Init: 制动器角度读取工具
This commit is contained in:
commit
abf715360b
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__pycache__/
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*.pyc
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*.pyo
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.venv/
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venv/
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*.egg-info/
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dist/
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build/
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.DS_Store
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*.swp
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*.swo
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*~
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*.csv
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*_frames/
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from .video_reader import VideoReader
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from .angle_calc import signed_angle, curvature_from_three_points
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from .automation import (
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PointDetector,
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ManualDetector,
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ColorBlobDetector,
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ActuatorAnalyzer,
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)
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"""角度计算模块
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角度定义（∠M2-O-M）：
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- O: 圆心 / 固定旋转中心（第一帧选定，全程不变）
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- M: 初始尾端参考位置（第一帧选定，全程不变）
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- M2: 当前帧尾端位置（每帧重新选定）
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- 角度 = 向量 O→M 与 O→M2 之间的夹角（0-180°）
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"""
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import math
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from typing import Tuple
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def angle_between_vectors(
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v1: Tuple[float, float], v2: Tuple[float, float]
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) -> float:
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"""计算两个向量之间的夹角（度）"""
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dot = v1[0] * v2[0] + v1[1] * v2[1]
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mag1 = math.hypot(v1[0], v1[1])
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mag2 = math.hypot(v2[0], v2[1])
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if mag1 < 1e-9 or mag2 < 1e-9:
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return 0.0
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cos_theta = max(-1.0, min(1.0, dot / (mag1 * mag2)))
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return math.degrees(math.acos(cos_theta))
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def signed_angle(
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o: Tuple[float, float],
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m: Tuple[float, float],
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m2: Tuple[float, float],
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) -> float:
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"""计算带符号的 ∠M2-O-M 角度
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Args:
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o: 圆心（顶点）
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m: 初始尾端参考位置
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m2: 当前尾端位置
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Returns:
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带符号的角度（度），正=顺时针，负=逆时针
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"""
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v_ref = (m[0] - o[0], m[1] - o[1]) # O → M
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v_cur = (m2[0] - o[0], m2[1] - o[1]) # O → M2
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angle = angle_between_vectors(v_ref, v_cur)
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# 叉积 Z 分量判断方向
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cross_z = v_ref[0] * v_cur[1] - v_ref[1] * v_cur[0]
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if cross_z < 0:
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angle = -angle
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return angle
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def curvature_from_three_points(
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o: Tuple[float, float],
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m: Tuple[float, float],
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m2: Tuple[float, float],
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scale: float = 1.0,
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) -> float:
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"""由三点计算曲率（Menger curvature）
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Args:
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o, m, m2: 三个点
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scale: 像素到物理单位的比例（mm/pixel）
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Returns:
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曲率 (1/mm)
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"""
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a = math.hypot(o[0] - m[0], o[1] - m[1]) * scale
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b = math.hypot(m[0] - m2[0], m[1] - m2[1]) * scale
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c = math.hypot(m2[0] - o[0], m2[1] - o[1]) * scale
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s = (a + b + c) / 2.0
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area = math.sqrt(max(0, s * (s - a) * (s - b) * (s - c)))
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if area < 1e-12:
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return 0.0
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radius = (a * b * c) / (4.0 * area)
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return 1.0 / radius if radius > 1e-12 else 0.0
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"""自动化接口模块
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工作流程：
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1. 第一帧：选 O（圆心）+ M（初始尾端参考）
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2. 后续帧：选 M2（当前尾端），自动计算 ∠M2-O-M
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"""
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from abc import ABC, abstractmethod
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from typing import List, Optional, Tuple
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import numpy as np
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class PointDetector(ABC):
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"""标记点检测器抽象基类 — 自动化接口"""
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@abstractmethod
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def detect(self, frame: np.ndarray) -> List[Tuple[float, float]]:
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"""从一帧图像中检测所有候选标记点
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Returns:
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[(x, y), ...] 检测到的标记点列表
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"""
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...
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class ManualDetector(PointDetector):
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"""手动选点（当前版本）"""
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def __init__(self):
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self._point: Optional[Tuple[float, float]] = None
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def set_point(self, pt: Tuple[float, float]) -> None:
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self._point = pt
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def detect(self, frame: np.ndarray) -> List[Tuple[float, float]]:
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return [self._point] if self._point else []
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class ColorBlobDetector(PointDetector):
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"""基于颜色的自动检测器（预留）
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通过 HSV 颜色范围 + 轮廓检测来定位标记点。
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"""
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def __init__(
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self,
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lower_hsv: Tuple[int, int, int] = (20, 100, 100),
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upper_hsv: Tuple[int, int, int] = (35, 255, 255),
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):
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self.lower = np.array(lower_hsv)
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self.upper = np.array(upper_hsv)
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def detect(self, frame: np.ndarray) -> List[Tuple[float, float]]:
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import cv2
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hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
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mask = cv2.inRange(hsv, self.lower, self.upper)
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contours, _ = cv2.findContours(
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mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE
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)
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points = []
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for c in contours:
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M = cv2.moments(c)
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if M["m00"] > 100:
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cx = M["m10"] / M["m00"]
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cy = M["m01"] / M["m00"]
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points.append((cx, cy))
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return points
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class ActuatorAnalyzer:
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"""制动器分析器 — 封装完整分析流程
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使用方式：
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analyzer = ActuatorAnalyzer(video_path)
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analyzer.set_reference(o, m) # 圆心 + 初始尾端
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analyzer.set_actuator_length(120) # mm
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for frame_idx in range(n):
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result = analyzer.analyze_frame(frame_idx)
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"""
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def __init__(self, video_path: str):
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from .video_reader import VideoReader
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self.video = VideoReader(video_path)
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self.point_o: Optional[Tuple[float, float]] = None # 圆心
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self.point_m: Optional[Tuple[float, float]] = None # 初始尾端
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self.actuator_length_mm: float = 100.0
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self.detector: PointDetector = ManualDetector()
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def set_reference(
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self,
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o: Tuple[float, float],
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m: Tuple[float, float],
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) -> None:
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"""设置圆心 O 和初始尾端参考位置 M"""
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self.point_o = o
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self.point_m = m
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def set_detector(self, detector: PointDetector) -> None:
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self.detector = detector
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def analyze_frame(self, frame_idx: int) -> Optional[dict]:
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"""分析单帧，返回 ∠M2-O-M 等数据"""
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from .angle_calc import signed_angle
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frame = self.video.read_frame(frame_idx)
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if frame is None or self.point_o is None or self.point_m is None:
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return None
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points = self.detector.detect(frame)
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if len(points) < 1:
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return None
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m2 = points[0] # 当前尾端
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angle = signed_angle(self.point_o, self.point_m, m2)
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return {
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"frame_idx": frame_idx,
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"point_m2": m2,
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"angle_deg": angle,
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"actuator_length_mm": self.actuator_length_mm,
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}
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def analyze_all_frames(self) -> List[dict]:
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"""分析所有帧"""
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results = []
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for i in range(self.video.frame_count):
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r = self.analyze_frame(i)
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if r is not None:
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results.append(r)
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return results
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"""视频读取模块"""
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import cv2
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from pathlib import Path
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from typing import Iterator, Optional
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import numpy as np
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class VideoReader:
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"""读取视频文件，按帧提取"""
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def __init__(self, path: str | Path):
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self.path = Path(path)
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self._cap: Optional[cv2.VideoCapture] = None
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self._frame_count: Optional[int] = None
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self._fps: Optional[float] = None
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self._width: Optional[int] = None
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self._height: Optional[int] = None
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@property
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def frame_count(self) -> int:
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if self._frame_count is None:
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self._open()
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return self._frame_count
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@property
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def fps(self) -> float:
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if self._fps is None:
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self._open()
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return self._fps
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@property
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def width(self) -> int:
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if self._width is None:
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self._open()
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return self._width
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@property
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def height(self) -> int:
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if self._height is None:
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self._open()
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return self._height
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def _open(self) -> None:
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self._cap = cv2.VideoCapture(str(self.path))
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if not self._cap.isOpened():
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raise FileNotFoundError(f"Cannot open video: {self.path}")
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self._frame_count = int(self._cap.get(cv2.CAP_PROP_FRAME_COUNT))
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self._fps = self._cap.get(cv2.CAP_PROP_FPS)
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self._width = int(self._cap.get(cv2.CAP_PROP_FRAME_WIDTH))
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self._height = int(self._cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
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def read_frame(self, index: int) -> Optional[np.ndarray]:
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"""读取指定索引的一帧 (BGR) — 随机访问，可能慢"""
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if self._cap is None:
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self._open()
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self._cap.set(cv2.CAP_PROP_POS_FRAMES, index)
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ret, frame = self._cap.read()
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if not ret:
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return None
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return frame
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def reset(self) -> None:
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"""重开视频，回到第 0 帧，用于顺序读取"""
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self.close()
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self._open()
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def read_next(self) -> Optional[np.ndarray]:
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"""顺序读取下一帧（不 seek，比 read_frame 可靠）"""
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if self._cap is None:
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self._open()
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ret, frame = self._cap.read()
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if not ret:
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return None
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return frame
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def iter_frames(self) -> Iterator[tuple[int, np.ndarray]]:
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"""逐帧迭代，返回 (index, frame)"""
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self.reset()
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idx = 0
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while True:
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frame = self.read_next()
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if frame is None:
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break
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yield idx, frame
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idx += 1
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def close(self) -> None:
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if self._cap is not None:
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self._cap.release()
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self._cap = None
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def __enter__(self):
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return self
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def __exit__(self, *args):
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self.close()
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#!/usr/bin/env python3
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"""制动器角度读取工具 — PyQt6 GUI
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工作流程：
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1. 打开视频
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2. 第一帧：点击 O（圆心）→ 点击 M（初始尾端参考）
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3. 点击「开始测量」→ 逐帧点击 M2，每点完一帧自动进下一帧
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4. 可随时用「方向矫正」翻转角度符号
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"""
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import sys
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import csv
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from pathlib import Path
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from typing import Optional
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import cv2
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import numpy as np
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from PyQt6.QtCore import Qt, QTimer
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from PyQt6.QtGui import (
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QImage, QPixmap, QPainter, QPen, QColor, QFont, QAction,
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)
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from PyQt6.QtWidgets import (
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QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout,
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QLabel, QPushButton, QSlider, QFileDialog, QGroupBox,
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QDoubleSpinBox, QFormLayout, QMessageBox, QSplitter, QCheckBox,
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QSizePolicy,
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)
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from actuator import VideoReader, signed_angle, curvature_from_three_points
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# ── 颜色 ──────────────────────────────────────────────────
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COLOR_O = QColor(0, 255, 0)
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COLOR_M = QColor(255, 200, 0)
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COLOR_M2 = QColor(255, 50, 50)
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COLOR_M2_PREV = QColor(120, 120, 120) # 灰 — 上一帧 M2
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COLOR_REF_LINE = QColor(100, 200, 100)
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COLOR_CUR_LINE = QColor(255, 120, 120)
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COLOR_PREV_LINE = QColor(100, 100, 100) # 深灰 — O→M2' 上一帧线
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RADIUS = 8
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class FrameView(QLabel):
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"""视频帧显示，鼠标点击选点：O → M → M2 → M2 ..."""
