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UPDATE Vision 修复深度图对齐彩色图

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HJW
2024-12-19 11:30:56 +08:00
parent ca6b54dc8f
commit e516e2e287
3 changed files with 17 additions and 7 deletions
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17
Vision/camera_coordinate_dete.py
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@ -15,7 +15,8 @@ import time
import os import os
from Vision.tool.CameraRVC import camera_rvc 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_pt_seg import yolov8_segment
from Vision.yolo.yolov8_openvino import yolov8_segment_openvino from Vision.yolo.yolov8_openvino import yolov8_segment_openvino
from Vision.tool.utils import find_position from Vision.tool.utils import find_position
@ -28,15 +29,17 @@ from Vision.tool.utils import uv_to_XY
class Detection: 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 初始化相机及模型
:param use_openvino_model: 选择模型，默认使用openvino :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 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.use_openvino_model = use_openvino_model
self.cameraType = cameraType self.cameraType = cameraType
self.alignmentType= alignmentType
if self.use_openvino_model == False: if self.use_openvino_model == False:
model_path = ''.join([os.getcwd(), '/Vision/model/pt/one_bag.pt']) model_path = ''.join([os.getcwd(), '/Vision/model/pt/one_bag.pt'])
device = 'cpu' device = 'cpu'
@ -44,7 +47,10 @@ class Detection:
self.camera_rvc = camera_rvc() self.camera_rvc = camera_rvc()
self.seg_distance_threshold = 10 # 1厘米 self.seg_distance_threshold = 10 # 1厘米
elif self.cameraType == 'Pe': 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 self.seg_distance_threshold = 15 # 2厘米
else: else:
print('相机参数错误') print('相机参数错误')
@ -58,7 +64,10 @@ class Detection:
self.camera_rvc = camera_rvc() self.camera_rvc = camera_rvc()
self.seg_distance_threshold = 10 self.seg_distance_threshold = 10
elif self.cameraType == 'Pe': 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 self.seg_distance_threshold = 20
else: else:
print('相机参数错误') print('相机参数错误')

2
Vision/tool/CameraPe_color2depth.py
View File

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

5
Vision/tool/CameraPe_depth2color.py
View File

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