i/Orbbec_D2C
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

引入非阻塞主线

Browse Source
This commit is contained in:
i
2026-04-22 15:26:22 +08:00
parent 2dc4d50053
commit 278e9b073d
1 changed files with 159 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main.py
+135 -68
View File
@@ -405,6 +405,72 @@ def _find_profile_exact(profile_list, cfg: dict):
return None
# ─────────────────────────────────────────────────────────────────
# Refresh Devices Worker Thread
# ─────────────────────────────────────────────────────────────────
class RefreshDevicesWorker(QThread):
done = pyqtSignal(dict) # result dict on success
error = pyqtSignal(str) # error message on failure
def run(self):
try:
from pyorbbecsdk import Pipeline, OBSensorType
p = Pipeline()
sn = "unknown"
try:
sn = p.get_device().get_device_info().get_serial_number()
except Exception:
pass
color_items = []
color_list = p.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
for i in range(color_list.get_count()):
vp = color_list.get_stream_profile_by_index(i).as_video_stream_profile()
if vp is None:
continue
fmt = str(vp.get_format()).split(".")[-1]
cfg = {"width": vp.get_width(), "height": vp.get_height(),
"fps": vp.get_fps(), "format": fmt}
label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
color_items.append((label, cfg))
depth_items = []
depth_list = p.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
for i in range(depth_list.get_count()):
vp = depth_list.get_stream_profile_by_index(i).as_video_stream_profile()
if vp is None:
continue
fmt = str(vp.get_format()).split(".")[-1]
cfg = {"width": vp.get_width(), "height": vp.get_height(),
"fps": vp.get_fps(), "format": fmt}
label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
depth_items.append((label, cfg))
preset_items = []
current_preset = None
try:
preset_list = p.get_device().get_available_preset_list()
current_preset = p.get_device().get_current_preset_name()
if preset_list and len(preset_list) > 0:
preset_items = [("── 不切换 ──", None)] + [
(preset_list[i], preset_list[i]) for i in range(len(preset_list))
]
except Exception:
pass
self.done.emit({
"sn": sn,
"color_items": color_items,
"depth_items": depth_items,
"preset_items": preset_items,
"current_preset": current_preset,
})
except Exception as exc:
self.error.emit(str(exc))
# ─────────────────────────────────────────────────────────────────
# Camera Worker Thread
# ─────────────────────────────────────────────────────────────────
@@ -460,6 +526,9 @@ class CameraWorker(QThread):
self._running = False
self.wait(6000)
def request_stop(self):
self._running = False
# ── Thread body ──
def run(self):
@@ -1031,6 +1100,7 @@ class MainWindow(QMainWindow):
self._worker: CameraWorker | None = None
self._batch_worker: BatchD2CWorker | None = None
self._fetch_worker: FetchParamsWorker | None = None
self._refresh_worker: RefreshDevicesWorker | None = None
self._session_dir: Path | None = None
self._params_filename = "camera_params.json"
self._color_profiles_data: list[dict] = []
@@ -1145,10 +1215,10 @@ class MainWindow(QMainWindow):
grp1 = self._step_group(1, "刷新设备")
g1 = QHBoxLayout(grp1)
g1.setContentsMargins(8, 4, 8, 6)
refresh_btn = QPushButton("刷新设备")
refresh_btn.setFixedHeight(_sz(28))
refresh_btn.clicked.connect(self._refresh_devices)
g1.addWidget(refresh_btn)
self.refresh_btn = QPushButton("刷新设备")
self.refresh_btn.setFixedHeight(_sz(28))
self.refresh_btn.clicked.connect(self._refresh_devices)
g1.addWidget(self.refresh_btn)
self.device_status = QLabel("未连接设备，请点击「刷新设备」")
self.device_status.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
g1.addWidget(self.device_status)
@@ -1375,10 +1445,10 @@ class MainWindow(QMainWindow):
grp1 = self._step_group(1, "刷新设备")
g1 = QHBoxLayout(grp1)
g1.setContentsMargins(8, 4, 8, 6)
d2c_refresh_btn = QPushButton("刷新设备")
d2c_refresh_btn.setFixedHeight(_sz(28))
d2c_refresh_btn.clicked.connect(self._refresh_devices)
g1.addWidget(d2c_refresh_btn)
self.d2c_refresh_btn = QPushButton("刷新设备")
self.d2c_refresh_btn.setFixedHeight(_sz(28))
self.d2c_refresh_btn.clicked.connect(self._refresh_devices)
g1.addWidget(self.d2c_refresh_btn)
self.d2c_device_status = QLabel("未连接设备，请点击「刷新设备」")
self.d2c_device_status.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
g1.addWidget(self.d2c_device_status)
@@ -1500,10 +1570,8 @@ class MainWindow(QMainWindow):
# ─────────────────────────────────
def _refresh_devices(self):
"""连接相机，枚举并填充所有分辨率下拉框（Tab 1 + Tab 2）。"""
self.device_status.setText("正在扫描设备…")
QApplication.processEvents()
if self._refresh_worker and self._refresh_worker.isRunning():
return
self.color_combo.clear()
self.depth_combo.clear()
self.preset_combo.clear()
@@ -1511,53 +1579,32 @@ class MainWindow(QMainWindow):
self.d2c_depth_combo.clear()
self._color_profiles_data.clear()
self._depth_profiles_data.clear()
self.refresh_btn.setEnabled(False)
self.d2c_refresh_btn.setEnabled(False)
for lbl in (self.device_status, self.d2c_device_status):
lbl.setText("正在扫描设备…")
lbl.setStyleSheet(f"color:#aaa; font-size:{_fs(12)}px;")
self._refresh_worker = RefreshDevicesWorker()
