UPDATE Vision 图漾相机代码融合

Vision/camera_coordinate_dete.py

@@ -11,8 +11,8 @@
 import numpy as np
 import cv2
 import open3d as o3d
-# from Vision.tool.CameraRVC import camera
+from Vision.tool.CameraRVC import camera_rvc
-from Vision.tool.CameraPe import camera
+from Vision.tool.CameraPe import camera_pe
 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
@@ -25,23 +25,33 @@ import os
 
 class Detection:
 
-    def __init__(self, use_openvino_model=True):
+    def __init__(self, use_openvino_model=True, cameraIsRVC = True):
         self.use_openvino_model = use_openvino_model
         if self.use_openvino_model==False:
             model_path = ''.join([os.getcwd(), '/Vision/model/pt/best.pt'])
             device = 'cpu'
-            self.camera_rvc = camera()
+            if cameraIsRVC == True:
+                self.camera_rvc = camera_rvc()
+                self.seg_distance_threshold = 0.005
+            else:
+                self.camera_rvc = camera_pe()
+                self.seg_distance_threshold = 10
             self.model = yolov8_segment()
             self.model.load_model(model_path, device)
         else:
             model_path = ''.join([os.getcwd(), '/Vision/model/openvino/best.xml'])
             device = 'CPU'
-            self.camera_rvc = camera()
+            if cameraIsRVC == True:
+                self.camera_rvc = camera_rvc()
+                self.seg_distance_threshold = 0.005
+            else:
+                self.camera_rvc = camera_pe()
+                self.seg_distance_threshold = 10
             self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)
 
 
 
-    def get_position(self, Point_isVision=False, save_img_point=False, seg_distance_threshold= 10):
+    def get_position(self, Point_isVision=False, save_img_point=False):
         ""
         '''
         :param api: None
@@ -158,7 +168,7 @@ class Detection:
                         '''
                         pcd = o3d.geometry.PointCloud()
                         pcd.points = o3d.utility.Vector3dVector(pm_seg)
-                        plane_model, inliers = pcd.segment_plane(distance_threshold=seg_distance_threshold,
+                        plane_model, inliers = pcd.segment_plane(distance_threshold=self.seg_distance_threshold,
                                                                  ransac_n=5,
                                                                  num_iterations=5000)
                         [a, b, c, d] = plane_model
@@ -223,7 +233,7 @@ class Detection:
                         if Point_isVision==True:
                             pcd = o3d.geometry.PointCloud()
                             pcd.points = o3d.utility.Vector3dVector(seg_point[_idx])
-                            plane_model, inliers = pcd.segment_plane(distance_threshold=seg_distance_threshold,
+                            plane_model, inliers = pcd.segment_plane(distance_threshold=self.seg_distance_threshold,
                                                                      ransac_n=5,
                                                                      num_iterations=5000)
                             inlier_cloud = pcd.select_by_index(inliers)                # 点云可视化

Vision/camera_coordinate_dete_img.py

@@ -12,7 +12,8 @@ import numpy as np
 import cv2
 import open3d as o3d
 import time
-from Vision.tool.CameraRVC import camera
+from Vision.tool.CameraRVC import camera_rvc
+from Vision.tool.CameraPe import camera_pe
 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
@@ -24,7 +25,7 @@ import os
 
 class Detection:
 
-    def __init__(self, use_openvino_model = True):
+    def __init__(self, use_openvino_model = True, cameraIsRVC = True):
         self.use_openvino_model = use_openvino_model
         if self.use_openvino_model == False:
             model_path = ''.join([os.getcwd(), '/Vision/model/pt/best.pt'])
@@ -36,14 +37,15 @@ class Detection:
             device = 'CPU'
             self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)
 
-        img_path = ''.join([os.getcwd(), '/Vision/model/data/test0911.png'])
+        img_path = ''.join([os.getcwd(), '/Vision/model/data/1.png'])
-        point_path = ''.join([os.getcwd(), '/Vision/model/data/test0911.xyz'])
+        point_path = ''.join([os.getcwd(), '/Vision/model/data/1.xyz'])
         self.img = cv2.imread(img_path)
         self.point = np.loadtxt(point_path).reshape((1080, 1440, 3))
+        pass
 
 
 
-    def get_position(self, Point_isVision=False, save_img_point=True, seg_distance_threshold = 10):
+    def get_position(self, Point_isVision=False, save_img_point=True, seg_distance_threshold = 0.01):
         ""
         '''
         :param api: None
@@ -186,8 +188,15 @@ class Detection:
 
                     # 这一步不影响后面的画图，但是可以保证四个角点坐标为顺时针
                     startidx = box.sum(axis=1).argmin()
-                    box1 = np.roll(box, 4 - startidx, 0)
+                    box = np.roll(box, 4 - startidx, 0)
+                    box = np.int0(box)
                     # 在原图上画出预测的外接矩形
+
+                    '''
+                      拟合最大内接矩形，计算矩形中心
+                    '''
+
+
                     box = box.reshape((-1, 1, 2)).astype(np.int32)
                     box = box + [[[box_x1, box_y1]], [[box_x1, box_y1]], [[box_x1, box_y1]], [[box_x1, box_y1]]]
 

Vision/tool/CameraPe.py

@@ -26,7 +26,7 @@ class PythonPercipioDeviceEvent(pcammls.DeviceEvent):
     def IsOffline(self):
         return self.Offline
 
-class camera():
+class camera_pe():
 
     def __init__(self):
         super().__init__()

Vision/tool/CameraRVC.py

@@ -10,7 +10,7 @@
 import PyRVC as RVC
 import numpy as np
 
-class camera:
+class camera_rvc:
 
     def __init__(self):
         self.caminit_isok = False