#!/usr/bin/env python3 import rclpy from rclpy.node import Node from sensor_msgs.msg import Image import numpy as np from protocol.srv import CameraService import cv2 import os import sys import time from datetime import datetime from pyzbar import pyzbar # 添加utils路径以便导入image_raw模块 sys.path.append('/home/mi-task') from utils.image_raw import ImageProcessor # 配置显示环境（关键修改） os.environ['OPENCV_VIDEOIO_PRIORITY_GTK'] = '1' os.environ['DISPLAY'] = ':0' # 使用主显示器 class AICameraDemo(Node): def __init__(self): super().__init__('ai_camera_demo') # 创建服务客户端 self.camera_client = self.create_client(CameraService, '/camera_service') while not self.camera_client.wait_for_service(timeout_sec=1.0): self.get_logger().info('等待AI相机服务...') # 图像订阅 self.image_subscription = self.create_subscription( Image, '/image', self.image_callback, 10 ) # 截图控制参数 self.last_capture_time = time.time() self.start_time = time.time() self.capture_interval = 3.0 # 截图间隔(秒) self.total_duration = 30.0 # 总运行时间(秒) self.save_dir = "captures" # 普通截图保存目录 self.qr_save_dir = "qr_captures" # QR码截图保存目录 os.makedirs(self.save_dir, exist_ok=True) os.makedirs(self.qr_save_dir, exist_ok=True) # QR码扫描相关 self.last_qr_check_time = time.time() self.qr_check_interval = 1.0 # QR码检测间隔 self.found_qr_codes = set() # 记录已发现的QR码，避免重复输出 # 初始化OpenCV窗口 self.window_name = 'AI Camera Feed' try: cv2.namedWindow(self.window_name, cv2.WINDOW_NORMAL) self.gui_enabled = True except: self.get_logger().error("无法创建OpenCV窗口，将仅保存截图") self.gui_enabled = False # 初始化图像处理器（用于QR码扫描） self.current_image = None def start_camera(self): """启动相机服务""" req = CameraService.Request() req.command = 9 # START_IMAGE_PUBLISH req.width, req.height, req.fps = 640, 480, 30 future = self.camera_client.call_async(req) rclpy.spin_until_future_complete(self, future) result = future.result() if result.result == 0: self.get_logger().info('AI相机启动成功') return True else: self.get_logger().error(f'AI相机启动失败 (错误码: {result.result})') return False def stop_camera(self): """停止相机服务""" req = CameraService.Request() req.command = 10 # STOP_IMAGE_PUBLISH future = self.camera_client.call_async(req) rclpy.spin_until_future_complete(self, future) result = future.result() if result.result == 0: self.get_logger().info('AI相机已停止') return True else: self.get_logger().error(f'停止AI相机失败: {result.msg}') return False def detect_qr_codes(self, img): """使用pyzbar检测QR码""" try: # 检测所有条形码/QR码 decoded_objects = pyzbar.decode(img) results = [] for obj in decoded_objects: qr_data = obj.data.decode('utf-8') qr_type = obj.type # 在图像上绘制检测框 points = obj.polygon if len(points) > 4: hull = cv2.convexHull(np.array([point for point in points], dtype=np.float32)) cv2.polylines(img, [np.int32(hull)], True, (0, 255, 0), 3) else: cv2.polylines(img, [np.int32(points)], True, (0, 255, 0), 3) # 添加文本标签 x = obj.rect.left y = obj.rect.top - 10 cv2.putText(img, f'{qr_type}: {qr_data[:20]}...', (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2) results.append({ 'data': qr_data, 'type': qr_type, 'rect': obj.rect }) return results, img except Exception as e: self.get_logger().error(f"QR码检测错误: {str(e)}") return [], img def image_callback(self, msg): """处理图像并定时截图""" current_time = time.time() elapsed = current_time - self.start_time # 超过总时长则停止 if elapsed >= self.total_duration: self.get_logger().info("已完成30秒截图任务") raise KeyboardInterrupt try: # 转换图像格式 if msg.encoding