diff --git a/__pycache__/mjpeg_streamer.cpython-38.pyc b/__pycache__/mjpeg_streamer.cpython-38.pyc new file mode 100644 index 0000000..8fbbc65 Binary files /dev/null and b/__pycache__/mjpeg_streamer.cpython-38.pyc differ diff --git a/__pycache__/shared_buffer.cpython-38.pyc b/__pycache__/shared_buffer.cpython-38.pyc new file mode 100644 index 0000000..5f4a5f2 Binary files /dev/null and b/__pycache__/shared_buffer.cpython-38.pyc differ diff --git a/__pycache__/webrtc_streamer.cpython-38.pyc b/__pycache__/webrtc_streamer.cpython-38.pyc new file mode 100644 index 0000000..f822d8d Binary files /dev/null and b/__pycache__/webrtc_streamer.cpython-38.pyc differ diff --git a/getimg.py b/getimg.py index 50cb6d9..3491a1e 100644 --- a/getimg.py +++ b/getimg.py @@ -30,7 +30,7 @@ W, H = 1920, 1080 def video_thread(): global frame, running - cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY) + cap = cv2.VideoCapture(which_camera, cv2.CAP_V4L2) cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*"YUYV")) cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) diff --git a/images/back copy.png b/images/back copy.png new file mode 100644 index 0000000..6094940 Binary files /dev/null and b/images/back copy.png differ diff --git a/images/car copy 2.png b/images/car copy 2.png new file mode 100644 index 0000000..d76c6c4 Binary files /dev/null and b/images/car copy 2.png differ diff --git a/images/car copy.png b/images/car copy.png new file mode 100644 index 0000000..d76c6c4 Binary files /dev/null and b/images/car copy.png differ diff --git a/mjpeg_streamer.py b/mjpeg_streamer.py new file mode 100644 index 0000000..8fa55d7 --- /dev/null +++ b/mjpeg_streamer.py @@ -0,0 +1,82 @@ +# mjpeg_streamer.py +import threading +import time +from flask import Flask, Response, render_template, request, redirect, session, url_for +import cv2 + +# ====== 新增：登录配置 ====== +AUTO_LOGIN = None # 👈 设置为 True 可跳过登录 +VALID_USER = {"username": "admin", "password": "admin"} + +class MJPEGServer: + def __init__(self, frame_buffer, host="0.0.0.0", port=8080): + self.frame_buffer = frame_buffer + self.host = host + self.port = port + self.app = Flask(__name__) + self.app.secret_key = 'your-secret-key-change-in-prod' # 用于 session + + # 路由 + self.app.add_url_rule('/', 'index', self.index) + self.app.add_url_rule('/login', 'login', self.login, methods=['GET', 'POST']) + self.app.add_url_rule('/logout', 'logout', self.logout) + self.app.add_url_rule('/video_feed', 'video_feed', self.video_feed) + + # 静态文件自动托管（Layui） + self.app.static_folder = 'static' + + def is_logged_in(self): + return session.get('logged_in', False) + + def check_auth(self): + if AUTO_LOGIN: + session['logged_in'] = True + return True + return self.is_logged_in() + + def index(self): + if not self.check_auth(): + return redirect(url_for('login')) + return render_template('index.html') + + def login(self): + if request.method == 'POST': + username = request.form['username'] + password = request.form['password'] + if username == VALID_USER['username'] and password == VALID_USER['password']: + session['logged_in'] = True + return redirect(url_for('index')) + else: + return '' + return render_template('login.html') + + def logout(self): + session.pop('logged_in', None) + return redirect(url_for('login')) + + def video_feed(self): + if not self.check_auth(): + return '', 403 + return Response(self._gen(), + mimetype='multipart/x-mixed-replace; boundary=frame') + + def _gen(self): + while True: + success, frame = self.frame_buffer.get_frame() + if not success or frame is None: + time.sleep(0.1) + continue + ret, buffer = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 70]) + if not ret: + continue + yield (b'--frame\r\n' + b'Content-Type: image/jpeg\r\n\r\n' + buffer.tobytes() + b'\r\n') + + def start(self): + thread = threading.Thread( + target=self.app.run, + kwargs={'host': self.host, 'port': self.port, 'debug': False, 'use_reloader': False}, + daemon=True + ) + thread.start() + print(f"[MJPEG] Web 系统已启动，访问 http://{self.host}:{self.port}") \ No newline at end of file diff --git a/saveimg.py b/saveimg.py index 41cc0e3..d9f9a5c 100644 --- a/saveimg.py +++ b/saveimg.py @@ -1,191 +1,403 @@ +# main.py import cv2 import threading import sys -from datetime import datetime import os import argparse import numpy as np +import time -# 全局变量 -frame = None -running = True -which_camera = 0 -W, H = 1920, 1080 # 相机分辨率 +from surround_view import FisheyeCameraModel, BirdView +import surround_view.param_settings as settings -def load_camera_params(camera_name): - """ - 从YAML文件加载相机参数 - """ - yaml_file = os.path.join("yaml", f"{camera_name}.yaml") - - if not os.path.exists(yaml_file): - raise FileNotFoundError(f"YAML file not found: {yaml_file}") - - # 使用OpenCV读取YAML文件 - fs = cv2.FileStorage(yaml_file, cv2.FILE_STORAGE_READ) - - # 读取相机内参矩阵 - camera_matrix = fs.getNode("camera_matrix").mat() - - # 读取畸变系数 - dist_coeffs = fs.getNode("dist_coeffs").mat() - - # 读取投影矩阵 - project_matrix = fs.getNode("project_matrix").mat() - - # 读取缩放参数 - scale_xy_node = fs.getNode("scale_xy") - if scale_xy_node.empty(): - scale_xy = np.array([1.0, 1.0]) - else: - scale_xy = scale_xy_node.mat().flatten() - - # 读取偏移参数 - shift_xy_node = fs.getNode("shift_xy") - if shift_xy_node.empty(): - shift_xy = np.array([0.0, 0.0]) - else: - shift_xy = shift_xy_node.mat().flatten() - - fs.release() - - return camera_matrix, dist_coeffs, project_matrix, scale_xy, shift_xy +sys.path.append(os.path.dirname(__file__)) +from py_utils.coco_utils import COCO_test_helper +from py_utils.rknn_executor import RKNN_model_container -def video_thread(): - global frame, running - - # 动态加载当前摄像头的参数 - try: - K, D, front_proj_matrix, scale_xy, shift_xy = load_camera_params(args.i.lower()) - print(f"[INFO] Loaded parameters for {args.i} camera") - except Exception as e: - print(f"[ERROR] Failed to load camera parameters: {e}", file=sys.stderr) - running = False - return - - cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY) - cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV")) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) +from mjpeg_streamer import MJPEGServer - if not cap.isOpened(): - print("[ERROR] Cannot open camera", file=sys.stderr) - running = False - return +# --- 新增 --- +from shared_buffer import CameraFrameBuffer, DetectionResultBuffer - # 创建修改后的相机矩阵（包含缩放和平移） - modified_camera_matrix = K.copy() - modified_camera_matrix[0, 0] *= scale_xy[0] # fx *= scale_x - modified_camera_matrix[1, 1] *= scale_xy[1] # fy *= scale_y - modified_camera_matrix[0, 2] += shift_xy[0] # cx += shift_x - modified_camera_matrix[1, 2] += shift_xy[1] # cy += shift_y - - # 