Feat/tiling performance improvement #248

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Merged

tadeas0 merged 8 commits into main from feat/tiling-performance-improvement

Oct 24, 2025

+364 −760

Contributor

tadeas0 commented Oct 17, 2025 •

edited

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Purpose

Improve tiling node performance. Reduce the amount of data transfered between host and device. Offload image manipulation operations to ImgManip nodes.

Specification

https://app.clickup.com/t/86c5u3ne1

Dependencies & Potential Impact

None / not applicable

Deployment Plan

None / not applicable

Testing & Validation

Tested on RVC4 host and standalone mode. Does not work on RVC2 due to missing bindings in Script node.

Notes

This PR contains a workaround for a bug in DepthAIv3

Tadeas Pala added 3 commits

October 16, 2025 18:06


          improve tiling performance

391c5d5


          remove unnecessary import from script

d23b11c


          use unions instead of pipe operators

af0649b

tadeas0 requested review from jkbmrz, kkeroo, klemen1999 and tersekmatija as code owners

October 17, 2025 12:50

github-actions bot added the enhancement label

github-actions bot assigned tadeas0

codecov-commenter commented Oct 17, 2025 •

edited

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❌ 5 Tests Failed:

Tests completed	Failed	Passed	Skipped
326	5	321	4

View the top 3 failed test(s) by shortest run time

tests\unittests\test_nodes\test_host_nodes\test_tiles_patcher_node.py::unittests::test_nodes::test_host_nodes::test_tiles_patcher_node::test_build_valid

Stack Traces | 0.001s run time

@pytest.fixture
    def patcher():
>       return TilesPatcher()

tests\unittests\test_nodes\test_host_nodes\test_tiles_patcher_node.py:21: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests\utils\nodes\mocks\node.py:8: in __call__
    cls.__init__(inst, *args, **kwargs)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

self = <depthai_nodes.node.tiles_patcher.TilesPatcher object at 0x000001B1A85CD5E0>

    def __init__(self) -> None:
        """Initializes the TilesPatcher node, sets default thresholds for confidence and
        IOU, and initializes buffers for tile processing."""
        super().__init__()
        self._pipeline = self.getParentPipeline()
        self._logger = get_logger(self.__class__.__name__)
        self.name = "TilesPatcher"
        self.tile_manager = None
        self.conf_thresh = 0.3
        self.iou_thresh = 0.4
    
>       self._nn_input = self.createInput()
E       AttributeError: 'TilesPatcher' object has no attribute 'createInput'

depthai_nodes\node\tiles_patcher.py:68: AttributeError

tests\unittests\test_nodes\test_host_nodes\test_tiles_patcher_node.py::unittests::test_nodes::test_host_nodes::test_tiles_patcher_node::test_process_accumulation

Stack Traces | 0.001s run time

@pytest.fixture
    def patcher():
>       return TilesPatcher()

tests\unittests\test_nodes\test_host_nodes\test_tiles_patcher_node.py:21: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests\utils\nodes\mocks\node.py:8: in __call__
    cls.__init__(inst, *args, **kwargs)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

self = <depthai_nodes.node.tiles_patcher.TilesPatcher object at 0x000001B1A85E1CA0>

    def __init__(self) -> None:
        """Initializes the TilesPatcher node, sets default thresholds for confidence and
        IOU, and initializes buffers for tile processing."""
        super().__init__()
        self._pipeline = self.getParentPipeline()
        self._logger = get_logger(self.__class__.__name__)
        self.name = "TilesPatcher"
        self.tile_manager = None
        self.conf_thresh = 0.3
        self.iou_thresh = 0.4
    
>       self._nn_input = self.createInput()
E       AttributeError: 'TilesPatcher' object has no attribute 'createInput'

depthai_nodes\node\tiles_patcher.py:68: AttributeError

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py::unittests::test_nodes::test_host_nodes::test_tiling_node::test_build

Stack Traces | 0.001s run time

@pytest.fixture
    def tiling():
>       return Tiling()

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py:26: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests\utils\nodes\mocks\node.py:8: in __call__
    cls.__init__(inst, *args, **kwargs)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

self = <depthai_nodes.node.tiling.Tiling object at 0x000001B1A85CA580>

    def __init__(self) -> None:
        """Initializes the Tiling node, setting default attributes like overlap, grid
        size, and tile positions."""
        super().__init__()
        self._logger = get_logger(self.__class__.__name__)
    
        self._pipeline = self.getParentPipeline()
    
        self.name = "Tiling"
    
>       self.cropper_image_manip = self._pipeline.create(dai.node.ImageManip)
E       AttributeError: 'NoneType' object has no attribute 'create'

depthai_nodes\node\tiling.py:63: AttributeError

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py::unittests::test_nodes::test_host_nodes::test_tiling_node::test_build_global_detection

Stack Traces | 0.001s run time

@pytest.fixture
    def tiling():
>       return Tiling()

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py:26: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests\utils\nodes\mocks\node.py:8: in __call__
    cls.__init__(inst, *args, **kwargs)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

self = <depthai_nodes.node.tiling.Tiling object at 0x000001B1A85CCBB0>

    def __init__(self) -> None:
        """Initializes the Tiling node, setting default attributes like overlap, grid
        size, and tile positions."""
        super().__init__()
        self._logger = get_logger(self.__class__.__name__)
    
        self._pipeline = self.getParentPipeline()
    
        self.name = "Tiling"
    
>       self.cropper_image_manip = self._pipeline.create(dai.node.ImageManip)
E       AttributeError: 'NoneType' object has no attribute 'create'

depthai_nodes\node\tiling.py:63: AttributeError

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py::unittests::test_nodes::test_host_nodes::test_tiling_node::test_process

Stack Traces | 0.001s run time

@pytest.fixture
    def tiling():
>       return Tiling()

tests\unittests\test_nodes\test_host_nodes\test_tiling_node.py:26: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
tests\utils\nodes\mocks\node.py:8: in __call__
    cls.__init__(inst, *args, **kwargs)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

self = <depthai_nodes.node.tiling.Tiling object at 0x000001B1A85A1CA0>

    def __init__(self) -> None:
        """Initializes the Tiling node, setting default attributes like overlap, grid
        size, and tile positions."""
        super().__init__()
        self._logger = get_logger(self.__class__.__name__)
    
        self._pipeline = self.getParentPipeline()
    
        self.name = "Tiling"
    
>       self.cropper_image_manip = self._pipeline.create(dai.node.ImageManip)
E       AttributeError: 'NoneType' object has no attribute 'create'

depthai_nodes\node\tiling.py:63: AttributeError

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Tadeas Pala added 4 commits

October 17, 2025 15:31


          remove unnecessary line

43b8981


          fix possible tiling desync issues

55554df


          raise RuntimeError when TilesPatcher is used on RVC2

5b251d1


          change type-hint

98ca10a

kkeroo approved these changes

View reviewed changes

Collaborator

kkeroo left a comment

Lets remove failing tests for Tiling and TilesPatcher, I will add them in the separate PR as they will be running in the E2E pipeline


          remove tiling unit tests

18011bb

tadeas0 merged commit 6a580d8 into main

10 of 12 checks passed

tadeas0 deleted the feat/tiling-performance-improvement branch

October 24, 2025 10:30

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Reviewers

kkeroo kkeroo approved these changes

tersekmatija Awaiting requested review from tersekmatija tersekmatija is a code owner

jkbmrz Awaiting requested review from jkbmrz jkbmrz is a code owner

klemen1999 Awaiting requested review from klemen1999 klemen1999 is a code owner

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