上传新文件

QtUi.py

+from QtTest import Ui_MainWindow
+import sys
+import os
+from PyQt5.QtWidgets import QApplication,QMainWindow,QFileDialog
+from PyQt5.QtCore import QTimer,QCoreApplication
+from PyQt5.QtGui import QPixmap
+from PyQt5 import QtGui
+import cv2
+# import qimage2ndarray
+import time
+import pyrealsense2 as rs
+import numpy as np
+
+
+class CamShow(QMainWindow, Ui_MainWindow):
+    def __init__(self, parent=None):
+        super(CamShow, self).__init__(parent)
+        self.setupUi(self)
+        self.prepareWidgets()
+        self.prepareParameters()
+        self.CallBackFunctions()
+        self.Timer = QTimer()
+        self.Timer.timeout.connect(self.TimerOutRun)
+
+    def prepareWidgets(self):
+        self.videoLabels = [self.videoLabel1, self.videoLabel2]
+
+        self.prepareCameras()
+        self.pauseButton.setEnabled(False)
+        self.saveButton.setEnabled(False)
+
+    def initCamera(self, camera_idx):
+        try:
+            config = rs.config()
+            config.enable_device(camera_idx)
+            config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+            config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+            return config
+        except Exception as e:
+            self.textEdit.clear()
+            self.textEdit.append(str(e))
+            return None
+
+    def prepareCameras(self, max_camera_num=2):
+        realsense_ctx = rs.context()
+        self.connected_devices = []
+        for i in range(len(realsense_ctx.devices)):
+            detected_camera = realsense_ctx.devices[i].get_info(rs.camera_info.serial_number)
+            self.connected_devices.append(detected_camera)
+        self.cameras = []
+        for i in range(min(len(self.connected_devices), max_camera_num)):
+            config = self.initCamera(self.connected_devices[i])
+            if config:
+                self.cameras.append((rs.pipeline(), config))
+        self.textEdit.setText('{} cameras has been connected.'.format(len(self.cameras)))
+
+    def prepareParameters(self):
+        self.record_flag = 0
+        self.save_path = os.path.join(os.path.expanduser('~'), 'realsense_video/')
+        self.lineEdit.setText(self.save_path)
+
+    def CallBackFunctions(self):
+        self.pushButton_3.clicked.connect(self.SetFilePath)
+        self.beginButton.clicked.connect(self.StartCameras)
+        self.pauseButton.clicked.connect(self.StopCameras)
+        self.quitButton.clicked.connect(self.exitApp)
+        self.saveButton.clicked.connect(self.RecordCamera)
+
+    def StartCameras(self):
+        self.beginButton.setEnabled(False)
+        self.pauseButton.setEnabled(True)
+        self.saveButton.setEnabled(True)
+        self.saveButton.setText('录像')
+        for camera in self.cameras:
+            camera[0].start(camera[1])
+        self.Timer.start(1)
+        # self.timelb = time.clock()
+
+    def StopCameras(self):
+        if self.pauseButton.text() == '暂停':
+            self.pauseButton.setText('继续')
+            self.saveButton.setText('保存')
+            self.saveButton.setEnabled(False)
+            self.Timer.stop()
+        elif self.pauseButton.text() == '继续':
+            self.pauseButton.setText('暂停')
+            self.saveButton.setText('录像')
+            self.saveButton.setEnabled(True)
+            self.Timer.start(1)
+
+    def TimerOutRun(self):
+        for idx, camera in enumerate(self.cameras):
+            pipeline = camera[0]
+            frames = pipeline.wait_for_frames()
+            depth_frame = frames.get_depth_frame()
+            color_frame = frames.get_color_frame()
+            if not depth_frame or not color_frame:
+                continue
+            # Convert images to numpy arrays
+            depth_image = np.asanyarray(depth_frame.get_data())
+            color_image = np.asanyarray(color_frame.get_data())
+            # print(color_image.shape)
+            # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
+            depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
+
+            # Stack both images horizontally
+            images = np.hstack((color_image, depth_colormap))
+            show = cv2.resize(color_image, (640, 480))
+            show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
+
+            self.DispImg(show, idx)
+            if self.record_flag:
+                self.video_writer[idx].write(color_image)
+                self.depth_writer[idx].write(depth_image)
+
+    def DispImg(self, show, camera_idx):
+        showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], QtGui.QImage.Format_RGB888)
+        self.videoLabels[camera_idx].setPixmap(QtGui.QPixmap.fromImage(showImage))
+        self.videoLabels[camera_idx].show()
+
+    def SetFilePath(self):
+        dirname = QFileDialog.getExistingDirectory(self, "浏览", '.')
+        if dirname:
+            self.lineEdit.setText(dirname)
+            self.save_path = dirname+'/'
+
+    def RecordCamera(self):
+        tag = self.saveButton.text()
+        if not os.path.exists(self.save_path):
+            os.makedirs(self.save_path)
+        if tag == '录像':
+            self.Timer.stop()
+            self.saveButton.setText('停止')
+            str_time = time.strftime('%Y%m%d%H%M%S', time.localtime(time.time()))
+            video_names = [self.save_path + 'color_camera' + str(i+1)+'_'
+                           + str_time + '.mp4' for i in range(len(self.cameras))]
+            depth_names = [video_name.replace('color', 'depth').replace('mp4', 'depth') for video_name in video_names]
+            print(video_names)
+            # size = (self.Image.shape[1],self.Image.shape[0])
+            # fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
+            fourcc = cv2.VideoWriter_fourcc(*'PIM1')
+            fps = 30
+            size = (640, 480)
+
+            self.video_writer = [cv2.VideoWriter(video_name, fourcc, fps, size) for video_name in video_names]
+            self.depth_writer = [open(depth_name, 'wb') for depth_name in depth_names]
+            self.record_flag = 1
+            self.textEdit.setText('Video recording...')
+            self.Timer.start(1)
+            self.pauseButton.setEnabled(False)
+            self.quitButton.setEnabled(False)
+        elif tag == '停止':
+            self.Timer.stop()
+            self.saveButton.setText('录像')
+            self.record_flag = 0
+            self.Timer.start(1)
+            [video_writer.release() for video_writer in self.video_writer]
+            [depth_writer.close() for depth_writer in self.depth_writer]
+            self.textEdit.setText('Video saved.')
+            self.pauseButton.setEnabled(True)
+            self.quitButton.setEnabled(True)
+
+    def exitApp(self):
+        self.Timer.stop()
+        self.textEdit.setText('Exiting the application..')
+        try:
+            [camera[0].stop() for camera in self.cameras]
+        except Exception as e:
+            pass
+        QCoreApplication.quit()
+
+
+
+
+
+
+
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    ui=CamShow()
+    ui.show()
+    sys.exit(app.exec_())