鱼眼相机去畸变 合并缩放系数 - map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), modified_camera_matrix, (W, H), cv2.CV_16SC2) +# 启用 OpenCL（Mali-G610） +if cv2.ocl.haveOpenCL(): + cv2.ocl.setUseOpenCL(True) + print("✅ OpenCL is ON — using Mali-G610 GPU for acceleration") +else: + print("⚠️ OpenCL not available") - # 鱼眼相机仅畸变 - map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2) +# ------ YOLO 配置 ----------- +YOLO_MODEL_PATH = './yolov5s-640-640.rknn' +OBJ_THRESH = 0.6 +NMS_THRESH = 0.6 +IMG_SIZE = (640, 640) +CLASSES = ("person",) - while running: - ret, f = cap.read() - if not ret: - break +ANCHORS_FILE = './model/anchors_yolov5.txt' +with open(ANCHORS_FILE, 'r') as f: + values = [float(_v) for _v in f.readlines()] + ANCHORS = np.array(values).reshape(3, -1, 2).tolist() - # 图像去畸变 - undistorted = cv2.remap(f, map1, map2, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) - undistorted2 = cv2.remap(f, map3, map4, interpolation=cv2.INTER_LINEAR, borderMode=cv2.BORDER_CONSTANT) - - proj_image = cv2.warpPerspective( - undistorted, - front_proj_matrix, - (W, H), # 输出大小 (与原始分辨率一致) - borderMode=cv2.BORDER_CONSTANT, - borderValue=(0, 0, 0) - ) - frame = f.copy() - birdseye_small = cv2.resize(f, (W//2, H//2)) - undistorted2_small = cv2.resize(undistorted2, (W//2, H//2)) +# ========== YOLO 后处理函数（保持不变）========== +def filter_boxes(boxes, box_confidences, box_class_probs): + box_confidences = box_confidences.reshape(-1) + class_max_score = np.max(box_class_probs, axis=-1) + classes = np.argmax(box_class_probs, axis=-1) + _class_pos = np.where(class_max_score * box_confidences >= OBJ_THRESH) + scores = (class_max_score * box_confidences)[_class_pos] + boxes = boxes[_class_pos] + classes = classes[_class_pos] + return boxes, classes, scores - # 拼接原视频和抗畸变后的视频 （左右显示） - comparison = np.hstack((birdseye_small, undistorted2_small)) - show_video = np.vstack((comparison, proj_image)) - - # 设置视频流全屏显示 - text_info = f"Camera: {args.i.upper()} | Press 'q' to quit, 's' to screenshot" - cv2.putText(show_video, text_info, (10, 30), - cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA) +def nms_boxes(boxes, scores): + x = boxes[:, 0]; y = boxes[:, 1]; w = boxes[:, 2] - boxes[:, 0]; h = boxes[:, 3] - boxes[:, 1] + areas = w * h; order = scores.argsort()[::-1] + keep = [] + while order.size > 0: + i = order[0]; keep.append(i) + xx1 = np.maximum(x[i], x[order[1:]]); yy1 = np.maximum(y[i], y[order[1:]]) + xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]]); yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]]) + w1 = np.maximum(0.0, xx2 - xx1 + 0.00001); h1 = np.maximum(0.0, yy2 - yy1 + 0.00001) + inter = w1 * h1 + ovr = inter / (areas[i] + areas[order[1:]] - inter) + inds = np.where(ovr <= NMS_THRESH)[0] + order = order[inds + 1] + return np.array(keep) - cv2.namedWindow('Video old vs new', cv2.WND_PROP_FULLSCREEN) - cv2.setWindowProperty('Video old vs new', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) - cv2.imshow('Video old vs new', show_video) +def box_process(position, anchors): + grid_h, grid_w = position.shape[2:4] + col, row = np.meshgrid(np.arange(0, grid_w), np.arange(0, grid_h)) + col = col.reshape(1, 1, grid_h, grid_w); row = row.reshape(1, 1, grid_h, grid_w) + grid = np.concatenate((col, row), axis=1) + stride = np.array([IMG_SIZE[1] // grid_h, IMG_SIZE[0] // grid_w]).reshape(1, 2, 1, 1) + col = col.repeat(len(anchors), axis=0); row = row.repeat(len(anchors), axis=0) + anchors = np.array(anchors).reshape(*anchors.shape, 1, 1) + box_xy = position[:, :2, :, :] * 2 - 0.5 + box_wh = pow(position[:, 2:4, :, :] * 2, 2) * anchors + box_xy += grid; box_xy *= stride + box = np.concatenate((box_xy, box_wh), axis=1) + xyxy = np.copy(box) + xyxy[:, 0, :, :] = box[:, 0, :, :] - box[:, 2, :, :] / 2 + xyxy[:, 1, :, :] = box[:, 1, :, :] - box[:, 3, :, :] / 2 + xyxy[:, 2, :, :] = box[:, 0, :, :] + box[:, 2, :, :] / 2 + xyxy[:, 3, :, :] = box[:, 1, :, :] + box[:, 3, :, :] / 2 + return xyxy - if cv2.waitKey(1) & 0xFF == ord('q'): - running = False - break +def post_process(input_data, anchors): + boxes, scores, classes_conf = [], [], [] + input_data = [_in.reshape([len(anchors[0]), -1] + list(_in.shape[-2:])) for _in in input_data] + for i in range(len(input_data)): + boxes.append(box_process(input_data[i][:, :4, :, :], anchors[i])) + scores.append(input_data[i][:, 4:5, :, :]) + classes_conf.append(input_data[i][:, 5:, :, :]) + def sp_flatten(_in): + ch = _in.shape[1]; _in = _in.transpose(0, 2, 3, 1); return _in.reshape(-1, ch) + boxes = [sp_flatten(_v) for _v in boxes] + classes_conf = [sp_flatten(_v) for _v in classes_conf] + scores = [sp_flatten(_v) for _v in scores] + boxes = np.concatenate(boxes); classes_conf = np.concatenate(classes_conf); scores = np.concatenate(scores) + boxes, classes, scores = filter_boxes(boxes, scores, classes_conf) + nboxes, nclasses, nscores = [], [], [] + for c in set(classes): + inds = np.where(classes == c) + b = boxes[inds]; c = classes[inds]; s = scores[inds] + keep = nms_boxes(b, s) + if len(keep) != 0: + nboxes.append(b[keep]); nclasses.append(c[keep]); nscores.append(s[keep]) + if not nclasses: return None, None, None + boxes = np.concatenate(nboxes); classes = np.concatenate(nclasses); scores = np.concatenate(nscores) + return boxes, classes, scores - cap.release() - cv2.destroyAllWindows() +def draw_detections(image, boxes, scores, classes): + if boxes is None: return image + for box, score, cl in zip(boxes, scores, classes): + if CLASSES[cl] != "person": continue + top, left, right, bottom = [int(_b) for _b in box] + cv2.rectangle(image, (top, left), (right, bottom), (0, 255, 0), 2) + label = f'person: {score:.2f}' + (w, h), _ = cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1) + cv2.rectangle(image, (top, left - h - 5), (top + w, left), (0, 255, 0), -1) + cv2.putText(image, label, (top, left - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1) + return image -def input_thread(): - global running - print("SSH命令: 's' = 截图, 'q' = 退出") - while running: + +# ========== 主类 ========== +class MultiCameraBirdView: + def __init__(self): + self.running = True + self.names = settings.camera_names + self.yamls = [os.path.join(os.getcwd(), "yaml", name + ".yaml") for name in self.names] + self.camera_models = [ + FisheyeCameraModel(camera_file, camera_name) + for camera_file, camera_name in zip(self.yamls, self.names) + ] + self.which_cameras = {"front": 0, "back": 2, "left": 1, "right": 3} + self.caps = [] + + print("[INFO] 初始化摄像头...") + for name in self.names: + cap = cv2.VideoCapture(self.which_cameras[name], cv2.CAP_V4L2) + cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV")) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) + cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) + if