yolov8直接调用zed相机实现三维测距（python）_yolov8检测物体的世界坐标高度(2)

附：Zed调用YOLOv7测距也已经实现，但是3060笔记本6G显存带不动，在大现存服务器上可以运行，可能是由于YOLOv7网络结构导致的，由于不具备普适性，就不再写相关文章了，有需要的可以仿照这个代码去改写

1. 相关配置

python==3.7
Windows-pycharm
zed api 具体配置见 (zed api 配置步骤)

由于我电脑之前python版本为3.7，yolov8要求python最低为3.8，所以本次实验直接在虚拟环境里进行，未配置gpu，可能看着卡卡的，有需要的可以配置一下，原理是一样的

2. 版本一

2.1 相关代码

主代码 zed-yolo.py，具体放置在yolov8主目录下，盒子形式展现，可实现测距+跟踪

#!/usr/bin/env python3

import sys
import numpy as np

import argparse
import torch
import cv2
import pyzed.sl as sl
from ultralytics import YOLO

from threading import Lock, Thread
from time import sleep

import ogl_viewer.viewer as gl
import cv_viewer.tracking_viewer as cv_viewer

lock = Lock()
run_signal = False
exit_signal = False


def xywh2abcd(xywh, im_shape):
    output = np.zeros((4, 2))

    # Center / Width / Height -> BBox corners coordinates
    x_min = (xywh[0] - 0.5\*xywh[2]) #\* im\_shape[1]
    x_max = (xywh[0] + 0.5\*xywh[2]) #\* im\_shape[1]
    y_min = (xywh[1] - 0.5\*xywh[3]) #\* im\_shape[0]
    y_max = (xywh[1] + 0.5\*xywh[3]) #\* im\_shape[0]

    # A ------ B
    # | Object |
    # D ------ C

    output[0][0] = x_min
    output[0][1] = y_min

    output[1][0] = x_max
    output[1][1] = y_min

    output[2][0] = x_max
    output[2][1] = y_max

    output[3][0] = x_min
    output[3][1] = y_max
    return output

def detections\_to\_custom\_box(detections, im0):
    output = []
    for i, det in enumerate(detections):
        xywh = det.xywh[0]

        # Creating ingestable objects for the ZED SDK
        obj = sl.CustomBoxObjectData()
        obj.bounding_box_2d = xywh2abcd(xywh, im0.shape)
        obj.label = det.cls
        obj.probability = det.conf
        obj.is_grounded = False
        output.append(obj)
    return output


def torch\_thread(weights, img_size, conf_thres=0.2, iou_thres=0.45):