可以
This commit is contained in:
+9
-1
@@ -4,4 +4,12 @@ Log/
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camera_params.json
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**.pyc**
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data/
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.env
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.env
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main.build/
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main.dist/
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main.onefile-build/
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main.spec
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dist/
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build/
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@@ -166,10 +166,11 @@ class CameraWorker(QThread):
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log_msg = pyqtSignal(str)
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disconnected = pyqtSignal()
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def __init__(self, color_cfg: dict, depth_cfg: dict):
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def __init__(self, color_cfg: dict, depth_cfg: dict, preset: str | None = None):
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super().__init__()
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self._color_cfg = color_cfg
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self._depth_cfg = depth_cfg
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self._preset = preset
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self._lock = threading.Lock()
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self._running = True
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self._d2c = False
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@@ -180,10 +181,9 @@ class CameraWorker(QThread):
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self._has_dual_ir = False
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self._ir_enabled = False
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self._last_emit_ts = 0.0
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self._last_frames = None # 最近一帧，供"按键即拍"使用
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self._capture_frames = None # 触发拍照时快照的帧
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self._consec_timeouts = 0
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self._disconnect_emitted = False
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self._sync_wait_count = 0 # 等待同步帧的计数器
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def set_d2c(self, enabled: bool):
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with self._lock:
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@@ -191,9 +191,8 @@ class CameraWorker(QThread):
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def trigger_capture(self, save_dir: str):
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with self._lock:
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self._capture_dir = save_dir
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self._capture_frames = self._last_frames # 快照当前帧
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self._do_capture = True
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self._capture_dir = save_dir
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self._do_capture = True
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def stop(self):
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self._running = False
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@@ -206,6 +205,7 @@ class CameraWorker(QThread):
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from pyorbbecsdk import (
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Pipeline, Config, AlignFilter, PointCloudFilter,
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OBStreamType, OBSensorType, OBFrameType, OBFormat,
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OBFrameAggregateOutputMode,
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save_point_cloud_to_ply,
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)
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from utils import frame_to_bgr_image
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@@ -216,7 +216,7 @@ class CameraWorker(QThread):
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pipeline = Pipeline()
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config = Config()
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# 获取 SN + 探测 IR 类型
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# 获取 SN + 探测 IR 类型 + 应用 preset
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try:
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device = pipeline.get_device()
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try:
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@@ -228,6 +228,12 @@ class CameraWorker(QThread):
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st = sensor_list[i].get_type()
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if st in (OBSensorType.LEFT_IR_SENSOR, OBSensorType.RIGHT_IR_SENSOR):
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self._has_dual_ir = True
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if self._preset:
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try:
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device.load_preset(self._preset)
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self.log_msg.emit(f"已加载 Preset：{self._preset}")
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except Exception as exc:
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self.log_msg.emit(f"Preset 加载失败：{exc}")
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except Exception as exc:
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self.log_msg.emit(f"设备信息获取警告：{exc}")
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@@ -245,6 +251,12 @@ class CameraWorker(QThread):
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config.enable_stream(color_profile)
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config.enable_stream(depth_profile)
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# 要求所有启用的流都到齐才输出帧集，避免不同时刻的帧被混合返回
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try:
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config.set_frame_aggregate_output_mode(
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OBFrameAggregateOutputMode.FULL_FRAME_REQUIRE)
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except Exception:
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pass
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# 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）
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self._ir_enabled = False
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@@ -295,6 +307,11 @@ class CameraWorker(QThread):
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self.disconnected.emit()
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return
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try:
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pipeline.enable_frame_sync()
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except Exception:
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pass # 部分固件版本不支持，忽略
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align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)
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point_cloud_filter = PointCloudFilter()
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@@ -312,14 +329,9 @@ class CameraWorker(QThread):
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self._consec_timeouts = 0
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with self._lock:
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self._last_frames = frames # 始终保存最新帧供快照
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d2c = self._d2c
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do_cap = self._do_capture
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cap_dir = self._capture_dir
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cap_frames = self._capture_frames
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if do_cap:
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self._do_capture = False
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self._capture_frames = None
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d2c = self._d2c
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do_cap = self._do_capture
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cap_dir = self._capture_dir
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# 首帧提取相机参数
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if self._camera_params is None:
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@@ -334,17 +346,34 @@ class CameraWorker(QThread):
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except Exception:
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pass
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# 执行拍照
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# 执行拍照（等待 RGB-D 时间戳对齐后再拍）
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if do_cap and cap_dir:
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try:
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self._run_capture(
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cap_frames or frames, cap_dir,
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align_filter, point_cloud_filter,
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frame_to_bgr_image, save_point_cloud_to_ply,
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OBFrameType, OBFormat,
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)
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except Exception as exc:
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self.log_msg.emit(f"拍照错误：{exc}")
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ts_diff = self._frame_ts_diff(frames)
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self._sync_wait_count += 1
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threshold_ms = 1000 // max(self._depth_cfg.get("fps", 30), 1)
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force = self._sync_wait_count >= 10
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if ts_diff <= threshold_ms or force:
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with self._lock:
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self._do_capture = False
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self._capture_dir = ""
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self._sync_wait_count = 0
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if force and ts_diff > threshold_ms:
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self.log_msg.emit(
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f"警告：RGB-D 时间差 {ts_diff}ms 仍未对齐，强制拍摄")
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else:
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self.log_msg.emit(f"帧同步良好（RGB-D 差 {ts_diff}ms），开始拍摄")
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try:
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self._run_capture(
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frames, cap_dir,
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align_filter, point_cloud_filter,
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frame_to_bgr_image, save_point_cloud_to_ply,
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OBFrameType, OBFormat,
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)
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except Exception as exc:
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self.log_msg.emit(f"拍照错误：{exc}")
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else:
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self.log_msg.emit(
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f"等待帧同步…RGB-D 差 {ts_diff}ms（{self._sync_wait_count}/10）")
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continue
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# 预览
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@@ -455,6 +484,18 @@ class CameraWorker(QThread):
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# ── Static helpers ──
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@staticmethod
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def _frame_ts_diff(frames) -> int:
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"""返回彩色帧与深度帧时间戳差值（ms），获取失败返回 0。"""
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try:
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cf = frames.get_color_frame()
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df = frames.get_depth_frame()
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if cf and df:
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return abs(int(cf.get_timestamp()) - int(df.get_timestamp()))
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except Exception:
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pass
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return 0
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@staticmethod
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def _extract_params(color_frame, depth_frame) -> dict:
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cvp = color_frame.get_stream_profile().as_video_stream_profile()
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@@ -671,6 +712,15 @@ class MainWindow(QMainWindow):
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self.depth_combo.setStyleSheet(COMBO_CSS)
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g2.addWidget(self.depth_combo)
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g2.addSpacing(12)
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g2.addWidget(QLabel("Preset："))
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self.preset_combo = QComboBox()
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self.preset_combo.setMinimumWidth(160)
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self.preset_combo.setMaxVisibleItems(12)
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self.preset_combo.setStyleSheet(COMBO_CSS)
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self.preset_combo.setEnabled(False)
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g2.addWidget(self.preset_combo)
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g2.addStretch()
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self.stream_btn = QPushButton("开启")
