yolo最新选择

vision.py

@@ -908,7 +908,12 @@ def _save_worker_loop():
             item = _save_queue.get()
             if item is None:
                 break
-            _save_shot_image_impl(*item)
+            if isinstance(item, dict) and item.get("kind") == "raw":
+                _save_raw_image_impl(
+                    item["img_cv"], item["shot_id"], item["photo_dir"]
+                )
+            else:
+                _save_shot_image_impl(*item)
         except Exception as e:
             logger = logger_manager.logger
             if logger:
@@ -936,6 +941,56 @@ def start_save_shot_worker():
         logger.info("[VISION] 存图 worker 线程已启动")
 
 
+def _save_raw_image_impl(img_cv, shot_id, photo_dir):
+    """保存相机完整原始帧，不添加任何检测标注。"""
+    logger = logger_manager.logger
+    try:
+        os.makedirs(photo_dir, exist_ok=True)
+        filename = os.path.join(photo_dir, f"shot_{shot_id}_raw.jpg")
+        image.cv2image(img_cv, False, False).save(filename)
+        prune_old_images_in_dir(
+            photo_dir,
+            getattr(config, "RAW_IMAGE_MAX_IMAGES", config.MAX_IMAGES),
+            logger,
+            "[VISION-RAW]",
+        )
+        if logger:
+            logger.info(f"[VISION-RAW] 已保存纯原图: {filename}")
+        return filename
+    except Exception as e:
+        if logger:
+            logger.error(f"[VISION-RAW] 保存纯原图失败: {e}")
+        return None
+
+
+def enqueue_save_raw_shot(frame, shot_id, photo_dir=None):
+    """立即复制相机帧并异步保存，避免后续识别和绘图修改原图。"""
+    if not getattr(config, "SAVE_RAW_IMAGE_ENABLED", False):
+        return
+    if photo_dir is None:
+        photo_dir = getattr(
+            config, "RAW_IMAGE_DIR", os.path.join(config.PHOTO_DIR, "raw")
+        )
+    try:
+        img_copy = np.copy(image.image2cv(frame, False, False))
+        _save_queue.put_nowait(
+            {
+                "kind": "raw",
+                "img_cv": img_copy,
+                "shot_id": shot_id,
+                "photo_dir": photo_dir,
+            }
+        )
+    except queue.Full:
+        logger = logger_manager.logger
+        if logger:
+            logger.warning("[VISION-RAW] 存图队列已满，跳过本次纯原图保存")
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION-RAW] 复制纯原图失败: {e}")
+
+
 def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
                       laser_point, distance_m, shot_id=None, photo_dir=None,
                       yolo_roi_xyxy=None, force_save=False):