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def __init__(self, parent=None):
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super().__init__(parent)
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self.setMinimumSize(320, 180)
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self.setSizePolicy(
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QSizePolicy.Policy.Expanding,
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QSizePolicy.Policy.Expanding,
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)
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self.setAlignment(Qt.AlignmentFlag.AlignCenter)
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self.setStyleSheet("background: #1a1a1a; border: 1px solid #333;")
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self.setMouseTracking(True)
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self._frame: Optional[np.ndarray] = None
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self._pixmap: Optional[QPixmap] = None
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self._scale: float = 1.0
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self._offset_x: float = 0.0
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self._offset_y: float = 0.0
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self.point_o: Optional[tuple] = None
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self.point_m: Optional[tuple] = None
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self.point_m2: Optional[tuple] = None
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self.point_m2_prev: Optional[tuple] = None # 上一帧 M2
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self._select_mode: str = "o" # o → m → m2
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self._block_clicks: bool = False
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self.on_point_selected = None
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@property
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def reference_ready(self) -> bool:
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return self.point_o is not None and self.point_m is not None
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def set_frame(self, frame: np.ndarray) -> None:
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self._frame = frame.copy()
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self._update_pixmap()
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def resizeEvent(self, event) -> None:
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super().resizeEvent(event)
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self._update_pixmap()
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def _update_pixmap(self) -> None:
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if self._frame is None:
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return
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h, w = self._frame.shape[:2]
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rgb = cv2.cvtColor(self._frame, cv2.COLOR_BGR2RGB)
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qimg = QImage(rgb.data, w, h, 3 * w, QImage.Format.Format_RGB888)
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self._pixmap = QPixmap.fromImage(qimg).scaled(
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self.width(), self.height(),
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Qt.AspectRatioMode.KeepAspectRatio,
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Qt.TransformationMode.SmoothTransformation,
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)
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self._scale = self._pixmap.width() / w
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self._offset_x = (self.width() - self._pixmap.width()) // 2
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self._offset_y = (self.height() - self._pixmap.height()) // 2
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self.update()
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def widget_to_image(self, wx: int, wy: int) -> tuple:
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return ((wx - self._offset_x) / self._scale,
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(wy - self._offset_y) / self._scale)
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def image_to_widget(self, ix: float, iy: float) -> tuple:
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return (ix * self._scale + self._offset_x,
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iy * self._scale + self._offset_y)
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def mousePressEvent(self, event) -> None:
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if event.button() != Qt.MouseButton.LeftButton:
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return
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if self._frame is None or self._block_clicks:
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return
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pt = self.widget_to_image(
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int(event.position().x()), int(event.position().y()))
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if self._select_mode == "o":
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self.point_o = pt
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self._select_mode = "m"
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elif self._select_mode == "m":
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self.point_m = pt
|
||||
self._select_mode = "m2"
|
||||
else:
|
||||
self.point_m2 = pt
|
||||
|
||||
self.update()
|
||||
if self.on_point_selected:
|
||||
self.on_point_selected(self._select_mode, pt)
|
||||
|
||||
def paintEvent(self, event) -> None:
|
||||
super().paintEvent(event)
|
||||
painter = QPainter(self)
|
||||
painter.setRenderHint(QPainter.RenderHint.Antialiasing)
|
||||
|
||||
if self._pixmap:
|
||||
painter.drawPixmap(
|
||||
int(self._offset_x), int(self._offset_y), self._pixmap)
|
||||
|
||||
if self._frame is None:
|
||||
painter.setPen(QColor(150, 150, 150))
|
||||
painter.setFont(QFont("sans-serif", 14))
|
||||
painter.drawText(
|
||||
self.rect(), Qt.AlignmentFlag.AlignCenter, "文件 → 打开视频")
|
||||
painter.end()
|
||||
return
|
||||
|
||||
# 尺寸跟随窗口缩放
|
||||
r = max(2, min(6, int(3 * self._scale)))
|
||||
lw = max(1, int(2 * self._scale))
|
||||
fs = max(8, min(24, int(14 * self._scale)))
|
||||
|
||||
# O → M
|
||||
if self.point_o and self.point_m:
|
||||
p1 = self.image_to_widget(*self.point_o)
|
||||
p2 = self.image_to_widget(*self.point_m)
|
||||
painter.setPen(QPen(COLOR_REF_LINE, lw, Qt.PenStyle.DashLine))
|
||||
painter.drawLine(int(p1[0]), int(p1[1]), int(p2[0]), int(p2[1]))
|
||||
|
||||
# O → M2' (上一帧)
|
||||
if self.point_o and self.point_m2_prev:
|
||||
p1 = self.image_to_widget(*self.point_o)
|
||||
p2 = self.image_to_widget(*self.point_m2_prev)
|
||||
painter.setPen(QPen(COLOR_PREV_LINE, max(1, lw // 2), Qt.PenStyle.DotLine))
|
||||
painter.drawLine(int(p1[0]), int(p1[1]), int(p2[0]), int(p2[1]))
|
||||
|
||||
# O → M2
|
||||
if self.point_o and self.point_m2:
|
||||
p1 = self.image_to_widget(*self.point_o)
|
||||
p2 = self.image_to_widget(*self.point_m2)
|
||||
painter.setPen(QPen(COLOR_CUR_LINE, lw, Qt.PenStyle.DashLine))
|
||||
painter.drawLine(int(p1[0]), int(p1[1]), int(p2[0]), int(p2[1]))
|
||||
|
||||
self._draw_point(painter, self.point_o, COLOR_O, "O", r, fs)
|
||||
self._draw_point(painter, self.point_m, COLOR_M, "M", r, fs)
|
||||
self._draw_point(painter, self.point_m2_prev, COLOR_M2_PREV, "M2'", r, fs)
|
||||
self._draw_point(painter, self.point_m2, COLOR_M2, "M2", r, fs)
|
||||
painter.end()
|
||||
|
||||
def _draw_point(self, painter, pt, color, label, r, fs):
|
||||
if pt is None:
|
||||
return
|
||||
wx, wy = self.image_to_widget(*pt)
|
||||
x, y = int(wx), int(wy)
|
||||
painter.setBrush(color)
|
||||
painter.setPen(QPen(Qt.GlobalColor.white, max(1, r // 4)))
|
||||
painter.drawEllipse(x - r, y - r, r * 2, r * 2)
|
||||
painter.setPen(Qt.GlobalColor.white)
|
||||
painter.setFont(QFont("monospace", fs, QFont.Weight.Bold))
|
||||
painter.drawText(x + r + 2, y - r - 2, label)
|
||||
|
||||
def reset_all(self) -> None:
|
||||
self.point_o = None
|
||||
self.point_m = None
|
||||
self.point_m2 = None
|
||||
self.point_m2_prev = None
|
||||
self._select_mode = "o"
|
||||
self.update()
|
||||
|
||||
def reset_m2(self) -> None:
|
||||
"""清除 M2，当前 M2 变为上一帧"""
|
||||
if self.point_m2 is not None:
|
||||
self.point_m2_prev = self.point_m2
|
||||
self.point_m2 = None
|
||||
self.update()
|
||||
|
||||
|
||||
class MainWindow(QMainWindow):
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.setWindowTitle("制动器角度读取 — ∠M2-O-M")
|
||||
self.setMinimumSize(1100, 650)
|
||||
|
||||
self._video: Optional[VideoReader] = None
|
||||
self._current_frame_idx: int = 0
|
||||
|
||||
# 测量模式
|
||||
self._measuring: bool = False
|
||||
self._flip_sign: bool = False
|
||||
self._prev_angle: Optional[float] = None # 上帧角度
|
||||
self._measurements: list = []
|
||||
|
||||
self._setup_ui()
|
||||
self._setup_menu()
|
||||
|
||||
# ══════════════ UI ═══════════════════════════════════
|
||||
|
||||
def _setup_ui(self) -> None:
|
||||
central = QWidget()
|
