init

surround_view/capture_thread.py

@@ -0,0 +1,114 @@
+import cv2
+from PyQt5.QtCore import qDebug
+
+from .base_thread import BaseThread
+from .structures import ImageFrame
+from .utils import gstreamer_pipeline
+
+
+class CaptureThread(BaseThread):
+
+    def __init__(self,
+                 device_id,
+                 flip_method=2,
+                 drop_if_full=True,
+                 api_preference=cv2.CAP_GSTREAMER,
+                 resolution=None,
+                 use_gst=True,
+                 parent=None):
+        """
+        device_id: device number of the camera.
+        flip_method: 0 for identity, 2 for 180 degree rotation (if the camera is installed
+            up-side-down).
+        drop_if_full: drop the frame if buffer is full.
+        api_preference: cv2.CAP_GSTREAMER for csi cameras, usually cv2.CAP_ANY would suffice.
+        resolution: camera resolution (width, height).
+        """
+        super(CaptureThread, self).__init__(parent)
+        self.device_id = device_id
+        self.flip_method = flip_method
+        self.use_gst = use_gst
+        self.drop_if_full = drop_if_full
+        self.api_preference = api_preference
+        self.resolution = resolution
+        self.cap = cv2.VideoCapture()
+        # an instance of the MultiBufferManager object,
+        # for synchronizing this thread with other cameras.
+        self.buffer_manager = None
+
+    def run(self):
+        if self.buffer_manager is None:
+            raise ValueError("This thread has not been binded to any buffer manager yet")
+
+        while True:
+            self.stop_mutex.lock()
+            if self.stopped:
+                self.stopped = False
+                self.stop_mutex.unlock()
+                break
+            self.stop_mutex.unlock()
+
+            # save capture time
+            self.processing_time = self.clock.elapsed()
+            # start timer (used to calculate capture rate)
+            self.clock.start()
+
+            # synchronize with other streams (if enabled for this stream)
+            self.buffer_manager.sync(self.device_id)
+
+            if not self.cap.grab():
+                continue
+
+            # retrieve frame and add it to buffer
+            _, frame = self.cap.retrieve()
+            img_frame = ImageFrame(self.clock.msecsSinceStartOfDay(), frame)
+            self.buffer_manager.get_device(self.device_id).add(img_frame, self.drop_if_full)
+
+            # update statistics
+            self.update_fps(self.processing_time)
+            self.stat_data.frames_processed_count += 1
+            # inform GUI of updated statistics
+            self.update_statistics_gui.emit(self.stat_data)
+
+        qDebug("Stopping capture thread...")
+
+# 在surround-view-system-introduction/surround_view/capture_thread.py中修改connect_camera方法
+    def connect_camera(self):
+        # 如果设备ID是字符串且以rtsp开头，则视为RTSP地址
+        if isinstance(self.device_id, str) and self.device_id.startswith('rtsp://'):
+            # 使用FFmpeg的H265解码方式打开RTSP流
+            # 降低延迟参数：-fflags nobuffer -flags low_delay -rtsp_transport tcp
+            ffmpeg_cmd = (
+                f"rtspsrc location={self.device_id} latency=0 ! "
+                "rtph265depay ! h265parse ! avdec_h265 ! "
+                "videoconvert ! video/x-raw,format=BGR ! appsink"
+            )
+            self.cap.open(ffmpeg_cmd, cv2.CAP_GSTREAMER)
+        elif self.use_gst:
+            options = gstreamer_pipeline(cam_id=self.device_id, flip_method=self.flip_method)
+            self.cap.open(options, self.api_preference)
+        else:
+            self.cap.open(self.device_id)
+        
+        if not self.cap.isOpened():
+            qDebug(f"Cannot open camera {self.device_id}")
+            return False
+        
+        # 设置分辨率（RTSP流通常固定分辨率，可根据实际情况调整）
+        if self.resolution is not None:
+            width, height = self.resolution
+            self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+            self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+        
+        return True
+    def disconnect_camera(self):
+        # disconnect camera if it's already opened.
+        if self.cap.isOpened():
+            self.cap.release()
+            return True
+        # else do nothing and return
+        else:
+            return False
+
+    def is_camera_connected(self):
+        return self.cap.isOpened()