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QT.py
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# -*- coding: utf-8 -*-
import sys
from cv2 import cv2
from PyQt5 import QtCore, QtGui, QtWidgets
from pyrealsense2 import pyrealsense2 as rs
import os
import time
import png
import threading
import queue
import numpy as np
import math
from yolo6D.Predict import predict, predict_thread, draw_predict
from camera import Camera
import corner
import circle_fit
from yolo6D.darknet import Darknet as dn
RECORD_LENGTH = 18
def make_directories(folder):
if not os.path.exists(folder+"JPEGImages/"):
os.makedirs(folder+"JPEGImages/")
if not os.path.exists(folder+"depth/"):
os.makedirs(folder+"depth/")
def index2(list_, name):
'''在result中查找对应物品名称，并返回所在行的索引，未找到则返回-1'''
for i in range(len(list_)):
if list_[i][0] == name:
return i
return -1 # 未找到
def ReadData():
'''读取桌面图像处理参数'''
fp = open('data1.txt', 'r')
lines = fp.readlines()
options = dict()
x = np.zeros((6, 1))
for line in lines:
line = line.strip()
if line == '':
continue
key, value = line.split('=')
key = key.strip()
value = value.strip()
options[key] = value
x[0] = options['red_low']
x[1] = options['red_high']
x[2] = options['green_low']
x[3] = options['green_high']
x[4] = options['blue_low']
x[5] = options['blue_high']
fp.close()
ca = np.zeros((3, 1))
ho = np.zeros((3, 1))
fp = open('data2.txt', 'r')
lines = fp.readlines()
for line in lines:
line = line.strip()
if line == '':
continue
key, value = line.split('=')
key = key.strip()
value = value.strip()
options[key] = value
ca[0] = options['canny_threshold_1']
ca[1] = options['canny_threshold_2']
ca[2] = options['sobel']
ho[0] = options['hough_rho']
ho[1] = int(options['hough_theta']) * math.pi/180
ho[2] = options['hough_threshold']
fp.close()
return x, ca, ho
class Ui_MainWindow(object):
count = -1 # 玄学照片计数器
isSquare = True # 是否是方桌，由下拉菜单控制
round = 1 # 回合计数器，用于保存结果
names = [] # 要识别的物品名称（代号）
models = [] # 预加载模型的存储
result = [] # 单回合的数据存储
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1400, 700)
self.centralWidget = QtWidgets.QWidget(MainWindow)
self.centralWidget.setObjectName("centralWidget")
self.comboBox = QtWidgets.QComboBox(self.centralWidget)
self.comboBox.setGeometry(QtCore.QRect(1075, 550, 93, 28))
self.comboBox.setObjectName("comboBox")
self.comboBox.addItem("")
self.comboBox.addItem("")
self.comboBox.addItem("")
self.comboBox.addItem("")
self.comboBox.setItemText(3, "")
self.START = QtWidgets.QPushButton(self.centralWidget)
self.START.setGeometry(QtCore.QRect(950, 550, 93, 28))
self.START.setObjectName("START")
self.STOP = QtWidgets.QPushButton(self.centralWidget)
self.STOP.setGeometry(QtCore.QRect(1200, 550, 93, 28))
self.STOP.setObjectName("STOP")
self.label = QtWidgets.QLabel(self.centralWidget)
self.label.setGeometry(QtCore.QRect(270, 40, 72, 15))
self.label.setObjectName("label")
self.label_2 = QtWidgets.QLabel(self.centralWidget)
self.label_2.setGeometry(QtCore.QRect(850, 60, 91, 20))
self.label_2.setObjectName("label_2")
self.horizontalLayoutWidget = QtWidgets.QWidget(self.centralWidget)
self.horizontalLayoutWidget.setGeometry(QtCore.QRect(50, 89, 640, 480))
self.horizontalLayoutWidget.setObjectName("horizontalLayoutWidget")
self.horizontalLayout = QtWidgets.QHBoxLayout(
self.horizontalLayoutWidget)
self.horizontalLayout.setContentsMargins(11, 11, 11, 11)
self.horizontalLayout.setSpacing(6)
self.horizontalLayout.setObjectName("horizontalLayout")
self.label_3 = QtWidgets.QLabel(self.horizontalLayoutWidget)
self.label_3.setText("")
self.label_3.setObjectName("label_3")
self.horizontalLayout.addWidget(self.label_3)
self.num = QtWidgets.QLabel(self.centralWidget)
self.num.setGeometry(QtCore.QRect(940, 60, 72, 21))
self.num.setFrameShape(QtWidgets.QFrame.Panel)
self.num.setFrameShadow(QtWidgets.QFrame.Sunken)
self.num.setText("")
self.num.setObjectName("num")
self.label_4 = QtWidgets.QLabel(self.centralWidget)
self.label_4.setGeometry(QtCore.QRect(850, 110, 91, 20))
self.label_4.setObjectName("label_4")
self.X1 = QtWidgets.QLabel(self.centralWidget)
self.X1.setGeometry(QtCore.QRect(940, 110, 72, 21))
self.X1.setFrameShape(QtWidgets.QFrame.Panel)
self.X1.setFrameShadow(QtWidgets.QFrame.Sunken)
self.X1.setText("")
self.X1.setObjectName("X1")
self.label_6 = QtWidgets.QLabel(self.centralWidget)
self.label_6.setGeometry(QtCore.QRect(1160, 110, 81, 20))
self.label_6.setObjectName("label_6")
self.label_8 = QtWidgets.QLabel(self.centralWidget)
self.label_8.setGeometry(QtCore.QRect(850, 150, 91, 20))
self.label_8.setObjectName("label_8")
self.Y1 = QtWidgets.QLabel(self.centralWidget)
self.Y1.setGeometry(QtCore.QRect(940, 150, 72, 21))
self.Y1.setFrameShape(QtWidgets.QFrame.Panel)
self.Y1.setFrameShadow(QtWidgets.QFrame.Sunken)
self.Y1.setText("")
self.Y1.setObjectName("Y1")
self.label_10 = QtWidgets.QLabel(self.centralWidget)
self.label_10.setGeometry(QtCore.QRect(1160, 150, 81, 20))
self.label_10.setObjectName("label_10")
self.Y3 = QtWidgets.QLabel(self.centralWidget)
self.Y3.setGeometry(QtCore.QRect(1250, 150, 72, 21))
self.Y3.setFrameShape(QtWidgets.QFrame.Panel)
self.Y3.setFrameShadow(QtWidgets.QFrame.Sunken)
self.Y3.setText("")
self.Y3.setObjectName("Y3")
self.label_12 = QtWidgets.QLabel(self.centralWidget)
self.label_12.setGeometry(QtCore.QRect(800, 190, 131, 20))
self.label_12.setObjectName("label_12")
self.A1 = QtWidgets.QLabel(self.centralWidget)
self.A1.setGeometry(QtCore.QRect(940, 190, 72, 21))
self.A1.setFrameShape(QtWidgets.QFrame.Panel)
self.A1.setFrameShadow(QtWidgets.QFrame.Sunken)
self.A1.setText("")
self.A1.setObjectName("A1")
self.label_14 = QtWidgets.QLabel(self.centralWidget)
self.label_14.setGeometry(QtCore.QRect(1110, 190, 131, 20))
self.label_14.setObjectName("label_14")
self.A3 = QtWidgets.QLabel(self.centralWidget)
self.A3.setGeometry(QtCore.QRect(1250, 190, 72, 21))
self.A3.setFrameShape(QtWidgets.QFrame.Panel)
self.A3.setFrameShadow(QtWidgets.QFrame.Sunken)
self.A3.setText("")
self.A3.setObjectName("A3")
self.label_16 = QtWidgets.QLabel(self.centralWidget)