not cap.isOpened(): + print(f"[ERROR] 无法打开 {name} 摄像头", file=sys.stderr) + self.running = False + return + self.caps.append(cap) + + self.birdview = BirdView() + self._initialize_weights() + + # 预警状态 + self.alerts = {name: False for name in self.names} + self.alert_lock = threading.Lock() + + # YOLO 模型 try: - cmd = input().strip().lower() - if cmd == 's': - if frame is not None: - filename = f"./images/{args.i.lower()}.png" - cv2.imwrite(filename, frame) - print(f"[SSH] Saved: {os.path.abspath(filename)}") - else: - print("[SSH] No frame available yet.") - elif cmd == 'q': - running = False - break + self.yolo_model = RKNN_model_container(YOLO_MODEL_PATH, target='rk3588') + self.co_helper = COCO_test_helper(enable_letter_box=True) + print("[INFO] YOLO 模型加载成功") + except Exception as e: + print(f"[ERROR] YOLO 模型加载失败: {e}") + self.yolo_model = None + + # 共享缓冲区 + self.undistorted_buffer = CameraFrameBuffer(self.names) + self.detection_buffer = DetectionResultBuffer(self.names) + self.shared_display_buffer = SharedFrameBuffer() # 用于 MJPEG + + # 当前视图控制 + self.current_view = "front" + self.current_view_lock = threading.Lock() + + # 启动摄像头线程 + self.camera_threads = [] + for cap, model, name in zip(self.caps, self.camera_models, self.names): + thread = threading.Thread(target=self.camera_reader_thread, args=(cap, model, name), daemon=True) + thread.start() + self.camera_threads.append(thread) + + # 启动 AI 检测线程 + if self.yolo_model is not None: + self.ai_thread = threading.Thread(target=self.ai_detection_thread, daemon=True) + self.ai_thread.start() + else: + self.ai_thread = None + + def _initialize_weights(self): + try: + images = [os.path.join(os.getcwd(), "images", name + ".png") for name in self.names] + static_frames = [] + for img_path, cam_model in zip(images, self.camera_models): + img = cv2.imread(img_path) + if img is None: + img = np.zeros((1080, 1920, 3), dtype=np.uint8) + img = cam_model.undistort(img) + img = cam_model.project(img) + img = cam_model.flip(img) + static_frames.append(img) + if len(static_frames) == 4: + self.birdview.get_weights_and_masks(static_frames) + print("[INFO] 权重矩阵初始化成功") + except Exception as e: + print(f"[ERROR] 权重初始化失败: {e}") + + def camera_reader_thread(self, cap, model, name): + """摄像头读取 + 去畸变线程""" + while self.running: + ret, frame = cap.read() + if ret: + undistorted = model.undistort(frame) + self.undistorted_buffer.update(name, undistorted) else: - print("[SSH] Unknown command. Use 's' or 'q'.") - except EOFError: - break + print(f"[WARN] {name} 摄像头读取失败") + break + + def detect_persons(self, image): + if self.yolo_model is None: + return image, [], [] + try: + orig_h, orig_w = image.shape[:2] + pad_color = (0, 0, 0) + img_preprocessed = self.co_helper.letter_box( + im=image.copy(), + new_shape=(IMG_SIZE[1], IMG_SIZE[0]), + pad_color=pad_color + ) + outputs = self.yolo_model.run([np.expand_dims(img_preprocessed, 0)]) + boxes, classes, scores = post_process(outputs, ANCHORS) + if boxes is not None: + real_boxes = self.co_helper.get_real_box(boxes) + person_boxes, person_scores = [], [] + for i in range(len(real_boxes)): + if classes[i] < len(CLASSES) and CLASSES[classes[i]] == "person": + box = real_boxes[i].copy() + box = np.clip(box, [0, 0, 0, 0], [orig_w, orig_h, orig_w, orig_h]) + person_boxes.append(box) + person_scores.append(scores[i]) + if person_boxes: + image = draw_detections(image, np.array(person_boxes), np.array(person_scores), np.zeros(len(person_boxes), dtype=int)) + return image, person_boxes, person_scores + else: + return image, [], [] + except Exception as e: + print(f"[ERROR] YOLO检测失败: {e}") + return image, [], [] + + def ai_detection_thread(self): + detection_interval = 3 + frame_count = 0 + while self.running: + with self.current_view_lock: + view = self.current_view + success, frame = self.undistorted_buffer.get(view) + if success: + frame_count += 1 + if frame_count % detection_interval == 0: + img_with_det, boxes, scores = self.detect_persons(frame) + self.detection_buffer.update(view, img_with_det, boxes, scores) + with self.alert_lock: + if boxes: + self.alerts[view] = True + for v in self.alerts: + if v != view: + self.alerts[v] = False + else: + for v in self.alerts: + self.alerts[v] = False + else: + self.detection_buffer.update(view, frame, [], []) + time.sleep(0.001) + + def overlay_alert(self, birdview_img): + h, w = birdview_img.shape[:2] + overlay = birdview_img.copy() + alpha = 0.2 + red = (0, 0, 200) + margin_f_b = int(min(h, w) * 0.07) + margin_l_r = int(min(h, w) * 0.15) + with self.alert_lock: + alerts = self.alerts.copy() + if alerts["front"]: cv2.rectangle(overlay, (0, 0), (w, margin_f_b), red, -1) + if alerts["back"]: cv2.rectangle(overlay, (0, h - margin_f_b), (w, h), red, -1) + if alerts["left"]: cv2.rectangle(overlay, (0, 0), (margin_l_r, h), red, -1) + if alerts["right"]: cv2.rectangle(overlay, (w - margin_l_r, 0), (w, h), red, -1) + return cv2.addWeighted(birdview_img, 1 - alpha, overlay, alpha, 0) + + def run(self): + h_display, w_display = 720, 1280 + w_bird = w_display // 3 + w_single = w_display - w_bird + + while self.running: + # 1. 获取四路去畸变帧 → project → 拼接鸟瞰图 + processed_frames = [] + for name in self.names: + success, undist_frame = self.undistorted_buffer.get(name) + if success: + # 使用 UMat 加速 warpPerspective + uimg = cv2.UMat(undist_frame) + uresult = cv2.warpPerspective( + uimg, + self.camera_models[self.names.index(name)].project_matrix, + self.camera_models[self.names.index(name)].project_shape, + flags=cv2.INTER_LINEAR, + borderMode=cv2.BORDER_CONSTANT + ) + p_frame = uresult.get() + p_frame = self.camera_models[self.names.index(name)].flip(p_frame) + processed_frames.append(p_frame) + else: + processed_frames.append(np.zeros((600, 800, 3), dtype=np.uint8)) + + self.birdview.update_frames(processed_frames) + self.birdview.stitch_all_parts() + self.birdview.make_white_balance() + self.birdview.copy_car_image() + + # 2. 获取当前视图的 AI 检测结果 + with self.current_view_lock: + view = self.current_view + det_img, _, _ = self.detection_buffer.get(view) + if det_img is None: + det_img = np.zeros((h_display, w_single, 3), dtype=np.uint8) + + # 3. 