self._refresh_worker.done.connect(self._on_refresh_done)
self._refresh_worker.error.connect(self._on_refresh_error)
self._refresh_worker.start()
try:
from pyorbbecsdk import Pipeline, OBSensorType
p = Pipeline()
sn = "unknown"
try:
sn = p.get_device().get_device_info().get_serial_number()
except Exception:
pass
color_list = p.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
for i in range(color_list.get_count()):
vp = color_list.get_stream_profile_by_index(i).as_video_stream_profile()
if vp is None:
continue
fmt = str(vp.get_format()).split(".")[-1]
cfg = {"width": vp.get_width(), "height": vp.get_height(),
"fps": vp.get_fps(), "format": fmt}
label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
def _on_refresh_done(self, result: dict):
self.refresh_btn.setEnabled(True)
self.d2c_refresh_btn.setEnabled(True)
for label, cfg in result["color_items"]:
self._color_profiles_data.append(cfg)
self.color_combo.addItem(label, cfg)
self.d2c_color_combo.addItem(label, cfg)
depth_list = p.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
for i in range(depth_list.get_count()):
vp = depth_list.get_stream_profile_by_index(i).as_video_stream_profile()
if vp is None:
continue
fmt = str(vp.get_format()).split(".")[-1]
cfg = {"width": vp.get_width(), "height": vp.get_height(),
"fps": vp.get_fps(), "format": fmt}
label = f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]"
for label, cfg in result["depth_items"]:
self._depth_profiles_data.append(cfg)
self.depth_combo.addItem(label, cfg)
self.d2c_depth_combo.addItem(label, cfg)
# 枚举 preset
try:
preset_list = p.get_device().get_available_preset_list()
current_preset = p.get_device().get_current_preset_name()
if preset_list and len(preset_list) > 0:
self.preset_combo.addItem("── 不切换 ──", None)
for i in range(len(preset_list)):
name = preset_list[i]
self.preset_combo.addItem(name, name)
# 选中当前 preset
preset_items = result.get("preset_items", [])
current_preset = result.get("current_preset")
if preset_items:
for label, data in preset_items:
self.preset_combo.addItem(label, data)
idx = self.preset_combo.findData(current_preset)
if idx >= 0:
self.preset_combo.setCurrentIndex(idx)
@@ -1572,23 +1619,26 @@ class MainWindow(QMainWindow):
else:
self.preset_combo.addItem("（设备不支持）", None)
self.preset_combo.setEnabled(False)
except Exception as exc:
self.preset_combo.addItem(f"（不支持: {exc}）", None)
self.preset_combo.setEnabled(False)
sn = result.get("sn", "unknown")
nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data)
msg = f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项"
style = f"color:#4aaa4a; font-size:{_fs(12)}px;"
self.device_status.setText(msg)
self.device_status.setStyleSheet(f"color:#4aaa4a; font-size:{_fs(12)}px;")
self.device_status.setStyleSheet(style)
self.d2c_device_status.setText(msg)
self.d2c_device_status.setStyleSheet(f"color:#4aaa4a; font-size:{_fs(12)}px;")
self.d2c_device_status.setStyleSheet(style)
self._refresh_worker = None
except Exception as exc:
msg = f"未找到设备：{exc}"
self.device_status.setText(msg)
self.device_status.setStyleSheet(f"color:#cc6666; font-size:{_fs(12)}px;")
self.d2c_device_status.setText(msg)
self.d2c_device_status.setStyleSheet(f"color:#cc6666; font-size:{_fs(12)}px;")
def _on_refresh_error(self, msg: str):
self.refresh_btn.setEnabled(True)
self.d2c_refresh_btn.setEnabled(True)
full = f"未找到设备：{msg}"
style = f"color:#cc6666; font-size:{_fs(12)}px;"
self.device_status.setText(full)
self.device_status.setStyleSheet(style)
self.d2c_device_status.setText(full)
self.d2c_device_status.setStyleSheet(style)
self._refresh_worker = None
# ─────────────────────────────────
# Stream Toggle
@@ -1611,8 +1661,24 @@ class MainWindow(QMainWindow):
self._stop_stream()
def _start_stream(self, color_cfg: dict, depth_cfg: dict):
self._stop_stream() # 确保旧 worker 已停止
preset = self.preset_combo.currentData() # None 表示不切换
old = self._worker
self._worker = None
if old and old.isRunning():
# 异步等旧 pipeline 释放后再启动新的
old.request_stop()
old.finished.connect(old.deleteLater)
old.finished.connect(lambda: self._do_start_stream(color_cfg, depth_cfg))
self.capture_btn.setEnabled(False)
self.color_combo.setEnabled(False)
self.depth_combo.setEnabled(False)
self.stream_btn.setText("关闭")
return
if old:
old.deleteLater()
self._do_start_stream(color_cfg, depth_cfg)
def _do_start_stream(self, color_cfg: dict, depth_cfg: dict):
preset = self.preset_combo.currentData()
self._worker = CameraWorker(color_cfg, depth_cfg, preset=preset)
self._worker.set_d2c(self.d2c_check.isChecked())
self._worker.set_d2c_method(self.capture_d2c_method_combo.currentData())
@@ -1630,13 +1696,14 @@ class MainWindow(QMainWindow):
def _stop_stream(self):
if self._worker:
self._worker.stop()
w = self._worker
self._worker = None
w.request_stop()
w.finished.connect(w.deleteLater)
self.capture_btn.setEnabled(False)
self.color_combo.setEnabled(True)
self.depth_combo.setEnabled(True)
self.stream_btn.setText("开启")
# 清空预览
for lbl in (self.color_lbl, self.depth_lbl):
lbl.setText("等待画面…")
lbl.setPixmap(QPixmap())