475 lines
17 KiB
Python
475 lines
17 KiB
Python
import cv2
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import threading
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import sys, os, time
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import argparse
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import numpy as np
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import serial
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import json
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import glob
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import shutil
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from collections import deque
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from datetime import datetime
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from PyQt5.QtWidgets import (QApplication, QLabel, QWidget, QVBoxLayout,
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QHBoxLayout, QMainWindow, QStackedWidget,
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QFrame, QListWidget, QListWidgetItem,
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QSizePolicy, QProgressBar, QGridLayout)
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from PyQt5.QtGui import QImage, QPixmap, QFont
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from PyQt5.QtCore import Qt, QTimer, pyqtSignal, QObject, QSize
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from PIL import Image, ImageDraw, ImageFont
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try:
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from surround_view import FisheyeCameraModel, BirdView
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import surround_view.param_settings as settings
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except ImportError as e:
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print("[ERROR] Cannot import surround_view modules: {}".format(e))
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sys.exit(1)
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# ==========================================================
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# 遥控键码
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# ==========================================================
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KEY_UP = 0x01
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KEY_DOWN = 0x09
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KEY_LEFT = 0x04
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KEY_RIGHT = 0x06
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KEY_BACK = 0x02
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KEY_OK = 0x05
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# ==========================================================
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# 参数
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# ==========================================================
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VIDEO_DIR = "/videos"
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SEGMENT_SECS = 180
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RECORD_FPS = 10
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CELL_W, CELL_H = 640, 360
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GRID_W, GRID_H = 1280, 720
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DISK_WARN_PCT = 90
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SEND_INTERVAL_MS = 100
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MODE_360 = 0
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MODE_QUAD = 1
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DIR_CN = {"front":"前方","left":"左方","back":"后方","right":"右方"}
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WARN_COLOR = (255, 80, 80)
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SAFE_COLOR = (100, 255, 100)
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# ==========================================================
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# 配置
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# ==========================================================
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CONFIG_PATH = os.path.join(os.getcwd(), "surround_config.json")
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DEFAULT_CONFIG = {
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"carousel_interval": 4,
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"brightness": 50,
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"radar_unit": 0,
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"show_radar": 1,
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"radar_alarm_dist": 50,
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"display_mode": MODE_360,
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}
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def load_config():
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if os.path.exists(CONFIG_PATH):
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try:
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with open(CONFIG_PATH, "r") as f:
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cfg = json.load(f)
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for k, v in DEFAULT_CONFIG.items():
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cfg.setdefault(k, v)
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return cfg
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except: pass
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return dict(DEFAULT_CONFIG)
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def save_config(cfg):
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try:
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with open(CONFIG_PATH, "w") as f:
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json.dump(cfg, f, indent=2, ensure_ascii=False)
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except: pass
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# ==========================================================
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# 工具函数
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# ==========================================================
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def get_disk_info_str(path):
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try:
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usage = shutil.disk_usage(path)
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pct = usage.used * 100 // usage.total
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return "存储: {:.1f}G/{:.1f}G ({}%)".format(usage.used/1024**3, usage.total/1024**3, pct), pct
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except: return "磁盘未知", 0
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class FontManager:
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_fonts = {}
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@classmethod
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def get(cls, size=20):
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if size not in cls._fonts:
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p = "/usr/share/fonts/truetype/wqy/wqy-zenhei.ttc"
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if not os.path.exists(p): p = None
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cls._fonts[size] = ImageFont.truetype(p, size) if p else ImageFont.load_default()
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return cls._fonts[size]
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def add_texts_to_pil(pil_image, text_list):
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draw = ImageDraw.Draw(pil_image)
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for item in text_list:
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x, y, text, color, size = item
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font = FontManager.get(size)
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draw.text((x+1, y+1), text, font=font, fill=(0,0,0))
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draw.text((x, y), text, font=font, fill=color)
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# ==========================================================
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# 串口通信 (TTYS0)
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# ==========================================================
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class SerialWorker(threading.Thread):
