web前备份

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)

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 '<script>alert("用户名或密码错误");window.history.back();</script>'
+        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}")

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")
+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
 
-    if not os.path.exists(yaml_file):
-        raise FileNotFoundError(f"YAML file not found: {yaml_file}")
+from mjpeg_streamer import MJPEGServer
 
-    # 使用OpenCV读取YAML文件
-    fs = cv2.FileStorage(yaml_file, cv2.FILE_STORAGE_READ)
+# --- 新增 ---
+from shared_buffer import CameraFrameBuffer, DetectionResultBuffer
 
-    # 读取相机内参矩阵
-    camera_matrix = fs.getNode("camera_matrix").mat()
+# 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")
 
-    # 读取畸变系数
-    dist_coeffs = fs.getNode("dist_coeffs").mat()
+# ------ YOLO 配置 -----------
+YOLO_MODEL_PATH = './yolov5s-640-640.rknn'
+OBJ_THRESH = 0.6
+NMS_THRESH = 0.6
+IMG_SIZE = (640, 640)
+CLASSES = ("person",)
 
-    # 读取投影矩阵
-    project_matrix = fs.getNode("project_matrix").mat()
+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()
 
-    # 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()
+# ========== 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
 
-    fs.release()
+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)
 
-    return camera_matrix, dist_coeffs, project_matrix, scale_xy, shift_xy
+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
 
-def video_thread():
-    global frame, running
+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
 
-    # 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
+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
 
-    cap = cv2.VideoCapture(which_camera, cv2.CAP_ANY)
+
+# ========== 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("[ERROR] Cannot open camera", file=sys.stderr)
-        running = False
+                print(f"[ERROR] 无法打开 {name} 摄像头", file=sys.stderr)
+                self.running = False
                 return
+            self.caps.append(cap)
 
-    # 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
+        self.birdview = BirdView()
+        self._initialize_weights()
 
-    # 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)
+        # 预警状态
+        self.alerts = {name: False for name in self.names}
+        self.alert_lock = threading.Lock()
 
-    # 鱼眼相机仅畸变
-    map3, map4 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, (W, H), cv2.CV_16SC2)
+        # YOLO 模型
+        try:
+            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
 
-    while running:
-        ret, f = cap.read()
-        if not ret:
+        # 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(f"[WARN] {name} 摄像头读取失败")
                 break
 
-        # 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)
+    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, [], []
 
-        frame = f.copy()
-        birdseye_small = cv2.resize(f, (W//2, H//2))
-        undistorted2_small = cv2.resize(undistorted2, (W//2, H//2))
+    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)
 
-        # 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))
+    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)
 
-        # 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 run(self):
+        h_display, w_display = 720, 1280
+        w_bird = w_display // 3
+        w_single = w_display - w_bird
 
-        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)
+        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))
 
-        if cv2.waitKey(1) & 0xFF == ord('q'):
-            running = False
-            break
+            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()
 
-def input_thread():
-    global running
-    print("SSH命令: 's' = 截图, 'q' = 退出")
-    while running:
+
+# ========== 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:
-            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
-            else:
-                print("[SSH] Unknown command. Use 's' or 'q'.")
-        except EOFError:
-            break
+        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://<IP>: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...")
+    main()

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, [], []

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"
-    
     )
 
 

templates/index.html

@@ -1,18 +1,54 @@
-
 <!DOCTYPE html>
 <html>
-<head><title>Surround View System</title></head>
-<body style="background:#111;color:white;text-align:center;">
-<h2>🚗 四路摄像头 + 环视鸟瞰图</h2>
-<div>
-    <h3>四路分屏</h3>
-    <img src="/video_feed_original" width="800"/>
+<head>
+  <meta charset="utf-8">
+  <title>环视系统</title>
+  <link rel="stylesheet" href="/static/layui/css/layui.css">
+  <style>
+    html, body { margin: 0; padding: 0; height: 100%; overflow: hidden; }
+    #app { display: flex; height: 100vh; }
+    #sidebar { width: 200px; background: #393D49; color: white; padding: 20px 0; }
+    #main { flex: 1; position: relative; background: black; }
+    #video { width: 100%; height: 100%; object-fit: contain; }
+    .menu-item { padding: 12px 20px; cursor: pointer; }
+    .menu-item:hover { background: #4B515D; }
+    .active { background: #009688 !important; }
+  </style>
+</head>
+<body>
+<div id="app">
+  <div id="sidebar">
+    <div class="menu-item active" data-view="all">全景鸟瞰</div>
+    <div class="menu-item" data-view="front">前视</div>
+    <div class="menu-item" data-view="back">后视</div>
+    <div class="menu-item" data-view="left">左视</div>
+    <div class="menu-item" data-view="right">右视</div>
+    <hr style="border-color:#5a5e6a;margin:15px 10px">
+    <div class="menu-item" onclick="logout()">退出登录</div>
+  </div>
+  <div id="main">
+    <img id="video" src="/video_feed" />
+  </div>
 </div>
-<div style="margin-top:20px;">
-    <h3>鸟瞰图 (Bird's Eye View)</h3>
-    <img src="/video_feed_birdview" width="500"/>
-</div>
-<p>按 Ctrl+C 停止服务 | 账号: admin / 密码: password123</p>
+
+<script src="/static/layui/layui.js"></script>
+<script>
+  // 切换视图（可选：后续通过 WebSocket 或 REST API 控制后端 current_view）
+  document.querySelectorAll('.menu-item[data-view]').forEach(item => {
+    item.addEventListener('click', function() {
+      document.querySelector('.active').classList.remove('active');
+      this.classList.add('active');
+      const view = this.getAttribute('data-view');
+      // TODO: 发送 AJAX 请求通知后端切换 current_view
+      // fetch('/api/set_view?view=' + view);
+    });
+  });
+
+  function logout() {
+    if (confirm('确定退出？')) {
+      window.location.href = '/logout';
+    }
+  }
+</script>
 </body>
 </html>
-        

templates/login.html

@@ -0,0 +1,36 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset="utf-8">
+  <title>登录 - 环视系统</title>
+  <link rel="stylesheet" href="/static/layui/css/layui.css">
+  <style>
+    body { background: #f2f2f2; }
+    .login-box {
+      width: 400px;
+      margin: 100px auto;
+      padding: 30px;
+      background: white;
+      border-radius: 8px;
+      box-shadow: 0 2px 10px rgba(0,0,0,0.1);
+    }
+  </style>
+</head>
+<body>
+<div class="login-box">
+  <h2 style="text-align:center">环视监控系统</h2>
+  <form class="layui-form" action="/login" method="post">
+    <div class="layui-form-item">
+      <input type="text" name="username" required lay-verify="required" placeholder="用户名" autocomplete="off" class="layui-input">
+    </div>
+    <div class="layui-form-item">
+      <input type="password" name="password" required lay-verify="required" placeholder="密码" class="layui-input">
+    </div>
+    <div class="layui-form-item">
+      <button class="layui-btn layui-btn-fluid" lay-submit>登录</button>
+    </div>
+  </form>
+</div>
+<script src="/static/layui/layui.js"></script>
+</body>
+</html>

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
@@ -240,6 +279,8 @@ class MultiCameraBirdView:
             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"""
         h, w = birdview_img.shape[:2]
@@ -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:
@@ -412,10 +453,9 @@ class MultiCameraBirdView:
                     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()