add realsense camera

motion_comparison_app.py

@@ -11,6 +11,7 @@ import pandas as pd
 import numpy as np
 from collections import deque
 import math
+import pyrealsense2 as rs
 
 
 # 导入rtmlib
@@ -216,31 +217,130 @@ class MotionComparisonApp:
         self.similarity_analyzer = PoseSimilarityAnalyzer()  
         self.frame_counter = 0  
         
+        # RealSense相关
+        self.realsense_pipeline = None
+        self.realsense_config = None
+        self.is_realsense_active = False
+
+    def initialize_realsense(self):
+        """初始化RealSense摄像头"""
+        try:
+            # 创建pipeline和config
+            self.realsense_pipeline = rs.pipeline()
+            self.realsense_config = rs.config()
+            
+            # 配置RGB流 - 640x480 @ 30fps
+            self.realsense_config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+            
+            # 可选：启用深度流（如果需要）
+            # self.realsense_config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+            
+            # 启动pipeline
+            profile = self.realsense_pipeline.start(self.realsense_config)
+            
+            # 获取设备信息
+            device = profile.get_device()
+            device_info = f"RealSense {device.get_info(rs.camera_info.name)}"
+            
+            self.is_realsense_active = True
+            st.success(f"✅ RealSense摄像头初始化成功: {device_info}")
+            return True
+            
+        except Exception as e:
+            st.error(f"❌ RealSense摄像头初始化失败: {str(e)}")
+            st.info("尝试使用普通USB摄像头...")
+            
+            # 回退到普通摄像头
+            self.webcam_cap = cv2.VideoCapture(0)
+            if self.webcam_cap.isOpened():
+                st.info("✅ 使用普通USB摄像头")
+                return True
+            else:
+                st.error("❌ 无法打开任何摄像头")
+                return False
+    
+    def read_realsense_frame(self):
+        """从RealSense读取一帧图像"""
+        if not self.is_realsense_active or self.realsense_pipeline is None:
+            return False, None
+        
+        try:
+            # 等待新的帧
+            frames = self.realsense_pipeline.wait_for_frames(timeout_ms=5000)
+            
+            # 获取RGB帧
+            color_frame = frames.get_color_frame()
+            if not color_frame:
+                return False, None
+            
+            # 转换为numpy数组
+            color_image = np.asanyarray(color_frame.get_data())
+            
+            return True, color_image
+            
+        except Exception as e:
+            st.error(f"读取RealSense帧失败: {str(e)}")
+            return False, None
+    
+    def read_webcam_frame(self):
+        """统一的摄像头读取接口"""
+        if self.is_realsense_active:
+            return self.read_realsense_frame()
+        elif self.webcam_cap is not None and self.webcam_cap.isOpened():
+            ret, frame = self.webcam_cap.read()
+            return ret, frame
+        else:
+            return False, None
+    
+    def stop_realsense(self):
+        """停止RealSense摄像头"""
+        if self.is_realsense_active and self.realsense_pipeline is not None:
+            try:
+                self.realsense_pipeline.stop()
+                self.is_realsense_active = False
+                st.info("RealSense摄像头已停止")
+            except Exception as e:
+                st.error(f"停止RealSense时出错: {str(e)}")
+    
+    def cleanup(self):
+        """清理所有资源"""
+        if self.standard_cap is not None and self.standard_cap.isOpened():
+            self.standard_cap.release()
+            self.standard_cap = None
+        
+        if self.webcam_cap is not None and self.webcam_cap.isOpened():
+            self.webcam_cap.release()
+            self.webcam_cap = None
+        
+        self.stop_realsense()
+        self.is_running = False
 
     def preview_webcam(self):
         """显示摄像头预览，帮助用户调整位置"""
-        # 打开摄像头
+        # 初始化RealSense摄像头
-        self.webcam_cap = cv2.VideoCapture(0)
+        if not self.initialize_realsense():
-        if not self.webcam_cap.isOpened():
+            st.error("无法初始化摄像头")
-            st.error("无法打开摄像头")
             return False
         
         # 创建显示容器
         st.subheader("摄像头预览")
         preview_text = st.empty()
-        preview_text.info("请调整您的位置，确保全身在画面中清晰可见")
+        
+        # 显示摄像头信息
+        camera_info = "RealSense摄像头" if self.is_realsense_active else "普通USB摄像头"
+        preview_text.info(f"正在使用: {camera_info} - 请调整您的位置，确保全身在画面中清晰可见")
         
         preview_placeholder = st.empty()
         