self.label_16.setGeometry(QtCore.QRect(850, 20, 121, 16))
self.label_16.setObjectName("label_16")
self.label_17 = QtWidgets.QLabel(self.centralWidget)
self.label_17.setGeometry(QtCore.QRect(810, 240, 121, 20))
self.label_17.setObjectName("label_17")
self.R1 = QtWidgets.QLabel(self.centralWidget)
self.R1.setGeometry(QtCore.QRect(940, 240, 72, 21))
self.R1.setFrameShape(QtWidgets.QFrame.Panel)
self.R1.setFrameShadow(QtWidgets.QFrame.Sunken)
self.R1.setText("")
self.R1.setObjectName("R1")
self.label_19 = QtWidgets.QLabel(self.centralWidget)
self.label_19.setGeometry(QtCore.QRect(1120, 240, 121, 20))
self.label_19.setObjectName("label_19")
self.R3 = QtWidgets.QLabel(self.centralWidget)
self.R3.setGeometry(QtCore.QRect(1250, 240, 72, 21))
self.R3.setFrameShape(QtWidgets.QFrame.Panel)
self.R3.setFrameShadow(QtWidgets.QFrame.Sunken)
self.R3.setText("")
self.R3.setObjectName("R3")
self.label_21 = QtWidgets.QLabel(self.centralWidget)
self.label_21.setGeometry(QtCore.QRect(841, 330, 81, 20))
self.label_21.setObjectName("label_21")
self.X2 = QtWidgets.QLabel(self.centralWidget)
self.X2.setGeometry(QtCore.QRect(940, 330, 72, 21))
self.X2.setFrameShape(QtWidgets.QFrame.Panel)
self.X2.setFrameShadow(QtWidgets.QFrame.Sunken)
self.X2.setText("")
self.X2.setObjectName("X2")
self.label_23 = QtWidgets.QLabel(self.centralWidget)
self.label_23.setGeometry(QtCore.QRect(841, 370, 81, 20))
self.label_23.setObjectName("label_23")
self.Y2 = QtWidgets.QLabel(self.centralWidget)
self.Y2.setGeometry(QtCore.QRect(940, 370, 72, 21))
self.Y2.setFrameShape(QtWidgets.QFrame.Panel)
self.Y2.setFrameShadow(QtWidgets.QFrame.Sunken)
self.Y2.setText("")
self.Y2.setObjectName("Y2")
self.label_25 = QtWidgets.QLabel(self.centralWidget)
self.label_25.setGeometry(QtCore.QRect(791, 410, 131, 20))
self.label_25.setObjectName("label_25")
self.A2 = QtWidgets.QLabel(self.centralWidget)
self.A2.setGeometry(QtCore.QRect(940, 410, 72, 21))
self.A2.setFrameShape(QtWidgets.QFrame.Panel)
self.A2.setFrameShadow(QtWidgets.QFrame.Sunken)
self.A2.setText("")
self.A2.setObjectName("A2")
self.label_27 = QtWidgets.QLabel(self.centralWidget)
self.label_27.setGeometry(QtCore.QRect(800, 460, 121, 20))
self.label_27.setObjectName("label_27")
self.R2 = QtWidgets.QLabel(self.centralWidget)
self.R2.setGeometry(QtCore.QRect(940, 460, 72, 21))
self.R2.setFrameShape(QtWidgets.QFrame.Panel)
self.R2.setFrameShadow(QtWidgets.QFrame.Sunken)
self.R2.setText("")
self.R2.setObjectName("R2")
self.label_29 = QtWidgets.QLabel(self.centralWidget)
self.label_29.setGeometry(QtCore.QRect(1151, 330, 81, 20))
self.label_29.setObjectName("label_29")
self.X4 = QtWidgets.QLabel(self.centralWidget)
self.X4.setGeometry(QtCore.QRect(1250, 330, 72, 21))
self.X4.setFrameShape(QtWidgets.QFrame.Panel)
self.X4.setFrameShadow(QtWidgets.QFrame.Sunken)
self.X4.setText("")
self.X4.setObjectName("X4")
self.label_31 = QtWidgets.QLabel(self.centralWidget)
self.label_31.setGeometry(QtCore.QRect(1151, 370, 81, 20))
self.label_31.setObjectName("label_31")
