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