727 lines
24 KiB
Python
727 lines
24 KiB
Python
# camera_player_qt.py
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import sys
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import cv2
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import av
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import numpy as np
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import grpc
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import threading
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import time
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from datetime import datetime
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from pathlib import Path
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from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout,
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QHBoxLayout, QLabel, QPushButton, QLineEdit,
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QFileDialog, QMessageBox, QStatusBar, QGroupBox,
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QGridLayout, QComboBox, QSpinBox, QCheckBox, QFrame)
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from PyQt5.QtCore import Qt, QThread, pyqtSignal, QTimer
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from PyQt5.QtGui import QImage, QPixmap
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# 导入生成的protobuf模块
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from cmvr.api import camera_service_pb2_grpc
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from cmvr.api import camera_command_pb2
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from cmvr.api.common_pb2 import CommandHeader
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from google.protobuf.timestamp_pb2 import Timestamp
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class StreamThread(QThread):
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"""流接收线程"""
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frame_received = pyqtSignal(object, int, int) # frame, width, height
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status_update = pyqtSignal(dict)
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error_occurred = pyqtSignal(str)
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keyframe_received = pyqtSignal()
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# 支持的编码格式
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CODECS = {
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'H.265 (HEVC)': 'hevc',
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'H.264 (AVC)': 'h264'
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}
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def __init__(self, device_id, server_addr, codec='hevc', wait_for_keyframe=True):
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super().__init__()
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self.device_id = device_id
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self.server_addr = server_addr
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self.codec_name = codec
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self.wait_for_keyframe = wait_for_keyframe
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self.running = False
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self.streaming = False
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# gRPC
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self.channel = None
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self.stub = None
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# 解码器
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self.codec = None
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self._init_decoder()
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# 统计
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self.frame_count = 0
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self.fps_counter = 0
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self.fps_time = time.time()
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self.fps = 0
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self.keyframe_count = 0
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def _init_decoder(self):
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"""初始化解码器"""
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try:
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# 根据选择的编码创建解码器
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self.codec = av.CodecContext.create(self.codec_name, "r")
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self.codec.thread_count = 1
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# 设置低延迟模式
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if hasattr(self.codec, 'flags'):
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try:
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self.codec.flags |= av.codec.context.AV_CODEC_FLAG_LOW_DELAY
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except:
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pass
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print(f"✓ {self.codec_name.upper()}解码器初始化成功")
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except Exception as e:
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print(f"✗ 解码器初始化失败: {e}")
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self.codec = None
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def _create_header(self):
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"""创建请求头"""
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timestamp = Timestamp()
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timestamp.GetCurrentTime()
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return CommandHeader.Request(
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device_id=self.device_id,
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timestamp=timestamp
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)
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def connect(self):
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"""连接服务器"""
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try:
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self.channel = grpc.insecure_channel(self.server_addr)
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grpc.channel_ready_future(self.channel).result(timeout=3)
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self.stub = camera_service_pb2_grpc.CameraServiceStub(self.channel)
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return True
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except Exception as e:
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self.error_occurred.emit(f"连接失败: {e}")
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return False
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def start_camera(self):
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"""启动摄像头"""
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try:
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request = camera_command_pb2.StartCameraCommand.Request(
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header=self._create_header()
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)
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response = self.stub.StartCamera(request, timeout=3)
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return response.header.success
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except Exception as e:
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self.error_occurred.emit(f"启动摄像头失败: {e}")
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return False
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def stop_camera(self):
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"""停止摄像头"""
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try:
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request = camera_command_pb2.StopCameraCommand.Request(
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header=self._create_header()
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)
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self.stub.StopCamera(request, timeout=3)
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except:
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pass
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def run(self):
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"""线程主函数"""
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if not self.connect():
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return
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if not self.start_camera():
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return
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self.running = True
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self.streaming = True
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self.frame_count = 0
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self.fps_counter = 0
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self.fps_time = time.time()
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keyframe_received = False
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def request_gen():
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while self.streaming:
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yield camera_command_pb2.GetRGBImageStreamCommand.Request(
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header=self._create_header(),
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eof=False
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)
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time.sleep(0.001)
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yield camera_command_pb2.GetRGBImageStreamCommand.Request(
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header=self._create_header(),
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eof=True
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)
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try:
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responses = self.stub.GetRGBImageStream(request_gen())
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for response in responses:
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if not self.streaming:
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break
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if response.header.success:
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frame_data = response.color_frame.data
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is_keyframe = response.color_frame.is_key_frame
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# 等待首个关键帧
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if self.wait_for_keyframe and not keyframe_received and not is_keyframe:
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continue
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if is_keyframe and not keyframe_received:
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keyframe_received = True
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self.keyframe_count += 1
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self.keyframe_received.emit()
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# 解码
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if self.codec and frame_data:
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packet = av.Packet(frame_data)
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frames = self.codec.decode(packet)
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if frames:
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# 转换为RGB (已经是RGB格式)
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img = frames[0].to_ndarray(format='rgb24')
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# 更新统计
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self.fps_counter += 1
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self.frame_count += 1
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# 计算FPS
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now = time.time()
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if now - self.fps_time >= 1.0:
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self.fps = self.fps_counter
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self.fps_counter = 0
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self.fps_time = now
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# 发送状态更新
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self.status_update.emit({
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'fps': self.fps,
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'frames': self.frame_count,
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'keyframes': self.keyframe_count
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})
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# 发送帧到主线程
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h, w = img.shape[:2]
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self.frame_received.emit(img, w, h)
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else:
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print(f"流错误: {response.header.error_message}")
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except Exception as e:
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self.error_occurred.emit(f"流错误: {e}")
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finally:
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self.stop_camera()
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if self.channel:
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self.channel.close()
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self.running = False
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self.streaming = False
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def stop(self):
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"""停止线程"""
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self.streaming = False
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self.wait(2000) # 等待最多2秒
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class CameraPlayerQt(QMainWindow):
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"""基于Qt的摄像头拉流播放器"""
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def __init__(self):
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super().__init__()
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self.setWindowTitle("摄像头拉流播放器 (Qt版)")
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self.setMinimumSize(1000, 800)
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# 状态变量
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self.connected = False
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self.streaming = False
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self.recording = False
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self.stream_thread = None
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self.video_writer = None
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# 录制目录
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self.record_path = Path("./recordings")
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self.record_path.mkdir(exist_ok=True)
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# 创建UI
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self._create_ui()
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# 状态栏
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self.status_bar = QStatusBar()
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self.setStatusBar(self.status_bar)
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self.status_bar.showMessage("就绪")
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# 定时器用于更新显示
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self.display_timer = QTimer()
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self.display_timer.timeout.connect(self._update_display)
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self.display_timer.start(30) # 约33fps
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# 当前帧缓存
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self.current_frame = None
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self.frame_width = 0
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self.frame_height = 0
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def _create_ui(self):
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"""创建UI"""
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central_widget = QWidget()
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self.setCentralWidget(central_widget)
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main_layout = QVBoxLayout(central_widget)
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# ========== 连接设置区域 ==========
