From dbad475cb2bba40fc72056b330ee314d8419ecde Mon Sep 17 00:00:00 2001 From: Vinman Date: Thu, 18 Jun 2026 16:18:38 +0800 Subject: [PATCH] =?UTF-8?q?perf(umi):=20=E6=91=84=E5=83=8F=E5=A4=B4?= =?UTF-8?q?=E8=AF=BB=E5=8F=96=E5=90=AF=E7=94=A8=E9=9B=B6=E6=8B=B7=E8=B4=9D?= =?UTF-8?q?=20Ref=20API?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit xv_get_color_camera_data 默认使用 use_ref=True 减少内存拷贝。 --- src/ufactory_lerobot/cameras/umi_camera/camera_umi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py b/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py index e500bb2..e712263 100644 --- a/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py +++ b/src/ufactory_lerobot/cameras/umi_camera/camera_umi.py @@ -75,7 +75,7 @@ class UmiCamera(Camera): time.sleep(0.1) def read(self, color_mode = None): - ret, img_data = self.xvlib.xv_get_color_camera_data() + ret, img_data = self.xvlib.xv_get_color_camera_data(use_ref=True) if ret <= 0 or img_data is None: return None requested_color_mode = self.color_mode if color_mode is None else color_mode