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def __init__(self, port="/dev/ttyS0", baudrate=115200):
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super().__init__(daemon=True)
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self.port, self.baudrate = port, baudrate
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self.running = True
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self._rx_lock = threading.Lock()
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self._radar_dist, self._stopped, self._active_dirs = 0, False, []
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self._tx_lock = threading.Lock()
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self._tx_data = [0,0,0,0, 50] # F,L,B,R, Thr
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self._rx_enabled = True
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def set_rx_enabled(self, e): self._rx_enabled = e
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def update_send(self, f, l, b, r, thr):
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with self._tx_lock: self._tx_data = [f,l,b,r, thr]
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def run(self):
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try:
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ser = serial.Serial(self.port, self.baudrate, timeout=0.05)
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except: return
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def _send_loop():
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while self.running:
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with self._tx_lock:
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d = self._tx_data
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chk = sum(d[:4] + [0, d[4]]) & 0xFF
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frame = bytes([0x55, d[0], d[1], d[2], d[3], 0x00, d[4], chk, 0xAA])
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ser.write(frame)
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time.sleep(SEND_INTERVAL_MS/1000.0)
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threading.Thread(target=_send_loop, daemon=True).start()
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buf = bytearray()
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while self.running:
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if not self._rx_enabled:
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time.sleep(0.1); continue
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b = ser.read(1)
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if not b: continue
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buf.append(b[0])
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if len(buf) == 9:
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if buf[0] == 0x55 and buf[8] == 0xAA:
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with self._rx_lock:
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self._active_dirs = [n for i,n in enumerate(["front","left","back","right"]) if buf[i+1]]
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self._radar_dist, self._stopped = buf[5], buf[6] > 0
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buf.clear()
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elif len(buf) > 9: buf.clear()
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# ==========================================================
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# 渲染线程 (消除黑边关键)
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# ==========================================================
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class RenderWorker(threading.Thread):
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def __init__(self, bird_worker, raw_worker, serial_worker, carousel, cfg, sw, sh):
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super().__init__(daemon=True)
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self.bird_w, self.raw_w, self.ser_w = bird_worker, raw_worker, serial_worker
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self.carousel, self.cfg = carousel, cfg
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self.sw, self.sh = sw, sh
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self.running = True
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self._out_q = deque(maxlen=2)
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def get_qimage(self):
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try: return self._out_q[-1]
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except: return None
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def run(self):
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while self.running:
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bird = self.bird_w.get_bird()
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if bird is None: time.sleep(0.02); continue
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active, dist, stopped = self.ser_w.get_state()
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cur_dir, rem = self.carousel.update(active)
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# 分配宽度
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bw = self.sw // 3
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fw = self.sw - bw
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# 强制拉伸(消除黑边)
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bird_part = cv2.resize(bird, (bw, self.sh))
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raw_f = self.raw_w.get_frame(cur_dir if cur_dir else "front")
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if raw_f is None: raw_f = np.zeros((self.sh, fw, 3), np.uint8)
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front_part = cv2.resize(raw_f, (fw, self.sh))
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# 亮度
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alpha = self.cfg.get("brightness", 50) / 50.0
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if alpha != 1.0: front_part = cv2.convertScaleAbs(front_part, alpha=alpha)
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canvas = np.hstack((bird_part, front_part))
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pil_img = Image.fromarray(cv2.cvtColor(canvas, cv2.COLOR_BGR2RGB))
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# 文字叠加 (字号加大)
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texts = [(10, 10, "鸟瞰视图", (0,255,100), 25)]
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if cur_dir:
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texts.append((bw+20, 20, "{} 有人".format(DIR_CN[cur_dir]), WARN_COLOR, 40))
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# 雷达
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if self.cfg.get("show_radar"):
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txt = "雷达: {}cm".format(dist)
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texts.append((bw+20, self.sh-80, txt, (255,255,0), 30))
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add_texts_to_pil(pil_img, texts)
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arr = np.array(pil_img)
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self._out_q.append(QImage(arr.data, arr.shape[1], arr.shape[0], QImage.Format_RGB888))
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# 反向串口发送
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presence = [1 if d in active else 0 for d in ["front","left","back","right"]]
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self.ser_w.update_send(*presence, self.cfg.get("radar_alarm_dist", 50))
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time.sleep(0.03)
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# ==========================================================
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# 四分屏渲染
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# ==========================================================
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class QuadWorker(threading.Thread):
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def __init__(self, raw_worker, serial_worker, cfg, sw, sh):
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super().__init__(daemon=True)
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self.raw_w, self.ser_w, self.cfg = raw_worker, serial_worker, cfg
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self.sw, self.sh = sw, sh
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self.running = True
