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UPDATE Vision 保存图片和点云

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This commit is contained in:
HJW
2024-09-14 14:41:08 +08:00
parent a058281441
commit 7517e9eac7
6 changed files with 83 additions and 13 deletions
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27
Vision/camera_coordinate_dete.py
View File

@ -16,6 +16,8 @@ from Vision.yolo.yolov8_pt_seg import yolov8_segment
from Vision.yolo.yolov8_openvino import yolov8_segment_openvino from Vision.yolo.yolov8_openvino import yolov8_segment_openvino
from Vision.tool.utils import find_position from Vision.tool.utils import find_position
from Vision.tool.utils import class_names from Vision.tool.utils import class_names
from Vision.tool.utils import get_disk_space
import time
import os import os
class Detection: class Detection:
@ -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 :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 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 self.camera_rvc.caminit_isok == True:
if ret == 1: 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: if self.use_openvino_model == False:
flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0) flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0)
else: else:
@ -196,9 +214,14 @@ class Detection:
outlier_cloud = pcd.select_by_index(inliers, invert=True) outlier_cloud = pcd.select_by_index(inliers, invert=True)
outlier_cloud.paint_uniform_color([0, 1, 0]) outlier_cloud.paint_uniform_color([0, 1, 0])
o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2]) 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] return 1, img, xyz[_idx], nx_ny_nz[_idx]
else: 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 return 1, img, None, None
else: else:

30
Vision/camera_coordinate_dete_img.py
View File

@ -11,11 +11,13 @@
import numpy as np import numpy as np
import cv2 import cv2
import open3d as o3d import open3d as o3d
import time
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.yolo.yolov8_openvino import yolov8_segment_openvino from Vision.yolo.yolov8_openvino import yolov8_segment_openvino
from Vision.tool.utils import find_position from Vision.tool.utils import find_position
from Vision.tool.utils import class_names from Vision.tool.utils import class_names
from Vision.tool.utils import get_disk_space
import os import os
class Detection: 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 :param api: None
@ -50,6 +52,24 @@ class Detection:
img = self.img img = self.img
pm = self.point pm = self.point
if ret == 1: 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: if self.use_openvino_model == False:
flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0) flag, det_cpu, dst_img, masks, category_names = self.model.model_inference(img, 0)
else: else:
@ -61,6 +81,7 @@ class Detection:
Depth_Z = [] Depth_Z = []
uv = [] uv = []
seg_point = [] seg_point = []
if Point_isVision == True: if Point_isVision == True:
pm2 = pm.copy() pm2 = pm.copy()
pm2 = pm2.reshape(-1, 3) pm2 = pm2.reshape(-1, 3)
@ -200,9 +221,16 @@ class Detection:
outlier_cloud = pcd.select_by_index(inliers, invert=True) outlier_cloud = pcd.select_by_index(inliers, invert=True)
outlier_cloud.paint_uniform_color([0, 1, 0]) outlier_cloud.paint_uniform_color([0, 1, 0])
o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud, pcd2]) 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] return 1, img, xyz[_idx], nx_ny_nz[_idx]
else: 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 return 1, img, None, None
else: else:

2
Vision/camera_coordinate_dete_test.py
View File

@ -7,7 +7,7 @@
''' '''
import time import time
from camera_coordinate_dete import Detection from camera_coordinate_dete_img import Detection
import cv2 import cv2
detection = Detection() detection = Detection()

11
Vision/tool/utils.py
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@ -10,7 +10,18 @@
import numpy as np import numpy as np
import cv2 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): def find_position(Depth_Z, RegionalArea, RegionalArea_Threshold, first_depth=True):
if first_depth == True: if first_depth == True:
sorted_id = sorted(range(len(Depth_Z)), key=lambda k: Depth_Z[k], reverse=False) sorted_id = sorted(range(len(Depth_Z)), key=lambda k: Depth_Z[k], reverse=False)

13
app.py
View File

@ -35,13 +35,14 @@ class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self): def __init__(self):
super(MainWindow, self).__init__() super(MainWindow, self).__init__()
self.setupUi(self) self.setupUi(self)
self.init_qss()
self.init_UI() self.init_UI()
self.init_Run() self.init_Run()
self.init_robot_info() self.init_robot_info()
self.init_FeedLine() self.init_FeedLine()
self.start_Runing() self.start_Runing()
self.init_log() self.init_log()
self.init_qss()
def init_qss(self): def init_qss(self):
self.active_status_Qss = """ self.active_status_Qss = """
@ -683,11 +684,11 @@ class MainWindow(QMainWindow, Ui_MainWindow):
else: else:
self.stackedWidget_num.setCurrentIndex(1) self.stackedWidget_num.setCurrentIndex(1)
if self.feeding.feedConfig.num==2: # if self.feeding.feedConfig.num==2:
self.feeding.pause=True # self.feeding.pause=True
self.send_pause_command(True) # self.send_pause_command(True)
self.show_messagebox_of_person() # self.show_messagebox_of_person()
log.log_message(logging.ERROR, '人员进入安全区') # log.log_message(logging.ERROR, '人员进入安全区')
self.label_date.setText(datetime.now().strftime("%Y-%m-%d")) self.label_date.setText(datetime.now().strftime("%Y-%m-%d"))
self.label_time.setText(datetime.now().strftime("%H:%M:%S")) self.label_time.setText(datetime.now().strftime("%H:%M:%S"))

9
get_position_test.py
View File

@ -7,7 +7,8 @@
''' '''
from Vision.camera_coordinate_dete_img import Detection from Vision.camera_coordinate_dete_img import Detection
from Trace.handeye_calibration import * from Trace.handeye_calibration import *
from Vision.tool.utils import get_disk_space
import platform
import cv2 import cv2
detection = Detection() detection = Detection()
@ -24,3 +25,9 @@ while True:
print("noraml_base", noraml_base) print("noraml_base", noraml_base)
cv2.imshow('img', img) cv2.imshow('img', img)
cv2.waitKey(0) 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)