测试添加视觉代码

camera_utils.py

@@ -0,0 +1,54 @@
+import cv2
+
+
+class Camera:
+    """摄像头初始化与帧读取（支持颜色参数）"""
+
+    def __init__(self, cam_id=0, target_color="red"):
+
+        self.cap = cv2.VideoCapture(cam_id)
+        self.is_opened = self.cap.isOpened()
+        if not self.is_opened:
+            raise RuntimeError("无法打开摄像头！")
+
+        self.target_color = target_color.lower()
+        if self.target_color not in ["red", "blue"]:
+            raise ValueError("仅支持 'red' 或 'blue'")
+
+        self._set_cam_params()
+
+    def _set_cam_params(self):
+        """根据颜色设置摄像头参数"""
+        self.cap.set(cv2.CAP_PROP_AUTOFOCUS, 0)  # 关闭自动对焦
+        self.cap.set(cv2.CAP_PROP_AUTO_WB, 0)    # 关闭自动白平衡
+        self.cap.set(cv2.CAP_PROP_ISO_SPEED, 0)  # 自动ISO
+
+        if self.target_color == "red":
+            self.cap.set(cv2.CAP_PROP_CONTRAST, 10)
+            self.cap.set(cv2.CAP_PROP_EXPOSURE, -10)
+            self.cap.set(cv2.CAP_PROP_WB_TEMPERATURE, 5)
+        elif self.target_color == "blue":
+            self.cap.set(cv2.CAP_PROP_CONTRAST, 10)
+            self.cap.set(cv2.CAP_PROP_EXPOSURE, -9)
+            self.cap.set(cv2.CAP_PROP_WB_TEMPERATURE, 5)
+
+    def read_frame(self):
+        """读取一帧"""
+        if not self.is_opened:
+            return False, None
+        return self.cap.read()
+
+    def release(self):
+        """释放资源"""
+        if self.is_opened:
+            self.cap.release()
+            self.is_opened = False
+
+    def switch_color(self, target_color):
+        """切换目标颜色并更新参数"""
+        target_color = target_color.lower()
+        if target_color in ["red", "blue"] and target_color != self.target_color:
+            self.target_color = target_color
+            self._set_cam_params()
+            return True
+        return False