||||
self.setCentralWidget(central)
|
||||
root = QHBoxLayout(central)
|
||||
|
||||
self.frame_view = FrameView()
|
||||
self.frame_view.on_point_selected = self._on_point_changed
|
||||
|
||||
# 右侧面板（弹性宽度）
|
||||
panel = QWidget()
|
||||
panel.setMinimumWidth(240)
|
||||
panel.setMaximumWidth(400)
|
||||
pl = QVBoxLayout(panel)
|
||||
pl.setContentsMargins(4, 4, 4, 4)
|
||||
pl.setSpacing(4)
|
||||
|
||||
# ── 选点状态 ──
|
||||
grp = QGroupBox("选点状态")
|
||||
gf = QFormLayout(grp)
|
||||
gf.setHorizontalSpacing(4)
|
||||
|
||||
lbl_style = "font-size: 11px; font-weight: bold;"
|
||||
coord_style = "font-size: 10px;"
|
||||
|
||||
self.lbl_o = QLabel("未选")
|
||||
self.lbl_o.setStyleSheet(f"{lbl_style} color: #0f0;")
|
||||
self.lbl_o.setWordWrap(True)
|
||||
self.lbl_m = QLabel("未选")
|
||||
self.lbl_m.setStyleSheet(f"{lbl_style} color: #fa0;")
|
||||
self.lbl_m.setWordWrap(True)
|
||||
self.lbl_m2 = QLabel("未选")
|
||||
self.lbl_m2.setStyleSheet(f"{lbl_style} color: #f33;")
|
||||
self.lbl_m2.setWordWrap(True)
|
||||
gf.addRow("O:", self.lbl_o)
|
||||
gf.addRow("M:", self.lbl_m)
|
||||
gf.addRow("M2:", self.lbl_m2)
|
||||
|
||||
btn_row = QHBoxLayout()
|
||||
self.btn_reset_all = QPushButton("重置全部")
|
||||
self.btn_reset_all.clicked.connect(self._reset_all)
|
||||
self.btn_reset_m2 = QPushButton("清除 M2")
|
||||
self.btn_reset_m2.clicked.connect(self._reset_m2)
|
||||
btn_row.addWidget(self.btn_reset_all)
|
||||
btn_row.addWidget(self.btn_reset_m2)
|
||||
gf.addRow(btn_row)
|
||||
|
||||
self.lbl_hint = QLabel("点击画面选 O → M → M2")
|
||||
self.lbl_hint.setStyleSheet("color: #888; font-size: 11px;")
|
||||
gf.addRow(self.lbl_hint)
|
||||
pl.addWidget(grp)
|
||||
|
||||
# ── 方向矫正 ──
|
||||
grp_corr = QGroupBox("方向矫正")
|
||||
corr_layout = QVBoxLayout(grp_corr)
|
||||
self.chk_flip = QCheckBox("翻转角度符号 (± 取反)")
|
||||
self.chk_flip.toggled.connect(self._on_flip_toggled)
|
||||
corr_layout.addWidget(self.chk_flip)
|
||||
pl.addWidget(grp_corr)
|
||||
|
||||
# ── 参数 ──
|
||||
grp_p = QGroupBox("参数")
|
||||
pf = QFormLayout(grp_p)
|
||||
self.spin_length = QDoubleSpinBox()
|
||||
self.spin_length.setRange(10, 5000)
|
||||
self.spin_length.setValue(100.0)
|
||||
self.spin_length.setSuffix(" mm")
|
||||
self.spin_length.valueChanged.connect(self._update_display)
|
||||
pf.addRow("致动器长度:", self.spin_length)
|
||||
|
||||
self.spin_scale = QDoubleSpinBox()
|
||||
self.spin_scale.setRange(0.001, 100.0)
|
||||
self.spin_scale.setValue(1.0)
|
||||
self.spin_scale.setDecimals(4)
|
||||
self.spin_scale.setSuffix(" mm/px")
|
||||
self.spin_scale.valueChanged.connect(self._update_display)
|
||||
pf.addRow("像素比例:", self.spin_scale)
|
||||
pl.addWidget(grp_p)
|
||||
|
||||
# ── 读数 ──
|
||||
grp_r = QGroupBox("∠M2-O-M")
|
||||
rf = QFormLayout(grp_r)
|
||||
self.lbl_angle = QLabel("—")
|
||||
self.lbl_angle.setStyleSheet(
|
||||
"font-size: 32px; font-weight: bold; color: #0af;")
|
||||
self.lbl_angle_prev = QLabel("")
|
||||
self.lbl_angle_prev.setStyleSheet(
|
||||
"font-size: 14px; color: #888;")
|
||||
self.lbl_curvature = QLabel("—")
|
||||
self.lbl_curvature.setStyleSheet("font-size: 14px; color: #aaa;")
|
||||
self.lbl_frame = QLabel("—")
|
||||
self.lbl_progress = QLabel("")
|
||||
self.lbl_progress.setStyleSheet("color: #888; font-size: 11px;")
|
||||
rf.addRow("角度:", self.lbl_angle)
|
||||
rf.addRow("上帧:", self.lbl_angle_prev)
|
||||
rf.addRow("曲率:", self.lbl_curvature)
|
||||
rf.addRow("当前帧:", self.lbl_frame)
|
||||
rf.addRow(self.lbl_progress)
|
||||
pl.addWidget(grp_r)
|
||||
|
||||
# ── 测量控制 ──
|
||||
grp_ctrl = QGroupBox("测量控制")
|
||||
ctrl_layout = QVBoxLayout(grp_ctrl)
|
||||
self.btn_start = QPushButton("▶ 开始测量")
|
||||
self.btn_start.setStyleSheet(
|
||||
"QPushButton { background: #1a6b1a; color: #fff; font-weight: bold; "
|
||||
"padding: 8px; border-radius: 4px; }"
|
||||
"QPushButton:hover { background: #228b22; }")
|
||||
self.btn_start.clicked.connect(self._start_measuring)
|
||||
ctrl_layout.addWidget(self.btn_start)
|
||||
|
||||
self.btn_stop = QPushButton("⏹ 停止测量")
|
||||
self.btn_stop.setEnabled(False)
|
||||
self.btn_stop.setStyleSheet(
|
||||
"QPushButton { background: #8b1a1a; color: #fff; font-weight: bold; "
|
||||
"padding: 8px; border-radius: 4px; }"
|
||||
"QPushButton:hover { background: #a52a2a; }")
|
||||
self.btn_stop.clicked.connect(self._stop_measuring)
|
||||
ctrl_layout.addWidget(self.btn_stop)
|
||||
pl.addWidget(grp_ctrl)
|
||||
|
||||
# ── 帧导航 ──
|
||||
grp_n = QGroupBox("手动导航")
|
||||
nl = QVBoxLayout(grp_n)
|
||||
self.slider = QSlider(Qt.Orientation.Horizontal)
|
||||
self.slider.setMinimum(0)
|
||||
self.slider.setMaximum(0)
|
||||
