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