去除FFMPEG后端

surround_view/process_thread.py

@@ -2,6 +2,7 @@ import cv2
 from PyQt5.QtCore import qDebug, QMutex
 
 from .base_thread import BaseThread
+from . import param_settings as settings
 
 
 class CameraProcessingThread(BaseThread):
@@ -47,10 +48,28 @@ class CameraProcessingThread(BaseThread):
 
             self.processing_mutex.lock()
             raw_frame = self.capture_buffer_manager.get_device(self.device_id).get()
+            
+            # Validate frame before processing
+            if raw_frame.image is None or raw_frame.image.size == 0:
+                self.processing_mutex.unlock()
+                continue
+                
             und_frame = self.camera_model.undistort(raw_frame.image)
             pro_frame = self.camera_model.project(und_frame)
             flip_frame = self.camera_model.flip(pro_frame)
             self.processing_mutex.unlock()
+            
+            # Check if the processed frame has valid dimensions
+            name = self.camera_model.camera_name
+            if name in settings.project_shapes:
+                # For left and right cameras, the flip operation changes the shape
+                if name in ['left', 'right']:
+                    expected_shape = settings.project_shapes[name] + (3,)
+                else:
+                    expected_shape = settings.project_shapes[name][::-1] + (3,)
+                if flip_frame.shape != expected_shape:
+                    print(f"Warning: {name} camera frame has unexpected shape {flip_frame.shape}, expected {expected_shape}")
+                    continue
 
             self.proc_buffer_manager.sync(self.device_id)
             self.proc_buffer_manager.set_frame_for_device(self.device_id, flip_frame)