add realsense camera
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game-loader
parent
636fda3598
commit
c2c880a569
@ -11,6 +11,7 @@ import pandas as pd
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import numpy as np
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from collections import deque
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import math
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import pyrealsense2 as rs
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# 导入rtmlib
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@ -216,31 +217,130 @@ class MotionComparisonApp:
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self.similarity_analyzer = PoseSimilarityAnalyzer()
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self.frame_counter = 0
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# RealSense相关
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self.realsense_pipeline = None
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self.realsense_config = None
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self.is_realsense_active = False
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def initialize_realsense(self):
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"""初始化RealSense摄像头"""
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try:
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# 创建pipeline和config
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self.realsense_pipeline = rs.pipeline()
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self.realsense_config = rs.config()
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# 配置RGB流 - 640x480 @ 30fps
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self.realsense_config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
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# 可选：启用深度流（如果需要）
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# self.realsense_config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
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# 启动pipeline
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profile = self.realsense_pipeline.start(self.realsense_config)
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# 获取设备信息
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device = profile.get_device()
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device_info = f"RealSense {device.get_info(rs.camera_info.name)}"
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self.is_realsense_active = True
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st.success(f"✅ RealSense摄像头初始化成功: {device_info}")
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return True
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except Exception as e:
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st.error(f"❌ RealSense摄像头初始化失败: {str(e)}")
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st.info("尝试使用普通USB摄像头...")
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# 回退到普通摄像头
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self.webcam_cap = cv2.VideoCapture(0)
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if self.webcam_cap.isOpened():
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st.info("✅ 使用普通USB摄像头")
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return True
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else:
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st.error("❌ 无法打开任何摄像头")
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return False
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def read_realsense_frame(self):
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"""从RealSense读取一帧图像"""
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if not self.is_realsense_active or self.realsense_pipeline is None:
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return False, None
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try:
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# 等待新的帧
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frames = self.realsense_pipeline.wait_for_frames(timeout_ms=5000)
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# 获取RGB帧
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color_frame = frames.get_color_frame()
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if not color_frame:
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return False, None
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# 转换为numpy数组
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color_image = np.asanyarray(color_frame.get_data())
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return True, color_image
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except Exception as e:
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st.error(f"读取RealSense帧失败: {str(e)}")
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return False, None
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def read_webcam_frame(self):
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"""统一的摄像头读取接口"""
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if self.is_realsense_active:
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return self.read_realsense_frame()
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elif self.webcam_cap is not None and self.webcam_cap.isOpened():
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ret, frame = self.webcam_cap.read()
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return ret, frame
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else:
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return False, None
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def stop_realsense(self):
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"""停止RealSense摄像头"""
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if self.is_realsense_active and self.realsense_pipeline is not None:
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try:
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self.realsense_pipeline.stop()
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self.is_realsense_active = False
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st.info("RealSense摄像头已停止")
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except Exception as e:
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st.error(f"停止RealSense时出错: {str(e)}")
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def cleanup(self):
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"""清理所有资源"""
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if self.standard_cap is not None and self.standard_cap.isOpened():
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self.standard_cap.release()
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self.standard_cap = None
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if self.webcam_cap is not None and self.webcam_cap.isOpened():
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self.webcam_cap.release()
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self.webcam_cap = None
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self.stop_realsense()
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self.is_running = False
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def preview_webcam(self):
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"""显示摄像头预览，帮助用户调整位置"""
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# 打开摄像头
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self.webcam_cap = cv2.VideoCapture(0)
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if not self.webcam_cap.isOpened():
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st.error("无法打开摄像头")
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# 初始化RealSense摄像头
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if not self.initialize_realsense():
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st.error("无法初始化摄像头")
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return False
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# 创建显示容器
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st.subheader("摄像头预览")
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preview_text = st.empty()
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preview_text.info("请调整您的位置，确保全身在画面中清晰可见")
