From b3e99742dd75d75f8b11cf9be80eb32555758c4c Mon Sep 17 00:00:00 2001 From: Arkylin Date: Tue, 21 Apr 2026 20:42:56 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B8=83=E5=B1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main.py | 1057 ++++++++++++++++++++++++++++++------------------------ utils.py | 6 + 2 files changed, 593 insertions(+), 470 deletions(-) diff --git a/main.py b/main.py index 163b4e4..4380108 100644 --- a/main.py +++ b/main.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 """ Orbbec 数据采集 GUI -- 启动时选择彩色 / 深度分辨率 -- 数据采集：实时预览 + 一键拍照（RGB / IR / 深度 / D2C深度 / 点云） +- 主界面直接打开，刷新后选择分辨率 + 开关流 +- 数据采集：实时预览 + 一键拍照 - Orbbec Viewer 深度图 D2C：批量软件 D2C 转换 """ @@ -20,32 +20,70 @@ import cv2 from pathlib import Path from datetime import datetime -# 确保 utils.py 可被 import sys.path.insert(0, str(Path(__file__).parent)) + +def _load_env() -> dict: + """解析脚本同级目录下的 .env 文件，返回 key=value 字典。""" + env_path = Path(__file__).parent / ".env" + result: dict = {} + if not env_path.is_file(): + return result + for line in env_path.read_text(encoding="utf-8").splitlines(): + line = line.strip() + if not line or line.startswith("#"): + continue + if "=" in line: + k, _, v = line.partition("=") + result[k.strip()] = v.strip() + return result + + +_ENV = _load_env() +_COPYRIGHT = _ENV.get("COPYRIGHT", "") + from PyQt5.QtWidgets import ( QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton, QLineEdit, QCheckBox, QTabWidget, - QComboBox, QDialog, QDialogButtonBox, QGroupBox, QFileDialog, - QTextEdit, QFrame, QMessageBox, QSizePolicy, + QComboBox, QFileDialog, QTextEdit, QFrame, QMessageBox, + QSizePolicy, QGroupBox, ) from PyQt5.QtCore import Qt, QThread, pyqtSignal, QTimer from PyQt5.QtGui import QImage, QPixmap, QFont from d2c_batch import batch_convert -DATA_DIR = Path("data") +DATA_DIR = Path("data") PARAMS_FILE = "camera_params.json" -MIN_DEPTH_MM = 200 -MAX_DEPTH_MM = 5000 +MIN_DEPTH_MM, MAX_DEPTH_MM = 200, 5000 +_DISCONNECT_TIMEOUTS = 6 # 6 × 500 ms = 3 s 无帧 → 断线 # ───────────────────────────────────────────────────────────────── # Helpers # ───────────────────────────────────────────────────────────────── +def imwrite_utf8(path: str, img: np.ndarray) -> bool: + """cv2.imwrite Unicode 路径安全版（Windows 中文路径）。""" + ext = Path(path).suffix.lower() or ".png" + ok, buf = cv2.imencode(ext, img) + if ok: + Path(path).write_bytes(buf.tobytes()) + return ok + + +def save_ply_utf8(target_path: str, pc_frame, save_func) -> None: + """先写到 ASCII 临时目录，再移动到 Unicode 目标路径。""" + tmpdir = tempfile.mkdtemp() + try: + tmp = os.path.join(tmpdir, "pc.ply") + save_func(tmp, pc_frame) + shutil.move(tmp, target_path) + finally: + shutil.rmtree(tmpdir, ignore_errors=True) + + def ndarray_to_pixmap(img_bgr: np.ndarray, max_w: int, max_h: int) -> QPixmap: - """BGR numpy array → scaled QPixmap.""" if img_bgr is None or img_bgr.size == 0: return QPixmap() h, w = img_bgr.shape[:2] @@ -59,43 +97,20 @@ def ndarray_to_pixmap(img_bgr: np.ndarray, max_w: int, max_h: int) -> QPixmap: return QPixmap.fromImage(qimg) -def imwrite_utf8(path: str, img: np.ndarray) -> bool: - """cv2.imwrite 的 Unicode 路径安全版本（Windows 中文路径兼容）。""" - ext = Path(path).suffix.lower() or ".png" - ok, buf = cv2.imencode(ext, img) - if ok: - Path(path).write_bytes(buf.tobytes()) - return ok - - -def save_ply_utf8(target_path: str, pc_frame, save_func) -> None: - """将点云先写到 ASCII 临时路径，再移动到 Unicode 目标路径。""" - tmpdir = tempfile.mkdtemp() - try: - tmp_ply = os.path.join(tmpdir, "pc.ply") - save_func(tmp_ply, pc_frame) - shutil.move(tmp_ply, target_path) - finally: - shutil.rmtree(tmpdir, ignore_errors=True) - - def depth_to_vis(depth_uint16: np.ndarray, scale: float) -> np.ndarray: - """uint16 深度图 → JET 伪彩 BGR 图（无效像素为黑色）。""" depth_mm = depth_uint16.astype(np.float32) * scale norm = np.clip((depth_mm - MIN_DEPTH_MM) / (MAX_DEPTH_MM - MIN_DEPTH_MM), 0.0, 1.0) - gray = (norm * 255).astype(np.uint8) - vis = cv2.applyColorMap(gray, cv2.COLORMAP_JET) + vis = cv2.applyColorMap((norm * 255).astype(np.uint8), cv2.COLORMAP_JET) vis[depth_uint16 == 0] = 0 return vis def process_ir_frame(ir_frame) -> np.ndarray | None: - """IR frame → 8-bit BGR 图像。""" if ir_frame is None: return None try: from pyorbbecsdk import OBFormat - vf = ir_frame.as_video_frame() + vf = ir_frame.as_video_frame() data = np.asanyarray(vf.get_data()) w, h, fmt = vf.get_width(), vf.get_height(), vf.get_format() if fmt == OBFormat.Y8: @@ -112,122 +127,62 @@ def process_ir_frame(ir_frame) -> np.ndarray | None: return None -# ───────────────────────────────────────────────────────────────── -# Profile Selection Dialog -# ───────────────────────────────────────────────────────────────── +def _find_profile(profile_list, cfg: dict): + """在 profile_list 中找到 width/height/fps 匹配的 profile；失败时返回第一个。""" + for i in range(profile_list.get_count()): + p = profile_list.get_stream_profile_by_index(i) + vp = p.as_video_stream_profile() + if vp is None: + continue + if (vp.get_width() == cfg["width"] + and vp.get_height() == cfg["height"] + and vp.get_fps() == cfg["fps"]): + return vp + return profile_list.get_stream_profile_by_index(0).as_video_stream_profile() -class ProfileDialog(QDialog): - def __init__(self, parent=None): - super().