fix(studio): 消除 Finger 实时采集的帧排队
实时处理相机最新帧，并修复重复采样、数组快照和暂停恢复。通过共享模块及相关 Studio 测试。
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ykcheungab
@@ -294,9 +294,8 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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use_stream_pipeline: bool = True,
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):
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self._init_sinks()
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#: ``runtime.pipeline()`` is the acquisition path; the serial chain is kept
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#: so a change can be checked against it frame-for-frame on the same input
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#: (``False`` selects the reference).
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#: File analysis can pipeline every frame; live capture uses the serial
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#: chain so old inputs and completed results cannot accumulate in FIFOs.
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self._use_stream_pipeline = bool(use_stream_pipeline)
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#: The running session's ``StreamPipeline``, when there is one.
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self._pipe = None
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@@ -500,8 +499,11 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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never computed: keeping the pre-pause reference frame would report the hold
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itself as a large deformation.
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"""
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self._pause.clear()
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pipe = self._pipe
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if pipe is None and self._pause.is_set():
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with self._lock:
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self._pending_reset = True
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self._pause.clear()
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if pipe is not None:
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try:
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pipe.resume(reset=True)
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@@ -642,12 +644,7 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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if opened is None:
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return
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mode, source, runtime, is_file = opened
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if self._use_stream_pipeline:
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# The recommended path: the SDK runs produce (capture + UV unroll) ->
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# flow -> HHD on three threads, so throughput is bounded by the slowest
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# stage rather than by their sum. The app's own layer — session and
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# frame bookkeeping, the record sink, calibration reload, contact
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# provenance — stays on top of the frames the pipeline finishes.
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if self._use_stream_pipeline and is_file:
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self._run_stream_pipeline(session, mode, source, runtime, is_file)
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return
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self._run_serial_loop(session, mode, source, runtime, is_file)
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@@ -1033,19 +1030,15 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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def _run_serial_loop(
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self, session: int, mode: FixedCameraMode, source, runtime, is_file: bool
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) -> None:
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"""The single-threaded chain, kept whole for the packet-diff check.
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``use_stream_pipeline=False`` selects it: read, unroll, decompose and read
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the forces back to back on this one thread, which bounds throughput by the
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sum of the stages. It is the reference the concurrent path is measured
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against, and it is not the path a session uses.
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"""
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"""Run whole frames sequentially; live capture always takes the newest input."""
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frame_times: list[float] = []
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#: (collection time, published sequence), so the camera's own rate
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#: can be told apart from the rate this loop consumes (see the box
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#: worker: the two are the same measurement and must mean the same).
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source_times: list[tuple[float, int]] = []
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last_source_seq = None
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last_processed_seq = None
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capture = _RuntimeCapture(runtime)
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capture_fps = 0.0
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saw_frame = False
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last_frame_mono = 0.0
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@@ -1107,6 +1100,12 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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time.sleep(PAUSE_POLL_S)
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continue
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if not is_file and source_seq is not None:
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if source_seq == last_processed_seq:
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time.sleep(0.001)
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continue
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last_processed_seq = source_seq
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unrolled = runtime.process_frame(source_frame, color=False)
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if unrolled is None:
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if saw_frame and is_file and none_streak_start is None:
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@@ -1116,6 +1115,7 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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none_streak_start = None
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tactile = runtime.tactile
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sensor = getattr(tactile, "raw_sensor", tactile)
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compute_error = ""
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# The frame's acquisition time, so an event that happens on this
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# frame is dated when it happened rather than when it was queued.
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@@ -1135,9 +1135,11 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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if self._on_error is not None and session == self._session_id:
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self._on_error(message)
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# The same chain the offline depth replay runs on the tactile.
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chain_depth, chain_error = process_chain(tactile)
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chain_depth, chain_error = process_chain(sensor)
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compute_error = compute_error or chain_error
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t1 = time.perf_counter()
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if self._pause.is_set() or self._stop.is_set():
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continue
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frame_times.append(t0)
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cutoff = t1 - FPS_WINDOW_S
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frame_times = [t for t in frame_times if t >= cutoff]
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@@ -1147,7 +1149,7 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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span = frame_times[-1] - frame_times[0] if len(frame_times) > 1 else 0.0
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fps = (len(frame_times) - 1) / span if span > 0.0 else 0.0
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# The camera's own rate, so this view can attribute a low rate too.
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delivered = _capture_sequence(tactile)
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delivered = source_seq if not is_file else None
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if delivered is not None and delivered != last_source_seq:
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last_source_seq = delivered
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source_times.append((t0, delivered))
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@@ -1163,11 +1165,11 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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with self._lock:
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self._measured_capture_fps = capture_fps
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forces = read_forces_from_sensor(
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tactile,
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sensor,
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config_ref=mode.config_ref,
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)
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invalid_reason = forces.get("invalid_reason") or compute_error
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raw_frame = _ensure_bgr(source_frame)
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raw_frame = _ensure_bgr(source_frame).copy()
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# The frame the tactile chain consumed, kept for depth replay.
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self.note_preroll(raw_frame)
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# Provenance for anything that colours a derived array (the 3D pane):
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@@ -1187,13 +1189,13 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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if depth_valid:
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last_depth_frame_id = frame_id
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contact = _contact_from_sensor(
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tactile,
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sensor,
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frame_id=frame_id,
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compute_error=compute_error,
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)
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packet = SdkPacket(
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raw_frame=raw_frame,
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processed_frame=_ensure_bgr(unrolled),
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processed_frame=_ensure_bgr(unrolled).copy(),
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timestamp=utc_ns / 1e9,
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wall_t=utc_ns / 1e9,
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mono_t=frame_mono,
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@@ -1206,6 +1208,8 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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media_time_ms=media_ms,
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fps=fps,
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process_ms=(t1 - t0) * 1000.0,
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capture_fps=capture_fps,
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capture_dropped=int(_capture_dropped(capture) or 0),
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normal_force=forces["normal_force"],
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shear_x=forces["shear_x"],
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shear_y=forces["shear_y"],
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@@ -1224,9 +1228,12 @@ class FingerAcquisitionWorker(RecordSinkMixin):
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# place; the app must not record them as this frame's data.
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stale_forces=bool(compute_error),
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raw_available=bool(forces.get("raw_available", True)),
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flow=flow,
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depth=depth,
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valid_mask=runtime.valid_mask,
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flow=None if flow is None else np.array(flow, copy=True),
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depth=None if depth is None else np.array(depth, copy=True),
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valid_mask=(
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np.array(runtime.valid_mask, copy=True)
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if runtime.valid_mask is not None else None
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),
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flow_valid=flow_valid,
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flow_frame_id=frame_id if flow_valid else last_flow_frame_id,
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depth_valid=depth_valid,
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