k230Dyolov5s官方模型纯测试推理帧率33.9，加上摄像头采集就降到了16.1，这个是正常的吗

问题描述

import os, time, gc
import nncase_runtime as nn
import ulab.numpy as np
from media.sensor import *
from media.display import *
from media.media import *

kmodel_path = "/sdcard/examples/kmodel/yolov5s.kmodel"
input_w = 320
input_h = 320
rgb888p_size = [640, 360]

sensor = Sensor(fps=30)
sensor.reset()
sensor.set_framesize(w=rgb888p_size[0], h=rgb888p_size[1], chn=CAM_CHN_ID_2)
sensor.set_pixformat(Sensor.RGBP888, chn=CAM_CHN_ID_2)
Display.init(Display.ST7701, width=800, height=480, to_ide=True)
MediaManager.init()
sensor.run()

kpu = nn.kpu()
kpu.load_kmodel(kmodel_path)

input_data = np.ones((1, 3, input_h, input_w), dtype=np.uint8)
kpu_input_tensor = nn.from_numpy(input_data)
kpu.set_input_tensor(0, kpu_input_tensor)

ai2d = nn.ai2d()
ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, nn.ai2d_format.NCHW_FMT, np.uint8, np.uint8)
ai2d.set_resize_param(True, nn.interp_method.tf_bilinear, nn.interp_mode.half_pixel)
ai2d_builder = ai2d.build([1, 3, rgb888p_size[1], rgb888p_size[0]], [1, 3, input_h, input_w])

fps = time.clock()
try:
    while True:
        os.exitpoint()
        fps.tick()
        img = sensor.snapshot(chn=CAM_CHN_ID_2)
        img_np = img.to_numpy_ref()
        shape = img_np.shape
        img_chw = img_np.reshape((shape[0]*shape[1], shape[2])).transpose().copy().reshape((shape[2], shape[0], shape[1]))
        ai2d_input = nn.from_numpy(img_chw)
        ai2d_builder.run(ai2d_input, kpu_input_tensor)
        kpu.run()
        print(fps.fps())
        gc.collect()
except KeyboardInterrupt:
    pass
except BaseException as e:
    print("exit:", e)
finally:
    sensor.stop()
    Display.deinit()
    MediaManager.deinit()

软件版本

CanMV_K230D_MINI_micropython_local_nncase_v2.11.0