ezgo 0.0.2__py3-none-any.whl → 0.0.4__py3-none-any.whl

ezgo/__init__.py

@@ -0,0 +1,87 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""
+ezgo - 宇树Go2机器狗Python控制库
+
+这是一个用于控制宇树Go2机器狗的Python库，提供了简单易用的API接口。
+支持运动控制、视频流获取、UI界面等功能。
+"""
+
+__version__ = "0.0.4"
+__author__ = "ezgo"
+__email__ = ""
+__license__ = "MIT"
+
+# 导入主要类
+try:
+    from .go2 import Go2
+    from .camera import Camera
+    from .ui import APP
+    from .go2_camera import Go2Camera
+    from .go2_vui import Go2VUI
+except ImportError as e:
+    print(f"警告: 无法导入部分模块: {e}")
+    print("请确保已安装所有依赖包")
+    Go2 = None
+    Camera = None
+    APP = None
+    Go2Camera = None
+    Go2VUI = None
+
+# 定义公开的API
+__all__ = [
+    "Go2",
+    "Camera", 
+    "APP",
+    "Go2Camera",
+    "Go2VUI",
+    "__version__"
+]
+
+# 依赖检查和提示
+def _check_dependencies():
+    """检查关键依赖是否安装，并给出安装提示"""
+    missing_deps = []
+    
+    try:
+        import cv2
+    except ImportError:
+        missing_deps.append("opencv-python")
+    
+    try:
+        import numpy
+    except ImportError:
+        missing_deps.append("numpy")
+    
+    try:
+        from PIL import Image
+    except ImportError:
+        missing_deps.append("Pillow")
+    
+    try:
+        import netifaces
+    except ImportError:
+        missing_deps.append("netifaces")
+    
+    try:
+        import unitree_sdk2py
+    except ImportError:
+        missing_deps.append("unitree-sdk2py")
+    
+    if missing_deps:
+        print("=" * 60)
+        print("警告: ezgo 缺少以下依赖包:")
+        for dep in missing_deps:
+            print(f"  - {dep}")
+        print()
+        print("请安装缺少的依赖包:")
+        print("  pip install opencv-python numpy Pillow netifaces")
+        print("  # unitree-sdk2py 需要从官方源安装")
+        print("=" * 60)
+        return False
+    
+    return True
+
+# 在导入时进行依赖检查
+_check_dependencies()

ezgo/camera.py

@@ -0,0 +1,71 @@
+import cv2
+from PIL import Image, ImageTk
+import platform
+
+class Camera:
+    def __init__(self, index=0, width=640, height=480, fps=30,):
+        self.index = index
+        self.width = width
+        self.height = height
+        self.fps = fps
+
+        self.cap = None
+        # self.open_camera()
+
+    def open_camera(self):
+
+        if platform.system() == "Linux":
+            self.cap = cv2.VideoCapture(self.index, cv2.CAP_V4L2)  # 启用 V4L2 硬件加速
+            fourcc = cv2.VideoWriter_fourcc(*'MJPG')  # 强制硬件压缩的 MJPG 格式（利用 FFMPEG 加速）
+            self.cap.set(cv2.CAP_PROP_FOURCC, fourcc)
+        else:
+            self.cap = cv2.VideoCapture(self.index)
+        
+        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
+        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+        self.cap.set(cv2.CAP_PROP_FPS, self.fps)
+        self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # 清空缓存
+        self.cap.set(cv2.CAP_PROP_AUTOFOCUS, 0)
+
+        if not self.cap.isOpened():
+            raise Exception("无法打开摄像头")
+        actual_width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+        actual_height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        print(f"打开摄像头 {self.index}，分辨率 {actual_width}x{actual_height}，帧率 {self.fps}")
+        
+
+    def read_cv2_image(self):
+        ret, frame = self.cap.read()
+        if not ret:
+            raise Exception("无法读取摄像头帧")
+        return frame
+    
+    def read_pil_image(self):
+        """将BGR帧转换为PIL"""
+        frame = self.read_cv2_image()
+        return self.cv2_to_pil(frame)
+    
+    def cv2_to_tk(self, frame):
+        """将BGR帧转换为Tkinter PhotoImage"""
+        frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        frame_pil = Image.fromarray(frame_rgb)
+        frame_tk = ImageTk.PhotoImage(image=frame_pil)
+        return frame_tk
+    
+    def resize(self, frame, size=(224, 224)):
+        """将图像调整为指定尺寸"""
+        return cv2.resize(frame, size, interpolation=cv2.INTER_LINEAR)
+    
+    def crop_to_square(self, frame):
+        """将图像裁剪为正方形"""
+        h, w = frame.shape[:2]
+        min_dim = min(h, w)
+        y = (h - min_dim) // 2
+        x = (w - min_dim) // 2
+        return frame[y:y+min_dim, x:x+min_dim]
+    
+    def __del__(self):
+        """释放摄像头资源"""
+        if self.cap is not None:
+            self.cap.release()
+