需求：需要使用Realsense D415 采集人体面部深度图和彩色图像
UI界面如下：
保存的文件格式如下：
代码：
1. face_mainwindow.ui
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1300</width>
<height>860</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QLabel" name="label_show">
<property name="geometry">
<rect>
<x>10</x>
<y>0</y>
<width>1280</width>
<height>720</height>
</rect>
</property>
<property name="text">
<string>Depth</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_takephotos">
<property name="geometry">
<rect>
<x>330</x>
<y>750</y>
<width>101</width>
<height>41</height>
</rect>
</property>
<property name="text">
<string>拍摄</string>
</property>
</widget>
<widget class="QLineEdit" name="lineEdit_id">
<property name="geometry">
<rect>
<x>140</x>
<y>750</y>
<width>151</width>
<height>41</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>50</x>
<y>760</y>
<width>61</width>
<height>21</height>
</rect>
</property>
<property name="text">
<string>ID:</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1300</width>
<height>26</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>
2. face_mainwindow.py
# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'face_mainwindow.ui'
#
# Created by: PyQt5 UI code generator 5.15.2
#
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
# run again. Do not edit this file unless you know what you are doing.
from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1300, 860)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.label_show = QtWidgets.QLabel(self.centralwidget)
self.label_show.setGeometry(QtCore.QRect(10, 0, 1280, 720))
self.label_show.setObjectName("label_show")
self.pushButton_takephotos = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_takephotos.setGeometry(QtCore.QRect(330, 750, 101, 41))
self.pushButton_takephotos.setObjectName("pushButton_takephotos")
self.lineEdit_id = QtWidgets.QLineEdit(self.centralwidget)
self.lineEdit_id.setGeometry(QtCore.QRect(140, 750, 151, 41))
self.lineEdit_id.setObjectName("lineEdit_id")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(50, 760, 61, 21))
self.label.setObjectName("label")
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1300, 26))
self.menubar.setObjectName("menubar")
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.label_show.setText(_translate("MainWindow", "Depth"))
self.pushButton_takephotos.setText(_translate("MainWindow", "拍摄"))
self.label.setText(_translate("MainWindow", "ID:"))
3. face.py
import sys
from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox
from PyQt5.QtGui import QImage, QPixmap
from PyQt5.QtCore import QObject, pyqtSignal
from face_mainwindow import Ui_MainWindow
import os
import time
import datetime as dt
import numpy as np
import threading as th
import ctypes
import inspect
import re
# First import the library
import pyrealsense2 as rs
import cv2
from skimage import io
DELAY = 0
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self):
super(MainWindow, self).__init__()
# Set up the user interface from Designer.
self.setupUi(self)
self.dis_update.connect(self.camera_view)
self.pushButton_takephotos.clicked.connect(self.pushButton_takephotos_clicked)
self.thread_camera = None
self.takePhotos = False
# 在对应的页面类的内部，与def定义的函数同级
dis_update = pyqtSignal(QPixmap)
def pushButton_takephotos_clicked(self):
self.takePhotos = True
# 添加一个退出的提示事件
def closeEvent(self, event):
"""我们创建了一个消息框，上面有俩按钮：Yes和No.第一个字符串显示在消息框的标题栏，第二个字符串显示在对话框，
第三个参数是消息框的俩按钮，最后一个参数是默认按钮，这个按钮是默认选中的。返回值在变量reply里。"""
reply = QMessageBox.question(self, 'Message', "Are you sure to quit?",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
# 判断返回值，如果点击的是Yes按钮，我们就关闭组件和应用，否则就忽略关闭事件
if reply == QMessageBox.Yes:
self.stop_thread(self.thread_camera)
event.accept()
else:
event.ignore()
def open_camera(self):
# target选择开启摄像头的函数
self.thread_camera = th.Thread(target=self.open_realsense)
self.thread_camera.start()
print('Open Camera')
def camera_view(self, c):
# 调用setPixmap函数设置显示Pixmap
self.label_show.setPixmap(c)
# 调用setScaledContents将图像比例化显示在QLabel上
self.label_show.setScaledContents(True)
def _async_raise(self, tid, exctype):