self.slider.valueChanged.connect(self._on_slider)
|
||||
nl.addWidget(self.slider)
|
||||
bn = QHBoxLayout()
|
||||
self.btn_prev = QPushButton("◀")
|
||||
self.btn_prev.clicked.connect(self._prev_frame)
|
||||
self.btn_next = QPushButton("▶")
|
||||
self.btn_next.clicked.connect(self._next_frame)
|
||||
bn.addWidget(self.btn_prev)
|
||||
bn.addWidget(self.btn_next)
|
||||
nl.addLayout(bn)
|
||||
pl.addWidget(grp_n)
|
||||
|
||||
# ── 导出 ──
|
||||
self.btn_export = QPushButton("导出测量数据 (CSV)")
|
||||
self.btn_export.clicked.connect(self._export_csv)
|
||||
self.btn_export.setEnabled(False)
|
||||
pl.addWidget(self.btn_export)
|
||||
pl.addStretch()
|
||||
|
||||
splitter = QSplitter(Qt.Orientation.Horizontal)
|
||||
splitter.addWidget(self.frame_view)
|
||||
splitter.addWidget(panel)
|
||||
splitter.setStretchFactor(0, 1)
|
||||
root.addWidget(splitter)
|
||||
|
||||
self.statusBar().showMessage("请打开视频文件")
|
||||
|
||||
def _setup_menu(self) -> None:
|
||||
m = self.menuBar()
|
||||
fm = m.addMenu("文件")
|
||||
fm.addAction(QAction("打开视频...", self, shortcut="Ctrl+O",
|
||||
triggered=self._open_video))
|
||||
fm.addSeparator()
|
||||
fm.addAction(QAction("退出", self, triggered=self.close))
|
||||
|
||||
# ══════════════ 视频 ═════════════════════════════════
|
||||
|
||||
def _open_video(self) -> None:
|
||||
path, _ = QFileDialog.getOpenFileName(
|
||||
self, "打开视频", "",
|
||||
"视频文件 (*.mp4 *.avi *.mov *.mkv);;所有文件 (*)")
|
||||
if path:
|
||||
self.load_video(path)
|
||||
|
||||
def load_video(self, path: str) -> None:
|
||||
try:
|
||||
self._video = VideoReader(path)
|
||||
except Exception as e:
|
||||
QMessageBox.critical(self, "错误", str(e))
|
||||
return
|
||||
self._current_frame_idx = 0
|
||||
self.slider.setMaximum(self._video.frame_count - 1)
|
||||
self.slider.setValue(0)
|
||||
self.frame_view.reset_all()
|
||||
self._measurements.clear()
|
||||
self._prev_angle = None
|
||||
self.btn_export.setEnabled(True)
|
||||
self._show_frame(0)
|
||||
self.statusBar().showMessage(
|
||||
f"已加载: {Path(path).name} | "
|
||||
f"{self._video.frame_count} 帧 | "
|
||||
f"{self._video.fps:.1f} fps")
|
||||
|
||||
def _show_frame(self, idx: int) -> None:
|
||||
"""随机访问显示帧（手动导航用）"""
|
||||
if self._video is None:
|
||||
return
|
||||
frame = self._video.read_frame(idx)
|
||||
if frame is None:
|
||||
return
|
||||
self._current_frame_idx = idx
|
||||
self.frame_view.set_frame(frame)
|
||||
self.slider.blockSignals(True)
|
||||
self.slider.setValue(idx)
|
||||
self.slider.blockSignals(False)
|
||||
self._update_display()
|
||||
|
||||
def _show_frame_seq(self, idx: int) -> None:
|
||||
"""顺序读取显示帧（测量模式用，不 seek）"""
|
||||
if self._video is None:
|
||||
return
|
||||
frame = self._video.read_next()
|
||||
if frame is None:
|
||||
return
|
||||
self._current_frame_idx = idx
|
||||
self.frame_view.set_frame(frame)
|
||||
self.slider.blockSignals(True)
|
||||
self.slider.setValue(idx)
|
||||
self.slider.blockSignals(False)
|
||||
self._update_display()
|
||||
|
||||
def _update_display(self) -> None:
|
||||
self.lbl_frame.setText(str(self._current_frame_idx))
|
||||
o, m, m2 = self.frame_view.point_o, self.frame_view.point_m, self.frame_view.point_m2
|
||||
|
||||
if o and m and m2:
|
||||
angle = signed_angle(o, m, m2)
|
||||
if self._flip_sign:
|
||||
angle = -angle
|
||||
self.lbl_angle.setText(f"{angle:+.2f}°")
|
||||
scale = self.spin_scale.value()
|
||||
curv = curvature_from_three_points(o, m, m2, scale)
|
||||
self.lbl_curvature.setText(f"{curv:.6f} mm⁻¹")
|
||||
else:
|
||||
self.lbl_angle.setText("—")
|
||||
self.lbl_curvature.setText("—")
|
||||
|
||||
# 上帧角度
|
||||
if self._prev_angle is not None:
|
||||
self.lbl_angle_prev.setText(f"{self._prev_angle:+.2f}°")
|
||||
else:
|
||||
self.lbl_angle_prev.setText("")
|
||||
|
||||
if self._measuring:
|
||||
total = self._video.frame_count if self._video else 0
|
||||
self.lbl_progress.setText(
|
||||
f"测量中: {len(self._measurements)}/{total} 帧")
|
||||
else:
|
||||
self.lbl_progress.setText("")
|
||||
|
||||
# ══════════════ 导航 ═════════════════════════════════
|
||||
|
||||
def _on_slider(self, value: int) -> None:
|
||||
if not self._measuring and value != self._current_frame_idx:
|
||||
self._show_frame(value)
|
||||
|
||||
def _prev_frame(self) -> None:
|
||||
if self._video and not self._measuring:
|
||||
self._show_frame(max(0, self._current_frame_idx - 1))
|
||||
|
||||
def _next_frame(self) -> None:
|
||||
if self._video and not self._measuring:
|
||||
self._show_frame(min(self._video.frame_count - 1,
|
||||
self._current_frame_idx + 1))
|
||||
|
||||
# ══════════════ 测量模式 ═════════════════════════════
|
||||
|
||||
def _start_measuring(self) -> None:
