xiongyi/AutoControlSystem-git
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

UPDATE Vision 修正box输出

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

13
get_position_test.py
View File

@ -14,20 +14,15 @@ import cv2
detection = Detection()
while True:
ret, img, xyz, nx_ny_nz = detection.get_position()
ret, img, xyz, nx_ny_nz, box = detection.get_position()
if ret==1:
print('xyz点云坐标：', xyz)
print('nx_ny_nz法向量：', nx_ny_nz)
print('矩形框四顶点：', box)
img = cv2.resize(img,(720, 540))
transformation_matrix = R_matrix(521.534, 0.705, 850.03, 0.0, 90.0, 0.0) # (x, y, z, u, v, w)
target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix)
target_position, noraml_base = getPosition(xyz[0], xyz[1], xyz[2], nx_ny_nz[0], nx_ny_nz[1], nx_ny_nz[2], transformation_matrix, box)
print("target_position:", target_position)
print("noraml_base", noraml_base)
cv2.imshow('img', img)
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)
cv2.waitKey(0)