in ['rgb8', 'bgr8']: img = np.frombuffer(msg.data, dtype=np.uint8).reshape( msg.height, msg.width, 3 ) if msg.encoding == 'rgb8': img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) # 保存当前图像用于QR码检测 self.current_image = img.copy() # QR码检测（定时进行，避免影响性能） if current_time - self.last_qr_check_time >= self.qr_check_interval: qr_results, img_with_overlay = self.detect_qr_codes(img.copy()) # 处理检测到的QR码 for qr in qr_results: qr_data = qr['data'] if qr_data not in self.found_qr_codes: self.found_qr_codes.add(qr_data) self.get_logger().info(f"🔍 检测到 {qr['type']}: {qr_data}") # 保存包含QR码的特殊截图到专用文件夹 timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") qr_filename = f"{self.qr_save_dir}/qr_detected_{timestamp}.jpg" cv2.imwrite(qr_filename, img_with_overlay) self.get_logger().info(f"📷 QR码检测截图已保存: {qr_filename}") self.last_qr_check_time = current_time # 如果检测到QR码，显示带标注的图像 if qr_results and self.gui_enabled: cv2.imshow(self.window_name, img_with_overlay) elif self.gui_enabled: cv2.imshow(self.window_name, img) else: # 正常显示 if self.gui_enabled: cv2.imshow(self.window_name, img) # 定时截图逻辑 if current_time - self.last_capture_time >= self.capture_interval: timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") filename = f"{self.save_dir}/capture_{timestamp}.jpg" cv2.imwrite(filename, img) self.get_logger().info(f"📸 定时截图已保存: {filename}") self.last_capture_time = current_time # OpenCV窗口事件处理 if self.gui_enabled: key = cv2.waitKey(1) & 0xFF if key == ord('q'): # 按'q'退出 raise KeyboardInterrupt elif key == ord('s'): # 按's'手动截图 timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") filename = f"{self.save_dir}/manual_{timestamp}.jpg" cv2.imwrite(filename, img) self.get_logger().info(f"📱 手动截图已保存: {filename}") except Exception as e: self.get_logger().error(f"图像处理错误: {str(e)}") def print_summary(self): """打印运行总结""" self.get_logger().info("=" * 50) self.get_logger().info("📊 运行总结:") self.get_logger().info(f"🕐 总运行时间: {self.total_duration}秒") self.get_logger().info(f"📷 截图间隔: {self.capture_interval}秒") self.get_logger().info(f"🔍 发现QR码数量: {len(self.found_qr_codes)}") if self.found_qr_codes: self.get_logger().info("📋 发现的QR码:") for i, qr_data in enumerate(self.found_qr_codes, 1): self.get_logger().info(f" {i}. {qr_data}") # 统计保存的文件 if os.path.exists(self.save_dir): capture_files = os.listdir(self.save_dir) self.get_logger().info(f"💾 普通截图文件数: {len(capture_files)}") if os.path.exists(self.qr_save_dir): qr_files = os.listdir(self.qr_save_dir) self.get_logger().info(f"🔍 QR码截图文件数: {len(qr_files)}") self.get_logger().info("=" * 50) def main(args=None): rclpy.init(args=args) demo = AICameraDemo() try: if demo.start_camera(): demo.get_logger().info("🚀 开始AI相机演示...") demo.get_logger().info("📋 功能说明:") demo.get_logger().info(" - 每3秒自动截图") demo.get_logger().info(" - 实时检测QR码/条形码") demo.get_logger().info(" - 按 's' 手动截图") demo.get_logger().info(" - 按 'q' 退出程序") demo.get_logger().info(" - 程序将在30秒后自动结束") demo.get_logger().info("-" * 40) rclpy.spin(demo) else: demo.get_logger().error("❌ 无法启动AI相机") except KeyboardInterrupt: demo.get_logger().info("🛑 程序被用户终止") except Exception as e: demo.get_logger().error(f"❌ 运行错误: {str(e)}") finally: # 打印总结 demo.print_summary() # 清理资源 demo.stop_camera() if demo.gui_enabled: cv2.destroyAllWindows() demo.destroy_node() rclpy.shutdown() demo.get_logger().info("🏁 程序已安全退出") if __name__ == '__main__': main()