debug 202506031632

lib/io/process2d.py

@@ -11,10 +11,14 @@ class Process2D(Process):
         self.cfg = cfg
         self.in_q = in_q
         self.out_q = out_q
-        self.camera = MindVisionCamera(cfg["sn"])
-        self.status = 0
+        # self.camera = MindVisionCamera(cfg["sn"])
 
     def run(self):
+        camera = MindVisionCamera(self.cfg["sn"])
+        try:
+            camera.create()
+        except:
+            pass
         while True:
             sig = self.in_q.get()
             if sig == CameraControl.CAPTURE:

lib/io/process3d.py

@@ -12,9 +12,11 @@ class Process3D(Process):
         self.cfg = cfg
         self.in_q = in_q
         self.out_q = out_q
-        self.camera = ArenaCamera(cfg["sn"])
+        # self.camera = ArenaCamera(self.cfg["sn"])
 
     def run(self):
+        camera = ArenaCamera(self.cfg["sn"])
+        camera.create()
         while True:
             sig = self.in_q.get()
             if sig == CameraControl.CAPTURE:

lib/presenter/presenter.py

@@ -4,7 +4,7 @@ import datetime
 from typing import Deque
 from lib.alg.image_processing_3d import detect_obstacles_in_box
 import time
-from multiprocessing import Manager
+from multiprocessing import Manager, set_start_method
 import json
 from lib.io.process3d import Process3D
 from lib.io.process2d import Process2D
@@ -35,6 +35,7 @@ from lib.cfg.cfg import (
 # 3. 将解析好的数据通过TCP服务发送出去
 class Presenter:
     def __init__(self) -> None:
+        set_start_method("spawn")
         mgr = Manager()
         # 存放2D 3D相机采集图像的数据队列
         self.fifo_2d = mgr.Queue()