完成了detect的封装

.gitignore

@@ -1,2 +1,3 @@
 DEBUG
-*.code-workspace
+*.code-workspace
+LINEMOD/

.vscode/.ropeproject/config.py

@@ -0,0 +1,114 @@
+# The default ``config.py``
+# flake8: noqa
+
+
+def set_prefs(prefs):
+    """This function is called before opening the project"""
+
+    # Specify which files and folders to ignore in the project.
+    # Changes to ignored resources are not added to the history and
+    # VCSs.  Also they are not returned in `Project.get_files()`.
+    # Note that ``?`` and ``*`` match all characters but slashes.
+    # '*.pyc': matches 'test.pyc' and 'pkg/test.pyc'
+    # 'mod*.pyc': matches 'test/mod1.pyc' but not 'mod/1.pyc'
+    # '.svn': matches 'pkg/.svn' and all of its children
+    # 'build/*.o': matches 'build/lib.o' but not 'build/sub/lib.o'
+    # 'build//*.o': matches 'build/lib.o' and 'build/sub/lib.o'
+    prefs['ignored_resources'] = ['*.pyc', '*~', '.ropeproject',
+                                  '.hg', '.svn', '_svn', '.git', '.tox']
+
+    # Specifies which files should be considered python files.  It is
+    # useful when you have scripts inside your project.  Only files
+    # ending with ``.py`` are considered to be python files by
+    # default.
+    # prefs['python_files'] = ['*.py']
+
+    # Custom source folders:  By default rope searches the project
+    # for finding source folders (folders that should be searched
+    # for finding modules).  You can add paths to that list.  Note
+    # that rope guesses project source folders correctly most of the
+    # time; use this if you have any problems.
+    # The folders should be relative to project root and use '/' for
+    # separating folders regardless of the platform rope is running on.
+    # 'src/my_source_folder' for instance.
+    # prefs.add('source_folders', 'src')
+
+    # You can extend python path for looking up modules
+    # prefs.add('python_path', '~/python/')
+
+    # Should rope save object information or not.
+    prefs['save_objectdb'] = True
+    prefs['compress_objectdb'] = False
+
+    # If `True`, rope analyzes each module when it is being saved.
+    prefs['automatic_soa'] = True
+    # The depth of calls to follow in static object analysis
+    prefs['soa_followed_calls'] = 0
+
+    # If `False` when running modules or unit tests "dynamic object
+    # analysis" is turned off.  This makes them much faster.
+    prefs['perform_doa'] = True
+
+    # Rope can check the validity of its object DB when running.
+    prefs['validate_objectdb'] = True
+
+    # How many undos to hold?
+    prefs['max_history_items'] = 32
+
+    # Shows whether to save history across sessions.
+    prefs['save_history'] = True
+    prefs['compress_history'] = False
+
+    # Set the number spaces used for indenting.  According to
+    # :PEP:`8`, it is best to use 4 spaces.  Since most of rope's
+    # unit-tests use 4 spaces it is more reliable, too.
+    prefs['indent_size'] = 4
+
+    # Builtin and c-extension modules that are allowed to be imported
+    # and inspected by rope.
+    prefs['extension_modules'] = []
+
+    # Add all standard c-extensions to extension_modules list.
+    prefs['import_dynload_stdmods'] = True
+
+    # If `True` modules with syntax errors are considered to be empty.
+    # The default value is `False`; When `False` syntax errors raise
+    # `rope.base.exceptions.ModuleSyntaxError` exception.
+    prefs['ignore_syntax_errors'] = False
+
+    # If `True`, rope ignores unresolvable imports.  Otherwise, they
+    # appear in the importing namespace.
+    prefs['ignore_bad_imports'] = False
+
+    # If `True`, rope will insert new module imports as
+    # `from <package> import <module>` by default.
+    prefs['prefer_module_from_imports'] = False
+
+    # If `True`, rope will transform a comma list of imports into
+    # multiple separate import statements when organizing
+    # imports.
+    prefs['split_imports'] = False
+
+    # If `True`, rope will remove all top-level import statements and
+    # reinsert them at the top of the module when making changes.
+    prefs['pull_imports_to_top'] = True
+
+    # If `True`, rope will sort imports alphabetically by module name instead
+    # of alphabetically by import statement, with from imports after normal
+    # imports.
+    prefs['sort_imports_alphabetically'] = False
+
+    # Location of implementation of
+    # rope.base.oi.type_hinting.interfaces.ITypeHintingFactory In general
+    # case, you don't have to change this value, unless you're an rope expert.
+    # Change this value to inject you own implementations of interfaces
+    # listed in module rope.base.oi.type_hinting.providers.interfaces
+    # For example, you can add you own providers for Django Models, or disable
+    # the search type-hinting in a class hierarchy, etc.
+    prefs['type_hinting_factory'] = (
+        'rope.base.oi.type_hinting.factory.default_type_hinting_factory')
+
+
+def project_opened(project):
+    """This function is called after opening the project"""
+    # Do whatever you like here!

README.md

@@ -18,6 +18,16 @@
 
 使用*librealsense2*调用SR300
 
-## SR300 查看相机内参
+### SR300 查看相机内参
 
 使用*rs-sensor-control*  [*细节*](https://blog.csdn.net/weixin_39585934/article/details/84147449)
+
+## 项目结构
+
+`QT.py`为主文件，实现了整个项目的运作，包含前端显示、调用神经网络、保存文件等。
+
+`Predict.py`为神经网络接口，被`QT.py`调用。
+
+`MeshPly.py`为3D模型接口，被`Predict.py`调用。
+
+使用时，将`LINEMOD`文件夹置于本项目根目录。

test_r_t/Mytest.py

@@ -1,7 +1,7 @@
 import numpy as np
 import cv2
 import os
-from MeshPly import *
+import MeshPly #import *
 import math
 def get_camera_intrinsic():
     K = np.zeros((3, 3), dtype='float64')

yolo6D/MeshPly.py

@@ -0,0 +1,53 @@
+# Class to read 
+
+class MeshPly:
+    def __init__(self, filename, color=[0., 0., 0.]):
+
+        f = open(filename, 'r')
+        self.vertices = []
+        self.colors = []
+        self.indices = []
+        self.normals = []
+
+        vertex_mode = False
+        face_mode = False
+
+        nb_vertices = 0
+        nb_faces = 0
+
+        idx = 0
+
+        with f as open_file_object:
+            for line in open_file_object:
+                elements = line.split()
+                if vertex_mode:
+                    self.vertices.append([float(i) for i in elements[:3]])
+                    self.normals.append([float(i) for i in elements[3:6]])
+
+                    if elements[6:9]:
+                        self.colors.append([float(i) / 255. for i in elements[6:9]])
+                    else:
+                        self.colors.append([float(i) / 255. for i in color])
+
+                    idx += 1
+                    if idx == nb_vertices:
+                        vertex_mode = False
+                        face_mode = True
+                        idx = 0
+                elif face_mode:
+                    self.indices.append([float(i) for i in elements[1:4]])
+                    idx += 1
+                    if idx == nb_faces:
+                        face_mode = False
+                elif elements[0] == 'element':
+                    if elements[1] == 'vertex':
+                        nb_vertices = int(elements[2])
+                    elif elements[1] == 'face':
+                        nb_faces = int(elements[2])
+                elif elements[0] == 'end_header':
+                    vertex_mode = True
+
+
+if __name__ == '__main__':
+    path_model = ''
+    mesh = MeshPly(path_model)