|
||||
if self._video is None:
|
||||
return
|
||||
if not self.frame_view.reference_ready:
|
||||
QMessageBox.warning(self, "警告", "请先在首帧选定 O 和 M")
|
||||
return
|
||||
|
||||
# 重置测量
|
||||
self._measurements.clear()
|
||||
self._prev_angle = None
|
||||
self._measuring = True
|
||||
self.frame_view._select_mode = "m2"
|
||||
self.frame_view._block_clicks = False
|
||||
|
||||
# 禁用无关控件
|
||||
self.btn_start.setEnabled(False)
|
||||
self.btn_stop.setEnabled(True)
|
||||
self.slider.setEnabled(False)
|
||||
self.btn_prev.setEnabled(False)
|
||||
self.btn_next.setEnabled(False)
|
||||
self.btn_reset_all.setEnabled(False)
|
||||
self.btn_reset_m2.setEnabled(False)
|
||||
|
||||
# 重开视频，从第 0 帧开始顺序读取
|
||||
self._video.reset()
|
||||
self.frame_view.reset_m2()
|
||||
self._show_frame_seq(0)
|
||||
self.lbl_hint.setText("⏳ 点击 M2 → 自动进入下一帧")
|
||||
self.lbl_hint.setStyleSheet(
|
||||
"color: #0af; font-size: 12px; font-weight: bold;")
|
||||
self._update_display()
|
||||
|
||||
def _stop_measuring(self) -> None:
|
||||
self._measuring = False
|
||||
self.frame_view._block_clicks = False
|
||||
self.btn_start.setEnabled(True)
|
||||
self.btn_stop.setEnabled(False)
|
||||
self.slider.setEnabled(True)
|
||||
self.btn_prev.setEnabled(True)
|
||||
self.btn_next.setEnabled(True)
|
||||
self.btn_reset_all.setEnabled(True)
|
||||
self.btn_reset_m2.setEnabled(True)
|
||||
self.lbl_hint.setText(
|
||||
f"已停止 · 共 {len(self._measurements)} 帧数据")
|
||||
self.lbl_hint.setStyleSheet("color: #888; font-size: 11px;")
|
||||
self._update_display()
|
||||
|
||||
def _go_to_frame(self, idx: int) -> None:
|
||||
"""测量模式中顺序前进并清空 M2"""
|
||||
self.frame_view.reset_m2()
|
||||
self._show_frame_seq(idx)
|
||||
|
||||
# ══════════════ 选点回调 ═════════════════════════════
|
||||
|
||||
def _on_point_changed(self, mode: str, pt: tuple) -> None:
|
||||
x, y = int(round(pt[0])), int(round(pt[1]))
|
||||
if mode == "o":
|
||||
self.lbl_o.setText(f"({x}, {y})")
|
||||
self.lbl_hint.setText("点击画面选 M")
|
||||
elif mode == "m":
|
||||
self.lbl_m.setText(f"({x}, {y})")
|
||||
if not self._measuring:
|
||||
self.lbl_hint.setText("点击画面选 M2，或点「开始测量」")
|
||||
elif mode == "m2":
|
||||
self.lbl_m2.setText(f"({x}, {y})")
|
||||
self._update_display()
|
||||
if self._measuring:
|
||||
self._record_and_advance()
|
||||
|
||||
def _record_and_advance(self) -> None:
|
||||
o = self.frame_view.point_o
|
||||
m = self.frame_view.point_m
|
||||
m2 = self.frame_view.point_m2
|
||||
if o is None or m is None or m2 is None:
|
||||
return
|
||||
|
||||
angle = signed_angle(o, m, m2)
|
||||
if self._flip_sign:
|
||||
angle = -angle
|
||||
|
||||
self._measurements.append((
|
||||
self._current_frame_idx, angle, m2[0], m2[1],
|
||||
))
|
||||
|
||||
# 先保存当前角度为上帧，再进下一帧
|
||||
self._prev_angle = angle
|
||||
QApplication.processEvents()
|
||||
QTimer.singleShot(150, self._advance_frame)
|
||||
|
||||
def _advance_frame(self) -> None:
|
||||
if not self._measuring:
|
||||
return
|
||||
next_idx = self._current_frame_idx + 1
|
||||
if next_idx >= self._video.frame_count:
|
||||
self._stop_measuring()
|
||||
self.lbl_hint.setText(f"✓ 测量完成 · 共 {len(self._measurements)} 帧")
|
||||
self.lbl_hint.setStyleSheet(
|
||||
"color: #0f0; font-size: 12px; font-weight: bold;")
|
||||
return
|
||||
self._go_to_frame(next_idx)
|
||||
|
||||
# ══════════════ 方向矫正 ═════════════════════════════
|
||||
|
||||
def _on_flip_toggled(self, checked: bool) -> None:
|
||||
self._flip_sign = checked
|
||||
self._update_display()
|
||||
|
||||
# ══════════════ 重置 ═════════════════════════════════
|
||||
|
||||
def _reset_all(self) -> None:
|
||||
if self._measuring:
|
||||
self._stop_measuring()
|
||||
self.frame_view.reset_all()
|
||||
self._measurements.clear()
|
||||
self._prev_angle = None
|
||||
self.lbl_o.setText("未选")
|
||||
self.lbl_m.setText("未选")
|
||||
self.lbl_m2.setText("未选")
|
||||
self.lbl_hint.setText("点击画面选 O → M → M2")
|
||||
self.lbl_hint.setStyleSheet("color: #888; font-size: 11px;")
|
||||
self._update_display()
|
||||
|
||||
def _reset_m2(self) -> None:
|
||||
if self._measuring:
|
||||
return
|
||||
self.frame_view.reset_m2()
|
||||
self.lbl_m2.setText("未选")
|
||||
self.lbl_hint.setText("点击画面选 M2（当前尾端）")
|
||||
self._update_display()
|
||||
|
||||
# ══════════════ 导出 ═════════════════════════════════
|
||||
|
||||
def _export_csv(self) -> None:
|
||||
if not self._measurements:
|
||||
QMessageBox.warning(self, "警告", "没有测量数据，请先「开始测量」")
|
||||
return
|
||||
|
||||
csv_path = QFileDialog.getSaveFileName(
|
||||
self, "导出 CSV", "angle_data.csv", "CSV (*.csv)")[0]
|
||||
if not csv_path:
|
||||
return
|
||||
path = Path(csv_path)
|
||||
|
||||
