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UPDATE Vision box：点云与相机坐标

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HJW
2024-10-09 17:34:39 +08:00
parent 1feb28b68d
commit 25bb85dca1
3 changed files with 89 additions and 8 deletions
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13
Vision/camera_coordinate_dete.py
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@ -20,6 +20,7 @@ from Vision.tool.utils import class_names
from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
from Vision.tool.utils import out_bounds_dete
from Vision.tool.utils import uv_to_XY
import time
import os
@ -244,7 +245,10 @@ class Detection:
box_point_x3, box_point_y3, box_point_z3 = remove_nan_mean_value(pm, box[2][0][1], box[2][0][0])
box_point_x4, box_point_y4, box_point_z4 = remove_nan_mean_value(pm, box[3][0][1], box[3][0][0])
else:
pass
x1, y1, z1= uv_to_XY(box[0][0][0], box[0][0][1])
x2, y2, z2 = uv_to_XY(box[1][0][0], box[1][0][1])
x3, y3, z3 = uv_to_XY(box[2][0][0], box[2][0][1])
x4, y4, z4 = uv_to_XY(box[3][0][0], box[3][0][1])
x_rotation_center = int((box[0][0][0] + box[1][0][0] + box[2][0][0] + box[3][0][0]) / 4)
y_rotation_center = int((box[0][0][1] + box[1][0][1] + box[2][0][1] + box[3][0][1]) / 4)
point_x, point_y, point_z = remove_nan_mean_value(pm, y_rotation_center, x_rotation_center)
@ -252,7 +256,6 @@ class Detection:
if np.isnan(point_x): # 点云值为无效值
continue
else:
if Box_isPoint == True:
box_list.append(
[[box_point_x1, box_point_y1, box_point_z1],
@ -260,7 +263,11 @@ class Detection:
[box_point_x3, box_point_y3, box_point_z3],
[box_point_x4, box_point_y4, box_point_z4]])
else:
box_list.append(box)
box_list.append([[x1, y1, z1],
[x2, y2, z2],
[x3, y3, z3],
[x4, y4, z4],
])
if self.cameraType=='RVC':
xyz.append([point_x*1000, point_y*1000, point_z*1000])
Depth_Z.append(point_z*1000)