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conn_group = QGroupBox("连接设置")
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conn_layout = QGridLayout()
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# 第一行：设备ID和编码格式
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conn_layout.addWidget(QLabel("设备ID:"), 0, 0)
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self.device_id = QLineEdit("right_hand_cam")
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conn_layout.addWidget(self.device_id, 0, 1)
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conn_layout.addWidget(QLabel("编码格式:"), 0, 2)
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self.codec_combo = QComboBox()
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self.codec_combo.addItems(['H.265 (HEVC)', 'H.264 (AVC)'])
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self.codec_combo.setCurrentIndex(0)
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self.codec_combo.setMinimumWidth(120)
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conn_layout.addWidget(self.codec_combo, 0, 3)
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# 等待关键帧选项
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self.wait_keyframe = QCheckBox("等待关键帧")
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self.wait_keyframe.setChecked(True)
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conn_layout.addWidget(self.wait_keyframe, 0, 4)
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# 第二行：服务器地址
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conn_layout.addWidget(QLabel("服务器IP:"), 1, 0)
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self.server_ip = QLineEdit("192.168.0.222")
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conn_layout.addWidget(self.server_ip, 1, 1)
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conn_layout.addWidget(QLabel("端口:"), 1, 2)
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self.server_port = QLineEdit("50052")
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self.server_port.setMaximumWidth(80)
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conn_layout.addWidget(self.server_port, 1, 3)
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# 超时设置
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conn_layout.addWidget(QLabel("超时(秒):"), 1, 4)
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self.timeout_spin = QSpinBox()
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self.timeout_spin.setRange(1, 10)
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self.timeout_spin.setValue(3)
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self.timeout_spin.setMaximumWidth(60)
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conn_layout.addWidget(self.timeout_spin, 1, 5)
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# 第三行：录制目录
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conn_layout.addWidget(QLabel("录制目录:"), 2, 0)
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self.record_dir = QLineEdit(str(self.record_path))
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conn_layout.addWidget(self.record_dir, 2, 1, 1, 4)
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self.browse_btn = QPushButton("浏览")
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self.browse_btn.clicked.connect(self._browse_dir)
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conn_layout.addWidget(self.browse_btn, 2, 5)
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# 第四行：控制按钮
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btn_layout = QHBoxLayout()
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self.connect_btn = QPushButton("连接")
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self.connect_btn.clicked.connect(self._connect)
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self.connect_btn.setMinimumWidth(80)
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btn_layout.addWidget(self.connect_btn)
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self.preview_btn = QPushButton("预览")
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self.preview_btn.clicked.connect(self._toggle_preview)
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self.preview_btn.setEnabled(False)
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self.preview_btn.setMinimumWidth(80)
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btn_layout.addWidget(self.preview_btn)
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self.record_btn = QPushButton("录制")
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self.record_btn.clicked.connect(self._toggle_recording)
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self.record_btn.setEnabled(False)
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self.record_btn.setMinimumWidth(80)
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btn_layout.addWidget(self.record_btn)
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self.disconnect_btn = QPushButton("断开")
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self.disconnect_btn.clicked.connect(self._disconnect)
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self.disconnect_btn.setEnabled(False)
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self.disconnect_btn.setMinimumWidth(80)
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btn_layout.addWidget(self.disconnect_btn)
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btn_layout.addStretch()
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conn_layout.addLayout(btn_layout, 3, 0, 1, 6)
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conn_group.setLayout(conn_layout)
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main_layout.addWidget(conn_group)
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# ========== 状态显示区域 ==========
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status_group = QGroupBox("状态信息")
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status_layout = QHBoxLayout()
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self.conn_status = QLabel("● 未连接")
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self.conn_status.setStyleSheet("color: red;")
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status_layout.addWidget(self.conn_status)
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status_layout.addWidget(QLabel("|"))
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self.codec_status = QLabel("编码: H.265")
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status_layout.addWidget(self.codec_status)
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status_layout.addWidget(QLabel("|"))
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self.fps_status = QLabel("FPS: 0")
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status_layout.addWidget(self.fps_status)
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status_layout.addWidget(QLabel("|"))
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self.frame_status = QLabel("帧数: 0")
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status_layout.addWidget(self.frame_status)
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status_layout.addWidget(QLabel("|"))
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self.resolution_status = QLabel("分辨率: -")
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status_layout.addWidget(self.resolution_status)
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status_layout.addWidget(QLabel("|"))
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self.keyframe_status = QLabel("关键帧: 等待")
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self.keyframe_status.setStyleSheet("color: orange;")
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status_layout.addWidget(self.keyframe_status)
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status_layout.addWidget(QLabel("|"))
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self.record_status = QLabel("录制: 未开始")
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self.record_status.setStyleSheet("color: gray;")
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status_layout.addWidget(self.record_status)
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status_layout.addStretch()
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status_group.setLayout(status_layout)
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main_layout.addWidget(status_group)
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# ========== 视频预览区域 ==========
