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最新推荐文章于 2024-09-26 11:55:47 发布

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最新推荐文章于 2024-09-26 11:55:47 发布

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文章标签： python

本文链接：https://blog.csdn.net/qq_56516066/article/details/138233071

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二、predict-zyy.py文件

import os
import pyzed.sl as sl

from photograph import capture
from yolov8_detect import run_detection

def main():
    try:
        #ZED相机拍摄照片的存储位置---FileDirectory_ZedImage
        FileDirectory_ZedImage = 'D:/YOLOv8-apple/YOLOv8-ZED/ultralytics-main/ZED相机/ZED/zed_image.jpg'
        #检测模型的地址
        model_path = 'D:/YOLOv8-apple/YOLOv8-ZED/ultralytics-main/runs/detect/train4/weights/best.pt'
        #yolov8检测图片的存储地址
        images_folder = 'D:/YOLOv8-apple/YOLOv8-ZED/ultralytics-main/ZED相机/ZED'
        #图片的像素中心点位置存储地址
        file_path = 'D:/YOLOv8-apple/YOLOv8-ZED/ultralytics-main/ZED相机/runs/detect/location/center.txt'
        #输出的相机坐标系中苹果的三位位置信息
        output_directory = 'D:/YOLOv8-apple/YOLOv8-ZED/ultralytics-main/ZED相机/runs/detect/location/output'
        output_filename = 'depth_data.txt'


        ########################################阶段一：拍照并保存图片、返回深度信息###########################################
        #拍照并保存图片，然后返回图片的点云信息
        point_cloud_mat = capture(FileDirectory_ZedImage)

        ########################################阶段二：运行YOLOv8检测保存的图片、保存图片的中心点像素信息#########################

        run_detection(model_path, images_folder, confidence=0.5, save_results=True)


        ########################################阶段三：获取中心点的实际三维位置信息并输出至文本文档中#############################
        output_path = os.path.join(output_directory, output_filename)
        with open(file_path, 'r') as file, open(output_path, 'a') as output:
            lines = file.readlines()
            for line in lines:
                x, y = map(lambda coord: int(round(float(coord))), line.strip().split(','))

                err, point_cloud_value = point_cloud_mat.get_value(x, y)
                if err == sl.ERROR_CODE.SUCCESS:
                    # distance = math.sqrt(sum([v ** 2 for v in point_cloud_value[:3]]))
                    x_camera = point_cloud_value[0]
                    y_camera = point_cloud_value[1]
                    z_camera = point_cloud_value[2]
                    output.write(f"x: {x_camera:.4f}m, y: {y_camera:.4f}m, z: {z_camera:.4f}m\n")

    except Exception as e:
        print("An error occurred:", str(e))

if __name__ == "__main__":
    main()