1. 完成了对相机深度和色彩模式的整合
2. 旧代码转移到ababdan_code目录中
This commit is contained in:
parent
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commit
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50
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@ -21,8 +21,7 @@
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### 2.2. 主要模块
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1. **图像处理模块**: 使用OpenCV和PyTorch进行图像识别和处理。
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2. **双目测距模块**: 计算物体与相机的距离。
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1. **图像处理模块**: 使用OpenCV和PyTorch进行图像识别和处理,该模块同时还集成了中心点测距
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3. **机械臂控制模块**: 根据计算结果控制机械臂。
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4. **集成与测试模块**: 集成各个模块,并进行测试。
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@ -3,10 +3,10 @@ from pyorbbecsdk import Pipeline, FrameSet
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from pyorbbecsdk import Config
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from pyorbbecsdk import OBSensorType, OBFormat
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import cv2
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from .utils import frame_to_bgr_image
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from img_process.orbbec_camera.utils import frame_to_bgr_image
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# 这个类用于初始化摄像头并调用颜色传感器获取图像
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# 初始化摄像头并调用颜色传感器获取图像
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class ColorViewer:
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def __init__(self):
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try:
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@ -18,7 +18,7 @@ class ColorViewer:
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self.ESC_KEY = 27 # ESC键的ASCII码,用于退出循环
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self.profile_list = None # 颜色传感器的流配置列表
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self.color_profile = None # 颜色传感器的流配置
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self.width = 1920 # 图像宽度
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self.width = 640 # 图像宽度
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self.fps = 30 # 帧率
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except Exception as e:
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print('初始化失败:', e)
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@ -18,7 +18,6 @@ class DepthViewer:
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self.alpha = 0.5 # 厂家给出的参数
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self.previous_frame = None
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self.ESC_KEY = 27
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self.PRINT_INTERVAL = 1 # 每隔1秒打印一次信息
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self.MIN_DEPTH = 20 # 最小深度值为20mm
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self.MAX_DEPTH = 10000 # 最大深度值为10000mm
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self.active = False # 控制捕获循环的标志
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118
abandon_code/test.py
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118
abandon_code/test.py
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@ -0,0 +1,118 @@
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# ******************************************************************************
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# Copyright (c) 2023 Orbbec 3D Technology, Inc
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http:# www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ******************************************************************************
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from pyorbbecsdk import *
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import cv2
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import numpy as np
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from utils import frame_to_bgr_image
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import sys
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import argparse