         # 显示停止预览按钮
         col1, col2, col3 = st.columns([1, 1, 1])
-        stop_preview = col2.button("停止预览", key="stop_preview_btn")
         
         # 预览循环
-        while not stop_preview:
+        preview_active = True
+        while preview_active:
             # 读取摄像头帧
-            ret, frame = self.webcam_cap.read()
+            ret, frame = self.read_webcam_frame()
-            if not ret:
+            if not ret or frame is None:
                 st.error("无法获取摄像头画面")
                 break
             
@@ -266,13 +366,13 @@ class MotionComparisonApp:
             preview_placeholder.image(frame_rgb, caption="摄像头预览", use_column_width=True)
             
             # 检查停止按钮状态
-            if col2.button("停止预览", key=f"stop_preview_btn_{time.time()}", replace=True):
+            if col2.button("停止预览", key="stop_preview_btn"):
+                preview_active = False
                 break
             
             # 控制帧率
             time.sleep(0.03)  # 约30fps
         
-        # 返回预览是否成功
         return True
 
     def initialize_detector(self):
@@ -324,11 +424,10 @@ class MotionComparisonApp:
             st.error("无法打开标准视频文件")
             return
         
-        # 如果摄像头未打开，则打开摄像头
+        # 确保RealSense摄像头正常工作
-        if self.webcam_cap is None or not self.webcam_cap.isOpened():
+        if not self.is_realsense_active and (self.webcam_cap is None or not self.webcam_cap.isOpened()):
-            self.webcam_cap = cv2.VideoCapture(0)
+            if not self.initialize_realsense():
-            if not self.webcam_cap.isOpened():
+                st.error("无法初始化摄像头")
-                st.error("无法打开摄像头")
                 return
         
         # 获取视频信息
@@ -343,10 +442,11 @@ class MotionComparisonApp:
             standard_placeholder = st.empty()
             
         with col2:
-            st.subheader("摄像头实时影像")
+            camera_type = "RealSense摄像头" if self.is_realsense_active else "USB摄像头"
+            st.subheader(f"{camera_type}实时影像")
             webcam_placeholder = st.empty()
         
-        # 添加相似度显区域
+        # 添加相似度显示区域
         similarity_col1, similarity_col2 = st.columns([1, 2])
         with similarity_col1:
             st.subheader("实时相似度")
@@ -383,8 +483,8 @@ class MotionComparisonApp:
                 continue
             
             # 读取摄像头帧
-            ret_webcam, webcam_frame = self.webcam_cap.read()
+            ret_webcam, webcam_frame = self.read_webcam_frame()
-            if not ret_webcam:
+            if not ret_webcam or webcam_frame is None:
                 st.error("无法获取摄像头画面")
                 break
             
@@ -399,8 +499,12 @@ class MotionComparisonApp:
             webcam_frame = cv2.resize(webcam_frame, (target_width, target_height))
             
             # 处理关键点检测
-            standard_keypoints, standard_scores = self.body_detector(standard_frame)
+            try:
-            webcam_keypoints, webcam_scores = self.body_detector(webcam_frame)
+                standard_keypoints, standard_scores = self.body_detector(standard_frame)
+                webcam_keypoints, webcam_scores = self.body_detector(webcam_frame)
+            except Exception as e:
+                st.error(f"关键点检测错误: {str(e)}")
+                continue
             
             # 每10帧计算一次相似度
             if self.frame_counter % 10 == 0:
@@ -503,11 +607,8 @@ class MotionComparisonApp:
             with col3:
                 st.metric("最低相似度", f"{min_similarity:.1f}%")
         
-        # 清理资源
+        # 停止RealSense但不清理，可能还要预览
-        if self.standard_cap:
+        # self.stop_realsense() # 注释掉，让用户手动停止
-            self.standard_cap.release()
-        if self.webcam_cap:
-            self.webcam_cap.release()
 
 def main():
     os.makedirs("preset_videos", exist_ok=True)
@@ -599,6 +700,10 @@ def main():
         if st.button("初始化关键点检测器"):
             with st.spinner("正在初始化..."):
                 app.initialize_detector()
+            # 同时初始化RealSense摄像头
+            with st.spinner("正在初始化RealSense摄像头..."):
+                app.initialize_realsense()
+
         
         # 显示系统信息
         st.subheader("系统信息")