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self._out_q = deque(maxlen=2)
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def run(self):
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cw, ch = self.sw // 2, self.sh // 2
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while self.running:
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frames = []
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for n in ["front","left","back","right"]:
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f = self.raw_w.get_frame(n)
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frames.append(cv2.resize(f if f is not None else np.zeros((ch,cw,3), np.uint8), (cw,ch)))
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top = np.hstack((frames[0], frames[1]))
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bot = np.hstack((frames[2], frames[3]))
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canvas = np.vstack((top, bot))
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rgb = cv2.cvtColor(canvas, cv2.COLOR_BGR2RGB)
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self._out_q.append(QImage(rgb.data, self.sw, self.sh, QImage.Format_RGB888))
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self.ser_w.update_send(0,0,0,0, self.cfg.get("radar_alarm_dist", 50))
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time.sleep(0.03)
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# ==========================================================
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# 回放面板 (充满右侧)
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# ==========================================================
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class PlaybackPanel(QWidget):
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def __init__(self, parent=None):
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super().__init__(parent)
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self._video_list = []
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self._play_cap = None
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self._timer = QTimer()
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self._timer.timeout.connect(self._step)
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layout = QHBoxLayout(self)
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# 左侧列表放大
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self.list_w = QListWidget()
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self.list_w.setFixedWidth(300)
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self.list_w.setStyleSheet("font-size: 22px; background:#0d1117; color:white;")
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layout.addWidget(self.list_w)
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# 右侧画面
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self.view = QLabel("选择视频按 OK")
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self.view.setStyleSheet("background:black; border:2px solid #333;")
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self.view.setAlignment(Qt.AlignCenter)
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self.view.setScaledContents(True) # ★ 关键：拉伸充满
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layout.addWidget(self.view, 1)
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def load(self):
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self.list_w.clear()
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self._video_list = sorted(glob.glob(VIDEO_DIR + "/rec_*.mp4"), reverse=True)
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for f in self._video_list:
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item = QListWidgetItem(os.path.basename(f))
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item.setSizeHint(QSize(0, 60))
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self.list_w.addItem(item)
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self.list_w.setCurrentRow(0)
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def on_key(self, code):
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if code == KEY_UP: self.list_w.setCurrentRow(max(0, self.list_w.currentRow()-1))
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elif code == KEY_DOWN: self.list_w.setCurrentRow(min(len(self._video_list)-1, self.list_w.currentRow()+1))
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elif code == KEY_OK: self._start_play()
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def _start_play(self):
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if self._play_cap: self._play_cap.release()
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self._play_cap = cv2.VideoCapture(self._video_list[self.list_w.currentRow()])
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self._timer.start(33)
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def _step(self):
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ret, frame = self._play_cap.read()
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if ret:
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rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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qimg = QImage(rgb.data, rgb.shape[1], rgb.shape[0], QImage.Format_RGB888)
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self.view.setPixmap(QPixmap.fromImage(qimg))
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else: self._timer.stop()
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def cleanup(self):
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self._timer.stop()
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if self._play_cap: self._play_cap.release()
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# ==========================================================
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# 设置面板 (字体放大)
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# ==========================================================
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class SettingsPanel(QWidget):
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def __init__(self, cfg, parent=None):
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super().__init__(parent)
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self.cfg = cfg
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self.cur = 0
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self.sub_mode = False # False=Menu, True=Playback
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self.menu = [
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{"n":"显示模式", "k":"display_mode", "opts":["360环视","四分屏"]},
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{"n":"轮播间隔", "k":"carousel_interval", "min":1, "max":10},
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{"n":"画面亮度", "k":"brightness", "min":0, "max":100},
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{"n":"雷达阈值", "k":"radar_alarm_dist", "min":10, "max":200},
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{"n":"视频回放", "k":"page"}
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]
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self.stack = QStackedWidget()
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# Menu Page
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self.menu_page = QWidget()
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mv = QVBoxLayout(self.menu_page)
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self.list_v = QListWidget()
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# ★ 列表样式：大字体，大行高
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self.list_v.setStyleSheet("""
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QListWidget { font-size: 26px; background:#1a1a2e; color:white; border:none; }
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QListWidget::item { height: 70px; border-bottom:1px solid #333; padding-left:20px; }
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QListWidget::item:selected { background:#e94560; }
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""")
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mv.addWidget(self.list_v)
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self.val_l = QLabel()
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self.val_l.setAlignment(Qt.AlignCenter)
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self.val_l.setStyleSheet("font-size: 50px; color:#e94560; padding:20px;")
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mv.addWidget(self.val_l)
