1121

vision/camera.py

@@ -62,6 +62,30 @@ class DualCameraController:
                 # print('aaaaa')
                 ret, frame = cap.read()
                 if ret and frame is not None:
+                    # 在帧右上角添加时间戳
+                    current_time = datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]
+                    # 获取帧尺寸
+                    height, width = frame.shape[:2]
+                    # 设置文字参数
+                    font = cv2.FONT_HERSHEY_SIMPLEX
+                    font_scale = 0.6
+                    thickness = 2
+                    color = (0, 255, 0)  # 绿色
+                    
+                    # 计算文字位置（右上角）
+                    text_size = cv2.getTextSize(current_time, font, font_scale, thickness)[0]
+                    text_x = width - text_size[0] - 10  # 距离右边10像素
+                    text_y = 30  # 距离顶部30像素
+                    
+                    # 添加文字背景（半透明）
+                    overlay = frame.copy()
+                    cv2.rectangle(overlay, (text_x - 5, text_y - text_size[1] - 5), 
+                                (text_x + text_size[0] + 5, text_y + 5), (0, 0, 0), -1)
+                    cv2.addWeighted(overlay, 0.7, frame, 0.3, 0, frame)
+                    
+                    # 添加时间戳文字
+                    cv2.putText(frame, current_time, (text_x, text_y), font, font_scale, color, thickness)
+                    
                     # 使用高精度时间戳
                     timestamp = time.time()                  
                     # 检查队列是否已满
@@ -216,11 +240,11 @@ class DualCameraController:
                 dt_t1, frame_latest = self.frame_queues['cam1'].queue[-1]
             
             # 获取cam2的最新帧，选择时间戳更新的那个
-            if frame_latest is None:
-                if not self.frame_queues['cam2'].empty():
-                    dt_t2, frame2 = self.frame_queues['cam2'].queue[-1]
-                    if dt_t1 is None or dt_t2 > dt_t1:
-                        frame_latest = frame2
+            # if frame_latest is None:
+            if not self.frame_queues['cam2'].empty():
+                dt_t2, frame2 = self.frame_queues['cam2'].queue[-1]
+                if dt_t1 is None or dt_t2 > dt_t1:
+                    frame_latest = frame2
             
             # 返回最新帧的副本（如果找到）
             return frame_latest.copy() if frame_latest is not None else None