__init__(parent) - self.setWindowTitle("选择分辨率") - self.setMinimumWidth(540) - self.pipeline = None - self.color_profiles: list = [] - self.depth_profiles: list = [] - self.selected_color = None - self.selected_depth = None - self._build_ui() - self._load_profiles() - def _build_ui(self): - layout = QVBoxLayout(self) - layout.setSpacing(14) - - grp_c = QGroupBox("彩色 (RGB) 分辨率") - lc = QVBoxLayout(grp_c) - self.color_combo = QComboBox() - lc.addWidget(self.color_combo) - layout.addWidget(grp_c) - - grp_d = QGroupBox("深度分辨率") - ld = QVBoxLayout(grp_d) - self.depth_combo = QComboBox() - ld.addWidget(self.depth_combo) - layout.addWidget(grp_d) - - self.status_lbl = QLabel("正在连接相机，请稍候…") - self.status_lbl.setAlignment(Qt.AlignCenter) - layout.addWidget(self.status_lbl) - - btns = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) - btns.accepted.connect(self._on_ok) - btns.rejected.connect(self.reject) - layout.addWidget(btns) - - def _load_profiles(self): - try: - from pyorbbecsdk import Pipeline, OBSensorType - self.pipeline = Pipeline() - - color_list = self.pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR) - for i in range(color_list.get_count()): - p = color_list.get_stream_profile_by_index(i) - vp = p.as_video_stream_profile() - if vp is None: - continue - fmt = str(vp.get_format()).split(".")[-1] - self.color_combo.addItem( - f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]") - self.color_profiles.append(vp) - - depth_list = self.pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR) - for i in range(depth_list.get_count()): - p = depth_list.get_stream_profile_by_index(i) - vp = p.as_video_stream_profile() - if vp is None: - continue - fmt = str(vp.get_format()).split(".")[-1] - self.depth_combo.addItem( - f"{vp.get_width()}×{vp.get_height()} @ {vp.get_fps()} fps [{fmt}]") - self.depth_profiles.append(vp) - - self.status_lbl.setText( - f"已找到 {len(self.color_profiles)} 个彩色配置，" - f"{len(self.depth_profiles)} 个深度配置") - except Exception as exc: - self.status_lbl.setText(f"相机连接失败：{exc}") - - def _on_ok(self): - if not self.color_profiles or not self.depth_profiles: - QMessageBox.warning(self, "错误", "没有可用的相机配置，请检查设备连接。") - return - self.selected_color = self.color_profiles[self.color_combo.currentIndex()] - self.selected_depth = self.depth_profiles[self.depth_combo.currentIndex()] - self.accept() +def _find_profile_exact(profile_list, cfg: dict): + """严格匹配 width/height/fps；找不到返回 None（不回退）。""" + for i in range(profile_list.get_count()): + p = profile_list.get_stream_profile_by_index(i) + vp = p.as_video_stream_profile() + if vp is None: + continue + if (vp.get_width() == cfg["width"] + and vp.get_height() == cfg["height"] + and vp.get_fps() == cfg["fps"]): + return vp + return None # ───────────────────────────────────────────────────────────────── # Camera Worker Thread # ───────────────────────────────────────────────────────────────── -_DISCONNECT_TIMEOUTS = 6 # 6 × 500 ms = 3 s 无帧视为断开 - class CameraWorker(QThread): - preview_ready = pyqtSignal(object, object) # color_bgr, depth_vis - capture_done = pyqtSignal(str) # save_dir - params_ready = pyqtSignal(dict) - log_msg = pyqtSignal(str) - disconnected = pyqtSignal() + preview_ready = pyqtSignal(object, object) # color_bgr, depth_vis + capture_done = pyqtSignal(str) # save_dir + params_ready = pyqtSignal(dict) + log_msg = pyqtSignal(str) + disconnected = pyqtSignal() - def __init__(self, pipeline, color_profile, depth_profile): + def __init__(self, color_cfg: dict, depth_cfg: dict): super().__init__() - self._pipeline = pipeline - self._color_profile = color_profile - self._depth_profile = depth_profile - self._lock = threading.Lock() - self._running = True - self._d2c = False - self._do_capture = False - self._capture_dir = "" - self._camera_params = None - self._has_dual_ir = False - self._last_emit_ts = 0.0 - self._serial_number = "unknown" - self._consec_timeouts = 0 + self._color_cfg = color_cfg + self._depth_cfg = depth_cfg + self._lock = threading.Lock() + self._running = True + self._d2c = False + self._do_capture = False + self._capture_dir = "" + self._camera_params = None + self._serial_number = "unknown" + self._has_dual_ir = False + self._ir_enabled = False + self._last_emit_ts = 0.0 + self._consec_timeouts = 0 self._disconnect_emitted = False - # ── Public controls ── - def set_d2c(self, enabled: bool): with self._lock: self._d2c = enabled @@ -246,7 +201,7 @@ class CameraWorker(QThread): def run(self): try: from pyorbbecsdk import ( - Config, AlignFilter, PointCloudFilter, + Pipeline, Config, AlignFilter, PointCloudFilter, OBStreamType, OBSensorType, OBFrameType, OBFormat, save_point_cloud_to_ply, ) @@ -255,13 +210,12 @@ class CameraWorker(QThread): self.log_msg.emit(f"导入 pyorbbecsdk 失败：{exc}") return - config = Config() - config.enable_stream(self._color_profile) - config.enable_stream(self._depth_profile) + pipeline = Pipeline() + config = Config() - # 获取设备 SN + 探测 IR 传感器类型 + # 获取 SN + 探测 IR 类型 try: - device = self._pipeline.get_device() + device = pipeline.get_device() try: self._serial_number = device.get_device_info().get_serial_number() except Exception: @@ -271,18 +225,71 @@ class CameraWorker(QThread): st = sensor_list[i].get_type() if st in (OBSensorType.LEFT_IR_SENSOR, OBSensorType.RIGHT_IR_SENSOR): self._has_dual_ir = True - if self._has_dual_ir: - config.enable_video_stream(OBSensorType.LEFT_IR_SENSOR) - config.enable_video_stream(OBSensorType.RIGHT_IR_SENSOR) - else: - config.enable_video_stream(OBSensorType.IR_SENSOR) except Exception as exc: - self.log_msg.emit(f"IR 传感器初始化警告：{exc}") + self.log_msg.emit(f"设备信息获取警告：{exc}") + + # 找到匹配的流 profile + try: + color_profile = _find_profile( + pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR), + self._color_cfg) + depth_profile = _find_profile( + pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR), + self._depth_cfg) + except Exception as exc: + self.log_msg.emit(f"获取流配置失败：{exc}") + return + + config.enable_stream(color_profile) + config.enable_stream(depth_profile) + + # 启用与深度流分辨率/帧率一致的 IR 流（找不到匹配则跳过，不影响主流） + self._ir_enabled = False + try: + if self._has_dual_ir: + left_ok = right_ok = False + try: + vp = _find_profile_exact( + pipeline.get_stream_profile_list(OBSensorType.LEFT_IR_SENSOR), + self._depth_cfg) + if vp: + config.enable_stream(vp) + left_ok = True + except Exception: + pass + try: + vp = _find_profile_exact( + pipeline.get_stream_profile_list(OBSensorType.RIGHT_IR_SENSOR), + self._depth_cfg) + if vp: + config.enable_stream(vp) + right_ok = True + except Exception: + pass + self._ir_enabled = left_ok and right_ok + if not self._ir_enabled: + self.log_msg.emit( + f"IR 流提示：当前深度配置 " + f"{self._depth_cfg['width']}×{self._depth_cfg['height']}" + f"@{self._depth_cfg['fps']} 无匹配 IR profile，IR 不启用") + else: + vp = _find_profile_exact( + pipeline.get_stream_profile_list(OBSensorType.IR_SENSOR), + self._depth_cfg) + if vp: + config.enable_stream(vp) + self._ir_enabled = True + else: + self.log_msg.emit( + f"IR 流提示：无匹配 IR profile，IR 不启用") + except Exception as exc: + self.log_msg.emit(f"IR 传感器警告：{exc}") try: - self._pipeline.start(config) + pipeline.start(config) except Exception as exc: self.log_msg.emit(f"Pipeline 启动失败：{exc}") + self.disconnected.emit() return align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM) @@ -290,7 +297,7 @@ class CameraWorker(QThread): while self._running: try: - frames = self._pipeline.wait_for_frames(500) + frames = pipeline.wait_for_frames(500) if frames is None: self._consec_timeouts += 1 if (self._consec_timeouts >= _DISCONNECT_TIMEOUTS @@ -302,22 +309,22 @@ class CameraWorker(QThread): self._consec_timeouts = 0 with self._lock: - d2c = self._d2c - do_cap = self._do_capture - cap_dir = self._capture_dir + d2c = self._d2c + do_cap = self._do_capture + cap_dir = self._capture_dir if do_cap: self._do_capture = False - # 首帧提取相机参数（含 SN） + # 首帧提取相机参数 if self._camera_params is None: cf = frames.get_color_frame() df = frames.get_depth_frame() if cf and df: try: - params = self._extract_params(cf, df) - params['device'] = {'serial_number': self._serial_number} - self._camera_params = params - self.params_ready.emit(self._camera_params) + p = self._extract_params(cf, df) + p['device'] = {'serial_number': self._serial_number} + self._camera_params = p + self.params_ready.emit(p) except Exception: pass @@ -334,15 +341,15 @@ class CameraWorker(QThread): self.log_msg.emit(f"拍照错误：{exc}") continue - # ── 预览 ── - view_frames = frames + # 预览 + view = frames if d2c: af = align_filter.process(frames) if af: - view_frames = af.as_frame_set() + view = af.as_frame_set() - cf = view_frames.get_color_frame() - df = view_frames.get_depth_frame() + cf = view.get_color_frame() + df = view.get_depth_frame() if not cf or not df: continue @@ -354,7 +361,6 @@ class CameraWorker(QThread): df.get_height(), df.get_width()) depth_vis = depth_to_vis(depth_data, df.get_depth_scale()) - # 限制发射帧率 ~30 fps now = time.monotonic() if now - self._last_emit_ts >= 0.033: self._last_emit_ts = now @@ -363,7 +369,6 @@ class CameraWorker(QThread): except Exception as exc: if self._running: self.log_msg.emit(f"相机错误：{exc}") - # 将异常也计入超时计数，快速检测断线 self._consec_timeouts += _DISCONNECT_TIMEOUTS if not self._disconnect_emitted: self._disconnect_emitted = True @@ -372,52 +377,45 @@ class CameraWorker(QThread): time.sleep(0.1) try: - self._pipeline.stop() + pipeline.stop() except Exception: pass - # ── Capture helper ── + # ── Capture ── def _run_capture(self, frames, save_dir, align_filter, point_cloud_filter, frame_to_bgr_image, save_point_cloud_to_ply, OBFrameType, OBFormat): - Path(save_dir).mkdir(parents=True, exist_ok=True) + base = Path(save_dir) + base.mkdir(parents=True, exist_ok=True) cf = frames.get_color_frame() df = frames.get_depth_frame() - base = Path(save_dir) - - # ① 彩色图 if cf: bgr = frame_to_bgr_image(cf) if bgr is not None: imwrite_utf8(str(base / "color.png"), bgr) - # ② 红外图 - if self._has_dual_ir: - lir = frames.get_frame(OBFrameType.LEFT_IR_FRAME) - rir = frames.get_frame(OBFrameType.RIGHT_IR_FRAME) - img = process_ir_frame(lir) - if img is not None: - imwrite_utf8(str(base / "ir_left.png"), img) - img = process_ir_frame(rir) - if img is not None: - imwrite_utf8(str(base / "ir_right.png"), img) - else: - ir = frames.get_frame(OBFrameType.IR_FRAME) - img = process_ir_frame(ir) - if img is not None: - imwrite_utf8(str(base / "ir.png"), img) + if self._ir_enabled: + if self._has_dual_ir: + img = process_ir_frame(frames.get_frame(OBFrameType.LEFT_IR_FRAME)) + if img is not None: + imwrite_utf8(str(base / "ir_left.png"), img) + img = process_ir_frame(frames.get_frame(OBFrameType.RIGHT_IR_FRAME)) + if img is not None: + imwrite_utf8(str(base / "ir_right.png"), img) + else: + img = process_ir_frame(frames.get_frame(OBFrameType.IR_FRAME)) + if img is not None: + imwrite_utf8(str(base / "ir.png"), img) - # ③ 原始深度图 if df: raw = np.frombuffer(df.get_data(), dtype=np.uint16).reshape( df.get_height(), df.get_width()) imwrite_utf8(str(base / "depth.png"), raw) - # ④ D2C 深度图 + 伪彩 + 点云 aligned = align_filter.process(frames) if aligned: aset = aligned.as_frame_set() @@ -426,8 +424,8 @@ class CameraWorker(QThread): ad = np.frombuffer(adf.get_data(), dtype=np.uint16).reshape( adf.get_height(), adf.get_width()) imwrite_utf8(str(base / "depth_d2c.png"), ad) - vis = depth_to_vis(ad, adf.get_depth_scale()) - imwrite_utf8(str(base / "depth_d2c_vis.png"), vis) + imwrite_utf8(str(base / "depth_d2c_vis.png"), + depth_to_vis(ad, adf.get_depth_scale())) try: point_cloud_filter.set_create_point_format(OBFormat.POINT) @@ -470,19 +468,17 @@ class CameraWorker(QThread): ext = dvp.get_extrinsic_to(cvp) return { "color": { - "width": color_frame.get_width(), - "height": color_frame.get_height(), - "fps": cvp.get_fps(), + "width": color_frame.get_width(), "height": color_frame.get_height(), + "fps": cvp.get_fps(), "format": str(cvp.get_format()).split(".")