feeding

vision/.py

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+# vision/camera.py
+import cv2
+
+
+class CameraController:
+    def __init__(self):
+        self.camera = None
+        self.camera_type = "ip"
+        self.camera_ip = "192.168.1.51"
+        self.camera_port = 554
+        self.camera_username = "admin"
+        self.camera_password = "XJ123456"
+        self.camera_channel = 1
+
+    def set_config(self, camera_type="ip", ip=None, port=None, username=None, password=None, channel=1):
+        """
+        设置摄像头配置
+        """
+        self.camera_type = camera_type
+        if ip:
+            self.camera_ip = ip
+        if port:
+            self.camera_port = port
+        if username:
+            self.camera_username = username
+        if password:
+            self.camera_password = password
+        self.camera_channel = channel
+
+    def setup_capture(self, camera_index=0):
+        """
+        设置摄像头捕获
+        """
+        try:
+            rtsp_url = f"rtsp://{self.camera_username}:{self.camera_password}@{self.camera_ip}:{self.camera_port}/streaming/channels/{self.camera_channel}01"
+            self.camera = cv2.VideoCapture(rtsp_url)
+
+            if not self.camera.isOpened():
+                print(f"无法打开网络摄像头: {rtsp_url}")
+                return False
+            print(f"网络摄像头初始化成功，地址: {rtsp_url}")
+            return True
+        except Exception as e:
+            print(f"摄像头设置失败: {e}")
+            return False
+
+    def capture_frame_exec(self):
+            """捕获当前帧并返回numpy数组，设置5秒总超时"""
+            try:
+                if self.camera is None:
+                    print("摄像头未初始化")
+                    return None
+
+                # 设置总超时时间为5秒
+                total_timeout = 5.0  # 5秒总超时时间
+                start_time = time.time()
+                
+                # 跳20帧，获取最新图像
+                frames_skipped = 0
+                while frames_skipped < 20:
+                    # 检查总超时
+                    if time.time() - start_time > total_timeout:
+                        print("捕获图像总超时")
+                        return None
+                    self.camera.grab()
+                    time.sleep(0.05)  # 稍微增加延迟，确保有新帧到达
+                    frames_skipped += 1
+                
+                # 尝试读取帧，使用同一超时计时器
+                read_attempts = 0
+                max_read_attempts = 3
+                if self.camera.grab():
+                    while read_attempts < max_read_attempts:
+                        # 使用同一个超时计时器检查
+                        if time.time() - start_time > total_timeout:
+                            print("捕获图像总超时")
+                            return None
+                        
+                        ret, frame = self.camera.retrieve()
+                        if ret:
+                            return frame
+                        else:
+                            print(f"尝试读取图像帧失败，重试 ({read_attempts+1}/{max_read_attempts})")
+                            read_attempts += 1
+                            # 短暂延迟后重试
+                            time.sleep(0.05)
+                
+                print("多次尝试后仍无法捕获有效图像帧")
+                return None
+            except Exception as e:
+                print(f"图像捕获失败: {e}")
+                return None
+    
+    def capture_frame(self):
+        """捕获当前帧并返回numpy数组"""
+        try:
+            if self.camera is None:
+                # self.set_config()
+                self.setup_capture()
+            
+
+            frame = self.capture_frame_exec()
+            if frame is not None:
+                return frame
+            else:
+                print("无法捕获图像帧")
+                return None
+        except Exception as e:
+            print(f"图像捕获失败: {e}")
+            return None
+
+    def capture_frame_bak(self):
+        """捕获当前帧并返回numpy数组"""
+        try:
+            if self.camera is None:
+                print("摄像头未初始化")
+                return None
+
+            ret, frame = self.camera.read()
+            if ret:
+                return frame
+            else:
+                print("无法捕获图像帧")
+                return None
+        except Exception as e:
+            print(f"图像捕获失败: {e}")
+            return None
+
+    def release(self):
+        """释放摄像头资源"""
+        if self.camera is not None:
+            self.camera.release()
+            self.camera = None
+
+    def __del__(self):
+        """析构函数，确保资源释放"""
+        self.release()