web前备份

surround_view/capture_thread.py

@@ -11,7 +11,7 @@ class CaptureThread(BaseThread):
                  device_id,
                  flip_method=0,
                  drop_if_full=True,
-                 api_preference=cv2.CAP_ANY,
+                 api_preference=cv2.CAP_V4L2,
                  resolution=None,
                  parent=None):
         """

surround_view/fisheye_camera.py

@@ -76,10 +76,33 @@ class FisheyeCameraModel(object):
         result = cv2.remap(image, *self.undistort_maps, interpolation=cv2.INTER_LINEAR,
                            borderMode=cv2.BORDER_CONSTANT)
         return result
+    # def undistort(self, image):
+    #     uimg = cv2.UMat(image)
+    #     uresult = cv2.remap(
+    #         uimg,
+    #         *self.undistort_maps,
+    #         interpolation=cv2.INTER_LINEAR,
+    #         borderMode=cv2.BORDER_CONSTANT,
+    #         borderValue=(0, 0, 0)
+    #     )
+    #     return uresult.get()    
+
+    # def project(self, image):
+    #     result = cv2.warpPerspective(image, self.project_matrix, self.project_shape)
+    #     return result
 
     def project(self, image):
-        result = cv2.warpPerspective(image, self.project_matrix, self.project_shape)
-        return result
+        # 转为 UMat（触发 GPU 路径）
+        uimg = cv2.UMat(image)
+        uresult = cv2.warpPerspective(
+            uimg,
+            self.project_matrix,
+            self.project_shape,
+            flags=cv2.INTER_LINEAR,
+            borderMode=cv2.BORDER_CONSTANT,
+            borderValue=(0, 0, 0)
+        )
+        return uresult.get()  # 转回 numpy array 供后续使用
 
     def flip(self, image):
         if self.camera_name == "front":

surround_view/utils.py

@@ -8,6 +8,7 @@ def gstreamer_pipeline(cam_id=0,
                        framerate=30,
                        format="YUYV",
                        ):
+    print("11111111233333333333545656646464646")
     """
     Use libgstreamer to open csi-cameras.
     """
@@ -17,7 +18,6 @@ def gstreamer_pipeline(cam_id=0,
         "videoconvert ! "
         "video/x-raw,format=YUYV ! "   # 转为 OpenCV 能直接用的 BGR 格式
         "appsink"
-    
     )