feat: search_roi parametro find() per limitare area di ricerca

Equivalente a Halcon set_aoi: matching opera su crop locale, coord
output ri-traslate al sistema scena. Costo proporzionale a w*h del
ROI invece di W*H scena intera.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

pm2d/_jit_kernels.py

@@ -159,63 +159,6 @@ if HAS_NUMBA:
                         acc[y, x] = 0.0
         return acc
 
-    @nb.njit(cache=True, parallel=True, fastmath=True, boundscheck=False)
-    def _jit_top_max_per_variant(
-        spread: np.ndarray,            # uint8 (H, W)
-        dx_flat: np.ndarray,           # int32 (sum_N,)
-        dy_flat: np.ndarray,           # int32 (sum_N,)
-        bins_flat: np.ndarray,         # int8 (sum_N,)
-        offsets: np.ndarray,           # int32 (n_vars+1,) prefix sum
-        bit_active: np.uint8,
-        bg_per_variant: np.ndarray,    # float32 (n_vars, H, W) - 1 per scala
-        scale_idx: np.ndarray,         # int32 (n_vars,) idx in bg_per_variant
-    ) -> np.ndarray:
-        """Batch: per ogni variante calcola max score (rescored bg), ritorna
-        array float32 (n_vars,). Parallelismo prange ESTERNO sulle varianti
-        elimina overhead di n_vars chiamate JIT separate (avg ~20us per
-        chiamata su template piccoli) + pool thread Python.
-
-        Pensato per fase TOP del pruning quando n_vars >> n_threads.
-        """
-        n_vars = offsets.shape[0] - 1
-        H, W = spread.shape
-        out = np.zeros(n_vars, dtype=np.float32)
-        for vi in nb.prange(n_vars):
-            i0 = offsets[vi]; i1 = offsets[vi + 1]
-            N = i1 - i0
-            if N == 0:
-                out[vi] = -1.0
-                continue
-            si = scale_idx[vi]
-            inv = nb.float32(1.0 / N)
-            best = nb.float32(-1.0)
-            for y in range(H):
-                for x in range(W):
-                    s = nb.float32(0.0)
-                    for k in range(N):
-                        b = bins_flat[i0 + k]
-                        mask = np.uint8(1) << b
-                        if (bit_active & mask) == 0:
-                            continue
-                        ddy = dy_flat[i0 + k]
-                        yy = y + ddy
-                        if yy < 0 or yy >= H:
-                            continue
-                        ddx = dx_flat[i0 + k]
-                        xx = x + ddx
-                        if xx < 0 or xx >= W:
-                            continue
-                        if spread[yy, xx] & mask:
-                            s += nb.float32(1.0)
-                    s *= inv
-                    bgv = bg_per_variant[si, y, x]
-                    if bgv < 1.0:
-                        r = (s - bgv) / (1.0 - bgv + 1e-6)
-                        if r > best:
-                            best = r
-            out[vi] = best if best > 0.0 else 0.0
-        return out
-
     @nb.njit(cache=True, parallel=True, fastmath=True, boundscheck=False)
     def _jit_popcount_density(spread: np.ndarray) -> np.ndarray:
         """Conta bit set per pixel: ritorna (H, W) float32 in [0..8]."""
@@ -242,12 +185,6 @@ if HAS_NUMBA:
         _jit_score_bitmap(spread, dx, dy, b, np.uint8(0xFF))
         bg = np.zeros((32, 32), dtype=np.float32)
         _jit_score_bitmap_rescored(spread, dx, dy, b, np.uint8(0xFF), bg)
-        offsets = np.array([0, 1], dtype=np.int32)
-        scale_idx = np.zeros(1, dtype=np.int32)
-        bg_pv = np.zeros((1, 32, 32), dtype=np.float32)
-        _jit_top_max_per_variant(
-            spread, dx, dy, b, offsets, np.uint8(0xFF), bg_pv, scale_idx,
-        )
         _jit_popcount_density(spread)
 
 else:  # pragma: no cover
@@ -261,12 +198,6 @@ else:  # pragma: no cover
     def _jit_score_bitmap_rescored(spread, dx, dy, bins, bit_active, bg):
         raise RuntimeError("numba non disponibile")
 
