add script and data for debug speed

src/orisys/sensor.py

@@ -121,6 +121,8 @@ class Sensor:
         # Timing
         self.last_log_time = time.perf_counter()
         self._fps = 0
+        self._last_capture_time = 0.0
+        self._last_processing_time = 0.0
         
         # Async pipeline state
         # self._async_enabled = False
@@ -161,10 +163,20 @@ class Sensor:
         Returns:
             np.ndarray: Processed grayscale image
         """
+        # Simple direct read - buffer size of 1 should minimize frame accumulation
+        # Timing measurement helps identify if capture or processing is the bottleneck
+        t_capture_start = time.perf_counter()
         ret, frame = self.cap.read()
+        t_capture_end = time.perf_counter()
+        self._last_capture_time = t_capture_end - t_capture_start
+        
         if not ret:
             print("Failed to get_img from video source.")
             return None
+        
+        # Start processing timing
+        t_processing_start = time.perf_counter()
+        
         self.frame = frame.copy()
 
         # Extract and stitch tiles
@@ -181,7 +193,9 @@ class Sensor:
             img = cv2.flip(img, 1)
 
         self.img = img.astype(np.uint8)
-
+        
+        t_processing_end = time.perf_counter()
+        self._last_processing_time = t_processing_end - t_processing_start
 
         # FPS calculation
         self._fps = 1.0 / (time.perf_counter() - self.last_log_time)
@@ -414,9 +428,13 @@ class Sensor:
 
         self.cap = cv2.VideoCapture(self.vid_src)        
         # Set buffer size to 1 to reduce latency and avoid frame accumulation
-        self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+        # Note: Not all backends support this, but it helps when available
+        try:
+            self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+        except:
+            pass  # Some backends don't support this property
         self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M', 'J', 'P', 'G'))
-        self.cap.set(cv2.CAP_PROP_FPS, self._config_fps)
+        # self.cap.set(cv2.CAP_PROP_FPS, self._config_fps)
         self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self._config_resolution_raw[0])
         self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self._config_resolution_raw[1])