From 8c0727990e57d1e8e14a485524725c9e299c2f7f Mon Sep 17 00:00:00 2001 From: powlu <1144983626@qq.com> Date: Fri, 19 Dec 2025 08:56:58 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8E=BB=E9=99=A4FFMPEG=E5=90=8E=E7=AB=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/copilot-instructions.md | 44 ++++++++++++++++++ .vscode/tasks.json | 12 +++++ run.sh | 18 +++++++ run_live_demo.py | 16 ++++--- saveimg.py | 12 +++-- .../__pycache__/__init__.cpython-38.pyc | Bin 528 -> 500 bytes .../__pycache__/base_thread.cpython-38.pyc | Bin 1811 -> 1783 bytes .../__pycache__/birdview.cpython-38.pyc | Bin 11437 -> 11436 bytes .../__pycache__/capture_thread.cpython-38.pyc | Bin 2895 -> 2849 bytes .../__pycache__/fisheye_camera.cpython-38.pyc | Bin 3463 -> 3422 bytes .../__pycache__/imagebuffer.cpython-38.pyc | Bin 5048 -> 5020 bytes .../__pycache__/param_settings.cpython-38.pyc | Bin 960 -> 932 bytes .../__pycache__/process_thread.cpython-38.pyc | Bin 1991 -> 2349 bytes .../__pycache__/simple_gui.cpython-38.pyc | Bin 4087 -> 4059 bytes .../__pycache__/structures.cpython-38.pyc | Bin 791 -> 763 bytes .../__pycache__/utils.cpython-38.pyc | Bin 4076 -> 4078 bytes surround_view/birdview.py | 8 +++- surround_view/capture_thread.py | 29 +++++++----- surround_view/fisheye_camera.py | 2 +- surround_view/process_thread.py | 19 ++++++++ yaml/left.yaml | 2 +- yaml/right.yaml | 34 ++++++++++---- 22 files changed, 163 insertions(+), 33 deletions(-) create mode 100644 .github/copilot-instructions.md create mode 100644 .vscode/tasks.json create mode 100755 run.sh diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md new file mode 100644 index 0000000..f1426ed --- /dev/null +++ b/.github/copilot-instructions.md @@ -0,0 +1,44 @@ +# Copilot / AI agent instructions for this repo + +目标：帮助 AI 编码代理快速上手此环视(surround-view)项目，聚焦可验证的代码模式、运行流程和常见修改点。 + +- **大体架构**：数据流为 Capture -> Undistort -> Project -> Flip -> Stitch -> WhiteBalance -> Display。主要线程/模块： + - `surround_view.capture_thread.CaptureThread`：采集摄像头帧（USB/CSI，可传 `api_preference`）。 + - `surround_view.fisheye_camera.FisheyeCameraModel`：负责 `undistort()`, `project()`, `flip()` 和相机参数读写（yaml 文件）。 + - `surround_view.process_thread.CameraProcessingThread`：每个摄像头的处理线程，调用相机模型并写入 `ProjectedImageBuffer`。 + - `surround_view.birdview.BirdView`：融合/拼接、亮度匹配与白平衡，输出最终鸟瞰图。 + - 同步/缓冲：`surround_view.imagebuffer.Buffer`、`MultiBufferManager` 与 `ProjectedImageBuffer`，通过 `sync()`/信号等待实现多流同步。 + +- **关键运行脚本（推荐顺序）**： + 1. `python run_calibrate_camera.py`（标定/生成 camera yaml） + 2. `python run_get_projection_maps.py -camera -scale ... -shift ...`（选择投影点） + 3. `python run_get_weight_matrices.py`（生成拼接权重/掩码） + 4. `python run_live_demo.py`（车载/实时 demo） + - 调试摄像头采集：`python test_cameras.py` + +- **项目约定 / 易错点（请严格遵循）**： + - 摄像头名称固定为 `front, back, left, right`，对应 yaml/param 中的配置；device id 需在本机环境中确认（参见 `test_cameras.py`）。 + - yaml 文件（`yaml/*.yaml`）里保存的字段：`camera_matrix`, `dist_coeffs`, `resolution`, `project_matrix`, `scale_xy`, `shift_xy`。修改后用 `FisheyeCameraModel.save_data()` 写回。 + - `param_settings.py` 用 cm 为单位构造 birdview 参数（`total_w/total_h`、`xl/xr/yt/yb` 等），birdview 的切片函数（`FI, FM, ...`）依赖这些常量。 + - 镜头“翻转”策略在 `FisheyeCameraModel.flip()` 明确：`front` 不变，`back` 180°, `left/right` 用转置+翻转处理。 + - 缓冲区 `Buffer.add(..., drop_if_full=True)` 会丢帧；修 bug 时注意是否因为丢帧导致状态不一致。 + +- **拼接与亮度调整实现要点**（参见 `surround_view/birdview.py` 与 `surround_view/utils.py`）： + - 权重计算：`get_weight_mask_matrix()` 提取重叠区域并基于点到多边形距离计算平滑权重 G。 + - 亮度匹配通过 `mean_luminance_ratio()` 聚合重叠区域平均亮度并以几何/经验方式融合（见 `make_luminance_balance()`）。 + - 白平衡用 `make_white_balance()` 简单按通道均值缩放。 + +- **如何修改/扩展（示例）**： + - 若加入新相机或改变布局：更新 `param_settings.py` 的 `camera_names`、`project_shapes` 与 `xl/xr/yt/yb`；更新 yaml 参数并通过 `FisheyeCameraModel` 测试 `undistort()`/`project()` 输出。 + - 若替换采集后端（gstreamer / v4l2），优先修改 `surround_view.utils.gstreamer_pipeline()` 与 `CaptureThread.connect_camera()` 的 `api_preference` 分支，确保 `cap.isOpened()` 行为一致。 + +- **测试 / 调试建议**： + - 使用 `test_cameras.py` 确认设备索引与支持分辨率。 + - 单线程走查：直接在 REPL 导入 `FisheyeCameraModel`，用已存在的 yaml 文件运行 `undistort()`、`project()` 并保存图片来验证投影矩阵。 + - 帧同步问题优先检查 `MultiBufferManager.sync()` 与 `ProjectedImageBuffer.sync()` 的 `do_sync` 与 `sync_devices` 配置。 + +- **风格/约定**： + - 代码使用 Python 3、OpenCV、PyQt5，多线程依赖 `QThread` + Qt 同步原语；避免用 `time.sleep()` 作为同步手段。 + - 尽量在修改后用现有脚本跑完整流程（calibrate -> get_projection -> get_weight -> live_demo）以捕获参数联动问题。 + +如果需要，我可以把这些点合并成更短或更详尽的版本，或者加入常见问题/故障排查列表；或者你希望我直接提交此文件为 PR？请告诉我想要的调整或遗漏的内容。 diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..66b0075 --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,12 @@ +{ + // See https://go.microsoft.com/fwlink/?LinkId=733558 + // for the documentation about the tasks.json format + "version": "2.0.0", + "tasks": [ + { + "label": "kill python", + "type": "shell", + "command": "pkill -f python3" + } + ] +} \ No newline at end of file diff --git a/run.sh b/run.sh new file mode 100755 index 0000000..0832449 --- /dev/null +++ b/run.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +# 获取当前脚本的 PID +SELF_PID=$$ + +echo "【1/3】终止其他 run.sh（跳过自身 PID=$SELF_PID）..." +# 使用 pgrep + grep -v 排除自己 +pgrep -f "run.sh" | grep -v "^$SELF_PID$" | xargs kill -9 2>/dev/null + +echo "【2/3】终止 run_live_demo.py ..." +pkill -9 -f "run_live_demo.py" 2>/dev/null + +sleep 1 + + +echo "【3/3】启动新实例..." +exec python3 ./run_live_demo.py + diff --git a/run_live_demo.py b/run_live_demo.py index 4b27637..18f85da 100644 --- a/run_live_demo.py +++ b/run_live_demo.py @@ -8,14 +8,15 @@ import surround_view.param_settings as settings yamls_dir = os.path.join(os.getcwd(), "yaml") camera_ids = [0, 1, 2, 3] -flip_methods = [0, 2, 0, 2] +flip_methods = [0, 0, 0,0] + names = settings.camera_names cameras_files = [os.path.join(yamls_dir, name + ".yaml") for name in names] camera_models = [FisheyeCameraModel(camera_file, name) for camera_file, name in zip(cameras_files, names)] def main(): - capture_tds = [CaptureThread(camera_id, flip_method) + capture_tds = [CaptureThread(camera_id, flip_method,resolution=(1920, 1080)) for camera_id, flip_method in zip(camera_ids, flip_methods)] capture_buffer_manager = MultiBufferManager() for td in capture_tds: @@ -38,17 +39,18 @@ def main(): while True: img = cv2.resize(birdview.get(), (300, 400)) cv2.imshow("birdview", img) + key = cv2.waitKey(1) & 0xFF if key == ord("q"): break - for td in capture_tds: - print("camera {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r") + # for td in capture_tds: + # print("camera {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r") - for td in process_tds: - print("process {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r") + # for td in process_tds: + # print("process {} fps: {}\n".format(td.device_id, td.stat_data.average_fps), end="\r") - print("birdview fps: {}".format(birdview.stat_data.average_fps)) + # print("birdview fps: {}".format(birdview.stat_data.average_fps)) for td in process_tds: diff --git a/saveimg.py b/saveimg.py index 77483e1..c2fa63d 100644 --- a/saveimg.py +++ b/saveimg.py @@ -10,7 +10,7 @@ running = True def video_thread(): global frame, running - cap = cv2.VideoCapture(0, cv2.CAP_ANY) + cap = cv2.VideoCapture(1, 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) @@ -18,7 +18,7 @@ def video_thread(): if not cap.isOpened(): print("[ERROR] Cannot open camera", file=sys.stderr) - running = Falseq + running = False return while running: @@ -26,7 +26,13 @@ def video_thread(): if not ret: break frame = f.copy() - cv2.imshow('Live Feed (Local Display)', f) + # print(frame.shape) + # frame = cv2.resize(frame, (1280, 720)) + # print(frame.shape) + cv2.namedWindow('AHD Video', cv2.WND_PROP_FULLSCREEN) + cv2.setWindowProperty('AHD Video', cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) + cv2.imshow('AHD Video', f) + # cv2.showFullscreen('Live Feed 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