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video_group = QGroupBox("视频预览")
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video_layout = QVBoxLayout()
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self.video_label = QLabel()
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self.video_label.setAlignment(Qt.AlignCenter)
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self.video_label.setMinimumSize(640, 480)
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self.video_label.setStyleSheet("background-color: black; border: 1px solid gray;")
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video_layout.addWidget(self.video_label)
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video_group.setLayout(video_layout)
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main_layout.addWidget(video_group, 1) # 1表示拉伸因子
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# ========== 操作说明 ==========
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info_frame = QFrame()
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info_frame.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
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info_layout = QHBoxLayout(info_frame)
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info_label = QLabel("操作说明: ①选择编码格式 ②连接 ③预览 ④录制 (按'停止预览'结束)")
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info_label.setStyleSheet("color: gray; padding: 5px;")
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info_layout.addWidget(info_label)
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main_layout.addWidget(info_frame)
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def _browse_dir(self):
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"""浏览目录"""
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directory = QFileDialog.getExistingDirectory(self, "选择录制目录",
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self.record_dir.text())
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if directory:
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self.record_dir.setText(directory)
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self.record_path = Path(directory)
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self.record_path.mkdir(exist_ok=True)
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def _get_server_addr(self):
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"""获取服务器地址"""
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return f"{self.server_ip.text()}:{self.server_port.text()}"
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def _get_codec(self):
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"""获取编码格式"""
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codec_map = {
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'H.265 (HEVC)': 'hevc',
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'H.264 (AVC)': 'h264'
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}
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return codec_map[self.codec_combo.currentText()]
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def _connect(self):
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"""连接服务器"""
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codec = self._get_codec()
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self.status_bar.showMessage(f"正在连接服务器 (编码: {codec.upper()})...")
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# 更新编码状态显示
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self.codec_status.setText(f"编码: {self.codec_combo.currentText()}")
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# 创建流线程
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self.stream_thread = StreamThread(
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self.device_id.text(),
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self._get_server_addr(),
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codec=codec,
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wait_for_keyframe=self.wait_keyframe.isChecked()
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)
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# 连接信号
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self.stream_thread.frame_received.connect(self._on_frame_received)
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self.stream_thread.status_update.connect(self._on_status_update)
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self.stream_thread.error_occurred.connect(self._on_error)
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self.stream_thread.keyframe_received.connect(self._on_keyframe_received)
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# 连接测试
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if self.stream_thread.connect():
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self.connected = True
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self.conn_status.setText("● 已连接")
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self.conn_status.setStyleSheet("color: green;")
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self.connect_btn.setEnabled(False)
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self.preview_btn.setEnabled(True)
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self.disconnect_btn.setEnabled(True)
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self.codec_combo.setEnabled(False)
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self.wait_keyframe.setEnabled(False)
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self.status_bar.showMessage("服务器连接成功", 3000)
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else:
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self.stream_thread = None
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def _disconnect(self):
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"""断开连接"""
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# 停止预览
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if self.streaming:
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self._stop_preview()
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# 停止录制
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if self.recording:
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self._stop_recording()
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# 清理线程
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if self.stream_thread:
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self.stream_thread.stop()
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self.stream_thread = None
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self.connected = False
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self.conn_status.setText("● 未连接")
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self.conn_status.setStyleSheet("color: red;")
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self.connect_btn.setEnabled(True)
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self.preview_btn.setEnabled(False)
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self.preview_btn.setText("预览")
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self.record_btn.setEnabled(False)
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self.record_btn.setText("录制")
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self.disconnect_btn.setEnabled(False)
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self.codec_combo.setEnabled(True)
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self.wait_keyframe.setEnabled(True)
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# 清空画面
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self.video_label.clear()
|
||
self.current_frame = None
|
||
|
||
# 重置状态
|
||
self.keyframe_status.setText("关键帧: 等待")
|
||
self.keyframe_status.setStyleSheet("color: orange;")
|
||
self.fps_status.setText("FPS: 0")
|
||
self.frame_status.setText("帧数: 0")
|
||
self.resolution_status.setText("分辨率: -")
|
||
|
||
self.status_bar.showMessage("已断开连接", 3000)
|
||
|
||
def _toggle_preview(self):
|
||
"""切换预览"""
|
||
if not self.streaming:
|
||
self._start_preview()
|
||
else:
|
||
self._stop_preview()
|
||
|
||
def _start_preview(self):
|
||
"""开始预览"""
|
||
if not self.stream_thread:
|
||
return
|
||
|
||
self.streaming = True
|
||
self.stream_thread.streaming = True
|
||
self.stream_thread.start()
|
||
|
||
self.preview_btn.setText("停止")
|
||
self.record_btn.setEnabled(True)
|
||
|
||
if self.wait_keyframe.isChecked():
|
||
self.keyframe_status.setText("关键帧: 等待中...")
