diff --git a/Vision/camera_coordinate_dete.py b/Vision/camera_coordinate_dete.py index 4398c63..642e7f4 100644 --- a/Vision/camera_coordinate_dete.py +++ b/Vision/camera_coordinate_dete.py @@ -16,11 +16,13 @@ from Vision.yolo.yolov8_pt_seg import yolov8_segment from Vision.yolo.yolov8_openvino import yolov8_segment_openvino from Vision.tool.utils import find_position from Vision.tool.utils import class_names +from Vision.tool.utils import get_disk_space +import time import os class Detection: - def __init__(self, use_openvino_model = True): + def __init__(self, use_openvino_model=True): self.use_openvino_model = use_openvino_model if self.use_openvino_model==False: model_path = ''.join([os.getcwd(), '/Vision/model/pt/best.pt']) @@ -36,7 +38,7 @@ class Detection: - def get_position(self, Point_isVision=False): + def get_position(self, Point_isVision=False, save_img_piont=True): "" ''' :param api: None @@ -45,6 +47,22 @@ class Detection: ret, img, pm = self.camera_rvc.get_img_and_point_map() # 拍照，获取图像及 if self.camera_rvc.caminit_isok == True: if ret == 1: + if save_img_piont == True: + if get_disk_space(path=os.getcwd()) < 15: # 内存小于15G,停止保存数据 + save_img_piont = False + print('系统内存不足，无法保存数据') + else: + save_path = ''.join([os.getcwd(), '/Vision/model/data/', + time.strftime('%Y_%m_%d_%H_%M_%S', time.localtime(time.time()))]) + save_img_name = ''.join([save_path, '.png']) + save_piont_name = ''.join([save_path, '.xyz']) + row_list = list(range(1, 1080, 2)) + column_list = list(range(1, 1440, 2)) + pm_save = pm.copy() + pm_save1 = np.delete(pm_save, row_list, axis=0) + point_new = np.delete(pm_save1, column_list, axis=1) + point_new = point_new.reshape(-1, 3) + np.savetxt(save_piont_name, point_new) if self.use_openvino_model == False: flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0) else: @@ -196,9 +214,14 @@ class Detection: 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]) - + if save_img_piont == True: + save_img = cv2.resize(img, (720, 540)) + cv2.imwrite(save_img_name, save_img) return 1, img, xyz[_idx], nx_ny_nz[_idx] else: + if save_img_piont == True: + save_img = cv2.resize(img,(720, 540)) + cv2.imwrite(save_img_name, save_img) return 1, img, None, None else: diff --git a/Vision/camera_coordinate_dete_img.py b/Vision/camera_coordinate_dete_img.py index 1434db9..00d6b4c 100644 --- a/Vision/camera_coordinate_dete_img.py +++ b/Vision/camera_coordinate_dete_img.py @@ -11,11 +11,13 @@ import numpy as np import cv2 import open3d as o3d +import time from Vision.tool.CameraRVC import camera from Vision.yolo.yolov8_pt_seg import yolov8_segment from Vision.yolo.yolov8_openvino import yolov8_segment_openvino from Vision.tool.utils import find_position from Vision.tool.utils import class_names +from Vision.tool.utils import get_disk_space import os class Detection: @@ -39,7 +41,7 @@ class Detection: - def get_position(self, Point_isVision=False): + def get_position(self, Point_isVision=False, save_img_piont=True): "" ''' :param api: None @@ -50,6 +52,24 @@ class Detection: img = self.img pm = self.point if ret == 1: + if save_img_piont == True: + if get_disk_space(path=os.getcwd())<15: # 内存小于15G,停止保存数据 + save_img_piont = False + print('系统内存不足，无法保存数据') + else: + save_path = ''.join([os.getcwd(), '/Vision/model/data/', + time.strftime('%Y_%m_%d_%H_%M_%S', time.localtime(time.time()))]) + save_img_name = ''.join([save_path, '.png']) + save_piont_name = ''.join([save_path, '.xyz']) + row_list = list(range(1, 1080, 2)) + column_list = list(range(1, 1440, 2)) + pm_save = pm.copy() + pm_save1 = np.delete(pm_save, row_list, axis=0) + point_new = np.delete(pm_save1, column_list, axis=1) + point_new = point_new.reshape(-1, 3) + np.savetxt(save_piont_name, point_new) + + if self.use_openvino_model == False: flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0) else: @@ -61,6 +81,7 @@ class Detection: Depth_Z = [] uv = [] seg_point = [] + if Point_isVision == True: pm2 = pm.copy() pm2 = pm2.reshape(-1, 3) @@ -200,9 +221,16 @@ class Detection: 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]) + if save_img_piont == True: + save_img = cv2.resize(img,(720, 540)) + cv2.imwrite(save_img_name, save_img) return 1, img, xyz[_idx], nx_ny_nz[_idx] else: + if save_img_piont == True: + save_img = cv2.resize(img, (720, 540)) + cv2.imwrite(save_img_name, save_img) + return 1, img, None, None else: diff --git a/Vision/camera_coordinate_dete_test.py b/Vision/camera_coordinate_dete_test.py index c3ba8e5..f3b834d 100644 --- a/Vision/camera_coordinate_dete_test.py +++ b/Vision/camera_coordinate_dete_test.py @@ -7,7 +7,7 @@ ''' import time -from camera_coordinate_dete import Detection +from camera_coordinate_dete_img import Detection import cv2 detection = Detection() diff --git a/Vision/tool/utils.py b/Vision/tool/utils.py index db604a5..8908f3d 100644 --- a/Vision/tool/utils.py +++ b/Vision/tool/utils.py @@ -10,7 +10,18 @@ import numpy as np import cv2 +import psutil +from psutil._common import bytes2human +def get_disk_space(path='C:'): + usage = psutil.disk_usage(path) + space_free = bytes2human(usage.free) + # space_total = bytes2human(usage.total) + # space_used = bytes2human(usage.used) + # space_free = bytes2human(usage.free) + # space_used_percent = bytes2human(usage.percent) + space_free = float(space_free[:-1]) + return space_free def find_position(Depth_Z, RegionalArea, RegionalArea_Threshold, first_depth=True): if first_depth == True: sorted_id = sorted(range(len(Depth_Z)), key=lambda k: Depth_Z[k], reverse=False) diff --git a/app.py b/app.py index ef34f30..6ec3a27 100644 --- a/app.py +++ b/app.py @@ -35,13 +35,14 @@ class MainWindow(QMainWindow, Ui_MainWindow): def __init__(self): super(MainWindow, self).__init__() self.setupUi(self) + self.init_qss() self.init_UI() self.init_Run() self.init_robot_info() self.init_FeedLine() self.start_Runing() self.init_log() - self.init_qss() + def init_qss(self): self.active_status_Qss = """ @@ -683,11 +684,11 @@ class MainWindow(QMainWindow, Ui_MainWindow): else: self.stackedWidget_num.setCurrentIndex(1) - if self.feeding.feedConfig.num==2: - self.feeding.pause=True - self.send_pause_command(True) - self.show_messagebox_of_person() - log.log_message(logging.ERROR, '人员进入安全区') + # if self.feeding.feedConfig.num==2: + # self.feeding.pause=True + # self.send_pause_command(True) + # self.show_messagebox_of_person() + # log.log_message(logging.ERROR, '人员进入安全区') self.label_date.setText(datetime.now().strftime("%Y-%m-%d")) self.label_time.setText(datetime.now().strftime("%H:%M:%S")) diff --git a/get_position_test.py b/get_position_test.py index 70778dd..936f444 100644 --- a/get_position_test.py +++ b/get_position_test.py @@ -7,7 +7,8 @@ ''' from Vision.camera_coordinate_dete_img import Detection from Trace.handeye_calibration import * - +from Vision.tool.utils import get_disk_space +import platform import cv2 detection = Detection() @@ -23,4 +24,10 @@ while True: print("target_position:", target_position) print("noraml_base", noraml_base) cv2.imshow('img', img) - cv2.waitKey(0) \ No newline at end of file + cv2.waitKey(0) +# sysstr = platform.system() +# if sysstr == "Windows": +# space_free = get_disk_space(path=os.getcwd()) +# else: +# space_free = get_disk_space(path = "D:") +# print('剩余空间: ', space_free) \ No newline at end of file