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