去除FFMPEG后端

surround_view/birdview.py

@@ -104,6 +104,7 @@ def LIII(left_image):
 
 
 def LM(left_image):
+
     return left_image[yt:yb, :]
 
 
@@ -116,6 +117,7 @@ def RIV(right_image):
 
 
 def RM(right_image):
+    
     return right_image[yt:yb, :]
 
 
@@ -194,7 +196,10 @@ class BirdView(BaseThread):
         return self.image[yt:yb, xl:xr]
 
     def stitch_all_parts(self):
+       
         front, back, left, right = self.frames
+        print(front.shape, back.shape, left.shape, right.shape)
+
         np.copyto(self.F, FM(front))
         np.copyto(self.B, BM(back))
         np.copyto(self.L, LM(left))
@@ -326,7 +331,8 @@ class BirdView(BaseThread):
             self.processing_mutex.lock()
 
             self.update_frames(self.proc_buffer_manager.get().values())
-            self.make_luminance_balance().stitch_all_parts()
+            self.stitch_all_parts()  # 直接拼接原始投影图像
+            # self.make_luminance_balance().stitch_all_parts()
             self.make_white_balance()
             self.copy_car_image()
             self.buffer.add(self.image.copy(), self.drop_if_full)