From 5348222facf035cf42a8c7a94fb91957bfaa264e Mon Sep 17 00:00:00 2001
From: CHAMPION923 <1056156912@qq.com>
Date: Tue, 3 Jun 2025 18:24:32 +0800
Subject: [PATCH] debug202506031824

---
 lib/io/process2d.py        |  4 ++--
 lib/io/process3d.py        |  4 ++--
 lib/presenter/presenter.py | 12 +++++++++++-
 3 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/lib/io/process2d.py b/lib/io/process2d.py
index 19cc9a0..865ac6f 100644
--- a/lib/io/process2d.py
+++ b/lib/io/process2d.py
@@ -22,8 +22,8 @@ class Process2D(Process):
         while True:
             sig = self.in_q.get()
             if sig == CameraControl.CAPTURE:
-                img = self.camera.capture()
-                self.out_q.put({"title": cfg["title"], "img": img})
+                img = camera.capture()
+                self.out_q.put({"title": self.cfg["title"], "img": img})
             elif sig == CameraControl.DESTORY:
                 for fn in ("destroy", "close", "release"):
                     if hasattr(self.camera, fn):
diff --git a/lib/io/process3d.py b/lib/io/process3d.py
index 9232d06..db63ff1 100644
--- a/lib/io/process3d.py
+++ b/lib/io/process3d.py
@@ -20,9 +20,9 @@ class Process3D(Process):
         while True:
             sig = self.in_q.get()
             if sig == CameraControl.CAPTURE:
-                _, _, dep_img = self.camera.capture()
+                _, _, dep_img = camera.capture()
                 # self.out_q.put({self.cfg["title"]: dep_img})
-                self.out_q.put({"title": cfg["title"], "dep_img": dep_img})
+                self.out_q.put({"title": self.cfg["title"], "dep_img": dep_img})
             elif sig == CameraControl.DESTORY:
                 self.camera.destroy()
                 break
diff --git a/lib/presenter/presenter.py b/lib/presenter/presenter.py
index 74a84af..ff87bf3 100644
--- a/lib/presenter/presenter.py
+++ b/lib/presenter/presenter.py
@@ -1,4 +1,6 @@
 from concurrent.futures import ThreadPoolExecutor, as_completed
+from lib.alg.track_detection import TrackDetector
+from ctypes import set_errno
 from threading import Semaphore
 from datetime import datetime
 from typing import Deque
@@ -109,6 +111,12 @@ class Presenter:
             "title": img_data["title"],
         }
 
+    def track_tecetion_mode_data_handle(self):
+        tractor_dic = {}
+        for key in self.process3d_info.keys():
+            if key.endswith("避障"):
+                continue
+
     # TODO: 避障模式相机采集和数据处理
     def obstacle_mode_data_handle(self):
         """获取所有3D避障相机的数据并处理，直到所有处理完成再继续"""
@@ -141,7 +149,7 @@ class Presenter:
                 else:
                     dist_str = "000" if last_dist is None else f"{last_dist:.2f}"
 
-                self.pkt[key] = dist_str
+                self.pkt[key + "_distance"] = dist_str
 
             # 6. 总状态字段
             self.pkt["f_obstacle_status"] = (
@@ -222,6 +230,8 @@ class Presenter:
                     self.front_mode_data_handle()
                 elif self.mode == VisionMode.REAR_2D_DETECTION:
                     self.rear_mode_data_handle()
+                elif self.mode == VisionMode.TRACK_INSPECTION:
+                    pass
 
                 # TODO: tcp发送数据
                 try: