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update target fps

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This commit is contained in:
ykcheungab-dragonq6a
2026-02-18 12:52:26 +08:00
parent 54baf1ecde
commit 524f750ec9
1 changed files with 55 additions and 40 deletions
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example2_two_sensor_pipeline.py
+55 -40
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@@ -28,41 +28,46 @@ from multiprocessing import Queue, Process
import time import time
def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_event): def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_event, target_fps=None):
""" """
传感器工作进程函数 传感器工作进程函数
Args: Args:
sensor_id: 传感器编号 sensor_id: 传感器编号
vid_src: 视频源（文件路径或摄像头索引） vid_src: 视频源（文件路径或摄像头索引）
config_name: 配置名称 config_name: 配置名称
cal_path: 标定路径
result_queue: 结果队列，用于向主进程发送数据 result_queue: 结果队列，用于向主进程发送数据
stop_event: 停止事件，用于通知工作进程退出 stop_event: 停止事件，用于通知工作进程退出
target_fps: 目标帧率；若设置则用定时器限速，使多传感器 FPS 接近一致
""" """
try: try:
# 在每个进程中创建独立的传感器实例 # 在每个进程中创建独立的传感器实例
sensor = orisys.Sensor( sensor = orisys.Sensor(
vid_src, vid_src,
isstitch=True, isstitch=True,
cuda=True, cuda=True,
verbose=False, # 减少子进程输出 verbose=False, # 减少子进程输出
config_name=config_name, config_name=config_name,
cal_path=cal_path cal_path=cal_path
) )
print(f"传感器 {sensor_id} 已启动") print(f"传感器 {sensor_id} 已启动" + (f" (target_fps={target_fps})" if target_fps else ""))
frame_interval = 1.0 / target_fps if target_fps and target_fps > 0 else 0.0
while not stop_event.is_set(): while not stop_event.is_set():
t_start = time.perf_counter()
try: try:
# 步骤1: 获取图像 # 步骤1: 获取图像
sensor.get_img() sensor.get_img()
# 步骤2: 计算形变场 # 步骤2: 计算形变场
sensor.compute_deformation() sensor.compute_deformation()
# 步骤3: 计算触碰点 # 步骤3: 计算触碰点
sensor.compute_contact() sensor.compute_contact()
# 步骤4: 读取信息 # 步骤4: 读取信息
fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info( fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
sensor.info.FPS, sensor.info.FPS,
@@ -73,7 +78,7 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
sensor.info.CENTROID, sensor.info.CENTROID,
sensor.info.DEPTH sensor.info.DEPTH
) )
# 步骤5: 准备数据字典（确保所有数据都是可序列化的） # 步骤5: 准备数据字典（确保所有数据都是可序列化的）
data = { data = {
'sensor_id': sensor_id, 'sensor_id': sensor_id,
@@ -86,17 +91,24 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
'depth_map': depth_map.copy() if depth_map is not None else None, 'depth_map': depth_map.copy() if depth_map is not None else None,
'timestamp': time.time() 'timestamp': time.time()
} }
# 步骤6: 发送数据到主进程（非阻塞） # 步骤6: 发送数据到主进程（非阻塞）
try: try:
result_queue.put_nowait(data) result_queue.put_nowait(data)
except: except Exception:
# 如果队列已满，跳过这一帧 # 如果队列已满，跳过这一帧
pass pass
except Exception as e: except Exception as e:
print(f"传感器 {sensor_id} 处理错误: {e}") print(f"传感器 {sensor_id} 处理错误: {e}")
time.sleep(0.1) time.sleep(0.1)
# 步骤7: 按 target_fps 限速，使多传感器 FPS 接近
if frame_interval > 0:
elapsed = time.perf_counter() - t_start
sleep_time = frame_interval - elapsed
if sleep_time > 0.001: # 至少 1ms 才 sleep，避免无意义调度
time.sleep(sleep_time)
# 清理资源 # 清理资源
sensor.disconnect() sensor.disconnect()
@@ -111,6 +123,9 @@ def main():
# ========================================================================= # =========================================================================
# 1. 配置多个传感器 # 1. 配置多个传感器
# ========================================================================= # =========================================================================
# 目标帧率：设为正数时，两路传感器会按此帧率限速，使 FPS 接近一致；设为 None 则不限速
target_fps = 15
num_sensors = 2 num_sensors = 2
sensor_configs = [ sensor_configs = [
{ {
@@ -126,15 +141,14 @@ def main():
'cal_path': './config/dd01a_0_720p.npy' 'cal_path': './config/dd01a_0_720p.npy'
}, },
] ]
# ========================================================================= # =========================================================================
# 2. 创建进程间通信对象 # 2. 创建进程间通信对象
# ========================================================================= # =========================================================================
# 增大队列大小以缓冲更多帧，避免因主进程处理延迟导致的丢帧 # 增大队列大小以缓冲更多帧，避免因主进程处理延迟导致的丢帧
# 使用更大的缓冲区以平滑FPS波动 result_queues = [Queue(maxsize=30) for _ in sensor_configs]
result_queues = [Queue(maxsize=30) for _ in sensor_configs] # 每个传感器一个队列，缓冲30帧 stop_events = [mp.Event() for _ in sensor_configs]
stop_events = [mp.Event() for _ in sensor_configs] # 停止事件
# ========================================================================= # =========================================================================
# 3. 启动传感器工作进程 # 3. 启动传感器工作进程
# ========================================================================= # =========================================================================
@@ -142,7 +156,8 @@ def main():
for i, config in enumerate(sensor_configs): for i, config in enumerate(sensor_configs):
p = Process( p = Process(
target=sensor_worker, target=sensor_worker,
args=(i, config['vid_src'], config['config_name'], config['cal_path'], result_queues[i], stop_events[i]) args=(i, config['vid_src'], config['config_name'], config['cal_path'],
result_queues[i], stop_events[i], target_fps)
) )
p.start() p.start()
processes.append(p) processes.append(p)
@@ -196,27 +211,27 @@ def main():
grid_spacing=10, grid_spacing=10,
arrow_scale=1.0 arrow_scale=1.0
) )
cv2.imshow(f"形变场 Deformation {sid}", arrows) cv2.imshow(f"Deformation {sid}", arrows)
# 显示触碰点和区域 # # 显示触碰点和区域
if data['img'] is not None: # if data['img'] is not None:
image_with_foe = orisys.util.draw_contact( # image_with_foe = orisys.util.draw_contact(
data['img'], # data['img'],
data['contour'], # data['contour'],
data['centroid'] # data['centroid']
) # )
cv2.imshow(f"Contact Centroid {sid}", image_with_foe) # cv2.imshow(f"Contact Centroid {sid}", image_with_foe)
# 显示深度图 # # 显示深度图
if data['depth_map'] is not None and data['depth_map'].size > 0: # if data['depth_map'] is not None and data['depth_map'].size > 0:
div_abs = data['depth_map'] # div_abs = data['depth_map']
if div_abs.max() > div_abs.min(): # if div_abs.max() > div_abs.min():
div_normalized = ((div_abs - div_abs.min()) / # div_normalized = ((div_abs - div_abs.min()) /
(div_abs.max() - div_abs.min()) * 255).astype(np.uint8) # (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
else: # else:
div_normalized = np.zeros_like(div_abs, dtype=np.uint8) # div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
cv2.imshow(f"Depth Map {sid}", # cv2.imshow(f"Depth Map {sid}",
cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET)) # cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
# 降低打印频率以减少I/O开销（在主循环级别控制） # 降低打印频率以减少I/O开销（在主循环级别控制）
print_counter += 1 print_counter += 1