kimi修复画面延迟

.gitignore

@@ -18,4 +18,6 @@ build/
 
 __pycache__/
 
-nuitka_dist/
+nuitka_dist/
+
+test.py

main.py

@@ -736,7 +736,7 @@ class CameraWorker(QThread):
 
         while self._running:
             try:
-                frames = pipeline.wait_for_frames(100)
+                frames = pipeline.wait_for_frames(500)
                 if frames is None:
                     now = time.monotonic()
                     if now - stream_started_at < _DISCONNECT_STARTUP_GRACE_SEC:
@@ -827,11 +827,6 @@ class CameraWorker(QThread):
                             f"等待帧同步…RGB-D 差 {ts_diff}ms（{self._sync_wait_count}/10）")
                     continue
 
-                # 预览节流要前置，避免先做重计算再丢帧导致累积延迟
-                now = time.monotonic()
-                if now - self._last_emit_ts < 0.033:
-                    continue
-
                 # 预览
                 # HDR merge：用 merged 帧集替换深度帧
                 display_frames = frames
@@ -877,8 +872,11 @@ class CameraWorker(QThread):
                     depth_scale = df.get_depth_scale()
 
                 depth_vis = depth_to_vis(depth_data, depth_scale)
-                self._last_emit_ts = time.monotonic()
-                self.preview_ready.emit(color_bgr, depth_vis)
+
+                now = time.monotonic()
+                if now - self._last_emit_ts >= 0.033:
+                    self._last_emit_ts = now
+                    self.preview_ready.emit(color_bgr.copy(), depth_vis.copy())
 
             except Exception as exc:
                 if self._running: