first commit

2025-07-29 13:16:30 +08:00
commit dca51db4eb
145 changed files with 721268 additions and 0 deletions
--- a/get_position_test.py
+++ b/get_position_test.py
@ -0,0 +1,137 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2024/9/7 11:49
+# @Author  : hjw
+# @File    : get_position_test.py
+'''
+import time
+import platform
+import cv2
+import os
+
+from Vision.camera_coordinate_dete import Detection
+from Vision.camera_coordinate_dete_planevison import Detection_plane_vsion
+from Trace.handeye_calibration import *
+from Vision.tool.utils import get_disk_space
+from Vision.tool.utils import remove_nan_mean_value
+from Vision.detect_person import DetectionPerson
+from Vision.detect_bag_num import DetectionBagNum
+from Vision.tool.CameraHIK import camera_HIK
+from Vision.bag_collection import DetectionBag
+
+#
+"""
+   测试 Vision
+"""
+
+def detectionPosition_test():
+    detection = Detection()
+    while True:
+        ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True, save_img_point=1)
+        if ret==1:
+            print('xyz点云坐标：', xyz)
+            print('nx_ny_nz法向量：', nx_ny_nz)
+            print('矩形框四顶点：', box)
+            # img = cv2.resize(img,(720, 540))
+            if xyz!=None:
+                transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0)   # (x, y, z, u, v, w)
+                target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
+                print("target_position:", target_position)
+                print("noraml_base", noraml_base)
+            cv2.imshow('img', img)
+            cv2.waitKey(0)
+
+def Detection_plane_vsion_test():
+    detection = Detection_plane_vsion()
+    while True:
+        ret, img, xyz, nx_ny_nz, box = detection.get_position(Point_isVision=True, save_img_point=1)
+        if ret==1:
+            print('xyz点云坐标：', xyz)
+            print('nx_ny_nz法向量：', nx_ny_nz)
+            print('矩形框四顶点：', box)
+            # img = cv2.resize(img,(720, 540))
+            if xyz!=None:
+                transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0)   # (x, y, z, u, v, w)
+                target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
+                print("target_position:", target_position)
+                print("noraml_base", noraml_base)
+            cv2.imshow('img', img)
+            cv2.waitKey(0)
+
+def take_photo_position_test():
+    detection = Detection()
+    while True:
+        ret, img, find_target, xyz = detection.get_take_photo_position()
+        if ret==1:
+            print('是否检测到目标：', find_target)
+            if xyz!=None:
+                print('xyz点云坐标：', xyz)
+            else:
+                print('目标点云无效')
+            cv2.imshow('img', img)
+            cv2.waitKey(1)
+
+def detectionPerson_test():
+    detectionPerson = DetectionPerson()
+    while True:
+        person, img_src = detectionPerson.get_person()
+        if img_src is not None:
+            cv2.imshow('detectPerson', img_src)
+            cv2.waitKey(1)
+            time.sleep(5)
+        else:
+            cv2.destroyAllWindows()
+
+
+        print("person", person)
+    # video_path = ''.join([os.getcwd(), '/Vision/model/data/1.mp4'])
+    # cam = cv2.VideoCapture(video_path)
+    # while cam.isOpened():
+    #     ret, frame = cam.read()
+    #     if ret:
+    #         person, img = detectionPerson.get_person(frame)
+    #         print(person)
+    #         cv2.imshow('img', img)
+    #         cv2.waitKey(1)
+    #     else:
+    #         break
+def HIK_Camera_test():
+    MY_CAMERA = camera_HIK("192.168.1.121", 554, "admin", "zlzk.123")
+    while True:
+        ret, frame = MY_CAMERA.get_img()
+        if ret:
+            img = cv2.resize(frame, (800, 600))
+            cv2.imshow('img', img)
+            cv2.waitKey(1)
+
+def detectionBagNum_test():
+    detectionBagNum = DetectionBagNum()
+    video_path = ''.join([os.getcwd(), '/Vision/model/data/2.mp4'])
+    cam = cv2.VideoCapture(video_path)
+    while cam.isOpened():
+        ret, frame = cam.read()
+        if ret:
+            num, img = detectionBagNum.get_BagNum(frame)
+            print(num)
+            cv2.imshow('img', img)
+            cv2.waitKey(1)
+        else:
+            break
+
+def bag_collection_test():
+    save_bag_img_point = DetectionBag()
+    # video_path = ''.join([os.getcwd(), '/Vision/model/data/2.mp4'])
+    # cam = cv2.VideoCapture(video_path)
+    while True:
+        Bag, img_src = save_bag_img_point.detect_bag(save_img_point=2)
+        if Bag:
+            cv2.imshow('img', img_src)
+            cv2.waitKey(1)
+        else:
+            break
+        time.sleep(5)
+
+
+if __name__ == '__main__':
+    Detection_plane_vsion_test()