去除FFMPEG后端

surround_view/capture_thread.py

@@ -1,9 +1,7 @@
 import cv2
 from PyQt5.QtCore import qDebug
-
 from .base_thread import BaseThread
 from .structures import ImageFrame
-from .utils import gstreamer_pipeline
 
 
 
@@ -11,11 +9,10 @@ class CaptureThread(BaseThread):
 
     def __init__(self,
                  device_id,
-                #  flip_method=2,
+                 flip_method=0,
                  drop_if_full=True,
                  api_preference=cv2.CAP_ANY,
                  resolution=None,
-                #  use_gst=None,
                  parent=None):
         """
         device_id: device number of the camera.
@@ -27,8 +24,7 @@ class CaptureThread(BaseThread):
         """
         super(CaptureThread, self).__init__(parent)
         self.device_id = device_id
-        # self.flip_method = flip_method
-        # self.use_gst = None
+        self.flip_method = flip_method
         self.drop_if_full = drop_if_full
         self.api_preference = api_preference
         self.resolution = resolution
@@ -61,15 +57,25 @@ class CaptureThread(BaseThread):
                 continue
 
             # retrieve frame and add it to buffer
-            _, frame = self.cap.retrieve()
+            _, frame = self.cap.read()
+          
+            # Skip empty frames (e.g., when camera capture times out)
+            if frame is None or frame.size == 0:
+                continue
+                
+            # Apply image flip if needed
+            if self.flip_method == 2:
+                frame = cv2.rotate(frame, cv2.ROTATE_180)
+                
+            # frame = cv2.resize(frame, (960, 640))
             img_frame = ImageFrame(self.clock.msecsSinceStartOfDay(), frame)
             self.buffer_manager.get_device(self.device_id).add(img_frame, self.drop_if_full)
 
             # update statistics
-            self.update_fps(self.processing_time)
-            self.stat_data.frames_processed_count += 1
-            # inform GUI of updated statistics
-            self.update_statistics_gui.emit(self.stat_data)
+            # self.update_fps(self.processing_time)
+            # self.stat_data.frames_processed_count += 1
+            # # inform GUI of updated statistics
+            # self.update_statistics_gui.emit(self.stat_data)
 
         qDebug("Stopping capture thread...")
 
@@ -83,7 +89,6 @@ class CaptureThread(BaseThread):
             # try to set camera resolution
             if self.resolution is not None:
                 width, height = self.resolution
-
                 self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"YUYV"))
                 self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
                 self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)