479 lines
16 KiB
Python
479 lines
16 KiB
Python
|
#!/usr/bin/env python3
|
|||
|
|
# -*- coding: utf-8 -*-
|
|||
|
|
"""
|
|||
|
|
设备管理模块
|
|||
|
|
负责摄像头、IMU传感器和压力传感器的连接和数据采集
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
import cv2
|
|||
|
|
import numpy as np
|
|||
|
|
import time
|
|||
|
|
import threading
|
|||
|
|
import json
|
|||
|
|
from datetime import datetime
|
|||
|
|
from typing import Dict, List, Optional, Any
|
|||
|
|
import logging
|
|||
|
|
|
|||
|
|
logger = logging.getLogger(__name__)
|
|||
|
|
|
|||
|
|
class DeviceManager:
|
|||
|
|
"""设备管理器"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.camera = None
|
|||
|
|
self.imu_device = None
|
|||
|
|
self.pressure_device = None
|
|||
|
|
self.device_status = {
|
|||
|
|
'camera': False,
|
|||
|
|
'imu': False,
|
|||
|
|
'pressure': False
|
|||
|
|
}
|
|||
|
|
self.calibration_data = {}
|
|||
|
|
self.data_lock = threading.Lock()
|
|||
|
|
self.latest_data = {}
|
|||
|
|
|
|||
|
|
# 初始化设备
|
|||
|
|
self._init_devices()
|
|||
|
|
|
|||
|
|
def _init_devices(self):
|
|||
|
|
"""初始化所有设备"""
|
|||
|
|
try:
|
|||
|
|
self._init_camera()
|
|||
|
|
self._init_imu()
|
|||
|
|
self._init_pressure_sensor()
|
|||
|
|
logger.info('设备初始化完成')
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'设备初始化失败: {e}')
|
|||
|
|
|
|||
|
|
def _init_camera(self):
|
|||
|
|
"""初始化摄像头"""
|
|||
|
|
try:
|
|||
|
|
# 尝试连接默认摄像头
|
|||
|
|
self.camera = cv2.VideoCapture(0)
|
|||
|
|
if self.camera.isOpened():
|
|||
|
|
# 设置摄像头参数
|
|||
|
|
self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
|
|||
|
|
self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
|
|||
|
|
self.camera.set(cv2.CAP_PROP_FPS, 30)
|
|||
|
|
|
|||
|
|
self.device_status['camera'] = True
|
|||
|
|
logger.info('摄像头初始化成功')
|
|||
|
|
else:
|
|||
|
|
logger.warning('摄像头连接失败')
|
|||
|
|
self.camera = None
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'摄像头初始化异常: {e}')
|
|||
|
|
self.camera = None
|
|||
|
|
|
|||
|
|
def _init_imu(self):
|
|||
|
|
"""初始化IMU传感器"""
|
|||
|
|
try:
|
|||
|
|
# 这里应该连接实际的IMU设备
|
|||
|
|
# 目前使用模拟数据
|
|||
|
|
self.imu_device = MockIMUDevice()
|
|||
|
|
self.device_status['imu'] = True
|
|||
|
|
logger.info('IMU传感器初始化成功（模拟）')
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'IMU传感器初始化失败: {e}')
|
|||
|
|
self.imu_device = None
|
|||
|
|
|
|||
|
|
def _init_pressure_sensor(self):
|
|||
|
|
"""初始化压力传感器"""
|
|||
|
|
try:
|
|||
|
|
# 这里应该连接实际的压力传感器
|
|||
|
|
# 目前使用模拟数据
|
|||
|
|
self.pressure_device = MockPressureDevice()
|
|||
|
|
self.device_status['pressure'] = True
|
|||
|
|
logger.info('压力传感器初始化成功（模拟）')
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'压力传感器初始化失败: {e}')
|
|||
|
|
self.pressure_device = None
|
|||
|
|
|
|||
|
|
def get_device_status(self) -> Dict[str, bool]:
|
|||
|
|
"""获取设备状态"""
|
|||
|
|
return self.device_status.copy()
|
|||
|
|
|
|||
|
|
def get_connected_devices(self) -> List[str]:
|
|||
|
|
"""获取已连接的设备列表"""
|
|||
|
|
return [device for device, status in self.device_status.items() if status]
|
|||
|
|
|
|||
|
|
def refresh_devices(self):
|
|||
|
|
"""刷新设备连接"""
|
|||
|
|
logger.info('刷新设备连接...')
