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import socket

import struct

import json

import math

import numpy as np

import cv2

import pyzed.sl as zed

import threading

# 与Qt接收端建立TCP连接

host = '192.168.137.12' # Qt接收端的IP地址

port = 49279 # Qt接收端的端口

client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

client_socket.connect((host, port))

print("连接成功")

# 与Qt接收端建立TCP连接2

host2 = '192.168.137.12' # Qt接收端的IP地址

port2 = 49278 # Qt接收端的端口

client_socket2 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

client_socket2.connect((host2, port2))

print("连接成功2")

# 初始化ZED相机

cam = zed.Camera()

init = zed.InitParameters()

init.camera_resolution = zed.RESOLUTION.HD720

init.depth_mode = zed.DEPTH_MODE.ULTRA

init.coordinate_units = zed.UNIT.METER

init.depth_minimum_distance = 0.1

init.depth_maximum_distance = 20

err = cam.open(init)

if err != zed.ERROR_CODE.SUCCESS:

print(repr(err))

cam.close()

exit(1)

# 参数

runtime = zed.RuntimeParameters(confidence_threshold=50)

depth_image = zed.Mat()

point_cloud = zed.Mat()

# 设置HSV阈值用于检测白色物体

lower_white = np.array([0, 0, 255], dtype=np.uint8)

upper_white = np.array([180, 30, 255], dtype=np.uint8)

# 设置HSV阈值用于排除蓝色背景

lower_blue = np.array([100, 150, 0], dtype=np.uint8)

upper_blue = np.array([140, 255, 255], dtype=np.uint8)

# 控制变量

frame_count = 0

transmit_frequency = 10;# 每20帧传输一次数据

# 图像处理函数

def image_processing():

global frame_count

while True:

if cam.grab(runtime) == zed.ERROR_CODE.SUCCESS:

cam.retrieve_image(depth_image, zed.VIEW.LEFT)

frame = depth_image.get_data()

cam.retrieve_measure(point_cloud, zed.MEASURE.XYZRGBA)

hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

mask_white = cv2.inRange(hsv, lower_white, upper_white)

mask_blue = cv2.inRange(hsv, lower_blue, upper_blue)

mask_white = cv2.bitwise_and(mask_white, cv2.bitwise_not(mask_blue))

kernel = np.ones((5, 5), np.uint8)

mask_white = cv2.dilate(mask_white, kernel)

opening = cv2.morphologyEx(mask_white, cv2.MORPH_OPEN, kernel)

bila = cv2.bilateralFilter(mask_white, 10, 200, 200)

edges = cv2.Canny(opening, 50, 100)

circles = cv2.HoughCircles(edges, cv2.HOUGH_GRADIENT, 1, 100, param1=100, param2=32, minRadius=10, maxRadius=50)

if circles is not None:

circles = np.uint16(np.around(circles))

for i in circles[0]:

center_x = int(i[0])

center_y = int(i[1])

err, point3D = point_cloud.get_value(center_x, center_y)

if err == zed.ERROR_CODE.SUCCESS and not math.isnan(point3D[2]):

distance = math.sqrt(point3D[0] ** 2 + point3D[1] ** 2 + point3D[2] ** 2)

world_x = point3D[0]

world_y = point3D[1]

world_z = point3D[2]

print(f"圆心世界坐标位置: x={world_x:.3f}m, y={world_y:.3f}m, z={world_z:.3f}m, 距离: {distance:.3f}m")

data = {"x": world_x, "y": world_y, "z": world_z, "distance": distance}

if frame_count % transmit_frequency == 0:

encoded_data = json.dumps(data).encode()

client_socket.send( encoded_data)

cv2.circle(frame, (center_x, center_y), i[2], (0, 255, 0), 2)

cv2.circle(frame, (center_x, center_y), 2, (0, 0, 255), 3)

# cv2.imshow('Frame', frame)

frame_count += 1

key = cv2.waitKey(1)

if key == 27: # 如果按下ESC键，则退出

break

# 数据传输函数

def transmit_data():

while True:

if cam.grab(runtime) == zed.ERROR_CODE.SUCCESS:

cam.retrieve_image(depth_image, zed.VIEW.LEFT)

frame = depth_image.get_data()

if frame_count % transmit_frequency == 0:

_, img_encoded = cv2.imencode('.jpg', frame)

img_bytes = img_encoded.tobytes()

img_size = len(img_bytes)

#client_socket.sendall(struct.pack("L", len(img_bytes)) + img_bytes)

client_socket.sendall(struct.pack("Q", img_size) + img_bytes)

key = cv2.waitKey(1)

if key == 27: # 如果按下ESC键，则退出

break

# 创建并启动图像处理线程

image_thread = threading.Thread(target=image_processing, args=(client_socket2,))

image_thread.start()

# 创建并启动数据传输线程

transmit_thread = threading.Thread(target=transmit_data, args=(client_socket,))

transmit_thread.start()

# 等待图像处理线程结束

image_thread.join()

# 等待数据传输线程结束

transmit_thread.join()

# 释放资源

client_socket.close()

cam.close()

cv2.destroyAllWindows()

Exception in thread Thread-1:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
TypeError: image_processing() takes 0 positional arguments but 1 was given

Exception in thread Thread-2:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
TypeError: transmit_data() takes 0 positional arguments but 1 was given

Traceback (most recent call last):
  File "/home/b407/cv2.py", line 6, in <module>
    import cv2
  File "/home/b407/cv2.py", line 144, in <module>
    cv2.destroyAllWindows()
AttributeError: module 'cv2' has no attribute 'destroyAllWindows