pd9427

vision/charge_3cls/charge_utils.py

@@ -0,0 +1,88 @@
+import os
+import cv2
+#from rknnlite.api import RKNNLite
+import time
+
+# classify_single_image, StableClassJudge, CLASS_NAMES 已在 muju_cls_rknn 中定义
+from .charge_cls_rknn import classify_single_image, StableClassJudge, CLASS_NAMES
+
+# 获取当前文件所在目录的绝对路径
+current_dir = os.path.dirname(os.path.abspath(__file__))
+def run_stable_charge_loop():
+    """
+    image_source: cv2.VideoCapture 对象
+    """
+    _ret=None
+    # 使用相对于当前文件的绝对路径
+    model_path = os.path.join(current_dir, "charge0324.rknn")
+    # roi_file = os.path.join(current_dir, "roi_coordinates", "muju_roi.txt")
+    RTSP_URL = "rtsp://admin:XJ123456@192.168.250.60:554/streaming/channels/101"
+    stable_frames=5
+    print(f"正在连接 RTSP 流: {RTSP_URL}")
+    cap =None
+    try:
+        cap = cv2.VideoCapture(RTSP_URL)
+        # 降低 RTSP 延迟（部分摄像头支持）
+        cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+        if not cap.isOpened():
+            print("无法打开 RTSP 流，请检查网络、账号密码或 URL")
+            return None
+
+        print("RTSP 流连接成功，开始推理...")
+
+        judge = StableClassJudge(
+            stable_frames=stable_frames,
+            ignore_class=2  # 忽略“有遮挡”类别参与稳定判断
+        )
+
+        if not hasattr(cap, "read"):
+            raise TypeError("image_source 必须是 cv2.VideoCapture 实例")
+        _max_count=10
+        while True:
+            _max_count=_max_count-1
+
+            ret, frame = cap.read()
+            if not ret:
+                print("无法读取视频帧（可能是流断开或结束）")
+                continue
+            # 上下左右翻转
+            # frame = cv2.flip(frame, -1)
+
+            # ---------------------------
+            # 单帧推理
+            # ---------------------------
+            result = classify_single_image(frame, model_path)
+
+
+            class_id = result["class_id"]
+            class_name = result["class"]
+            score = result["score"]
+
+            print(f"[FRAME] {class_name} | conf={score:.3f}")
+            if score>0.8:
+                # ---------------------------
+                # 稳定判断
+                # ---------------------------
+                stable_class_id = judge.update(class_id)
+
+                if stable_class_id is not None:
+                    _ret=CLASS_NAMES[stable_class_id]
+                    if _ret is None:
+                        print("-------当前振捣棒检测为空，继续等待稳定------")
+                        continue
+                    if _ret=="插好":
+                        break
+                    print(f"-------当前振捣棒检测为：{_ret}，继续等待稳定------")
+                else:
+                    print("-------当前振捣棒检测为空，继续等待稳定------")
+                
+            time.sleep(0.1)
+    finally:
+        if cap is not None:
+            cap.release()
+    return _ret
+     
+
+ 
+