update multiproecssing for max. speed to 130fps

example2_two_sensor_pipeline.py

@@ -94,9 +94,6 @@ def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_
                     # 如果队列已满，跳过这一帧
                     pass
                 
-                # 短暂休眠，避免过度占用CPU
-                time.sleep(0.001)
-                
             except Exception as e:
                 print(f"传感器 {sensor_id} 处理错误: {e}")
                 time.sleep(0.1)
@@ -118,22 +115,24 @@ def main():
     sensor_configs = [
         {
             'sensor_id': 0,
-            'vid_src': './s1.mp4',
+            'vid_src': './s1_720p.mp4',
-            'config_name': 'prototype',
+            'config_name': './config/prototype_of3_720p.json',
-            'cal_path': './config/cal.npy'
+            'cal_path': './config/dd01a_0_720p.npy'
         },
         {
             'sensor_id': 1,
-            'vid_src': './s1.mp4',  # 可以改为不同的视频源或摄像头索引
+            'vid_src': './s1_720p.mp4',  # 可以改为不同的视频源或摄像头索引
-            'config_name': 'prototype',
+            'config_name': './config/prototype_of3_720p.json',
-            'cal_path': './config/cal2.npy'
+            'cal_path': './config/dd01a_0_720p.npy'
         },
     ]
     
     # =========================================================================
     # 2. 创建进程间通信对象
     # =========================================================================
-    result_queues = [Queue(maxsize=num_sensors) for _ in sensor_configs]  # 每个传感器一个队列
+    # 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
     
     # =========================================================================
@@ -154,21 +153,32 @@ def main():
     # 用于存储每个传感器的最新数据
     latest_data = [None] * len(sensor_configs)
     
+    # 用于控制打印频率，减少I/O开销
+    print_counter = 0
+    print_interval = 30  # 每30帧打印一次，进一步减少I/O
+    
+    # 用于控制按键检查频率
+    key_check_counter = 0
+    key_check_interval = 5  # 每5帧检查一次按键
+    
     try:
         # =====================================================================
         # 4. 主循环：从队列获取数据并显示
         # =====================================================================
         while True:
-            # 从所有队列中获取最新数据
+            # 从所有队列中快速获取最新数据（高效清空队列，只保留最新帧）
             for i, queue in enumerate(result_queues):
-                try:
+                # 快速清空队列，只保留最后一帧
-                    # 非阻塞获取，获取队列中最新的数据
+                data = None
-                    while True:
+                # 一次性获取所有可用数据，只保留最后一个
+                while True:
+                    try:
                         data = queue.get_nowait()
-                        latest_data[i] = data
+                    except:
-                except:
+                        break
-                    # 队列为空，使用之前的数据
+                
-                    pass
+                if data is not None:
+                    latest_data[i] = data
             
             # 显示所有传感器的数据
             for data in latest_data:
@@ -208,14 +218,23 @@ def main():
                     cv2.imshow(f"Depth Map {sid}", 
                              cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
             
-                # 打印FPS
+            # 降低打印频率以减少I/O开销（在主循环级别控制）
-                print(f"传感器 {sid}: FPS={data['fps']:5.1f}")
+            print_counter += 1
+            if print_counter >= print_interval:
+                for data in latest_data:
+                    if data is not None and 'error' not in data:
+                        sid = data['sensor_id']
+                        print(f"传感器 {sid}: FPS={data['fps']:5.1f}")
+                print_counter = 0
             
-            # 检查退出键
+            # 降低按键检查频率以减少开销
-            key = cv2.waitKey(1) & 0xFF
+            key_check_counter += 1
-            if key == ord('q'):
+            if key_check_counter >= key_check_interval:
-                print("\n退出程序...")
+                key = cv2.waitKey(1) & 0xFF
-                break
+                if key == ord('q'):
+                    print("\n退出程序...")
+                    break
+                key_check_counter = 0
     
     finally:
         # =====================================================================

src/orisys/sensor.py

@@ -209,7 +209,7 @@ class Sensor:
         diff = cv2.absdiff(self.img, self.initial_img)
         return diff.mean() > threshold
 
-    def compute_deformation(self):
+    def compute_deformation(self, decompose=True):
         """
         Compute optical flow and decompose into force components.
         
@@ -220,7 +220,8 @@ class Sensor:
             raise Exception("Warning: Get image first")
         
         self.__compute_flow()
-        self.__compute_hhd()
+        if decompose:
+            self.__compute_hhd()
 
         return True