-    def _jit_top_max_per_variant(
-        spread, dx_flat, dy_flat, bins_flat, offsets, bit_active,
-        bg_per_variant, scale_idx,
-    ):
-        raise RuntimeError("numba non disponibile")
-
     def _jit_popcount_density(spread):
         raise RuntimeError("numba non disponibile")
 
@@ -315,51 +246,6 @@ def score_bitmap_rescored(
     return np.maximum(0.0, out).astype(np.float32)
 
 
-def top_max_per_variant(
-    spread: np.ndarray,
-    dx_list: list, dy_list: list, bin_list: list,
-    bg_per_scale: dict,
-    variant_scales: list,
-    bit_active: int,
-) -> np.ndarray:
-    """Wrapper: prepara buffer flat e chiama kernel batch su tutte le varianti.
-
-    Parallelismo Numba prange-esterno sulle varianti (n_vars >> n_threads
-    tipicamente per top-pruning) → meglio del thread-pool Python che paga
-    overhead di n_vars chiamate JIT separate.
-    """
-    if not HAS_NUMBA or len(dx_list) == 0:
-        return np.array([], dtype=np.float32)
-    n_vars = len(dx_list)
-    sizes = [len(d) for d in dx_list]
-    offsets = np.zeros(n_vars + 1, dtype=np.int32)
-    offsets[1:] = np.cumsum(sizes)
-    total = int(offsets[-1])
-    dx_flat = np.empty(total, dtype=np.int32)
-    dy_flat = np.empty(total, dtype=np.int32)
-    bins_flat = np.empty(total, dtype=np.int8)
-    for vi, (dx, dy, bn) in enumerate(zip(dx_list, dy_list, bin_list)):
-        i0 = int(offsets[vi]); i1 = int(offsets[vi + 1])
-        dx_flat[i0:i1] = dx
-        dy_flat[i0:i1] = dy
-        bins_flat[i0:i1] = bn
-    # bg per variante: indicizzato per scala
-    scales_unique = sorted(bg_per_scale.keys())
-    scale_to_idx = {s: i for i, s in enumerate(scales_unique)}
-    H, W = spread.shape
-    bg_pv = np.empty((len(scales_unique), H, W), dtype=np.float32)
-    for s, idx in scale_to_idx.items():
-        bg_pv[idx] = bg_per_scale[s]
-    scale_idx = np.array(
-        [scale_to_idx[s] for s in variant_scales], dtype=np.int32,
-    )
-    return _jit_top_max_per_variant(
-        np.ascontiguousarray(spread, dtype=np.uint8),
-        dx_flat, dy_flat, bins_flat, offsets, np.uint8(bit_active),
-        bg_pv, scale_idx,
-    )
-
-
 def popcount_density(spread: np.ndarray) -> np.ndarray:
     if HAS_NUMBA:
         return _jit_popcount_density(np.ascontiguousarray(spread, dtype=np.uint8))

pm2d/line_matcher.py

@@ -40,7 +40,6 @@ from pm2d._jit_kernels import (
     score_by_shift as _jit_score_by_shift,
     score_bitmap as _jit_score_bitmap,
     score_bitmap_rescored as _jit_score_bitmap_rescored,
-    top_max_per_variant as _jit_top_max_per_variant,
     popcount_density as _jit_popcount,
     HAS_NUMBA,
 )
@@ -575,7 +574,7 @@ class LineShapeMatcher:
         verify_threshold: float = 0.4,
         coarse_angle_factor: int = 2,
         scale_penalty: float = 0.0,
-        batch_top: bool = False,
+        search_roi: tuple[int, int, int, int] | None = None,
     ) -> list[Match]:
         """
         scale_penalty: se > 0, riduce lo score per match a scala diversa da 1.0:
@@ -583,11 +582,30 @@ class LineShapeMatcher:
         Utile se l'operatore vuole che match "identico al template anche per
         dimensione" abbia score più alto di match "stessa forma, dimensione
         diversa". scale_penalty=0 (default) = comportamento shape puro.
+
+        search_roi: (x, y, w, h) limita la ricerca a una regione della scena.
+        Equivalente a Halcon set_aoi: il matching opera su crop locale e le
+        coordinate output sono ri-traslate al sistema scena originale. Usare
+        quando si conosce a priori l'area in cui il pezzo può apparire (es.
+        feeder a posizione fissa) → costo proporzionale a w·h invece di W·H.
         """
         if not self.variants:
             raise RuntimeError("Matcher non addestrato: chiamare train() prima.")
 