o = self.frame_view.point_o
|
||||
m = self.frame_view.point_m
|
||||
scale = self.spin_scale.value()
|
||||
|
||||
# 截图目录
|
||||
frames_dir = path.parent / f"{path.stem}_frames"
|
||||
frames_dir.mkdir(exist_ok=True)
|
||||
|
||||
# 用顺序读取导出（避免 seek 卡死）
|
||||
self._video.reset()
|
||||
frame_buf = self._video.read_next()
|
||||
buf_idx = 0
|
||||
|
||||
with open(path, "w", newline="", encoding="utf-8") as f:
|
||||
writer = csv.writer(f)
|
||||
writer.writerow([
|
||||
"frame", "angle_deg",
|
||||
"O_x", "O_y", "M_x", "M_y",
|
||||
"M2_x", "M2_y", "curvature_mm-1",
|
||||
"screenshot",
|
||||
])
|
||||
for frame_idx, angle, m2x, m2y in self._measurements:
|
||||
# 跳过不匹配的帧（理论不会发生）
|
||||
while buf_idx < frame_idx and frame_buf is not None:
|
||||
frame_buf = self._video.read_next()
|
||||
buf_idx += 1
|
||||
|
||||
if frame_buf is not None and buf_idx == frame_idx:
|
||||
annotated = self._draw_annotations(
|
||||
frame_buf, o, m, (m2x, m2y))
|
||||
img_name = f"frame_{frame_idx:04d}.png"
|
||||
cv2.imwrite(str(frames_dir / img_name), annotated)
|
||||
frame_buf = self._video.read_next()
|
||||
buf_idx += 1
|
||||
else:
|
||||
img_name = ""
|
||||
|
||||
curv = curvature_from_three_points(o, m, (m2x, m2y), scale)
|
||||
writer.writerow([
|
||||
frame_idx, f"{angle:.4f}",
|
||||
f"{o[0]:.1f}", f"{o[1]:.1f}",
|
||||
f"{m[0]:.1f}", f"{m[1]:.1f}",
|
||||
f"{m2x:.1f}", f"{m2y:.1f}",
|
||||
f"{curv:.8f}",
|
||||
f"{frames_dir.name}/{img_name}" if img_name else "",
|
||||
])
|
||||
|
||||
QMessageBox.information(
|
||||
self, "导出成功",
|
||||
f"已导出 {len(self._measurements)} 条数据 + 截图到:\n"
|
||||
f"{path}\n{frames_dir}/")
|
||||
|
||||
def _draw_annotations(self, frame, o, m, m2):
|
||||
"""在帧上绘制 O/M/M2 标记和连线"""
|
||||
annotated = frame.copy()
|
||||
|
||||
def pt(p):
|
||||
return (int(round(p[0])), int(round(p[1])))
|
||||
|
||||
cv2.line(annotated, pt(o), pt(m), (100, 200, 100), 2, cv2.LINE_AA)
|
||||
cv2.line(annotated, pt(o), pt(m2), (100, 100, 255), 2, cv2.LINE_AA)
|
||||
|
||||
cv2.circle(annotated, pt(o), 8, (0, 255, 0), -1, cv2.LINE_AA)
|
||||
cv2.circle(annotated, pt(o), 9, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
cv2.circle(annotated, pt(m), 8, (0, 200, 255), -1, cv2.LINE_AA)
|
||||
cv2.circle(annotated, pt(m), 9, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
cv2.circle(annotated, pt(m2), 8, (50, 50, 255), -1, cv2.LINE_AA)
|
||||
cv2.circle(annotated, pt(m2), 9, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
|
||||
font = cv2.FONT_HERSHEY_SIMPLEX
|
||||
cv2.putText(annotated, "O", (pt(o)[0] + 12, pt(o)[1] - 8),
|
||||
font, 0.6, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
cv2.putText(annotated, "M", (pt(m)[0] + 12, pt(m)[1] - 8),
|
||||
font, 0.6, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
cv2.putText(annotated, "M2", (pt(m2)[0] + 12, pt(m2)[1] - 8),
|
||||
font, 0.6, (255, 255, 255), 2, cv2.LINE_AA)
|
||||
|
||||
return annotated
|
||||
|
||||
# ══════════════ 生命周期 ═════════════════════════════
|
||||
|
||||
def closeEvent(self, event) -> None:
|
||||
if self._video:
|
||||
self._video.close()
|
||||
super().closeEvent(event)
|
||||
|
||||
|
||||
def main():
|
||||
app = QApplication(sys.argv)
|
||||
app.setStyle("Fusion")
|
||||
app.setStyleSheet("""
|
||||
QMainWindow { background: #1e1e1e; }
|
||||
QGroupBox {
|
||||
color: #ccc; border: 1px solid #444; border-radius: 6px;
|
||||
margin-top: 12px; padding-top: 10px; font-weight: bold;
|
||||
}
|
||||
QGroupBox::title {
|
||||
subcontrol-origin: margin; left: 10px; padding: 0 6px;
|
||||
}
|
||||
QLabel { color: #ddd; }
|
||||
QPushButton {
|
||||
background: #3a3a3a; color: #ddd; border: 1px solid #555;
|
||||
border-radius: 4px; padding: 5px 12px;
|
||||
}
|
||||
QPushButton:hover { background: #4a4a4a; }
|
||||
QPushButton:pressed { background: #2a2a2a; }
|
||||
QPushButton:disabled { color: #666; }
|
||||
QSlider::groove:horizontal {
|
||||
height: 6px; background: #444; border-radius: 3px;
|
||||
}
|
||||
QSlider::handle:horizontal {
|
||||
width: 14px; height: 14px; margin: -5px 0;
|
||||
background: #0af; border-radius: 7px;
|
||||
}
|
||||
QSpinBox, QDoubleSpinBox {
|
||||
background: #2a2a2a; color: #ddd; border: 1px solid #555;
|
||||
border-radius: 3px; padding: 3px;
|
||||
}
|
||||
QCheckBox { color: #ddd; }
|
||||
QStatusBar { color: #888; }
|
||||
""")
|
||||
|
||||
window = MainWindow()
|
||||
if len(sys.argv) > 1:
|
||||
window.load_video(sys.argv[1])
|
||||
window.show()
|
||||
sys.exit(app.exec())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
opencv-python>=4.8
|
||||
numpy>=1.24
|
||||
PyQt6>=6.5
|
||||
Binary file not shown.
Loading…
Reference in New Issue