self.Y4 = QtWidgets.QLabel(self.centralWidget)
self.Y4.setGeometry(QtCore.QRect(1250, 370, 72, 21))
self.Y4.setFrameShape(QtWidgets.QFrame.Panel)
self.Y4.setFrameShadow(QtWidgets.QFrame.Sunken)
self.Y4.setText("")
self.Y4.setObjectName("Y4")
self.label_33 = QtWidgets.QLabel(self.centralWidget)
self.label_33.setGeometry(QtCore.QRect(1101, 410, 131, 20))
self.label_33.setObjectName("label_33")
self.A4 = QtWidgets.QLabel(self.centralWidget)
self.A4.setGeometry(QtCore.QRect(1250, 410, 72, 21))
self.A4.setFrameShape(QtWidgets.QFrame.Panel)
self.A4.setFrameShadow(QtWidgets.QFrame.Sunken)
self.A4.setText("")
self.A4.setObjectName("A4")
self.label_35 = QtWidgets.QLabel(self.centralWidget)
self.label_35.setGeometry(QtCore.QRect(1111, 460, 121, 20))
self.label_35.setObjectName("label_35")
self.R4 = QtWidgets.QLabel(self.centralWidget)
self.R4.setGeometry(QtCore.QRect(1250, 460, 72, 21))
self.R4.setFrameShape(QtWidgets.QFrame.Panel)
self.R4.setFrameShadow(QtWidgets.QFrame.Sunken)
self.R4.setText("")
self.R4.setObjectName("R4")
self.X3 = QtWidgets.QLabel(self.centralWidget)
self.X3.setGeometry(QtCore.QRect(1250, 110, 72, 21))
self.X3.setFrameShape(QtWidgets.QFrame.Panel)
self.X3.setFrameShadow(QtWidgets.QFrame.Sunken)
self.X3.setText("")
self.X3.setObjectName("X3")
MainWindow.setCentralWidget(self.centralWidget)
self.menuBar = QtWidgets.QMenuBar(MainWindow)
self.menuBar.setGeometry(QtCore.QRect(0, 0, 1208, 26))
self.type = QtWidgets.QToolButton()
self.type.setCheckable(True)
self.timer_camera = QtCore.QTimer()
self.x, self.ca, self.ho = ReadData()
print("\033[0;34m开始初始化相机\033[0m")
camera = Camera()
camera.init()
print("\033[0;32m相机初始化完成\033[0m")
self.thread_init()
print("\033[0;32m多线程初始化完成\033[0m")
self.names.append("ZA001") # 舒肤佳
self.names.append("ZA001v")
self.names.append("ZA001h1")
# self.names.append("ZA001h2")
# self.names.append("ZA002") # 洗手液
# self.names.append("ZA003") # 牙膏
self.names.append("ZA004") # 花露水
# self.names.append("ZA005") # 鸭子
self.names.append("ZB001") # 八宝粥
# self.names.append("ZB002") # 辣酱
# self.names.append("ZB003") # 曲奇
# self.names.append("ZB004") # 果珍
# self.names.append("ZB005") # 绿箭
# self.names.append("ZB006") # 面
self.names.append("ZB006r")
self.names.append("ZB007") # 太平饼干
self.names.append("ZB007r")
# self.names.append("ZB008") # 可比克
# self.names.append("ZB009") # 乐事
# self.names.append("ZB009r")
# self.names.append("ZB010") # 瓜子
self.names.append("ZC004") # 红牛
# self.names.append("ZC005") # AD奶
# self.names.append("ZC006") # 橙汁
# self.names.append("ZC008") # 加多宝
# self.names.append("ZC009") # 冰红茶
# self.names.append("ZC0091")
# self.names.append("ZC010") # 绿茶
# self.names.append("ZC011") # 冰糖雪梨
# self.names.append("ZC011h")
# self.names.append("ZC012") # 茶π
# self.names.append("ZC012h")
self.names.append("ZC013") # 椰奶
self.names.append("ZC014") # 农夫山泉
for name in self.names:
self.result.append([name, 0, 0, 0, 0, 0])
model = dn('yolo6D/yolo-pose.cfg')
model.load_weights('weights/' + name + '.weights')
self.models.append(model)
print("\033[0;32m%s网络加载完成\033[0m" % name)
self.START.clicked.connect(lambda: self.open_camera(camera))
self.timer_camera.timeout.connect(lambda: self.capture_camera(camera))
self.STOP.clicked.connect(lambda: self.close_camera(camera))
self.STOP.clicked.connect(self.save_result)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.START.setText(_translate("MainWindow", "开始识别"))
self.STOP.setText(_translate("MainWindow", "结束识别"))
self.type.setText(_translate("MainWindow", "type"))
self.label.setText(_translate("MainWindow", "图像显示"))
self.label_2.setText(_translate("MainWindow", "识别目标数"))
self.label_4.setText(_translate("MainWindow", "目标1中心X"))
self.label_6.setText(_translate("MainWindow", "目标3中心X"))
self.label_8.setText(_translate("MainWindow", "目标1中心Y"))
self.label_10.setText(_translate("MainWindow", "目标3中心Y"))
self.label_12.setText(_translate("MainWindow", "目标1朝向角Angle"))
self.label_14.setText(_translate("MainWindow", "目标3朝向角Angle"))
self.label_16.setText(_translate("MainWindow", "识别结果输出区"))
self.label_17.setText(_translate("MainWindow", "目标1距离Radius"))
self.label_19.setText(_translate("MainWindow", "目标3距离Radius"))
self.label_21.setText(_translate("MainWindow", "目标2中心X"))
self.label_23.setText(_translate("MainWindow", "目标2中心Y"))
self.label_25.setText(_translate("MainWindow", "目标2朝向角Angle"))
self.label_27.setText(_translate("MainWindow", "目标2距离Radius"))
self.label_29.setText(_translate("MainWindow", "目标4中心X"))
self.label_31.setText(_translate("MainWindow", "目标4中心Y"))
self.label_33.setText(_translate("MainWindow", "目标4朝向角Angle"))
self.label_35.setText(_translate("MainWindow", "目标4距离Radius"))
self.comboBox.setItemText(0, _translate("MainWindow", "静态"))
self.comboBox.setItemText(1, _translate("MainWindow", "动态"))
def display(self, datas):
'''
输入：data：物品数*5数组
'''
_translate = QtCore.QCoreApplication.translate
self.num.setText(_translate("MainWindow", str(len(self.names))))
if len(datas) >= 1:
self.X1.setText(_translate("MainWindow", str(datas[0][1])))
self.Y1.setText(_translate("MainWindow", str(datas[0][2])))
self.R1.setText(_translate("MainWindow", str(datas[0][3])))
self.A1.setText(_translate("MainWindow", str(datas[0][4])))
if len(datas) >= 2:
self.X2.setText(_translate("MainWindow", str(datas[1][1])))
self.Y2.setText(_translate("MainWindow", str(datas[1][2])))
self.R2.setText(_translate("MainWindow", str(datas[1][3])))
self.A2.setText(_translate("MainWindow", str(datas[1][4])))
if len(datas) >= 3:
self.X3.setText(_translate("MainWindow", str(datas[2][1])))
self.Y3.setText(_translate("MainWindow", str(datas[2][2])))
self.R3.setText(_translate("MainWindow", str(datas[2][3])))
self.A3.setText(_translate("MainWindow", str(datas[2][4])))
if len(datas) >= 4:
self.X4.setText(_translate("MainWindow", str(datas[3][1])))
self.Y4.setText(_translate("MainWindow", str(datas[3][2])))
self.R4.setText(_translate("MainWindow", str(datas[3][3])))
self.A4.setText(_translate("MainWindow", str(datas[3][4])))
def save_result(self):
f = open('东南大学-LabVIEW-R%s.txt' % self.round, 'w+')
f.write('START\n')
i = 0
while(i < len(self.result)):
if len(self.result[i][0]) > 5: # 非一对一数据集
origin = index2(self.result, self.result[i][0][0:5]) # 找到原数据集索引
if origin == -1: # 未找到，这种情况不应该出现才对
self.result[i][0] = self.result[i][0][0:5] # 修改为正常输出
else:
if self.result[origin][1] < self.result[i][1]: # 原数据集置信度不够高
self.result[origin] = self.result[i] # 直接覆盖
self.result[origin][0] = self.result[origin][0][0:5]
del self.result[i] # 删除该结果
i -= 1
i += 1
if self.isSquare:
for res in self.result:
if res[1] == 0: # 无有效识别
continue
f.write('Goal_ID=%s;' % res[0])
f.write('Goal_X=%.1f;' % (res[2] / res[1]))
f.write('Goal_Y=%.1f;' % (res[3] / res[1]))
f.write('Goal_Angle=%.1f\n' % (res[5] / res[1]))
res[1] = res[2] = res[3] = res[4] = res[5] = 0
else:
for res in self.result:
if res[1] == 0: # 无有效识别设定不同的底部四点（看预测输出照片
continue
f.write('Goal_ID=%s;' % res[0])
f.write('Goal_Radius=%.1f\n' % (res[4] / res[1]))
res[1] = res[2] = res[3] = res[4] = res[5] = 0
f.write('END')
print(' \33[0;32m第%s回合结果已保存\033[0m' % self.round)
self.round += 1
f.close()
def open_camera(self, camera):
if self.timer_camera.isActive() == False:
self.timer_camera.start(500)
# camera = Camera()
def thread_init(self):
self.q = queue.Queue(maxsize=len(self.names)) # 状态队列
# self.q = []
self.numq = queue.Queue(maxsize=len(self.names)) # 照片编号队列
self.strs = queue.Queue(maxsize=len(self.names)) # 物品名称和置信度队列
def show(self, img):
'''img为图片数据'''
show = cv2.resize(img, (640, 480))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
showImage = QtGui.QImage(
show.data, show.shape[1], show.shape[0], QtGui.QImage.Format_RGB888)
self.label_3.setPixmap(QtGui.QPixmap.fromImage(showImage))
def capture_camera(self, camera):
'''拍照'''
self.isSquare = (self.comboBox.currentText() == "静态")
self.count = self.count + 1
print(" \033[0;34m拍摄图片%s.jpg...\033[0m" % self.count)
d, c = camera.capture()
filecad = folder+"JPEGImages/%s.jpg" % self.count
# filedepth = folder+"depth/%s.png" % self.count
cv2.imwrite(filecad, c)
self.show(c)
# cv2.imwrite(filedepth, d)
# with open(filedepth, 'wb') as f:
# writer = png.Writer(
# width=d.shape[1], height=d.shape[0], bitdepth=16, greyscale=True)
# zgray2list = d.tolist()
# writer.write(f, zgray2list)
print(" \033[0;32m%s.jpg已拍摄\033[0m" % self.count)
print(" \033[0;34m定位图片%s.jpg...\033[0m" % self.count)
if self.isSquare:
lined, Table_2D = corner.square_desk(
self.count, self.x, self.ca, self.ho)
else:
lined, Circle_2D = circle_fit.circle_desk(
self.count, self.x, self.ca, self.ho)
print(" \033[0;32mmarked%s.jpg已保存\033[0m" % self.count)
# 预测
print(" \033[0;34m预测图片%s.jpg...\033[0m" % self.count)
threads = []
for name, model in zip(self.names, self.models):
threads.append(predict_thread(
self.q, name, model, self.numq, self.strs))
starttime = time.time()
for th in threads:
self.numq.put(self.count)
th.start()
num_done = 0
bss = [] # 存储物品九点列表
ret = [] # 存储物品名称和置信度
datas = [] # 存储结果：[名称，置信度]，x，y，r，a
while True:
bss.append(self.q.get())
ret.append(self.strs.get())
datas.append([ret[num_done]]) # 名称，置信度
num_done += 1
if num_done is len(self.names):
break
'''设定不同的底部四点（看预测输出照片'''
for bs, data in zip(bss, datas):
# 根据不同的物品模型，设定不同的底部四点（看预测输出照片可知）
# lowesty = 0 # 最低
# for point in bs:
if data[0][0] == 'ZA001':
points = [bs[3], bs[4], bs[7], bs[8]]
elif data[0][0] == 'ZA004' or data[0][0] == 'ZB005' or data[0][0] == 'ZB001' or data[0][0] == 'ZC010' or data[0][0] == 'ZC013' or data[0][0] == 'ZC014':
points = [bs[2], bs[4], bs[6], bs[8]]
elif data[0][0] == 'ZA002' or data[0][0] == 'ZB002' or data[0][0] == 'ZB008' or data[0][0] == 'ZB009' or data[0][0] == 'ZC005' or data[0][0] == 'ZC006' or data[0][0] == 'ZC012':
points = [bs[1], bs[3], bs[5], bs[7]]
elif data[0][0] == 'ZB003' or data[0][0] == 'ZA001h2':
points = [bs[1], bs[2], bs[3], bs[4]]
elif data[0][0] == 'ZB007':
points = [bs[5], bs[6], bs[7], bs[8]]
else:
points = [bs[1], bs[2], bs[3], bs[4]]
# 将物品坐标（0~1）转为像素坐标
points = np.matmul(points, [[640, 0], [0, 480]])
points = np.append(
points, [[1], [1], [1], [1]], axis=1) # 将4*2矩阵补为4*3矩阵
if self.isSquare:
transed, angle = corner.square_trans(Table_2D, points)
avgx = np.mean([transed[i][0] for i in range(4)])
avgy = np.mean([transed[i][1] for i in range(4)])
data.append('%.1f' % (avgx / 10)) # x
data.append('%.1f' % (avgy / 10)) # y
data.append('') # radius
data.append('%.1f' % angle) # angle
else:
transed = circle_fit.circle_trans(Circle_2D, points, lined)
avgx = np.mean([transed[i][0] for i in range(4)])
avgy = np.mean([transed[i][1] for i in range(4)])
radius = ((avgx - 300) ** 2 + (avgy - 300) ** 2) ** 0.5
data.append('') # x
data.append('') # y
data.append('%.1f' % (radius / 10)) # radius
data.append('') # angle
del points
print(" \033[0;34m绘制预测中...\033[0m")
draw_predict(bss, ret, lined, self.count)
print(" \033[0;34m用时%s秒\033[0m" % (time.time() - starttime))
print(" \033[0;32m%s.jpg已保存\033[0m" % self.count)
predicted = cv2.imread('JPEGImages/predict%s.jpg' % self.count, 1)
self.show(predicted)
self.display(datas)
for data in datas:
for res in self.result:
if data[0][0] == res[0]: # 名称一致
if self.isSquare:
if (float(data[1]) >= 55 or float(data[1]) <= 0 or float(data[2]) >= 55 or float(data[2]) <= 0): # 错误识别
continue
trust = float(data[0][1].strip('%')) # 置信度
if trust < 10: # 低劣识别
continue
res[1] += trust / 100 # 置信度之和
res[2] += float(data[1]) * trust / 100 # x之和
res[3] += float(data[2]) * trust / 100 # y之和
res[5] += float(data[4]) * trust / 100 # a之和
else:
if float(data[3]) >= 30: # 错误识别
continue
trust = float(data[0][1].strip('%')) # 置信度
if trust < 10: # 低劣识别
continue
res[1] += trust / 100 # 置信度之和
res[4] += float(data[3]) * trust / 100 # r之和
def close_camera(self, camera):
if self.timer_camera.isActive():
self.timer_camera.stop()
del camera
cv2.destroyAllWindows()
self.count = 0
if __name__ == "__main__":
folder = os.getcwd() + "/"
make_directories(folder)
app = QtWidgets.QApplication(sys.argv)
MainWindow = QtWidgets.QMainWindow()
ui = Ui_MainWindow()
ui.setupUi(MainWindow)
MainWindow.show()
sys.exit(app.exec_())