拼接显示 + bird_resized = cv2.resize(self.overlay_alert(self.birdview.image), (w_bird, h_display)) + single_resized = cv2.resize(det_img, (w_single, h_display)) + display = np.hstack((bird_resized, single_resized)) + + self.shared_display_buffer.update(display) + + cv2.namedWindow('Video', cv2.WND_PROP_FULLSCREEN) + cv2.setWindowProperty('Video', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) + cv2.imshow("Video", display) + + key = cv2.waitKey(1) & 0xFF + if key == ord('q'): + self.running = False + elif key == ord('1'): + with self.current_view_lock: + self.current_view = "front" + elif key == ord('2'): + with self.current_view_lock: + self.current_view = "back" + elif key == ord('3'): + with self.current_view_lock: + self.current_view = "left" + elif key == ord('4'): + with self.current_view_lock: + self.current_view = "right" + elif key == ord('0'): + with self.alert_lock: + for k in self.alerts: + self.alerts[k] = False + + for cap in self.caps: + cap.release() + cv2.destroyAllWindows() + + +# ========== 辅助类 ========== +class SharedFrameBuffer: + def __init__(self): + self._frame = None + self._lock = threading.Lock() + self._has_frame = False + + def update(self, frame: np.ndarray): + with self._lock: + self._frame = frame.copy() + self._has_frame = True + + def get_frame(self): + with self._lock: + if self._has_frame and self._frame is not None: + return True, self._frame.copy() + else: + return False, None + + +# ========== 主函数 ========== +def main(): + print("🚀 启动实时四路环视系统...") + multi_cam = MultiCameraBirdView() + if not multi_cam.running: + print("[ERROR] 摄像头初始化失败") + return + + # 启动 MJPEG 流 + try: + mjpeg_server = MJPEGServer(multi_cam.shared_display_buffer, host="0.0.0.0", port=8080) + mjpeg_server.start() + print("[INFO] MJPEG 流已启动: http://:8080") + except Exception as e: + print(f"[WARN] MJPEG 流启动失败: {e}") + + multi_cam.run() if __name__ == "__main__": - # 获取用户参数启动 - parser = argparse.ArgumentParser(description="Camera Parameter Loading Tool") - - # 获取用户输入的摄像头方位 （front back left right） - parser.add_argument("--i", type=str, required=True, - choices=["front", "back", "left", "right"], - help="Camera direction (front/back/left/right)") - - args = parser.parse_args() - - print("相机方位:", args.i) - - if args.i == "front": - which_camera = 0 - elif args.i == "back": - which_camera = 2 - elif args.i == "left": - which_camera = 1 - elif args.i == "right": - which_camera = 3 - else: - print("[ERROR] Invalid camera direction. Use 'front', 'back', 'left', or 'right'.", file=sys.stderr) - running = False - exit(1) - - # 检查YAML目录是否存在 - yaml_dir = "yaml" - if not os.path.exists(yaml_dir): - print(f"[ERROR] YAML directory not found: {yaml_dir}", file=sys.stderr) - print("Please ensure YAML files are in the 'yaml' directory", file=sys.stderr) - exit(1) - - # 启动视频线程 - vt = threading.Thread(target=video_thread, daemon=True) - vt.start() - - # 主线程监听 SSH 输入 - input_thread() - - print("[INFO] Exiting...") \ No newline at end of file + main() \ No newline at end of file diff --git a/shared_buffer.py b/shared_buffer.py new file mode 100644 index 0000000..de5c56f --- /dev/null +++ b/shared_buffer.py @@ -0,0 +1,40 @@ +# shared_buffer.py +import threading +import numpy as np + +class CameraFrameBuffer: + """线程安全的摄像头帧缓冲区（去畸变后）""" + def __init__(self, cam_names): + self.frames = {name: None for name in cam_names} + self.locks = {name: threading.Lock() for name in cam_names} + self.updated = {name: False for name in cam_names} + + def update(self, name, frame): + with self.locks[name]: + self.frames[name] = frame.copy() + self.updated[name] = True + + def get(self, name): + with self.locks[name]: + if self.updated[name] and self.frames[name] is not None: + return True, self.frames[name].copy() + else: + return False, None + + +class DetectionResultBuffer: + """线程安全的检测结果缓冲区""" + def __init__(self, cam_names): + self.results = {name: (None, [], []) for name in cam_names} # (image, boxes, scores) + self.lock = threading.Lock() + + def update(self, name, image, boxes, scores): + with self.lock: + self.results[name] = (image.copy() if image is not None else None, list(boxes), list(scores)) + + def get(self, name): + with self.lock: + img, boxes, scores = self.results[name] + if img is not None: + return img.copy(), list(boxes), list(scores) + return None, [], [] \ No newline at end of file diff --git a/static/layui/css/layui.css b/static/layui/css/layui.css new file mode 100644 index 0000000..64a4d10 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        p()?p():t)/p()*100/v;h(t,o),r.addClass(S.ELEM_HOVER),d.find("."+S.SLIDER_TIPS).show(),e.preventDefault()},a=function(e){r.removeClass(S.ELEM_HOVER),c.tipsAlways||setTimeout(function(){d.find("."+S.SLIDER_TIPS).hide()},e)},n=function(){a&&a(I.touchEventsSupported()?1e3:0),T.remove(),c.done&&c.done(u.value),I.touchEventsSupported()&&(t[0].removeEventListener("touchmove",i,!!I.passiveSupported&&{passive:!1}),t[0].removeEventListener("touchend",n),t[0].removeEventListener("touchcancel",n))},E("#LAY-slider-moving")[0]||E("body").append(T),T.on("mousemove",i),T.on("mouseup",n).on("mouseleave",n),I.touchEventsSupported()&&(t[0].addEventListener("touchmove",i,!!I.passiveSupported&&{passive:!1}),t[0].addEventListener("touchend",n),t[0].addEventListener("touchcancel",n))})}),d.on("click",function(e){var t=E("."+S.SLIDER_WRAP_BTN),i=E(this);!t.is(e.target)&&0===t.has(e.target).length&&t.length&&(i=(t=(t=(t="vertical"===c.type?p()-e.clientY+i.offset().top-E(window).scrollTop():e.clientX-i.offset().left-E(window).scrollLeft())<0?0:t)>p()?p():t)/p()*100/v,t=c.range?"vertical"===c.type?Math.abs(t-parseInt(E(m[0]).css("bottom")))>Math.abs(t-parseInt(E(m[1]).css("bottom")))?1:0:Math.abs(t-m[0].offsetLeft)>Math.abs(t-m[1].offsetLeft)?1:0:0,h(i,t,"done"),e.preventDefault())}),o.children("."+S.SLIDER_INPUT_BTN).children("i").each(function(t){E(this).on("click",function(){r=o.children("."+S.SLIDER_INPUT_TXT).children("input").val();var e=((r=1==t?r-c.stepc.max?c.max:Number(r)+c.step)-c.min)/(c.max-c.min)*100/v;h(e,0,"done")})});var a=function(){var e=this.value,e=(e=(e=(e=isNaN(e)?0:e)c.max?c.max:e,((this.value=e)-c.min)/(c.max-c.min)*100/v);h(e,0,"done")};o.children("."+S.SLIDER_INPUT_TXT).children("input").on("keydown",function(e){13===e.keyCode&&(e.preventDefault(),a.call(this))}).on("change",a)},e(S.MOD_NAME,t)});layui.define(["i18n","component"],function(e){"use strict";var P=layui.