debug202506031824

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()
+                img = camera.capture()
-                self.out_q.put({"title": cfg["title"], "img": img})
+                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):

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

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: