3 changed files with 0 additions and 590 deletions
@ -1,67 +0,0 @@ |
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{ |
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"server": { |
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"port": 2230 |
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}, |
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"fps": { |
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"data": 10, |
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"video": 0 |
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}, |
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"capture": "0", |
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"targets": { |
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"0": { |
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"info": { |
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"rectangle_area": { |
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"x": 50, |
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"y": 230, |
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"w": 130, |
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"h": 100 |
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}, |
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"threshold": { |
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"binary": 180, |
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"gauss": 7 |
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}, |
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"radius": 20.0, |
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"id": 0, |
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"desc": "0_up", |
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"base": false |
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}, |
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"perspective": [ |
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[ |
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1.02, |
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-0.277155559, |
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109.207622 |
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], |
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[ |
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0.0802663708, |
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1.00426514, |
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-34.8436318 |
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], |
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[ |
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3.80200276e-05, |
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2.664279e-06, |
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1.0 |
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] |
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], |
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"handler_info": { |
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"radius_pix": 20.0, |
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"pix_length": 1.0, |
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"center_point": { |
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"x": 125.0, |
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"y": 272.0 |
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}, |
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"center_init": { |
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"x": 123.5, |
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"y": 272.0 |
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}, |
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"displacement_pix": { |
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"x": 1.5, |
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"y": 0.0 |
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}, |
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"displacement_phy": { |
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"x": 1.5, |
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"y": 0.0 |
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} |
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} |
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} |
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} |
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} |
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@ -1,463 +0,0 @@ |
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from datetime import datetime |
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import json |
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import queue |
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import time |
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from time import sleep |
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import cv2 |
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import numpy as np |
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import logging |
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|
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import configSer |
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import models.target |
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import models.sampleMsg |
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import upload.DataReporter |
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import utils |
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import videoPush |
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from models.msg import Msg |
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|
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logging.basicConfig(level=logging.DEBUG) |
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drawing: bool = False # 是否正在绘制 |
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is_video_mode: bool = False # 是否采用标靶图覆盖 |
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# 定义点 |
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start_point: models.target.Point |
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end_point: models.target.Point |
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# 配置 |
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configObj:configSer.ConfigOperate |
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|
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# 鼠标回调函数 |
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def add_rectangle(event, x, y, flags, param): |
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global start_point, end_point, drawing |
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|
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if event == cv2.EVENT_LBUTTONDOWN: # 左键按下 |
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logging.info("左键按下") |
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start_point = models.target.Point(x, y) |
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end_point = start_point |
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drawing = True |
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elif event == cv2.EVENT_MOUSEMOVE: # 鼠标移动 |
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if drawing: |
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end_point = models.target.Point(x, y) |
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elif event == cv2.EVENT_LBUTTONUP: # 左键抬起 |
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logging.info("左键抬起") |
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drawing = False |
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end_point = models.target.Point(x, y) |
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if start_point == end_point: |
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return |
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distance = cv2.norm(tuple(start_point), tuple(end_point), cv2.NORM_L2) |
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if distance < 20: |
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logging.info("距离小于20,无效区域") |
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return |
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target_id = len(configObj.config_info.targets) |
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# 圆标靶半径 mm |
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radius = 20.0 |
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area=models.target.RectangleArea(int(start_point.x),int(start_point.y), |
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int(end_point.x-start_point.x),int(end_point.y-start_point.y)) |
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t_info=models.target.TargetInfo( target_id, |
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"test add", |
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area, |
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radius, |
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models.target.Threshold(190,9), |
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False) |
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new_target = models.target.CircleTarget(t_info,None,None) |
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logging.info(f"新增区域[{target_id}] => {start_point, end_point}") |
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configObj.config_info.targets[target_id] = new_target |
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|
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def read_target_rectangle(): |
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return configObj.config_info.targets |
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class VideoProcessor: |
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reporter: upload.DataReporter.DataReporter |
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capture: cv2.VideoCapture |
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is_opened: bool= False |
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is_running = True |
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def __init__(self, reporter:upload.DataReporter.DataReporter): |
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self.reporter = reporter |
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|
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def on_data(self,msg:Msg): |
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global configObj,is_video_mode |
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logging.info(f"msg={msg}") |
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match msg.cmd: |
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case "getPoints": |
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targets=configObj.config_info.targets.copy() |
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for k,v in targets.items(): |
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targets[k].handler_info=None |
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|
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resp_msg = models.msg.Msg(_from="dev", cmd="getPoints", values={"targets": targets}) |
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resp_json = resp_msg.to_json_() |
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return resp_json |
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case "setPoints": |
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v=msg.values |
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ts=v["targets"] |
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|
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# 清空原配置 |
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configObj.config_info.targets={} |
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for _,t in ts.items(): |
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t_str=json.dumps(t) |
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new_c_target = models.target.CircleTarget.from_json(t_str) |
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configObj.config_info.targets[new_c_target.info.id] =new_c_target |
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|
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configObj.save2json_file() |
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resp_msg = models.msg.Msg(_from="dev", cmd="setPoints", values={"operate": True}) |
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resp_json = resp_msg.to_json() |
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return resp_json |
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case "videoFps": |
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v = msg.values |
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fps = v["fps"] |
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self.reporter.adjust_rate(fps,"image") |
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configObj.config_info.fps.video = fps |
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configObj.save2json_file() |
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resp_msg = models.msg.Msg(_from="dev", cmd="videoFps", values={"operate": True}) |
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resp_json = resp_msg.to_json() |
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return resp_json |
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case "dataFps": |
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v = msg.values |
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fps = v["fps"] |
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self.reporter.adjust_rate(fps,"data") |
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configObj.config_info.fps.data=fps |
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configObj.save2json_file() |
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resp_msg = models.msg.Msg(_from="dev", cmd="dataFps", values={"operate": True}) |
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resp_json = resp_msg.to_json() |
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return resp_json |
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case "setCap": |
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v = msg.values |
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cap = v["cap"] |
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self.switch_video(cap) |
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resp_msg = models.msg.Msg(_from="dev", cmd="setCap", values={"operate": True}) |
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resp_json = resp_msg.to_json() |
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return resp_json |
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case "videoMode": |
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v = msg.values |
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is_debug = v["debug"] |
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is_video_mode=is_debug |
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resp_msg = models.msg.Msg(_from="dev", cmd="videoMode", values={"operate": True}) |
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resp_json = resp_msg.to_json() |
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return resp_json |
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print("==") |
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|
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|
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def pre_handler_img(self,gray_frame,now_str:str): |
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# 将灰度图压缩为 JPEG 格式，并存储到内存缓冲区 |
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img_base64 = utils.frame_to_base64(gray_frame, format="JPEG") |
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all_img = models.sampleMsg.AllImg(image=img_base64, time=now_str) |
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self.enqueue_image(all_img) |
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|
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def draw_rectangle(self,img): |
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global configObj,is_video_mode |
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gray_frame = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) |
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|
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now_str = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3] |
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#图像发送 |
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if configObj.config_info.fps.video > 0: |
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self.pre_handler_img(gray_frame,now_str) |
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|
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|
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if len(configObj.config_info.targets)==0: return |
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|
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# 基点 |
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base_point_pix:models.target.Point=None |
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|
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#上报有新数据的点 |
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all_upload_data = models.sampleMsg.AllSensorData(data=[], time=now_str) |
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# 绘图-历史点 |
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for i, tr in configObj.config_info.targets.items(): |
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if not hasattr(tr, "info"): |
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print("====") |
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_start_point = models.target.Point(tr.info.rectangle_area.x, tr.info.rectangle_area.y) |
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_end_point = models.target.Point( |
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tr.info.rectangle_area.x+tr.info.rectangle_area.w, |
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tr.info.rectangle_area.y+tr.info.rectangle_area.h) |
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#绘制标靶区域 |
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blue_color = (255, 0, 0) |
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if tr.info.base: |
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blue_color=(200, 0, 200) #紫红色 基点 |
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|
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cv2.rectangle(img,tuple(_start_point), tuple(_end_point), blue_color, 2) |
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label=f"{tr.info.desc},r={tr.info.radius}" |
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cv2.putText(img, label, (_start_point.x,_start_point.y-6), cv2.FONT_HERSHEY_SIMPLEX, 0.6, blue_color,1) |
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#检测 |
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# 获取图像尺寸 |
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frame_height, frame_width = gray_frame.shape[:2] |
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if _end_point.x>frame_width or _end_point.y>frame_height: |
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print(f"标靶[{tr.info.desc}]sub_image 超出区域") |
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continue |
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sub_image = self.extract_sub_image(gray_frame, _start_point, _end_point) |
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|
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|
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ret, sub_binary_frame = cv2.threshold(sub_image, tr.info.threshold.binary, 255, cv2.THRESH_BINARY) |
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# 高斯滤波 |
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gauss_size=tr.info.threshold.gauss |
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sub_binary_frame = cv2.GaussianBlur(sub_binary_frame, (gauss_size, gauss_size), sigmaX=0,sigmaY=0,borderType=cv2.BORDER_REPLICATE) |
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# sub_binary_frame = cv2.bilateralFilter(sub_binary_frame, 5, 50, 50) |
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if tr.perspective is not None: |
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# 宽度 |
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sub_width = sub_binary_frame.shape[1] |
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# 高度 |
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sub_height = sub_binary_frame.shape[0] |
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|
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sub_binary_frame = cv2.warpPerspective(sub_binary_frame, tr.perspective, (sub_width, sub_height)) |
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|
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|
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# 覆盖原图 |
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if is_video_mode: |
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sub_c_img= cv2.cvtColor(sub_binary_frame, cv2.COLOR_GRAY2BGR) |
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self.cover_sub_image(img,sub_c_img, _start_point, _end_point) |
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|
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if __debug__: |
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cv2.imshow(f'{tr.info.id}_binaryImg', sub_binary_frame) |
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|
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circles = self.circle2_detect(sub_binary_frame) |
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if len(circles) == 0: |
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continue |
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center,radius_pix=self.circle_match(circles,_start_point) |
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# 纪录圆心位置 |
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if tr.handler_info is None: |
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tr.handler_info= models.target.HandlerInfo() |
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if tr.handler_info.is_init: |
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tr.handler_info.is_init=False |
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tr.handler_info.center_init = center |
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|
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# 数据平滑处理 |
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smooth_center = tr.handler_info.enqueue_center_point(center) |
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# print(f"{tr.info.desc},平滑len={len(tr.handler_info.center_point_queue)},平滑中心点={smooth_center},原始点={center}") |
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tr.handler_info.center_point=smooth_center |
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# 原始处理 tr.handler_info.center_point=center |
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tr.handler_info.radius_pix=radius_pix |
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tr.circle_displacement_pix() |
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|
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# 基点 |
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if tr.info.base: |
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base_point_pix=tr.handler_info.displacement_pix |
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|
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# 画圆 |
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self.circle_show(img,smooth_center,radius_pix,_start_point,_end_point) |
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|
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# 基于像素点计算 物理距离 |
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for i, tr in configObj.config_info.targets.items(): |
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|
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if tr.handler_info is None: |
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continue |
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if tr.handler_info.displacement_pix is None: |
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continue |
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# 减去基点偏移 |
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if base_point_pix is not None: |
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raw_point=tr.handler_info.displacement_pix |
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tr.handler_info.displacement_pix=models.target.Point( |
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x=raw_point.x-base_point_pix.x, |
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y=raw_point.y-base_point_pix.y) |
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if not tr.info.base: |
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# print(f"[{tr.info.id}]{tr.info.desc} 原偏 {raw_point} - 基偏{base_point_pix} ={tr.handler_info.displacement_pix}") |
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pass |
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tr.circle_displacement_phy() |
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if tr.handler_info.displacement_phy is not None: |
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all_upload_data.data.append( |
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models.sampleMsg.SensorData( |
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str(tr.info.id), |
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tr.handler_info.displacement_phy.x, |
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tr.handler_info.displacement_phy.y) |
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) |
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tr.handler_info.displacement_pix=None |
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tr.handler_info.displacement_phy = None |
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|
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|
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#过滤无效空数据 |
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if len(all_upload_data.data)==0: |
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return |
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|
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if configObj.config_info.fps.data > 0: |
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self.enqueue_data(all_upload_data) |
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|
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|
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|
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def circle_match(self,circles, rect_s_point:models.target.Point)-> (models.target.Point,float): |
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|
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circle = max(circles, key=lambda c: c[2]) |
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|
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# 绘制圆心 |
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center = (circle[0] + rect_s_point.x, circle[1] + rect_s_point.y) |
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radius = float(np.round(circle[2], 3)) |
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cp = models.target.Point(x=center[0], y=center[1]) |
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return cp,radius |
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|
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def circle_show(self, img, center: models.target.Point,radius:float, rect_s_point: models.target.Point,rect_e_point: models.target.Point): |
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|
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font = cv2.FONT_HERSHEY_SIMPLEX |
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color = (255, 0, 0) # 蓝色 |
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scale = 0.5 |
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center_int = tuple(int(x) for x in center) |
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radius_int = int(radius) |
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cv2.circle(img, center_int, 2, (0, 255, 0), 4) |
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# 绘制外圆 |
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cv2.circle(img, center_int, radius_int, (0, 0, 255), 1) |
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# 打印圆心坐标 |
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|
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text1 = f"c:{(center.x,center.y,radius)}" |
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txt_location = (rect_s_point.x+2,rect_e_point.y-2) |
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# txt_location = (center_int[0] - radius_int, center_int[1] + radius_int + 10) |
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cv2.putText(img, text1, txt_location, font, scale, color, 1) |
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|
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|
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def circle2_detect(self,img): |
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# 圆心距 canny阈值 最小半径 最大半径 |
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circles_float = cv2.HoughCircles(img, cv2.HOUGH_GRADIENT_ALT, 1, 30, param1=200, param2=0.8, minRadius=15, |
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maxRadius=0) |
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# 创建一个0行, 2列的空数组 |
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if circles_float is not None: |
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# 提取圆心坐标（保留2位小数） |
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centers = [(round(float(x),2), round(float(y),2), round(float(r),2)) for x, y, r in circles_float[0, :]] |
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return centers |
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else: |
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return [] |
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|
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|
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def extract_sub_image(self,frame, top_left, bottom_right): |
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""" |
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从帧中截取子区域 |
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:param frame: 输入的视频帧 |
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:param top_left: 子图片的左上角坐标 (x1, y1) |
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:param bottom_right: 子图片的右下角坐标 (x2, y2) |
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:return: 截取的子图片 |
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""" |
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x1, y1 = top_left |
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x2, y2 = bottom_right |
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return frame[y1:y2, x1:x2] |
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|
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def cover_sub_image(self,frame,sub_frame, top_left, bottom_right): |
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x1, y1 = top_left |
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x2, y2 = bottom_right |
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frame[y1:y2, x1:x2]= sub_frame |
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return frame |
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|
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|
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def open_video(self,video_id): |
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sleep(1) |
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print(f"打开摄像头 -> {video_id}") |
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self.capture = cv2.VideoCapture(video_id) |
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frame_width = int(self.capture.get(cv2.CAP_PROP_FRAME_WIDTH)) |
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frame_height = int(self.capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) |
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print(f"默认分辨率= {frame_width}*{frame_height}") |
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logging.info(f"{video_id}地址->{self.capture}") |
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if not self.capture.isOpened(): |
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self.capture.release() |
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logging.info(f"无法打开摄像头{video_id}, release地址 -> {self.capture}") |
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return |
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fps = self.capture.get(cv2.CAP_PROP_FPS) |
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print(f"fps={fps},video_id={video_id},") |
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# self.capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1600) # 宽度 |
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# self.capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 900) # 高度 |
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self.is_opened=True |
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|
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def switch_video(self,video_id:str): |
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print(f"切换摄像头 -> {video_id}") |
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self.is_opened = False |
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self.capture.release() |
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cv2.destroyAllWindows() |
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if str.isdigit(video_id): |
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video_id=int(video_id) |
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self.open_video(video_id) |
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|
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|
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|
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def show_video(self): |
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global sigExit,start_point, end_point, drawing |
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if __debug__: |
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cv2.namedWindow('Frame') |
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cv2.setMouseCallback('Frame', add_rectangle) |
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# 读取一帧图像 |
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while self.is_running: |
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if not self.is_opened: |
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print(f"摄像头 标记is_opened={self.is_opened}") |
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sleep(5) |
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continue |
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ret, frame = self.capture.read() |
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if ret: |
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self.frame_handle(frame) |
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else: |
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logging.info(f"无法读取帧，cap地址- >{self.capture}") |
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sleep(1) |
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# self.capture.release() |
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# self.capture= cv2.VideoCapture(0) # 再次尝试 |
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cv2.waitKey(1) |
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# 显示图像 |
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if frame is not None: |
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if __debug__: |
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cv2.imshow('Frame', frame) |
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#缓存到推流 |
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videoPush.update_latest_frame(frame) |
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print("退出VideoProcessor") |
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def show_image(self,frame): |
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global start_point, end_point, drawing |
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if __debug__: |
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cv2.namedWindow('Frame') |
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cv2.setMouseCallback('Frame', add_rectangle) |
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# 读取一帧图像 |
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while True: |
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cp_img=frame.copy() |
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self.frame_handle(cp_img) |
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|
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if cv2.waitKey(1) & 0xFF == ord('q'): # 按'q'退出循环 |
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break |
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cv2.destroyAllWindows() |
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|
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def frame_handle(self,frame): |
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# 绘图-历史点 |
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self.draw_rectangle(frame) |
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# 绘图-实时 |
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if drawing: |
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cv2.rectangle(frame, tuple(start_point), tuple(end_point), (0, 200, 200), 4) |
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# print(f"鼠标位置 {start_point} -> {end_point}") |
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|
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def image_mode(self): |
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img_raw=cv2.imread('images/trans/_4point.jpg')#images/target/rp80max3.jpg |
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# img_raw = cv2.imread('images/trans/_4point.jpg') # images/target/rp80max3.jpg |
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# img_raw = cv2.imread('images/target/rp80.jpg') # images/target/rp80max3.jpg |
|||
self.show_image(img_raw) |
|||
|
|||
# 支持 |
|||
def video_mode(self,video_id:str): |
|||
if str.isdigit(video_id): |
|||
video_id=int(video_id) |
|||
self.open_video(video_id) |
|||
self.show_video() |
|||
# 释放摄像头资源并关闭所有窗口 |
|||
print("退出 video") |
|||
self.capture.release() |
|||
cv2.destroyAllWindows() |
|||
|
|||
def rtsp_mode(self,rtsp_url:str): |
|||
# rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554" |
|||
# rtsp_url ="rtsp://admin:123456abc@192.168.1.64:554/h264/ch1/main/av_stream" |
|||
self.open_video(rtsp_url) |
|||
fps = self.capture.get(cv2.CAP_PROP_FPS) |
|||
print(f"rtsp fps={fps}") |
|||
self.show_video() |
|||
# 释放摄像头资源并关闭所有窗口 |
|||
self.capture.release() |
|||
cv2.destroyAllWindows() |
|||
|
|||
def enqueue_data(self,data): |
|||
# 获取当前时间戳 |
|||
timestamp = time.time() |
|||
# 将时间戳转换为 datetime 对象 |
|||
dt = datetime.fromtimestamp(timestamp).strftime("%Y%m%d%H%M%S%f")[:-3] # 毫秒部分是微秒的前三位 |
|||
# 放入图片队列(自动丢弃最旧数据当队列满时) |
|||
try: |
|||
self.reporter.data_queue.put((dt, data), block=False) |
|||
except queue.Full: |
|||
# self.reporter.data_dropped += 1 |
|||
pass |
|||
def enqueue_image(self,data): |
|||
# 获取当前时间戳 |
|||
timestamp = time.time() |
|||
# 将时间戳转换为 datetime 对象 |
|||
dt = datetime.fromtimestamp(timestamp).strftime("%Y%m%d%H%M%S%f")[:-3] # 毫秒部分是微秒的前三位 |
|||
# 放入图片队列(自动丢弃最旧数据当队列满时) |
|||
try: |
|||
self.reporter.image_queue.put((dt, data), block=False) |
|||
except queue.Full: |
|||
pass |
|||
#self.reporter.image_dropped += 1 |
|||
|
|||
def stop(self): |
|||
self.is_running=False |
|||
self.capture.release() |
|||
|
|||
|
|||
|
|||
@ -1,60 +0,0 @@ |
|||
from time import sleep |
|||
|
|||
import cv2 |
|||
import threading |
|||
import time |
|||
|
|||
import numpy as np |
|||
import requests |
|||
from flask import Flask, Response, render_template_string, request |
|||
|
|||
import utils |
|||
|
|||
app_flask = Flask(__name__) |
|||
|
|||
# 全局变量，用于存储最新的帧 |
|||
latest_frame:np.ndarray = None |
|||
lock = threading.Lock() |
|||
is_running = True |
|||
|
|||
def update_latest_frame(n_bytes:np.ndarray): |
|||
global latest_frame |
|||
latest_frame=n_bytes |
|||
|
|||
def generate_mjpeg(): |
|||
"""生成MJPEG格式的视频流""" |
|||
while is_running: |
|||
with lock: |
|||
if latest_frame is None: |
|||
continue |
|||
_,latest_frame_bytes = utils.frame_to_img(latest_frame) |
|||
frame = latest_frame_bytes.tobytes() |
|||
pass |
|||
sleep(0.1) |
|||
yield (b'--frame\r\n' |
|||
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n') |
|||
|
|||
|
|||
@app_flask.route('/video_flow') |
|||
def video_feed(): |
|||
"""视频流路由""" |
|||
return Response( |
|||
generate_mjpeg(), |
|||
mimetype='multipart/x-mixed-replace; boundary=frame' |
|||
) |
|||
|
|||
def run(): |
|||
port=2240 |
|||
print(f"推流服务启动,访问端口 127.0.0.1:{port}/video_flow") |
|||
app_flask.run(host='0.0.0.0', port=port, threaded=True) |
|||
|
|||
def video_server_run(): |
|||
thread = threading.Thread(target=run) |
|||
thread.daemon = True # 设置为守护线程，主线程退出时自动终止 |
|||
thread.start() |
|||
def stop(): |
|||
global is_running |
|||
is_running=False |
|||
|
|||
if __name__ == '__main__': |
|||
run() |
|||
Loading…
Reference in new issue