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self.stream_btn.setCheckable(True)
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@@ -770,32 +820,37 @@ class MainWindow(QMainWindow):
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def _build_d2c_tab(self) -> QWidget:
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w = QWidget()
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layout = QVBoxLayout(w)
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layout.setContentsMargins(12, 10, 12, 10)
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layout.setSpacing(8)
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layout.setContentsMargins(12, 8, 12, 8)
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layout.setSpacing(6)
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# ── 深度图目录 ──
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row1 = QHBoxLayout()
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row1.addWidget(QLabel("深度图目录："))
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self.d2c_dir_edit = QLineEdit()
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self.d2c_dir_edit.setPlaceholderText("选择包含 PNG 深度图的文件夹…")
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row1.addWidget(self.d2c_dir_edit)
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br1 = QPushButton("浏览…"); br1.setFixedWidth(70)
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br1.clicked.connect(lambda: self._browse_dir(self.d2c_dir_edit))
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row1.addWidget(br1)
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layout.addLayout(row1)
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COMBO_CSS = "QComboBox { combobox-popup: 0; }"
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# ── 相机参数 ──
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params_grp = QGroupBox("相机参数")
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pg = QVBoxLayout(params_grp)
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# ── 第 1 步：刷新设备 ──
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grp1 = self._step_group(1, "刷新设备")
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g1 = QHBoxLayout(grp1)
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g1.setContentsMargins(8, 4, 8, 6)
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d2c_refresh_btn = QPushButton("刷新设备")
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d2c_refresh_btn.setFixedHeight(28)
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d2c_refresh_btn.clicked.connect(self._refresh_devices)
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g1.addWidget(d2c_refresh_btn)
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self.d2c_device_status = QLabel("未连接设备，请点击「刷新设备」")
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self.d2c_device_status.setStyleSheet("color:#aaa; font-size:12px;")
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g1.addWidget(self.d2c_device_status)
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g1.addStretch()
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layout.addWidget(grp1)
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# ── 第 2 步：相机参数 ──
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grp2 = self._step_group(2, "相机参数（用于软件 D2C 计算）")
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pg = QVBoxLayout(grp2)
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pg.setContentsMargins(8, 4, 8, 6)
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pg.setSpacing(6)
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# 从分辨率自动查找
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combo_row = QHBoxLayout()
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combo_row.addWidget(QLabel("RGB："))
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self.d2c_color_combo = QComboBox()
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self.d2c_color_combo.setMinimumWidth(240)
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self.d2c_color_combo.setMaxVisibleItems(12)
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self.d2c_color_combo.setStyleSheet("QComboBox { combobox-popup: 0; }")
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self.d2c_color_combo.setStyleSheet(COMBO_CSS)
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combo_row.addWidget(self.d2c_color_combo)
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combo_row.addSpacing(12)
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@@ -803,7 +858,7 @@ class MainWindow(QMainWindow):
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self.d2c_depth_combo = QComboBox()
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self.d2c_depth_combo.setMinimumWidth(240)
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self.d2c_depth_combo.setMaxVisibleItems(12)
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self.d2c_depth_combo.setStyleSheet("QComboBox { combobox-popup: 0; }")
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self.d2c_depth_combo.setStyleSheet(COMBO_CSS)
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combo_row.addWidget(self.d2c_depth_combo)
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combo_row.addSpacing(12)
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@@ -814,13 +869,11 @@ class MainWindow(QMainWindow):
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combo_row.addStretch()
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pg.addLayout(combo_row)
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# 分隔线提示
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sep = QLabel("── 或直接指定 JSON 文件 ──")
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sep.setAlignment(Qt.AlignCenter)
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sep.setStyleSheet("color:#666; font-size:11px;")
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pg.addWidget(sep)
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# 手动选 JSON
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json_row = QHBoxLayout()
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self.params_path_edit = QLineEdit()
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self.params_path_edit.setPlaceholderText("留空则使用上方自动查找结果…")
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@@ -830,19 +883,33 @@ class MainWindow(QMainWindow):
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json_row.addWidget(br2)
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pg.addLayout(json_row)
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# 当前选中的参数文件
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self.params_selected_lbl = QLabel("（尚未选定参数文件）")
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self.params_selected_lbl.setStyleSheet("color:#888; font-size:12px;")
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pg.addWidget(self.params_selected_lbl)
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layout.addWidget(grp2)
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layout.addWidget(params_grp)
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# ── 第 3 步：深度图目录 ──
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grp3 = self._step_group(3, "深度图目录")
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g3 = QHBoxLayout(grp3)
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g3.setContentsMargins(8, 4, 8, 6)