$,I=layui.lay,t=layui.i18n,i=layui.device().mobile?"click":"mousedown",o=layui.component({name:"colorpicker",config:{color:"",size:null,alpha:!1,format:"hex",predefine:!1,colors:["#16baaa","#16b777","#1E9FFF","#FF5722","#FFB800","#01AAED","#999","#c00","#ff8c00","#ffd700","#90ee90","#00ced1","#1e90ff","#c71585","#393D49","rgb(0, 186, 189)","rgb(255, 120, 0)","rgb(250, 212, 0)","rgba(0,0,0,.5)","rgba(255, 69, 0, 0.68)","rgba(144, 240, 144, 0.5)","rgba(31, 147, 255, 0.73)"]},CONST:{ELEM:"layui-colorpicker",ELEM_MAIN:".layui-colorpicker-main",ICON_PICKER_DOWN:"layui-icon-down",ICON_PICKER_CLOSE:"layui-icon-close",PICKER_TRIG_SPAN:"layui-colorpicker-trigger-span",PICKER_TRIG_I:"layui-colorpicker-trigger-i",PICKER_SIDE:"layui-colorpicker-side",PICKER_SIDE_SLIDER:"layui-colorpicker-side-slider",PICKER_BASIS:"layui-colorpicker-basis",PICKER_ALPHA_BG:"layui-colorpicker-alpha-bgcolor",PICKER_ALPHA_SLIDER:"layui-colorpicker-alpha-slider",PICKER_BASIS_CUR:"layui-colorpicker-basis-cursor",PICKER_INPUT:"layui-colorpicker-main-input"},beforeInit:function(){this.stopClickOutsideEvent=P.noop,this.stopResizeEvent=P.noop,S.PICKER_OPENED=S.MOD_ID+"-opened"},beforeRender:function(){this.config.target=P("body")},render:function(){var e=this,i=e.config,o=P(e.buildColorBoxTemplate(i)),t=i.elem;i.size&&o.addClass("layui-colorpicker-"+i.size),t.addClass("layui-inline").html(e.elemColorBox=o),e.color=e.elemColorBox.find("."+S.PICKER_TRIG_SPAN)[0].style.background}}),k=function(e){var i={h:0,s:0,b:0},o=Math.min(e.r,e.g,e.b),t=Math.max(e.r,e.g,e.b),r=t-o;return i.b=t,i.s=0!==t?255*r/t:0,0!==i.s?e.r==t?i.h=(e.g-e.b)/r:e.g==t?i.h=2+(e.b-e.r)/r:i.h=4+(e.r-e.g)/r:i.h=-1,t===o&&(i.h=0),i.h*=60,i.h<0&&(i.h+=360),i.s*=100/255,i.b*=100/255,i},E=function(e){var i,o={},t=e.h,r=255*e.s/100,e=255*e.b/100;return 0==r?o.r=o.g=o.b=e:(e=t%60*((i=e)-(r=(255-r)*e/255))/60,(t=360===t?0:t)<60?(o.r=i,o.b=r,o.g=r+e):t<120?(o.g=i,o.b=r,o.r=i-e):t<180?(o.g=i,o.r=r,o.b=r+e):t<240?(o.b=i,o.r=r,o.g=i-e):t<300?(o.b=i,o.g=r,o.r=r+e):t<360?(o.r=i,o.g=r,o.b=i-e):(o.r=0,o.g=0,o.b=0)),{r:Math.round(o.r),g:Math.round(o.g),b:Math.round(o.b)}},_=function(e){var e=E(e),o=[e.r.toString(16),e.g.toString(16),e.b.toString(16)];return P.each(o,function(e,i){1===i.length&&(o[e]="0"+i)}),o.join("")},R=function(e){e=e.match(/[0-9]{1,3}/g)||[];return{r:e[0],g:e[1],b:e[2]}},K=P(window),S=o.CONST,r=o.Class;r.prototype.buildColorBoxTemplate=function(e){var i;return['
        '," ",' ',' '," "," ","
        "].join("")},r.prototype.buildColorPickerTemplate=function(e,i){var o;return['
        ','
        ','
        ','
        ','
        ','
        ',"
        ",'
        ','
        ',"
        ","
        ",'
        ','
        ','
        ',"
        ","
        ",e.predefine?(o=['
        '],layui.each(e.colors,function(e,i){o.push(['
        ','
        ',"
        "].join(""))}),o.push("
        "),o.join("")):"",'
        ','
        ',' ',"
        ",'
        ',' ",' ","
        ","
        ","
        "].join("")},r.prototype.renderPicker=function(){var e=this,i=e.config,o=e.elemPicker=P(e.buildColorPickerTemplate(i,e));e.removePicker(i.id),i.target.append(o),i.elem.data(S.PICKER_OPENED,!0),e.position(),e.pickerEvents(),e.onClickOutside(),e.autoUpdatePosition()},r.prototype.removePicker=function(e){var i=this,o=i.config,e=P("#layui-colorpicker"+(e||i.index));return i.stopClickOutsideEvent(),i.stopResizeEvent(),e[0]&&(e.remove(),o.elem.removeData(S.PICKER_OPENED),"function"==typeof o.close)&&o.close(i.color),i},r.prototype.position=function(){var e=this,i=e.config;return I.position(e.bindElem||e.elemColorBox[0],e.elemPicker[0],{position:i.position,align:"center"}),e},r.prototype.val=function(){var e,i=this,o=i.elemColorBox.find("."+S.PICKER_TRIG_SPAN),t=i.elemPicker.find("."+S.PICKER_INPUT),r=o[0].style.backgroundColor;r?(e=k(R(r)),o=o.attr("lay-type"),i.select(e.h,e.s,e.b),"torgb"===o?t.find("input").val(r):"rgba"===o?(o=R(r),3===(r.match(/[0-9]{1,3}/g)||[]).length?(t.find("input").val("rgba("+o.r+", "+o.g+", "+o.b+", 1)"),i.elemPicker.find("."+S.PICKER_ALPHA_SLIDER).css("left",280)):(t.find("input").val(r),r=280*r.slice(r.lastIndexOf(",")+1,r.length-1),i.elemPicker.find("."+S.PICKER_ALPHA_SLIDER).css("left",r)),i.elemPicker.find("."+S.PICKER_ALPHA_BG)[0].style.background="linear-gradient(to right, rgba("+o.r+", "+o.g+", "+o.b+", 0), rgb("+o.r+", "+o.g+", "+o.b+"))"):t.find("input").val("#"+_(e))):(i.select(0,100,100),t.find("input").val(""),i.elemPicker.find("."+S.PICKER_ALPHA_BG)[0].style.background="",i.elemPicker.find("."+S.PICKER_ALPHA_SLIDER).css("left",280))},r.prototype.side=function(){var n=this,l=n.config,c=n.elemColorBox.find("."+S.PICKER_TRIG_SPAN),a=c.attr("lay-type"),s=n.elemPicker.find("."+S.PICKER_SIDE),o=n.elemPicker.find("."+S.PICKER_SIDE_SLIDER),u=n.elemPicker.find("."+S.PICKER_BASIS),t=n.elemPicker.find("."+S.PICKER_BASIS_CUR),d=n.elemPicker.find("."+S.PICKER_ALPHA_BG),f=n.elemPicker.find("."+S.PICKER_ALPHA_SLIDER),p=o[0].offsetTop/180*360,g=100-t[0].offsetTop/180*100,v=t[0].offsetLeft/260*100,h=Math.round(f[0].offsetLeft/280*100)/100,m=n.elemColorBox.find("."+S.PICKER_TRIG_I),e=n.elemPicker.find(".layui-colorpicker-pre").children("div"),b=function(e,i,o,t){n.select(e,i,o);var r=E({h:e,s:i,b:o}),e=_({h:e,s:i,b:o}),i=n.elemPicker.find("."+S.PICKER_INPUT).find("input");m.addClass(S.ICON_PICKER_DOWN).removeClass(S.ICON_PICKER_CLOSE),c[0].style.background="rgb("+r.r+", "+r.g+", "+r.b+")","torgb"===a?i.val("rgb("+r.r+", "+r.g+", "+r.b+")"):"rgba"===a?(f.css("left",280*t),i.val("rgba("+r.r+", "+r.g+", "+r.b+", "+t+")"),c[0].style.background="rgba("+r.r+", "+r.g+", "+r.b+", "+t+")",d[0].style.background="linear-gradient(to right, rgba("+r.r+", "+r.g+", "+r.b+", 0), rgb("+r.r+", "+r.g+", "+r.b+"))"):i.val("#"+e),l.change&&l.change(P.trim(n.elemPicker.find("."+S.PICKER_INPUT).find("input").val()))},i=P('
        '),y=function(e){P("#LAY-colorpicker-moving")[0]||P("body").append(i),i.on("mousemove",e),i.on("mouseup",function(){i.remove()}).on("mouseleave",function(){i.remove()})},r=!0,C=!0;o.on("mousedown",function(e,i){var t=this.offsetTop,r=(e.clientY===undefined?i:e).clientY;C&&layui.stope(e),y(function(e){var i=t+(e.clientY-r),o=s[0].offsetHeight,o=(i=o<(i=i<0?0:i)?o:i)/180*360;b(p=o,v,g,h),e.preventDefault()}),e.preventDefault()}),s.on("mousedown",function(e){var i=e.clientY-P(this).offset().top+K.scrollTop(),i=(i=(i=i<0?0:i)>this.offsetHeight?this.offsetHeight:i)/180*360;b(p=i,v,g,h),e.preventDefault(),r&&o.trigger("mousedown",e)}),t.on("mousedown",function(e,i){var n=this.offsetTop,l=this.offsetLeft,c=(e.clientY===undefined?i:e).clientY,a=(e.clientX===undefined?i:e).clientX;C&&layui.stope(e),y(function(e){var i=n+(e.clientY-c),o=l+(e.clientX-a),t=u[0].offsetHeight,r=u[0].offsetWidth,r=(o=r<(o=o<0?0:o)?r:o)/260*100,o=100-(i=t<(i=i<0?0:i)?t:i)/180*100;b(p,v=r,g=o,h),e.preventDefault()}),e.preventDefault()}),u.on("mousedown",function(e){var i=e.clientY-P(this).offset().top+K.scrollTop(),o=e.clientX-P(this).offset().left+K.scrollLeft(),o=((i=i<0?0:i)>this.offsetHeight&&(i=this.offsetHeight),(o=(o=o<0?0:o)>this.offsetWidth?this.offsetWidth:o)/260*100),i=100-i/180*100;b(p,v=o,g=i,h),layui.stope(e),e.preventDefault(),r&&t.trigger("mousedown",e)}),f.on("mousedown",function(e,i){var