Merge remote-tracking branch 'origin/master'

Trace/handeye_calibration.py

@@ -54,7 +54,7 @@ def R_matrix(x,y,z,u,v,w):
 
 
 # 图像识别结果：xyz和法向量
-def getPosition(x,y,z,a,b,c,points):
+def getPosition(x,y,z,a,b,c,rotation,points):
     target = np.asarray([x, y, z,1])
     camera2robot = np.loadtxt('./Trace/com_pose.txt', delimiter=' ') #相对目录且分隔符采用os.sep
     # robot2base = rotation

Vision/camera_coordinate_dete.py

@@ -15,7 +15,8 @@ import time
 import os
 
 from Vision.tool.CameraRVC import camera_rvc
-from Vision.tool.CameraPe_color2depth import camera_pe
+from Vision.tool.CameraPe_color2depth import camera_pe as camera_pe_color2depth
+from Vision.tool.CameraPe_depth2color import camera_pe as camera_pe_depth2color
 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
@@ -28,15 +29,17 @@ from Vision.tool.utils import uv_to_XY
 
 class Detection:
 
-    def __init__(self, use_openvino_model=False, cameraType = 'Pe'):                   # cameraType = 'RVC'  or cameraType = 'Pe'
+    def __init__(self, use_openvino_model=False, cameraType = 'Pe', alignmentType = 'color2depth'):                   # cameraType = 'RVC'  or cameraType = 'Pe'
         """
             初始化相机及模型
             :param use_openvino_model:  选择模型，默认使用openvino
             :param cameraType:  选择相机   如本相机 'RVC', 图漾相机 'Pe'
+            :param alignmentType:  相机对齐方式   color2depth：彩色图对齐深度图 ；depth2color：深度图对齐彩色图
 
         """
         self.use_openvino_model = use_openvino_model
         self.cameraType = cameraType
+        self.alignmentType= alignmentType
         if self.use_openvino_model == False:
             model_path = ''.join([os.getcwd(), '/Vision/model/pt/one_bag.pt'])
             device = 'cpu'
@@ -44,7 +47,10 @@ class Detection:
                 self.camera_rvc = camera_rvc()
                 self.seg_distance_threshold = 10                  # 1厘米
             elif self.cameraType == 'Pe':
-                self.camera_rvc = camera_pe()
+                if self.alignmentType=='color2depth':
+                    self.camera_rvc = camera_pe_color2depth()
+                else:
+                    self.camera_rvc = camera_pe_depth2color()
                 self.seg_distance_threshold = 15                    # 2厘米
             else:
                 print('相机参数错误')
@@ -58,7 +64,10 @@ class Detection:
                 self.camera_rvc = camera_rvc()
                 self.seg_distance_threshold = 10
             elif self.cameraType == 'Pe':
-                self.camera_rvc = camera_pe()
+                if self.alignmentType == 'color2depth':
+                    self.camera_rvc = camera_pe_color2depth()
+                else:
+                    self.camera_rvc = camera_pe_depth2color()
                 self.seg_distance_threshold = 20
             else:
                 print('相机参数错误')

Vision/model/openvino/metadata.yaml

@@ -1,6 +1,6 @@
 description: Ultralytics YOLOv8n-seg model trained on D:\work\ultralytics-main\ultralytics\cfg\datasets\coco8-seg-dy.yaml
 author: Ultralytics
-date: '2024-12-02T17:16:53.470305'
+date: '2024-12-19T09:48:12.419566'
 version: 8.2.86
 license: AGPL-3.0 License (https://ultralytics.com/license)
 docs: https://docs.ultralytics.com

Vision/tool/CameraPe_color2depth.py

@@ -124,7 +124,7 @@ class camera_pe():
         :return: ret , img, point_map
         '''
         if self.caminit_isok == False or self.event.IsOffline():
-            return 0, None, None
+            return 0, None, None, None
         else:
             image_list = self.cl.DeviceStreamRead(self.handle, 2000)
             if len(image_list) == 2:

Vision/tool/CameraPe_depth2color.py

@@ -80,6 +80,7 @@ class camera_pe():
         #     print('\t{} -size[{}x{}]\t-\t desc:{}'.format(idx, cl.Width(fmt), cl.Height(fmt), fmt.getDesc()))
         self.cl.DeviceStreamFormatConfig(self.handle, PERCIPIO_STREAM_DEPTH, depth_fmt_list[2])         # 深度图大小
         self.depth_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_DEPTH)
+        self.color_calib_data = self.cl.DeviceReadCalibData(self.handle, PERCIPIO_STREAM_COLOR)
 
         err = self.cl.DeviceLoadDefaultParameters(self.handle)
         if err:
@@ -124,7 +125,7 @@ class camera_pe():
         :return: ret , img, point_map
         '''
         if self.caminit_isok == False or self.event.IsOffline():
-            return 0, None, None
+            return 0, None, None, None
         else:
             image_list = self.cl.DeviceStreamRead(self.handle, 2000)
             if len(image_list) == 2:
@@ -140,7 +141,7 @@ class camera_pe():
 
                 self.cl.DeviceStreamDepthRender(self.img_registration_depth, self.img_registration_render)
                 mat_depth_render = self.img_registration_render.as_nparray()
-                self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.depth_calib_data, self.scale_unit,
+                self.cl.DeviceStreamMapDepthImageToPoint3D(self.img_registration_depth, self.color_calib_data, self.scale_unit,
                                                            self.pointcloud_data_arr)
                 p3d_nparray = self.pointcloud_data_arr.as_nparray()