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g3.setSpacing(8)
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self.d2c_dir_edit = QLineEdit()
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self.d2c_dir_edit.setPlaceholderText("选择包含 PNG 深度图的文件夹…")
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g3.addWidget(self.d2c_dir_edit)
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br1 = QPushButton("浏览…"); br1.setFixedWidth(70)
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br1.clicked.connect(lambda: self._browse_dir(self.d2c_dir_edit))
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g3.addWidget(br1)
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layout.addWidget(grp3)
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# ── Splat + 运行 ──
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opt_run = QHBoxLayout()
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# ── 第 4 步：开始转换 ──
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step4_row = QHBoxLayout()
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step4_lbl = QLabel("第 4 步 · 开始转换")
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step4_lbl.setStyleSheet("color:#8ec8ff; font-weight:bold; font-size:12px;")
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step4_row.addWidget(step4_lbl)
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self.splat_check = QCheckBox("Splat 3×3 填充（减少 D2C 空洞，默认开启）")
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self.splat_check.setChecked(True)
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opt_run.addWidget(self.splat_check)
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opt_run.addStretch()
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step4_row.addWidget(self.splat_check)
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step4_row.addStretch()
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self.run_d2c_btn = QPushButton("▶ 开始批量 D2C 转换")
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self.run_d2c_btn.setFixedHeight(36)
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self.run_d2c_btn.setStyleSheet(
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@@ -851,8 +918,8 @@ class MainWindow(QMainWindow):
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"QPushButton:disabled{ background:#444; color:#777; }"
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)
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self.run_d2c_btn.clicked.connect(self._run_batch_d2c)
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opt_run.addWidget(self.run_d2c_btn)
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layout.addLayout(opt_run)
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step4_row.addWidget(self.run_d2c_btn)
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layout.addLayout(step4_row)
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# ── 日志 ──
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layout.addWidget(QLabel("输出日志："))
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@@ -875,6 +942,7 @@ class MainWindow(QMainWindow):
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self.color_combo.clear()
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self.depth_combo.clear()
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self.preset_combo.clear()
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self.d2c_color_combo.clear()
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self.d2c_depth_combo.clear()
|
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self._color_profiles_data.clear()
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@@ -916,14 +984,39 @@ class MainWindow(QMainWindow):
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self.depth_combo.addItem(label, cfg)
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self.d2c_depth_combo.addItem(label, cfg)
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# 枚举 preset
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try:
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preset_list = p.get_device().get_available_preset_list()
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current_preset = p.get_device().get_current_preset_name()
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if preset_list and len(preset_list) > 0:
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self.preset_combo.addItem("── 不切换 ──", None)
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for name in preset_list:
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self.preset_combo.addItem(name, name)
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# 选中当前 preset
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idx = self.preset_combo.findData(current_preset)
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if idx >= 0:
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self.preset_combo.setCurrentIndex(idx)
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self.preset_combo.setEnabled(True)
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else:
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self.preset_combo.addItem("（设备不支持）", None)
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self.preset_combo.setEnabled(False)
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except Exception:
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self.preset_combo.addItem("（不支持）", None)
|
||||
self.preset_combo.setEnabled(False)
|
||||
|
||||
nc, nd = len(self._color_profiles_data), len(self._depth_profiles_data)
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self.device_status.setText(
|
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f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项")
|
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msg = f"已连接 SN: {sn} 彩色 {nc} 项 / 深度 {nd} 项"
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self.device_status.setText(msg)
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self.device_status.setStyleSheet("color:#4aaa4a; font-size:12px;")
|
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self.d2c_device_status.setText(msg)
|
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self.d2c_device_status.setStyleSheet("color:#4aaa4a; font-size:12px;")
|
||||
|
||||
except Exception as exc:
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||||
self.device_status.setText(f"未找到设备：{exc}")
|
||||
msg = f"未找到设备：{exc}"
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||||
self.device_status.setText(msg)
|
||||
self.device_status.setStyleSheet("color:#cc6666; font-size:12px;")
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self.d2c_device_status.setText(msg)
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||||
self.d2c_device_status.setStyleSheet("color:#cc6666; font-size:12px;")
|
||||
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||||
# ─────────────────────────────────
|
||||
# Stream Toggle
|
||||
@@ -947,7 +1040,8 @@ class MainWindow(QMainWindow):
|
||||
|
||||
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)
|
||||
preset = self.preset_combo.currentData() # None 表示不切换
|
||||
self._worker = CameraWorker(color_cfg, depth_cfg, preset=preset)
|
||||
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)
|
||||
|
||||
Reference in New Issue
Block a user