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ESC_KEY = 27
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def main(argv):
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pipeline = Pipeline()
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device = pipeline.get_device()
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device_info = device.get_device_info()
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device_pid = device_info.get_pid()
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config = Config()
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parser = argparse.ArgumentParser()
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parser.add_argument("-m", "--mode",
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help="align mode, HW=hardware mode,SW=software mode,NONE=disable align",
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type=str, default='HW')
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parser.add_argument("-s", "--enable_sync", help="enable sync", type=bool, default=True)
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args = parser.parse_args()
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align_mode = args.mode
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enable_sync = args.enable_sync
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try:
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profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
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color_profile = profile_list.get_default_video_stream_profile()
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config.enable_stream(color_profile)
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profile_list = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
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assert profile_list is not None
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depth_profile = profile_list.get_default_video_stream_profile()
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assert depth_profile is not None
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print("color profile : {}x{}@{}_{}".format(color_profile.get_width(),
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color_profile.get_height(),
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color_profile.get_fps(),
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color_profile.get_format()))
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print("depth profile : {}x{}@{}_{}".format(depth_profile.get_width(),
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depth_profile.get_height(),
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depth_profile.get_fps(),
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depth_profile.get_format()))
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config.enable_stream(depth_profile)
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except Exception as e:
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print(e)
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return
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if align_mode == 'HW':
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if device_pid == 0x066B:
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# Femto Mega does not support hardware D2C, and it is changed to software D2C
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config.set_align_mode(OBAlignMode.SW_MODE)
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else:
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config.set_align_mode(OBAlignMode.HW_MODE)
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elif align_mode == 'SW':
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config.set_align_mode(OBAlignMode.SW_MODE)
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else:
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config.set_align_mode(OBAlignMode.DISABLE)
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if enable_sync:
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try:
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pipeline.enable_frame_sync()
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except Exception as e:
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print(e)
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try:
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pipeline.start(config)
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except Exception as e:
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print(e)
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return
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while True:
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try:
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frames: FrameSet = pipeline.wait_for_frames(100)
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if frames is None:
|
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continue
|
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color_frame = frames.get_color_frame()
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if color_frame is None:
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||||
continue
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# covert to RGB format
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||||
color_image = frame_to_bgr_image(color_frame)
|
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if color_image is None:
|
||||
print("failed to convert frame to image")
|
||||
continue
|
||||
depth_frame = frames.get_depth_frame()
|
||||
if depth_frame is None:
|
||||
continue
|
||||
|
||||
width = depth_frame.get_width()
|
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height = depth_frame.get_height()
|
||||
scale = depth_frame.get_depth_scale()
|
||||
|
||||
depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16)
|
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depth_data = depth_data.reshape((height, width))
|
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depth_data = depth_data.astype(np.float32) * scale
|
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depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
|
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depth_image = cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
|
||||
# overlay color image on depth image
|
||||
depth_image = cv2.addWeighted(color_image, 0.5, depth_image, 0.5, 0)
|
||||
cv2.imshow("SyncAlignViewer ", depth_image)
|
||||
key = cv2.waitKey(1)
|
||||
if key == ord('q') or key == ESC_KEY:
|
||||
break
|
||||
except KeyboardInterrupt:
|
||||
break
|
||||
pipeline.stop()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main(sys.argv[1:])
|
@ -1,22 +0,0 @@
|
||||
import numpy as np
|
||||
import cv2
|
||||
|
||||
|
||||
# 双目测距模块
|
||||
|
||||
# 双目相机校准
|
||||
def stereo_calibration(left_camera_params, right_camera_params):
|
||||
# TODO: 实现双目相机的校准
|
||||
pass
|
||||
|
||||
|
||||
# 计算视差
|
||||
def compute_disparity(left_image, right_image):
|
||||
# TODO: 计算左右图像的视差
|
||||
pass
|
||||
|
||||
|
||||
# 计算距离
|
||||
def measure_distance(disparity_map, calibration_data):
|
||||
# TODO: 使用视差图和校准数据计算距离
|
||||
pass
|
@ -1,7 +1,7 @@
|
||||
from ultralytics import YOLO
|
||||
import cv2
|
||||
from orbbec_camera.ColorViewer import ColorViewer
|
||||
from orbbec_camera.DepthViewer import DepthViewer
|
||||
from abandon_code.ColorViewer import ColorViewer
|
||||
from orbbec_camera.OrbbecCamera import OrbbecCamera
|
||||
|
||||
|
||||
class ObjectClassify:
|
||||
@ -25,26 +25,25 @@ class ObjectClassify:
|
||||
|
||||
if __name__ == '__main__':
|
||||
oc = ObjectClassify()
|
||||
# 实例化彩色图像操作类
|
||||
# cw = ColorViewer()
|
||||
# 启动彩色相机
|
||||
# cw.start()
|
||||
# 实例化深度图像操作类
|
||||
dw = DepthViewer()
|
||||
# 启动深度相机
|
||||
dw.start()
|
||||
|
||||
ob = OrbbecCamera('HW', True)
|
||||
ob.run()
|
||||
# 处理循环
|
||||
while True:
|
||||
# frame = cw.get_current_frame()
|
||||
frame = dw.get_current_image()
|
||||
if frame is not None:
|
||||
cv2.imshow("深度图像", frame)
|
||||
print(dw.get_depth())
|
||||
# if frame is not None:
|
||||
# oc.model.predict(source=frame, show=True)
|
||||
color_image = ob.get_color_image()
|
||||
if color_image is None:
|
||||
continue
|
||||
cv2.imshow("彩色图像", color_image)
|
||||
if ob.get_depth_image() is None:
|
||||
continue
|
||||
cv2.imshow("深度图像", ob.get_depth_image())
|
||||
if ob.get_combined_image() is None:
|
