已完成软件功能,画面色彩调整未做,自动挂载Tf未做,模型尚未调优

VideoProsessing/src/main.cpp

@@ -94,6 +94,42 @@ static std::condition_variable latestAlertCv;
 static std::optional<std::vector<Dection>> latestAlertDets; // 仅存最新
 static std::atomic<uint64_t> latestAlertSeq{0};
 
+// 推流线程：避免 fwrite/ffmpeg 阻塞影响本机显示
+static std::mutex g_pipeMutex;
+static std::condition_variable g_pipeCv;
+static cv::Mat g_pipeFrame; // 最新一帧（固定 640x480 bgr24）
+static std::atomic<bool> g_pipeRunning{false};
+static std::atomic<uint64_t> g_pipeSeq{0};
+
+static void pipeWriterThread(FILE *pipe)
+{
+    uint64_t seen = g_pipeSeq.load(std::memory_order_relaxed);
+
+    while (g_pipeRunning.load())
+    {
+        cv::Mat local;
+
+        {
+            std::unique_lock<std::mutex> lk(g_pipeMutex);
+            g_pipeCv.wait(lk, [&]
+                          { return !g_pipeRunning.load() ||
+                                   g_pipeSeq.load(std::memory_order_relaxed) != seen; });
+            if (!g_pipeRunning.load())
+                break;
+
+            seen = g_pipeSeq.load(std::memory_order_relaxed);
+            local = g_pipeFrame; // Mat 头拷贝（数据共享）
+        }
+
+        if (!pipe || local.empty())
+            continue;
+
+        const size_t bytes = local.total() * local.elemSize();
+        (void)fwrite(local.data, 1, bytes, pipe);
+        // 不要 fflush：pipe 已经 _IONBF，无缓冲
+    }
+}
+
 // 把阈值/输出模式缓存到内存，避免频繁读文件
 struct RuntimeConfig
 {
@@ -172,6 +208,10 @@ int main()
         return -1;
     }
 
+    // 推流线程启动（推流阻塞不再影响本机显示）
+    g_pipeRunning = true;
+    std::thread(pipeWriterThread, pipe).detach();
+
     // 先加载一次区域，避免首帧没有框
     LoadZonesFromEnv();
 
@@ -838,6 +878,8 @@ FILE *pipeInit()
 // 处理单帧
 bool processFrame(VideoCapture &cap, FILE *pipe, Mat &frame, int64 &count, chrono::steady_clock::time_point &t0)
 {
+    cap.grab();
+    cap.grab();
     // 读取帧（失败不退出，短休眠重试）
     if (!cap.read(frame) || frame.empty())
     {
@@ -845,7 +887,7 @@ bool processFrame(VideoCapture &cap, FILE *pipe, Mat &frame, int64 &count, chron
         this_thread::sleep_for(50ms);
         return true;
     }
-    handleFrame = frame.clone();
+    handleFrame = frame;
 
     vector<Dection> destCopy;
     // 读取最新检测:短锁获取并将结果拷贝到本地变量
@@ -881,9 +923,24 @@ bool processFrame(VideoCapture &cap, FILE *pipe, Mat &frame, int64 &count, chron
     else
         outFrame = handleFrame;
 
-    // 写入管道（推流处理后画面）
-    fwrite(outFrame.data, 1, outFrame.total() * outFrame.elemSize(), pipe);
-    fflush(pipe);
+    // 提交给推流线程（丢旧保新）
+    if (pipe && g_pipeRunning.load())
+    {
+        // 固定确保 640x480 bgr24
+        Mat outFrame;
+        if (handleFrame.cols != 640 || handleFrame.rows != 480)
+            resize(handleFrame, outFrame, Size(640, 480));
+        else
+            outFrame = handleFrame;
+
+        {
+            std::lock_guard<std::mutex> lk(g_pipeMutex);
+            // clone：避免 handleFrame 下一轮被覆盖导致推流线程写到脏数据
+            g_pipeFrame = outFrame.clone();
+            g_pipeSeq.fetch_add(1, std::memory_order_relaxed);
+        }
+        g_pipeCv.notify_one();
+    }
 
     // 短锁进行保存
     {
@@ -942,6 +999,10 @@ void mainLoop(VideoCapture &cap, FILE *pipe)
 // 资源清理
 void cleanup(FILE *pipe, VideoCapture &cap)
 {
+    // 停止推流线程
+    g_pipeRunning = false;
+    g_pipeCv.notify_all();
+
     // 防御式确保报警线程条件被唤醒
     alertWorkerRunning = false;
     latestAlertCv.notify_all();