init

run_live_demo.py

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+import os
+import cv2
+import re
+from surround_view import CaptureThread, CameraProcessingThread
+from surround_view import FisheyeCameraModel, BirdView
+from surround_view import MultiBufferManager, ProjectedImageBuffer
+import surround_view.param_settings as settings
+
+
+def is_rtsp_url(input_str):
+    """检查输入是否为RTSP URL"""
+    return input_str.startswith('rtsp://')
+
+
+def main():
+    # 配置四个RTSP摄像头地址（前、后、左、右）
+    camera_ids = [
+        "rtsp://admin:@192.168.112.153:554/video",  # 前
+        "rtsp://admin:@192.168.112.152:554/video",  # 后
+        "rtsp://admin:@192.168.112.150:554/video",  # 左
+        "rtsp://admin:@192.168.112.151:554/video"   # 右
+    ]
+
+    # 摄像头ID映射（使用索引作为设备ID）
+    camera_id_mapping = {i: cam_id for i, cam_id in enumerate(camera_ids)}
+
+    # 摄像头翻转参数（根据实际安装方向调整）
+    flip_methods = [0, 0, 0, 0]  # 0:不翻转, 1:水平翻转, 2:垂直翻转, 3:水平+垂直
+
+    # 加载相机内参模型
+    yamls_dir = os.path.join(os.getcwd(), "yaml")
+    camera_files = [os.path.join(yamls_dir, name + ".yaml") for name in settings.camera_names]
+    camera_models = [FisheyeCameraModel(camera_file, name)
+                     for camera_file, name in zip(camera_files, settings.camera_names)]
+
+    # 初始化捕获线程（针对RTSP特殊处理）
+    capture_tds = []
+    for idx, (cam_id, flip) in enumerate(zip(camera_ids, flip_methods)):
+        # 使用索引作为设备ID，解决KeyError问题
+        if is_rtsp_url(cam_id):
+            # RTSP流配置（使用FFmpeg后端）
+            capture_tds.append(CaptureThread(
+                device_id=idx,  # 使用索引作为设备ID
+                flip_method=flip,
+                use_gst=False,  # 关闭GStreamer，使用FFmpeg
+                api_preference=cv2.CAP_FFMPEG,  # 强制使用FFmpeg
+                resolution=(960, 640)
+            ))
+            # 手动打开RTSP流
+            if not capture_tds[-1].cap.open(cam_id, cv2.CAP_FFMPEG):
+                print(f"无法打开RTSP流: {cam_id}")
+                return
+            # 设置RTSP参数（兼容不同OpenCV版本）
+            try:
+                # 尝试通用参数设置方式
+                capture_tds[-1].cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # 减少缓冲
+                capture_tds[-1].cap.set(cv2.CAP_PROP_FRAME_WIDTH, 960)
+                capture_tds[-1].cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 640)
+                # 处理FFMPEG选项（兼容旧版本）
+                if hasattr(cv2, 'CAP_PROP_FFMPEG_OPTION'):
+                    capture_tds[-1].cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "rtsp_transport", "tcp")
+                    capture_tds[-1].cap.set(cv2.CAP_PROP_FFMPEG_OPTION, "stimeout", "5000000")
+                else:
+                    print(f"RTSP流 {cam_id} 使用兼容模式，部分参数可能无法设置")
+            except Exception as e:
+                print(f"设置RTSP参数警告: {e}")
+        else:
+            # 普通USB/CSI相机配置
+            capture_tds.append(CaptureThread(
+                device_id=idx,  # 使用索引作为设备ID
+                flip_method=flip,
+                use_gst=True,
+                resolution=(960, 640)
+            ))
+            if not capture_tds[-1].connect_camera():
+                print(f"启动摄像头 {cam_id} 失败，退出程序")
+                return
+
+    # 绑定捕获缓冲区管理器
+    capture_buffer_manager = MultiBufferManager()
+    for td in capture_tds:
+        capture_buffer_manager.bind_thread(td, buffer_size=8)
+        td.start()
+
+    # 初始化处理线程（使用索引作为device_id）
+    proc_buffer_manager = ProjectedImageBuffer()
+    process_tds = [
+        CameraProcessingThread(
+            capture_buffer_manager,
+            device_id=idx,  # 使用索引作为设备ID
+            camera_model=model
+        )
+        for idx, model in enumerate(camera_models)
+    ]
+
+    # 启动处理线程
+    for td in process_tds:
+        proc_buffer_manager.bind_thread(td)
+        td.start()
+
+    # 初始化环视拼接
+    birdview = BirdView(proc_buffer_manager)
+    birdview.load_weights_and_masks("./weights.png", "./masks.png")
+    birdview.start()
+
+    # 主循环显示
+    try:
+        while True:
+            birdview_img = birdview.get()
+            if birdview_img is not None:
+                display_img = cv2.resize(birdview_img, (800, 600))
+                cv2.imshow("Surround View", display_img)
+
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord("q"):
+                break
+
+            # 打印帧率信息
+            status = []
+            for td in capture_tds:
+                cam_id = camera_id_mapping[td.device_id]
+                status.append(f"捕获 {cam_id.split('@')[-1].split(':')[0]} FPS: {td.stat_data.average_fps:.1f}")
+            for td in process_tds:
+                cam_name = settings.camera_names[td.device_id]
+                status.append(f"处理 {cam_name} FPS: {td.stat_data.average_fps:.1f}")
+            status.append(f"全景 FPS: {birdview.stat_data.average_fps:.1f}")
+            print(" | ".join(status), end="\r")
+
+    finally:
+        for td in process_tds:
+            td.stop()
+        for td in capture_tds:
+            td.stop()
+            td.disconnect_camera()
+        birdview.stop()
+        cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()