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perf(umi): 摄像头读取启用零拷贝 Ref API

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xv_get_color_camera_data 默认使用 use_ref=True 减少内存拷贝。
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Vinman 2026-06-18 16:18:38 +08:00
parent b939a7842a
commit dbad475cb2
1 changed files with 1 additions and 1 deletions
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src/ufactory_lerobot/cameras/umi_camera/camera_umi.py
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@ -75,7 +75,7 @@ class UmiCamera(Camera):
time.sleep(0.1) time.sleep(0.1)
def read(self, color_mode = None): 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: if ret <= 0 or img_data is None:
return None return None
requested_color_mode = self.color_mode if color_mode is None else color_mode requested_color_mode = self.color_mode if color_mode is None else color_mode