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self.stack.addWidget(self.menu_page)
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self.play_panel = PlaybackPanel()
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self.stack.addWidget(self.play_panel)
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layout = QVBoxLayout(self)
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layout.setContentsMargins(0,0,0,0)
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layout.addWidget(self.stack)
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def load(self):
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self.sub_mode = False
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self.stack.setCurrentIndex(0)
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self._refresh()
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def _refresh(self):
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self.list_v.clear()
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for i, m in enumerate(self.menu):
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self.list_v.addItem(m["n"])
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self.list_v.setCurrentRow(self.cur)
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# 显示当前值
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item = self.menu[self.cur]
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if "opts" in item:
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self.val_l.setText(item["opts"][self.cfg[item["k"]]])
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elif "min" in item:
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self.val_l.setText(str(self.cfg[item["k"]]))
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else:
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self.val_l.setText("按 OK 进入")
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def on_key(self, code):
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if self.sub_mode:
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if code == KEY_BACK:
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self.sub_mode = False
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self.play_panel.cleanup()
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self.stack.setCurrentIndex(0)
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else: self.play_panel.on_key(code)
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return
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if code == KEY_UP: self.cur = (self.cur-1)%len(self.menu); self._refresh()
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elif code == KEY_DOWN: self.cur = (self.cur+1)%len(self.menu); self._refresh()
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elif code == KEY_LEFT or code == KEY_RIGHT:
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item = self.menu[self.cur]
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step = 1 if code == KEY_RIGHT else -1
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if "opts" in item:
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self.cfg[item["k"]] = (self.cfg[item["k"]] + step) % len(item["opts"])
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elif "min" in item:
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self.cfg[item["k"]] = max(item["min"], min(item["max"], self.cfg[item["k"]] + step * 5))
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self._refresh()
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elif code == KEY_OK:
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if self.menu[self.cur]["k"] == "page":
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self.sub_mode = True
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self.play_panel.load()
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self.stack.setCurrentIndex(1)
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elif "opts" in self.menu[self.cur]:
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self.cfg[self.menu[self.cur]["k"]] = (self.cfg[self.menu[self.cur]["k"]] + 1) % len(self.menu[self.cur]["opts"])
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self._refresh()
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# ==========================================================
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# 主窗口
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# ==========================================================
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class MainWindow(QMainWindow):
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def __init__(self, multi_cam, ser_w, remote_w, cfg):
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super().__init__()
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self.cfg = cfg
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self.ser_w = ser_w
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self.showFullScreen()
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sw, sh = self.width(), self.height()
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self.stack = QStackedWidget()
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self.setCentralWidget(self.stack)
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# View Page
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self.view_l = QLabel()
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self.view_l.setScaledContents(True) # ★ 强制铺满
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self.stack.addWidget(self.view_l)
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self.set_panel = SettingsPanel(cfg)
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self.stack.addWidget(self.set_panel)
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# Workers
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self.raw_w = RawCaptureWorker(multi_cam.caps, multi_cam.names)
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self.raw_w.start()
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self.bird_w = BirdViewWorker(self.raw_w, multi_cam.camera_models, multi_cam.birdview)
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self.bird_w.start()
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self.render_360 = RenderWorker(self.bird_w, self.raw_w, ser_w, CarouselScheduler(), cfg, sw, sh)
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self.render_360.start()
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self.render_quad = QuadWorker(self.raw_w, ser_w, cfg, sw, sh)
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self.render_quad.start()
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RecordWorker(self.raw_w).start()
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self.timer = QTimer()
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self.timer.timeout.connect(self._flush)
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self.timer.start(20)
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remote_w.signals.key_pressed.connect(self._on_key)
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def _flush(self):
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if self.stack.currentIndex() != 0: return
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qimg = self.render_quad._out_q[-1] if self.cfg["display_mode"] == 1 else self.render_360.get_qimage()
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if qimg: self.view_l.setPixmap(QPixmap.fromImage(qimg))
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def _on_key(self, code):
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if self.stack.currentIndex() == 0:
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if code == KEY_OK:
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self.set_panel.load()
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self.stack.setCurrentIndex(1)
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else:
|
|
if code == KEY_BACK and not self.set_panel.sub_mode:
|
|
save_config(self.cfg)
|
|
self.ser_w.set_rx_enabled(self.cfg["display_mode"] == 0)
|
|
self.stack.setCurrentIndex(0)
|
|
else:
|
|
self.set_panel.on_key(code)
|
|
|
|
# ==========================================================
|
|
# 入口
|
|
# ==========================================================
|
|
def main():
|
|
cfg = load_config()
|
|
app = QApplication(sys.argv)
|
|
|
|
ser_w = SerialWorker()
|
|
ser_w.start()
|
|
rem_w = RemoteWorker()
|
|
rem_w.start()
|
|
|
|
cam = MultiCameraBirdView()
|
|
if not cam.running: return
|
|
|
|
win = MainWindow(cam, ser_w, rem_w, cfg)
|
|
win.show()
|
|
sys.exit(app.exec_())
|
|
|
|
if __name__ == "__main__":
|
|
main()
|