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UPDATE Vision test

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This commit is contained in:
HJW
2024-09-12 08:49:25 +08:00
parent d24a79c21c
commit 05f468f7c9
2 changed files with 30 additions and 4 deletions
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8
Vision/camera_coordinate_dete_img.py
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@ -23,17 +23,17 @@ class Detection:
def __init__(self, use_openvino_model = True): def __init__(self, use_openvino_model = True):
self.use_openvino_model = use_openvino_model self.use_openvino_model = use_openvino_model
if self.use_openvino_model == False: if self.use_openvino_model == False:
model_path = ''.join([os.getcwd(), '/model/pt/best.pt']) model_path = ''.join([os.getcwd(), '/Vision/model/pt/best.pt'])
device = 'cpu' device = 'cpu'
self.model = yolov8_segment() self.model = yolov8_segment()
self.model.load_model(model_path, device) self.model.load_model(model_path, device)
else: else:
model_path = ''.join([os.getcwd(), '/model/openvino/best.xml']) model_path = ''.join([os.getcwd(), '/Vision/model/openvino/best.xml'])
device = 'CPU' device = 'CPU'
self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3) self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)
img_path = ''.join([os.getcwd(), '/model/data/test0911.png']) img_path = ''.join([os.getcwd(), '/Vision/model/data/test0910.png'])
point_path = ''.join([os.getcwd(), '/model/data/test0911.xyz']) point_path = ''.join([os.getcwd(), '/Vision/model/data/test0910.xyz'])
self.img = cv2.imread(img_path) self.img = cv2.imread(img_path)
self.point = np.loadtxt(point_path).reshape((1080, 1440, 3)) self.point = np.loadtxt(point_path).reshape((1080, 1440, 3))

26
get_position_test.py Normal file
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@ -0,0 +1,26 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2024/9/7 11:49
# @Author : hjw
# @File : get_position_test.py
'''
from Vision.camera_coordinate_dete_img import Detection
from Trace.handeye_calibration import *
import cv2
detection = Detection()
while True:
ret, img, xyz, nx_ny_nz = detection.get_position()
if ret==1:
print('xyz点云坐标：', xyz)
print('nx_ny_nz法向量：', nx_ny_nz)
img = cv2.resize(img,(720, 540))
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)
print("target_position:", target_position)
print("noraml_base", noraml_base)
cv2.imshow('img', img)
cv2.waitKey(0)