||||
continue
|
||||
cv2.imshow("合成图像", ob.get_combined_image())
|
||||
print(f"中心点的深度值: {ob.get_center_distance()}mm")
|
||||
if color_image is not None:
|
||||
oc.model.predict(source=color_image, show=True)
|
||||
key = cv2.waitKey(1)
|
||||
if key == ord('q'):
|
||||
dw.stop()
|
||||
ob.stop()
|
||||
# cw.stop()
|
||||
break
|
||||
|
159
img_process/orbbec_camera/OrbbecCamera.py
Normal file
159
img_process/orbbec_camera/OrbbecCamera.py
Normal file
@ -0,0 +1,159 @@
|
||||
import threading
|
||||
|
||||
import cv2
|
||||
import numpy as np
|
||||
import sys
|
||||
import argparse
|
||||
from pyorbbecsdk import *
|
||||
from .utils import frame_to_bgr_image
|
||||
|
||||
|
||||
class OrbbecCamera:
|
||||
# 定义一个类常量作为退出键
|
||||
ESC_KEY = 27
|
||||
|
||||
def __init__(self, mode='HW', enable_sync=True):
|
||||
# 构造函数:初始化Orbbec相机和配置
|
||||
self.pipeline = Pipeline() # 创建Pipeline对象
|
||||
self.device = self.pipeline.get_device() # 获取设备对象
|
||||
self.config = Config() # 创建配置对象
|
||||
self.mode = mode # 设置对齐模式
|
||||
self.enable_sync = enable_sync # 设置是否启用帧同步
|
||||
self.center_distance = 0 # 中心点的深度值
|
||||
self.MIN_DEPTH = 20 # 最小深度值为20mm
|
||||
self.MAX_DEPTH = 10000 # 最大深度值为10000mm
|
||||
self.color_image = None # 颜色图像
|
||||
self.depth_image = None # 深度图像
|
||||
self.combined_image = None # 叠加图像
|
||||
# 线程控制
|
||||
self.thread = None # 线程对象,用于并行执行捕获循环
|
||||
self.active = False # 控制捕获循环的标志
|
||||
# 显示设置
|
||||
self.width = 640 # 图像宽度
|
||||
self.fps = 30 # 帧率
|
||||
|
||||
# 初始化相机设置
|
||||
device_info = self.device.get_device_info() # 获取设备信息
|
||||
device_pid = device_info.get_pid() # 获取设备PID
|
||||
try:
|
||||
# 获取并设置颜色流配置
|
||||
profile_list = self.pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
|
||||
# color_profile = profile_list.get_default_video_stream_profile()
|
||||
color_profile = profile_list.get_video_stream_profile(self.width, 0, OBFormat.RGB, self.fps)
|
||||
self.config.enable_stream(color_profile)
|
||||
# 获取并设置深度流配置
|
||||
profile_list = self.pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
|
||||
# depth_profile = profile_list.get_default_video_stream_profile()
|
||||
depth_profile = profile_list.get_video_stream_profile(self.width, 0, OBFormat.Y16, self.fps)
|
||||
self.config.enable_stream(depth_profile)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
sys.exit(1)
|
||||
|
||||
# 根据模式设置对齐方式
|
||||
# HW为硬件D2C对齐
|
||||
# SW为软件D2C对齐
|
||||
if self.mode == 'HW':
|
||||
if device_pid == 0x066B:
|
||||
self.config.set_align_mode(OBAlignMode.SW_MODE)
|
||||
else:
|
||||
self.config.set_align_mode(OBAlignMode.HW_MODE)
|
||||
elif self.mode == 'SW':
|
||||
self.config.set_align_mode(OBAlignMode.SW_MODE)
|
||||
else:
|
||||
self.config.set_align_mode(OBAlignMode.DISABLE)
|
||||
|
||||
# 启用帧同步
|
||||
if self.enable_sync:
|
||||
try:
|
||||
self.pipeline.enable_frame_sync()
|
||||
except Exception as e:
|
||||
print(e)
|
||||
sys.exit(1)
|
||||
|
||||
def stop(self):
|
||||
# 停止捕获
|
||||
self.pipeline.stop()
|
||||
self.active = False
|
||||
if self.thread is not None:
|
||||
self.thread.join() # 等待线程结束
|
||||
|
||||
def run(self):
|
||||
if not self.active:
|
||||
self.active = True
|
||||
# 创建并启动线程,目标函数是_capture_loop
|
||||
self.thread = threading.Thread(target=self._capture_loop)
|
||||
self.thread.start()
|
||||
|
||||
def _capture_loop(self):
|
||||
try:
|
||||
self.pipeline.start(self.config) # 启动流
|
||||
except Exception as e:
|
||||
print(e)
|
||||
return
|
||||
while self.active:
|
||||
try:
|
||||
frames: FrameSet = self.pipeline.wait_for_frames(100) # 等待获取帧
|
||||
if frames is None:
|
||||
continue
|
||||
|
||||
color_frame = frames.get_color_frame() # 获取颜色帧
|
||||
if color_frame is None:
|
||||
continue
|
||||
|
||||
color_image = frame_to_bgr_image(color_frame) # 转换颜色帧为RGB图像
|
||||
self.color_image = color_image
|
||||
if color_image is None:
|
||||
print("failed to convert frame to image")
|
||||
continue
|
||||
|
||||
depth_frame = frames.get_depth_frame() # 获取深度帧
|
||||
if depth_frame is None:
|
||||
continue
|
||||
# 处理深度数据
|
||||
depth_image = self.process_depth_data(depth_frame)
|
||||
self.depth_image = depth_image
|
||||
# 合成深度图像
|
||||
combined_image = cv2.addWeighted(color_image, 0.5, depth_image, 0.5, 0) # 叠加图像