"""raises the exception, performs cleanup if needed"""
tid = ctypes.c_long(tid)
if not inspect.isclass(exctype):
exctype = type(exctype)
res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(exctype))
if res == 0:
raise ValueError("invalid thread id")
elif res != 1:
# """if it returns a number greater than one, you're in trouble,
# and you should call it again with exc=NULL to revert the effect"""
ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None)
raise SystemError("PyThreadState_SetAsyncExc failed")
def stop_thread(self, thread):
self._async_raise(thread.ident, SystemExit)
def open_realsense(self):
print('open_realsense')
# Create a pipeline
pipeline = rs.pipeline()
# Create a config and configure the pipeline to stream
# different resolutions of color and depth streams
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
# Start streaming
profile = pipeline.start(config)
# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: ", depth_scale)
# We will be removing the background of objects more than
# clipping_distance_in_meters meters away
clipping_distance_in_meters = 1 # 1 meter
clipping_distance = clipping_distance_in_meters / depth_scale
# Color Intrinsics
# intr = color_frame.profile.as_video_stream_profile().intrinsics
# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)
# Streaming loop
try:
while True:
# Get frameset of color and depth
frames = pipeline.wait_for_frames()
# frames.get_depth_frame() is a 640x360 depth image
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
color_frame = aligned_frames.get_color_frame()
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
if(self.takePhotos == True):
now_date = dt.datetime.now().strftime('%F')
now_time = dt.datetime.now().strftime('%F_%H%M%S')
path_ok = os.path.exists(now_date)
if(path_ok == False):
os.mkdir(now_date)
if(os.path.isdir(now_date)):
id = self.lineEdit_id.text()
depth_full_path = ''
color_full_path = ''
# if (re.match('^[a-zA-Z0-9_]*$', id) and (id != '')):
if (re.match('^[\u4E00-\u9FA5a-zA-Z0-9_]*$', id) and (id != '')):
depth_full_path = os.path.join('./', now_date, id + '_depth.png')
color_full_path = os.path.join('./', now_date, id + '_color.png')
print(depth_full_path)
print(color_full_path)
else:
depth_full_path = os.path.join('./', now_date, now_time + '_depth.png')
color_full_path = os.path.join('./', now_date, now_time + '_color.png')
# cv2.imwrite(depth_full_path, depth_image)
# cv2.imwrite(color_full_path, color_image)
# io.imsave(depth_full_path, depth_image)
# io.imsave(color_full_path, color_image)
cv2.imencode('.png', depth_image)[1].tofile(depth_full_path)
cv2.imencode('.png', color_image)[1].tofile(color_full_path)
# print('ok')
self.takePhotos = False
# Remove background - Set pixels further than clipping_distance to grey
grey_color = 153
depth_image_3d = np.dstack(
(depth_image, depth_image, depth_image)) # depth image is 1 channel, color is 3 channels
bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0), grey_color,
color_image)
# Render images
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
images = np.hstack((bg_removed[0:720, 320:960], depth_colormap[0:720, 320:960]))
qimage = QImage(images, 1280, 720, QImage.Format_BGR888)
pixmap = QPixmap.fromImage(qimage)
self.dis_update.emit(pixmap)
time.sleep(DELAY)
finally:
pipeline.stop()
if __name__ == "__main__":
app = QApplication(sys.argv)
w = MainWindow()
w.show()
w.open_camera()
# thread_camera = th.Thread(target=w.open_realsense)
# thread_camera.start()
print('Hello World!')
sys.exit(app.exec_())4.face_mirror.py
import sys
from PyQt5.QtWidgets import QApplication, QMainWindow, QMessageBox
from PyQt5.QtGui import QImage, QPixmap
from PyQt5.QtCore import QObject, pyqtSignal
from face_mainwindow import Ui_MainWindow
import os
import time
import datetime as dt
import numpy as np
import threading as th
import ctypes
import inspect
import re
# First import the library
import pyrealsense2 as rs
import cv2
from skimage import io
DELAY = 0
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self):
super(MainWindow, self).__init__()