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# 显示摄像头信息
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camera_info = "RealSense摄像头" if self.is_realsense_active else "普通USB摄像头"
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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")
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preview_placeholder = st.empty()
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# 显示停止预览按钮
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col1, col2, col3 = st.columns([1, 1, 1])
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stop_preview = col2.button("停止预览", key="stop_preview_btn")
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# 预览循环
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while not stop_preview:
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preview_active = True
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while preview_active:
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# 读取摄像头帧
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ret, frame = self.webcam_cap.read()
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if not ret:
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ret, frame = self.read_webcam_frame()
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if not ret or frame is None:
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st.error("无法获取摄像头画面")
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break
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@ -266,13 +366,13 @@ class MotionComparisonApp:
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preview_placeholder.image(frame_rgb, caption="摄像头预览", use_column_width=True)
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# 检查停止按钮状态
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if col2.button("停止预览", key=f"stop_preview_btn_{time.time()}", replace=True):
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if col2.button("停止预览", key="stop_preview_btn"):
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preview_active = False
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break
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# 控制帧率
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time.sleep(0.03) # 约30fps
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# 返回预览是否成功
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return True
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def initialize_detector(self):
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@ -324,11 +424,10 @@ class MotionComparisonApp:
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st.error("无法打开标准视频文件")
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return
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# 如果摄像头未打开，则打开摄像头
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if self.webcam_cap is None or not self.webcam_cap.isOpened():
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self.webcam_cap = cv2.VideoCapture(0)
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if not self.webcam_cap.isOpened():
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st.error("无法打开摄像头")
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# 确保RealSense摄像头正常工作
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if not self.is_realsense_active and (self.webcam_cap is None or not self.webcam_cap.isOpened()):
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if not self.initialize_realsense():
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st.error("无法初始化摄像头")
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return
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# 获取视频信息
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@ -343,10 +442,11 @@ class MotionComparisonApp:
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standard_placeholder = st.empty()
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with col2:
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st.subheader("摄像头实时影像")
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camera_type = "RealSense摄像头" if self.is_realsense_active else "USB摄像头"
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st.subheader(f"{camera_type}实时影像")
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webcam_placeholder = st.empty()
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# 添加相似度显区域
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# 添加相似度显示区域
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similarity_col1, similarity_col2 = st.columns([1, 2])
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with similarity_col1:
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st.subheader("实时相似度")
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@ -383,8 +483,8 @@ class MotionComparisonApp:
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continue
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# 读取摄像头帧
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ret_webcam, webcam_frame = self.webcam_cap.read()
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if not ret_webcam:
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ret_webcam, webcam_frame = self.read_webcam_frame()
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if not ret_webcam or webcam_frame is None:
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st.error("无法获取摄像头画面")
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break
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@ -399,8 +499,12 @@ class MotionComparisonApp:
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webcam_frame = cv2.resize(webcam_frame, (target_width, target_height))
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# 处理关键点检测
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standard_keypoints, standard_scores = self.body_detector(standard_frame)
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webcam_keypoints, webcam_scores = self.body_detector(webcam_frame)
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try:
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standard_keypoints, standard_scores = self.body_detector(standard_frame)
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webcam_keypoints, webcam_scores = self.body_detector(webcam_frame)
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except Exception as e:
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st.error(f"关键点检测错误: {str(e)}")
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continue
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# 每10帧计算一次相似度
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if self.frame_counter % 10 == 0:
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@ -503,11 +607,8 @@ class MotionComparisonApp:
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with col3:
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st.metric("最低相似度", f"{min_similarity:.1f}%")
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# 清理资源
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if self.standard_cap:
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self.standard_cap.release()
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if self.webcam_cap:
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self.webcam_cap.release()
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# 停止RealSense但不清理，可能还要预览
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# self.stop_realsense() # 注释掉，让用户手动停止
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def main():
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os.makedirs("preset_videos", exist_ok=True)
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@ -599,6 +700,10 @@ def main():
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if st.button("初始化关键点检测器"):
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with st.spinner("正在初始化..."):
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app.initialize_detector()
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# 同时初始化RealSense摄像头
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with st.spinner("正在初始化RealSense摄像头..."):
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app.initialize_realsense()
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# 显示系统信息
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st.subheader("系统信息")
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