[-1], "intrinsic": intr(cvp.get_intrinsic()), "distortion": dist(cvp.get_distortion()), }, "depth": { - "width": depth_frame.get_width(), - "height": depth_frame.get_height(), - "fps": dvp.get_fps(), + "width": depth_frame.get_width(), "height": depth_frame.get_height(), + "fps": dvp.get_fps(), "format": str(dvp.get_format()).split(".")[-1], - "scale": float(depth_frame.get_depth_scale()), + "scale": float(depth_frame.get_depth_scale()), "intrinsic": intr(dvp.get_intrinsic()), "distortion": dist(dvp.get_distortion()), }, @@ -508,7 +504,7 @@ class BatchD2CWorker(QThread): self._splat = splat def run(self): - class _LineCapture(io.StringIO): + class _Cap(io.StringIO): def __init__(self, sig): super().__init__() self._sig = sig @@ -517,8 +513,7 @@ class BatchD2CWorker(QThread): if line.strip(): self._sig.emit(line) - cap = _LineCapture(self.log) - with contextlib.redirect_stdout(cap): + with contextlib.redirect_stdout(_Cap(self.log)): try: batch_convert(self._params, self._depth_dir, splat=self._splat) except Exception as exc: @@ -531,41 +526,26 @@ class BatchD2CWorker(QThread): # ───────────────────────────────────────────────────────────────── class MainWindow(QMainWindow): - back_to_profiles = pyqtSignal() - - def __init__(self, pipeline, color_profile, depth_profile): + def __init__(self): super().__init__() - self.setWindowTitle("Orbbec 数据采集 & D2C") - self.resize(1300, 820) + _title = "Orbbec 数据采集 & D2C" + if _COPYRIGHT: + _title += f" | © {_COPYRIGHT}" + self.setWindowTitle(_title) + self.resize(1300, 860) - self._session_dir: Path | None = None + self._worker: CameraWorker | None = None self._batch_worker: BatchD2CWorker | None = None - self._params_filename = "camera_params.json" # 由 SN+分辨率确定后更新 - self._restart_mode = False # 正在重启，不触发 app.quit - - # 保存选中的流参数，供断线重连时匹配 - self._saved_color_info = { - "width": color_profile.get_width(), - "height": color_profile.get_height(), - "fps": color_profile.get_fps(), - } - self._saved_depth_info = { - "width": depth_profile.get_width(), - "height": depth_profile.get_height(), - "fps": depth_profile.get_fps(), - } - - self._worker = CameraWorker(pipeline, color_profile, depth_profile) - self._worker.preview_ready.connect(self._update_preview) - self._worker.capture_done.connect(self._on_capture_done) - self._worker.params_ready.connect(self._on_params_ready) - self._worker.log_msg.connect(self._append_log) - self._worker.disconnected.connect(self._on_camera_disconnected) + self._session_dir: Path | None = None + self._params_filename = "camera_params.json" + self._color_profiles_data: list[dict] = [] + self._depth_profiles_data: list[dict] = [] self._build_ui() - self._worker.start() - # ── UI construction ── + # ───────────────────────────────── + # UI Construction + # ───────────────────────────────── def _build_ui(self): central = QWidget() @@ -574,6 +554,19 @@ class MainWindow(QMainWindow): root.setContentsMargins(0, 0, 0, 0) root.setSpacing(0) + # 版权信息栏（右上角） + if _COPYRIGHT: + cr_bar = QWidget() + cr_bar.setFixedHeight(22) + cr_bar.setStyleSheet("background: #222;") + cr_layout = QHBoxLayout(cr_bar) + cr_layout.setContentsMargins(8, 0, 10, 0) + cr_layout.addStretch() + cr_lbl = QLabel(f"© {_COPYRIGHT}") + cr_lbl.setStyleSheet("color: #888; font-size: 11px;") + cr_layout.addWidget(cr_lbl) + root.addWidget(cr_bar) + tabs = QTabWidget() tabs.addTab(self._build_capture_tab(), " 数据采集 ") tabs.addTab(self._build_d2c_tab(), " Orbbec Viewer 深度图 D2C ") @@ -585,31 +578,77 @@ class MainWindow(QMainWindow): layout.setContentsMargins(12, 10, 12, 10) layout.setSpacing(8) - # ── 顶部控制行 ── - ctrl = QHBoxLayout() + # ── 设备刷新行 ── + dev_row = QHBoxLayout() + refresh_btn = QPushButton("刷新设备") + refresh_btn.setFixedHeight(30) + refresh_btn.clicked.connect(self._refresh_devices) + dev_row.addWidget(refresh_btn) - ctrl.addWidget(QLabel("保存目录名称：")) + self.device_status = QLabel("未连接设备，请点击「刷新设备」") + self.device_status.setStyleSheet("color: #aaa; font-size: 12px;") + dev_row.addWidget(self.device_status) + dev_row.addStretch() + layout.addLayout(dev_row) + + # ── 流配置行 ── + stream_grp = QGroupBox("流配置") + stream_layout = QHBoxLayout(stream_grp) + stream_layout.setSpacing(12) + + stream_layout.addWidget(QLabel("RGB：")) + self.color_combo = QComboBox() + self.color_combo.setMinimumWidth(260) + self.color_combo.setMaxVisibleItems(12) + self.color_combo.setStyleSheet("QComboBox { combobox-popup: 0; }") + stream_layout.addWidget(self.color_combo) + + stream_layout.addSpacing(16) + stream_layout.addWidget(QLabel("深度：")) + self.depth_combo = QComboBox() + self.depth_combo.setMinimumWidth(260) + self.depth_combo.setMaxVisibleItems(12) + self.depth_combo.setStyleSheet("QComboBox { combobox-popup: 0; }") + stream_layout.addWidget(self.depth_combo) + + stream_layout.addStretch() + + self.stream_btn = QPushButton("开启") + self.stream_btn.setCheckable(True) + self.stream_btn.setFixedSize(88, 32) + self.stream_btn.setStyleSheet( + "QPushButton{ border-radius:6px; border:none; font-weight:bold; }" + "QPushButton:!checked{ background:#555; color:#ccc; }" + "QPushButton:checked{ background:#2a8a2a; color:white; }" + "QPushButton:disabled{ background:#444; color:#777; }" + ) + self.stream_btn.toggled.connect(self._on_stream_toggle) + stream_layout.addWidget(self.stream_btn) + + layout.addWidget(stream_grp) + + # ── 目录 + D2C 控制行 ── + ctrl = QHBoxLayout() + ctrl.addWidget(QLabel("保存目录：")) today = datetime.now() - default_name = f"{today.year}年{today.month}月{today.day}日" - self.session_edit = QLineEdit(default_name) - self.session_edit.setMinimumWidth(180) + self.session_edit = QLineEdit(f"{today.year}年{today.month}月{today.day}日") + self.session_edit.setMinimumWidth(170) ctrl.addWidget(self.session_edit) - create_btn = QPushButton("创建 / 载入目录") - create_btn.setFixedHeight(30) + create_btn = QPushButton("创建 / 载入") + create_btn.setFixedHeight(28) create_btn.clicked.connect(self._create_session) ctrl.addWidget(create_btn) self.session_status = QLabel("（未创建）") - self.session_status.setStyleSheet("color: gray; font-size: 12px;") + self.session_status.setStyleSheet("color:gray; font-size:12px;") ctrl.addWidget(self.session_status) - ctrl.addStretch() self.d2c_check = QCheckBox("启用 D2C 对齐预览") - self.d2c_check.setToolTip("勾选后实时预览使用 D2C 对齐；拍照时始终保存全部数据") + self.d2c_check.setToolTip("勾选后预览使用 D2C 对齐；拍照时始终保存全部数据") self.d2c_check.stateChanged.connect( - lambda s: self._worker.set_d2c(s == Qt.Checked)) + lambda s: self._worker and self._worker.set_d2c(s == Qt.Checked)) ctrl.addWidget(self.d2c_check) layout.addLayout(ctrl) @@ -618,24 +657,24 @@ class MainWindow(QMainWindow): preview = QFrame() preview.setFrameShape(QFrame.StyledPanel) preview.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) - pv_layout = QHBoxLayout(preview) - pv_layout.setSpacing(6) - pv_layout.setContentsMargins(6, 6, 6, 6) + pv = QHBoxLayout(preview) + pv.setSpacing(6) + pv.setContentsMargins(6, 6, 6, 6) for attr, title in (("color_lbl", "彩色图"), ("depth_lbl", "深度伪彩图")): box = QVBoxLayout() hdr = QLabel(title) hdr.setAlignment(Qt.AlignCenter) - hdr.setStyleSheet("font-weight: bold; font-size: 13px;") + hdr.setStyleSheet("font-weight:bold; font-size:13px;") box.addWidget(hdr) lbl = QLabel("等待画面…") lbl.setAlignment(Qt.AlignCenter) - lbl.setMinimumSize(560, 400) + lbl.setMinimumSize(540, 380) lbl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) - lbl.setStyleSheet("background:#111; border:1px solid #555; color:#888;") + lbl.setStyleSheet("background:#111; border:1px solid #555; color:#666;") setattr(self, attr, lbl) box.addWidget(lbl) - pv_layout.addLayout(box) + pv.addLayout(box) layout.addWidget(preview, stretch=1) @@ -644,18 +683,14 @@ class MainWindow(QMainWindow): btn_row.addStretch() self.capture_btn = QPushButton("拍照") self.capture_btn.setFixedSize(160, 48) - f = QFont() - f.setPointSize(14) - f.setBold(True) + self.capture_btn.setEnabled(False) + f = QFont(); f.setPointSize(14); f.setBold(True) self.capture_btn.setFont(f) self.capture_btn.setStyleSheet( - "QPushButton{" - " background:#2a6ebb; color:white; border-radius:8px;" - " border:none;" - "}" + "QPushButton{ background:#2a6ebb; color:white; border-radius:8px; border:none; }" "QPushButton:hover{ background:#3a80dd; }" "QPushButton:pressed{ background:#1a559e; }" - "QPushButton:disabled{ background:#555; color:#999; }" + "QPushButton:disabled{ background:#444; color:#777; }" ) self.capture_btn.clicked.connect(self._on_capture) btn_row.addWidget(self.capture_btn) @@ -670,67 +705,230 @@ class MainWindow(QMainWindow): layout.setContentsMargins(12, 10, 12, 10) layout.setSpacing(8) - # 深度图目录 + # ── 深度图目录 ── row1 = QHBoxLayout() row1.addWidget(QLabel("深度图目录：")) self.d2c_dir_edit = QLineEdit() self.d2c_dir_edit.setPlaceholderText("选择包含 PNG 深度图的文件夹…") row1.addWidget(self.d2c_dir_edit) - br1 = QPushButton("浏览…") - br1.setFixedWidth(70) + br1 = QPushButton("浏览…"); br1.setFixedWidth(70) br1.clicked.connect(lambda: self._browse_dir(self.d2c_dir_edit)) row1.addWidget(br1) layout.addLayout(row1) - # 相机参数文件 - row2 = QHBoxLayout() - row2.addWidget(QLabel("相机参数文件：")) + # ── 相机参数 ── + params_grp = QGroupBox("相机参数") + pg = QVBoxLayout(params_grp) + pg.setSpacing(6) + + # 从分辨率自动查找 + combo_row = QHBoxLayout() + combo_row.addWidget(QLabel("RGB：")) + self.d2c_color_combo = QComboBox() + self.d2c_color_combo.setMinimumWidth(240) + self.d2c_color_combo.setMaxVisibleItems(12) + self.d2c_color_combo.setStyleSheet("QComboBox { combobox-popup: 0; }") + combo_row.addWidget(self.d2c_color_combo) + + combo_row.addSpacing(12) + combo_row.addWidget(QLabel("深度：")) + self.d2c_depth_combo = QComboBox() + self.d2c_depth_combo.setMinimumWidth(240) + self.d2c_depth_combo.setMaxVisibleItems(12) + self.d2c_depth_combo.setStyleSheet("QComboBox { combobox-popup: 0; }") + combo_row.addWidget(self.d2c_depth_combo) + + combo_row.addSpacing(12) + find_btn = QPushButton("自动查找参数文件") + find_btn.setFixedHeight(28) + find_btn.clicked.connect(self._find_params_by_combo) + combo_row.addWidget(find_btn) + combo_row.addStretch() + pg.addLayout(combo_row) + + # 分隔线提示 + sep = QLabel("── 或直接指定 JSON 文件 ──") + sep.setAlignment(Qt.AlignCenter) + sep.setStyleSheet("color:#666; font-size:11px;") + pg.addWidget(sep) + + # 手动选 JSON + json_row = QHBoxLayout() self.params_path_edit = QLineEdit() - self.params_path_edit.setPlaceholderText(f"留空则自动查找 {PARAMS_FILE}") - row2.addWidget(self.params_path_edit) - br2 = QPushButton("浏览…") - br2.setFixedWidth(70) + self.params_path_edit.setPlaceholderText("留空则使用上方自动查找结果…") + json_row.addWidget(self.params_path_edit) + br2 = QPushButton("浏览…"); br2.setFixedWidth(70) br2.clicked.connect(lambda: self._browse_json(self.params_path_edit)) - row2.addWidget(br2) - layout.addLayout(row2) + json_row.addWidget(br2) + pg.addLayout(json_row) - # Splat 选项 - opt_row = QHBoxLayout() - self.splat_check = QCheckBox("Splat 3×3 填充（减少正向投影空洞，默认开启）") + # 当前选中的参数文件 + self.params_selected_lbl = QLabel("（尚未选定参数文件）") + self.params_selected_lbl.setStyleSheet("color:#888; font-size:12px;") + pg.addWidget(self.params_selected_lbl) + + layout.addWidget(params_grp) + + # ── Splat + 运行 ── + opt_run = QHBoxLayout() + self.splat_check = QCheckBox("Splat 3×3 填充（减少 D2C 空洞，默认开启）") self.splat_check.setChecked(True) - self.splat_check.setToolTip( - "对应 d2c_batch.py 的 splat 