|
||||
self.combined_image = combined_image
|
||||
except KeyboardInterrupt:
|
||||
break # 捕捉到中断信号则退出
|
||||
|
||||
def process_depth_data(self, depth_frame):
|
||||
# 处理深度数据,转换为可视化的图像
|
||||
width = depth_frame.get_width()
|
||||
height = depth_frame.get_height()
|
||||
scale = depth_frame.get_depth_scale()
|
||||
|
||||
depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16).reshape((height, width))
|
||||
depth_data = depth_data.astype(np.float32) * scale
|
||||
depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
|
||||
|
||||
# 获取图像中心点的深度值
|
||||
center_y = int(height / 2)
|
||||
center_x = int(width / 2)
|
||||
self.center_distance = depth_data[center_y, center_x]
|
||||
return cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)
|
||||
|
||||
def get_color_image(self):
|
||||
return self.color_image
|
||||
|
||||
def get_depth_image(self):
|
||||
return self.depth_image
|
||||
|
||||
def get_combined_image(self):
|
||||
return self.combined_image
|
||||
|
||||
def get_center_distance(self):
|
||||
return self.center_distance
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("-m", "--mode", help="对齐模式: HW=硬件, SW=软件, NONE=禁用", type=str, default='HW')
|
||||
parser.add_argument("-s", "--enable_sync", help="启用同步", type=bool, default=True)
|
||||
args = parser.parse_args()
|
||||
|
||||
camera = OrbbecCamera(mode=args.mode, enable_sync=args.enable_sync)
|
||||
camera.start()
|
||||
print("中心点的深度值: ", camera.center_distance, "mm")
|
@ -1,105 +0,0 @@
|
||||
# 用于测试的临时文件
|
||||
import cv2
|
||||
from ultralytics import YOLO
|
||||
from pyorbbecsdk import Pipeline, FrameSet
|
||||
from pyorbbecsdk import Config
|
||||
from pyorbbecsdk import OBSensorType, OBFormat
|
||||
from pyorbbecsdk import OBError
|
||||
from pyorbbecsdk import VideoStreamProfile
|
||||
from img_process.orbbec_camera.utils import frame_to_bgr_image
|
||||
|
||||
|
||||
def load_model():
|
||||
# 载入 YOLOv8 模型
|
||||
model = YOLO('yolov8n.pt')
|
||||
return model
|
||||
|
||||
|
||||
# 参数说明
|
||||
# --img: 输入图片的路径
|
||||
# --is_save_video: 是否保存识别后的视频
|
||||
def process_img(img=None):
|
||||
# 暂时性配置
|
||||
video_path = "output_video.mp4"
|
||||
|
||||
# 加载模型
|
||||
model = load_model()
|
||||
if img is not None:
|
||||
# 对图像运行 YOLOv8 推理
|
||||
results = model(img)
|
||||
|
||||
# 在图像上可视化结果
|
||||
annotated_img = results[0].plot()
|
||||
|
||||
# 显示带有标注的图像
|
||||
cv2.imshow("YOLOv8 推理", annotated_img)
|
||||
cv2.waitKey(0)
|
||||
cv2.destroyAllWindows()
|
||||
else:
|
||||
# 获取本机摄像头内容
|
||||
cap = cv2.VideoCapture(0)
|
||||
|
||||
# 奥比中光摄像头
|
||||
# ESC键的键值
|
||||
ESC_KEY = 27
|
||||
# 创建配置对象
|
||||
config = Config()
|
||||
# 创建Pipeline对象
|
||||
pipeline = Pipeline()
|
||||
|
||||
try:
|
||||
# 获取颜色传感器的流配置列表
|
||||
profile_list = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
|
||||
try:
|
||||
# 尝试获取指定分辨率、格式和帧率的颜色配置
|
||||
color_profile: VideoStreamProfile = profile_list.get_video_stream_profile(700, 0, OBFormat.RGB, 30)
|
||||
except OBError as e:
|
||||
# 如果出错,打印错误信息并使用默认的颜色配置
|
||||
print(e)
|
||||
color_profile = profile_list.get_default_video_stream_profile()
|
||||
|
||||
# 启用颜色流
|
||||
config.enable_stream(color_profile)
|
||||
except Exception as e:
|
||||
# 如果出现异常,打印错误信息并返回
|
||||
print(e)
|
||||
return
|
||||
# 启动Pipeline
|
||||
pipeline.start(config)
|
||||
|
||||
while True:
|
||||
try:
|
||||
# 等待获取帧集,最多等待100毫秒
|
||||
frames: FrameSet = pipeline.wait_for_frames(100)
|
||||
if frames is None:
|
||||
continue
|
||||
|
||||
# 获取颜色帧
|
||||
color_frame = frames.get_color_frame()
|
||||
|
||||
if color_frame is None:
|
||||
continue
|
||||
|
||||
# 将帧转换为BGR格式的图像
|
||||
color_image = frame_to_bgr_image(color_frame)
|
||||
|
||||
model.predict(source=color_image, show=True)
|
||||
|
||||
if color_image is None:
|
||||
print("failed to convert frame to image")
|
||||
continue
|
||||
key = cv2.waitKey(1)
|
||||
if key == ord('q') or key == ESC_KEY:
|
||||
break
|
||||
except KeyboardInterrupt:
|
||||
# 如果捕获到键盘中断信号,则退出循环
|
||||
break
|
||||
# 释放视频捕获对象并关闭显示窗口
|
||||
cap.release()
|
||||
cv2.destroyAllWindows()
|
||||
# 停止Pipeline
|
||||
pipeline.stop()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
process_img()
|
Loading…
Reference in New Issue
Block a user