obstacle detection function complete

lib/io/process2d.py

@@ -1,5 +1,6 @@
 from multiprocessing import Process
 from lib.camera.MindVisionCamera import MindVisionCamera
+from lib.cfg import cfg
 from lib.cfg.cfg import CameraControl
 
 
@@ -12,14 +13,13 @@ class Process2D(Process):
         self.out_q = out_q
         self.camera = MindVisionCamera(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:
                 img = self.camera.capture()
-                self.out_q.put(img)
+                self.out_q.put({"title": cfg["title"], "img": img})
             elif sig == CameraControl.DESTORY:
                 for fn in ("destroy", "close", "release"):
                     if hasattr(self.camera, fn):

lib/io/process3d.py

@@ -1,5 +1,6 @@
 from multiprocessing import Process
 from collections import deque
+from lib import cfg
 from lib.camera.ArenaCamera import ArenaCamera
 from lib.cfg.cfg import CameraControl
 
@@ -12,15 +13,14 @@ class Process3D(Process):
         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)
+                # self.out_q.put({self.cfg["title"]: dep_img})
+                self.out_q.put({"title": cfg["title"], "dep_img": dep_img})
             elif sig == CameraControl.DESTORY:
                 self.camera.destroy()
                 break