CPP 静态合成

web.py

@@ -17,6 +17,21 @@ from PyQt5.QtGui import QImage, QPixmap, QFont
 from PyQt5.QtCore import Qt, QTimer, pyqtSignal, QObject
 from PIL import Image, ImageDraw, ImageFont
 
+# ==========================================================
+# OpenCL GPU 加速初始化
+# ==========================================================
+_OCL_ENABLED = False
+try:
+    cv2.ocl.setUseOpenCL(True)
+    _OCL_ENABLED = cv2.ocl.useOpenCL()
+    if _OCL_ENABLED:
+        ocl_devs = cv2.ocl.Device.getDefault()
+        print("[INFO] OpenCL GPU 加速已启用: {}".format(ocl_devs.name()))
+    else:
+        print("[WARNING] OpenCL 不可用，将使用 CPU")
+except Exception as e:
+    print("[WARNING] OpenCL 初始化失败 ({}), 将使用 CPU".format(e))
+
 try:
     from surround_view import FisheyeCameraModel, BirdView
     import surround_view.param_settings as settings
@@ -293,6 +308,9 @@ class SerialWorker(threading.Thread):
                 buf.append(b)
                 if len(buf) == 10:
                     self._parse_rx_frame(bytes(buf))
+                    print("[RX] active: {}  radar: {}  stopped: {}  reverse: {}".format(
+                        self._active_dirs, self._radar_dist, self._stopped, self._reverse))
+
                     buf.clear()
                 elif len(buf) > 10:
                     buf.clear()
@@ -317,7 +335,7 @@ class RemoteSignals(QObject):
     exit_settings  = pyqtSignal()
 
 class RemoteWorker(threading.Thread):
-    def __init__(self, port="/dev/ttyS3", baudrate=115200):
+    def __init__(self, port="/dev/ttyS3", baudrate=9600):
         super().__init__(daemon=True)
         self.port     = port
         self.baudrate = baudrate
@@ -476,7 +494,7 @@ class BirdViewWorker(threading.Thread):
         while self.running:
             self.frame_idx += 1
             if self.frame_idx % self.framestep != 0:
-                time.sleep(0.005)
+                time.sleep(0.033)
                 continue
             frames = []
             for name, model in zip(self.names, self.models):
@@ -484,13 +502,14 @@ class BirdViewWorker(threading.Thread):
                 if frame is None:
                     break
                 try:
-                    frames.append(
-                        model.flip(model.project(model.undistort(frame))))
+                    frame = model.process_frame(frame)
+                    if frame is not None:
+                        frames.append(frame)
                 except Exception as e:
                     print("[BIRD ERROR] {}".format(e))
                     break
             if len(frames) != 4:
-                time.sleep(0.01)
+                time.sleep(0.033)
                 continue
             try:
                 self.birdview.update_frames(frames)
@@ -670,7 +689,7 @@ class MultiCameraBirdView:
             return
 
         self.caps          = []
-        self.which_cameras = {"front":0, "left":1, "back":2, "right":3}
+        self.which_cameras = {"front":2, "left":3, "back":0, "right":1}
         for name in self.names:
             cap_id = self.which_cameras.get(name, 0)
             cap    = cv2.VideoCapture(cap_id, cv2.CAP_V4L2)
@@ -698,7 +717,7 @@ class MultiCameraBirdView:
                 if img is None:
                     continue
                 frames.append(
-                    model.flip(model.project(model.undistort(img))))
+                    model.process_frame(img))
             if len(frames) == 4:
                 self.birdview.get_weights_and_masks(frames)
                 print("[INFO] 权重初始化完成")