|
||
self.keyframe_status.setStyleSheet("color: orange;")
|
||
else:
|
||
self.keyframe_status.setText("关键帧: 不等待")
|
||
self.keyframe_status.setStyleSheet("color: gray;")
|
||
|
||
self.status_bar.showMessage("预览已启动...")
|
||
|
||
def _stop_preview(self):
|
||
"""停止预览"""
|
||
if self.stream_thread:
|
||
self.stream_thread.streaming = False
|
||
self.stream_thread.wait(2000)
|
||
|
||
self.streaming = False
|
||
self.preview_btn.setText("预览")
|
||
self.record_btn.setEnabled(False)
|
||
|
||
# 停止录制
|
||
if self.recording:
|
||
self._stop_recording()
|
||
|
||
self.keyframe_status.setText("关键帧: 等待")
|
||
self.keyframe_status.setStyleSheet("color: orange;")
|
||
|
||
# 清空画面
|
||
self.video_label.clear()
|
||
self.current_frame = None
|
||
|
||
self.status_bar.showMessage("预览已停止", 3000)
|
||
|
||
def _toggle_recording(self):
|
||
"""切换录制"""
|
||
if not self.recording:
|
||
self._start_recording()
|
||
else:
|
||
self._stop_recording()
|
||
|
||
def _start_recording(self):
|
||
"""开始录制"""
|
||
if not self.streaming:
|
||
QMessageBox.warning(self, "警告", "请先启动预览")
|
||
return
|
||
|
||
# 更新录制目录
|
||
self.record_path = Path(self.record_dir.text())
|
||
self.record_path.mkdir(parents=True, exist_ok=True)
|
||
|
||
# 生成文件名
|
||
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
|
||
codec_name = self.codec_combo.currentText().replace(' ', '_')
|
||
filename = self.record_path / f"rec_{self.device_id.text()}_{codec_name}_{timestamp}.mp4"
|
||
|
||
# 获取画面尺寸
|
||
if self.current_frame is not None:
|
||
height, width = self.current_frame.shape[:2]
|
||
else:
|
||
width, height = 640, 480
|
||
|
||
# 创建VideoWriter
|
||
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
|
||
self.video_writer = cv2.VideoWriter(str(filename), fourcc, 30.0, (width, height))
|
||
|
||
if self.video_writer.isOpened():
|
||
self.recording = True
|
||
self.record_btn.setText("停止")
|
||
self.record_status.setText("● 录制中")
|
||
self.record_status.setStyleSheet("color: red;")
|
||
self.status_bar.showMessage(f"开始录制: {filename.name}", 3000)
|
||
else:
|
||
QMessageBox.critical(self, "错误", "无法创建视频文件")
|
||
|
||
def _stop_recording(self):
|
||
"""停止录制"""
|
||
if self.video_writer:
|
||
self.video_writer.release()
|
||
self.video_writer = None
|
||
|
||
self.recording = False
|
||
self.record_btn.setText("录制")
|
||
self.record_status.setText("录制: 未开始")
|
||
self.record_status.setStyleSheet("color: gray;")
|
||
self.status_bar.showMessage("录制已停止", 3000)
|
||
|
||
def _on_frame_received(self, frame, width, height):
|
||
"""收到新帧"""
|
||
self.current_frame = frame
|
||
self.frame_width = width
|
||
self.frame_height = height
|
||
|
||
# 录制
|