-        gray0 = self._to_gray(scene_bgr)
+        gray_full = self._to_gray(scene_bgr)
+        # Applica ROI di ricerca: restringe scena a crop, ricorda offset per
+        # ri-traslare le coordinate dei match a fine pipeline.
+        if search_roi is not None:
+            rx, ry, rw, rh = search_roi
+            H_s, W_s = gray_full.shape
+            rx = max(0, int(rx)); ry = max(0, int(ry))
+            rw = max(1, min(int(rw), W_s - rx))
+            rh = max(1, min(int(rh), H_s - ry))
+            gray0 = gray_full[ry:ry + rh, rx:rx + rw]
+            roi_offset = (rx, ry)
+        else:
+            gray0 = gray_full
+            roi_offset = (0, 0)
         grays = [gray0]
         for _ in range(self.pyramid_levels - 1):
             grays.append(cv2.pyrDown(grays[-1]))
@@ -659,25 +677,7 @@ class LineShapeMatcher:
 
         kept_coarse: list[tuple[int, float]] = []
         all_top_scores: list[tuple[int, float]] = []
-        # batch_top: usa kernel batch single-call con prange-esterno su
+        if self.n_threads > 1 and len(coarse_idx_list) > 1:
-        # varianti. Vince su threadpool quando n_vars >> n_threads e quando
-        # H*W top e' piccolo (overhead chiamate JIT > costo kernel).
-        if (batch_top and HAS_NUMBA and len(coarse_idx_list) > 4):
-            dx_l = []; dy_l = []; bn_l = []; vs_l = []
-            for vi in coarse_idx_list:
-                var = self.variants[vi]
-                lvl = var.levels[min(top, len(var.levels) - 1)]
-                dx_l.append(lvl.dx); dy_l.append(lvl.dy); bn_l.append(lvl.bin)
-                vs_l.append(var.scale)
-            scores_arr = _jit_top_max_per_variant(
-                spread_top, dx_l, dy_l, bn_l, bg_cache_top, vs_l,
-                bit_active_top,
-            )
-            for vi, best in zip(coarse_idx_list, scores_arr.tolist()):
-                all_top_scores.append((vi, best))
-                if best >= top_thresh:
-                    kept_coarse.append((vi, best))
-        elif self.n_threads > 1 and len(coarse_idx_list) > 1:
             with ThreadPoolExecutor(max_workers=self.n_threads) as ex:
                 for vi, best in ex.map(_top_score, coarse_idx_list):
                     all_top_scores.append((vi, best))
@@ -830,8 +830,11 @@ class LineShapeMatcher:
                 if ncc < verify_threshold:
                     continue
 
+            # Ri-traslo coord da spazio crop ROI a spazio scena originale.
+            cx_out = cx_f + roi_offset[0]
+            cy_out = cy_f + roi_offset[1]
             poly = _oriented_bbox_polygon(
-                cx_f, cy_f, tw * var.scale, th * var.scale, ang_f,
+                cx_out, cy_out, tw * var.scale, th * var.scale, ang_f,
             )
             # Penalità scala opzionale: score degrada con distanza da 1.0
             if scale_penalty > 0.0 and var.scale != 1.0:
@@ -839,7 +842,7 @@ class LineShapeMatcher:
                     0.0, 1.0 - scale_penalty * abs(var.scale - 1.0)
                 )
             kept.append(Match(
-                cx=cx_f, cy=cy_f,
+                cx=cx_out, cy=cy_out,
                 angle_deg=ang_f,
                 scale=var.scale,
                 score=score_f,