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

UPDATE Vision 修复深度图对齐彩色图

Browse Source
This commit is contained in:
HJW
2024-12-19 11:30:56 +08:00
parent ca6b54dc8f
commit e516e2e287
3 changed files with 17 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
Vision/camera_coordinate_dete.py
View File

@ -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')