t=this.offsetLeft,r=(e.clientX===undefined?i:e).clientX;C&&layui.stope(e),y(function(e){var i=t+(e.clientX-r),o=d[0].offsetWidth,o=(o<(i=i<0?0:i)&&(i=o),Math.round(i/280*100)/100);b(p,v,g,h=o),e.preventDefault()}),e.preventDefault()}),d.on("mousedown",function(e){var i=e.clientX-P(this).offset().left,i=((i=i<0?0:i)>this.offsetWidth&&(i=this.offsetWidth),Math.round(i/280*100)/100);b(p,v,g,h=i),e.preventDefault(),r&&f.trigger("mousedown",e)}),e.each(function(){P(this).on("click",function(){P(this).parent(".layui-colorpicker-pre").addClass("selected").siblings().removeClass("selected");var e=this.style.backgroundColor,i=k(R(e)),o=e.slice(e.lastIndexOf(",")+1,e.length-1);p=i.h,v=i.s,g=i.b,3===(e.match(/[0-9]{1,3}/g)||[]).length&&(o=1),h=o,b(i.h,i.s,i.b,o)})}),I.touchEventsSupported()&&layui.each([{elem:s,eventType:"mousedown"},{elem:d,eventType:"mousedown"},{elem:u,eventType:"mousedown"}],function(e,t){I.touchSwipe(t.elem,{onTouchStart:function(){C=r=!1},onTouchMove:function(e){var i,o;e=e,i=t.eventType,e=e.touches[0],(o=document.createEvent("MouseEvent")).initMouseEvent(i,!0,!0,window,1,e.screenX,e.screenY,e.clientX,e.clientY,!1,!1,!1,!1,0,null),e.target.dispatchEvent(o)},onTouchEnd:function(){i.remove(),C=r=!0}})})},r.prototype.select=function(e,i,o,t){var r=_({h:e,s:100,b:100}),e=e/360*180,o=180-o/100*180,i=i/100*260,n=this.elemPicker.find("."+S.PICKER_BASIS)[0];this.elemPicker.find("."+S.PICKER_SIDE_SLIDER).css("top",e),n.style.background="#"+r,this.elemPicker.find("."+S.PICKER_BASIS_CUR).css({top:o/n.offsetHeight*100+"%",left:i/n.offsetWidth*100+"%"})},r.prototype.pickerEvents=function(){var c=this,a=c.config,s=c.elemColorBox.find("."+S.PICKER_TRIG_SPAN),u=c.elemPicker.find("."+S.PICKER_INPUT+" input"),o={clear:function(e){s[0].style.background="",c.elemColorBox.find("."+S.PICKER_TRIG_I).removeClass(S.ICON_PICKER_DOWN).addClass(S.ICON_PICKER_CLOSE),c.color="",a.done&&a.done(""),c.removePicker()},confirm:function(e,i){var o,t,r,n,l=P.trim(u.val());-1>16,g:(65280&r)>>8,b:255&r},t=k(n),s[0].style.background=o="#"+_(t),c.elemColorBox.find("."+S.PICKER_TRIG_I).removeClass(S.ICON_PICKER_CLOSE).addClass(S.ICON_PICKER_DOWN)),"change"===i?(c.select(t.h,t.s,t.b,i),a.change&&a.change(o)):(c.color=l,a.done&&a.done(l),c.removePicker())}};c.elemPicker.on("click","*[colorpicker-events]",function(){var e=P(this),i=e.attr("colorpicker-events");o[i]&&o[i].call(this,e)}),u.on("keyup",function(e){var i=P(this);o.confirm.call(this,i,13===e.keyCode?null:"change")})},r.prototype.events=function(){var e=this,i=e.config;e.elemColorBox.on("click",function(){i.elem.data(S.PICKER_OPENED)?e.removePicker():(e.renderPicker(),e.val(),e.side())})},r.prototype.onClickOutside=function(){var t=this,r=t.config,e=(t.stopClickOutsideEvent(),I.onClickOutside(t.elemPicker[0],function(e){var i,o=t.elemColorBox.find("."+S.PICKER_TRIG_SPAN);t.color?(i=k(R(t.color)),t.select(i.h,i.s,i.b)):t.elemColorBox.find("."+S.PICKER_TRIG_I).removeClass(S.ICON_PICKER_DOWN).addClass(S.ICON_PICKER_CLOSE),o[0].style.background=t.color||"","function"==typeof r.cancel&&r.cancel(t.color),t.removePicker()},{ignore:[r.elem[0]],event:i,capture:!1}));t.stopClickOutsideEvent=function(){e(),t.stopClickOutsideEvent=P.noop}},r.prototype.autoUpdatePosition=function(){var e=this,i="resize.lay_colorpicker_resize",o=(e.stopResizeEvent(),function(){e.position()});K.on(i,o),e.stopResizeEvent=function(){K.off(i,o),e.stopResizeEvent=P.noop}},e(S.MOD_NAME,o)});layui.define("component",function(e){"use strict";var d=layui.$,s="element",t=layui.component({name:"tab",config:{elem:".layui-tab"},CONST:{ELEM:"layui-tab",HEADER:"layui-tab-title",CLOSE:"layui-tab-close",MORE:"layui-tab-more",BAR:"layui-tab-bar"},render:function(){var e=this.config;o.tabAuto(null,e.elem)}}),u=t.CONST,a=d(window),i=d(document),o={tabClick:function(e){var t=(e=e||{}).options||{},a=e.liElem||d(this),i=t.headerElem?a.parent():a.parents(".layui-tab").eq(0),t=t.bodyElem?d(t.bodyElem):i.children(".layui-tab-content").children(".layui-tab-item"),l=a.find("a"),l="javascript:;"!==l.attr("href")&&"_blank"===l.attr("target"),n="string"==typeof a.attr("lay-unselect"),r=i.attr("lay-filter"),c=a.attr("lay-id"),o="index"in e?e.index:a.parent().children("li").index(a);if(!e.force){var e=a.siblings("."+u.CLASS_THIS);if(!1===layui.event.call(this,s,"tabBeforeChange("+r+")",{elem:i,from:{index:a.parent().children("li").index(e),id:e.attr("lay-id")},to:{index:o,id:c}}))return}l||n||(a.addClass(u.CLASS_THIS).siblings().removeClass(u.CLASS_THIS),(c?e=(e=t.filter('[lay-id="'+c+'"]')).length?e:t.eq(o):t.eq(o)).addClass(u.CLASS_SHOW).siblings().removeClass(u.CLASS_SHOW)),layui.event.call(this,s,"tab("+r+")",{elem:i,index:o,id:c})},tabDelete:function(e){var t=(e=e||{}).liElem||d(this).parent(),a=t.parent().children("li").index(t),i=t.closest(".layui-tab"),l=i.children(".layui-tab-content").children(".layui-tab-item"),n=i.attr("lay-filter"),r=t.attr("lay-id");if(!e.force&&!1===layui.event.call(t[0],s,"tabBeforeDelete("+n+")",{elem:i,index:a,id:r}))return;t.hasClass(u.CLASS_THIS)&&(t.next()[0]&&t.next().is("li")?o.tabClick.call(t.next()[0],{index:a+1}):t.prev()[0]&&t.prev().is("li")&&o.tabClick.call(t.prev()[0],null,a-1)),t.remove(),(r?e=(e=l.filter('[lay-id="'+r+'"]')).length?e:l.eq(a):l.eq(a)).remove(),setTimeout(function(){o.tabAuto(null,i)},50),layui.event.call(this,s,"tabDelete("+n+")",{elem:i,index:a,id:r})},tabAuto:function(l,e){(e||d(".layui-tab")).each(function(){var e=d(this),a=e.children("."+u.HEADER),t='lay-stope="tabmore"',t=d(''),i=e.attr("lay-allowclose");i&&"false"!==i&&a.find("li").each(function(){var 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t=e.config;t.elem.next().hasClass(m)&&(o(e),e.field===t.tree.customName.name)&&((t={})[e.field]=e.value,e.update(t))}),j.on("radio",function(e){var t=e.config,a=t.elem.next(),t=t.id;a.hasClass(m)&&(a=F(t),o(e),u.call(a,e.tr,e.checked))}),a.prototype.setRowCheckedClass=function(e,t){var a=this.getOptions().elem.next();e[t?"addClass":"removeClass"](n),e.each(function(){var e=P(this).data("index");a.find('.layui-table-fixed-r tbody tr[data-index="'+e+'"]')[t?"addClass":"removeClass"](n)})},a.prototype.updateCheckStatus=function(e,t){var a,n,i,l,d,r,o,c=this,u=c.getOptions();return!!u.hasChecboxCol&&(a=u.tree,n=u.id,i=u.elem.next(),l=B.config.checkName,"all"!==(d=a.data.cascade)&&"parent"!==d||!e||(d=c.updateParentCheckStatus(e,"boolean"===layui.type(t)?t:null),layui.each(d,function(e,t){var a=i.find('tr[lay-data-index="'+t[H]+'"] 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e=n.documentElem||t.elem;return{header:{elem:e.find(n.headerElem[0]),items:e.find(n.headerElem.join(""))},body:{elem:e.find(n.bodyElem[0]),items:e.find(n.bodyElem.join(""))}}},"array"===layui.type(t.header)?"string"==typeof t.header[0]?(n.headerElem=t.header.concat(),n.documentElem=p(document)):(n.elemView=p('
