update target fps

2026-02-18 12:52:26 +08:00
parent 54baf1ecde
commit 524f750ec9
1 changed files with 55 additions and 40 deletions
@@ -28,7 +28,7 @@ from multiprocessing import Queue, Process
 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

@@ -36,8 +36,10 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
        sensor_id: 传感器编号
        vid_src: 视频源（文件路径或摄像头索引）
        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
        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:
        # 在每个进程中创建独立的传感器实例
@@ -50,9 +52,12 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
            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():
+            t_start = time.perf_counter()
            try:
                # 步骤1: 获取图像
                sensor.get_img()
@@ -90,7 +95,7 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
                # 步骤6: 发送数据到主进程（非阻塞）
                try:
                    result_queue.put_nowait(data)
-                except:
+                except Exception:
                    # 如果队列已满，跳过这一帧
                    pass

@@ -98,6 +103,13 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
                print(f"传感器 {sensor_id} 处理错误: {e}")
                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
        sensor.disconnect()
        print(f"传感器 {sensor_id} 已停止")
@@ -111,6 +123,9 @@ def main():
    # =========================================================================
    # 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
    sensor_configs = [
        {
@@ -131,9 +146,8 @@ def main():
    # 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
-    # 使用更大的缓冲区以平滑FPS波动
-    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]  # 停止事件
+    result_queues = [Queue(maxsize=30) for _ in sensor_configs]
+    stop_events = [mp.Event() for _ in sensor_configs]

    # =========================================================================
    # 3. 启动传感器工作进程
@@ -142,7 +156,8 @@ def main():
    for i, config in enumerate(sensor_configs):
        p = Process(
            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()
        processes.append(p)
@@ -196,27 +211,27 @@ def main():
                        grid_spacing=10,
                        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
-                if data['img'] is not None:
-                    image_with_foe = orisys.util.draw_contact(
-                        data['img'], 
-                        data['contour'], 
-                        data['centroid']
-                    )
-                    cv2.imshow(f"Contact Centroid {sid}", image_with_foe)
+                # # 显示触碰点和区域
+                # if data['img'] is not None:
+                #     image_with_foe = orisys.util.draw_contact(
+                #         data['img'], 
+                #         data['contour'], 
+                #         data['centroid']
+                #     )
+                #     cv2.imshow(f"Contact Centroid {sid}", image_with_foe)
                
-                # 显示深度图
-                if data['depth_map'] is not None and data['depth_map'].size > 0:
-                    div_abs = data['depth_map']
-                    if div_abs.max() > div_abs.min():
-                        div_normalized = ((div_abs - div_abs.min()) / 
-                                        (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
-                    else:
-                        div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
-                    cv2.imshow(f"Depth Map {sid}", 
-                             cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
+                # # 显示深度图
+                # if data['depth_map'] is not None and data['depth_map'].size > 0:
+                #     div_abs = data['depth_map']
+                #     if div_abs.max() > div_abs.min():
+                #         div_normalized = ((div_abs - div_abs.min()) / 
+                #                         (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
+                #     else:
+                #         div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
+                #     cv2.imshow(f"Depth Map {sid}", 
+                #              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）
            print_counter += 1