#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
实时检测红色圆点并获取 3D 坐标 (m)。
深度图对齐到彩色图。
"""

import cv2
import numpy as np
import pyrealsense2 as rs
import time

def init_realsense():
    """
    初始化 RealSense 管道并返回 pipeline 和 align 对象
    """
    pipeline = rs.pipeline()
    config = rs.config()
    config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
    config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
    profile = pipeline.start(config)
    align = rs.align(rs.stream.color)
    return pipeline, align

def stop_pipeline(pipeline: rs.pipeline):
    pipeline.stop()


def get_closest_red_point(pipeline, align, vis_path = None,warmup=10):
    """
    获取最近红色圆点的 3D 坐标。
    返回 (x, y, z) 或 None（如果没检测到）。
    """
    # 丢掉前几帧，让相机稳定
    for _ in range(warmup):
        pipeline.wait_for_frames()

    frames = pipeline.wait_for_frames()
    aligned_frames = align.process(frames)

    depth_frame = aligned_frames.get_depth_frame()
    color_frame = aligned_frames.get_color_frame()
    if not depth_frame or not color_frame:
        return None

    depth_image = np.asanyarray(depth_frame.get_data())
    color_image = np.asanyarray(color_frame.get_data())
    depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics

    hsv = cv2.cvtColor(color_image, cv2.COLOR_BGR2HSV)
    lower_red1 = np.array([0, 100, 100])
    upper_red1 = np.array([10, 255, 255])
    lower_red2 = np.array([160, 100, 100])
    upper_red2 = np.array([179, 255, 255])
    mask1 = cv2.inRange(hsv, lower_red1, upper_red1)
    mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
    mask = cv2.bitwise_or(mask1, mask2)

    mask_blur = cv2.GaussianBlur(mask, (9, 9), 2)
    circles = cv2.HoughCircles(mask_blur, cv2.HOUGH_GRADIENT, dp=1.2, minDist=20,
                               param1=50, param2=15, minRadius=5, maxRadius=50)

    closest_point = None
    min_depth = float('inf')

    if circles is not None:
        circles = np.uint16(np.around(circles))
        for i in circles[0, :]:
            u, v, r = i
            depth = depth_frame.get_distance(u, v)
            if 0 < depth < min_depth:
                min_depth = depth
                closest_point = rs.rs2_deproject_pixel_to_point(depth_intrin, [u, v], depth)

    if vis_path is not None and closest_point is not None:
        cv2.circle(color_image, (u, v), 6, (0,0,255), -1)
        cv2.imwrite(vis_path, color_image)
    return closest_point







# ========================= 4. 主程序 ========================= #
def main(serial="243122075614", avg_window=3):
    pipeline, align = init_realsense()
    try:
     # 调用获取最近红点
        point_3d = get_closest_red_point(pipeline, align, vis_path="red_point.png")
        print("Closest red 3D point:", point_3d)

    finally:
        pipeline.stop()
        cv2.destroyAllWindows()

if __name__ == "__main__":
    main()