diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py index e76b5fe..844b314 100644 --- a/Trace/handeye_calibration.py +++ b/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 diff --git a/Vision/camera_coordinate_dete.py b/Vision/camera_coordinate_dete.py index 3fe782a..e13944a 100644 --- a/Vision/camera_coordinate_dete.py +++ b/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') diff --git a/Vision/model/openvino/metadata.yaml b/Vision/model/openvino/metadata.yaml index 9a691f7..5c3f7b8 100644 --- a/Vision/model/openvino/metadata.yaml +++ b/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 diff --git a/Vision/model/openvino/one_bag.bin b/Vision/model/openvino/one_bag.bin index c2f5ebd..47989e2 100644 Binary files a/Vision/model/openvino/one_bag.bin and b/Vision/model/openvino/one_bag.bin differ diff --git a/Vision/model/pt/one_bag.pt b/Vision/model/pt/one_bag.pt index d299f6d..26231b0 100644 Binary files a/Vision/model/pt/one_bag.pt and b/Vision/model/pt/one_bag.pt differ diff --git a/Vision/tool/CameraPe_color2depth.py b/Vision/tool/CameraPe_color2depth.py index 43ecd43..0b7f746 100644 --- a/Vision/tool/CameraPe_color2depth.py +++ b/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: diff --git a/Vision/tool/CameraPe_depth2color.py b/Vision/tool/CameraPe_depth2color.py index 1ebb765..624e024 100644 --- a/Vision/tool/CameraPe_depth2color.py +++ b/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()