zhaozhihao/hirres_tractor_vision
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调试20250603

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zzh
2025-06-03 14:48:23 +08:00
parent 7ed2131c3a
commit e6b765f896
2 changed files with 5 additions and 6 deletions
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8
lib/cfg/cfg.py
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@@ -18,9 +18,9 @@ MAPPING = {
"后左上轨": "b_l_rail", "后左上轨": "b_l_rail",
} }
CAMERA_3D_CFGS = project_root + "config/camera_sn.json" CAMERA_3D_CFGS = project_root / "hirres_tractor_vision/config/camera_sn.json"
CAMERA_2D_CFFS = project_root + "config/2d_camera.json" CAMERA_2D_CFFS = project_root / "hirres_tractor_vision/config/2d_camera.json"
# TODO: TCP服务器配置 # TODO: TCP服务器配置
HOST = "0.0.0.0" HOST = "0.0.0.0"
@@ -30,13 +30,13 @@ PORT = 65444
PERIOD = 0.1 PERIOD = 0.1
class VisionMode(enum): class VisionMode(enum.Enum):
OBSTACLE_DETECTION = 1 # 前后四个3d相机开启障碍识别 测距 OBSTACLE_DETECTION = 1 # 前后四个3d相机开启障碍识别 测距
FRONT_2D_DETECTION = 2 # 前面开始2d检测相机 后面依然是距离检测 FRONT_2D_DETECTION = 2 # 前面开始2d检测相机 后面依然是距离检测
REAR_2D_DETECTION = 3 # 与前者相反 REAR_2D_DETECTION = 3 # 与前者相反
TRACK_INSPECTION = 4 # 轨道键测 TRACK_INSPECTION = 4 # 轨道键测
class CameraControl(enum): class CameraControl(enum.Enum):
DESTORY = 0 DESTORY = 0
CAPTURE = 1 CAPTURE = 1

3
lib/presenter/presenter.py
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@@ -1,4 +1,3 @@
from ctypes import set_er
from concurrent.futures import ThreadPoolExecutor, as_completed from concurrent.futures import ThreadPoolExecutor, as_completed
from threading import Semaphore from threading import Semaphore
import datetime import datetime
@@ -41,7 +40,7 @@ class Presenter:
self.fifo_2d = mgr.Queue() self.fifo_2d = mgr.Queue()
self.fifo_3d = mgr.Queue() self.fifo_3d = mgr.Queue()
# TODO: 初始化进程队列 # TODO: 初始化进程队列
self.mode = VisionMode.OBSTACLE_RECO self.mode = VisionMode.OBSTACLE_DETECTION
self.pkt = OrderedDict() # tcp发送数据包 self.pkt = OrderedDict() # tcp发送数据包
self.process3d_info = {} self.process3d_info = {}
self.process2d_info = {} self.process2d_info = {}