TractorVision初期移植

lib/io/process3d.py

@@ -0,0 +1,26 @@
+from multiprocessing import Process
+from collections import deque
+from lib.camera.ArenaCamera import ArenaCamera
+from lib.cfg.cfg import CameraControl
+
+
+class Process3D(Process):
+    def __init__(self, cfg, in_q: deque, out_q: deque):
+        # 设置进程名称
+        super().__init__(name=f"3D-{cfg['title']}")
+        self.cfg = cfg
+        self.in_q = in_q
+        self.out_q = out_q
+        self.camera = ArenaCamera(cfg["sn"])
+        self.status = 0
+        # 仅对轨道摄像头启用 TrackDetector
+
+    def run(self):
+        while True:
+            sig = self.in_q.get()
+            if sig == CameraControl.CAPTURE:
+                _, _, dep_img = self.camera.capture()
+                self.out_q.put(dep_img)
+            elif sig == CameraControl.DESTORY:
+                self.camera.destroy()
+                break