|
|||
|
|
|
|||
|
|
# 重新初始化所有设备
|
|||
|
|
if self.camera:
|
|||
|
|
self.camera.release()
|
|||
|
|
|
|||
|
|
self._init_devices()
|
|||
|
|
|
|||
|
|
def calibrate_devices(self) -> Dict[str, Any]:
|
|||
|
|
"""校准设备"""
|
|||
|
|
calibration_result = {}
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 摄像头校准
|
|||
|
|
if self.device_status['camera']:
|
|||
|
|
camera_calibration = self._calibrate_camera()
|
|||
|
|
calibration_result['camera'] = camera_calibration
|
|||
|
|
|
|||
|
|
# IMU校准
|
|||
|
|
if self.device_status['imu']:
|
|||
|
|
imu_calibration = self._calibrate_imu()
|
|||
|
|
calibration_result['imu'] = imu_calibration
|
|||
|
|
|
|||
|
|
# 压力传感器校准
|
|||
|
|
if self.device_status['pressure']:
|
|||
|
|
pressure_calibration = self._calibrate_pressure()
|
|||
|
|
calibration_result['pressure'] = pressure_calibration
|
|||
|
|
|
|||
|
|
self.calibration_data = calibration_result
|
|||
|
|
logger.info('设备校准完成')
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'设备校准失败: {e}')
|
|||
|
|
raise
|
|||
|
|
|
|||
|
|
return calibration_result
|
|||
|
|
|
|||
|
|
def _calibrate_camera(self) -> Dict[str, Any]:
|
|||
|
|
"""校准摄像头"""
|
|||
|
|
if not self.camera or not self.camera.isOpened():
|
|||
|
|
return {'status': 'failed', 'error': '摄像头未连接'}
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 获取几帧图像进行校准
|
|||
|
|
frames = []
|
|||
|
|
for _ in range(10):
|
|||
|
|
ret, frame = self.camera.read()
|
|||
|
|
if ret:
|
|||
|
|
frames.append(frame)
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
|
|||
|
|
if not frames:
|
|||
|
|
return {'status': 'failed', 'error': '无法获取图像'}
|
|||
|
|
|
|||
|
|
# 计算平均亮度和对比度
|
|||
|
|
avg_brightness = np.mean([np.mean(cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)) for frame in frames])
|
|||
|
|
|
|||
|
|
calibration = {
|
|||
|
|
'status': 'success',
|
|||
|
|
'brightness': float(avg_brightness),
|
|||
|
|
'resolution': (int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)),
|
|||
|
|
int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))),
|
|||
|
|
'fps': float(self.camera.get(cv2.CAP_PROP_FPS)),
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return calibration
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
return {'status': 'failed', 'error': str(e)}
|
|||
|
|
|
|||
|
|
def _calibrate_imu(self) -> Dict[str, Any]:
|
|||
|
|
"""校准IMU传感器"""
|
|||
|
|
if not self.imu_device:
|
|||
|
|
return {'status': 'failed', 'error': 'IMU设备未连接'}
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 收集静态数据进行零点校准
|
|||
|
|
samples = []
|
|||
|
|
for _ in range(100):
|
|||
|
|
data = self.imu_device.read_data()
|
|||
|
|
samples.append(data)
|
|||
|
|
time.sleep(0.01)
|
|||
|
|
|
|||
|
|
# 计算零点偏移
|
|||
|
|
accel_offset = {
|
|||
|
|
'x': np.mean([s['accel']['x'] for s in samples]),
|
|||
|
|
'y': np.mean([s['accel']['y'] for s in samples]),
|
|||
|
|
'z': np.mean([s['accel']['z'] for s in samples]) - 9.8 # 重力补偿
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
gyro_offset = {
|
|||
|
|