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i=u.escape(e.val().trim())||s.text.defaultNodeName;e.remove(),h.children("."+C.ELEM_TEXT).html(i),d.data[o.title]=i,s.operate&&s.operate(d)},h.children(".layui-tree-editInput").blur(function(){n(L(this))}),h.children(".layui-tree-editInput").on("keydown",function(e){13===e.keyCode&&(e.preventDefault(),n(L(this)))})):(t=p.$t("tree.deleteNodePrompt",{name:l[o.title]||""}),_.confirm(t,function(e){var l,a,i;s.operate&&s.operate(d),d.status="remove",_.close(e),r.prev("."+C.ELEM_SET)[0]||r.next("."+C.ELEM_SET)[0]||r.parent("."+C.ELEM_PACK)[0]?(r.siblings("."+C.ELEM_SET).children("."+C.ELEM_ENTRY)[0]?(s.showCheckbox&&(l=function(e){var i,a,n,t;e.parents("."+C.ELEM_SET)[0]&&(i=e.siblings("."+C.ELEM_SET).children("."+C.ELEM_ENTRY),a=(e=e.parent("."+C.ELEM_PACK).prev()).find('input[same="layuiTreeCheck"]')[0],n=1,(t=0)==a.checked)&&(i.each(function(e,i){i=L(i).find('input[same="layuiTreeCheck"]')[0];0!=i.checked||i.disabled||(n=0),i.disabled||(t=1)}),1==n)&&1==t&&(a.checked=!0,E.renderForm("checkbox"),l(e.parent("."+C.ELEM_SET)))})(r),s.showLine&&(e=r.siblings("."+C.ELEM_SET),a=1,i=r.parent("."+C.ELEM_PACK),layui.each(e,function(e,i){L(i).children("."+C.ELEM_PACK)[0]||(a=0)}),1==a?(c[0]||(i.removeClass(C.ELEM_EXTEND),e.children("."+C.ELEM_PACK).addClass(C.ELEM_SHOW),e.children("."+C.ELEM_PACK).children("."+C.ELEM_SET).removeClass(C.ELEM_LINE_SHORT)),(r.next()[0]?i.children("."+C.ELEM_SET).last():r.prev()).children("."+C.ELEM_PACK).children("."+C.ELEM_SET).last().addClass(C.ELEM_LINE_SHORT),r.next()[0]||r.parents("."+C.ELEM_SET)[1]||r.parents("."+C.ELEM_SET).eq(0).next()[0]||r.prev("."+C.ELEM_SET).addClass(C.ELEM_LINE_SHORT)):!r.next()[0]&&r.hasClass(C.ELEM_LINE_SHORT)&&r.prev().addClass(C.ELEM_LINE_SHORT))):(e=r.parent("."+C.ELEM_PACK).prev(),s.showLine?(e.find("."+C.ICON_CLICK).removeClass("layui-tree-icon"),e.find("."+C.ICON_CLICK).children(".layui-icon").removeClass(C.ICON_SUB).addClass("layui-icon-leaf"),(i=e.parents("."+C.ELEM_PACK).eq(0)).addClass(C.ELEM_EXTEND),i.children("."+C.ELEM_SET).each(function(){L(this).children("."+C.ELEM_PACK).children("."+C.ELEM_SET).last().addClass(C.ELEM_LINE_SHORT)})):e.find(".layui-tree-iconArrow").addClass(C.CLASS_HIDE),r.parents("."+C.ELEM_SET).eq(0).removeClass(C.ELEM_SPREAD),r.parent("."+C.ELEM_PACK).remove()),r.remove()):(r.remove(),E.elem.append(E.elemNone))}))})},n.prototype.events=function(){var i=this,t=i.config;i.setChecked(i.checkids),i.elem.find(".layui-tree-search").on("keyup",function(){var e=L(this),a=e.val(),e=e.nextAll(),n=[];e.find("."+C.ELEM_TEXT).each(function(){var i,e=L(this).parents("."+C.ELEM_ENTRY);-1!=L(this).html().indexOf(a)&&(n.push(L(this).parent()),(i=function(e){e.addClass("layui-tree-searchShow"),e.parent("."+C.ELEM_PACK)[0]&&i(e.parent("."+C.ELEM_PACK).parent("."+C.ELEM_SET))})(e.parent("."+C.ELEM_SET)))}),e.find("."+C.ELEM_ENTRY).each(function(){var e=L(this).parent("."+C.ELEM_SET);e.hasClass("layui-tree-searchShow")||e.addClass(C.CLASS_HIDE)}),0==e.find(".layui-tree-searchShow").length&&i.elem.append(i.elemNone),t.onsearch&&t.onsearch({elem:n})}),i.elem.find(".layui-tree-search").on("keydown",function(){L(this).nextAll().find("."+C.ELEM_ENTRY).each(function(){L(this).parent("."+C.ELEM_SET).removeClass("layui-tree-searchShow "+C.CLASS_HIDE)}),L(".layui-tree-emptyText")[0]&&L(".layui-tree-emptyText").remove()})},n.prototype.getChecked=function(){var t=this,e=t.config,l=e.customName,i=[],a=[],c=(t.elem.find(".layui-form-checked").each(function(){i.push(L(this).prev()[0].value)}),function(e,n){layui.each(e,function(e,a){layui.each(i,function(e,i){if(a[l.id]==i)return t.updateFieldValue(a,"checked",!0),delete(i=L.extend({},a))[l.children],n.push(i),a[l.children]&&(i[l.children]=[],c(a[l.children],i[l.children])),!0})})});return c(L.extend({},e.data),a),a},n.prototype.setChecked=function(e){var c=this,d=c.config.flatData;"object"!=typeof e&&(e=[e]),c.elem.find("."+C.ELEM_SET).each(function(a){var n=L(this).data("id"),t=L(this).children("."+C.ELEM_ENTRY).find('input[same="layuiTreeCheck"]'),l=t.prop("checked");layui.each(e,function(e,i){return n!=i||t.prop("disabled")||l?void 0:(t.prop("checked",!0),c.syncCheckedState(t,d[a]),!0)})})},L.extend(a,{getChecked:function(e){e=a.getInst(e);if(e)return e.getChecked()},setChecked:function(e,i){e=a.getInst(e);if(e)return e.setChecked(i)}}),e(C.MOD_NAME,a)});layui.define(["i18n","laytpl","component","form"],function(e){"use strict";var i=layui.i18n,l=layui.laytpl,o=layui.$,a=layui.form,t=layui.component({name:"transfer",config:{width:200,height:360,data:[],value:[],showSearch:!1,id:""},CONST:{ELEM:"layui-transfer",ELEM_BOX:"layui-transfer-box",ELEM_HEADER:"layui-transfer-header",ELEM_SEARCH:"layui-transfer-search",ELEM_ACTIVE:"layui-transfer-active",ELEM_DATA:"layui-transfer-data",BTN_DISABLED:"layui-btn-disabled"},beforeRender:function(e){this.config=o.extend({title:i.$t("transfer.title"),text:{none:i.$t("transfer.noData"),searchNone:i.$t("transfer.noMatch")}},this.config,e)},render:function(){var e=this,a=e.config,t=function(e){return['
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            🚗 四路摄像头 + 环视鸟瞰图

            -
            -

            四路分屏

            - + + + 环视系统 + + + + +
            + +
            + +
            -
            -

            鸟瞰图 (Bird's Eye View)

            - -
            -

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            + + + - - \ No newline at end of file + \ No newline at end of file diff --git a/templates/login.html b/templates/login.html new file mode 100644 index 0000000..661ee50 --- /dev/null +++ b/templates/login.html @@ -0,0 +1,36 @@ + + + + + 登录 - 环视系统 + + + + + + + + \ No newline at end of file diff --git a/web.py b/web.py index 23b3bcc..92be605 100644 --- a/web.py +++ b/web.py @@ -12,6 +12,18 @@ sys.path.append(os.path.dirname(__file__)) # 确保能导入 py_utils from py_utils.coco_utils import COCO_test_helper from py_utils.rknn_executor import RKNN_model_container # 假设使用 RKNN +from mjpeg_streamer import MJPEGServer + +from multiprocessing import Pool, Manager + +import cv2 + +# 启用 OpenCL（Mali-G610） +if cv2.ocl.haveOpenCL(): + cv2.ocl.setUseOpenCL(True) + print("✅ OpenCL is ON — using Mali-G610 GPU for acceleration") +else: + print("⚠️ OpenCL not available") # ------YOLO 配置----------- @@ -30,6 +42,30 @@ with open(ANCHORS_FILE, 'r') as f: ANCHORS = np.array(values).reshape(3, -1, 2).tolist() +import threading +import numpy as np + +class SharedFrameBuffer: + def __init__(self): + self._frame = None + self._lock = threading.Lock() + self._has_frame = False + + def update(self, frame: np.ndarray): + """主线程调用：更新最新帧""" + with self._lock: + self._frame = frame.copy() + self._has_frame = True + + def get_frame(self): + """YUYV 线程调用：获取最新帧""" + with self._lock: + if self._has_frame and self._frame is not None: + return True, self._frame.copy() + else: + return False, None + + # ---------- YOLO 处理函数 ---------- def filter_boxes(boxes, box_confidences, box_class_probs): box_confidences = box_confidences.reshape(-1) @@ -44,6 +80,7 @@ def filter_boxes(boxes, box_confidences, box_class_probs): return boxes, classes, scores + def nms_boxes(boxes, scores): x = boxes[:, 0] y = boxes[:, 1] @@ -125,6 +162,7 @@ def post_process(input_data, anchors): boxes, classes, scores = filter_boxes(boxes, scores, classes_conf) nboxes, nclasses, nscores = [], [], [] + for c in set(classes): inds = np.where(classes == c) b = boxes[inds] @@ -207,11 +245,12 @@ class MultiCameraBirdView: print("[INFO] 初始化摄像头...") for name in self.names: - cap = cv2.VideoCapture(self.which_cameras[name], cv2.CAP_ANY) + cap = cv2.VideoCapture(self.which_cameras[name], cv2.CAP_V4L2) cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV")) cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) # 最小缓冲，降低延迟 + # cap.set(cv2.CAP_PROP_FPS, 30) # 设置帧率为 30 FPS if not cap.isOpened(): print(f"[ERROR] 无法打开 {name} 摄像头 (设备 {self.which_cameras[name]})", file=sys.stderr) self.running = False @@ -239,6 +278,8 @@ class MultiCameraBirdView: except Exception as e: print(f"[ERROR] YOLO 模型加载失败: {e}") self.yolo_model = None + + self.shared_buffer = SharedFrameBuffer() # 👈 新增 def overlay_alert(self, birdview_img): """在鸟瞰图上叠加半透明红色预警区域""" @@ -265,6 +306,7 @@ class MultiCameraBirdView: return blended def detect_persons(self, image): + """使用YOLO模型检测图像中的人体""" if self.yolo_model is None: return image, [], [] @@ -280,7 +322,7 @@ class MultiCameraBirdView: new_shape=(IMG_SIZE[1], IMG_SIZE[0]), pad_color=pad_color ) - img_preprocessed = cv2.cvtColor(img_preprocessed, cv2.COLOR_BGR2RGB) + # img_preprocessed = cv2.cvtColor(img_preprocessed, cv2.COLOR_BGR2RGB) # 推理 outputs = self.yolo_model.run([np.expand_dims(img_preprocessed, 0)]) @@ -354,7 +396,7 @@ class MultiCameraBirdView: return frame def process_frame_undistort(self, frame, model): - """只处理一次：去畸变 + 投影 + 翻转""" + """只处理一次：去畸变""" frame = model.undistort(frame) return frame @@ -366,20 +408,18 @@ class MultiCameraBirdView: while self.running: raw_frames = {} processed_frames = [] - valid = True + for i, (cap, model, name) in enumerate(zip(self.caps, self.camera_models, self.names)): ret, frame = cap.read() - if not ret or frame is None: - print(f"[WARN] 跳过 {name} 帧") - valid = False - break - raw_frames[name] = frame.copy() + + raw_frames[name] = frame + # self.shared_buffer.update(raw_frames[current_view]) + p_frame = self.process_frame_once(frame, model) + processed_frames.append(p_frame) - if not valid or len(processed_frames) != 4: - continue # 更新鸟瞰图 self.birdview.update_frames(processed_frames) @@ -394,6 +434,7 @@ class MultiCameraBirdView: ) # 在单路图像上进行人体检测 + frame_count += 1 if frame_count % detection_interval == 0 and self.yolo_model is not None: single_img, person_boxes, person_scores = self.detect_persons(single_img) @@ -401,7 +442,7 @@ class MultiCameraBirdView: # 根据检测结果自动触发预警 if person_boxes: # 可以根据人体的位置和数量来触发预警 - # 这里简单示例：只要检测到人就触发当前视图的预警 + self.alerts[current_view] = True # 重置其他视图的预警 for view in self.alerts: @@ -411,11 +452,10 @@ class MultiCameraBirdView: # 没有检测到人，清除所有预警 for view in self.alerts: self.alerts[view] = False - - birdview_img = self.birdview.image.copy() + # 叠加预警区域 - birdview_with_alert = self.overlay_alert(birdview_img) + birdview_with_alert = self.overlay_alert(self.birdview.image) # 拼接显示：左侧鸟瞰图（1/3），右侧单路（2/3） h_display, w_display = 720, 1280 @@ -426,10 +466,13 @@ class MultiCameraBirdView: single_resized = cv2.resize(single_img, (w_single, h_display)) display = np.hstack((bird_resized, single_resized)) + + + # 在显示窗口上添加状态信息 - info_text = f"View: {current_view} | Persons detected: {len(person_boxes) if 'person_boxes' in locals() else 0}" - cv2.putText(display, info_text, (10, 30), - cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 255, 255), 2) + # info_text = f"View: {current_view} | Persons detected: {len(person_boxes) if 'person_boxes' in locals() else 0}" + # cv2.putText(display, info_text, (10, 30), + # cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 255, 255), 2) # 全屏显示 cv2.namedWindow('Video', cv2.WND_PROP_FULLSCREEN) @@ -437,33 +480,33 @@ class MultiCameraBirdView: cv2.imshow("Video", display) key = cv2.waitKey(1) & 0xFF - if key == ord('q'): - self.running = False - break - elif key == ord('1'): - current_view = "front" - elif key == ord('2'): - current_view = "back" - elif key == ord('3'): - current_view = "left" - elif key == ord('4'): - current_view = "right" - # 新增：预警控制 - elif key == ord('5'): - self.alerts["front"] = True - elif key == ord('6'): - self.alerts["back"] = True - elif key == ord('7'): - self.alerts["left"] = True - elif key == ord('8'): - self.alerts["right"] = True - elif key == ord('0'): - # 清除所有预警 - for k in self.alerts: - self.alerts[k] = False - elif key == ord('d'): - # 手动触发一次检测 - single_img, person_boxes, person_scores = self.detect_persons(single_img) + # if key == ord('q'): + # self.running = False + # break + # elif key == ord('1'): + # current_view = "front" + # elif key == ord('2'): + # current_view = "back" + # elif key == ord('3'): + # current_view = "left" + # elif key == ord('4'): + # current_view = "right" + # # 新增：预警控制 + # elif key == ord('5'): + # self.alerts["front"] = True + # elif key == ord('6'): + # self.alerts["back"] = True + # elif key == ord('7'): + # self.alerts["left"] = True + # elif key == ord('8'): + # self.alerts["right"] = True + # elif key == ord('0'): + # # 清除所有预警 + # for k in self.alerts: + # self.alerts[k] = False + # elif key == ord('d'): + # # 手动触发一次检测 + # single_img, person_boxes, person_scores = self.detect_persons(single_img) for cap in self.caps: cap.release() @@ -478,12 +521,21 @@ def main(): print(" 0 : 清除所有预警") print(" d : 手动触发人体检测") print(" q : 退出程序") + multi_cam = MultiCameraBirdView() + + # ===== 启动视频流 ===== + try: + from mjpeg_streamer import MJPEGServer + mjpeg_server = MJPEGServer(multi_cam.shared_buffer, host="0.0.0.0", port=8080) + mjpeg_server.start() + except Exception as e: + print(f"[WARN] YUYV 流启动失败: {e}") + if multi_cam.running: multi_cam.run() else: print("[ERROR] 摄像头初始化失败") - if __name__ == "__main__": main() \ No newline at end of file