UPDATE Vision 保存图片和点云

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:

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:

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()

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)

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:
+        # 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_time.setText(datetime.now().strftime("%H:%M:%S"))
 

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)
+        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)