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更新 Vision/camera_coordinate_dete.py

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hjw
2024-09-09 09:54:21 +00:00
parent 72f5c9e9fb
commit 54c6acb436
1 changed files with 20 additions and 16 deletions
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Vision/camera_coordinate_dete.py
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@ -13,6 +13,7 @@ import cv2
import open3d as o3d import open3d as o3d
from Vision.tool.CameraRVC import camera from Vision.tool.CameraRVC import camera
from Vision.yolo.yolov8_pt_seg import yolov8_segment from Vision.yolo.yolov8_pt_seg import yolov8_segment
from Vision.tool.utils import find_position
class Detection: class Detection:
@ -152,27 +153,30 @@ class Detection:
Depth_Z.append(point_z*1000) Depth_Z.append(point_z*1000)
nx_ny_nz.append([a, b, c]) nx_ny_nz.append([a, b, c])
RegionalArea.append(cv2.contourArea(max_contour)) RegionalArea.append(cv2.contourArea(max_contour))
uv.append([x_rotation_center,y_rotation_center]) uv.append([x_rotation_center, y_rotation_center])
seg_point.append(pm_seg) seg_point.append(pm_seg)
cv2.polylines(img, [box], True, (0, 255, 0), 2) cv2.polylines(img, [box], True, (0, 255, 0), 2)
min_value = min(Depth_Z) # 求深度最小值 _idx = find_position(Depth_Z, RegionalArea, 100,True)
min_idx = Depth_Z.index(min_value) # 求最小值对应索引
cv2.circle(img, (uv[min_idx][0], uv[min_idx][1]), 30, (255, 0, 0), 20) # 标出中心点
if Point_isVision==True: if _idx == None:
pcd = o3d.geometry.PointCloud() return 1, img, None, None
pcd.points = o3d.utility.Vector3dVector(seg_point[min_idx]) else:
plane_model, inliers = pcd.segment_plane(distance_threshold=0.01, cv2.circle(img, (uv[_idx][0], uv[_idx][1]), 30, (255, 0, 0), 20) # 标出中心点
ransac_n=5,
num_iterations=5000)
inlier_cloud = pcd.select_by_index(inliers) # 点云可视化
inlier_cloud.paint_uniform_color([1.0, 0, 0])
outlier_cloud = pcd.select_by_index(inliers, invert=True)
outlier_cloud.paint_uniform_color([0, 1, 0])
o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2])
return 1, img, xyz[min_idx], nx_ny_nz[min_idx] if Point_isVision==True:
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(seg_point[_idx])
plane_model, inliers = pcd.segment_plane(distance_threshold=0.01,
ransac_n=5,
num_iterations=5000)
inlier_cloud = pcd.select_by_index(inliers) # 点云可视化
inlier_cloud.paint_uniform_color([1.0, 0, 0])
outlier_cloud = pcd.select_by_index(inliers, invert=True)
outlier_cloud.paint_uniform_color([0, 1, 0])
o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2])
return 1, img, xyz[_idx], nx_ny_nz[_idx]
else: else:
return 1, img, None, None return 1, img, None, None