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UPDATE Vision 更新图像漾SDK,补充彩色图与深度图对齐方式

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hjw
2024-12-11 19:22:16 +08:00
parent f4b6bd32ee
commit c81ccecc7d
18 changed files with 12257 additions and 11 deletions
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14
Vision/camera_coordinate_dete.py
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@ -11,8 +11,11 @@
import numpy as np
import cv2
import open3d as o3d
import time
import os
from Vision.tool.CameraRVC import camera_rvc
from Vision.tool.CameraPe import camera_pe
from Vision.tool.CameraPe_color2depth 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
@ -21,8 +24,7 @@ from Vision.tool.utils import get_disk_space
from Vision.tool.utils import remove_nan_mean_value
from Vision.tool.utils import out_bounds_dete
from Vision.tool.utils import uv_to_XY
import time
import os
class Detection:
@ -43,7 +45,7 @@ class Detection:
self.seg_distance_threshold = 10 # 1厘米
elif self.cameraType == 'Pe':
self.camera_rvc = camera_pe()
self.seg_distance_threshold = 10 # 2厘米
self.seg_distance_threshold = 15 # 2厘米
else:
print('相机参数错误')
return
@ -64,7 +66,7 @@ class Detection:
self.model = yolov8_segment_openvino(model_path, device, conf_thres=0.3, iou_thres=0.3)
def get_position(self, Point_isVision=False, Box_isPoint=True, First_Depth =True, Iter_Max_Pixel = 30, save_img_point=0, Height_reduce = 50, width_reduce = 50):
def get_position(self, Point_isVision=False, Box_isPoint=True, First_Depth =True, Iter_Max_Pixel = 30, save_img_point=0, Height_reduce = 60, width_reduce = 100):
"""
检测料袋相关信息
:param Point_isVision: 点云可视化
@ -81,7 +83,7 @@ class Detection:
:return box_list: list 内缩检测框四顶点，形如[[x1,y1],[],[],[]]
"""
ret, img, pm = self.camera_rvc.get_img_and_point_map() # 拍照，获取图像及
ret, img, pm, _depth_align = 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_point != 0: