AutoControlSystem-G/Mv3D/CameraImg.py

from tokenize import String
from typing import Optional
import numpy as np
from PySide6.QtCore import Signal, QObject
import threading
import ctypes
import time
import cv2
import os
import datetime
from  .Mv3dRgbdImport.Mv3dRgbdApi import *
from  .Mv3dRgbdImport.Mv3dRgbdDefine import *
from  .Mv3dRgbdImport.Mv3dRgbdDefine import DeviceType_Ethernet, DeviceType_USB, MV3D_RGBD_FLOAT_EXPOSURETIME, \
    ParamType_Enum, ParamType_Int, CoordinateType_Depth, MV3D_RGBD_FLOAT_Z_UNIT, MV3D_RGBD_OK, \
    FileType_BMP,ImageType_Depth, ImageType_RGB8_Planar, ImageType_YUV420SP_NV12  ,ImageType_YUV420SP_NV21 , ImageType_YUV422, ImageType_Mono8


class CameraImg(QObject):
    """
     海康相机SDK图像获取类
    """
    # camera_image_finish = Signal(str)  # 原有信号，传递文件路径
    # stream_image_data = Signal(np.ndarray)  # 新信号，直接传递图像数据
    
    def __init__(self):
        super().__init__()
        self.camera:Optional[Mv3dRgbd]=None
        self.running=False
        self.fetchimg=False
        # self._feeding=feeding
        # 连接信号到启动保存线程的方法，而不是直接连接到save_frame_path
        # self._feeding.take_photo_sigal.connect(self._set_fetch)
        pass
    
    def _set_fetch(self):
        """设置保存图片
        Args:
            value (bool): 暂停状态
        """
        self.fetchimg=True

    def _camera_info(self)->Optional[MV3D_RGBD_DEVICE_INFO_LIST]:
        """获取相机信息
        Returns:
            Optional[MV3D_RGBD_DEVICE_INFO_LIST]: 相机信息列表
        """
        _nDeviceNum=ctypes.c_uint(0)
        _nDeviceNum_p=byref(_nDeviceNum)
           # ch:获取设备数量 | en:Get device number
        ret=Mv3dRgbd.MV3D_RGBD_GetDeviceNumber(DeviceType_Ethernet | DeviceType_USB, _nDeviceNum_p)
        if  ret!=0:
            return None
        if  _nDeviceNum==0:
            print("find no device!")
            return None
        stDeviceList = MV3D_RGBD_DEVICE_INFO_LIST()
        ret = Mv3dRgbd.MV3D_RGBD_GetDeviceList(DeviceType_Ethernet | DeviceType_USB, pointer(stDeviceList.DeviceInfo[0]), 2, _nDeviceNum_p)
        if ret != 0:
            return None
        return stDeviceList

    def open_camera(self)->bool:
        """打开相机
        Returns:
            bool: 是否成功
        """
        if self.camera is not None:
            return True
        _stDeviceInfo=self._camera_info()
        if _stDeviceInfo is None:
            return False
        _stDeviceInfo=_stDeviceInfo.DeviceInfo[0]
        # ch:创建相机示例 | en:Create a camera instance
        camera=Mv3dRgbd()
        # ch:打开设备 | en:Open device  
        ret=camera.MV3D_RGBD_OpenDevice(pointer(_stDeviceInfo))
        if ret!=0:
            print ("MV3D_RGBD_OpenDevice fail! ret[0x%x]" % ret)
            return False

        # ch:开始取流 | en:Start grabbing
        ret=camera.MV3D_RGBD_Start()
        if ret != 0:
            print ("start fail! ret[0x%x]" % ret)
            camera.MV3D_RGBD_CloseDevice()
            return False
        self.camera=camera
        return True

    def close_camera(self):
        """关闭相机
        """
        if self.camera is not None:
            self.camera.MV3D_RGBD_CloseDevice()
            self.camera=None

    def save_frame_path(self):    
        """保存当前帧并返回路径（内部实现，由线程调用）
        Returns:
            Optional[str]: 保存的文件名
        """
        try:
            if self.camera is None:
                #打开相机
                if not self.open_camera():
                    return None
            stFrameData=MV3D_RGBD_FRAME_DATA()
            # ch:获取图像数据 | en:Get image data
            ret=self.camera.MV3D_RGBD_FetchFrame(pointer(stFrameData), 5000)
            _now=datetime.datetime.now()
            # 创建日期格式文件夹
            _current_date = _now.strftime('%Y-%m-%d')
            if not os.path.exists(_current_date):
                os.makedirs(_current_date)
            
            if MV3D_RGBD_OK == ret:
                print("MV3D_RGBD_FetchFrame success.")
                for i in range(0, stFrameData.nImageCount):              
                    if ImageType_RGB8_Planar == stFrameData.stImageData[i].enImageType or ImageType_YUV420SP_NV12 == stFrameData.stImageData[i].enImageType or ImageType_YUV420SP_NV21 == stFrameData.stImageData[i].enImageType or ImageType_YUV422 == stFrameData.stImageData[i].enImageType:                  
                        try:
                            _current_time = _now.strftime('%H%M%S')
                            _chColorFileName = os.path.join(_current_date, f"{_current_time}_1")
                            ret = self.camera.MV3D_RGBD_SaveImage(pointer(stFrameData.stImageData[i]), FileType_BMP, _chColorFileName)
                            
                            if MV3D_RGBD_OK == ret:
                                print(f"Save color image success: {_chColorFileName}")
                                # self.camera_image_finish.emit(f"{_chColorFileName}.bmp")
                                return _chColorFileName
                            else:
                                print("保存图片失败.")
                        except Exception as e:
                            print(f"保存图片异常: {e}")
                            return None
            else:
                print("相机拍照失败!")
            return None
        except Exception as e:
            print(f"保存图片异常: {e}")
            return None
    
    def stop(self):
        self.running=False
        self.fetchimg=False

    # def run(self):
    #     """线程运行方法，用于保存当前帧
    #     """
    #     while self.running:
    #         if self.fetchimg:
    #             self.fetchimg=False
    #             self.update_camera_image.emit(r"Image\032446.bmp")
    #             # self.save_frame_path()
    #         time.sleep(5)

    def __del__(self):
        """关闭
        """
        self.close_camera()
    

if __name__ == '__main__':
    camera_img=CameraImg()
    camera_img.save_frame_path()