Create client_realsense.py

Author: vpromise

client_realsense.py

@@ -0,0 +1,126 @@
+import sys
+import socket
+import threading
+import os
+from PyQt5.QtWidgets import QApplication, QMainWindow, QVBoxLayout, QPushButton, QLineEdit, QWidget, QLabel, QInputDialog
+from PyQt5.QtCore import Qt, QTimer
+import pyrealsense2 as rs
+import numpy as np
+import cv2
+
+class Client(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.client_socket = None
+        self.isConnected = False
+        self.pipeline = None
+        self.depth_video = None
+        self.rgb_video = None
+        self.initUI()
+
+    def initUI(self):
+        self.setWindowTitle('Client')
+        self.setGeometry(100, 100, 300, 200)
+        layout = QVBoxLayout()
+        
+        self.ipInput = QLineEdit(self)
+        self.ipInput.setPlaceholderText('Server IP')
+        self.ipInput.setText('192.168.1.1')  # 设置默认IP地址
+        layout.addWidget(self.ipInput)
+        
+        self.portInput = QLineEdit(self)
+        self.portInput.setPlaceholderText('Port')
+        self.portInput.setText('9999')  # 设置默认端口号
+        layout.addWidget(self.portInput)
+        
+        self.connectBtn = QPushButton('Connect', self)
+        self.connectBtn.clicked.connect(self.start_connection)
+        layout.addWidget(self.connectBtn)
+        
+        self.statusLabel = QLabel('Status: Disconnected', self)
+        self.statusLabel.setAlignment(Qt.AlignCenter)
+        layout.addWidget(self.statusLabel)
+        
+        container = QWidget()
+        container.setLayout(layout)
+        self.setCentralWidget(container)
+
+    def start_connection(self):
+        ip = self.ipInput.text()
+        port = int(self.portInput.text())
+        try:
+            self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.client_socket.connect((ip, port))
+            self.isConnected = True
+            self.statusLabel.setText('Status: Connected')
+            threading.Thread(target=self.receive_message, daemon=True).start()
+        except Exception as e:
+            self.statusLabel.setText(f'Connection Failed: {e}')
+
+    def receive_message(self):
+        while self.isConnected:
+            try:
+                message = self.client_socket.recv(1024).decode('utf-8')
+                if message == "start_click":
+                    self.start_video_capture()
+                elif message == "stop_click":
+                    self.stop_video_capture()
+                else:
+                    directory = message
+                    if not os.path.exists(directory):
+                        os.makedirs(directory)
+                        self.save_directory = directory
+            except Exception as e:
+                self.statusLabel.setText(f'Error: {e}')
+                self.isConnected = False
+                break
+
+    def start_video_capture(self):
+        self.pipeline = rs.pipeline()
+        config = rs.config()
+        # config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
+        # config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 90)
+        config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
+        self.pipeline.start(config)
+        self.depth_video = cv2.VideoWriter(os.path.join(self.save_directory, 'depth_video.avi'), 
+                                           cv2.VideoWriter_fourcc(*'XVID'), 90, (640, 480), False)
+        self.rgb_video = cv2.VideoWriter(os.path.join(self.save_directory, 'rgb_video.avi'), 
+                                         cv2.VideoWriter_fourcc(*'XVID'), 30, (640, 480))
+        threading.Thread(target=self.capture_video, daemon=True).start()
+
+    def capture_video(self):
+        try:
+            cnt = 0
+            while self.pipeline:
+                frames = self.pipeline.wait_for_frames()
+                depth_frame = frames.get_depth_frame()
+                color_frame = frames.get_color_frame()
+                if not depth_frame or not color_frame:
+                    continue
+                
+                depth_image = np.asanyarray(depth_frame.get_data())
+                color_image = np.asanyarray(color_frame.get_data())
+                depth_image_8bit = cv2.convertScaleAbs(depth_image, alpha=0.03)
+                self.depth_video.write(depth_image_8bit)
+                if cnt % 3 == 0:  
+                    self.rgb_video.write(color_image)
+                cnt += 1
+        except Exception as e:
+            print(f"Error capturing video: {e}")
+
+    def stop_video_capture(self):
+        if self.pipeline:
+            self.pipeline.stop()
+            self.pipeline = None
+            self.depth_video.release()
+            self.rgb_video.release()
+            self.depth_video = None
+            self.rgb_video = None
+            print("Video capture stopped and saved.")
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    client = Client()
+    client.show()
+    sys.exit(app.exec_())