# Set up the user interface from Designer.
self.setupUi(self)
self.dis_update.connect(self.camera_view)
self.pushButton_takephotos.clicked.connect(self.pushButton_takephotos_clicked)
self.thread_camera = None
self.takePhotos = False
# 在对应的页面类的内部，与def定义的函数同级
dis_update = pyqtSignal(QPixmap)
def pushButton_takephotos_clicked(self):
self.takePhotos = True
# 添加一个退出的提示事件
def closeEvent(self, event):
"""我们创建了一个消息框，上面有俩按钮：Yes和No.第一个字符串显示在消息框的标题栏，第二个字符串显示在对话框，
第三个参数是消息框的俩按钮，最后一个参数是默认按钮，这个按钮是默认选中的。返回值在变量reply里。"""
reply = QMessageBox.question(self, 'Message', "Are you sure to quit?",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
# 判断返回值，如果点击的是Yes按钮，我们就关闭组件和应用，否则就忽略关闭事件
if reply == QMessageBox.Yes:
self.stop_thread(self.thread_camera)
event.accept()
else:
event.ignore()
def open_camera(self):
# target选择开启摄像头的函数
self.thread_camera = th.Thread(target=self.open_realsense)
self.thread_camera.start()
print('Open Camera')
def camera_view(self, c):
# 调用setPixmap函数设置显示Pixmap
self.label_show.setPixmap(c)
# 调用setScaledContents将图像比例化显示在QLabel上
self.label_show.setScaledContents(True)
def _async_raise(self, tid, exctype):
"""raises the exception, performs cleanup if needed"""
tid = ctypes.c_long(tid)
if not inspect.isclass(exctype):
exctype = type(exctype)
res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(exctype))
if res == 0:
raise ValueError("invalid thread id")
elif res != 1:
# """if it returns a number greater than one, you're in trouble,
# and you should call it again with exc=NULL to revert the effect"""
ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None)
raise SystemError("PyThreadState_SetAsyncExc failed")
def stop_thread(self, thread):
self._async_raise(thread.ident, SystemExit)
def open_realsense(self):
print('open_realsense')
# Create a pipeline
pipeline = rs.pipeline()
# Create a config and configure the pipeline to stream
# different resolutions of color and depth streams
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
# Start streaming
profile = pipeline.start(config)
# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: ", depth_scale)
# We will be removing the background of objects more than
# clipping_distance_in_meters meters away
clipping_distance_in_meters = 1 # 1 meter
clipping_distance = clipping_distance_in_meters / depth_scale
# Color Intrinsics
# intr = color_frame.profile.as_video_stream_profile().intrinsics
# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)
# Streaming loop
try:
while True:
# Get frameset of color and depth
frames = pipeline.wait_for_frames()
# frames.get_depth_frame() is a 640x360 depth image
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
color_frame = aligned_frames.get_color_frame()
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
if (self.takePhotos == True):
now_date = dt.datetime.now().strftime('%F')
now_time = dt.datetime.now().strftime('%F_%H%M%S')
path_ok = os.path.exists(now_date)
if (path_ok == False):
os.mkdir(now_date)
if (os.path.isdir(now_date)):
id = self.lineEdit_id.text()
depth_full_path = ''
color_full_path = ''
# if (re.match('^[a-zA-Z0-9_]*$', id) and (id != '')):
if (re.match('^[\u4E00-\u9FA5a-zA-Z0-9_]*$', id) and (id != '')):
depth_full_path = os.path.join('./', now_date, id + '_depth.png')
color_full_path = os.path.join('./', now_date, id + '_color.png')
print(depth_full_path)
print(color_full_path)
else:
depth_full_path = os.path.join('./', now_date, now_time + '_depth.png')
color_full_path = os.path.join('./', now_date, now_time + '_color.png')
# cv2.imwrite(depth_full_path, depth_image)
# cv2.imwrite(color_full_path, color_image)
# io.imsave(depth_full_path, depth_image)
# io.imsave(color_full_path, color_image)
cv2.imencode('.png', depth_image)[1].tofile(depth_full_path)
cv2.imencode('.png', color_image)[1].tofile(color_full_path)
# print('ok')
self.takePhotos = False
# Remove background - Set pixels further than clipping_distance to grey
grey_color = 153
depth_image_3d = np.dstack(
(depth_image, depth_image, depth_image)) # depth image is 1 channel, color is 3 channels
bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0), grey_color,
color_image)
# Render images
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
bg_removed = cv2.flip(bg_removed, 1)
depth_colormap = cv2.flip(depth_colormap, 1)
images = np.hstack((bg_removed[0:720, 320:960], depth_colormap[0:720, 320:960]))
qimage = QImage(images, 1280, 720, QImage.Format_BGR888)
pixmap = QPixmap.fromImage(qimage)
self.dis_update.emit(pixmap)
time.sleep(DELAY)
finally:
pipeline.stop()
if __name__ == "__main__":
app = QApplication(sys.argv)
w = MainWindow()
w.show()
w.open_camera()
# thread_camera = th.Thread(target=w.open_realsense)
# thread_camera.start()
print('Hello World!')
sys.exit(app.exec_())
说明：face.py和face_mirror.py的主要区别是一个是镜像的，一个是非镜像的。
参考文献：
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