = self.sort_vertices(self.mesh.vertices)
-            sorted_verts =sorted(
-                (tuple(v.tolist()) for v in vertices),
-                key=lambda v: (v[0], v[1], v[2])
-            )
-            dict_s_o = {} 
-            dict_o_s = {} 
-            for sorted_idx, sorted_v in enumerate(sorted_verts):
-                original_idx = vertex_index_map[sorted_v]
-                dict_s_o[sorted_idx] = original_idx
-                dict_o_s[original_idx] = sorted_idx
-
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                # print(vertex_id, coord)
-                if vertex_visibility[vertex_id]:
-                    if dict_o_s[vertex_id] in face_points:
-                        list_id.append(dict_o_s[vertex_id])
-                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_expanded.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        #"""
-
-        """
-        # 创建顶点可见性映射（基于面片可见性）
-        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
-        # 遍历所有面片，将可见面片的顶点标记为可见
-        for face_idx, face in enumerate(triangles):
-            if shrunk_visibility2[face_idx]:
-                vertex_visibility[face[0]] = True
-                vertex_visibility[face[1]] = True
-                vertex_visibility[face[2]] = True
-
-
-        vertices = np.asarray(self.mesh.vertices)
-        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
-
-        vertex_colors = np.asarray(self.mesh.vertex_colors)
-        if face_points==None:
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                if vertex_visibility[vertex_id]:
-                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-            
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_shrunk.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        else:
-            list_id = []
-            # sorted_verts = self.sort_vertices(self.mesh.vertices)
-            sorted_verts =sorted(
-                (tuple(v.tolist()) for v in vertices),
-                key=lambda v: (v[0], v[1], v[2])
-            )
-            dict_s_o = {} 
-            dict_o_s = {} 
-            for sorted_idx, sorted_v in enumerate(sorted_verts):
-                original_idx = vertex_index_map[sorted_v]
-                dict_s_o[sorted_idx] = original_idx
-                dict_o_s[original_idx] = sorted_idx
-
-            for vertex_id, coord in enumerate(self.mesh.vertices):
-                # print(vertex_id, coord)
-                if vertex_visibility[vertex_id]:
-                    if dict_o_s[vertex_id] in face_points:
-                        list_id.append(dict_o_s[vertex_id])
-                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
-
-            # 保存最终模型
-            output_path = f"{self.asset_dir}/mesh_{self.id}_shrunk.ply"
-            o3d.io.write_triangle_mesh(output_path, self.mesh)
-            print(f"Processing completed. Results saved to {output_path}")
-        #"""
         
         return shrunk_visibility, expanded_edge, delete_edge
     
@@ -976,28 +1139,14 @@ class ModelProcessor:
         images = read_images_text(os.path.join(self.pose_path, "images.txt"))
 
         camera_data = {}
-        """
-        for img in images.values():
-            if self.mask_image == img.name[:-4]:
-                camera = cameras[img.camera_id]
-                camera_data = {
-                    "qvec": img.qvec,
-                    "tvec": img.tvec,
-                    "fx": camera.params[0],
-                    "fy": camera.params[1],
-                    "cx": camera.params[2],
-                    "cy": camera.params[3],
-                    "width": camera.width,
-                    "height": camera.height,
-                    "name": img.name[:-4]
-                }
 
-        return self._flag_model(camera_data, None)   
-        """   
         countour_faces_dict = {}
         visible_faces_dict = {}
         edge_faces_dict = {}
         delete_edge_faces_dict = {}
+
+        total_start = time.time()
+
         n = 0
         for img in images.values():
             camera = cameras[img.camera_id]
@@ -1012,22 +1161,29 @@ class ModelProcessor:
                 "height": camera.height,
                 "name": img.name[:-4]
             }
-            img_name = img.name[:-4]
-            print("img_name=", img_name, n)
+            img_name = img.name[:-4]       
             # if (img_name!="73_8" and img_name!="52_8" and img_name!="62_8"):
             # if (img_name!="52_8" and img_name!="62_8"):
             # if (img_name!="52_8"):
             #    continue
-            # face_visibility2, face_contour = self._flag_contour(camera_data, None)
-            # countour_faces_dict[img.name[:-4]] = np.where(face_contour)[0].tolist()
+
+            start_time = time.time()
             face_visibility, face_edge, face_delete_edge = self._flag_model(camera_data, None)
-            visible_faces_dict[img.name[:-4]] = np.where(face_visibility)[0].tolist()
+            processing_time = time.time() - start_time
+            
+            visible_faces = np.where(face_visibility)[0].tolist()
+            visible_faces_dict[img.name[:-4]] = visible_faces
             edge_faces_dict[img.name[:-4]] = np.where(face_edge)[0].tolist()
             delete_edge_faces_dict[img.name[:-4]] = np.where(face_delete_edge)[0].tolist()
             n += 1
+            
+            print(f"图像={img_name}，耗时={processing_time:.2f}秒，可见面数={len(visible_faces)}")    
+
+        total_time = time.time() - total_start
+        print(f"所有图像处理完成，总耗时: {total_time:.2f}秒")
+        print(f"平均每张图像耗时: {total_time/len(images):.2f}秒")
 
         return {"result1": visible_faces_dict, "result2": edge_faces_dict, "result3": delete_edge_faces_dict}
-        # return {"result1": visible_faces_dict, "result2": countour_faces_dict}
 
     def process(self):
 
@@ -1037,8 +1193,8 @@ class ModelProcessor:
 
         try:
             # 处理物理相机生成遮挡判断
-            # self._mask_face_occlusion()
-            return self._mask_occlusion()
+            # return self._mask_occlusion()
+            return self._mask_occlusion_gpu()
             
         except Exception as e:
             print(f"Error during processing: {str(e)}")