||
if self.recording and self.video_writer:
|
||
# 转换为BGR用于录制
|
||
frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
|
||
self.video_writer.write(frame_bgr)
|
||
|
||
def _update_display(self):
|
||
"""更新显示"""
|
||
if self.current_frame is not None:
|
||
# 直接使用QImage，避免转换
|
||
bytes_per_line = 3 * self.frame_width
|
||
qimage = QImage(self.current_frame.data, self.frame_width,
|
||
self.frame_height, bytes_per_line, QImage.Format_RGB888)
|
||
|
||
# 缩放以适应标签大小
|
||
label_size = self.video_label.size()
|
||
pixmap = QPixmap.fromImage(qimage).scaled(
|
||
label_size, Qt.KeepAspectRatio, Qt.SmoothTransformation)
|
||
|
||
self.video_label.setPixmap(pixmap)
|
||
|
||
# 更新分辨率显示
|
||
self.resolution_status.setText(f"分辨率: {self.frame_width}x{self.frame_height}")
|
||
|
||
def _on_status_update(self, stats):
|
||
"""状态更新"""
|
||
self.fps_status.setText(f"FPS: {stats['fps']}")
|
||
self.frame_status.setText(f"帧数: {stats['frames']}")
|
||
|
||
def _on_keyframe_received(self):
|
||
"""收到关键帧"""
|
||
if self.wait_keyframe.isChecked():
|
||
self.keyframe_status.setText("关键帧: 已接收")
|
||
self.keyframe_status.setStyleSheet("color: green;")
|
||
|
||
def _on_error(self, msg):
|
||
"""错误处理"""
|
||
QMessageBox.critical(self, "错误", msg)
|
||
self.status_bar.showMessage(f"错误: {msg}")
|
||
|
||
def closeEvent(self, event):
|
||
"""窗口关闭事件"""
|
||
# 停止预览
|
||
if self.streaming:
|
||
self._stop_preview()
|
||
|
||
# 停止录制
|
||
if self.recording:
|
||
self._stop_recording()
|
||
|
||
# 断开连接
|
||
if self.connected:
|
||
self._disconnect()
|
||
|
||
event.accept()
|
||
|
||
|
||
def main():
|
||
app = QApplication(sys.argv)
|
||
|
||
# 设置应用样式
|
||
app.setStyle('Fusion')
|
||
|
||
# 设置全局样式表
|
||
app.setStyleSheet("""
|
||
QGroupBox {
|
||
font-weight: bold;
|
||
border: 1px solid gray;
|
||
border-radius: 5px;
|
||
margin-top: 10px;
|
||
padding-top: 10px;
|
||
}
|
||
QGroupBox::title {
|
||
subcontrol-origin: margin;
|
||
left: 10px;
|
||
padding: 0 5px 0 5px;
|
||
}
|
||
QPushButton {
|
||
padding: 5px 10px;
|
||
}
|
||
QLineEdit {
|
||
padding: 3px;
|
||
}
|
||
QComboBox {
|
||
padding: 3px;
|
||
}
|
||
""")
|
||
|
||
window = CameraPlayerQt()
|
||
window.show()
|
||
|
||
print("\n" + "=" * 60)
|
||
print("摄像头拉流播放器 (Qt版) 启动")
|
||
print("=" * 60)
|
||
print("支持编码:")
|
||
print(" • H.265 (HEVC) - 高压缩率")
|
||
print(" • H.264 (AVC) - 兼容性好")
|
||
print("\n操作步骤:")
|
||
print("1. 选择编码格式")
|
||
print("2. 输入设备ID、服务器IP和端口")
|
||
print("3. 点击【连接】按钮")
|
||
print("4. 点击【预览】按钮开始观看")
|
||
print("5. 点击【录制】按钮开始/停止录制")
|
||
print("=" * 60 + "\n")
|
||
|
||
sys.exit(app.exec_())
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main() |