参数：将每个深度像素扩散到 3×3 邻域，" - "有效减少软件 D2C 正向投影产生的空洞。") - opt_row.addWidget(self.splat_check) - opt_row.addStretch() - layout.addLayout(opt_row) - - # 运行按钮 - run_row = QHBoxLayout() - run_row.addStretch() + opt_run.addWidget(self.splat_check) + opt_run.addStretch() self.run_d2c_btn = QPushButton("▶ 开始批量 D2C 转换") - self.run_d2c_btn.setFixedHeight(40) + self.run_d2c_btn.setFixedHeight(36) self.run_d2c_btn.setStyleSheet( "QPushButton{ background:#2a7a2a; color:white; border-radius:6px; border:none; }" "QPushButton:hover{ background:#3a9a3a; }" - "QPushButton:disabled{ background:#555; color:#999; }" + "QPushButton:disabled{ background:#444; color:#777; }" ) self.run_d2c_btn.clicked.connect(self._run_batch_d2c) - run_row.addWidget(self.run_d2c_btn) - run_row.addStretch() - layout.addLayout(run_row) + opt_run.addWidget(self.run_d2c_btn) + layout.addLayout(opt_run) - # 日志区 + # ── 日志 ── layout.addWidget(QLabel("输出日志：")) self.d2c_log = QTextEdit() self.d2c_log.setReadOnly(True) self.d2c_log.setStyleSheet( - "font-family: Consolas, 'Courier New', monospace; font-size: 12px;") + "font-family: Consolas,'Courier New',monospace; font-size:12px;") layout.addWidget(self.d2c_log, stretch=1) return w - # ── Slots ── + # ───────────────────────────────── + # Device Refresh + # ───────────────────────────────── + + 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() + + self.color_combo.clear() + self.depth_combo.clear() + self.d2c_color_combo.clear() + self.d2c_depth_combo.clear() + self._color_profiles_data.clear() + self._depth_profiles_data.clear() + + 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}]" + 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}]" + self._depth_profiles_data.append(cfg) + self.depth_combo.addItem(label, cfg) + self.d2c_depth_combo.addItem(label, cfg) + + nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data) + self.device_status.setText( + f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项") + self.device_status.setStyleSheet("color:#4aaa4a; font-size:12px;") + + except Exception as exc: + self.device_status.setText(f"未找到设备：{exc}") + self.device_status.setStyleSheet("color:#cc6666; font-size:12px;") + + # ───────────────────────────────── + # Stream Toggle + # ───────────────────────────────── + + def _on_stream_toggle(self, checked: bool): + if checked: + if not self._color_profiles_data or not self._depth_profiles_data: + self._set_stream_btn(False) + QMessageBox.warning(self, "提示", "请先点击「刷新设备」以获取可用配置。") + return + ci = self.color_combo.currentIndex() + di = self.depth_combo.currentIndex() + if ci < 0 or di < 0: + self._set_stream_btn(False) + return + self._start_stream(self._color_profiles_data[ci], + self._depth_profiles_data[di]) + else: + self._stop_stream() + + def _start_stream(self, color_cfg: dict, depth_cfg: dict): + self._stop_stream() # 确保旧 worker 已停止 + self._worker = CameraWorker(color_cfg, depth_cfg) + self._worker.preview_ready.connect(self._update_preview) + self._worker.capture_done.connect(self._on_capture_done) + self._worker.params_ready.connect(self._on_params_ready) + self._worker.log_msg.connect(self._append_d2c_log) + self._worker.disconnected.connect(self._on_camera_disconnected) + self._worker.start() + self.stream_btn.setText("关闭") + self.color_combo.setEnabled(False) + self.depth_combo.setEnabled(False) + self.capture_btn.setEnabled(True) + + def _stop_stream(self): + if self._worker: + self._worker.stop() + self._worker = None + 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()) + + def _set_stream_btn(self, state: bool): + """不触发 toggled 信号地设置按钮状态。""" + self.stream_btn.blockSignals(True) + self.stream_btn.setChecked(state) + self.stream_btn.setText("关闭" if state else "开启") + self.stream_btn.blockSignals(False) + + def _on_camera_disconnected(self): + """相机断开：静默关闭流，不弹窗。""" + if self._worker: + self._worker.deleteLater() + self._worker = None + self._set_stream_btn(False) + self.capture_btn.setEnabled(False) + self.color_combo.setEnabled(True) + self.depth_combo.setEnabled(True) + for lbl in (self.color_lbl, self.depth_lbl): + lbl.setText("设备已断开，请刷新后重新开启") + lbl.setPixmap(QPixmap()) + self.device_status.setText("设备已断开连接，请重新插入后点击「刷新设备」") + self.device_status.setStyleSheet("color:#cc8844; font-size:12px;") + + # ───────────────────────────────── + # Preview + # ───────────────────────────────── def _update_preview(self, color_bgr: np.ndarray, depth_vis: np.ndarray): w, h = self.color_lbl.width(), self.color_lbl.height() @@ -738,6 +936,10 @@ class MainWindow(QMainWindow): w2, h2 = self.depth_lbl.width(), self.depth_lbl.height() self.depth_lbl.setPixmap(ndarray_to_pixmap(depth_vis, w2, h2)) + # ───────────────────────────────── + # Session / Capture + # ───────────────────────────────── + def _create_session(self): name = self.session_edit.text().strip() if not name: @@ -746,66 +948,102 @@ class MainWindow(QMainWindow): session_dir = DATA_DIR / name session_dir.mkdir(parents=True, exist_ok=True) self._session_dir = session_dir - - # 如果已有相机参数，立即写入 - if self._worker._camera_params: + if self._worker and self._worker._camera_params: self._save_params_to_session(self._worker._camera_params) - self.session_status.setText(f"✓ {session_dir}") - self.session_status.setStyleSheet("color: #2a9a2a; font-size: 12px;") + self.session_status.setStyleSheet("color:#2a9a2a; font-size:12px;") def _on_params_ready(self, params: dict): - # 根据 SN + 分辨率/帧率构建参数文件名 sn = params.get("device", {}).get("serial_number", "unknown") cw = params["color"]["width"]; ch = params["color"]["height"] cfps = params["color"]["fps"] dw = params["depth"]["width"]; dh = params["depth"]["height"] dfps = params["depth"]["fps"] - self._params_filename = ( - f"SN{sn}_RGB{cw}x{ch}@{cfps}_D{dw}x{dh}@{dfps}.json" - ) + self._params_filename = f"SN{sn}_RGB{cw}x{ch}@{cfps}_D{dw}x{dh}@{dfps}.json" if self._session_dir and self._session_dir.exists(): self._save_params_to_session(params) def _save_params_to_session(self, params: dict): try: - p = self._session_dir / self._params_filename - p.write_text(json.dumps(params, indent=2, ensure_ascii=False), - encoding="utf-8") + (self._session_dir / self._params_filename).write_text( + json.dumps(params, indent=2, ensure_ascii=False), encoding="utf-8") except Exception: pass def _on_capture(self): - # 若尚未创建目录，自动创建 if self._session_dir is None: self._create_session() if self._session_dir is None: return - - ts = datetime.now().strftime("%Y%m%d%H%M%S") - save_dir = str(self._session_dir / ts) - + ts = datetime.now().strftime("%Y%m%d%H%M%S") self.capture_btn.setEnabled(False) self.capture_btn.setText("拍摄中…") - self._worker.trigger_capture(save_dir) + self._worker.trigger_capture(str(self._session_dir / ts)) def _on_capture_done(self, save_dir: str): self.capture_btn.setEnabled(True) self.capture_btn.setText("拍照") - self._show_toast("拍摄完成！", f"已保存至：\n{save_dir}") + msg = QMessageBox(QMessageBox.Information, "拍摄完成", + f"已保存至：\n{save_dir}", QMessageBox.Ok, self) + msg.setWindowModality(Qt.NonModal) + msg.show() + QTimer.singleShot(3000, msg.accept) - def _show_toast(self, title: str, message: str, ms: int = 3000): - """短暂显示通知，ms 毫秒后自动关闭。""" - dlg = QMessageBox(QMessageBox.Information, title, message, - QMessageBox.Ok, self) - dlg.setWindowModality(Qt.NonModal) - dlg.show() - QTimer.singleShot(ms, dlg.accept) + # ───────────────────────────────── + # Batch D2C Tab + # ───────────────────────────────── - def _append_log(self, msg: str): - self.d2c_log.append(msg) + def _find_params_by_combo(self): + """根据当前选中的 RGB + 深度配置，在 session 目录或工作目录中查找参数文件。""" + ci = self.d2c_color_combo.currentIndex() + di = self.d2c_depth_combo.currentIndex() + if ci < 0 or di < 0: + self.params_selected_lbl.setText("请先刷新设备并选择分辨率") + return - # ── Batch D2C tab ── + cc = self.d2c_color_combo.itemData(ci) + dc = self.d2c_depth_combo.itemData(di) + if not cc or not dc: + self.params_selected_lbl.setText("无配置数据，请先刷新设备") + return + + pattern = (f"*_RGB{cc['width']}x{cc['height']}@{cc['fps']}" + f"_D{dc['width']}x{dc['height']}@{dc['fps']}.json") + + search_dirs = [d for d in [self._session_dir, Path(".")] if d] + found = [] + for d in search_dirs: + found.extend(d.glob(pattern)) + if found: + break + + if found: + path = str(found[0]) + self.params_path_edit.setText(path) + self.params_selected_lbl.setText(f"✓ {path}") + self.params_selected_lbl.setStyleSheet("color:#4aaa4a; font-size:12px;") + else: + self.params_selected_lbl.setText("未找到匹配的参数文件，请手动指定 JSON") + self.params_selected_lbl.setStyleSheet("color:#cc8844; font-size:12px;") + + def _resolve_params_file(self) -> str | None: + explicit = self.params_path_edit.text().strip() + if explicit and Path(explicit).is_file(): + return explicit + # session 目录下 SN*.json + if self._session_dir and self._session_dir.exists(): + hits = sorted(self._session_dir.glob("SN*.json")) + if hits: + return str(hits[0]) + fb = self._session_dir / PARAMS_FILE + if fb.is_file(): + return str(fb) + hits = sorted(Path(".").glob("SN*.json")) + if hits: + return str(hits[0]) + if Path(PARAMS_FILE).is_file(): + return PARAMS_FILE + return None def _browse_dir(self, edit: QLineEdit): d = QFileDialog.getExistingDirectory(self, "选择文件夹") @@ -816,54 +1054,29 @@ class MainWindow(QMainWindow): f, _ = QFileDialog.getOpenFileName(self, "选择相机参数文件", "", "JSON (*.json)") if f: edit.setText(f) - - def _resolve_params_file(self) -> str | None: - """返回有效的相机参数 JSON 路径，找不到返回 None。""" - explicit = self.params_path_edit.text().strip() - if explicit and Path(explicit).is_file(): - return explicit - - # 优先在 session 目录查找 SN 命名的文件 - if self._session_dir and self._session_dir.exists(): - sn_files = sorted(self._session_dir.glob("SN*.json")) - if sn_files: - return str(sn_files[0]) - fallback = self._session_dir / "camera_params.json" - if fallback.is_file(): - return str(fallback) - - # 工作目录里的 SN 命名文件或旧版 camera_params.json - sn_files = sorted(Path(".").glob("SN*.json")) - if sn_files: - return str(sn_files[0]) - if Path(PARAMS_FILE).is_file(): - return PARAMS_FILE - return None + self.params_selected_lbl.setText(f"✓ {f}") + self.params_selected_lbl.setStyleSheet("color:#4aaa4a; font-size:12px;") def _run_batch_d2c(self): depth_dir = self.d2c_dir_edit.text().strip() if not depth_dir: QMessageBox.warning(self, "错误", "请先选择深度图目录。") return - params_file = self._resolve_params_file() if params_file is None: QMessageBox.warning( self, "错误", - "找不到相机参数文件。\n请先在「数据采集」页面连接相机以自动生成，" - "或手动指定 JSON 文件。") + "找不到相机参数文件。\n" + "请先开启摄像头流（自动生成）或手动选择 JSON 文件。") return - - with open(params_file) as fh: + with open(params_file, encoding="utf-8") as fh: params = json.load(fh) - self.d2c_log.clear() self.d2c_log.append(f"[参数文件] {params_file}") self.d2c_log.append(f"[深度图目录] {depth_dir}\n") self.run_d2c_btn.setEnabled(False) - - splat = self.splat_check.isChecked() - self._batch_worker = BatchD2CWorker(params, depth_dir, splat=splat) + self._batch_worker = BatchD2CWorker(params, depth_dir, + splat=self.splat_check.isChecked()) self._batch_worker.log.connect(self.d2c_log.append) self._batch_worker.done.connect(self._on_batch_done) self._batch_worker.start() @@ -872,94 +1085,15 @@ class MainWindow(QMainWindow): self.run_d2c_btn.setEnabled(True) self.d2c_log.append("\n[ 转换完成 ]") - # ── Camera disconnect / reconnect ── + def _append_d2c_log(self, msg: str): + self.d2c_log.append(msg) - def _on_camera_disconnected(self): - self.capture_btn.setEnabled(False) - - dlg = QMessageBox(self) - dlg.setWindowTitle("相机断开连接") - dlg.setText("检测到相机已断开连接，请选择操作：") - dlg.setIcon(QMessageBox.Warning) - reconnect_btn = dlg.addButton("重新连接相机", QMessageBox.AcceptRole) - back_btn = dlg.addButton("返回分辨率选择", QMessageBox.RejectRole) - exit_btn = dlg.addButton("退出程序", QMessageBox.DestructiveRole) - dlg.exec_() - - clicked = dlg.clickedButton() - if clicked == reconnect_btn: - self._do_reconnect() - elif clicked == back_btn: - self._restart_mode = True - self.hide() - self.back_to_profiles.emit() # → _open_session → 新窗口 - self._worker.stop() - self.close() - else: - QApplication.quit() - - def _do_reconnect(self): - """用相同的分辨率配置重新连接相机。""" - prog = QMessageBox(QMessageBox.Information, "重新连接", - "正在重新连接相机，请稍候…", - QMessageBox.NoButton, self) - prog.setWindowModality(Qt.ApplicationModal) - prog.show() - QApplication.processEvents() - time.sleep(2) - - try: - from pyorbbecsdk import Pipeline, OBSensorType - - new_pipeline = Pipeline() - - def _best_profile(profile_list, target: dict): - for i in range(profile_list.get_count()): - p = profile_list.get_stream_profile_by_index(i) - vp = p.as_video_stream_profile() - if vp is None: - continue - if (vp.get_width() == target["width"] - and vp.get_height() == target["height"] - and vp.get_fps() == target["fps"]): - return vp - # 没找到精确匹配时用第一个 - p = profile_list.get_stream_profile_by_index(0) - return p.as_video_stream_profile() - - new_color = _best_profile( - new_pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR), - self._saved_color_info) - new_depth = _best_profile( - new_pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR), - self._saved_depth_info) - - prog.accept() - - old_worker = self._worker - self._worker = CameraWorker(new_pipeline, new_color, new_depth) - self._worker.preview_ready.connect(self._update_preview) - self._worker.capture_done.connect(self._on_capture_done) - self._worker.params_ready.connect(self._on_params_ready) - self._worker.log_msg.connect(self._append_log) - self._worker.disconnected.connect(self._on_camera_disconnected) - self._worker.start() - - self.capture_btn.setEnabled(True) - old_worker.deleteLater() - - except Exception as exc: - prog.accept() - QMessageBox.critical(self, "重新连接失败", - f"无法重新连接相机：{exc}\n\n请检查连接后重试。") - # 再次弹出选项 - self._on_camera_disconnected() - - # ── Window close ── + # ───────────────────────────────── + # Close + # ───────────────────────────────── def closeEvent(self, event): - self._worker.stop() - # _restart_mode 时由 _open_session 保持事件循环，不退出 app + self._stop_stream() super().closeEvent(event) @@ -967,46 +1101,29 @@ class MainWindow(QMainWindow): # Entry Point # ───────────────────────────────────────────────────────────────── -def _open_session(app: QApplication) -> None: - """显示分辨率选择对话框，成功后打开主窗口；取消则退出 app。""" - dlg = ProfileDialog() - if dlg.exec_() != QDialog.Accepted: - app.quit() - return - - if dlg.pipeline is None or dlg.selected_color is None or dlg.selected_depth is None: - QMessageBox.critical(None, "错误", "相机初始化失败，请检查设备连接后重启程序。") - app.quit() - return - - win = MainWindow(dlg.pipeline, dlg.selected_color, dlg.selected_depth) - # 断线→返回选择界面时，递归调用本函数 - win.back_to_profiles.connect(lambda: _open_session(app)) - win.show() - - def main(): app = QApplication(sys.argv) app.setStyle("Fusion") from PyQt5.QtGui import QPalette, QColor - palette = QPalette() - palette.setColor(QPalette.Window, QColor(45, 45, 45)) - palette.setColor(QPalette.WindowText, QColor(220, 220, 220)) - palette.setColor(QPalette.Base, QColor(30, 30, 30)) - palette.setColor(QPalette.AlternateBase, QColor(50, 50, 50)) - palette.setColor(QPalette.ToolTipBase, QColor(255, 255, 220)) - palette.setColor(QPalette.ToolTipText, QColor(0, 0, 0)) - palette.setColor(QPalette.Text, QColor(220, 220, 220)) - palette.setColor(QPalette.Button, QColor(60, 60, 60)) - palette.setColor(QPalette.ButtonText, QColor(220, 220, 220)) - palette.setColor(QPalette.BrightText, QColor(255, 0, 0)) - palette.setColor(QPalette.Link, QColor(42, 130, 218)) - palette.setColor(QPalette.Highlight, QColor(42, 130, 218)) - palette.setColor(QPalette.HighlightedText, QColor(0, 0, 0)) - app.setPalette(palette) + pal = QPalette() + pal.setColor(QPalette.Window, QColor(45, 45, 45)) + pal.setColor(QPalette.WindowText, QColor(220, 220, 220)) + pal.setColor(QPalette.Base, QColor(30, 30, 30)) + pal.setColor(QPalette.AlternateBase, QColor(50, 50, 50)) + pal.setColor(QPalette.ToolTipBase, QColor(255, 255, 220)) + pal.setColor(QPalette.ToolTipText, QColor(0, 0, 0)) + pal.setColor(QPalette.Text, QColor(220, 220, 220)) + pal.setColor(QPalette.Button, QColor(60, 60, 60)) + pal.setColor(QPalette.ButtonText, QColor(220, 220, 220)) + pal.setColor(QPalette.BrightText, QColor(255, 0, 0)) + pal.setColor(QPalette.Link, QColor(42, 130, 218)) + pal.setColor(QPalette.Highlight, QColor(42, 130, 218)) + pal.setColor(QPalette.HighlightedText, QColor(0, 0, 0)) + app.setPalette(pal) - _open_session(app) + win = MainWindow() + win.show() sys.exit(app.exec_()) diff --git a/utils.py b/utils.py index 5977760..f22a1cd 100644 --- a/utils.py +++ b/utils.py @@ -134,6 +134,12 @@ def frame_to_bgr_image(frame: VideoFrame) -> Union[Optional[np.array], Any]: elif color_format == OBFormat.UYVY: image = np.resize(data, (height, width, 2)) image = cv2.cvtColor(image, cv2.COLOR_YUV2BGR_UYVY) + elif color_format == OBFormat.BGRA: + image = np.resize(data, (height, width, 4)) + image = cv2.cvtColor(image, cv2.COLOR_BGRA2BGR) + elif color_format == OBFormat.RGBA: + image = np.resize(data, (height, width, 4)) + image = cv2.cvtColor(image, cv2.COLOR_RGBA2BGR) else: print("Unsupported color format: {}".format(color_format)) return None