configura fps preview e yolo

flywms_navigation_gui.py

@@ -59,11 +59,15 @@ class NavigationDemoEngine:
             raise RuntimeError(f"impossibile aprire sorgente video: {self.source_name}")
 
         video_fps = self.cap.get(cv2.CAP_PROP_FPS)
+        preview_fps = args.preview_fps if args.preview_fps and args.preview_fps > 0 else video_fps
+        if args.preview_fps and args.preview_fps > 0 and (args.video is None or str(args.video).isdigit()):
+            self.cap.set(cv2.CAP_PROP_FPS, float(args.preview_fps))
         self.frame_delay = (
-            1.0 / video_fps
-            if args.realtime_playback and video_fps and video_fps > 1
+            1.0 / preview_fps
+            if args.realtime_playback and preview_fps and preview_fps > 1
             else 0.0
         )
+        self.yolo_interval = 1.0 / args.yolo_fps if args.yolo_fps and args.yolo_fps > 0 else 0.0
         self.tracker = nav.LightweightTracker(
             max_missed=args.max_track_missed,
             min_match_score=args.min_match_score,
@@ -75,6 +79,10 @@ class NavigationDemoEngine:
         self.last_loop_end = self.start_time
         self.yolo_total_ms = 0.0
         self.yolo_cycles = 0
+        self.next_yolo_time = self.start_time
+        self.last_yolo_ms = 0.0
+        self.gaylords: list[nav.Detection] = []
+        self.tracks: list[nav.Track] = []
         self.stop_reason = ""
 
     def close(self) -> None:
@@ -99,39 +107,42 @@ class NavigationDemoEngine:
             self.stop_reason = f"Raggiunto max_frames={self.args.max_frames}"
             return None
 
-        detections, yolo_ms = self.detector.detect(
-            frame,
-            self.args.min_confidence,
-            self.args.input_size,
-        )
-        self.yolo_total_ms += yolo_ms
-        self.yolo_cycles += 1
-
-        gaylords = [
-            det for det in detections
-            if det.class_name.strip().lower() == self.args.target_class.strip().lower()
-        ]
-        tracks = self.tracker.update(gaylords, self.frame_id, frame.shape[1])
-
-        if (
-            self.args.motion_report_interval > 0
-            and self.frame_id % self.args.motion_report_interval == 0
-        ):
-            self.navigator.set_motion_text(
-                nav.estimate_motion_from_tracks(tracks, self.args.motion_min_pixels)
-            )
-
         new_snapshots: list[nav.NavigationSnapshot] = []
-        for track in tracks:
-            if track.missed == 0:
-                snapshot = self.navigator.process_track(
-                    track,
-                    frame,
-                    self.frame_id,
-                    timestamp,
+        run_yolo = self.yolo_interval <= 0 or timestamp >= self.next_yolo_time
+        if run_yolo:
+            self.next_yolo_time = timestamp + self.yolo_interval
+            detections, self.last_yolo_ms = self.detector.detect(
+                frame,
+                self.args.min_confidence,
+                self.args.input_size,
+            )
+            self.yolo_total_ms += self.last_yolo_ms
+            self.yolo_cycles += 1
+
+            self.gaylords = [
+                det for det in detections
+                if det.class_name.strip().lower() == self.args.target_class.strip().lower()
+            ]
+            self.tracks = self.tracker.update(self.gaylords, self.frame_id, frame.shape[1])
+
+            if (
+                self.args.motion_report_interval > 0
+                and self.yolo_cycles % self.args.motion_report_interval == 0
+            ):
+                self.navigator.set_motion_text(
+                    nav.estimate_motion_from_tracks(self.tracks, self.args.motion_min_pixels)
                 )
-                if snapshot is not None:
-                    new_snapshots.append(snapshot)
+
+            for track in self.tracks:
+                if track.missed == 0:
+                    snapshot = self.navigator.process_track(
+                        track,
+                        frame,
+                        self.frame_id,
+                        timestamp,
+                    )
+                    if snapshot is not None:
+                        new_snapshots.append(snapshot)
 
         for snapshot in new_snapshots:
             self.navigator.simulate_remote_response(snapshot)
@@ -139,12 +150,13 @@ class NavigationDemoEngine:
         elapsed = max(time.perf_counter() - self.start_time, 0.001)
         fps_text = (
             f"frame={self.frame_id} fps={self.frame_id / elapsed:.1f} "
-            f"det={len(gaylords)} tracks={len(tracks)} "
+            f"yolo_fps={self.yolo_cycles / elapsed:.1f} yolo={self.last_yolo_ms:.0f}ms "
+            f"det={len(self.gaylords)} tracks={len(self.tracks)} "
             f"snap={self.navigator.snapshot_counter}"
         )
         display = nav.draw_navigation_debug(
             frame,
-            tracks,
+            self.tracks,
             self.args,
             self.navigator.last_command_text,
             fps_text,
@@ -156,10 +168,10 @@ class NavigationDemoEngine:
             source_frame=frame,
             display_frame=display,
             snapshot_frame=self.navigator.last_ocr_payload_frame,
-            tracks=tracks,
-            detections_count=len(gaylords),
+            tracks=self.tracks,
+            detections_count=len(self.gaylords),
             snapshots=new_snapshots,
-            yolo_ms=yolo_ms,
+            yolo_ms=self.last_yolo_ms,
             fps_text=fps_text,
         )