'x': np.mean([s['gyro']['x'] for s in samples]),
|
|||
|
|
'y': np.mean([s['gyro']['y'] for s in samples]),
|
|||
|
|
'z': np.mean([s['gyro']['z'] for s in samples])
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
calibration = {
|
|||
|
|
'status': 'success',
|
|||
|
|
'accel_offset': accel_offset,
|
|||
|
|
'gyro_offset': gyro_offset,
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return calibration
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
return {'status': 'failed', 'error': str(e)}
|
|||
|
|
|
|||
|
|
def _calibrate_pressure(self) -> Dict[str, Any]:
|
|||
|
|
"""校准压力传感器"""
|
|||
|
|
if not self.pressure_device:
|
|||
|
|
return {'status': 'failed', 'error': '压力传感器未连接'}
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 收集零压力数据
|
|||
|
|
samples = []
|
|||
|
|
for _ in range(50):
|
|||
|
|
data = self.pressure_device.read_data()
|
|||
|
|
samples.append(data)
|
|||
|
|
time.sleep(0.02)
|
|||
|
|
|
|||
|
|
# 计算零点偏移
|
|||
|
|
zero_offset = {
|
|||
|
|
'left_foot': np.mean([s['left_foot'] for s in samples]),
|
|||
|
|
'right_foot': np.mean([s['right_foot'] for s in samples])
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
calibration = {
|
|||
|
|
'status': 'success',
|
|||
|
|
'zero_offset': zero_offset,
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return calibration
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
return {'status': 'failed', 'error': str(e)}
|
|||
|
|
|
|||
|
|
def collect_data(self) -> Dict[str, Any]:
|
|||
|
|
"""采集所有设备数据"""
|
|||
|
|
data = {}
|
|||
|
|
timestamp = datetime.now().isoformat()
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 采集摄像头数据
|
|||
|
|
if self.device_status['camera']:
|
|||
|
|
camera_data = self._collect_camera_data()
|
|||
|
|
if camera_data:
|
|||
|
|
data['camera'] = camera_data
|
|||
|
|
|
|||
|
|
# 采集IMU数据
|
|||
|
|
if self.device_status['imu']:
|
|||
|
|
imu_data = self._collect_imu_data()
|
|||
|
|
if imu_data:
|
|||
|
|
data['imu'] = imu_data
|
|||
|
|
|
|||
|
|
# 采集压力传感器数据
|
|||
|
|
if self.device_status['pressure']:
|
|||
|
|
pressure_data = self._collect_pressure_data()
|
|||
|
|
if pressure_data:
|
|||
|
|
data['pressure'] = pressure_data
|
|||
|
|
|
|||
|
|
# 添加时间戳
|
|||
|
|
data['timestamp'] = timestamp
|
|||
|
|
|
|||
|
|
# 更新最新数据
|
|||
|
|
with self.data_lock:
|
|||
|
|
self.latest_data = data.copy()
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'数据采集失败: {e}')
|
|||
|
|
|
|||
|
|
return data
|
|||
|
|
|
|||
|
|
def _collect_camera_data(self) -> Optional[Dict[str, Any]]:
|
|||
|
|
"""采集摄像头数据"""
|
|||
|
|
if not self.camera or not self.camera.isOpened():
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
ret, frame = self.camera.read()
|
|||
|
|
if not ret:
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
# 进行姿态检测（这里应该集成实际的姿态检测算法）
|
|||
|
|
pose_data = self._detect_pose(frame)
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
'frame_available': True,
|
|||
|
|
'frame_size': frame.shape,
|
|||
|
|
'pose_data': pose_data,
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'摄像头数据采集失败: {e}')
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
def _detect_pose(self, frame: np.ndarray) -> Dict[str, Any]:
|
|||
|
|
"""姿态检测（模拟实现）"""
|
|||
|
|
# 这里应该集成实际的姿态检测算法，如MediaPipe或OpenPose
|
|||
|
|
# 目前返回模拟数据
|
|||
|
|
return {
|
|||
|
|
'center_of_gravity': {
|
|||
|
|
'x': np.random.normal(0, 5),
|
|||
|
|
'y': np.random.normal(0, 5)
|
|||
|
|
},
|
|||
|
|
'body_angle': {
|
|||
|
|
'pitch': np.random.normal(0, 2),
|
|||
|
|
'roll': np.random.normal(0, 2),
|
|||
|
|
'yaw': np.random.normal(0, 1)
|
|||
|
|
},
|
|||
|
|
'confidence': np.random.uniform(0.8, 1.0)
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
def _collect_imu_data(self) -> Optional[Dict[str, Any]]:
|
|||
|
|
"""采集IMU数据"""
|
|||
|
|
if not self.imu_device:
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
raw_data = self.imu_device.read_data()
|
|||
|
|
|
|||
|
|
# 应用校准偏移
|
|||
|
|
if 'imu' in self.calibration_data:
|
|||
|
|
calibration = self.calibration_data['imu']
|
|||
|
|
if calibration.get('status') == 'success':
|
|||
|
|
accel_offset = calibration.get('accel_offset', {})
|
|||
|
|
gyro_offset = calibration.get('gyro_offset', {})
|
|||
|
|
|
|||
|
|
# 校正加速度数据
|
|||
|
|
raw_data['accel']['x'] -= accel_offset.get('x', 0)
|
|||
|
|
raw_data['accel']['y'] -= accel_offset.get('y', 0)
|
|||
|
|
raw_data['accel']['z'] -= accel_offset.get('z', 0)
|
|||
|
|
|
|||
|
|
# 校正陀螺仪数据
|
|||
|
|
raw_data['gyro']['x'] -= gyro_offset.get('x', 0)
|
|||
|
|
raw_data['gyro']['y'] -= gyro_offset.get('y', 0)
|
|||
|
|
raw_data['gyro']['z'] -= gyro_offset.get('z', 0)
|
|||
|
|
|
|||
|
|
return raw_data
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'IMU数据采集失败: {e}')
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
def _collect_pressure_data(self) -> Optional[Dict[str, Any]]:
|
|||
|
|
"""采集压力传感器数据"""
|
|||
|
|
if not self.pressure_device:
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
raw_data = self.pressure_device.read_data()
|
|||
|
|
|
|||
|
|
# 应用校准偏移
|
|||
|
|
if 'pressure' in self.calibration_data:
|
|||
|
|
calibration = self.calibration_data['pressure']
|
|||
|
|
if calibration.get('status') == 'success':
|
|||
|
|
zero_offset = calibration.get('zero_offset', {})
|
|||
|
|
|
|||
|
|
raw_data['left_foot'] -= zero_offset.get('left_foot', 0)
|
|||
|
|
raw_data['right_foot'] -= zero_offset.get('right_foot', 0)
|
|||
|
|
|
|||
|
|
# 计算重心位置
|
|||
|
|
total_pressure = raw_data['left_foot'] + raw_data['right_foot']
|
|||
|
|
if total_pressure > 0:
|
|||
|
|
center_of_pressure = {
|
|||
|
|
'x': (raw_data['right_foot'] - raw_data['left_foot']) / total_pressure * 100,
|
|||
|
|
'y': 0 # 简化模型
|
|||
|
|
}
|
|||
|
|
else:
|
|||
|
|
center_of_pressure = {'x': 0, 'y': 0}
|
|||
|
|
|
|||
|
|
raw_data['center_of_pressure'] = center_of_pressure
|
|||
|
|
raw_data['total_pressure'] = total_pressure
|
|||
|
|
|
|||
|
|
return raw_data
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'压力传感器数据采集失败: {e}')
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
def get_latest_data(self) -> Dict[str, Any]:
