2026.6.10小更新
This commit is contained in:
+95
-20
@@ -15,7 +15,7 @@ from drone_controller.pid_counter import PID
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# ===================================================
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class VideoStreaming:
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""" 📡 视频流采集与后台图传模块 """
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""" 📡 视频流采集与后台图传模块（支持 RTSP 自动重连） """
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def __init__(self, video_cfg, net_cfg):
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self.video_source = video_cfg.get("video_source", 0)
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@@ -23,32 +23,108 @@ class VideoStreaming:
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self.gs_ip = net_cfg.get("ground_station_ip", "127.0.0.1")
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self.udp_port = net_cfg.get("udp_port", 9999)
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self.cap = cv2.VideoCapture(self.video_source)
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self.tx_queue = queue.Queue(maxsize=2) # 限制队列，防积压
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# RTSP 特殊参数
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self.is_rtsp = isinstance(self.video_source, str) and self.video_source.startswith("rtsp://")
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self.cap = None
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self.frame_buffer = queue.Queue(maxsize=1) # 只保留最新一帧
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self.is_running = True
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self.capture_thread = None
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if not self.cap.isOpened():
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raise RuntimeError(f"❌ 无法打开视频源: {self.video_source}")
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# 启动后台采集线程
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self._start_capture_thread()
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# 启动后台图传线程
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# 图传发送队列与线程（原样保留）
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self.tx_queue = queue.Queue(maxsize=2)
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self.sender_thread = threading.Thread(target=self._udp_stream_sender_worker, daemon=True)
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self.sender_thread.start()
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def _start_capture_thread(self):
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""" 独立线程负责从摄像头/RTSP 读取帧，避免主循环阻塞 """
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self.capture_thread = threading.Thread(target=self._capture_worker, daemon=True)
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self.capture_thread.start()
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def _capture_worker(self):
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""" 后台不断读取帧，存入 frame_buffer """
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while self.is_running:
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# 如果摄像头未打开或已断开，尝试连接
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if self.cap is None or not self.cap.isOpened():
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self._open_camera()
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if self.cap is None or not self.cap.isOpened():
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time.sleep(1) # 等待重连
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continue
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ret, frame = self.cap.read()
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if not ret:
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# 读取失败，关闭并标记需重连
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print("⚠️ RTSP 读取失败，准备重连...")
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self.cap.release()
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self.cap = None
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continue
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# 清空旧帧，只保留最新一帧
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while not self.frame_buffer.empty():
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try:
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self.frame_buffer.get_nowait()
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except queue.Empty:
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break
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self.frame_buffer.put(frame)
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if self.cap is not None:
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self.cap.release()
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def _open_camera(self):
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""" 打开摄像头或 RTSP 流，并设置低延迟参数 """
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try:
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print(f"📷 正在连接视频源: {self.video_source}")
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self.cap = cv2.VideoCapture(self.video_source)
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if self.is_rtsp:
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# 设置 RTSP 缓冲区大小（只保留 1 帧，降低延迟）
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self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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# 设置读取超时（OpenCV 没有直接超时参数，但可尝试设置后端属性）
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# 某些平台支持以下设置：
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self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('H', '2', '6', '4'))
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# 强制使用 tcp 协议（某些 rtsp 默认 udp 会丢包严重）
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# 如果 rtsp 地址支持，可以改成 "rtsp://...?tcp"
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if "?" not in self.video_source:
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self.video_source += "?tcp"
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# 注意：有些相机需要重新初始化，这里简单打印提示
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print("💡 建议使用 TCP 传输: 在 RTSP URL 后添加 ?tcp")
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else:
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# USB 摄像头也可设置缓冲区
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self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
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# 可选：强制指定分辨率（根据你的相机调整）
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# self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
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# self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
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if self.cap.isOpened():
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print("✅ 视频源连接成功")
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else:
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print("❌ 视频源打开失败")
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except Exception as e:
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print(f"❌ 打开视频源异常: {e}")
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self.cap = None
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def read_frame(self):
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""" 读取一帧原始图像 """
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return self.cap.read()
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""" 主循环调用：从缓冲区获取最新一帧（非阻塞） """
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try:
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frame = self.frame_buffer.get_nowait()
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return True, frame
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except queue.Empty:
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# 没有新帧时返回 False，主循环可根据需要 sleep
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return False, None
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def push_to_stream(self, frame):
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""" 非阻塞式推入图传队列 """
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""" 原图传推流逻辑保持不变 """
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try:
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# 推送前轻量化分辨率，降低带宽压力
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send_frame = cv2.resize(frame, (640, 480))
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self.tx_queue.put_nowait(send_frame)
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except queue.Full:
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pass # 队列满则直接丢帧
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pass
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def _udp_stream_sender_worker(self):
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""" 后台图传专用工作线程 """
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""" 原图传发送线程（未改动） """
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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server_address = (self.gs_ip, self.udp_port)
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print(f"📡 图传后台线程已启动，目标地面站 -> {self.gs_ip}:{self.udp_port}")
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@@ -58,30 +134,29 @@ class VideoStreaming:
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frame_to_send = self.tx_queue.get(timeout=1.0)
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if frame_to_send is None:
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break
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result, img_encode = cv2.imencode('.jpg', frame_to_send, [cv2.IMWRITE_JPEG_QUALITY, self.jpeg_quality])
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result, img_encode = cv2.imencode('.jpg', frame_to_send,
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[cv2.IMWRITE_JPEG_QUALITY, self.jpeg_quality])
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if not result:
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continue
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data = img_encode.tobytes()
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if len(data) > 65000: # 严格防丢包限制
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if len(data) > 65000:
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continue
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sock.sendto(data, server_address)
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except queue.Empty:
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continue
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except Exception as e:
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print(f"❌ 图传线程异常: {e}")
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time.sleep(0.1)
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sock.close()
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def release(self):
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""" 释放资源 """
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self.is_running = False
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if self.capture_thread is not None:
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self.capture_thread.join(timeout=2.0)
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if self.cap is not None:
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self.cap.release()
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self.tx_queue.put(None)
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self.cap.release()
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class YOLO26UAVInfer:
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""" 🚀 昇腾 NPU 推理与图像后处理模块 """
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