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# -*- coding: utf-8 -*-"""@File    : 200103_obstacle_detection_发送数据_测试udp传输上限.py@Time    : 2020/1/3 14:28@Author  : Dontla@Email   : sxana@qq.com@Software: PyCharm"""import socketimport structimport timeimport numpy as npimport pyrealsense2 as rsimport cv2import sysfrom numba import jitdef udp_send_image(img, pack_size, socket, ip_port):    _, img_encode = cv2.imencode('.jpg', img)    data = img_encode.tobytes()    # print(len(data))    # 有很多超过65535的    # 【定义文件头、数据】（打包名为l？不是，l表示长整型，占四个字节）    fhead = struct.pack('i', len(data))    # 【发送文件头、数据】    socket.sendto(fhead, ip_port)    # 每次发送x字节，计算所需发送次数    send_times = len(data) // pack_size + 1    for count in range(send_times):        # time.sleep(0.01)        if count < send_times - 1:            socket.sendto(                data[pack_size * count:pack_size * (count + 1)], ip_port)        else:            socket.sendto(data[pack_size * count:], ip_port)# @jit# 貌似开不了jit，不知啥原因，开了也没明显看到加速def filter_alpha(depth_image, filter_alpha):    if filter_alpha > 1:        # 获取depth_image宽高        h, w = depth_image.shape[0], depth_image.shape[1]  # 360,640        # 创建上下alpha（不同方法都能创建）        # filter_upper = np.array([1] * int(h / 2))        filter_upper = np.full(int(h / 2), 1)        filter_lower = np.linspace(1, filter_alpha, h / 2)        # 将filter_upper和filter_lower连在一起        filter = np.r_[filter_upper, filter_lower]        # print(filter)        # print(filter.shape) # (360,)        # print(filter_alpha_upper)        # print(filter_alpha_upper.shape)  # (180,)        # print(filter_alpha_lower)        # print(filter_alpha_lower.shape) # (180,)        return (depth_image.T * filter).T    else:        return depth_image# 如果要防止下面棉花过近被误探测,可用两层for循环设置梯度过滤# 不过貌似还得中间对半分,下面直接舍弃掉,只用上面作为判断,因为就算下面用了梯度...(还是得用梯度...)@jitdef traversing_pixels(depth_image, threshold_dangerous_distance):    num_dangerous = 0    num_all_pixels = 0    depth_image_ravel = depth_image.ravel()    # depth_image_segmentation为分割后的图像（红蓝两色）    depth_image_segmentation_ravel = []    for pixel in depth_image_ravel:        num_all_pixels += 1        # 第一种效果要好一些        if pixel < threshold_dangerous_distance and pixel != 0:            # if pixel < threshold_dangerous_distance:            num_dangerous += 1            depth_image_segmentation_ravel.append(0)        else:            depth_image_segmentation_ravel.append(6000)    depth_image_segmentation = np.array(depth_image_segmentation_ravel).reshape(depth_image.shape)    return num_all_pixels, num_dangerous, depth_image_segmentationclass ObstacleDetection(object):    def __init__(self):        # self.cam_serials = ['838212073161', '827312071726']        # self.cam_serials = ['838212073161', '827312071726', '838212073249', '827312070790', '836612072369',        #                     '826212070395']        self.cam_serials = ['838212073161']        self.cam_width, self.cam_height = 640, 360        # 【危险距离：单位mm】        self.threshold_dangerous_distance = 3000        # 【摄像头到棉花平面垂直距离（单位mm）】        self.distance_cam_vertical_to_cotton_top = 260        # 【危险距离补偿系数】用于让最下面深度远离临界值，避免造成误检测        self.factor_compensation_dangerous_distance = 1.5        # 【危险距离像素占比】        self.threshold_dangerous_scale = 0.05        # 【摄像头视场角（单位°）】        self.FOV_width = 69.4        self.FOV_height = 42.5        self.FOV_scale = self.FOV_height / self.FOV_width  # 0.6123919308357348        # 【实际变换后height视场角】        if self.cam_height / self.cam_width < self.FOV_scale:            self.FOV_height_actual = self.FOV_width * self.cam_height / self.cam_width        else:            self.FOV_height_actual = self.FOV_height        # 【计算过滤α值（distance_min为图像最下方的深度，看到最近棉花的距离）】        # 当摄像头到棉花顶垂直距离为800，最小距离为2256，当危险距离为2000时，alpha滤值为0.88        # 当摄像头到棉花顶垂直距离为800，最小距离为2256，当危险距离为3000时，alpha滤值为1.32        # 所以，后面进行滤值时需判断self.filter_alpha的值是否大于1（已添加进filter_alpha()函数中）        self.distance_min = self.distance_cam_vertical_to_cotton_top / (            np.tan(self.FOV_height_actual / 2 * np.pi / 180))        self.filter_alpha = self.threshold_dangerous_distance / self.distance_min * self.factor_compensation_dangerous_distance        # 【UDP信号发送模块】        # 远程主机ip地址及端口        self.ip_port = ('192.168.1.49', 9000)        self.udp_server_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)        # self.bytes_udp_pack = 1024        self.bytes_udp_pack = 65507    def obstacle_detection(self):        # print(self.distance_min)  # 2256.7829632201597        # print(self.filter_alpha)  # 0.8862172537611853        # 摄像头个数（在这里设置所需使用摄像头的总个数）        cam_num = 6        ctx = rs.context()        '''连续验证机制'''        # D·C 1911202：创建最大验证次数max_veri_times；创建连续稳定值continuous_stable_value，用于判断设备重置后是否处于稳定状态        max_veri_times = 100        continuous_stable_value = 5        print('\n', end='')        print('开始连续验证，连续验证稳定值：{}，最大验证次数：{}：'.format(continuous_stable_value, max_veri_times))        continuous_value = 0        veri_times = 0        while True:            devices = ctx.query_devices()            connected_cam_num = len(devices)            print('摄像头个数：{}'.format(connected_cam_num))            if connected_cam_num == cam_num:                continuous_value += 1                if continuous_value == continuous_stable_value:                    break            else:                continuous_value = 0            veri_times += 1            if veri_times == max_veri_times:                print("检测超时，请检查摄像头连接！")                sys.exit()        '''循环reset摄像头'''        # hardware_reset()后是不是应该延迟一段时间？不延迟就会报错        print('\n', end='')        print('开始初始化摄像头：')        for dev in ctx.query_devices():            # 先将设备的序列号放进一个变量里，免得在下面for循环里访问设备的信息过多（虽然不知道它会不会每次都重新访问）            dev_serial = dev.get_info(rs.camera_info.serial_number)            # 匹配序列号，重置我们需重置的特定摄像头（注意两个for循环顺序，哪个在外哪个在内很重要，不然会导致刚重置的摄像头又被访问导致报错）            for serial in self.cam_serials:                if serial == dev_serial:                    dev.hardware_reset()                    # 像下面这条语句居然不会报错，不是刚刚才重置了dev吗？莫非区别在于没有通过for循环ctx.query_devices()去访问？                    # 是不是刚重置后可以通过ctx.query_devices()去查看有这个设备，但是却没有存储设备地址？如果是这样，                    # 也就能够解释为啥能够通过len(ctx.query_devices())函数获取设备数量，但访问序列号等信息就会报错的原因了                    print('摄像头{}初始化成功'.format(dev.get_info(rs.camera_info.serial_number)))        '''连续验证机制'''        # D·C 1911202：创建最大验证次数max_veri_times；创建连续稳定值continuous_stable_value，用于判断设备重置后是否处于稳定状态        print('\n', end='')        print('开始连续验证，连续验证稳定值：{}，最大验证次数：{}：'.format(continuous_stable_value, max_veri_times))        continuous_value = 0        veri_times = 0        while True:            devices = ctx.query_devices()            connected_cam_num = len(devices)            print('摄像头个数：{}'.format(connected_cam_num))            if connected_cam_num == cam_num:                continuous_value += 1                if continuous_value == continuous_stable_value:                    break            else:                continuous_value = 0            veri_times += 1            if veri_times == max_veri_times:                print("检测超时，请检查摄像头连接！")                sys.exit()        '''配置各个摄像头的基本对象'''        for i in range(len(self.cam_serials)):            locals()['pipeline' + str(i)] = rs.pipeline(ctx)            locals()['config' + str(i)] = rs.config()            locals()['config' + str(i)].enable_device(self.cam_serials[i])            # 为啥我设置成1280×720就报错呢？明明Intel Realsense的usb接口已经显示为3.0了            # locals()['config' + str(i)].enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)            # locals()['config' + str(i)].enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)            locals()['config' + str(i)].enable_stream(rs.stream.depth, self.cam_width, self.cam_height, rs.format.z16,                                                      30)            locals()['config' + str(i)].enable_stream(rs.stream.color, self.cam_width, self.cam_height, rs.format.bgr8,                                                      30)            locals()['pipeline' + str(i)].start(locals()['config' + str(i)])            # 创建对齐对象（深度对齐颜色）            locals()['align' + str(i)] = rs.align(rs.stream.color)        '''运行摄像头'''        try:            while True:                start_time = time.time()                for i in range(len(self.cam_serials)):                    locals()['frames' + str(i)] = locals()['pipeline' + str(i)].wait_for_frames()                    # 获取对齐帧集                    locals()['aligned_frames' + str(i)] = locals()['align' + str(i)].process(                        locals()['frames' + str(i)])                    # 获取对齐后的深度帧和彩色帧                    locals()['aligned_depth_frame' + str(i)] = locals()[                        'aligned_frames' + str(i)].get_depth_frame()                    locals()['color_frame' + str(i)] = locals()['aligned_frames' + str(i)].get_color_frame()                    if not locals()['aligned_depth_frame' + str(i)] or not locals()['color_frame' + str(i)]:                        continue                    # 获取颜色帧内参                    locals()['color_profile' + str(i)] = locals()['color_frame' + str(i)].get_profile()                    locals()['cvsprofile' + str(i)] = rs.video_stream_profile(                        locals()['color_profile' + str(i)])                    locals()['color_intrin' + str(i)] = locals()['cvsprofile' + str(i)].get_intrinsics()                    locals()['color_intrin_part' + str(i)] = [locals()['color_intrin' + str(i)].ppx,                                                              locals()['color_intrin' + str(i)].ppy,                                                              locals()['color_intrin' + str(i)].fx,                                                              locals()['color_intrin' + str(i)].fy]                    locals()['color_image' + str(i)] = np.asanyarray(                        locals()['color_frame' + str(i)].get_data())                    locals()['depth_image' + str(i)] = np.asanyarray(                        locals()['aligned_depth_frame' + str(i)].get_data())                    # 【阿尔法过滤】                    locals()['depth_image_alpha_filter' + str(i)] = filter_alpha(locals()['depth_image' + str(i)],                                                                                 self.filter_alpha)                    # 【遍历深度图像素值,如存在小于危险值范围比例超过阈值,则告警】                    locals()['num_all_pixels' + str(i)], locals()['num_dangerous' + str(i)], locals()[                        'depth_image_segmentation' + str(i)] = traversing_pixels(                        locals()['depth_image_alpha_filter' + str(i)], self.threshold_dangerous_distance)                    print('num_all_pixels:{}'.format(locals()['num_all_pixels' + str(i)]))                    print('num_dangerous:{}'.format(locals()['num_dangerous' + str(i)]))                    locals()['dangerous_scale' + str(i)] = locals()['num_dangerous' + str(i)] / locals()[                        'num_all_pixels' + str(i)]                    print('危险比例:{}'.format(locals()['dangerous_scale' + str(i)]))                    locals()['depth_colormap' + str(i)] = cv2.applyColorMap(                        cv2.convertScaleAbs(locals()['depth_image_segmentation' + str(i)], alpha=0.0425),                        cv2.COLORMAP_JET)                    locals()['image' + str(i)] = np.hstack(                        (locals()['color_image' + str(i)], locals()['depth_colormap' + str(i)]))                    # 注意: 窗口名不要用中文字符, 小心乱码                    cv2.imshow('win{}:{}'.format(i, self.cam_serials[i]), locals()['image' + str(i)])                    # cv2.imshow('colorWin{}: {}'.format(i, self.cam_serials[i]), locals()['color_image' + str(i)])                    # cv2.imshow('depthWin{}: {}'.format(i, self.cam_serials[i]), locals()['depth_colormap' + str(i)])                    cv2.waitKey(1)                    # 【向远端发送告警信号及图片：】                    if locals()['dangerous_scale' + str(i)] > self.threshold_dangerous_scale:                        print("距离警告，向远端发送告警信息!")                        # self.udp_server_client.sendto('摄像头{}告警'.format(i).encode('utf-8'), self.ip_port)                        # print(locals()['image' + str(i)].shape)  # (360, 1280, 3)                        udp_send_image(locals()['image' + str(i)], self.bytes_udp_pack, self.udp_server_client,                                       self.ip_port)                end_time = time.time()                # print('单帧运行时间：{}'.format(end_time - start_time))        # 遇到异常再次启动检测函数，如有需要可以将连续监测和摄像头重置全放进去        # except:        #     print('\n出现异常，请重新检查摄像头连接！\n')        #     for i in range(len(self.cam_serials)):        #         cv2.destroyAllWindows()        #         locals()['pipeline' + str(i)].stop()        #     ObstacleDetection().obstacle_detection()        finally:            for i in range(len(self.cam_serials)):                locals()['pipeline' + str(i)].stop()if __name__ == '__main__':    ObstacleDetection().obstacle_detection()

接收端

# -*- encoding: utf-8 -*-"""@File    : 201003_避障程序信号及图像接收端_测试udp传输上限.py@Time    : 2020/1/3 14:32@Author  : Dontla@Email   : sxana@qq.com@Software: PyCharm"""import socketimport structimport timeimport cv2import numpy as npip_port = ('192.168.1.49', 9000)BUFSIZE = 65507udp_server_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)udp_server_client.bind(ip_port)def receive():    while True:        try:            while True:                # 计算fmt字节长度（貌似没必要我先注释掉了）                # fhead_size = struct.calcsize('i')                # print('fhead_size大小：{}'.format(fhead_size)) # 4                # 获取数据头信息，第一个参数为信息，第二个参数是发送方ip地址                buffer, _ = udp_server_client.recvfrom(BUFSIZE)                # print(buffer)                # print(len(buffer))  # 可能为4或60000+                if len(buffer) == 4:                    # print(buffer)  # b';\xfb\x00\x00'   # 每次都不一样的                    # 解包，看看有多大（unpack返回的是只有一个元素的元组，如(64282,)，元素个数貌似取决于fmt）                    data_size = struct.unpack('i', buffer)[0]                    # data_size = struct.unpack('i', buf)[0]                    # print(data_size)  # 64315                else:                    print('不是struct头，继续下次循环！')                    # cv2.destroyAllWindows()                    continue                # 重写接收程序                recv_times = data_size // BUFSIZE + 1                # print(recv_times)  # 按目前的BUFSIZE，为1或2，大部分为2                data_total = b''                recvd_size = 0                for count in range(recv_times):                    data, _ = udp_server_client.recvfrom(BUFSIZE)                    recvd_size += len(data)                    data_total += data                # 判断data_total长度是否等于图片长度，不是就继续下次循环                # print(len(data_total))                if len(data_total) != data_size:                    print('一定又是哪接收出错了，导致没接收上，继续下轮循环！')                    continue                # recvd_size = 0                # data_total = b''                # while recvd_size < data_size:                #     if data_size - recvd_size >= BUFSIZE:                #         data, _ = udp_server_client.recvfrom(BUFSIZE)                #         recvd_size += len(data)                #     else:                #         data, _ = udp_server_client.recvfrom(data_size - recvd_size)                #         recvd_size += len(data)                #     data_total += data                print('received!')                # print(data_total)                # print(type(data_total))                # 
   
                    nparr = np.fromstring(data_total, np.uint8)                # print(nparr)  # [255 216 255 ...  15 255 217] # 每次不一样的                img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR)                cv2.imshow('win', img_decode)                # 保存截图                # cv2.imwrite('{}.jpg'.format(time.clock()), img_decode)                cv2.waitKey(1)                # data, addr = udp_server_client.recvfrom(BUFSIZE)                # print(data.decode('utf-8'), addr)                # print(data, addr)                # nparr = np.fromstring(data, np.uint8)                # img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR)                # cv2.imshow('result', img_decode)                # cv2.waitKey()        except:            print('出现异常，继续调用receive()函数！')            # receive()        finally:            # cv2.destroyAllWindows()            pass            # breakif __name__ == '__main__':    receive()
   

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