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UPDATE Vision 修正box输出

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This commit is contained in:
HJW
2024-09-19 16:05:43 +08:00
parent ba9f28406d
commit bd91bae88b
6 changed files with 15 additions and 61 deletions
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13
Vision/camera_coordinate_dete.py
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@ -18,7 +18,6 @@ from Vision.tool.utils import find_position
from Vision.tool.utils import class_names
from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan
from Vision.tool.utils import compute_pca_direction
import time
import os
@ -77,7 +76,6 @@ class Detection:
uv = []
seg_point = []
box_list = []
pca_list = []
if Point_isVision==True:
pm2 = pm.copy()
pm2 = pm2.reshape(-1, 3)
@ -153,9 +151,6 @@ class Detection:
continue
# cv2.imshow('result', piont_result)
pca_list.append(compute_pca_direction(pm_seg))
'''
拟合平面，计算法向量
'''
@ -231,20 +226,20 @@ class Detection:
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], box_list[_idx], pca_list[_idx]
return 1, img, xyz[_idx], nx_ny_nz[_idx], box_list[_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, None, None
return 1, img, None, None, None
else:
print("RVC X Camera capture failed!")
return 0, None, None, None, None, None
return 0, None, None, None, None
else:
print("RVC X Camera is not opened!")
return 0, None, None, None, None, None
return 0, None, None, None, None
def release(self):
self.camera_rvc.release()