|
|||
|
|
"""获取最新采集的数据"""
|
|||
|
|
with self.data_lock:
|
|||
|
|
return self.latest_data.copy()
|
|||
|
|
|
|||
|
|
def start_video_recording(self, output_path: str) -> bool:
|
|||
|
|
"""开始视频录制"""
|
|||
|
|
if not self.camera or not self.camera.isOpened():
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
# 获取摄像头参数
|
|||
|
|
width = int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH))
|
|||
|
|
height = int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))
|
|||
|
|
fps = int(self.camera.get(cv2.CAP_PROP_FPS))
|
|||
|
|
|
|||
|
|
# 创建视频写入器
|
|||
|
|
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
|
|||
|
|
self.video_writer = cv2.VideoWriter(output_path, fourcc, fps, (width, height))
|
|||
|
|
|
|||
|
|
if self.video_writer.isOpened():
|
|||
|
|
logger.info(f'开始视频录制: {output_path}')
|
|||
|
|
return True
|
|||
|
|
else:
|
|||
|
|
logger.error('视频写入器创建失败')
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'开始视频录制失败: {e}')
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
def stop_video_recording(self):
|
|||
|
|
"""停止视频录制"""
|
|||
|
|
if hasattr(self, 'video_writer') and self.video_writer:
|
|||
|
|
self.video_writer.release()
|
|||
|
|
self.video_writer = None
|
|||
|
|
logger.info('视频录制已停止')
|
|||
|
|
|
|||
|
|
def cleanup(self):
|
|||
|
|
"""清理资源"""
|
|||
|
|
try:
|
|||
|
|
if self.camera:
|
|||
|
|
self.camera.release()
|
|||
|
|
|
|||
|
|
if hasattr(self, 'video_writer') and self.video_writer:
|
|||
|
|
self.video_writer.release()
|
|||
|
|
|
|||
|
|
logger.info('设备资源已清理')
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
logger.error(f'清理设备资源失败: {e}')
|
|||
|
|
|
|||
|
|
|
|||
|
|
class MockIMUDevice:
|
|||
|
|
"""模拟IMU设备"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.noise_level = 0.1
|
|||
|
|
|
|||
|
|
def read_data(self) -> Dict[str, Any]:
|
|||
|
|
"""读取IMU数据"""
|
|||
|
|
return {
|
|||
|
|
'accel': {
|
|||
|
|
'x': np.random.normal(0, self.noise_level),
|
|||
|
|
'y': np.random.normal(0, self.noise_level),
|
|||
|
|
'z': np.random.normal(9.8, self.noise_level) # 重力加速度
|
|||
|
|
},
|
|||
|
|
'gyro': {
|
|||
|
|
'x': np.random.normal(0, self.noise_level),
|
|||
|
|
'y': np.random.normal(0, self.noise_level),
|
|||
|
|
'z': np.random.normal(0, self.noise_level)
|
|||
|
|
},
|
|||
|
|
'temperature': np.random.normal(25, 2),
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
class MockPressureDevice:
|
|||
|
|
"""模拟压力传感器设备"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
self.base_pressure = 500 # 基础压力值
|
|||
|
|
self.noise_level = 10
|
|||
|
|
|
|||
|
|
def read_data(self) -> Dict[str, Any]:
|
|||
|
|
"""读取压力数据"""
|
|||
|
|
# 模拟轻微的左右脚压力差异
|
|||
|
|
left_pressure = self.base_pressure + np.random.normal(0, self.noise_level)
|
|||
|
|
right_pressure = self.base_pressure + np.random.normal(0, self.noise_level)
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
'left_foot': max(0, left_pressure),
|
|||
|
|
'right_foot': max(0, right_pressure),
|
|||
|
|
'timestamp': datetime.now().isoformat()
|
|||
|
|
}
|