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UPDATE Vision 新增行人检测

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HJW
2024-09-25 14:26:05 +08:00
parent 563ad9bb67
commit 5ee1e49b1b
3 changed files with 161 additions and 22 deletions
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60
get_position_test.py
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@ -9,30 +9,46 @@ from Vision.camera_coordinate_dete import Detection
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
import platform
import cv2
import os
#
"""
测试 Vision
"""
def detectionPosition_test():
detection = Detection()
detection = Detection()
while True:
ret, img, xyz, nx_ny_nz, box = detection.get_position()
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(1)
while True:
ret, img, xyz, nx_ny_nz, box = detection.get_position()
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(1)
# point = np.loadtxt('./Vision/model/data/test_nan.xyz').reshape((6, 8, 3))
# a = point.copy()
# c = a.tolist()
# x, y, z = remove_nan_mean_value(point,3,3)
# print(x, y, z )
# pass
def detectionPerson_test():
detectionPerson = DetectionPerson()
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
if __name__ == '__main__':
detectionPerson_test()