stage_one

vision/camera.py

@@ -119,7 +119,7 @@ class DualCameraController:
             
         try:
             # 初始化摄像头和队列
-            for camera_id in ['cam1', 'cam2']:
+            for camera_id in ['cam2']:
                 rtsp_url = self._build_rtsp_url(camera_id)
                 cap = cv2.VideoCapture(rtsp_url)
                 
@@ -135,7 +135,7 @@ class DualCameraController:
             
             # 启动捕获线程
             self.stop_event.clear()
-            for camera_id in ['cam1', 'cam2']:
+            for camera_id in ['cam2']:
                 thread = threading.Thread(
                     target=self._capture_thread, 
                     args=(camera_id,),
@@ -155,6 +155,7 @@ class DualCameraController:
     
     def get_latest_frames(self, sync_threshold_ms: Optional[float] = None) -> Optional[Tuple[np.ndarray, np.ndarray]]:
         """获取最新的同步帧对"""
+        return
         if not self.is_running:
             print("摄像头未运行")
             return None
@@ -236,15 +237,15 @@ class DualCameraController:
             dt_t1 = None
             
             # 获取cam1的最新帧
-            if not self.frame_queues['cam1'].empty():
-                dt_t1, frame_latest = self.frame_queues['cam1'].queue[-1]
+            if not self.frame_queues['cam2'].empty():
+                dt_t1, frame_latest = self.frame_queues['cam2'].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 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
@@ -427,14 +428,6 @@ class CameraController:
 if __name__ == "__main__":
     # 创建双摄像头控制器
     camera_configs = {
-        'cam1': {
-            'type': 'ip',
-            'ip': '192.168.250.60',
-            'port': 554,
-            'username': 'admin',
-            'password': 'XJ123456',
-            'channel': 1
-        },
         'cam2': {
             'type': 'ip', 
             'ip': '192.168.250.61',